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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_ray.c
+25 -25
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@@ -844,15 +844,15 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
// compute bounding box
mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}};
mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[flexid];
for (int i=0; i<m->flex_vertnum[flexid]; i++) {
for (int j=0; j<3; j++) {
for (int i=0; i < m->flex_vertnum[flexid]; i++) {
for (int j=0; j < 3; j++) {
// update minimum along side j
if (box[j][0]>vert[3*i+j] || i==0) {
if (box[j][0] > vert[3*i+j] || i == 0) {
box[j][0] = vert[3*i+j];
}
// update maximum along side j
if (box[j][1]<vert[3*i+j] || i==0) {
if (box[j][1] < vert[3*i+j] || i == 0) {
box[j][1] = vert[3*i+j];
}
}
@@ -860,28 +860,28 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
// adjust box for radius
mjtNum radius = m->flex_radius[flexid];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
box[j][0] -= radius;
box[j][1] += radius;
}
// construct box geom
mjtNum pos[3], size[3], mat[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
pos[j] = 0.5*(box[j][0]+box[j][1]);
size[j] = 0.5*(box[j][1]-box[j][0]);
}
// apply bounding-box filter
if (ray_box(pos, mat, size, pnt, vec, NULL)<0) {
if (ray_box(pos, mat, size, pnt, vec, NULL) < 0) {
return -1;
}
// construct basis vectors of normal plane
mjtNum b0[3] = {1, 1, 1}, b1[3];
if (mju_abs(vec[0])>=mju_abs(vec[1]) && mju_abs(vec[0])>=mju_abs(vec[2])) {
if (mju_abs(vec[0]) >= mju_abs(vec[1]) && mju_abs(vec[0]) >= mju_abs(vec[2])) {
b0[0] = 0;
} else if (mju_abs(vec[1])>=mju_abs(vec[2])) {
} else if (mju_abs(vec[1]) >= mju_abs(vec[2])) {
b0[1] = 0;
} else {
b0[2] = 0;
@@ -895,9 +895,9 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mjtNum x = -1;
// check edges if rendered, or if skin
if (flg_edge || (dim>1 && flg_skin)) {
for (int e=m->flex_edgeadr[flexid];
e<m->flex_edgeadr[flexid]+m->flex_edgenum[flexid]; e++) {
if (flg_edge || (dim > 1 && flg_skin)) {
int edge_end = m->flex_edgeadr[flexid]+m->flex_edgenum[flexid];
for (int e=m->flex_edgeadr[flexid]; e < edge_end; e++) {
// get vertices for this edge
mjtNum* v1 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid]+m->flex_edge[2*e]);
mjtNum* v2 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid]+m->flex_edge[2*e+1]);
@@ -916,7 +916,7 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mjtNum sol = mju_rayGeom(pos, mat, size, pnt, vec, mjGEOM_CAPSULE);
// update
if (sol>=0 && (x<0 || sol<x)) {
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
// construct intersection point
@@ -935,8 +935,8 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
}
// check vertices if rendered (and edges not checked)
else if (flg_vert && !(dim>1 && flg_skin)) {
for (int v=0; v<m->flex_vertnum[flexid]; v++) {
else if (flg_vert && !(dim > 1 && flg_skin)) {
for (int v=0; v < m->flex_vertnum[flexid]; v++) {
// get vertex
mjtNum* vpos = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + v);
@@ -947,7 +947,7 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mjtNum sol = mju_rayGeom(vpos, NULL, size, pnt, vec, mjGEOM_SPHERE);
// update
if (sol>=0 && (x<0 || sol<x)) {
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
*vertid = v;
}
@@ -955,11 +955,11 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
}
// check faces if rendered
if (dim>1 && (flg_face || flg_skin)) {
for (int e=0; e<m->flex_elemnum[flexid]; e++) {
if (dim > 1 && (flg_face || flg_skin)) {
for (int e=0; e < m->flex_elemnum[flexid]; e++) {
// skip if 3D element is not visible
int elayer = m->flex_elemlayer[m->flex_elemadr[flexid]+e];
if (dim==3 && ((flg_skin && elayer>0) || (!flg_skin && elayer!=flex_layer))) {
if (dim == 3 && ((flg_skin && elayer > 0) || (!flg_skin && elayer != flex_layer))) {
continue;
}
@@ -968,22 +968,22 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mjtNum* v1 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[0]);
mjtNum* v2 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[1]);
mjtNum* v3 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[2]);
mjtNum* v4 = dim==2 ? NULL : d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[3]);
mjtNum* v4 = dim == 2 ? NULL : d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[3]);
mjtNum* vptr[4][3] = {{v1, v2, v3}, {v1, v2, v4}, {v1, v3, v4}, {v2, v3, v4}};
int vid[4][3] = {{0, 1, 2}, {0, 1, 3}, {0, 2, 3}, {1, 2, 3}};
// process triangles of this element
for (int i=0; i<(dim==2?1:4); i++) {
for (int i=0; i < (dim == 2?1:4); i++) {
// copy vertices into triangle representation
mjtNum v[3][3];
for (int j=0; j<3; j++)
for (int j=0; j < 3; j++)
mju_copy3(v[j], vptr[i][j]);
// intersect ray with triangle
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1);
// update
if (sol>=0 && (x<0 || sol<x)) {
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
// construct intersection point
@@ -996,9 +996,9 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mju_dist3(v[1], intersect),
mju_dist3(v[2], intersect)
};
if (dist[0]<=dist[1] && dist[0]<=dist[2]) {
if (dist[0] <= dist[1] && dist[0] <= dist[2]) {
*vertid = edata[vid[i][0]];
} else if (dist[1]<=dist[2]){
} else if (dist[1] <= dist[2]){
*vertid = edata[vid[i][1]];
} else {
*vertid = edata[vid[i][2]];