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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_vis_visualize.c
+50 -50
View File
@@ -148,9 +148,9 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
// label contacting geom names or ids
if (vopt->label == mjLABEL_CONTACTPOINT) {
char contactlabel[2][48];
for (int k=0; k<2; k++) {
for (int k=0; k < 2; k++) {
// make geom label
if (con->geom[k]>=0) {
if (con->geom[k] >= 0) {
const char* geomname = mj_id2name(m, mjOBJ_GEOM, con->geom[k]);
if (geomname) {
mjSNPRINTF(contactlabel[k], "%s", geomname);
@@ -164,7 +164,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
else {
const char* flexname = mj_id2name(m, mjOBJ_FLEX, con->flex[k]);
if (flexname) {
if (con->elem[k]>=0) {
if (con->elem[k] >= 0) {
mjSNPRINTF(contactlabel[k], "%s.e%d", flexname, con->elem[k]);
}
else {
@@ -172,7 +172,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
}
}
else {
if (con->elem[k]>=0) {
if (con->elem[k] >= 0) {
mjSNPRINTF(contactlabel[k], "f%d.e%d", con->flex[k], con->elem[k]);
}
else {
@@ -265,9 +265,9 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
// get bodyflex ids
int bf[2];
for (int k=0; k<2; k++) {
bf[k] = (con->geom[k]>=0) ? m->geom_bodyid[con->geom[k]] :
m->nbody + con->flex[k];
for (int k=0; k < 2; k++) {
bf[k] = (con->geom[k] >= 0) ? m->geom_bodyid[con->geom[k]] :
m->nbody + con->flex[k];
}
// make sure arrow points towards bodyflex with higher id
@@ -599,7 +599,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if ((vopt->flags[mjVIS_FLEXVERT] || vopt->flags[mjVIS_FLEXEDGE] ||
vopt->flags[mjVIS_FLEXFACE] || vopt->flags[mjVIS_FLEXSKIN]) &&
(category & catmask)) {
for (int i=0; i<m->nflex; i++) {
for (int i=0; i < m->nflex; i++) {
if (vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[i]))]) {
START
@@ -614,7 +614,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
setMaterial(m, thisgeom, m->flex_matid[i], m->flex_rgba+4*i, vopt->flags);
// set texcoord
if (m->flex_texcoordadr[i]>=0) {
if (m->flex_texcoordadr[i] >= 0) {
thisgeom->texcoord = 1;
}
else {
@@ -622,17 +622,17 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
// glow flex if selected
if (pert->flexselect==i) {
if (pert->flexselect == i) {
markselected(&m->vis, thisgeom);
}
// skip if alpha is 0
if (thisgeom->rgba[3]==0) {
if (thisgeom->rgba[3] == 0) {
continue;
}
// vopt->label
if (vopt->label==mjLABEL_FLEX) {
if (vopt->label == mjLABEL_FLEX) {
makeLabel(m, mjOBJ_FLEX, i, thisgeom->label);
}
@@ -723,11 +723,11 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// flex BVH
if (vopt->flags[mjVIS_FLEXBVH]) {
float rgba[] = {1, 0, 0, 0.1};
for (int f=0; f<m->nflex; f++) {
for (int f=0; f < m->nflex; f++) {
if (m->flex_bvhnum[f] &&
vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
for (int i=m->flex_bvhadr[f]; i<m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
int isleaf = m->bvh_child[2*i]==-1 && m->bvh_child[2*i+1]==-1;
for (int i=m->flex_bvhadr[f]; i < m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
if (scn->ngeom >= scn->maxgeom) break;
if (m->bvh_depth[i] != vopt->bvh_depth) {
if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
@@ -743,7 +743,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// b/304453879 : add LINEBOX geom for bounding box visualization
START
mjv_initGeom(thisgeom, mjGEOM_BOX, aabb+3, aabb, NULL, rgba);
mjv_initGeom(thisgeom, mjGEOM_BOX, aabb+3, aabb, NULL, rgba);
FINISH
}
}
@@ -1351,7 +1351,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) {
thisgeom->dataid *= 2;
if (m->mesh_graphadr[m->geom_dataid[i]] >= 0 && vopt->flags[mjVIS_CONVEXHULL] &&
(m->geom_contype[i] || m->geom_conaffinity[i])) {
(m->geom_contype[i] || m->geom_conaffinity[i])) {
thisgeom->dataid += 1;
}
}
@@ -1646,7 +1646,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mju_addToScl3(vfar[3], y, zver[1]);
// triangulation and wireframe of the frustum
for (int e=0; e<4; e++) {
for (int e=0; e < 4; e++) {
START
mju_sub3(x, vfar[e], vnear[e]);
mju_sub3(y, vnear[(e+1)%4], vnear[e]);
@@ -1839,7 +1839,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int j=0; j < npoints-1; j++) {
START
sz[0] = m->tendon_width[i];
sz[0] = m->tendon_width[i];
// construct geom
mjv_connector(thisgeom, mjGEOM_CAPSULE, sz[0], catenary+3*j, catenary+3*j+3);
@@ -2300,7 +2300,7 @@ static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_
float* face = _face + 9*nface;
float* normal = _normal + 9*nface;
int ind[3] = {i0, i1, i2};
int sign = radius>0 ? 1 : -1;
int sign = radius > 0 ? 1 : -1;
// flat shading
if (flg_flat) {
@@ -2315,7 +2315,7 @@ static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_
mju_normalize3(nrm);
// set all vertex normals equal to face normal
for (int k=0; k<3; k++){
for (int k=0; k < 3; k++){
normal[3*k+0] = (float) (sign*nrm[0]);
normal[3*k+1] = (float) (sign*nrm[1]);
normal[3*k+2] = (float) (sign*nrm[2]);
@@ -2324,7 +2324,7 @@ static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_
// smooth shading
else {
for (int k=0; k<3; k++){
for (int k=0; k < 3; k++){
normal[3*k+0] = (float) (sign*vertnorm[3*ind[k]+0]);
normal[3*k+1] = (float) (sign*vertnorm[3*ind[k]+1]);
normal[3*k+2] = (float) (sign*vertnorm[3*ind[k]+2]);
@@ -2332,7 +2332,7 @@ static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_
}
// set positions: vertices offset by radius*normal
for (int k=0; k<3; k++){
for (int k=0; k < 3; k++){
face[3*k+0] = (float) (vertxpos[3*ind[k]+0] + radius*vertnorm[3*ind[k]+0]);
face[3*k+1] = (float) (vertxpos[3*ind[k]+1] + radius*vertnorm[3*ind[k]+1]);
face[3*k+2] = (float) (vertxpos[3*ind[k]+2] + radius*vertnorm[3*ind[k]+2]);
@@ -2354,13 +2354,13 @@ static void makeSide(float* _face, float* _normal, mjtNum radius,
mjtNum v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
mjtNum nrm[3];
mju_cross(nrm, v01, vertnorm+3*i1);
if (radius<0) {
if (radius < 0) {
mju_scl3(nrm, nrm, -1);
}
mju_normalize3(nrm);
// set normals
for (int k=0; k<3; k++){
for (int k=0; k < 3; k++){
normal[3*k+0] = (float) nrm[0];
normal[3*k+1] = (float) nrm[1];
normal[3*k+2] = (float) nrm[2];
@@ -2368,8 +2368,8 @@ static void makeSide(float* _face, float* _normal, mjtNum radius,
// set positions
int ind[3] = {i0, i1, i1};
for (int k=0; k<3; k++){
mjtNum sign = (k==1 ? -1 : +1);
for (int k=0; k < 3; k++){
mjtNum sign = (k == 1 ? -1 : +1);
face[3*k+0] = (float) (vertxpos[3*ind[k]+0] + sign*radius*vertnorm[3*ind[k]+0]);
face[3*k+1] = (float) (vertxpos[3*ind[k]+1] + sign*radius*vertnorm[3*ind[k]+1]);
face[3*k+2] = (float) (vertxpos[3*ind[k]+2] + sign*radius*vertnorm[3*ind[k]+2]);
@@ -2403,39 +2403,39 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
scn->flexskinopt = opt->flags[mjVIS_FLEXSKIN];
// convert vertex positions from mjtNum to float
for (int v=0; v<3*m->nflexvert; v++) {
for (int v=0; v < 3*m->nflexvert; v++) {
scn->flexvert[v] = (float) d->flexvert_xpos[v];
}
// construct faces
for (int f=0; f<m->nflex; f++) {
for (int f=0; f < m->nflex; f++) {
int dim = m->flex_dim[f];
mjtNum radius = m->flex_radius[f];
mjtByte flg_flat = m->flex_flatskin[f];
const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
float* face = scn->flexface + 9*scn->flexfaceadr[f];
float* normal = scn->flexnormal + 9*scn->flexfaceadr[f];
float* texdst = m->flex_texcoordadr[f]>=0 ?
scn->flextexcoord + 6*scn->flexfaceadr[f] : NULL;
const float* texsrc = m->flex_texcoordadr[f]>=0 ?
m->flex_texcoord + 2*m->flex_texcoordadr[f] : NULL;
float* texdst = m->flex_texcoordadr[f] >= 0 ?
scn->flextexcoord + 6*scn->flexfaceadr[f] : NULL;
const float* texsrc = m->flex_texcoordadr[f] >= 0 ?
m->flex_texcoord + 2*m->flex_texcoordadr[f] : NULL;
// 1D, or face and skin disabled: no faces
if (dim==1 || (!opt->flags[mjVIS_FLEXFACE] && !opt->flags[mjVIS_FLEXSKIN])) {
if (dim == 1 || (!opt->flags[mjVIS_FLEXFACE] && !opt->flags[mjVIS_FLEXSKIN])) {
scn->flexfaceused[f] = 0;
}
// 2D or 3D face: faces from elements, flat normals, texture
else if (!opt->flags[mjVIS_FLEXSKIN]) {
int nface = 0;
for (int e=0; e<m->flex_elemnum[f]; e++) {
for (int e=0; e < m->flex_elemnum[f]; e++) {
// in 3D, show only elements in selected layer
if (dim==2 || m->flex_elemlayer[m->flex_elemadr[f]+e]==opt->flex_layer) {
if (dim == 2 || m->flex_elemlayer[m->flex_elemadr[f]+e] == opt->flex_layer) {
// get element data
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
// triangles: two faces per element
if (dim==2) {
if (dim == 2) {
makeFace(face, normal, radius, vertxpos, nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, edata[0], edata[1], edata[2]);
nface++;
@@ -2482,27 +2482,27 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
mju_zero(vertnorm, 3*m->flex_vertnum[f]);
// add vertex normals: top element sides in 2D, shell fragments in 3D
if (dim==2) {
for (int e=0; e<m->flex_elemnum[f]; e++) {
if (dim == 2) {
for (int e=0; e < m->flex_elemnum[f]; e++) {
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
addNormal(vertnorm, vertxpos, edata[0], edata[1], edata[2]);
}
} else {
for (int s=0; s<m->flex_shellnum[f]; s++) {
for (int s=0; s < m->flex_shellnum[f]; s++) {
const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
addNormal(vertnorm, vertxpos, sdata[0], sdata[1], sdata[2]);
}
}
// normalize vertex normals
for (int i=0; i<m->flex_vertnum[f]; i++) {
for (int i=0; i < m->flex_vertnum[f]; i++) {
mju_normalize3(vertnorm+3*i);
}
// create faces, offset along smoothed vertex normals, and texcoord
int nface = 0;
if (dim==2) {
for (int e=0; e<m->flex_elemnum[f]; e++) {
if (dim == 2) {
for (int e=0; e < m->flex_elemnum[f]; e++) {
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
makeSmooth(face, normal, radius, flg_flat, vertnorm, vertxpos,
nface, edata[0], edata[1], edata[2]);
@@ -2514,7 +2514,7 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
nface++;
}
} else {
for (int s=0; s<m->flex_shellnum[f]; s++) {
for (int s=0; s < m->flex_shellnum[f]; s++) {
const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
makeSmooth(face, normal, radius, flg_flat, vertnorm, vertxpos,
nface, sdata[0], sdata[1], sdata[2]);
@@ -2524,8 +2524,8 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
}
// 2D: close sides using shell fragments
if (dim==2) {
for (int s=0; s<m->flex_shellnum[f]; s++) {
if (dim == 2) {
for (int s=0; s < m->flex_shellnum[f]; s++) {
const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
makeSide(face, normal, radius, vertnorm, vertxpos,
nface, sdata[0], sdata[1]);
@@ -2665,10 +2665,10 @@ void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
// normalize normals
for (int k=vertadr; k < vertadr+vertnum; k++) {
float s = sqrtf(
scn->skinnormal[3*k]*scn->skinnormal[3*k] +
scn->skinnormal[3*k+1]*scn->skinnormal[3*k+1] +
scn->skinnormal[3*k+2]*scn->skinnormal[3*k+2]
);
scn->skinnormal[3*k+0]*scn->skinnormal[3*k+0] +
scn->skinnormal[3*k+1]*scn->skinnormal[3*k+1] +
scn->skinnormal[3*k+2]*scn->skinnormal[3*k+2]
);
float scl = 1/mjMAX(mjMINVAL, s);
scn->skinnormal[3*k] *= scl;