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Miscellaneous linting in src/engine.

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PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
This commit is contained in:
Saran Tunyasuvunakool
2022-07-21 10:16:08 -07:00
committed by Copybara-Service
parent eef473b1e1
commit b849023069
19 changed files with 329 additions and 416 deletions
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src/engine/engine_collision_convex.c
+5 -5
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@@ -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;
}