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Add spaces around comparison operators.

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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
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src/engine/engine_io.c
+33 -36
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@@ -444,19 +444,16 @@ static int safeAddToBufferSize(intptr_t* offset, size_t* nbuffer,
// allocate and initialize mjModel structure
mjModel* mj_makeModel(
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic,
int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexshelldata, int nflexevpair, int nflextexcoord, int nmesh,
int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
int ntexdata, int nmat, int npair, int nexclude, int neq, int ntendon,
int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext,
int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap,
int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames, int npaths) {
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int njnt,
int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert, int nflexedge,
int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface, int nmeshgraph,
int nskin, int nskinvert, int nskintexvert, int nskinface, int nskinbone, int nskinbonevert,
int nhfield, int nhfielddata, int ntex, int ntexdata, int nmat, int npair, int nexclude, int neq,
int ntendon, int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext, int ntextdata,
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin, int npluginattr, int nuser_body,
int nuser_jnt, int nuser_geom, int nuser_site, int nuser_cam, int nuser_tendon,
int nuser_actuator, int nuser_sensor, int nnames, int npaths) {
intptr_t offset = 0;
// allocate mjModel
@@ -602,21 +599,21 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
// allocate new model if needed
if (!dest) {
dest = mj_makeModel(
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
src->neq, src->ntendon, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple,
src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site,
src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
src->neq, src->ntendon, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple,
src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site,
src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
mjERROR("failed to make mjModel. Invalid sizes.");
@@ -1333,8 +1330,8 @@ static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_
char* prev_pstack_ptr = (char*)(stack_info->top);
size_t prev_misalign = (uintptr_t)prev_pstack_ptr % _Alignof(size_t);
size_t* prev_usage_ptr =
(size_t*)(prev_pstack_ptr +
(prev_misalign ? _Alignof(size_t) - prev_misalign : 0));
(size_t*)(prev_pstack_ptr +
(prev_misalign ? _Alignof(size_t) - prev_misalign : 0));
ASAN_UNPOISON_MEMORY_REGION(prev_usage_ptr, sizeof(size_t));
usage = current_alloc_usage + *prev_usage_ptr;
ASAN_POISON_MEMORY_REGION(prev_usage_ptr, sizeof(size_t));
@@ -1343,7 +1340,7 @@ static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_
// store new stack usage in the red zone
size_t misalign = new_top_ptr % _Alignof(size_t);
size_t* usage_ptr =
(size_t*)(new_top_ptr + (misalign ? _Alignof(size_t) - misalign : 0));
(size_t*)(new_top_ptr + (misalign ? _Alignof(size_t) - misalign : 0));
ASAN_UNPOISON_MEMORY_REGION(usage_ptr, sizeof(size_t));
*usage_ptr = usage;
ASAN_POISON_MEMORY_REGION(usage_ptr, sizeof(size_t));
@@ -1403,7 +1400,7 @@ __attribute__((always_inline))
static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
size_t top_old = stack_info->top;
mjStackFrame* s =
(mjStackFrame*) stackallocinternal(d, stack_info, sizeof(mjStackFrame), _Alignof(mjStackFrame));
(mjStackFrame*) stackallocinternal(d, stack_info, sizeof(mjStackFrame), _Alignof(mjStackFrame));
s->pbase = stack_info->stack_base;
s->pstack = top_old;
#ifdef ADDRESS_SANITIZER
@@ -1447,8 +1444,8 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
#define mjSYMBOLIZELEN 256
char dbginfo[mjSYMBOLIZELEN];
__sanitizer_symbolize_pc(
s->pc, "mj_markStack %F at %S has no corresponding mj_freeStack",
dbginfo, sizeof(dbginfo));
s->pc, "mj_markStack %F at %S has no corresponding mj_freeStack",
dbginfo, sizeof(dbginfo));
dbginfo[mjSYMBOLIZELEN - 1] = '\0';
mjERROR("%s", dbginfo);
#undef mjSYMBOLIZELEN
@@ -1584,7 +1581,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
mju_zero(d->qvel, m->nv);
mju_zero(d->act, m->na);
mju_zero(d->ctrl, m->nu);
for (int i=0; i<m->neq; i++) d->eq_active[i] = m->eq_active0[i];
for (int i=0; i < m->neq; i++) d->eq_active[i] = m->eq_active0[i];
mju_zero(d->qfrc_applied, m->nv);
mju_zero(d->xfrc_applied, 6*m->nbody);
mju_zero(d->qacc, m->nv);
@@ -1966,7 +1963,7 @@ const char* mj_validateReferences(const mjModel* m) {
if (m->geom_dataid[i] >= m->nhfield || m->geom_dataid[i] < -1) {
return "Invalid model: geom_dataid out of bounds.";
}
} else if ((m->geom_type[i]==mjGEOM_MESH) || (m->geom_type[i]==mjGEOM_SDF)) {
} else if ((m->geom_type[i] == mjGEOM_MESH) || (m->geom_type[i] == mjGEOM_SDF)) {
if (m->geom_dataid[i] >= m->nmesh || m->geom_dataid[i] < -1) {
return "Invalid model: geom_dataid out of bounds.";
}