chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 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_support.c
+48 -48
View File
@@ -100,22 +100,22 @@ const char* mjTIMERSTRING[mjNTIMER]= {
// return size of a single state element
static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
switch (spec) {
case mjSTATE_TIME: return 1;
case mjSTATE_QPOS: return m->nq;
case mjSTATE_QVEL: return m->nv;
case mjSTATE_ACT: return m->na;
case mjSTATE_WARMSTART: return m->nv;
case mjSTATE_CTRL: return m->nu;
case mjSTATE_QFRC_APPLIED: return m->nv;
case mjSTATE_XFRC_APPLIED: return 6*m->nbody;
case mjSTATE_EQ_ACTIVE: return m->neq; // mjtByte, stored as mjtNum in state vector
case mjSTATE_MOCAP_POS: return 3*m->nmocap;
case mjSTATE_MOCAP_QUAT: return 4*m->nmocap;
case mjSTATE_USERDATA: return m->nuserdata;
case mjSTATE_PLUGIN: return m->npluginstate;
default:
mjERROR("invalid state element %u", spec);
return 0;
case mjSTATE_TIME: return 1;
case mjSTATE_QPOS: return m->nq;
case mjSTATE_QVEL: return m->nv;
case mjSTATE_ACT: return m->na;
case mjSTATE_WARMSTART: return m->nv;
case mjSTATE_CTRL: return m->nu;
case mjSTATE_QFRC_APPLIED: return m->nv;
case mjSTATE_XFRC_APPLIED: return 6*m->nbody;
case mjSTATE_EQ_ACTIVE: return m->neq; // mjtByte, stored as mjtNum in state vector
case mjSTATE_MOCAP_POS: return 3*m->nmocap;
case mjSTATE_MOCAP_QUAT: return 4*m->nmocap;
case mjSTATE_USERDATA: return m->nuserdata;
case mjSTATE_PLUGIN: return m->npluginstate;
default:
mjERROR("invalid state element %u", spec);
return 0;
}
}
@@ -124,21 +124,21 @@ static inline int mj_stateElemSize(const mjModel* m, mjtState spec) {
// return pointer to a single state element
static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState spec) {
switch (spec) {
case mjSTATE_TIME: return &d->time;
case mjSTATE_QPOS: return d->qpos;
case mjSTATE_QVEL: return d->qvel;
case mjSTATE_ACT: return d->act;
case mjSTATE_WARMSTART: return d->qacc_warmstart;
case mjSTATE_CTRL: return d->ctrl;
case mjSTATE_QFRC_APPLIED: return d->qfrc_applied;
case mjSTATE_XFRC_APPLIED: return d->xfrc_applied;
case mjSTATE_MOCAP_POS: return d->mocap_pos;
case mjSTATE_MOCAP_QUAT: return d->mocap_quat;
case mjSTATE_USERDATA: return d->userdata;
case mjSTATE_PLUGIN: return d->plugin_state;
default:
mjERROR("invalid state element %u", spec);
return NULL;
case mjSTATE_TIME: return &d->time;
case mjSTATE_QPOS: return d->qpos;
case mjSTATE_QVEL: return d->qvel;
case mjSTATE_ACT: return d->act;
case mjSTATE_WARMSTART: return d->qacc_warmstart;
case mjSTATE_CTRL: return d->ctrl;
case mjSTATE_QFRC_APPLIED: return d->qfrc_applied;
case mjSTATE_XFRC_APPLIED: return d->xfrc_applied;
case mjSTATE_MOCAP_POS: return d->mocap_pos;
case mjSTATE_MOCAP_QUAT: return d->mocap_quat;
case mjSTATE_USERDATA: return d->userdata;
case mjSTATE_PLUGIN: return d->plugin_state;
default:
mjERROR("invalid state element %u", spec);
return NULL;
}
}
@@ -248,7 +248,7 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
}
// neither body is movable: empty chain
if (b1==0 && b2==0) {
if (b1 == 0 && b2 == 0) {
return 0;
}
@@ -257,19 +257,19 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
da2 = m->body_dofadr[b2] + m->body_dofnum[b2] - 1;
// merge chains
while (da1>=0 || da2>=0) {
while (da1 >= 0 || da2 >= 0) {
chain[NV] = mjMAX(da1, da2);
if (da1==chain[NV]) {
if (da1 == chain[NV]) {
da1 = m->dof_parentid[da1];
}
if (da2==chain[NV]) {
if (da2 == chain[NV]) {
da2 = m->dof_parentid[da2];
}
NV++;
}
// reverse order of chain: make it increasing
for (int i=0; i<NV/2; i++) {
for (int i=0; i < NV/2; i++) {
int tmp = chain[i];
chain[i] = chain[NV-i-1];
chain[NV-i-1] = tmp;
@@ -283,7 +283,7 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
// merge dof chains for two simple bodies
int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
// swap bodies if wrong order
if (b1>b2) {
if (b1 > b2) {
int tmp = b1;
b1 = b2;
b2 = tmp;
@@ -293,17 +293,17 @@ int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
int n1 = m->body_dofnum[b1], n2 = m->body_dofnum[b2];
// both fixed: nothing to do
if (n1==0 && n2==0) {
if (n1 == 0 && n2 == 0) {
return 0;
}
// copy b1 dofs
for (int i=0; i<n1; i++) {
for (int i=0; i < n1; i++) {
chain[i] = m->body_dofadr[b1] + i;
}
// copy b2 dofs
for (int i=0; i<n2; i++) {
for (int i=0; i < n2; i++) {
chain[n1+i] = m->body_dofadr[b2] + i;
}
@@ -317,7 +317,7 @@ int mj_bodyChain(const mjModel* m, int body, int* chain) {
// simple body
if (m->body_simple[body]) {
int dofnum = m->body_dofnum[body];
for (int i=0; i<dofnum; i++) {
for (int i=0; i < dofnum; i++) {
chain[i] = m->body_dofadr[body] + i;
}
return dofnum;
@@ -331,7 +331,7 @@ int mj_bodyChain(const mjModel* m, int body, int* chain) {
}
// not movable: empty chain
if (body==0) {
if (body == 0) {
return 0;
}
@@ -340,13 +340,13 @@ int mj_bodyChain(const mjModel* m, int body, int* chain) {
int NV = 0;
// construct chain from child to parent
while (da>=0) {
while (da >= 0) {
chain[NV++] = da;
da = m->dof_parentid[da];
}
// reverse order of chain: make it increasing
for (int i=0; i<NV/2; i++) {
for (int i=0; i < NV/2; i++) {
int tmp = chain[i];
chain[i] = chain[NV-i-1];
chain[NV-i-1] = tmp;
@@ -737,7 +737,7 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
}
// accumulate remaining
for (int i=1; i<n; i++) {
for (int i=1; i < n; i++) {
// get body chain and Jacobian
int bodyNV = mj_bodyChain(m, body[i], bodychain);
if (!bodyNV) {
@@ -762,7 +762,7 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
mju_scl(jac, jac, weight[0], flg_rot ? 6*nv : 3*nv);
// accumulate remaining
for (int i=1; i<n; i++) {
for (int i=1; i < n; i++) {
mj_jac(m, d, jp, jr, point, body[i]);
mju_addToScl(jac, jtmp, weight[i], flg_rot ? 6*nv : 3*nv);
}
@@ -1477,13 +1477,13 @@ void mj_applyFT(const mjModel* m, mjData* d,
// compute J'*f and accumulate
if (force) {
mju_mulMatTVec(qforce, jacp, force, 3, NV);
for (int i=0; i<NV; i++) {
for (int i=0; i < NV; i++) {
qfrc_target[chain[i]] += qforce[i];
}
}
if (torque) {
mju_mulMatTVec(qforce, jacr, torque, 3, NV);
for (int i=0; i<NV; i++) {
for (int i=0; i < NV; i++) {
qfrc_target[chain[i]] += qforce[i];
}
}