From b84902306914855f3d53f3cf5e5f81894bb537d7 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Thu, 21 Jul 2022 10:16:08 -0700
Subject: [PATCH] Miscellaneous linting in `src/engine`.

PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
---
 src/engine/engine_collision_box.c    | 542 +++++++++++----------------
 src/engine/engine_collision_convex.c |  10 +-
 src/engine/engine_collision_driver.c |   5 +-
 src/engine/engine_core_constraint.c  |  14 +-
 src/engine/engine_core_constraint.h  |   4 +-
 src/engine/engine_core_smooth.c      |  15 +-
 src/engine/engine_derivative.c       |  20 +-
 src/engine/engine_derivative.h       |   2 +-
 src/engine/engine_file.c             |   4 +-
 src/engine/engine_forward.c          |   3 +-
 src/engine/engine_io.c               |   1 -
 src/engine/engine_macro.h            |   6 +-
 src/engine/engine_print.c            |   4 +-
 src/engine/engine_sensor.c           |   4 +-
 src/engine/engine_util_errmem.c      |  23 +-
 src/engine/engine_util_solve.c       |   7 +-
 src/engine/engine_util_sparse.c      |   7 +-
 src/engine/engine_vis_visualize.c    |  73 ++--
 src/user/user_util.cc                |   1 +
 19 files changed, 329 insertions(+), 416 deletions(-)

diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
index b30a21bb..c8dcc0e5 100644
--- a/src/engine/engine_collision_box.c
+++ b/src/engine/engine_collision_box.c
@@ -24,14 +24,14 @@ static void mju_clampVec(mjtNum* vec, const mjtNum* limit, int n)
   int i;
 
   // loop over active limits
-  for (i = 0; i < n; i++)
-    if (limit[i] > 0)
-    {
+  for (i = 0; i < n; i++) {
+    if (limit[i] > 0) {
       if (vec[i] < -limit[i])
         vec[i] = -limit[i];
       else if (vec[i] > limit[i])
         vec[i] = limit[i];
     }
+  }
 }
 
 
@@ -59,8 +59,8 @@ static int _SphereBox(mjContact* con, mjtNum mindist,
     return 0;
 
 
-  if (dist <= mjMINVAL) // sphere center inside box
-  {
+  // sphere center inside box
+  if (dist <= mjMINVAL) {
     closest = (size2[0] + size2[1] + size2[2]) * 2;
 
     for (i = 0; i < 6; i++)
@@ -76,10 +76,7 @@ static int _SphereBox(mjContact* con, mjtNum mindist,
     mju_copy3(pos, center);
     mju_addToScl3(pos, nearest, (size1[0] - closest) / 2);
     mju_rotVecMat(con[0].frame, nearest, mat2);
-
-  }
-  else
-  {
+  } else {
     mju_addToScl3(deepest, tmp, size1[0]);
     mju_zero3(pos);
     mju_addToScl3(pos, clamped, 0.5);
@@ -96,11 +93,11 @@ static int _SphereBox(mjContact* con, mjtNum mindist,
 }
 
 int mjc_SphereBox(const mjModel* m, const mjData* d, mjContact* con,
-                  int g1, int g2, mjtNum mindist)
+                  int g1, int g2, mjtNum margin)
 {
   mjGETINFO;
 
-  return _SphereBox(con, mindist, pos1, mat1, size1, pos2, mat2, size2);
+  return _SphereBox(con, margin, pos1, mat1, size1, pos2, mat2, size2);
 }
 
 
@@ -117,49 +114,48 @@ int mjc_SphereBox(const mjModel* m, const mjData* d, mjContact* con,
 // a picture to see what is happening at each line of the code
 
 int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
-                   int g1, int g2, mjtNum mindist)
+                   int g1, int g2, mjtNum margin)
 {
   mjGETINFO
 
   mjtNum tmp1[3], tmp2[3], tmp3[3], halfaxis[3], axis[3], dif[3];
-  mjtNum pos[3];         // position of capsule in box-local frame
+  mjtNum pos[3];          // position of capsule in box-local frame
 
-  mjtNum halflength;     // half of capsule's length
-  mjtNum bestdist;       // closest contact point distance
-  mjtNum bestdistmax;    // init value for bestdist
-  mjtNum bestsegmentpos; // between -1 and 1 :  which point on the segment is closest to the box
-  mjtNum secondpos;      // distance of 2nd contact position on capsule segment from the first: same meaning
+  mjtNum halflength;      // half of capsule's length
+  mjtNum bestdist;        // closest contact point distance
+  mjtNum bestdistmax;     // init value for bestdist
+  mjtNum bestsegmentpos;  // between -1 and 1 :  which point on the segment is closest to the box
+  mjtNum secondpos;       // distance of 2nd contact position on capsule segment from the first
   mjtNum dist;
-  mjtNum bestboxpos;     // closest contact point, position on the box's edge
+  mjtNum bestboxpos;      // closest contact point, position on the box's edge
   mjtNum mul, e1, e2, dp, de;
   // mjtNum penetration;
 
-  mjtNum ma, mb, mc, u, v, det, x1, x2, idet; //linelinedist temps
+  mjtNum ma, mb, mc, u, v, det, x1, x2, idet;  // linelinedist temps
 
-  int s1, s2;     // hold linelinedist info
-  int i, j, c1, c2; // temporary variables
-  int cltype = -4;     // closest type
-  int clface;     // closest face
-  int clcorner = 0;   // closest corner (0..7 in binary)
-  int cledge;     // closest edge axis
-  int axisdir;    // direction of capsule axis in relation to the box
-  int n;          // number of contacts
-  int ax1, ax2, ax; // axis temporaries
+  int s1, s2;        // hold linelinedist info
+  int i, j, c1, c2;  // temporary variables
+  int cltype = -4;   // closest type
+  int clface;        // closest face
+  int clcorner = 0;  // closest corner (0..7 in binary)
+  int cledge;        // closest edge axis
+  int axisdir;       // direction of capsule axis in relation to the box
+  int n;             // number of contacts
+  int ax1, ax2, ax;  // axis temporaries
 
 
   halflength = size1[1];
-  secondpos = -4; //initialize to no 2nd contact (valid values are between -1 and 1)
+  secondpos = -4;  // initialize to no 2nd contact (valid values are between -1 and 1)
 
-  mju_sub3(tmp1, pos1,
-           pos2);           // bring capsule to box-local frame (center's box is at (0,0,0))
-  mju_rotVecMatT(pos, tmp1, mat2);      // and axis parralel to world
+  mju_sub3(tmp1, pos1, pos2);       // bring capsule to box-local frame (center's box is at (0,0,0))
+  mju_rotVecMatT(pos, tmp1, mat2);  // and axis parralel to world
 
-  tmp1[0] = mat1[2]; // capsule's axis
+  tmp1[0] = mat1[2];  // capsule's axis
   tmp1[1] = mat1[5];
   tmp1[2] = mat1[8];
 
-  mju_rotVecMatT(axis, tmp1, mat2);     // do the same for the capsule axis
-  mju_scl3(halfaxis, axis, halflength); // scale to get actual capsule half-axis
+  mju_rotVecMatT(axis, tmp1, mat2);      // do the same for the capsule axis
+  mju_scl3(halfaxis, axis, halflength);  // scale to get actual capsule half-axis
 
   axisdir = 0;
   if (halfaxis[0] > 0)
@@ -169,36 +165,33 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
   if (halfaxis[2] > 0)
     axisdir += 4;
 
-  // under this notion    "axisdir" and "7-axisdir" point in opposite directions, essentially the same for a capsule
+  // under this notion    "axisdir" and "7-axisdir" point in opposite directions,
+  // essentially the same for a capsule
 
-  bestdistmax = mindist + 2 * (size1[0] + halflength + size2[0] + size2[1] +
-                               size2[2]); // initialize bestdist
+  bestdistmax = margin + 2 * (size1[0] + halflength + size2[0] + size2[1] +
+                              size2[2]);  // initialize bestdist
   bestdist = bestdistmax;
   bestsegmentpos = 0;
 
   mju_zero3(tmp2);
 
   // test to see if maybe the a face of the box is closest to the capsule
-  for (i = -1; i <= 1; i += 2)
-  {
+  for (i = -1; i <= 1; i += 2) {
     mju_copy3(tmp1, pos);
     mju_addToScl3(tmp1, halfaxis, i);
     mju_copy3(tmp2, tmp1);
 
-    for (c1 = 0, j = 0, c2 = -1; j < 3; j++)
-      if (tmp1[j] < -size2[j])
-      {
+    for (c1 = 0, j = 0, c2 = -1; j < 3; j++) {
+      if (tmp1[j] < -size2[j]) {
         c1++;
         c2 = j;
         tmp1[j] = -size2[j];
-      }
-      else if (tmp1[j] > size2[j])
-      {
+      } else if (tmp1[j] > size2[j]) {
         c1++;
         c2 = j;
         tmp1[j] = size2[j];
       }
-
+    }
 
     if (c1 > 1)
       continue;
@@ -206,8 +199,7 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
     mju_subFrom3(tmp1, tmp2);
     dist = mju_dot3(tmp1, tmp1);
 
-    if (dist < bestdist)
-    {
+    if (dist < bestdist) {
       bestdist = dist;
       bestsegmentpos = i;
       cltype = -2 + i;
@@ -215,16 +207,11 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
     }
   }
 
-
-
-
   mju_zero3(tmp2);
 
-
-  for (j = 0; j < 3; j++)
-    for (i = 0; i < 8; i++)
-      if ((i & (1 << j)) == 0)
-      {
+  for (j = 0; j < 3; j++) {
+    for (i = 0; i < 8; i++) {
+      if ((i & (1 << j)) == 0) {
         // trick to get a corner
         tmp3[0] = ((i & 1) ? 1 : -1) * size2[0];
         tmp3[1] = ((i & 2) ? 1 : -1) * size2[1];
@@ -260,21 +247,17 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
 
         s1 = s2 = 1;
 
-        if (x1 > 1)
-        {
+        if (x1 > 1) {
           x1 = 1;
           s1 = 2;
           x2 = (v - mb) * (1 / mc);
-        }
-        else if (x1 < -1)
-        {
+        } else if (x1 < -1) {
           x1 = -1;
           s1 = 0;
           x2 = (v + mb) * (1 / mc);
         }
 
-        if (x2 > 1)
-        {
+        if (x2 > 1) {
           x2 = 1;
           s2 = 2;
           x1 = (u - mb) * (1 / ma);
@@ -282,9 +265,7 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
             x1 = 1, s1 = 2;
           else if (x1 < -1)
             x1 = -1, s1 = 0;
-        }
-        else if (x2 < -1)
-        {
+        } else if (x2 < -1) {
           x2 = -1;
           s2 = 0;
           x1 = (u + mb) * (1 / ma);
@@ -294,8 +275,6 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
             x1 = -1, s1 = 0;
         }
 
-
-
         mju_sub3(dif, tmp3, pos);
 
         mju_addToScl3(dif, halfaxis, -x2);
@@ -306,36 +285,35 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
         c1 = s1 * 3 + s2;
 
 
-        // the -MINVAL might not be necessary. Fixes numerical problem when axis is numerically parallel to the box
-        if (tmp1[2] < bestdist - mjMINVAL)
-        {
+        // the -MINVAL might not be necessary. Fixes numerical problem when axis is numerically
+        // parallel to the box
+        if (tmp1[2] < bestdist - mjMINVAL) {
           bestdist = tmp1[2];
           bestsegmentpos = x2;
           bestboxpos = x1;
 
-          c2 = c1 / 6;           // c1<6 means that closest point on the box is at the lower end or in the middle of the edge
-          clcorner = i + (1 << j) * c2; // which corner is the closest
-          cledge = j;            // which axis
-          cltype = c1;           // save clamped info
+          // c1<6 means that closest point on the box is at the lower end
+          // or in the middle of the edge
+          c2 = c1 / 6;
+
+          clcorner = i + (1 << j) * c2;  // which corner is the closest
+          cledge = j;   // which axis
+          cltype = c1;  // save clamped info
         }
-
-
       }
+    }
+  }
 
 
   // penetration = -bestdist;
 
 
-  for (j = 0; j < 3; j++)
-    if (j == 2)
-    {
-
-      typedef union
-      {
-        struct
-        {
+  for (j = 0; j < 3; j++) {
+    if (j == 2) {
+      typedef union {
+        struct {
           mjtNum x, y;
-        } ;
+        };
         mjtNum c[2];
       } d2;
       d2 p, s, d, c /*, tmp1*/;
@@ -343,7 +321,6 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
 
       bestdist = bestdistmax;
 
-
       p.x = pos[0];
       p.y = pos[1];
       d.x = halfaxis[0];
@@ -361,33 +338,33 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       best = -1;
 
       e1 = +u - v;
-      if ((e1 < 0) == (w < 0))
-        if (best < mju_abs(e1))
-        {
+      if ((e1 < 0) == (w < 0)) {
+        if (best < mju_abs(e1)) {
           best = mju_abs(e1);
           c1 = 0;
         }
+      }
       e1 = -u - v;
-      if ((e1 < 0) == (w < 0))
-        if (best < mju_abs(e1))
-        {
+      if ((e1 < 0) == (w < 0)) {
+        if (best < mju_abs(e1)) {
           best = mju_abs(e1);
           c1 = 1;
         }
+      }
       e1 = +u + v;
-      if ((e1 < 0) == (w < 0))
-        if (best < mju_abs(e1))
-        {
+      if ((e1 < 0) == (w < 0)) {
+        if (best < mju_abs(e1)) {
           best = mju_abs(e1);
           c1 = 2;
         }
+      }
       e1 = -u + v;
-      if ((e1 < 0) == (w < 0))
-        if (best < mju_abs(e1))
-        {
+      if ((e1 < 0) == (w < 0)) {
+        if (best < mju_abs(e1)) {
           best = mju_abs(e1);
           c1 = 3;
         }
+      }
 
       c.x = s.x * ((c1 / 2) ? -1 : 1);
       c.y = s.y * ((c1 % 2) ? -1 : 1);
@@ -395,7 +372,7 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       e1 = fabs(w) / l;
       // e2 = best / l;
 
-      //printf("%g %g      %g %g     %g %g\n",c.x,c.y,d.x,d.y,e1,e2);
+      // printf("%g %g      %g %g     %g %g\n",c.x,c.y,d.x,d.y,e1,e2);
 
       // tmp1.x = c.x - p.x;
       // tmp1.y = c.y - p.y;
@@ -404,7 +381,7 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       // e3 = e2 / e1;
 
 
-      //printf("%g %g      %g %g     %g %g %g \n",c.x,c.y,d.x,d.y,e1,e2,e3);
+      // printf("%g %g      %g %g     %g %g %g \n",c.x,c.y,d.x,d.y,e1,e2,e3);
 
       e1 = p.x + (+s.y - p.y) / d.y * d.x;
       // e2 = p.x + (-s.y - p.y) / d.y * d.x;
@@ -412,17 +389,11 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       // e4 = p.y + (-s.x - p.x) / d.x * d.y;
 
 
-      //printf("%g %g     %g %g\n",e1,e2,e3,e4);
-
+      // printf("%g %g     %g %g\n",e1,e2,e3,e4);
     }
+  }
 
-
-
-
-
-
-
-  //goto skip;   // allow only the closest contact
+  // goto skip;   // allow only the closest contact
 
   // cltype: -3 -1 : face is closest to the capsule
   // cltype: 0..8 : edge is closest to the capsule
@@ -438,8 +409,7 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
   if (cltype == -4)
     return 0;
 
-  if (cltype >= 0 && cltype / 3 != 1) // closest to a corner of the box
-  {
+  if (cltype >= 0 && cltype / 3 != 1) {  // closest to a corner of the box
     c1 = axisdir ^ clcorner;
 
     // hack to find the relative orientation of capsule and corner
@@ -449,16 +419,15 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
 
 
     if (c1 == 0 || c1 == 7)
-      goto skip; // case 1: no chance of additional contact
+      goto skip;  // case 1: no chance of additional contact
 
-    if (c1 == 1 || c1 == 2 || c1 == 4)
-    {
+    if (c1 == 1 || c1 == 2 || c1 == 4) {
       mul = 1;
       de = 1 - bestsegmentpos;
       dp = 1 + bestsegmentpos;
     }
-    if (c1 == 3 || c1 == 5 || c1 == 6)
-    {
+
+    if (c1 == 3 || c1 == 5 || c1 == 6) {
       mul = -1;
       c1 = 7 - c1;
       dp = 1 - bestsegmentpos;
@@ -477,17 +446,15 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
 
 
 
-    if (axis[ax]*axis[ax] > 0.5) // second point along the edge of the box
-    {
-      secondpos = de; // initial position from the
+    if (axis[ax]*axis[ax] > 0.5) {  // second point along the edge of the box
+      secondpos = de;  // initial position from the
       e1 = 2 * size2[ax] / fabs(halfaxis[ax]);
 
-      if (e1 < secondpos)
-        secondpos = e1; // we overshoot, move back to the  other corner of the edge
+      if (e1 < secondpos) {
+        secondpos = e1;  // we overshoot, move back to the  other corner of the edge
+      }
       secondpos *= mul;
-    }
-    else  // second point along a face of the box
-    {
+    } else {  // second point along a face of the box
       secondpos = dp;
 
       // check for overshoot again
@@ -502,24 +469,18 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
 
       secondpos *= -mul;
     }
-
-  }
-  else if (cltype >= 0 && cltype / 3 == 1) // we are on box's edge
-  {
-
+  } else if (cltype >= 0 && cltype / 3 == 1) {  // we are on box's edge
     // hacks to find the relative orientation of capsule and edge
     // there are 2 cases:
     //    c1= 2^n: edge and capsule are oriented in a T configuaration (no more contacts
     //    c1!=2^n: oriented in a cross X configuration
 
+    c1 = axisdir ^ clcorner;  // same trick
 
-    c1 = axisdir ^ clcorner; // same trick
+    c1 &= 7 - (1 << cledge);  // even more hacks
 
-    c1 &= 7 - (1 << cledge); // even more hacks
-
-
-
-    //printf("%d %d %d %d    %lf %lf %lf\n",axisdir,clcorner,c1,cledge,halfaxis[0],halfaxis[1],halfaxis[2]);
+    // printf("%d %d %d %d    %lf %lf %lf\n",
+    //        axisdir,clcorner,c1,cledge,halfaxis[0],halfaxis[1],halfaxis[2]);
 
     if (c1 != 1 && c1 != 2 && c1 != 4)
       goto skip;
@@ -540,29 +501,27 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       ax1 = ax2;
     ax2 = 3 - ax - ax1;
 
-    // keep track of the axis orientation (mul will tell us which direction along the capsule to find the second point)
-    // you can notice all other references to the axis "halfaxis" are with absolute value
+    // keep track of the axis orientation (mul will tell us which direction along the capsule to
+    // find the second point) you can notice all other references to the axis "halfaxis" are with
+    // absolute value
 
-    if (c1 & (1 << ax2))
-    {
+    if (c1 & (1 << ax2)) {
       mul = 1;
       secondpos = 1 - bestsegmentpos;
-    }
-    else
-    {
+    } else {
       mul = -1;
       secondpos = 1 + bestsegmentpos;
     }
 
 
-    // now we have to find out whether we point towards the opposite side or towards one of the sides
-    // and also find the farthest point along the capsule that is above the box
+    // now we have to find out whether we point towards the opposite side or towards one of the
+    // sides and also find the farthest point along the capsule that is above the box
 
     e1 = 2 * size2[ax2] / fabs(halfaxis[ax2]);
     if (e1 < secondpos)
       secondpos = e1;
 
-    if (((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0)) // that is insane
+    if (((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0))  // that is insane
       e2 = 1 - bestboxpos;
     else
       e2 = 1 + bestboxpos;
@@ -573,16 +532,13 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
       secondpos = e1;
 
     secondpos *= mul;
-  }
-  else if (cltype < 0)
-  {
-
+  } else if (cltype < 0) {
     // similarly we handle the case when one capsule's end is closest to a face of the box
     // and find where is the other end pointing to and clamping to the farthest point
     // of the capsule that's above the box
 
     if (clface == -1)
-      goto skip; // here the closest point is inside the box, no need for a second point
+      goto skip;  // here the closest point is inside the box, no need for a second point
     if (cltype == -3)
       mul = 1;
     else
@@ -593,9 +549,8 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
     mju_copy3(tmp1, pos);
     mju_addToScl3(tmp1, halfaxis, -mul);
 
-    for (i = 0; i < 3; i++)
-      if (i != clface)
-      {
+    for (i = 0; i < 3; i++) {
+      if (i != clface) {
         e1 = (size2[i] - tmp1[i]) / halfaxis[i] * mul;
         if (e1 > 0)
           if (e1 < secondpos)
@@ -605,8 +560,8 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
         if (e1 > 0)
           if (e1 < secondpos)
             secondpos = e1;
-
       }
+    }
     secondpos *= mul;
   }
 
@@ -619,17 +574,16 @@ skip:
   mju_rotVecMat(tmp2, tmp1, mat2);
   mju_addTo3(tmp2, pos2);
 
-  //collide with
-  n = _SphereBox(con, mindist, tmp2, mat1, size1, pos2, mat2, size2);
+  // collide with
+  n = _SphereBox(con, margin, tmp2, mat1, size1, pos2, mat2, size2);
 
 
-  if (secondpos > -3) // secondpos was modified
-  {
+  if (secondpos > -3) {  // secondpos was modified
     mju_copy3(tmp1, pos);
-    mju_addToScl3(tmp1, halfaxis, secondpos + bestsegmentpos); // note the summation
+    mju_addToScl3(tmp1, halfaxis, secondpos + bestsegmentpos);  // note the summation
     mju_rotVecMat(tmp2, tmp1, mat2);
     mju_addTo3(tmp2, pos2);
-    n += _SphereBox(con + n, mindist, tmp2, mat1, size1, pos2, mat2, size2);
+    n += _SphereBox(con + n, margin, tmp2, mat1, size1, pos2, mat2, size2);
   }
 
   return n;
@@ -638,7 +592,7 @@ skip:
 
 
 
-int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2, mjtNum mindist)
+int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2, mjtNum margin)
 {
   const mjtNum* pos1 = D->geom_xpos + 3 * g1;
   const mjtNum* mat1 = D->geom_xmat + 9 * g1;
@@ -652,16 +606,17 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   mjtNum rotmore[9], p[3], r[9], s[3], ss[3], lp[3], rt[9], points[mjMAXCONPAIR][3],
          depth[mjMAXCONPAIR], pts[6][3], ppts2[4][2], pu[4][3], axi[3][3];
   mjtNum linesu[4][6], lines[4][6], clnorm[3], rnorm[3];
-  mjtNum penetration, c1, c2, c3, a, b, c, d, lx, ly, hz, l, x, y, u, v, llx, lly, innorm, mindist2;
+  mjtNum penetration, c1, c2, c3, a, b, c, d, lx, ly, hz, l, x, y, u, v, llx, lly, innorm, margin2;
 
   int i0, i1, i2;
   mjtNum f0, f1, f2;
 
-  int i, j, q, code, q1, q2, clcorner, n, m, k, cle1, cle2, in, ax1, ax2, pax1, pax2, clface, nl, nf;
+  int i, j, q, code, q1, q2, clcorner, n, m, k;
+  int cle1, cle2, in, ax1, ax2, pax1, pax2, clface, nl, nf;
 
   n = 0;
   code = -1;
-  mindist2 = mindist * mindist;
+  margin2 = margin * margin;
 
   mju_sub3(tmp1, pos2, pos1);
   mju_rotVecMatT(pos21, tmp1, mat1);
@@ -680,47 +635,38 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   mju_rotVecMat(plen2, size2, rotabs);
   mju_rotVecMatT(plen1, size1, rotabs);
 
-  for (i = 0, penetration = mindist; i < 3; i++)
+  for (i = 0, penetration = margin; i < 3; i++)
     penetration += size1[i] * 3 + size2[i] * 3;
 
-  for (i = 0; i < 3; i++)
-  {
+  for (i = 0; i < 3; i++) {
     c1 = -fabs(pos21[i]) + size1[i] + plen2[i];
     c2 = -fabs(pos12[i]) + size2[i] + plen1[i];
 
-    if (c1 < -mindist || c2 < -mindist)
+    if (c1 < -margin || c2 < -margin)
       return 0;
 
-    if (c1 < penetration)
-    {
+    if (c1 < penetration) {
       penetration = c1;
       code = i + 3 * (pos21[i] < 0) + 0;
     }
-    if (c2 < penetration)
-    {
+    if (c2 < penetration) {
       penetration = c2;
       code = i + 3 * (pos12[i] < 0) + 6;
     }
 
-    //printf("%24.16e %24.16e %d         %24.16e %d \n",c1,c2,i,penetration,code);
+    // printf("%24.16e %24.16e %d         %24.16e %d \n",c1,c2,i,penetration,code);
   }
 
-  for (i = 0; i < 3; i++)
-    for (j = 0; j < 3; j++)
-    {
+  for (i = 0; i < 3; i++) {
+    for (j = 0; j < 3; j++) {
       mju_zero3(tmp2);
-      if (i == 0)
-      {
+      if (i == 0) {
         tmp2[1] = -rott[3 * j + 2];
         tmp2[2] = +rott[3 * j + 1];
-      }
-      else if (i == 1)
-      {
+      } else if (i == 1) {
         tmp2[0] = +rott[3 * j + 2];
         tmp2[2] = -rott[3 * j + 0];
-      }
-      else if (i == 2)
-      {
+      } else if (i == 2) {
         tmp2[0] = -rott[3 * j + 1];
         tmp2[1] = +rott[3 * j + 0];
       }
@@ -744,7 +690,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
 
       c3 -= fabs(c2);
 
-      if (c3 < -mindist)
+      if (c3 < -margin)
         return 0;
 
 
@@ -766,12 +712,12 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
         in = c2 < 0;
       }
 
-      //printf("%24.16e %d      %24.16e %d\n",c3,12+i*3+j,penetration,code);
-
+      // printf("%24.16e %d      %24.16e %d\n",c3,12+i*3+j,penetration,code);
     }
+  }
 
 
-  //return 0;
+  // return 0;
 
 
   // printf("%d\n",code);
@@ -786,7 +732,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   q1 = code % 6;
   q2 = code / 6;
 
-  //printf("%d %d\n",q1,q2);
+  // printf("%d %d\n",q1,q2);
 
   mju_zero(rotmore, 9);
   if (q1 == 0)
@@ -807,61 +753,59 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   i2 = 2;
   f0 = f1 = f2 = 1;
 
-  if (q1 == 0)
-  {
+  if (q1 == 0) {
     i0 = 2;
     f0 = -1;
     i2 = 0;
-  }
-  else if (q1 == 1)
-  {
+  } else if (q1 == 1) {
     i1 = 2;
     f1 = -1;
     i2 = 1;
-  }
-  else if (q1 == 2) {}
-  else if (q1 == 3)
-  {
+  } else if (q1 == 2) {
+  } else if (q1 == 3) {
     i0 = 2;
     i2 = 0;
     f2 = -1;
-  }
-  else if (q1 == 4)
-  {
+  } else if (q1 == 4) {
     i1 = 2;
     i2 = 1;
     f2 = -1;
-  }
-  else if (q1 == 5)
-  {
+  } else if (q1 == 5) {
     f0 = -1;
     f2 = -1;
   }
 
 
-#define rotaxis(vecres,vecin) { vecres[0]=vecin[i0]*f0; vecres[1]=vecin[i1]*f1; vecres[2]=vecin[i2]*f2; }
-#define rotmatx(matres,matin) { mju_scl3(matres+0,matin+i0*3,f0); mju_scl3(matres+3,matin+i1*3,f1); mju_scl3(matres+6,matin+i2*3,f2); }
+#define rotaxis(vecres, vecin) \
+{                              \
+  vecres[0]=vecin[i0]*f0;      \
+  vecres[1]=vecin[i1]*f1;      \
+  vecres[2]=vecin[i2]*f2;      \
+}
+#define rotmatx(matres, matin)        \
+{                                     \
+  mju_scl3(matres+0, matin+i0*3, f0); \
+  mju_scl3(matres+3, matin+i1*3, f1); \
+  mju_scl3(matres+6, matin+i2*3, f2); \
+}
 
-  if (q2)
-  {
+  if (q2) {
     mju_mulMatMatT(r, rotmore, rot, 3, 3, 3);
 
-    //mju_rotVecMat(p,pos12,rotmore);
-    //mju_rotVecMat(tmp1,size2,rotmore);
+    // mju_rotVecMat(p,pos12,rotmore);
+    // mju_rotVecMat(tmp1,size2,rotmore);
 
     rotaxis(p, pos12);
     rotaxis(tmp1, size2);
 
     mju_copy3(s, size1);
-  }
-  else
-  {
-    //mju_mulMatMat(r,rotmore,rot,3,3,3);
+  } else {
+    // mju_mulMatMat(r,rotmore,rot,3,3,3);
 
     rotmatx(r, rot);
 
-    //mju_rotVecMat(p,pos21,rotmore);
-    //mju_rotVecMat(tmp1,size1,rotmore);
+    // mju_rotVecMat(p,pos21,rotmore);
+    // mju_rotVecMat(tmp1,size1,rotmore);
 
     rotaxis(p, pos21);
     rotaxis(tmp1, size1);
@@ -915,20 +859,15 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
     mju_copy3(lines[k++] + 3, pts[1]);
   }
 
-
-
-
-  for (i = 0; i < k; i++)
-    for (q = 0; q < 2; q++)
-    {
+  for (i = 0; i < k; i++) {
+    for (q = 0; q < 2; q++) {
       a = lines[i][0 + q];
       b = lines[i][3 + q];
       c = lines[i][1 - q];
       d = lines[i][4 - q];
 
-      if (fabs(b) > mjMINVAL)
-        for (j = -1; j <= 1; j += 2)
-        {
+      if (fabs(b) > mjMINVAL) {
+        for (j = -1; j <= 1; j += 2) {
           l = ss[q] * j;
           c1 = (l - a) * (1 / b);
           if (c1 < 0 || c1 > 1)
@@ -939,9 +878,10 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
 
           mju_copy3(points[n], lines[i]);
           mju_addToScl3(points[n++], lines[i] + 3, c1);
-
         }
+      }
     }
+  }
 
 
   a = pts[1][0];
@@ -951,9 +891,8 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   c1 = a * d - b * c;
 
 
-  if (m > 2)
-    for (i = 0; i < 4; i++)
-    {
+  if (m > 2) {
+    for (i = 0; i < 4; i++) {
       llx = i / 2 ? lx : -lx;
       lly = i % 2 ? ly : -ly;
 
@@ -969,11 +908,10 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
       points[n][1] = lly;
       points[n][2] = (pts[0][2] + u * pts[1][2] + v * pts[2][2]);
       n++;
-
     }
+  }
 
-  for (i = 0; i < (1 << (m - 1)); i++)
-  {
+  for (i = 0; i < (1 << (m - 1)); i++) {
     mju_copy3(tmp1, pts[i == 0 ? 0 : i + 2]);
 
 
@@ -985,7 +923,6 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
         continue;
 
     mju_copy3(points[n++], tmp1);
-
   }
 
 
@@ -994,7 +931,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
 
   for (i = 0; i < m; i++)
   {
-    if (points[i][2] > mindist)
+    if (points[i][2] > margin)
       continue;
     mju_copy3(points[n], points[i]);
 
@@ -1059,16 +996,14 @@ edgeedge:
   if (q1 == 2)
     pax1 = 1, pax2 = 0;
 
-  //printf("%lf %lf            %lf %lf\n",rot[ 3*q1+ ax1],rot [3*q1+ ax2],rott[3*q2+pax1],rott[3*q2+pax2]);
-  //printf("%lf %lf\n",mju_dot3(clnorm,rott+3*ax1),mju_dot3(clnorm,rott+3*ax2));
+  // printf("%lf %lf   %lf %lf\n",rot[ 3*q1+ ax1],rot [3*q1+ ax2],rott[3*q2+pax1],rott[3*q2+pax2]);
+  // printf("%lf %lf\n",mju_dot3(clnorm,rott+3*ax1),mju_dot3(clnorm,rott+3*ax2));
 
-  if (rotabs [3 * q1 + ax1] < rotabs [3 * q1 + ax2])
-  {
+  if (rotabs [3 * q1 + ax1] < rotabs [3 * q1 + ax2]) {
     ax1 = ax2;
     ax2 = 3 - q2 - ax1;
   }
-  if (rottabs[3 * q2 + pax1] < rottabs[3 * q2 + pax2])
-  {
+  if (rottabs[3 * q2 + pax1] < rottabs[3 * q2 + pax2]) {
     pax1 = pax2;
     pax2 = 3 - q1 - pax1;
   }
@@ -1079,7 +1014,8 @@ edgeedge:
     clface = pax2 + 3;
 
 
-  //printf("%lf - %d %d %d %d   %d %d     %d %d %d %d %d\n",penetration,cle1,cle2,code,in,q1,q2,clface,ax1,ax2,pax1,pax2);
+  // printf("%lf - %d %d %d %d   %d %d     %d %d %d %d %d\n",
+  //        penetration,cle1,cle2,code,in,q1,q2,clface,ax1,ax2,pax1,pax2);
 
 
   mju_zero(rotmore, 9);
@@ -1102,49 +1038,36 @@ edgeedge:
   i2 = 2;
   f0 = f1 = f2 = 1;
 
-  if (clface == 0)
-  {
+  if (clface == 0) {
     i0 = 2;
     f0 = -1;
     i2 = 0;
-  }
-  else if (clface == 1)
-  {
+  } else if (clface == 1) {
     i1 = 2;
     f1 = -1;
     i2 = 1;
-  }
-  else if (clface == 2) {}
-  else if (clface == 3)
-  {
+  } else if (clface == 2) {
+  } else if (clface == 3) {
     i0 = 2;
     i2 = 0;
     f2 = -1;
-  }
-  else if (clface == 4)
-  {
+  } else if (clface == 4) {
     i1 = 2;
     i2 = 1;
     f2 = -1;
-  }
-  else if (clface == 5)
-  {
+  } else if (clface == 5) {
     f0 = -1;
     f2 = -1;
   }
 
-
-
-
-
-  //mju_rotVecMat(p,pos21,rotmore);
-  //mju_rotVecMat(rnorm,clnorm,rotmore);
+  // mju_rotVecMat(p,pos21,rotmore);
+  // mju_rotVecMat(rnorm,clnorm,rotmore);
   rotaxis(p, pos21);
   rotaxis(rnorm, clnorm);
 
-  //print("rnorm",rnorm);
+  // print("rnorm",rnorm);
 
-  //mju_mulMatMat(r,rotmore,rot,3,3,3);
+  // mju_mulMatMat(r,rotmore,rot,3,3,3);
   rotmatx(r, rot);
 
   mju_rotVecMatT(tmp1, size1, rotmore);
@@ -1190,7 +1113,7 @@ edgeedge:
     return 0;  // shouldn't happen
 
   innorm = (1 / rnorm[2]) * (in ? -1 : 1);
-  //printf("%lf\n",innorm);
+  // printf("%lf\n",innorm);
 
   for (i = 0; i < 4; i++)
   {
@@ -1200,11 +1123,10 @@ edgeedge:
 
     mju_addToScl3(points[i], rnorm, c1);
 
-    //ppts[i][0]=points[i][0];
-    //ppts[i][1]=points[i][1];
+    // ppts[i][0]=points[i][0];
+    // ppts[i][1]=points[i][1];
     ppts2[i][0] = points[i][0];
     ppts2[i][1] = points[i][1];
-
   }
 
 
@@ -1217,15 +1139,13 @@ edgeedge:
   n = 0;
 
 
-  if (m > 1)
-  {
+  if (m > 1) {
     mju_copy3(lines[k] + 0, pts[0]);
     mju_copy3(lines[k] + 3, pts[1]);
     mju_copy3(linesu[k] + 0, axi[0]);
     mju_copy3(linesu[k++] + 3, axi[1]);
   }
-  if (m > 2)
-  {
+  if (m > 2) {
     mju_copy3(lines[k] + 0, pts[0]);
     mju_copy3(lines[k] + 3, pts[2]);
     mju_copy3(linesu[k] + 0, axi[0]);
@@ -1242,19 +1162,16 @@ edgeedge:
     mju_copy3(linesu[k++] + 3, axi[1]);
   }
 
-  for (i = 0; i < k; i++)
-    for (q = 0; q < 2; q++)
-    {
+  for (i = 0; i < k; i++) {
+    for (q = 0; q < 2; q++) {
       a = lines[i][0 + q];
       b = lines[i][3 + q];
       c = lines[i][1 - q];
       d = lines[i][4 - q];
 
-
-      if (fabs(b) > mjMINVAL)
-        for (j = -1; j <= 1; j += 2)
-          if (n < mjMAXCONPAIR)
-          {
+      if (fabs(b) > mjMINVAL) {
+        for (j = -1; j <= 1; j += 2) {
+          if (n < mjMAXCONPAIR) {
             l = s[q] * j;
             c1 = (l - a) * (1 / b);
             if (c1 < 0 || c1 > 1)
@@ -1263,7 +1180,7 @@ edgeedge:
             if (fabs(c2) > s[1 - q])
               continue;
 
-            if ((linesu[i][2] + linesu[i][5]*c1)*innorm > mindist)
+            if ((linesu[i][2] + linesu[i][5]*c1)*innorm > margin)
               continue;
 
             mju_scl3(points[n], linesu[i], 0.5);
@@ -1272,10 +1189,11 @@ edgeedge:
             points[n][1 - q] += 0.5 * c2;
             depth[n] = points[n][2] * innorm * 2;
             n++;
-
           }
-
+        }
+      }
     }
+  }
 
   nl = n;
 
@@ -1285,11 +1203,8 @@ edgeedge:
   d = pts[2][1];
   c1 = a * d - b * c;
 
-
-
-  for (i = 0; i < 4; i++)
-    if (n < mjMAXCONPAIR)
-    {
+  for (i = 0; i < 4; i++) {
+    if (n < mjMAXCONPAIR) {
       llx = i / 2 ? lx : -lx;
       lly = i % 2 ? ly : -ly;
 
@@ -1299,15 +1214,10 @@ edgeedge:
       u = (x * d - y * b) * (1 / c1);
       v = (y * a - x * c) * (1 / c1);
 
-
-
-      if (nl == 0)
-      {
+      if (nl == 0) {
         if ((u < 0 || u > 1) && (v < 0 || v > 1))
           continue;
-      }
-      else
-      {
+      } else {
         if ((u < 0 || u > 1 || v < 0 || v > 1))
           continue;
       }
@@ -1334,37 +1244,32 @@ edgeedge:
 
       c1 = mju_dot3(tmp2, tmp2);
       if (tmp1[2] > 0)
-        if (c1 > mindist2)
+        if (c1 > margin2)
           continue;
 
       mju_add3(points[n], points[n], tmp1);
       mju_scl3(points[n], points[n], 0.5);
 
-      depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1);;
+      depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1);
       n++;
-
-
     }
+  }
 
   nf = n;
 
-  for (i = 0; i < 4; i++)
-    if (n < mjMAXCONPAIR)
-    {
+  for (i = 0; i < 4; i++) {
+    if (n < mjMAXCONPAIR) {
       x = ppts2[i][0];
       y = ppts2[i][1];
 
-
-      if (nl == 0)
-        if (nf == 0) {}
-        else
-        {
+      if (nl == 0) {
+        if (nf == 0) {
+        } else {
           if (x < -lx || x > lx)
             if (y < -ly || y > ly)
               continue;
         }
-      else
-      {
+      } else {
         if (x < -lx || x > lx || y < -ly || y > ly)
           continue;
       }
@@ -1378,7 +1283,7 @@ edgeedge:
       c1 += pu[i][2] * innorm * pu[i][2] * innorm;
 
       if (pu[i][2] > 0)
-        if (c1 > mindist2)
+        if (c1 > margin2)
           continue;
 
 
@@ -1386,18 +1291,19 @@ edgeedge:
       tmp1[1] = ppts2[i][1] * 0.5;
       tmp1[2] = 0;
 
-      for (j = 0; j < 2; j++)
+      for (j = 0; j < 2; j++) {
         if (ppts2[i][j] < -s[j])
           tmp1[j] = -s[j] * 0.5;
         else if (ppts2[i][j] > s[j])
           tmp1[j] = +s[j] * 0.5;
+      }
       mju_addToScl3(tmp1, pu[i], 0.5);
       mju_copy3(points[n], tmp1);
 
       depth[n] = sqrt(c1) * (pu[i][2] < 0 ? -1 : 1);
       n++;
-
     }
+  }
 
   mju_mulMatMatT(r, mat1, rotmore, 3, 3, 3);
 
@@ -1407,8 +1313,7 @@ edgeedge:
   mju_zero3(con[0].frame + 3);
 
 
-  for (i = 0; i < n; i++)
-  {
+  for (i = 0; i < n; i++) {
     con[i].dist = depth[i];
     points[i][2] += hz;
 
@@ -1417,11 +1322,8 @@ edgeedge:
     mju_add3(con[i].pos, tmp2, pos1);
 
     mju_copy(con[i].frame, con[0].frame, 6);
-
   }
 
-
-
   return n;
 
 #undef rotaxis
diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index 0277c632..8af3dea1 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -183,10 +183,11 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
     }
 
     // copy best vertex
-    else
+    else {
       for (int i=0; i<3; i++) {
         res[i] = (mjtNum)vertdata[3*ibest + i];
       }
+    }
     break;
 
   default:
@@ -295,10 +296,9 @@ int mjc_Convex(const mjModel* m, const mjData* d,
   int ncon = mjc_MPRIteration(&obj1, &obj2, &ccd, m, d, con, g1, g2, margin);
 
   // look for additional contacts
-  if (ncon && mjENABLED(mjENBL_MULTICCD) // TODO(tassa) leave as bitflag or make geom attribute (?)
+  if (ncon && mjENABLED(mjENBL_MULTICCD)  // TODO(tassa) leave as bitflag or make geom attribute (?)
       && m->geom_type[g1] != mjGEOM_ELLIPSOID && m->geom_type[g1] != mjGEOM_SPHERE
       && m->geom_type[g2] != mjGEOM_ELLIPSOID && m->geom_type[g2] != mjGEOM_SPHERE) {
-
     // multiCCD parameters
     const mjtNum relative_tolerance = 1e-3;
     const mjtNum perturbation_angle = 1e-3;
@@ -614,10 +614,10 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
   }
 
   // box-sphere test in: vertical direction
-  if (size1[2] < pos[2]-r2-margin) {  // up
+  if (size1[2] < pos[2]-r2-margin) {   // up
     return 0;
   }
-  if (-size1[3] > pos[2]+r2+margin) { // down
+  if (-size1[3] > pos[2]+r2+margin) {  // down
     return 0;
   }
 
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 34eeaaa2..f148c6fc 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -34,7 +34,6 @@
 
 // table of pair-wise collision functions
 mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
-
   /*               PLANE  HFIELD  SPHERE              CAPSULE             ELLIPSOID           CYLINDER            BOX                 MESH      */
   /*PLANE     */  {0,     0,      mjc_PlaneSphere,    mjc_PlaneCapsule,   mjc_PlaneConvex,    mjc_PlaneCylinder,  mjc_PlaneBox,       mjc_PlaneConvex},
   /*HFIELD    */  {0,     0,      mjc_ConvexHField,   mjc_ConvexHField,   mjc_ConvexHField,   mjc_ConvexHField,   mjc_ConvexHField,   mjc_ConvexHField},
@@ -44,7 +43,6 @@ mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
   /*CYLINDER  */  {0,     0,      0,                  0,                  0,                  mjc_Convex,         mjc_Convex,         mjc_Convex},
   /*BOX       */  {0,     0,      0,                  0,                  0,                  0,                  mjc_BoxBox,         mjc_Convex},
   /*MESH      */  {0,     0,      0,                  0,                  0,                  0,                  0,                  mjc_Convex}
-
 };
 
 
@@ -146,10 +144,11 @@ void mj_collision(const mjModel* m, mjData* d) {
     }
 
     // finish merging predefined pairs
-    if (npair && m->opt.collision==mjCOL_ALL)
+    if (npair && m->opt.collision==mjCOL_ALL) {
       while (pairadr<npair) {
         mj_collideGeoms(m, d, pairadr++, -1, 0, 0);
       }
+    }
   }
 
   mjFREESTACK;
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 12bd67bc..c725bc4e 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -145,12 +145,14 @@ int mj_addConstraint(const mjModel* m, mjData* d,
   // dense: copy entire Jacobian
   if (!mj_isSparse(m)) {
     // make sure jac is not empty
-    if (empty)
-      for (int i=0; i<size*nv; i++)
+    if (empty) {
+      for (int i=0; i<size*nv; i++) {
         if (jac[i]) {
           empty = 0;
           break;
         }
+      }
+    }
 
     // copy if not empty
     if (!empty) {
@@ -506,11 +508,11 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
           deriv = data[1] + 2*data[2]*dif + 3*data[3]*dif*dif + 4*data[4]*dif*dif*dif;
 
           // compute Jacobian: sparse or dense
-          if (issparse)
+          if (issparse) {
             NV = mju_combineSparse(jac[0], jac[1], nv, 1, -deriv,
                                    NV, NV2, chain, chain2,
                                    sparse_buf, buf_ind);
-          else {
+          } else {
             mju_addToScl(jac[0], jac[1], -deriv, nv);
           }
         }
@@ -948,7 +950,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
         dA[i] = m->body_invweight0[2*b1] + m->body_invweight0[2*b2];
         break;
 
-      case mjEQ_WELD: // distingush translation and rotation inertia
+      case mjEQ_WELD:  // distingush translation and rotation inertia
         // body translation or rotation depending on weldcnt
         b1 = m->eq_obj1id[id];
         b2 = m->eq_obj2id[id];
@@ -1117,7 +1119,7 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
   case mjCNSTR_EQUALITY:
     if (m->eq_type[id]==mjEQ_WELD) {
       *dim = 6;
-      *pos = mju_norm(d->efc_pos+i, 6); // mixes translation and rotation!
+      *pos = mju_norm(d->efc_pos+i, 6);  // mixes translation and rotation!
     } else if (m->eq_type[id]==mjEQ_CONNECT) {
       *dim = 3;
       *pos = mju_norm(d->efc_pos+i, 3);
diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h
index 27cc0c7c..b7d16845 100644
--- a/src/engine/engine_core_constraint.h
+++ b/src/engine/engine_core_constraint.h
@@ -63,10 +63,10 @@ int mj_addConstraint(const mjModel* m, mjData* d,
                      int size, int type, int id, int NV, const int* chain);
 
 // merge dof chains for two bodies
-int mj_mergeChain(const mjModel* m, int* dofid, int b1, int b2);
+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* dofid, int b1, int b2);
+int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
 
 
 //-------------------------- constraint instantiation ----------------------------------------------
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index a05a3947..c8c88907 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -178,7 +178,6 @@ void mj_kinematics(const mjModel* m, mjData* d) {
 
 // map inertias and motion dofs to global frame centered at subtree-CoM
 void mj_comPos(const mjModel* m, mjData* d) {
-
   mjtNum offset[3], axis[3];
   mjMARKSTACK;
   mjtNum* mass_subtree = mj_stackAlloc(d, m->nbody);
@@ -538,7 +537,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
       }
 
       // accumulate moments if consequtive points are in different bodies
-      for (int k=0; k<(wlen<0 ? 1:3); k++) {
+      for (int k=0; k<(wlen<0 ? 1 : 3); k++) {
         if (wbody[k]!=wbody[k+1]) {
           // get 3D position difference, normalize
           mju_sub3(dif, wpnt+3*k+3, wpnt+3*k);
@@ -787,7 +786,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
       break;
 
     default:
-      mju_error_i("Unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
+      mju_error_i("Unknown transmission type %d", m->actuator_trntype[i]);  // SHOULD NOT OCCUR
     }
   }
 
@@ -1429,9 +1428,9 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
     mju_zero(wind, 6);
     mju_copy3(wind+3, m->opt.wind);
     mju_transformSpatial(lwind, wind, 0,
-                         d->geom_xpos + 3*geomid, // Frame of ref's origin.
+                         d->geom_xpos + 3*geomid,  // Frame of ref's origin.
                          d->subtree_com + 3*m->body_rootid[bodyid],
-                         d->geom_xmat + 9*geomid); // Frame of ref's orientation.
+                         d->geom_xmat + 9*geomid);  // Frame of ref's orientation.
 
     // subtract translational component from grom velocity
     mju_subFrom3(lvel+3, lwind+3);
@@ -1455,7 +1454,7 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
 
     // apply force and torque to body com
     mj_applyFT(m, d, bfrc+3, bfrc,
-               d->geom_xpos + 3*geomid, // point where FT is generated
+               d->geom_xpos + 3*geomid,  // point where FT is generated
                bodyid, d->qfrc_passive);
   }
 }
@@ -1798,7 +1797,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
 
       // body 1
       if ((k = m->eq_obj1id[id])) {
-
         // transform connect point on body1: local -> global
         mju_rotVecMat(pos, eq_data, d->xmat+9*k);
         mju_addTo3(pos, d->xpos+3*k);
@@ -1812,7 +1810,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
 
       // body 2
       if ((k = m->eq_obj2id[id])) {
-
         // transform connect point on body2: local -> global
         mju_rotVecMat(pos, eq_data + 3, d->xmat+9*k);
         mju_addTo3(pos, d->xpos+3*k);
@@ -1836,7 +1833,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
 
       // body 1
       if ((k = m->eq_obj1id[id])) {
-
         // transform weld point on body1: local -> global
         mju_rotVecMat(pos, eq_data, d->xmat+9*k);
         mju_addTo3(pos, d->xpos+3*k);
@@ -1850,7 +1846,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
 
       // body 2
       if ((k = m->eq_obj2id[id])) {
-
         // weld force on body2 is always applied at body root
         mju_copy3(pos, d->xpos+3*k);
 
diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c
index d5c2cbe3..29b84fa6 100644
--- a/src/engine/engine_derivative.c
+++ b/src/engine/engine_derivative.c
@@ -345,7 +345,7 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
   }
 
   // use selected integrator
-  switch(m->opt.integrator) {
+  switch (m->opt.integrator) {
     case mjINT_EULER:
       mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
       break;
@@ -573,7 +573,6 @@ static void addJTBJSparse(mjtNum* DfDv, const mjtNum* J, const mjtNum* B,
   for (int i=0; i<n; i++) {
     for (int j=0; j<n; j++) {
       if (B[i*n+j]) {
-
         // process non-zero elements of J(i,k)
         for (int k=0; k<rownnz[offset+i]; k++) {
           int ik = rowadr[offset+i] + k;
@@ -660,7 +659,7 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
   }
 
   // compute FVL and scale, make it negative
-  return -force*FL*dFV/mjMAX(mjMINVAL,L0*vmax);
+  return -force*FL*dFV/mjMAX(mjMINVAL, L0*vmax);
 }
 
 
@@ -758,7 +757,7 @@ static void mjd_addedMassForces(
     mjtNum* restrict B, const mjtNum local_vels[6], const mjtNum fluid_density,
     const mjtNum virtual_mass[3], const mjtNum virtual_inertia[3]) {
   const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
-  const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};;
+  const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
   const mjtNum virtual_lin_mom[3] = {
     fluid_density * virtual_mass[0] * lin_vel[0],
     fluid_density * virtual_mass[1] * lin_vel[1],
@@ -1057,9 +1056,9 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, mjtNum* DfDv, int bodyid) {
     mju_zero(wind, 6);
     mju_copy3(wind+3, m->opt.wind);
     mju_transformSpatial(lwind, wind, 0,
-                         d->geom_xpos + 3*geomid, // Frame of ref's origin.
+                         d->geom_xpos + 3*geomid,  // Frame of ref's origin.
                          d->subtree_com + 3*m->body_rootid[bodyid],
-                         d->geom_xmat + 9*geomid); // Frame of ref's orientation.
+                         d->geom_xmat + 9*geomid);  // Frame of ref's orientation.
     // subtract translational component from grom velocity
     mju_subFrom3(lvel+3, lwind+3);
 
@@ -1484,10 +1483,10 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
   mjMARKSTACK;
 
   // states
-  mjtNum *state      = mj_stackAlloc(d, nq+nv+na); // current state
-  mjtNum *next       = mj_stackAlloc(d, nq+nv+na); // next state
-  mjtNum *next_plus  = mj_stackAlloc(d, nq+nv+na); // forward-nudged next state
-  mjtNum *next_minus = mj_stackAlloc(d, nq+nv+na); // backward-nudged next state
+  mjtNum *state      = mj_stackAlloc(d, nq+nv+na);  // current state
+  mjtNum *next       = mj_stackAlloc(d, nq+nv+na);  // next state
+  mjtNum *next_plus  = mj_stackAlloc(d, nq+nv+na);  // forward-nudged next state
+  mjtNum *next_minus = mj_stackAlloc(d, nq+nv+na);  // backward-nudged next state
 
   // warmstart accelerations
   mjtNum *warmstart = mjDISABLED(mjDSBL_WARMSTART) ? NULL : mj_stackAlloc(d, nv);
@@ -1567,7 +1566,6 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
   // finite-difference activations: skip=mjSTAGE_VEL
   if (DyDa || DsDa) {
     for (int i=0; i<na; i++) {
-
       // nudge forward
       d->act[i] += eps;
 
diff --git a/src/engine/engine_derivative.h b/src/engine/engine_derivative.h
index ee989571..801a5dc0 100644
--- a/src/engine/engine_derivative.h
+++ b/src/engine/engine_derivative.h
@@ -47,4 +47,4 @@ MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte cen
 }
 #endif
 
-#endif // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
diff --git a/src/engine/engine_file.c b/src/engine/engine_file.c
index 37af691f..dbbf9b75 100644
--- a/src/engine/engine_file.c
+++ b/src/engine/engine_file.c
@@ -35,7 +35,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
   }
 
   // ensure file size fits in int
-  long long_filesize = ftell(fp);
+  long long_filesize = ftell(fp);  // NOLINT(runtime/int)
   if (long_filesize > INT_MAX) {
     fclose(fp);
     mju_warning_s("File size over 2GB is not supported. File: '%s'", filename);
@@ -62,7 +62,7 @@ void* mju_fileToMemory(const char* filename, int* filesize) {
   size_t bytes_read = fread(buffer, 1, *filesize, fp);
 
   // check that read data matches file size
-  if (bytes_read != *filesize) { // SHOULD NOT OCCUR
+  if (bytes_read != *filesize) {  // SHOULD NOT OCCUR
     if (ferror(fp)) {
       fclose(fp);
       mju_free(buffer);
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 2d606ef7..ebefa47e 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -485,7 +485,6 @@ static void mj_advance(const mjModel* m, mjData* d,
 
 // Euler integrator, semi-implicit in velocity, possibly skipping factorisation
 void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
-
   int i, nv = m->nv, nM = m->nM;
   mjMARKSTACK;
   mjtNum* qfrc = mj_stackAlloc(d, nv);
@@ -755,7 +754,7 @@ void mj_step(const mjModel* m, mjData* d) {
   }
 
   // use selected integrator
-  switch(m->opt.integrator) {
+  switch (m->opt.integrator) {
     case mjINT_EULER:
       mj_Euler(m, d);
       break;
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 019b09d5..f6023c8b 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1181,7 +1181,6 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
 
 // validate reference fields in a model; return null if valid, error message otherwise
 const char* mj_validateReferences(const mjModel* m) {
-
   // for each field in mjModel that refers to another field, call X with:
   //   adrarray: array containing the references
   //   nadrs:    number of elements in refarray
diff --git a/src/engine/engine_macro.h b/src/engine/engine_macro.h
index 32dd74be..4e48ca89 100644
--- a/src/engine/engine_macro.h
+++ b/src/engine/engine_macro.h
@@ -15,7 +15,7 @@
 #ifndef MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
 #define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
 
-#include "engine/engine_callback.h"
+#include "engine/engine_callback.h"  // IWYU pragma: export
 
 //-------------------------------- utility macros --------------------------------------------------
 
@@ -28,8 +28,8 @@
 #define mjENABLED(x)  (m->opt.enableflags & (x))
 
 // max and min macros
-#define mjMAX(a,b)    (((a) > (b)) ? (a) : (b))
-#define mjMIN(a,b)    (((a) < (b)) ? (a) : (b))
+#define mjMAX(a, b)    (((a) > (b)) ? (a) : (b))
+#define mjMIN(a, b)    (((a) < (b)) ? (a) : (b))
 
 
 //-------------------------- timer macros ----------------------------------------------------------
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index b33222f5..4517a3ce 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -224,7 +224,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
 
   // sizes
 #define X( name )                                 \
-  if(m->name) {                                   \
+  if (m->name) {                                  \
     fprintf(fp, NAME_FORMAT, #name);              \
     fprintf(fp, INT_FORMAT "\n", m->name);        \
   }
@@ -789,7 +789,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
   if (active_timers) {
     fprintf(fp, "TIMER\n");
     for (int i=0; i<mjNTIMER; i++) {
-      fprintf(fp, "    %d:  duration = ",i);
+      fprintf(fp, "    %d:  duration = ", i);
       fprintf(fp, float_format, d->timer[i].duration);
       fprintf(fp, "   number = %d\n", d->timer[i].number);
     }
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index dddb3f8c..463f1aa3 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -47,7 +47,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
 
       // real or positive: add noise directly, with clamp for positive
       if (m->sensor_datatype[i]==mjDATATYPE_REAL ||
-          m->sensor_datatype[i]==mjDATATYPE_POSITIVE)
+          m->sensor_datatype[i]==mjDATATYPE_POSITIVE) {
         for (int j=0; j<dim; j++) {
           // get random numbers; use only the first one
           rnd[0] = mju_standardNormal(rnd+1);
@@ -65,6 +65,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
             d->sensordata[adr+j] += rnd[0]*noise;
           }
         }
+      }
 
       // axis or quat: rotate around random axis by random angle
       else {
@@ -114,7 +115,6 @@ static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
 
       // process all dimensions
       for (int j=0; j<dim; j++) {
-
         // real: apply on both sides
         if (m->sensor_datatype[i]==mjDATATYPE_REAL) {
           d->sensordata[adr+j] = mju_clip(d->sensordata[adr+j], -cutoff, cutoff);
diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
index f4bb6816..1b01cf37 100644
--- a/src/engine/engine_util_errmem.c
+++ b/src/engine/engine_util_errmem.c
@@ -102,15 +102,24 @@ void _mjPRIVATE__set_tls_warning_fn(callback_fn h) {
 // write datetime, type: message to MUJOCO_LOG.TXT
 void mju_writeLog(const char* type, const char* msg) {
   time_t rawtime;
-  struct tm *timeinfo;
+  struct tm timeinfo;
   FILE* fp = fopen("MUJOCO_LOG.TXT", "a+t");
   if (fp) {
     // get time
     time(&rawtime);
-    timeinfo = localtime(&rawtime);
+
+#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__)
+    localtime_r(&rawtime, &timeinfo);
+#elif _MSC_VER
+    localtime_s(&timeinfo, &rawtime);
+#elif __STDC_LIB_EXT1__
+    localtime_s(&rawtime, &timeinfo);
+#else
+    #error "Thread-safe version of `localtime` is not present in the standard C library"
+#endif
 
     // write to log file
-    fprintf(fp, "%s%s: %s\n\n", asctime(timeinfo), type, msg);
+    fprintf(fp, "%s%s: %s\n\n", asctime(&timeinfo), type, msg);
     fclose(fp);
   }
 }
@@ -151,7 +160,7 @@ void mju_warning(const char* msg) {
 // error with int argument
 void mju_error_i(const char* msg, int i) {
   char errmsg[1000];
-  snprintf(errmsg, 1000, msg, i);
+  snprintf(errmsg, sizeof(errmsg), msg, i);
   errmsg[999] = '\0';
   mju_error(errmsg);
 }
@@ -160,7 +169,7 @@ void mju_error_i(const char* msg, int i) {
 // warning with int argument
 void mju_warning_i(const char* msg, int i) {
   char wrnmsg[1000];
-  snprintf(wrnmsg, 1000, msg, i);
+  snprintf(wrnmsg, sizeof(wrnmsg), msg, i);
   wrnmsg[999] = '\0';
   mju_warning(wrnmsg);
 }
@@ -169,7 +178,7 @@ void mju_warning_i(const char* msg, int i) {
 // error string argument
 void mju_error_s(const char* msg, const char* text) {
   char errmsg[1000];
-  snprintf(errmsg, 1000, msg, text);
+  snprintf(errmsg, sizeof(errmsg), msg, text);
   errmsg[999] = '\0';
   mju_error(errmsg);
 }
@@ -178,7 +187,7 @@ void mju_error_s(const char* msg, const char* text) {
 // warning string argument
 void mju_warning_s(const char* msg, const char* text) {
   char wrnmsg[1000];
-  snprintf(wrnmsg, 1000, msg, text);
+  snprintf(wrnmsg, sizeof(wrnmsg), msg, text);
   wrnmsg[999] = '\0';
   mju_warning(wrnmsg);
 }
diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c
index d9c2d210..fa6dac89 100644
--- a/src/engine/engine_util_solve.c
+++ b/src/engine/engine_util_solve.c
@@ -18,7 +18,6 @@
 #include <string.h>
 
 #include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
 #include "engine/engine_io.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_util_blas.h"
@@ -116,13 +115,15 @@ int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus) {
       mat[k*(n+1)] = r;
 
       // update mat
-      if (flg_plus)
+      if (flg_plus) {
         for (int i=k+1; i<n; i++) {
           mat[i*n+k] = (mat[i*n+k] + s*x[i])*cinv;
-        } else
+        }
+      } else {
         for (int i=k+1; i<n; i++) {
           mat[i*n+k] = (mat[i*n+k] - s*x[i])*cinv;
         }
+      }
 
       // update x
       for (int i=k+1; i<n; i++) {
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 500d0ba9..71a6d981 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -262,16 +262,19 @@ void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
                          const int* colind, const int* rowsuper) {
   // no supernodes, or no AVX
 #ifdef mjUSEAVX
-  if (!rowsuper)
+  if (!rowsuper) {
 #endif
-  {
+
     // regular sparse dot-product
     for (int r=0; r<nr; r++) {
       res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
     }
 
     return;
+
+#ifdef mjUSEAVX
   }
+#endif
 
   // regular or supernode
   for (int r=0; r<nr; r++) {
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index d05eb805..113a89e9 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -32,7 +32,9 @@
 
 //----------------------------- utility functions and macros ---------------------------------------
 
-static const mjtNum IDENTITY[9] = {1,0,0, 0,1,0, 0,0,1};
+static const mjtNum IDENTITY[9] = {1, 0, 0,
+                                   0, 1, 0,
+                                   0, 0, 1};
 
 
 // copy float array
@@ -64,16 +66,18 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
 
 
 // return if there is no space in buffer
-#define START                                                           \
-    if( scn->ngeom>=scn->maxgeom )                                      \
-         { mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);               \
-           return; }                                                    \
-    else { thisgeom = scn->geoms + scn->ngeom;                          \
-           mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); \
-           thisgeom->objtype = objtype;                                 \
-           thisgeom->objid = i;                                         \
-           thisgeom->category = category;                               \
-           thisgeom->segid = scn->ngeom;    }
+#define START                                                      \
+    if ( scn->ngeom>=scn->maxgeom ) {                              \
+      mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);               \
+      return;                                                      \
+    } else {                                                       \
+      thisgeom = scn->geoms + scn->ngeom;                          \
+      mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); \
+      thisgeom->objtype = objtype;                                 \
+      thisgeom->objid = i;                                         \
+      thisgeom->category = category;                               \
+      thisgeom->segid = scn->ngeom;                                \
+    }
 
 
 // advance counter
@@ -327,29 +331,30 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
   geom->type = type;
 
   // set size (for XYZ scaling)
-  if (size)
+  if (size) {
     switch (type) {
-    case mjGEOM_SPHERE:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[0];
-      break;
+      case mjGEOM_SPHERE:
+        geom->size[0] = (float)size[0];
+        geom->size[1] = (float)size[0];
+        geom->size[2] = (float)size[0];
+        break;
 
-    case mjGEOM_CAPSULE:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
-      break;
+      case mjGEOM_CAPSULE:
+        geom->size[0] = (float)size[0];
+        geom->size[1] = (float)size[0];
+        geom->size[2] = (float)size[1];
+        break;
 
-    case mjGEOM_CYLINDER:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
-      break;
+      case mjGEOM_CYLINDER:
+        geom->size[0] = (float)size[0];
+        geom->size[1] = (float)size[0];
+        geom->size[2] = (float)size[1];
+        break;
 
-    default:
-      mju_n2f(geom->size, size, 3);
-    } else {
+      default:
+        mju_n2f(geom->size, size, 3);
+    }
+  } else {
     geom->size[0] = 0.1f;
     geom->size[1] = 0.1f;
     geom->size[2] = 0.1f;
@@ -838,7 +843,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         if (m->actuator_trntype[i]==mjTRN_JOINT ||
             m->actuator_trntype[i]==mjTRN_JOINTINPARENT ||
             m->actuator_trntype[i]==mjTRN_SITE) {
-
           START
 
           // site actuators
@@ -1355,8 +1359,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   // slider-crank
   objtype = mjOBJ_ACTUATOR;
   category = mjCAT_DYNAMIC;
-  if ((category & catmask))
-    for (int i=0; i<m->nu; i++)
+  if ((category & catmask)) {
+    for (int i=0; i<m->nu; i++) {
       if (m->actuator_trntype[i]==mjTRN_SLIDERCRANK) {
         // get data
         int j = m->actuator_trnid[2*i];                 // crank
@@ -1404,6 +1408,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         }
         FINISH
       }
+    }
+  }
 
   // center of mass for root bodies
   objtype = mjOBJ_UNKNOWN;
@@ -1778,7 +1784,6 @@ void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
 
 // update visible skins only
 void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
-
   // process skins
   for (int i=0; i<m->nskin; i++) {
     // get info
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index ed02a45a..95f8a375 100644
--- a/src/user/user_util.cc
+++ b/src/user/user_util.cc
@@ -20,6 +20,7 @@
 #include <limits>
 #include <string>
 
+#include <mujoco/mjtnum.h>
 #include "engine/engine_macro.h"
 
 using std::isnan;