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_sensor.c
+16 -16
View File
@@ -208,8 +208,8 @@ static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
rotation[1][1] = 1;
rotation[2][2] = 1;
rotation[3][3] = 1;
for (int i=0; i<3; i++) {
for (int j=0; j<3; j++) {
for (int i=0; i < 3; i++) {
for (int j=0; j < 3; j++) {
rotation[i][j] = cam_xmat[j*3+i];
}
}
@@ -237,11 +237,11 @@ static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
// projection matrix (3x4): product of all 4 matrices
mjtNum proj[3][4] = {0};
for (int i=0; i<3; i++) {
for (int j=0; j<3; j++) {
for (int k=0; k<4; k++) {
for (int l=0; l<4; l++) {
for (int n=0; n<4; n++) {
for (int i=0; i < 3; i++) {
for (int j=0; j < 3; j++) {
for (int k=0; k < 4; k++) {
for (int l=0; l < 4; l++) {
for (int n=0; n < 4; n++) {
proj[i][n] += image[i][j] * focal[j][k] * rotation[k][l] * translation[l][n];
}
}
@@ -256,10 +256,10 @@ static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
// project world coordinates into pixel space, see:
// https://en.wikipedia.org/wiki/3D_projection#Mathematical_formula
mjtNum pixel_coord_hom[3] = {0};
for (int i=0; i<3; i++) {
for (int j=0; j<4; j++) {
pixel_coord_hom[i] += proj[i][j] * pos_hom[j];
}
for (int i=0; i < 3; i++) {
for (int j=0; j < 4; j++) {
pixel_coord_hom[i] += proj[i][j] * pos_hom[j];
}
}
// avoid dividing by tiny numbers
@@ -716,8 +716,8 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
// contact pointer, contacting bodies (-1 for flex)
con = d->contact + j;
int conbody[2];
for (int k=0; k<2; k++) {
conbody[k] = (con->geom[k]>=0) ? m->geom_bodyid[con->geom[k]] : -1;
for (int k=0; k < 2; k++) {
conbody[k] = (con->geom[k] >= 0) ? m->geom_bodyid[con->geom[k]] : -1;
}
// select contacts involving sensorized body
@@ -950,14 +950,14 @@ void mj_energyPos(const mjModel* m, mjData* d) {
// add flex-level springs
if (!mjDISABLED(mjDSBL_PASSIVE)) {
for (int i=0; i<m->nflex; i++) {
for (int i=0; i < m->nflex; i++) {
stiffness = m->flex_edgestiffness[i];
if (m->flex_rigid[i] || stiffness==0) {
if (m->flex_rigid[i] || stiffness == 0) {
continue;
}
// process edges of this flex
for (int e=m->flex_edgeadr[i]; e<m->flex_edgeadr[i]+m->flex_edgenum[i]; e++) {
for (int e=m->flex_edgeadr[i]; e < m->flex_edgeadr[i]+m->flex_edgenum[i]; e++) {
mjtNum displacement = m->flexedge_length0[e] - d->flexedge_length[e];
d->energy[0] += 0.5*stiffness*displacement*displacement;
}