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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_util_sparse.c
+27 -27
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@@ -379,19 +379,19 @@ void mju_addToSparseInc(mjtNum* dst, const mjtNum* src,
int adrs = 0, adrd = 0, inds = indsrc[0], indd = inddst[0];
while (1) {
// common non-zero index
if (inds==indd) {
if (inds == indd) {
// add
dst[adrd] += src[adrs];
// advance src
if (++adrs<nnzsrc) {
if (++adrs < nnzsrc) {
inds = indsrc[adrs];
} else {
return;
}
// advance dst
if (++adrd<nnzdst) {
if (++adrd < nnzdst) {
indd = inddst[adrd];
} else {
return;
@@ -399,8 +399,8 @@ void mju_addToSparseInc(mjtNum* dst, const mjtNum* src,
}
// src non-zero index smaller: advance src
else if (inds<indd) {
if (++adrs<nnzsrc) {
else if (inds < indd) {
if (++adrs < nnzsrc) {
inds = indsrc[adrs];
} else {
return;
@@ -409,7 +409,7 @@ void mju_addToSparseInc(mjtNum* dst, const mjtNum* src,
// dst non-zero index smaller: advance dst
else {
if (++adrd<nnzdst) {
if (++adrd < nnzdst) {
indd = inddst[adrd];
} else {
return;
@@ -425,8 +425,8 @@ int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum s
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
mjtNum* buf, int* buf_ind) {
// check for identical pattern
if (dst_nnz==src_nnz) {
if (dst_nnz==0) {
if (dst_nnz == src_nnz) {
if (dst_nnz == 0) {
return 0;
}
if (mju_compare(dst_ind, src_ind, dst_nnz)) {
@@ -442,40 +442,40 @@ int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum s
int dadr = dst_nnz ? dst_ind[0] : n+1;
// merge matrices
while (si<src_nnz || di<dst_nnz) {
while (si < src_nnz || di < dst_nnz) {
// both
if (sadr==dadr) {
for (int k=0; k<nrow; k++) {
if (sadr == dadr) {
for (int k=0; k < nrow; k++) {
buf[nrow*nnz + k] = dst[di + k*dst_nnz] + scl*src[si + k*src_nnz];
}
buf_ind[nnz++] = sadr;
si++;
di++;
sadr = si<src_nnz ? src_ind[si] : n+1;
dadr = di<dst_nnz ? dst_ind[di] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
dadr = di < dst_nnz ? dst_ind[di] : n+1;
}
// dst only
else if (dadr<sadr) {
for (int k=0; k<nrow; k++) {
else if (dadr < sadr) {
for (int k=0; k < nrow; k++) {
buf[nrow*nnz + k] = dst[di + k*dst_nnz];
}
buf_ind[nnz++] = dadr;
di++;
dadr = di<dst_nnz ? dst_ind[di] : n+1;
dadr = di < dst_nnz ? dst_ind[di] : n+1;
}
// src only
else {
for (int k=0; k<nrow; k++) {
for (int k=0; k < nrow; k++) {
buf[nrow*nnz + k] = scl*src[si + k*src_nnz];
}
buf_ind[nnz++] = sadr;
si++;
sadr = si<src_nnz ? src_ind[si] : n+1;
sadr = si < src_nnz ? src_ind[si] : n+1;
}
}
@@ -492,8 +492,8 @@ int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum s
int mju_addChains(int* res, int n, int NV1, int NV2,
const int* chain1, const int* chain2) {
// check for identical pattern
if (NV1==NV2) {
if (NV1==0) {
if (NV1 == NV2) {
if (NV1 == 0) {
return 0;
}
if (mju_compare(chain1, chain2, NV1)) {
@@ -508,28 +508,28 @@ int mju_addChains(int* res, int n, int NV1, int NV2,
int adr2 = NV2 ? chain2[0] : n+1;
// merge chains
while (i1<NV1 || i2<NV2) {
while (i1 < NV1 || i2 < NV2) {
// both
if (adr1==adr2) {
if (adr1 == adr2) {
res[NV++] = adr1;
i1++;
i2++;
adr1 = i1<NV1 ? chain1[i1] : n+1;
adr2 = i2<NV2 ? chain2[i2] : n+1;
adr1 = i1 < NV1 ? chain1[i1] : n+1;
adr2 = i2 < NV2 ? chain2[i2] : n+1;
}
// chain1 only
else if (adr1<adr2) {
else if (adr1 < adr2) {
res[NV++] = adr1;
i1++;
adr1 = i1<NV1 ? chain1[i1] : n+1;
adr1 = i1 < NV1 ? chain1[i1] : n+1;
}
// chain2 only
else {
res[NV++] = adr2;
i2++;
adr2 = i2<NV2 ? chain2[i2] : n+1;
adr2 = i2 < NV2 ? chain2[i2] : n+1;
}
}