Miscellaneous linting in src/engine.

PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d

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;
   }
 

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;

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)
+    if (empty) {
-      for (int i=0; i<size*nv; i++)
+      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);

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 ----------------------------------------------

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);
 

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 *state      = mj_stackAlloc(d, nq+nv+na);  // current state
-  mjtNum *next       = mj_stackAlloc(d, nq+nv+na); // next 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_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 *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;
 

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_

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);

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;

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

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 mjMAX(a, b)    (((a) > (b)) ? (a) : (b))
-#define mjMIN(a,b)    (((a) < (b)) ? (a) : (b))
+#define mjMIN(a, b)    (((a) < (b)) ? (a) : (b))
 
 
 //-------------------------- timer macros ----------------------------------------------------------

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);
     }

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);

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);
 }

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++) {

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++) {

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                                                           \
+#define START                                                      \
-    if( scn->ngeom>=scn->maxgeom )                                      \
+    if ( scn->ngeom>=scn->maxgeom ) {                              \
-         { mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);               \
+      mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);               \
-           return; }                                                    \
+      return;                                                      \
-    else { thisgeom = scn->geoms + scn->ngeom;                          \
+    } else {                                                       \
-           mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); \
+      thisgeom = scn->geoms + scn->ngeom;                          \
-           thisgeom->objtype = objtype;                                 \
+      mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); \
-           thisgeom->objid = i;                                         \
+      thisgeom->objtype = objtype;                                 \
-           thisgeom->category = category;                               \
+      thisgeom->objid = i;                                         \
-           thisgeom->segid = scn->ngeom;    }
+      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:
+      case mjGEOM_SPHERE:
-      geom->size[0] = (float)size[0];
+        geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
+        geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[0];
+        geom->size[2] = (float)size[0];
-      break;
+        break;
 
-    case mjGEOM_CAPSULE:
+      case mjGEOM_CAPSULE:
-      geom->size[0] = (float)size[0];
+        geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
+        geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
+        geom->size[2] = (float)size[1];
-      break;
+        break;
 
-    case mjGEOM_CYLINDER:
+      case mjGEOM_CYLINDER:
-      geom->size[0] = (float)size[0];
+        geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
+        geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
+        geom->size[2] = (float)size[1];
-      break;
+        break;
 
-    default:
+      default:
-      mju_n2f(geom->size, size, 3);
+        mju_n2f(geom->size, size, 3);
-    } else {
+    }
+  } 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))
+  if ((category & catmask)) {
-    for (int i=0; i<m->nu; i++)
+    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

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;