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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_vis_visualize.c
+39 -34
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@@ -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