chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add spaces around comparison operators.

Browse Source 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
This commit is contained in:
Yuval Tassa
2023-10-15 07:39:20 -07:00
committed by Copybara-Service
parent a1b6026b8c
commit a9ee497e33
21 changed files with 670 additions and 667 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_smooth.c
+25 -25
View File
@@ -284,7 +284,7 @@ void mj_camlight(const mjModel* m, mjData* d) {
// adjust for mode
switch ((mjtCamLight) m->cam_mode[i]) {
case mjCAMLIGHT_FIXED:
break;
break;
case mjCAMLIGHT_TRACK:
case mjCAMLIGHT_TRACKCOM:
// fixed global orientation
@@ -393,15 +393,15 @@ void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
mju_zeroInt(modified, bvhnum);
// mark leafs as modified
for (int i=0; i<bvhnum; i++) {
if (m->bvh_nodeid[bvhadr+i]>=0) {
for (int i=0; i < bvhnum; i++) {
if (m->bvh_nodeid[bvhadr+i] >= 0) {
modified[i] = 1;
}
}
// update non-leafs in backward pass (parents come before children)
for (int i=bvhnum-1; i>=0; i--) {
if (m->bvh_nodeid[bvhadr+i]<0) {
for (int i=bvhnum-1; i >= 0; i--) {
if (m->bvh_nodeid[bvhadr+i] < 0) {
int child1 = m->bvh_child[2*(bvhadr+i)];
int child2 = m->bvh_child[2*(bvhadr+i)+1];
@@ -413,13 +413,13 @@ void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
// compute new (min, max)
mjtNum xmin[3], xmax[3];
for (int k=0; k<3; k++) {
for (int k=0; k < 3; k++) {
xmin[k] = mju_min(aabb1[k] - aabb1[k+3], aabb2[k] - aabb2[k+3]);
xmax[k] = mju_max(aabb1[k] + aabb1[k+3], aabb2[k] + aabb2[k+3]);
}
// convert to (center, size)
for (int k=0; k<3; k++) {
for (int k=0; k < 3; k++) {
aabb[k] = 0.5*(xmax[k]+xmin[k]);
aabb[k+3] = 0.5*(xmax[k]-xmin[k]);
}
@@ -446,20 +446,20 @@ void mj_flex(const mjModel* m, mjData* d) {
}
// compute Cartesian positions of flex vertices
for (int f=0; f<m->nflex; f++) {
for (int f=0; f < m->nflex; f++) {
int vstart = m->flex_vertadr[f];
int vend = m->flex_vertadr[f] + m->flex_vertnum[f];
// centered: copy body position
if (m->flex_centered[f]) {
for (int i=vstart; i<vend; i++) {
for (int i=vstart; i < vend; i++) {
mju_copy3(d->flexvert_xpos+3*i, d->xpos+3*m->flex_vertbodyid[i]);
}
}
// non-centered: map from local to global
else {
for (int i=vstart; i<vend; i++) {
for (int i=vstart; i < vend; i++) {
mju_rotVecMat(d->flexvert_xpos+3*i, m->flex_vert+3*i, d->xmat+9*m->flex_vertbodyid[i]);
mju_addTo3(d->flexvert_xpos+3*i, d->xpos+3*m->flex_vertbodyid[i]);
}
@@ -467,11 +467,11 @@ void mj_flex(const mjModel* m, mjData* d) {
}
// compute flex element aabb
for (int f=0; f<m->nflex; f++) {
for (int f=0; f < m->nflex; f++) {
int dim = m->flex_dim[f];
// process elements of this flex
for (int e=0; e<m->flex_elemnum[f]; e++) {
for (int e=0; e < m->flex_elemnum[f]; e++) {
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
const mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[f];
@@ -479,8 +479,8 @@ void mj_flex(const mjModel* m, mjData* d) {
mjtNum xmin[3], xmax[3];
mju_copy3(xmin, vert+3*edata[0]);
mju_copy3(xmax, vert+3*edata[0]);
for (int i=1; i<=dim; i++) {
for (int j=0; j<3; j++) {
for (int i=1; i <= dim; i++) {
for (int j=0; j < 3; j++) {
mjtNum value = vert[3*edata[i]+j];
xmin[j] = mju_min(xmin[j], value);
xmax[j] = mju_max(xmax[j], value);
@@ -500,14 +500,14 @@ void mj_flex(const mjModel* m, mjData* d) {
// update flex bhv_aabb_dyn if needed
if (!mjDISABLED(mjDSBL_MIDPHASE)) {
for (int f=0; f<m->nflex; f++) {
if (m->flex_bvhadr[f]>=0) {
for (int f=0; f < m->nflex; f++) {
if (m->flex_bvhadr[f] >= 0) {
int flex_bvhadr = m->flex_bvhadr[f];
int flex_bvhnum = m->flex_bvhnum[f];
// copy element aabbs to bhv leaf aabbs
for (int i=flex_bvhadr; i<flex_bvhadr+flex_bvhnum; i++) {
if (m->bvh_nodeid[i]>=0) {
for (int i=flex_bvhadr; i < flex_bvhadr+flex_bvhnum; i++) {
if (m->bvh_nodeid[i] >= 0) {
mju_copy(d->bvh_aabb_dyn + 6*(i - m->nbvhstatic),
d->flexelem_aabb + 6*(m->flex_elemadr[f] + m->bvh_nodeid[i]), 6);
}
@@ -535,18 +535,18 @@ void mj_flex(const mjModel* m, mjData* d) {
}
// compute lengths and Jacobians of edges
for (int f=0; f<m->nflex; f++) {
for (int f=0; f < m->nflex; f++) {
// skip if edges cannot generate forces
if (m->flex_rigid[f] ||
(m->flex_edgeequality[f]==0 &&
m->flex_edgestiffness[f]==0 && m->flex_edgedamping[f]==0)) {
(m->flex_edgeequality[f] == 0 &&
m->flex_edgestiffness[f] == 0 && m->flex_edgedamping[f] == 0)) {
continue;
}
// process edges of this flex
int vbase = m->flex_vertadr[f];
int ebase = m->flex_edgeadr[f];
for (int e=0; e<m->flex_edgenum[f]; e++) {
for (int e=0; e < m->flex_edgenum[f]; e++) {
int v1 = m->flex_edge[2*(ebase+e)];
int v2 = m->flex_edge[2*(ebase+e)+1];
int b1 = m->flex_vertbodyid[vbase+v1];
@@ -562,7 +562,7 @@ void mj_flex(const mjModel* m, mjData* d) {
// sparse edge Jacobian
if (issparse) {
// set rowadr
if (ebase+e>0) {
if (ebase+e > 0) {
rowadr[ebase+e] = rowadr[ebase+e-1] + rownnz[ebase+e-1];
}
@@ -1110,7 +1110,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
const mjContact* con = d->contact+j;
// contact involving flex, continue
if (con->geom[0]<0 || con->geom[1]<0) {
if (con->geom[0] < 0 || con->geom[1] < 0) {
continue;
}
@@ -1772,7 +1772,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
con = d->contact+i;
// skip contact involving flex
if (con->geom[0]<0 || con->geom[1]<0) {
if (con->geom[0] < 0 || con->geom[1] < 0) {
continue;
}