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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_setconst.c
+10 -10
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@@ -115,14 +115,14 @@ static void set0(mjModel* m, mjData* d) {
// compute body_invweight0
m->body_invweight0[0] = m->body_invweight0[1] = 0.0;
for (int i=1; i<m->nbody; i++) {
for (int i=1; i < m->nbody; i++) {
// static bodies: zero invweight0
if (m->body_weldid[i] == 0) {
m->body_invweight0[2*i] = m->body_invweight0[2*i+1] = 0;
}
// accelerate simple bodies with no rotations
else if (m->body_simple[i]==2) {
else if (m->body_simple[i] == 2) {
mjtNum mass = m->body_mass[i];
if (!mass) { // SHOULD NOT OCCUR
mjERROR("moving body %d has 0 mass", i);
@@ -147,7 +147,7 @@ static void set0(mjModel* m, mjData* d) {
}
// compute dof_invweight0
for (int i=0; i<m->njnt; i++) {
for (int i=0; i < m->njnt; i++) {
// simple body with no rotations: no off-diagonal inertia
if (m->body_simple[m->jnt_bodyid[i]] == 2) {
int id = m->jnt_dofadr[i];
@@ -200,14 +200,14 @@ static void set0(mjModel* m, mjData* d) {
// compute flexedge_invweight0, tendon_invweight0, actuator_acc0
if (nv) {
// compute flexedge_invweight0
for (int f=0; f<m->nflex; f++) {
for (int i=m->flex_edgeadr[f]; i<m->flex_edgeadr[f]+m->flex_edgenum[f]; i++) {
for (int f=0; f < m->nflex; f++) {
for (int i=m->flex_edgeadr[f]; i < m->flex_edgeadr[f]+m->flex_edgenum[f]; i++) {
// bodies connected by edge
int b1 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i+1]];
// accelerate edges that connect simple bodies with no rotations
if (m->body_simple[b1]==2 && m->body_simple[b2]==2) {
if (m->body_simple[b1] == 2 && m->body_simple[b2] == 2) {
m->flexedge_invweight0[i] = (1/m->body_mass[b1] + 1/m->body_mass[b2])/2;
}
@@ -217,7 +217,7 @@ static void set0(mjModel* m, mjData* d) {
if (mj_isSparse(m)) {
mju_zero(tmp, nv);
int end = d->flexedge_J_rowadr[i] + d->flexedge_J_rownnz[i];
for (int j=d->flexedge_J_rowadr[i]; j<end; j++) {
for (int j=d->flexedge_J_rowadr[i]; j < end; j++) {
tmp[d->flexedge_J_colind[j]] = d->flexedge_J[j];
}
} else {
@@ -232,7 +232,7 @@ static void set0(mjModel* m, mjData* d) {
}
// compute tendon_invweight0
for (int i=0; i<m->ntendon; i++) {
for (int i=0; i < m->ntendon; i++) {
// make dense vector into tmp
if (mj_isSparse(m)) {
mju_zero(tmp, nv);
@@ -422,8 +422,8 @@ static void setStat(mjModel* m, mjData* d) {
}
// adjust body size for flex edges involving body
for (int f=0; f<m->nflex; f++) {
for (int e=m->flex_edgeadr[f]; e<m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
for (int f=0; f < m->nflex; f++) {
for (int e=m->flex_edgeadr[f]; e < m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
int b1 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e+1]];