chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Miscellaneous linting in src/engine.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_smooth.c
+5 -10
View File
@@ -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);