diff --git a/src/render/render_context.c b/src/render/render_context.c
index 6930302f..a1b1fd07 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -62,7 +62,7 @@ static void listAllocate(GLuint* base, GLsizei* range, GLsizei newrange) {
   *range = newrange;
   if (newrange) {
     *base = glGenLists(*range);
-    if (*base<=0) {
+    if (*base <= 0) {
       mju_error("Could not allocate display lists");
     }
   }
@@ -79,8 +79,8 @@ static void makePlane(const mjModel* m, mjrContext* con) {
 
   // count planes
   nplane = 0;
-  for (int i=0; i<m->ngeom; i++) {
-    if (m->geom_type[i]==mjGEOM_PLANE) {
+  for (int i=0; i < m->ngeom; i++) {
+    if (m->geom_type[i] == mjGEOM_PLANE) {
       nplane++;
     }
   }
@@ -93,8 +93,8 @@ static void makePlane(const mjModel* m, mjrContext* con) {
   glBegin(GL_QUADS);
   glNormal3d(0, 0, 1);
   double d = 2.0/m->vis.quality.numquads;
-  for (int x=0; x<m->vis.quality.numquads; x++) {
-    for (int y=0; y<m->vis.quality.numquads; y++) {
+  for (int x=0; x < m->vis.quality.numquads; x++) {
+    for (int y=0; y < m->vis.quality.numquads; y++) {
       glVertex3d(d*(x+0)-1, d*(y+0)-1, 0);
       glVertex3d(d*(x+1)-1, d*(y+0)-1, 0);
       glVertex3d(d*(x+1)-1, d*(y+1)-1, 0);
@@ -106,16 +106,16 @@ static void makePlane(const mjModel* m, mjrContext* con) {
 
   // construct planes, offset by 1
   nplane = 0;
-  for (int i=0; i<m->ngeom; i++) {
-    if (m->geom_type[i]==mjGEOM_PLANE) {
+  for (int i=0; i < m->ngeom; i++) {
+    if (m->geom_type[i] == mjGEOM_PLANE) {
       // get sizes
       sz[0] = m->geom_size[3*i];
       sz[1] = m->geom_size[3*i+1];
 
       // loop over (x, y)
-      for (int k=0; k<2; k++) {
+      for (int k=0; k < 2; k++) {
         // regular dimension
-        if (sz[k]>0) {
+        if (sz[k] > 0) {
           // limit number of grid lines, leave room for padding
           sz2 = mju_max(m->geom_size[3*i+2], sz[k]/(mjMAXPLANEGRID-2));
 
@@ -128,14 +128,14 @@ static void makePlane(const mjModel* m, mjrContext* con) {
           nn[k] += 2;
 
           // make grid
-          for (int x=0; x<nn[k]; x++) {
+          for (int x=0; x < nn[k]; x++) {
             // compute left, right (which is bottom, top for y)
-            if (x==0) {
+            if (x == 0) {
               left = -sz[k];
               right = left + pad;
             } else {
               left = -sz[k] + pad + (x-1)*sz2*2;
-              right = left + (x==nn[k]-1 ? pad : sz2*2);
+              right = left + (x == nn[k]-1 ? pad : sz2*2);
             }
 
             // record
@@ -149,7 +149,7 @@ static void makePlane(const mjModel* m, mjrContext* con) {
           // get size increment
           mjtNum sX;
           int matid = m->geom_matid[i];
-          if (matid>=0 && m->mat_texrepeat[2*matid+k]>0) {
+          if (matid >= 0 && m->mat_texrepeat[2*matid+k] > 0) {
             sX = 2/m->mat_texrepeat[2*matid+k];
           } else {
             sX = 2.1*zfar/(mjMAXPLANEGRID-2);
@@ -157,7 +157,7 @@ static void makePlane(const mjModel* m, mjrContext* con) {
 
           // create grid, larger than skybox
           d = (2.1*zfar + 2*sX)/mjMAXPLANEGRID;
-          for (int x=0; x<=mjMAXPLANEGRID; x++) {
+          for (int x=0; x <= mjMAXPLANEGRID; x++) {
             grid[k][x] = d*x - d*(mjMAXPLANEGRID/2);
           }
 
@@ -172,8 +172,8 @@ static void makePlane(const mjModel* m, mjrContext* con) {
       glNormal3d(0, 0, 1);
 
       // make grid
-      for (int x=0; x<nn[0]; x++) {
-        for (int y=0; y<nn[1]; y++) {
+      for (int x=0; x < nn[0]; x++) {
+        for (int y=0; y < nn[1]; y++) {
           glVertex3d(grid[0][x+0], grid[1][y+0], 0);
           glVertex3d(grid[0][x+1], grid[1][y+0], 0);
           glVertex3d(grid[0][x+1], grid[1][y+1], 0);
@@ -199,7 +199,7 @@ static void makeMesh(const mjModel* m, mjrContext* con) {
   listAllocate(&con->baseMesh, &con->rangeMesh, 2*m->nmesh);
 
   // process meshes
-  for (int i=0; i<m->nmesh; i++) {
+  for (int i=0; i < m->nmesh; i++) {
     mjr_uploadMesh(m, con, i);
   }
 }
@@ -212,7 +212,7 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
   float normal[3], *v1, *v2, *v3, *n1, *n2, *n3, *t1, *t2, *t3;
 
   // check index
-  if (meshid<0 || meshid>=m->nmesh) {
+  if (meshid < 0 || meshid >= m->nmesh) {
     mju_error("Invalid mesh index %d", meshid);
   }
 
@@ -241,7 +241,7 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
     n3 = m->mesh_normal + 3*(m->mesh_facenormal[3*face+2] + normaladr);
 
     // compute texcoord addresses
-    if (texcoordadr>=0) {
+    if (texcoordadr >= 0) {
       t1 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face]   + texcoordadr);
       t2 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+1] + texcoordadr);
       t3 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+2] + texcoordadr);
@@ -296,14 +296,14 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
   glEndList();
 
   // render convex hull if present
-  if (m->mesh_graphadr[meshid]>=0) {
+  if (m->mesh_graphadr[meshid] >= 0) {
     // get sizes of convex hull
     numvert = m->mesh_graph[m->mesh_graphadr[meshid]];
     numface = m->mesh_graph[m->mesh_graphadr[meshid]+1];
 
     glNewList(con->baseMesh + 2*meshid+1, GL_COMPILE);
     glBegin(GL_TRIANGLES);
-    for (int face=0; face<numface; face++) {
+    for (int face=0; face < numface; face++) {
       // face address in graph
       int j = m->mesh_graphadr[meshid] + 2 + 3*numvert + 3*numface + 3*face;
 
@@ -313,7 +313,7 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
       v3 = m->mesh_vert + 3*(m->mesh_graph[j+2] + vertadr);
 
       // compute texcoord addresses
-      if (texcoordadr>=0) {
+      if (texcoordadr >= 0) {
         t1 = m->mesh_texcoord + 2*(m->mesh_graph[j]   + texcoordadr);
         t2 = m->mesh_texcoord + 2*(m->mesh_graph[j+1] + texcoordadr);
         t3 = m->mesh_texcoord + 2*(m->mesh_graph[j+2] + texcoordadr);
@@ -364,7 +364,7 @@ static void addVert(float x, float y, float z, float sclz, struct vertbuf* buf)
   buf->nvert++;
 
   // triangle ready
-  if (buf->nvert>=3) {
+  if (buf->nvert >= 3) {
     // compensate for alternating orientation
     if (buf->nvert%2) {
       mjr_makeNormal(normal, buf->vert1, buf->vert2, buf->vert3);
@@ -390,7 +390,7 @@ static void makeHField(const mjModel* m, mjrContext* con) {
   listAllocate(&con->baseHField, &con->rangeHField, m->nhfield);
 
   // uploaed all heightfields
-  for (int i=0; i<m->nhfield; i++) {
+  for (int i=0; i < m->nhfield; i++) {
     mjr_uploadHField(m, con, i);
   }
 }
@@ -405,7 +405,7 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
   float* data;
 
   // check index
-  if (hfieldid<0 || hfieldid>=m->nhfield) {
+  if (hfieldid < 0 || hfieldid >= m->nhfield) {
     mju_error("Invalid height field index %d", hfieldid);
   }
 
@@ -421,7 +421,7 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
   height = 0.5f * (m->hfield_nrow[hfieldid]-1);
 
   // convert size to float
-  for (int r=0; r<4; r++) {
+  for (int r=0; r < 4; r++) {
     sz[r] = (float)m->hfield_size[4*hfieldid+r];
   }
 
@@ -429,9 +429,9 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
   glBegin(GL_TRIANGLES);
   int nr = m->hfield_nrow[hfieldid];
   int nc = m->hfield_ncol[hfieldid];
-  for (int r=0; r<nr-1; r++) {
+  for (int r=0; r < nr-1; r++) {
     buf.nvert = 0;
-    for (int c=0; c<nc; c++) {
+    for (int c=0; c < nc; c++) {
       addVert(sz[0]*(c/width-1.0f), sz[1]*((r+d1)/height-1.0f), data[(r+d1)*nc+c], sz[2], &buf);
       addVert(sz[0]*(c/width-1.0f), sz[1]*((r+d2)/height-1.0f), data[(r+d2)*nc+c], sz[2], &buf);
     }
@@ -440,7 +440,7 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
 
   // render sides as quads
   glBegin(GL_QUADS);
-  for (int r=0; r<nr-1; r++) {
+  for (int r=0; r < nr-1; r++) {
     // left
     glNormal3f(-1, 0, 0);
     glVertex3f(-sz[0], sz[1]*((r+1)/height-1.0f), -sz[3]);
@@ -456,7 +456,7 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
     glVertex3f(+sz[0], sz[1]*((r+0)/height-1.0f), data[(r+0)*nc + nc-1]*sz[2]);
   }
 
-  for (int c=0; c<nc-1; c++) {
+  for (int c=0; c < nc-1; c++) {
     // front
     glNormal3f(0, -1, 0);
     glVertex3f(sz[0]*((c+0)/width-1.0f), -sz[1], -sz[3]);
@@ -478,8 +478,8 @@ void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
 
   // bottom
   glNormal3f(0, 0, -1);
-  for (int r=0; r<m->vis.quality.numquads; r++) {
-    for (int c=0; c<m->vis.quality.numquads; c++) {
+  for (int r=0; r < m->vis.quality.numquads; r++) {
+    for (int c=0; c < m->vis.quality.numquads; c++) {
       glVertex3f(sz[0]*((c+0)/width-1.0f), sz[1]*((r+0)/height-1.0f), -sz[3]);
       glVertex3f(sz[0]*((c+0)/width-1.0f), sz[1]*((r+1)/height-1.0f), -sz[3]);
       glVertex3f(sz[0]*((c+1)/width-1.0f), sz[1]*((r+1)/height-1.0f), -sz[3]);
@@ -516,7 +516,7 @@ static void halfSphere(int sign, int nSlice, int nStack) {
   // pole: use triangles
   glBegin(GL_TRIANGLES);
   el1 = (mjPI/2.0f * sign * (nStack-1)) / (float)nStack;
-  for (int j=0; j<nSlice; j++) {
+  for (int j=0; j < nSlice; j++) {
     az1 = (2.0f*mjPI * (j+0.0f)) / (float)nSlice;
     az2 = (2.0f*mjPI * (j+1.0f)) / (float)nSlice;
 
@@ -529,7 +529,7 @@ static void halfSphere(int sign, int nSlice, int nStack) {
     n3[2] = sign;
 
     // make triangle
-    if (sign>0) {
+    if (sign > 0) {
       glNormal3fv(n1);
       glVertex3fv(v1);
       glNormal3fv(n2);
@@ -549,11 +549,11 @@ static void halfSphere(int sign, int nSlice, int nStack) {
 
   // the rest: use quads
   glBegin(GL_QUADS);
-  for (int i=0; i<nStack-1; i++) {
+  for (int i=0; i < nStack-1; i++) {
     el1 = (mjPI/2.0f * sign * (i+0)) / (float)nStack;
     el2 = (mjPI/2.0f * sign * (i+1)) / (float)nStack;
 
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
       az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -564,7 +564,7 @@ static void halfSphere(int sign, int nSlice, int nStack) {
       setVertexSphere(v4, n4, az1, el2, sign);
 
       // make quad
-      if (sign>0) {
+      if (sign > 0) {
         glNormal3fv(n1);
         glVertex3fv(v1);
         glNormal3fv(n2);
@@ -598,9 +598,9 @@ static void sphere(int nSlice, int nStack) {
 
   // poles: use triangles
   glBegin(GL_TRIANGLES);
-  for (int sign=-1; sign<=1; sign+=2) {
+  for (int sign=-1; sign <= 1; sign+=2) {
     el1 = (0.5*mjPI * sign * (nStack/2-1)) / (float)(nStack/2);
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       az1 = (2.0f*mjPI * (j+0.0f)) / (float)nSlice;
       az2 = (2.0f*mjPI * (j+1.0f)) / (float)nSlice;
 
@@ -613,7 +613,7 @@ static void sphere(int nSlice, int nStack) {
       n3[2] = sign;
 
       // make triangle
-      if (sign>0) {
+      if (sign > 0) {
         glNormal3fv(n1);
         glVertex3fv(v1);
         glNormal3fv(n2);
@@ -634,12 +634,12 @@ static void sphere(int nSlice, int nStack) {
 
   // the rest: use quads
   glBegin(GL_QUADS);
-  for (int sign=-1; sign<=1; sign+=2) {
-    for (int i=0; i<nStack/2-1; i++) {
+  for (int sign=-1; sign <= 1; sign+=2) {
+    for (int i=0; i < nStack/2-1; i++) {
       el1 = (0.5*mjPI * sign * (i+0)) / (float)(nStack/2);
       el2 = (0.5*mjPI * sign * (i+1)) / (float)(nStack/2);
 
-      for (int j=0; j<nSlice; j++) {
+      for (int j=0; j < nSlice; j++) {
         az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
         az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -650,7 +650,7 @@ static void sphere(int nSlice, int nStack) {
         setVertexSphere(v4, n4, az1, el2, 0);
 
         // make quad
-        if (sign>0) {
+        if (sign > 0) {
           glNormal3fv(n1);
           glVertex3fv(v1);
           glNormal3fv(n2);
@@ -689,13 +689,13 @@ static void setVertexDisk(float* v, float az, float r, int sign) {
 static void disk(int sign, int nSlice, int nStack) {
   float az1, az2, r1, r2;
   float v1[3], v2[3], v3[3], v4[3];
-  float normal[3] = {0, 0, (sign==0 ? -1 : sign)};
+  float normal[3] = {0, 0, (sign == 0 ? -1 : sign)};
 
   // pole: use triangles
   glBegin(GL_TRIANGLES);
   glNormal3fv(normal);
   r1 = 1.0f / (float)nStack;
-  for (int j=0; j<nSlice; j++) {
+  for (int j=0; j < nSlice; j++) {
     az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
     az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -706,7 +706,7 @@ static void disk(int sign, int nSlice, int nStack) {
     v3[2] = sign;
 
     // make triangle
-    if (sign>0) {
+    if (sign > 0) {
       glVertex3fv(v1);
       glVertex3fv(v2);
       glVertex3fv(v3);
@@ -721,11 +721,11 @@ static void disk(int sign, int nSlice, int nStack) {
   // the rest: use quads
   glBegin(GL_QUADS);
   glNormal3fv(normal);
-  for (int i=0; i<nStack-1; i++) {
+  for (int i=0; i < nStack-1; i++) {
     r1 = (i+1) / (float)nStack;
     r2 = (i+2) / (float)nStack;
 
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
       az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -736,7 +736,7 @@ static void disk(int sign, int nSlice, int nStack) {
       setVertexDisk(v4, az1, r1, sign);
 
       // make quad
-      if (sign>0) {
+      if (sign > 0) {
         glVertex3fv(v1);
         glVertex3fv(v2);
         glVertex3fv(v3);
@@ -779,7 +779,7 @@ static void cone(int nSlice, int nStack) {
   // pole: use triangles
   glBegin(GL_TRIANGLES);
   r1 = 1.0f / (float)nStack;
-  for (int j=0; j<nSlice; j++) {
+  for (int j=0; j < nSlice; j++) {
     az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
     az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -805,11 +805,11 @@ static void cone(int nSlice, int nStack) {
 
   // the rest: use quads
   glBegin(GL_QUADS);
-  for (int i=0; i<nStack-1; i++) {
+  for (int i=0; i < nStack-1; i++) {
     r1 = (i+1) / (float)nStack;
     r2 = (i+2) / (float)nStack;
 
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
       az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -855,11 +855,11 @@ static void cylinder(int nSlice, int nStack) {
 
   // use quads everywhere
   glBegin(GL_QUADS);
-  for (int i=0; i<nStack; i++) {
+  for (int i=0; i < nStack; i++) {
     h1 = 2*(i+0)/(float)nStack - 1;
     h2 = 2*(i+1)/(float)nStack - 1;
 
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
       az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -907,11 +907,11 @@ static void haze(int nSlice, float r, const float* rgba) {
   glNormal3f(0, 0, 1);
 
   // stacks = 2
-  for (int i=0; i<2; i++) {
-    float h1 = (i==0 ? 0 : h);
-    float h2 = (i==0 ? h : 1);
+  for (int i=0; i < 2; i++) {
+    float h1 = (i == 0 ? 0 : h);
+    float h2 = (i == 0 ? h : 1);
 
-    for (int j=0; j<nSlice; j++) {
+    for (int j=0; j < nSlice; j++) {
       float az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
       float az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
 
@@ -923,8 +923,8 @@ static void haze(int nSlice, float r, const float* rgba) {
       setVertexHaze(v4, az1, h2, r);
 
       // colors at elevation h1 and h2
-      float c1 = (i==1);
-      float c2 = (i==0);
+      float c1 = (i == 1);
+      float c2 = (i == 0);
 
       // make quad, with colors
       glColor4f(rgba[0], rgba[1], rgba[2], c1);
@@ -985,8 +985,8 @@ static void makeBuiltin(const mjModel* m, mjrContext* con) {
   // box
   glNewList(con->baseBuiltin + mjrBOX, GL_COMPILE);
   glBegin(GL_QUADS);
-  for (int x=0; x<numquads; x++) {
-    for (int y=0; y<numquads; y++) {
+  for (int x=0; x < numquads; x++) {
+    for (int y=0; y < numquads; y++) {
       glNormal3f(0, 0, 1);                        // top
       glVertex3f(d*(x+0)-1, d*(y+0)-1, 1);
       glVertex3f(d*(x+1)-1, d*(y+0)-1, 1);
@@ -1076,7 +1076,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
 
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err!=GL_FRAMEBUFFER_COMPLETE) {
+  if (err != GL_FRAMEBUFFER_COMPLETE) {
     mju_error("Shadow framebuffer is not complete, error 0x%x", err);
   }
 
@@ -1102,7 +1102,7 @@ static void makeOff(mjrContext* con) {
   // clamp samples request
   int sMax = 0;
   glGetIntegerv(GL_MAX_SAMPLES, &sMax);
-  if (con->offSamples>sMax) {
+  if (con->offSamples > sMax) {
     con->offSamples = sMax;
   }
 
@@ -1137,7 +1137,7 @@ static void makeOff(mjrContext* con) {
 
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err!=GL_FRAMEBUFFER_COMPLETE) {
+  if (err != GL_FRAMEBUFFER_COMPLETE) {
     mju_error("Offscreen framebuffer is not complete, error 0x%x", err);
   }
 
@@ -1175,7 +1175,7 @@ static void makeOff(mjrContext* con) {
 
     // check FBO status
     GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-    if (err!=GL_FRAMEBUFFER_COMPLETE) {
+    if (err != GL_FRAMEBUFFER_COMPLETE) {
       mju_error("Offscreen framebuffer_r is not complete, error 0x%x", err);
     }
   }
@@ -1241,14 +1241,14 @@ static void makeFont(mjrContext* con, int fontscale) {
   con->baseFontNormal = glGenLists(con->rangeFont);
   con->baseFontShadow = glGenLists(con->rangeFont);
   con->baseFontBig = glGenLists(con->rangeFont);
-  if (con->baseFontNormal==0 || con->baseFontShadow==0 || con->baseFontBig==0) {
+  if (con->baseFontNormal == 0 || con->baseFontShadow == 0 || con->baseFontBig == 0) {
     mju_error("Could not allocate font lists");
   }
 
   // loop over printable characters (32-126)
-  for (unsigned char i=32; i<=126; i++) {
+  for (unsigned char i=32; i <= 126; i++) {
     // assert character code; SHOULD NOT OCCUR
-    if (font_normal[adr]!=i || font_back[adr]!=i || font_big[adr_big]!=i) {
+    if (font_normal[adr] != i || font_back[adr] != i || font_big[adr_big] != i) {
       mju_error("Invalid font data index");
     }
 
@@ -1286,7 +1286,7 @@ static void makeFont(mjrContext* con, int fontscale) {
   }
 
   // assert 123 termination token; SHOULD NOT OCCUR
-  if (font_normal[adr]!=123 || font_back[adr]!=123 || font_big[adr_big]!=123) {
+  if (font_normal[adr] != 123 || font_back[adr] != 123 || font_big[adr_big] != 123) {
     mju_error("Invalid font data termination");
   }
 }
@@ -1296,7 +1296,7 @@ static void makeFont(mjrContext* con, int fontscale) {
 // make textures
 static void makeTexture(const mjModel* m, mjrContext* con) {
   // checks size
-  if (m->ntex>mjMAXTEXTURE) {
+  if (m->ntex > mjMAXTEXTURE) {
     mju_error("Maximum number of textures is %d", mjMAXTEXTURE);
   }
 
@@ -1308,7 +1308,7 @@ static void makeTexture(const mjModel* m, mjrContext* con) {
 
   // allocate and upload
   glGenTextures(con->ntexture, con->texture);
-  for (int i=0; i<m->ntex; i++) {
+  for (int i=0; i < m->ntex; i++) {
     con->textureType[i] = m->tex_type[i];
     mjr_uploadTexture(m, con, i);
   }
@@ -1322,7 +1322,7 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
   float plane[4];
 
   // 2D texture
-  if (m->tex_type[texid]==mjTEXTURE_2D) {
+  if (m->tex_type[texid] == mjTEXTURE_2D) {
     // OpenGL settings
     glActiveTexture(GL_TEXTURE0);
     glEnable(GL_TEXTURE_2D);
@@ -1373,8 +1373,8 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
     glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
 
     // assign data: repeated
-    if (m->tex_width[texid]==m->tex_height[texid]) {
-      for (int i=0; i<6; i++) {
+    if (m->tex_width[texid] == m->tex_height[texid]) {
+      for (int i=0; i < 6; i++) {
         glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
                      GL_RGB, GL_UNSIGNED_BYTE, m->tex_rgb + m->tex_adr[texid]);
       }
@@ -1382,7 +1382,7 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
 
     // assign data: separate faces
     else {
-      for (int i=0; i<6; i++) {
+      for (int i=0; i < 6; i++) {
         glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
                      GL_RGB, GL_UNSIGNED_BYTE, m->tex_rgb + m->tex_adr[texid] + i*3*w*w);
       }
@@ -1418,9 +1418,9 @@ static void makeSkin(const mjModel* m, mjrContext* con) {
     glGenBuffers(nskin, con->skinfaceVBO);
 
     // process skins
-    for (int i=0; i<nskin; i++) {
+    for (int i=0; i < nskin; i++) {
       // texture coordinates
-      if (m->skin_texcoordadr[i]>=0) {
+      if (m->skin_texcoordadr[i] >= 0) {
         glBindBuffer(GL_ARRAY_BUFFER, con->skintexcoordVBO[i]);
         glBufferData(GL_ARRAY_BUFFER,
                      2*m->skin_vertnum[i]*sizeof(float),
@@ -1469,9 +1469,9 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
                              int default_offwidth, int default_offheight) {
   // fix fontscale
   fontscale = 50 * mju_round(((mjtNum)fontscale)/50.0);
-  if (fontscale<100) {
+  if (fontscale < 100) {
     fontscale = 100;
-  } else if (fontscale>300) {
+  } else if (fontscale > 300) {
     fontscale = 300;
   }
 
@@ -1494,9 +1494,9 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
     // determine window availability (could be EGL-headless)
     glBindFramebuffer(GL_FRAMEBUFFER, 0);
     unsigned int status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-    if (status==GL_FRAMEBUFFER_COMPLETE) {
+    if (status == GL_FRAMEBUFFER_COMPLETE) {
       con->windowAvailable = 1;
-    } else if (status==GL_FRAMEBUFFER_UNDEFINED) {
+    } else if (status == GL_FRAMEBUFFER_UNDEFINED) {
       con->windowAvailable = 0;
     } else {
       mju_error("Default framebuffer is not complete, error 0x%x", status);
@@ -1640,7 +1640,7 @@ void mjr_changeFont(int fontscale, mjrContext* con) {
 // Add Aux buffer to context; free previous Aux buffer.
 void mjr_addAux(int index, int width, int height, int samples, mjrContext* con) {
   // check index
-  if (index<0 || index>=mjNAUX) {
+  if (index < 0 || index >= mjNAUX) {
     mju_error("Invalid aux buffer index");
   }
 
@@ -1663,21 +1663,21 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
   con->auxFBO_r[index] = 0;
 
   // return if size is not positive
-  if (width<1 || height<1) {
+  if (width < 1 || height < 1) {
     return;
   }
 
   // check max size
   int maxSize = 0;
   glGetIntegerv(GL_MAX_RENDERBUFFER_SIZE, &maxSize);
-  if (width>maxSize || height>maxSize) {
+  if (width > maxSize || height > maxSize) {
     mju_error("Auxiliary buffer size exceeds maximum allowed by OpenGL implementation");
   }
 
   // clamp samples request
   int maxSample = 0;
   glGetIntegerv(GL_MAX_SAMPLES, &maxSample);
-  if (samples>maxSample) {
+  if (samples > maxSample) {
     samples = maxSample;
   }
 
@@ -1706,7 +1706,7 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
 
   // check FBO status
   GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err!=GL_FRAMEBUFFER_COMPLETE) {
+  if (err != GL_FRAMEBUFFER_COMPLETE) {
     mju_error("Auxiliary framebuffer is not complete, error 0x%x", err);
   }
 
@@ -1730,7 +1730,7 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
 
   // check FBO status
   err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err!=GL_FRAMEBUFFER_COMPLETE) {
+  if (err != GL_FRAMEBUFFER_COMPLETE) {
     mju_error("Auxiliary framebuffer resolve is not complete, error 0x%x", err);
   }
 
@@ -1759,7 +1759,7 @@ void mjr_freeContext(mjrContext* con) {
   if (con->offFBO_r) glDeleteFramebuffers(1, &con->offFBO_r);
   if (con->shadowTex) glDeleteTextures(1, &con->shadowTex);
   if (con->shadowFBO) glDeleteFramebuffers(1, &con->shadowFBO);
-  for (int i=0; i<mjNAUX; i++) {
+  for (int i=0; i < mjNAUX; i++) {
     if (con->auxColor[i]) glDeleteRenderbuffers(1, con->auxColor + i);
     if (con->auxColor_r[i]) glDeleteRenderbuffers(1, con->auxColor_r + i);
     if (con->auxFBO[i]) glDeleteFramebuffers(1, con->auxFBO + i);
diff --git a/src/render/render_gl2.c b/src/render/render_gl2.c
index bb9764ad..095d5b41 100644
--- a/src/render/render_gl2.c
+++ b/src/render/render_gl2.c
@@ -60,7 +60,7 @@ void mjr_setBuffer(int framebuffer, mjrContext* con) {
   // both available: use selected framebuffer
   else {
     // bind selected buffer
-    if (framebuffer==mjFB_WINDOW) {
+    if (framebuffer == mjFB_WINDOW) {
       glBindFramebuffer(GL_FRAMEBUFFER, 0);
       glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
       glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
@@ -79,7 +79,7 @@ void mjr_setBuffer(int framebuffer, mjrContext* con) {
 
 // make con->currentBuffer current again
 void mjr_restoreBuffer(const mjrContext* con) {
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     glBindFramebuffer(GL_FRAMEBUFFER, 0);
     glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
     glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
@@ -106,7 +106,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
   }
 
   // read from window
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     // read rgb and depth
     if (rgb) {
       glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
@@ -193,7 +193,7 @@ void mjr_blitBuffer(mjrRect src, mjrRect dst,
   // construct mask and filter for blit
   GLbitfield mask = (flg_color ? GL_COLOR_BUFFER_BIT : 0) |
                     (flg_depth ? GL_DEPTH_BUFFER_BIT : 0);
-  GLenum filter = (!flg_depth && (src.width!=dst.width || src.height!=dst.height)) ?
+  GLenum filter = (!flg_depth && (src.width != dst.width || src.height != dst.height)) ?
                   GL_LINEAR : GL_NEAREST;
 
   // make sure both buffers are available and we have something to do
@@ -207,7 +207,7 @@ void mjr_blitBuffer(mjrRect src, mjrRect dst,
   }
 
   // from window to offsreen
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     // offscreen is multisample: go through resolve
     if (con->offSamples) {
       // prepare to blit from window to resolve
@@ -291,7 +291,7 @@ void mjr_blitBuffer(mjrRect src, mjrRect dst,
 // Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
 void mjr_setAux(int index, const mjrContext* con) {
   // check index
-  if (index<0 || index>=mjNAUX) {
+  if (index < 0 || index >= mjNAUX) {
     mju_error("Invalid aux buffer index");
   }
 
@@ -310,7 +310,7 @@ void mjr_setAux(int index, const mjrContext* con) {
 // Blit from Aux buffer to con->currentBuffer.
 void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con) {
   // check index
-  if (index<0 || index>=mjNAUX) {
+  if (index < 0 || index >= mjNAUX) {
     mju_error("Invalid aux buffer index");
   }
 
@@ -338,7 +338,7 @@ void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext*
   glReadBuffer(GL_COLOR_ATTACHMENT0);
 
   // set destination
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
     glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
   } else {
@@ -391,7 +391,7 @@ void mjr_textActual(int font, const char* txt, const mjrContext* con,
   }
 
   // shadow text
-  if (font==mjFONT_SHADOW) {
+  if (font == mjFONT_SHADOW) {
     // blend shadow with black
     glListBase(con->baseFontShadow);
     glColor4f(0, 0, 0, 0.5);
@@ -407,7 +407,7 @@ void mjr_textActual(int font, const char* txt, const mjrContext* con,
 
   // regular text (normal or big)
   else {
-    glListBase(font==mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
+    glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
     glColor4f(r, g, b, 1);
     glRasterPos3f(x, y, z);
     glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
@@ -433,16 +433,16 @@ static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
                         float red, float green, float blue,
                         const char* overlay, const mjrContext* con) {
 
-  int pos, ncthis, nc, nr, W, H, flg_big = (font==mjFONT_BIG);
+  int pos, ncthis, nc, nr, W, H, flg_big = (font == mjFONT_BIG);
   int PAD = 5, sz = mjMIN(mjMAXOVERLAY, (int)strlen(overlay));
   char text[mjMAXOVERLAY];
 
   // count rows and columns of text rectangle in pixels
   nr = flg_big ? con->charHeightBig : con->charHeight;
   ncthis = nc = 0;
-  for (int i=0; i<sz; i++) {
+  for (int i=0; i < sz; i++) {
     // process this char
-    if (overlay[i]!='\n') {
+    if (overlay[i] != '\n') {
       ncthis += flg_big ? con->charWidthBig[(unsigned char)overlay[i]]
                         : con->charWidth[(unsigned char)overlay[i]];
       nc = mjMAX(nc, ncthis);
@@ -503,10 +503,10 @@ static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
   // draw text line by line
   nr = flg_big ? con->charHeightBig : con->charHeight;
   pos = 0;
-  for (int i=0; i<sz; i++) {
+  for (int i=0; i < sz; i++) {
     // terminate line and draw
-    if (overlay[i]=='\n' || i==sz-1) {
-      if (overlay[i]=='\n') {
+    if (overlay[i] == '\n' || i == sz-1) {
+      if (overlay[i] == '\n') {
         text[pos] = 0;
       } else {
         text[pos] = overlay[i];
@@ -536,7 +536,7 @@ void mjr_overlay(int font, int gridpos, mjrRect viewport,
   int skip = 0;
 
   // empty viewport: nothing to do
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
 
@@ -546,7 +546,7 @@ void mjr_overlay(int font, int gridpos, mjrRect viewport,
   // two-column
   if (overlay2 && overlay2[0]) {
     // left side
-    if (gridpos==mjGRID_TOPLEFT || gridpos==mjGRID_BOTTOMLEFT) {
+    if (gridpos == mjGRID_TOPLEFT || gridpos == mjGRID_BOTTOMLEFT) {
       skip = draw_overlay(font, viewport, 0, gridpos, .7, .7, .7, overlay, con);
       draw_overlay(font, viewport, skip, gridpos, 1, 1, 1, overlay2, con);
     }
@@ -575,7 +575,7 @@ mjrRect mjr_maxViewport(const mjrContext* con) {
 
   // window: get from scissor box
   int dims[4];
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     glGetIntegerv(GL_SCISSOR_BOX, dims);
     res.width = dims[2];
     res.height = dims[3];
@@ -589,7 +589,7 @@ mjrRect mjr_maxViewport(const mjrContext* con) {
 // draw rectangle
 void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
   // empty viewport: nothing to do
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
 
@@ -616,7 +616,7 @@ void mjr_label(mjrRect viewport, int font, const char* txt,
                float r, float g, float b, float a, float rt, float gt, float bt,
                const mjrContext* con) {
   // empty viewport: nothing to do
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
 
@@ -658,7 +658,7 @@ void mjr_label(mjrRect viewport, int font, const char* txt,
   if (txt && con->rangeFont) {
     // compute width
     int i = 0, width = 0;
-    if (font==mjFONT_BIG) {
+    if (font == mjFONT_BIG) {
       while (txt[i]) {
         width += con->charWidthBig[(unsigned char)txt[i++]];
       }
@@ -670,10 +670,10 @@ void mjr_label(mjrRect viewport, int font, const char* txt,
 
     // compute center
     int cx = (W - width)/2;
-    int cy = (H - (font==mjFONT_BIG ? con->charHeightBig : con->charHeight))/2;
+    int cy = (H - (font == mjFONT_BIG ? con->charHeightBig : con->charHeight))/2;
 
     // draw
-    glListBase(font==mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
+    glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
     glColor3f(rt, gt, bt);
     glRasterPos2i(mjMAX(0, cx), cy);
     glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
@@ -691,15 +691,15 @@ static void maketext(const char* format, char* txt, float num, int txt_sz) {
 
   // locate trailing zeros
   i = strlen(txt);
-  while (i>0 && txt[i-1]=='0') {
+  while (i > 0 && txt[i-1] == '0') {
     i--;
   }
-  if (i<=1) {
+  if (i <= 1) {
     return;
   }
 
   // strip if preceding char is '.'
-  if (txt[i-1]=='.') {
+  if (txt[i-1] == '.') {
     txt[i-1] = 0;
   }
 
@@ -707,12 +707,12 @@ static void maketext(const char* format, char* txt, float num, int txt_sz) {
   else {
     // find regular preceding digits
     j = i-1;
-    while (j>=0 && txt[j]>='0' && txt[j]<='9') {
+    while (j >= 0 && txt[j] >= '0' && txt[j] <= '9') {
       j--;
     }
 
     // '.' found: strip
-    if (j>=0 && txt[j]=='.') {
+    if (j >= 0 && txt[j] == '.') {
       txt[i] = 0;
     }
   }
@@ -743,7 +743,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   char datatxt[STRING_BUFSIZE];
 
   // empty viewport: nothing to do
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
 
@@ -763,12 +763,12 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   glDisable(GL_BLEND);
 
   // determine range along (x,y)
-  for (int axis=0; axis<2; axis++) {
+  for (int axis=0; axis < 2; axis++) {
     // init ranges, set flag
     range[axis][0] = fig->range[axis][0];
     range[axis][1] = fig->range[axis][1];
     int flg;
-    if (fig->range[axis][0]<fig->range[axis][1]) {
+    if (fig->range[axis][0] < fig->range[axis][1]) {
       flg = 1;
     } else {
       flg = 0;
@@ -776,8 +776,8 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
     // determine range: scan line data, find min and max
     if (!flg || fig->flg_extend) {
-      for (int n=0; n<mjMAXLINE; n++) {
-        for (int i=0; i<fig->linepnt[n]; i++) {
+      for (int n=0; n < mjMAXLINE; n++) {
+        for (int i=0; i < fig->linepnt[n]; i++) {
           // get data
           float ldata = fig->linedata[n][2*i+axis];
 
@@ -796,12 +796,12 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
           // otherwise regular update
           else {
             // update minimum
-            if (range[axis][0]>ldata) {
+            if (range[axis][0] > ldata) {
               range[axis][0] = ldata;
             }
 
             // update maximum
-            if (range[axis][1]<ldata) {
+            if (range[axis][1] < ldata) {
               range[axis][1] = ldata;
             }
           }
@@ -810,7 +810,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
     }
 
     // make sure range is not too small
-    if (range[axis][1]-range[axis][0]<minrange) {
+    if (range[axis][1]-range[axis][0] < minrange) {
       float needed = minrange - (range[axis][1]-range[axis][0]);
       range[axis][0] -= 0.5f*needed;
       range[axis][1] += 0.5f*needed;
@@ -833,7 +833,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   // set projection in pixels
   glMatrixMode(GL_PROJECTION);
   glLoadIdentity();
-  if (viewport.width<=1 || viewport.height<=1) {
+  if (viewport.width <= 1 || viewport.height <= 1) {
     return;
   }
   glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
@@ -843,29 +843,32 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   if (fig->title[0]) {
     // find address of selected subplot title
     int subadr = 0, subcnt = 0;
-    while (subcnt<fig->subplot && subadr<1000 && fig->title[subadr]) {
+    while (subcnt < fig->subplot && subadr < 1000 && fig->title[subadr]) {
       // skip non-space
-      while (subadr<1000 && fig->title[subadr] && fig->title[subadr]!=' ') {
+      while (subadr < 1000 && fig->title[subadr] && fig->title[subadr] != ' ') {
         subadr++;
       }
 
       // skip space, count
       int cntspace = 0;
-      while (subadr<1000 && fig->title[subadr]==' ') {
+      while (subadr < 1000 && fig->title[subadr] == ' ') {
         subadr++;
         cntspace++;
       }
 
       // count subplot if 2+ spaces
-      if (cntspace>1) {
+      if (cntspace > 1) {
         subcnt++;
       }
     }
 
     // find length of selected subplot title (skip non-space or single space)
     int sublen = 0;
-    while ((subadr+sublen<1000 && fig->title[subadr+sublen] && fig->title[subadr+sublen]!=' ') ||
-           (subadr+sublen+1<1000 && fig->title[subadr+sublen+1] && fig->title[subadr+sublen+1]!=' ')) {
+    while ((subadr+sublen < 1000 &&
+            fig->title[subadr+sublen] &&
+            fig->title[subadr+sublen] != ' ') ||
+           (subadr+sublen+1 < 1000 && fig->title[subadr+sublen+1] &&
+            fig->title[subadr+sublen+1] != ' ')) {
       sublen++;
     }
 
@@ -876,7 +879,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
       // get title size
       int sx_title = 0;
-      for (int i=subadr; i<subadr+sublen; i++) {
+      for (int i=subadr; i < subadr+sublen; i++) {
         sx_title += con->charWidth[(unsigned char)fig->title[i]];
       }
 
@@ -885,15 +888,15 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
       // compute left edge and address of extended title
       int left1 = left, subadr1 = subadr;
-      while (subadr1>0 && left1>=con->charWidth[(unsigned char)fig->title[subadr1-1]]) {
+      while (subadr1 > 0 && left1 >= con->charWidth[(unsigned char)fig->title[subadr1-1]]) {
         left1 -= con->charWidth[(unsigned char)fig->title[subadr1-1]];
         subadr1--;
       }
 
       // compute right edge and length of extended title
       int sublen1 = 0, right1 = left1;
-      while (sublen1+subadr1<1000 && fig->title[subadr1+sublen1] &&
-             right1+con->charWidth[(unsigned char)fig->title[subadr1+sublen1]]<viewport.width) {
+      while (sublen1+subadr1 < 1000 && fig->title[subadr1+sublen1] &&
+             right1+con->charWidth[(unsigned char)fig->title[subadr1+sublen1]] < viewport.width) {
         right1 += con->charWidth[(unsigned char)fig->title[subadr1+sublen1]];
         sublen1++;
       }
@@ -932,7 +935,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
     // reduce viewport
     viewport.bottom += (sy_label ? sy_label + PAD/2 : 0);
     viewport.height -= (sy_label ? sy_label + PAD/2 : 0) + (sy_title ? sy_title + PAD : 0);
-    if (viewport.width<=0 || viewport.height<=0) {
+    if (viewport.width <= 0 || viewport.height <= 0) {
       return;
     }
     glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
@@ -944,7 +947,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   }
 
   // draw optional tick labels, reduce viewport
-  if (fig->gridsize[0]>1 && fig->gridsize[1]>1) {
+  if (fig->gridsize[0] > 1 && fig->gridsize[1] > 1) {
     char txt[STRING_BUFSIZE];
 
     // determine xtick height
@@ -965,7 +968,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
       int n = mjMIN(20, fig->gridsize[1]);
 
       // generate all strings, find max width
-      for (int i=0; i<n; i++) {
+      for (int i=0; i < n; i++) {
         const int txt_sz = mjSIZEOFARRAY(txt);
         maketext(fig->yformat, txt, range[1][0] + (range[1][1]-range[1][0])*i/(float)(n-1),
                  txt_sz);
@@ -981,7 +984,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
       int n = mjMIN(20, fig->gridsize[0]);
 
       // process ticks
-      for (int i=0; i<n; i++) {
+      for (int i=0; i < n; i++) {
         // make text, get width
         {
           const int txt_sz = mjSIZEOFARRAY(txt);
@@ -993,7 +996,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
         // draw
         mjr_textActual(mjFONT_NORMAL, txt, con,
                        PAD+ytick_width+
-                       (i==0 ? 0 : (i==n-1 ? -w : -w/2))+
+                       (i == 0 ? 0 : (i == n-1 ? -w : -w/2))+
                        (viewport.width-2*PAD-ytick_width)*i/(float)(n-1),
                        PAD, 0,
                        fig->textrgb[0], fig->textrgb[0], fig->textrgb[0]);
@@ -1006,7 +1009,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
       int n = mjMIN(20, fig->gridsize[1]);
 
       // process ticks
-      for (int i=0; i<n; i++) {
+      for (int i=0; i < n; i++) {
         // make text, get width
         {
           const int txt_sz = mjSIZEOFARRAY(txt);
@@ -1036,7 +1039,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   viewport.width -= 2*PAD;
   viewport.bottom += PAD;
   viewport.height -= 2*PAD;
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
   glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
@@ -1067,7 +1070,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   glEnableClientState(GL_VERTEX_ARRAY);
 
   // draw grid
-  if (fig->gridsize[0]>1 && fig->gridsize[1]>1) {
+  if (fig->gridsize[0] > 1 && fig->gridsize[1] > 1) {
     // common GL state
     glVertexPointer(2, GL_FLOAT, 0, griddata);
     glColor3fv(fig->gridrgb);
@@ -1075,7 +1078,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
     // prepare vertical lines
     int n = mjMIN(20, fig->gridsize[0]);
-    for (int i=0; i<n; i++) {
+    for (int i=0; i < n; i++) {
       griddata[4*i] = i/(float)(n-1);
       griddata[4*i+1] = 0;
       griddata[4*i+2] = griddata[4*i];
@@ -1087,7 +1090,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
     // prepare horizontal lines
     n = mjMIN(20, fig->gridsize[1]);
-    for (int i=0; i<n; i++) {
+    for (int i=0; i < n; i++) {
       griddata[4*i] = 0;
       griddata[4*i+1] = i/(float)(n-1);
       griddata[4*i+2] = 1;
@@ -1107,7 +1110,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
           range[1][0] - dify*offset, range[1][1] + dify*offset, -1, 1);
 
   // draw lines: back to front
-  for (int n=mjMAXLINE-1; n>=0; n--)
+  for (int n=mjMAXLINE-1; n >= 0; n--)
     if (fig->linepnt[n]) {
       // GL state
       glVertexPointer(2, GL_FLOAT, 0, fig->linedata[n]);
@@ -1134,14 +1137,14 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
     // set matrix projection in pixels
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
-    if (viewport.width<=1 || viewport.height<=1) {
+    if (viewport.width <= 1 || viewport.height <= 1) {
       return;
     }
     glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
 
     // find legend size
     int lw = 0, lh = 0, cnt = 0;
-    for (int n=fig->legendoffset; n<mjMAXLINE; n++) {
+    for (int n=fig->legendoffset; n < mjMAXLINE; n++) {
       if (fig->linename[n][0]) {
         // max width, accumulate height
         lw = mjMAX(lw, textwidth(con, fig->linename[n]));
@@ -1151,7 +1154,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
         cnt++;
 
         // too big: correct and break
-        if (lh+2*PAD >=viewport.height) {
+        if (lh+2*PAD >= viewport.height) {
           cnt--;
           lh -= con->charHeight;
           break;
@@ -1163,10 +1166,10 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
     int hcnt = -1;
     int hx = fig->highlight[0] - viewport.left;
     int hy = fig->highlight[1] - viewport.bottom;
-    if (hx>=viewport.width-PAD-lw &&
-        hx<=viewport.width-PAD &&
-        hy>=viewport.height-PAD-lh &&
-        hy<=viewport.height-PAD) {
+    if (hx >= viewport.width-PAD-lw &&
+        hx <= viewport.width-PAD &&
+        hy >= viewport.height-PAD-lh &&
+        hy <= viewport.height-PAD) {
       hcnt = (viewport.height-PAD-hy) / con->charHeight;
     }
 
@@ -1185,7 +1188,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
 
     // find named lines and draw text
     cnt = 0;
-    for (int n=fig->legendoffset; n<mjMAXLINE; n++) {
+    for (int n=fig->legendoffset; n < mjMAXLINE; n++) {
       if (fig->linename[n][0]) {
         // get width
         int width = textwidth(con, fig->linename[n]);
@@ -1196,7 +1199,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
                        fig->linergb[n][0], fig->linergb[n][1], fig->linergb[n][2]);
 
         // save hlight
-        if (hcnt==cnt) {
+        if (hcnt == cnt) {
           hlight = n;
         }
 
@@ -1212,7 +1215,7 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
   }
 
   // draw highlight
-  if (hlight>=0 && hlight<mjMAXLINE) {
+  if (hlight >= 0 && hlight < mjMAXLINE) {
     // line-rendering projection
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
@@ -1230,8 +1233,8 @@ void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
       // find nearest x-value
       int ibest = -1;
       float best = 0;
-      for (int i=0; i<fig->linepnt[hlight]; i++) {
-        if (ibest<0 || best>fabs(fig->selection-fig->linedata[hlight][2*i])) {
+      for (int i=0; i < fig->linepnt[hlight]; i++) {
+        if (ibest < 0 || best > fabs(fig->selection-fig->linedata[hlight][2*i])) {
           ibest = i;
           best = fabs(fig->selection-fig->linedata[hlight][2*i]);
         }
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index 92deec68..69a20f23 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -44,9 +44,9 @@ static int isBehind(const float* headpos, const float* pos, const float* mat) {
 
 // check if geom is reflective
 static int isReflective(const mjvGeom* geom) {
-  return ((geom->type==mjGEOM_PLANE || geom->type==mjGEOM_BOX) &&
+  return ((geom->type == mjGEOM_PLANE || geom->type == mjGEOM_BOX) &&
           !geom->transparent &&
-          (geom->reflectance>0));
+          (geom->reflectance > 0));
 }
 
 
@@ -64,7 +64,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
   float plane[4], scl[2];
 
   // shadow
-  if (type==mjtexSHADOW) {
+  if (type == mjtexSHADOW) {
     // enable
     if (state) {
       glActiveTexture(GL_TEXTURE1);
@@ -88,7 +88,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
   }
 
   // explicit texture coordinates
-  else if (type==mjtexREGULAR && geom->texcoord) {
+  else if (type == mjtexREGULAR && geom->texcoord) {
     // enable
     if (state) {
       glActiveTexture(GL_TEXTURE0);
@@ -104,7 +104,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
   }
 
   // 2D
-  else if (type==mjtexREGULAR && con->textureType[geom->texid]==mjTEXTURE_2D) {
+  else if (type == mjtexREGULAR && con->textureType[geom->texid] == mjTEXTURE_2D) {
     // enable
     if (state) {
       glActiveTexture(GL_TEXTURE0);
@@ -116,23 +116,23 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
       // determine scaling, adjust for pre-scaled geoms
       scl[0] = geom->texrepeat[0];
       scl[1] = geom->texrepeat[1];
-      if (geom->dataid>=0) {
-        if (geom->size[0]>0) {
+      if (geom->dataid >= 0) {
+        if (geom->size[0] > 0) {
           scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[0]);
         }
 
-        if (geom->size[1]>0) {
+        if (geom->size[1] > 0) {
           scl[1] = scl[1] / mju_max(mjMINVAL, geom->size[1]);
         }
       }
 
       // uniform: repeat relative to spatial units rather than object
       if (geom->texuniform) {
-        if (geom->size[0]>0) {
+        if (geom->size[0] > 0) {
           scl[0] = scl[0] * geom->size[0];
         }
 
-        if (geom->size[1]>0) {
+        if (geom->size[1] > 0) {
           scl[1] = scl[1] * geom->size[1];
         }
       }
@@ -165,7 +165,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
       glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[geom->texid]);
 
       // set mapping : cube
-      if (type==mjtexREGULAR) {
+      if (type == mjtexREGULAR) {
         mjr_setf4(plane, geom->texuniform ? geom->size[0] : 1, 0, 0, 0);
         glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
         mjr_setf4(plane, 0, geom->texuniform ? geom->size[1] : 1, 0, 0);
@@ -217,7 +217,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   int behind, whichface, lighting;
 
   // lines to do not cast shadows
-  if (mode==mjrRND_SHADOWCAST && geom->type==mjGEOM_LINE) {
+  if (mode == mjrRND_SHADOWCAST && geom->type == mjGEOM_LINE) {
     return;
   }
 
@@ -233,18 +233,18 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   behind = isBehind(headpos, geom->pos, geom->mat);
 
   // enable texture in normal and shadowmap mode
-  if (geom->texid>=0 && con->ntexture>0 &&
-      (mode==mjrRND_NORMAL || mode==mjrRND_SHADOWMAP)) {
+  if (geom->texid >= 0 && con->ntexture > 0 &&
+      (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
     settexture(mjtexREGULAR, 1, con, geom);
   }
 
   // make plane more transparent from the back
-  if (geom->type==mjGEOM_PLANE && behind && mode==mjrRND_NORMAL) {
+  if (geom->type == mjGEOM_PLANE && behind && mode == mjrRND_NORMAL) {
     rgba[3] *= 0.3;
   }
 
   // set material emission: none in shadow mode
-  if (mode==mjrRND_NORMAL) {
+  if (mode == mjrRND_NORMAL) {
     mjr_setf4(temp,
               geom->emission*rgba[0],
               geom->emission*rgba[1],
@@ -261,9 +261,9 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, temp);
 
   // set color for segmentation mode
-  if (mode>=mjrRND_SEGMENT) {
+  if (mode >= mjrRND_SEGMENT) {
     // segid color
-    if (mode==mjrRND_IDCOLOR) {
+    if (mode == mjrRND_IDCOLOR) {
       unsigned char seg[4] = {
         (geom->segid+1) & 0xFF,
         ((geom->segid+1)>>8) & 0xFF,
@@ -287,7 +287,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
 
   // apply coordinate transformation, except for skin which is global
   glPushMatrix();
-  if (geom->type!=mjGEOM_SKIN) {
+  if (geom->type != mjGEOM_SKIN) {
     glTranslatef(geom->pos[0], geom->pos[1], geom->pos[2]);
     glMultMatrixf(mat);
   }
@@ -297,13 +297,13 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   case mjGEOM_PLANE:                              // plane
     if (behind) {
       glGetIntegerv(GL_CULL_FACE_MODE, &whichface);
-      if (whichface==GL_BACK) {
+      if (whichface == GL_BACK) {
         glCullFace(GL_FRONT);
       }
     }
 
     // use plane-specific displaylist if available
-    if (geom->dataid>=0) {
+    if (geom->dataid >= 0) {
       glCallList(con->basePlane + geom->dataid+1);
     }
 
@@ -313,13 +313,13 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
       glCallList(con->basePlane);
     }
 
-    if (behind && whichface==GL_BACK) {
+    if (behind && whichface == GL_BACK) {
       glCullFace(GL_BACK);
     }
     break;
 
   case mjGEOM_HFIELD:                         // height field
-    if (geom->dataid>=0) {
+    if (geom->dataid >= 0) {
       glCallList(con->baseHField + geom->dataid);
     }
     break;
@@ -356,7 +356,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
     break;
 
   case mjGEOM_MESH:                           // mesh
-    if (geom->dataid>=0) {
+    if (geom->dataid >= 0) {
       glCallList(con->baseMesh + geom->dataid);
     }
     break;
@@ -443,8 +443,8 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   glPopMatrix();
 
   // disable texture if enabled
-  if (geom->texid>=0 && con->ntexture>0 &&
-      (mode==mjrRND_NORMAL || mode==mjrRND_SHADOWMAP)) {
+  if (geom->texid >= 0 && con->ntexture > 0 &&
+      (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
     settexture(mjtexREGULAR, 0, con, geom);
   }
 }
@@ -456,7 +456,7 @@ void renderGeomReflection(int id, float reflectance, float headpos[3],
   float old_rgb[3];
 
   // save rgb, modulate rgb by this->reflectance
-  for (int k=0; k<3; k++) {
+  for (int k=0; k < 3; k++) {
     old_rgb[k] = scn->geoms[id].rgba[k];
     scn->geoms[id].rgba[k] *= reflectance;
   }
@@ -465,7 +465,7 @@ void renderGeomReflection(int id, float reflectance, float headpos[3],
   renderGeom(scn->geoms+id, mjrRND_NORMAL, headpos, scn, con);
 
   // restore rgb
-  for (int k=0; k<3; k++) {
+  for (int k=0; k < 3; k++) {
     scn->geoms[id].rgba[k] = old_rgb[k];
   }
 }
@@ -532,14 +532,14 @@ static void initLights(mjvScene* scn, const float* headpos, const float* gazedir
 
   // headlight: set pos and dir
   if (scn->lights[0].headlight) {
-    for (int i=0; i<3; i++) {
+    for (int i=0; i < 3; i++) {
       scn->lights[0].pos[i] = headpos[i];
       scn->lights[0].dir[i] = gazedir[i];
     }
   }
 
   // set light properties
-  for (int i=0; i<scn->nlight; i++) {
+  for (int i=0; i < scn->nlight; i++) {
     // colors
     glLightfv(GL_LIGHT0+i, GL_AMBIENT, scn->lights[i].ambient);
     glLightfv(GL_LIGHT0+i, GL_DIFFUSE, scn->lights[i].diffuse);
@@ -565,7 +565,7 @@ static void initLights(mjvScene* scn, const float* headpos, const float* gazedir
   }
 
   // disable all lights (enable selectively in render)
-  for (int i=0; i<scn->nlight; i++) {
+  for (int i=0; i < scn->nlight; i++) {
     glDisable(GL_LIGHT0+i);
   }
 }
@@ -578,7 +578,7 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
   mjvGLCamera cam;
 
   // copy specified camera for stereo, average for mono (view = -1)
-  if (view>=0) {
+  if (view >= 0) {
     cam = scn->camera[view];
   } else {
     cam = mjv_averageCamera(scn->camera, scn->camera+1);
@@ -674,7 +674,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   mjvLight *thislight;
 
   // empty viewport: nothing to do
-  if (viewport.width<=0 || viewport.height<=0) {
+  if (viewport.width <= 0 || viewport.height <= 0) {
     return;
   }
 
@@ -682,7 +682,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   cam = mjv_averageCamera(scn->camera, scn->camera+1);
 
   // check znear
-  if (cam.frustum_near<mjMINVAL) {
+  if (cam.frustum_near < mjMINVAL) {
     // geoms: error
     if (scn->ngeom) {
       mju_error("mjvScene frustum_near too small in mjr_render");
@@ -695,7 +695,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   }
 
   // upload dynamic skin data to GPU
-  for (int i=0; i<scn->nskin; i++) {
+  for (int i=0; i < scn->nskin; i++) {
     // upload positions to VBO
     glBindBuffer(GL_ARRAY_BUFFER, con->skinvertVBO[i]);
     glBufferData(GL_ARRAY_BUFFER,
@@ -712,7 +712,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   }
 
   // determine drawbuffer; may be changed by stereo later
-  if (con->currentBuffer==mjFB_WINDOW) {
+  if (con->currentBuffer == mjFB_WINDOW) {
     drawbuffer = (con->windowDoublebuffer ? GL_BACK : GL_FRONT);
   } else {
     drawbuffer = GL_COLOR_ATTACHMENT0;
@@ -728,12 +728,12 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
   // make list of transparent geoms
   nt = 0;
-  for (int i=0; i<ngeom; i++) {
+  for (int i=0; i < ngeom; i++) {
     // get geom pointer
     thisgeom = scn->geoms + i;
 
-    if (thisgeom->rgba[3]<0.995 || (thisgeom->type==mjGEOM_PLANE &&
-                                    isBehind(headpos, thisgeom->pos, thisgeom->mat))) {
+    if (thisgeom->rgba[3] < 0.995 || (thisgeom->type == mjGEOM_PLANE &&
+                                      isBehind(headpos, thisgeom->pos, thisgeom->mat))) {
       // include index in list
       scn->geomorder[nt++] = i;
       thisgeom->transparent = 1;
@@ -747,7 +747,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
       thisgeom->camdist -= mjv_rbound(thisgeom);
 
       // plane always far away
-      if (thisgeom->type==mjGEOM_PLANE) {
+      if (thisgeom->type == mjGEOM_PLANE) {
         thisgeom->camdist = 1E+10;
       }
     } else {
@@ -760,7 +760,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
   // allow only one reflective geom
   int j = 0;
-  for (int i=0; i<ngeom; i++) {
+  for (int i=0; i < ngeom; i++) {
     if (j) {
       scn->geoms[i].reflectance = 0;
     } else if (isReflective(scn->geoms + i)) {
@@ -782,19 +782,20 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
   // determine stereo; quadbuffered reverts to sidebyside if hardware not available
   stereo = scn->stereo;
-  if (stereo==mjSTEREO_QUADBUFFERED && (con->currentBuffer!=mjFB_WINDOW || !con->windowStereo)) {
+  if (stereo == mjSTEREO_QUADBUFFERED &&
+      (con->currentBuffer != mjFB_WINDOW || !con->windowStereo)) {
     stereo = mjSTEREO_SIDEBYSIDE;
   }
 
   // SIDEBYSIDE: reduce viewport
-  if (stereo==mjSTEREO_SIDEBYSIDE) {
+  if (stereo == mjSTEREO_SIDEBYSIDE) {
     viewport.width /= 2;
   }
 
   // render with stereo
-  for (int view=(stereo?0:-1); view<(stereo?2:0); view++) {
+  for (int view=(stereo?0:-1); view < (stereo?2:0); view++) {
     // change drawbuffer for QUADBUFFERED stereo
-    if (stereo==mjSTEREO_QUADBUFFERED) {
+    if (stereo == mjSTEREO_QUADBUFFERED) {
       if (con->windowDoublebuffer) {
         drawbuffer = (view ? GL_BACK_RIGHT : GL_BACK_LEFT);
       } else {
@@ -809,7 +810,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     }
 
     // change viewport for SIDEBYSIDE stereo
-    else if (stereo==mjSTEREO_SIDEBYSIDE) {
+    else if (stereo == mjSTEREO_SIDEBYSIDE) {
       // move viewport to the right for view 1
       if (view) {
         viewport.left += viewport.width;
@@ -834,8 +835,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
       glDisable(GL_MULTISAMPLE);
 
       // render all geoms
-      for (int i=0; i<ngeom; i++) {
-        if (scn->geoms[i].segid>=0) {
+      for (int i=0; i < ngeom; i++) {
+        if (scn->geoms[i].segid >= 0) {
           renderGeom(scn->geoms+i,
                      scn->flags[mjRND_IDCOLOR] ? mjrRND_IDCOLOR : mjrRND_SEGMENT,
                      headpos, scn, con);
@@ -850,13 +851,13 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
     // plane and box reflection rendering
     if (scn->flags[mjRND_REFLECTION]) {
-      for (int i=0; i<ngeom; i++) {
+      for (int i=0; i < ngeom; i++) {
         // get geom pointer
         thisgeom = scn->geoms + i;
 
         if (isReflective(thisgeom)) {
           // if box, replace with temporary plane matching Z+ box side
-          if (thisgeom->type==mjGEOM_BOX) {
+          if (thisgeom->type == mjGEOM_BOX) {
             // copy and convert to plane
             tempgeom = *thisgeom;
             tempgeom.type = mjGEOM_PLANE;
@@ -911,14 +912,14 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           mjr_reflect(thisgeom->pos, thisgeom->mat);
 
           // set light position and direction, enable
-          for (int j=0; j<nlight; j++) {
+          for (int j=0; j < nlight; j++) {
             adjustLight(scn->lights+j, j);
             glEnable(GL_LIGHT0+j);
           }
 
           // render reflected non-transparent geoms, except for thisgeom
-          for (int j=0; j<ngeom; j++) {
-            if (!scn->geoms[j].transparent && i!=j) {
+          for (int j=0; j < ngeom; j++) {
+            if (!scn->geoms[j].transparent && i != j) {
               renderGeomReflection(j, thisgeom->reflectance, headpos, scn, con);
             }
           }
@@ -931,14 +932,14 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           } else {
             glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
           }
-          for (int j=0; j<nt; j++) {
-            if (i!=scn->geomorder[j]) {
+          for (int j=0; j < nt; j++) {
+            if (i != scn->geomorder[j]) {
               renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
             }
           }
           if (!scn->flags[mjRND_ADDITIVE]) {
-            for (int j=nt-1; j>=0; j--) {
-              if (i!=scn->geomorder[j]) {
+            for (int j=nt-1; j >= 0; j--) {
+              if (i != scn->geomorder[j]) {
                 renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
               }
             }
@@ -947,7 +948,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           glDisable(GL_BLEND);
 
           // disable lights
-          for (int j=0; j<nlight; j++) {
+          for (int j=0; j < nlight; j++) {
             glDisable(GL_LIGHT0+j);
           }
 
@@ -963,7 +964,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     //---------------------------------- regular rendering
 
     // set light position and direction, enable non-shadow lights
-    for (int i=0; i<nlight; i++) {
+    for (int i=0; i < nlight; i++) {
       // set light
       thislight = scn->lights + i;
       adjustLight(thislight, i);
@@ -978,21 +979,21 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     //  (only one allowed, more would result in weird transparency)
     glEnable(GL_BLEND);
     glBlendFunc(GL_ONE, GL_ONE);
-    for (int i=0; i<ngeom; i++)
+    for (int i=0; i < ngeom; i++)
       if (isReflective(scn->geoms+i)) {
         renderGeom(scn->geoms+i, mjrRND_NORMAL, headpos, scn, con);
       }
     glDisable(GL_BLEND);
 
     // render remaining opaque geoms
-    for (int i=0; i<ngeom; i++) {
+    for (int i=0; i < ngeom; i++) {
       if (!scn->geoms[i].transparent && !isReflective(scn->geoms+i)) {
         renderGeom(scn->geoms+i, mjrRND_NORMAL, headpos, scn, con);
       }
     }
 
     // disable lights
-    for (int i=0; i<nlight; i++) {
+    for (int i=0; i < nlight; i++) {
       glDisable(GL_LIGHT0+i);
     }
 
@@ -1004,7 +1005,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
     // shadow map rendering
     if (scn->flags[mjRND_SHADOW] && con->shadowFBO) {
-      for (int i=0; i<nlight; i++) {
+      for (int i=0; i < nlight; i++) {
         // get pointer
         thislight = scn->lights + i;
 
@@ -1042,13 +1043,13 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           glColorMask(0, 0, 0, 0);
 
           // render all geoms to depth texture
-          for (int j=0; j<ngeom; j++) {
+          for (int j=0; j < ngeom; j++) {
             renderGeom(scn->geoms+j, mjrRND_SHADOWCAST, headpos, scn, con);
           }
 
           // restore OpenGL settings
           glBindFramebuffer(GL_FRAMEBUFFER,
-                            con->currentBuffer==mjFB_WINDOW ? 0 : con->offFBO);
+                            con->currentBuffer == mjFB_WINDOW ? 0 : con->offFBO);
           glDrawBuffer(drawbuffer);
           glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
           glCullFace(GL_BACK);
@@ -1082,7 +1083,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           glEnable(GL_LIGHT0+i);
 
           // only opaque geoms accept shadows
-          for (int j=0; j<ngeom; j++) {
+          for (int j=0; j < ngeom; j++) {
             if (!scn->geoms[j].transparent) {
               renderGeom(scn->geoms+j, mjrRND_SHADOWMAP, headpos, scn, con);
             }
@@ -1108,8 +1109,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
       glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
       // find skybox texture
-      for (int i=0; i<con->ntexture; i++) {
-        if (con->textureType[i]==mjTEXTURE_SKYBOX) {
+      for (int i=0; i < con->ntexture; i++) {
+        if (con->textureType[i] == mjTEXTURE_SKYBOX) {
           // save first skybox texture id in tempgeom
           memset(&tempgeom, 0, sizeof(mjvGeom));
           tempgeom.texid = i;
@@ -1136,10 +1137,10 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
 
           // haze
           if (scn->flags[mjRND_HAZE]) {
-            for (int j=0; j<ngeom; j++) {
-              if (scn->geoms[j].type==mjGEOM_PLANE &&
-                  scn->geoms[j].size[0]==0 &&
-                  scn->geoms[j].size[1]==0) {
+            for (int j=0; j < ngeom; j++) {
+              if (scn->geoms[j].type == mjGEOM_PLANE &&
+                  scn->geoms[j].size[0] == 0 &&
+                  scn->geoms[j].size[1] == 0) {
                 // compute headpos elevation above plane
                 float* mat3 = scn->geoms[j].mat;
                 float elevation = ((headpos[0]-scn->geoms[j].pos[0])*mat3[2] +
@@ -1148,7 +1149,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
                                   skyboxdst;
 
                 // below plane: no rendering
-                if (elevation<0) {
+                if (elevation < 0) {
                   break;
                 }
 
@@ -1195,7 +1196,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     //------------------------------------ transparent regular rendering
 
     // enable lights
-    for (int i=0; i<nlight; i++) {
+    for (int i=0; i < nlight; i++) {
       glEnable(GL_LIGHT0+i);
     }
 
@@ -1209,13 +1210,13 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     }
 
     // render transparent geoms: front to back
-    for (int i=0; i<nt; i++) {
+    for (int i=0; i < nt; i++) {
       renderGeom(scn->geoms+scn->geomorder[i], mjrRND_NORMAL, headpos, scn, con);
     }
 
     // render transparent geoms: back to front, if not additive
     if (!scn->flags[mjRND_ADDITIVE]) {
-      for (int i=nt-1; i>=0; i--) {
+      for (int i=nt-1; i >= 0; i--) {
         renderGeom(scn->geoms+scn->geomorder[i], mjrRND_NORMAL, headpos, scn, con);
       }
     }
@@ -1225,7 +1226,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     glDisable(GL_BLEND);
 
     // disable lights
-    for (int i=0; i<nlight; i++) {
+    for (int i=0; i < nlight; i++) {
       glDisable(GL_LIGHT0+i);
     }
 
@@ -1234,7 +1235,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     // render text labels if present
     glDisable(GL_DEPTH_TEST);
     glDisable(GL_LIGHTING);
-    for (int i=0; i<ngeom; i++) {
+    for (int i=0; i < ngeom; i++) {
       thisgeom = scn->geoms + i;
 
       if (thisgeom->label[0]) {
diff --git a/src/render/render_util.c b/src/render/render_util.c
index dbefc2c8..11c010b7 100644
--- a/src/render/render_util.c
+++ b/src/render/render_util.c
@@ -54,10 +54,10 @@ void mjr_setf3(float* vec, float f0, float f1, float f2) {
 
 // multiply 4-by-4 matrices, column-major
 void mjr_mulMat44(float* res, const float* A, const float* B) {
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
+  for (int r=0; r < 4; r++) {
+    for (int c=0; c < 4; c++) {
       res[r+4*c] = 0;
-      for (int i=0; i<4; i++) {
+      for (int i=0; i < 4; i++) {
         res[r+4*c] += A[r+4*i]*B[i+4*c];
       }
     }
@@ -89,7 +89,7 @@ void mjr_crossVec(float* a, const float* b, const float* c) {
 void mjr_normalizeVec(float* v) {
   float scl, len = sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
 
-  if (len<1E-10f) {
+  if (len < 1E-10f) {
     v[0] = 0;
     v[1] = 0;
     v[2] = 1;
@@ -111,7 +111,7 @@ void mjr_orthoVec(float* res, const float* v) {
   mjr_crossVec(res, v, other);
 
   // success
-  if (res[0]*res[0]+res[1]*res[1]+res[2]*res[2]>0.01) {
+  if (res[0]*res[0]+res[1]*res[1]+res[2]*res[2] > 0.01) {
     mjr_normalizeVec(res);
     return;
   }
@@ -134,9 +134,9 @@ float mjr_dotVec(const float* a, const float* b) {
 
 // multiply 4x4 matrix by vector; column-major (OpenGL format)
 void mjr_multiply4(float* res, const float* mat, const float* vec) {
-  for (int i=0; i<4; i++) {
+  for (int i=0; i < 4; i++) {
     res[i] = 0;
-    for (int j=0; j<4; j++) {
+    for (int j=0; j < 4; j++) {
       res[i] += mat[i+4*j]*vec[j];
     }
   }
@@ -207,8 +207,8 @@ void mjr_reflect(const float* pos, const float* mat) {
   v[2] = mat[8];
 
   // compute outer product v*vT
-  for (int i=0; i<3; i++) {
-    for (int j=0; j<3; j++) {
+  for (int i=0; i < 3; i++) {
+    for (int j=0; j < 3; j++) {
       vvt[3*i+j] = v[i]*v[j];
     }
   }
@@ -273,11 +273,11 @@ void mjr_transform(const float* translate, const float* rotate, float scale) {
 // Find first rectangle containing mouse, -1: not found.
 int mjr_findRect(int x, int y, int nrect, const mjrRect* rect) {
   // scan
-  for (int i=0; i<nrect; i++) {
-    if (x>=rect[i].left &&
-        x<rect[i].left+rect[i].width &&
-        y>=rect[i].bottom &&
-        y<rect[i].bottom+rect[i].height) {
+  for (int i=0; i < nrect; i++) {
+    if (x >= rect[i].left &&
+        x < rect[i].left+rect[i].width &&
+        y >= rect[i].bottom &&
+        y < rect[i].bottom+rect[i].height) {
       return i;
     }
   }
diff --git a/src/ui/ui_main.c b/src/ui/ui_main.c
index b602255a..523d9cca 100644
--- a/src/ui/ui_main.c
+++ b/src/ui/ui_main.c
@@ -201,12 +201,12 @@ static int textwidth(const char* text, const mjrContext* con, int limit) {
   int i = 0, width = 0;
 
   // zero limit
-  if (limit==0) {
+  if (limit == 0) {
     return 0;
   }
 
   // add character widths
-  while (text[i] && (limit<1 || i<limit)) {
+  while (text[i] && (limit < 1 || i < limit)) {
     width += con->charWidth[(unsigned char)text[i++]];
   }
 
@@ -222,7 +222,7 @@ static void drawtext(const char* txt, int x, int y, int maxwidth,
   int len = 0, width = 0;
   while (txt[len]) {
     width += con->charWidth[(unsigned char)txt[len]];
-    if (width>=maxwidth) {
+    if (width >= maxwidth) {
       break;
     } else {
       len++;
@@ -283,7 +283,7 @@ static void drawoval(mjrRect rect, const float* rgb, const float* rgbback,
   const int ndivide = 20;
 
   // require horizontal
-  if (rect.height>rect.width) {
+  if (rect.height > rect.width) {
     return;
   }
 
@@ -297,13 +297,13 @@ static void drawoval(mjrRect rect, const float* rgb, const float* rgbback,
   glBegin(GL_POLYGON);
 
   // draw left half-circle
-  for (int i=0; i<=ndivide; i++) {
+  for (int i=0; i <= ndivide; i++) {
     double angle = mjPI * (0.5 + (double)i / (double)ndivide);
     glVertex2d(lcenter[0] + radius*cos(angle), lcenter[1] + radius*sin(angle));
   }
 
   // draw right half-circle
-  for (int i=0; i<=ndivide; i++) {
+  for (int i=0; i <= ndivide; i++) {
     double angle = mjPI * (1.5 + (double)i / (double)ndivide);
     glVertex2d(rcenter[0] + radius*cos(angle), rcenter[1] + radius*sin(angle));
   }
@@ -318,13 +318,13 @@ static void drawoval(mjrRect rect, const float* rgb, const float* rgbback,
     glBegin(GL_POLYGON);
 
     // draw left half-circle
-    for (int i=0; i<=ndivide; i++) {
+    for (int i=0; i <= ndivide; i++) {
       double angle = mjPI * (0.5 + (double)i / (double)ndivide);
       glVertex2d(lcenter[0] + radius*cos(angle), lcenter[1] + radius*sin(angle));
     }
 
     // draw right half-circle
-    for (int i=0; i<=ndivide; i++) {
+    for (int i=0; i <= ndivide; i++) {
       double angle = mjPI * (1.5 + (double)i / (double)ndivide);
       glVertex2d(rcenter[0] + radius*cos(angle), rcenter[1] + radius*sin(angle));
     }
@@ -377,13 +377,13 @@ static void drawsymbol(mjrRect rect, int flg_open, int flg_sep,
         (ui->color.master[0] + ui->color.sectpane[0]) * 0.5,
         (ui->color.master[1] + ui->color.sectpane[1]) * 0.5,
         (ui->color.master[2] + ui->color.sectpane[2]) * 0.5
-      );
+        );
     } else {
       glColor3f(
         (ui->color.secttitle[0] + ui->color.sectpane[0]) * 0.5,
         (ui->color.secttitle[1] + ui->color.sectpane[1]) * 0.5,
         (ui->color.secttitle[2] + ui->color.sectpane[2]) * 0.5
-      );
+        );
     }
     glBegin(GL_TRIANGLES);
     glVertex2d(cx-margin, cy-y);
@@ -419,7 +419,7 @@ static mjrRect radioelement(const mjuiItem* it, int n,
   };
 
   // adjust width of last column
-  if (col==ncol-1) {
+  if (col == ncol-1) {
     r.width = it->rect.width - r.left + it->rect.left;
   }
 
@@ -436,7 +436,7 @@ static void mouseinui(const mjUI* ui, const mjuiState* ins, int* x, int* y) {
   mjrRect rect = ins->rect[ui->rectid];
 
   // correct for scrollbar
-  if (ui->height>rect.height) {
+  if (ui->height > rect.height) {
     *y -= ui->scroll;
   }
 
@@ -483,7 +483,7 @@ static int findradio(const mjuiItem* it, const mjUI* ui,
 
   // result
   int ind = row*ncol + col;
-  if (ind<it->multi.nelem) {
+  if (ind < it->multi.nelem) {
     return ind;
   } else {
     return -1;
@@ -503,7 +503,7 @@ static void makeradioline(const mjuiItem* it, const mjrContext* con, int* sep) {
   }
 
   // compute element widths
-  for (int i=0; i<nelem; i++) {
+  for (int i=0; i < nelem; i++) {
     elwid[i] = textwidth(it->multi.name[i], con, -1);
     totwid += elwid[i];
   }
@@ -513,7 +513,7 @@ static void makeradioline(const mjuiItem* it, const mjrContext* con, int* sep) {
 
   // compute separators
   sep[0] = 0;
-  for (int i=0; i<nelem; i++) {
+  for (int i=0; i < nelem; i++) {
     sep[i+1] = sep[i] + elwid[i] + mju_round((i+1)*extra) -mju_round(i*extra);
   }
   sep[nelem] = it->rect.width;
@@ -534,8 +534,8 @@ static int findradioline(const mjuiItem* it, const mjUI* ui,
 
   // find interval
   int x = mju_round(rx*it->rect.width);
-  for (int i=0; i<it->multi.nelem; i++) {
-    if (x>=sep[i] && x<sep[i+1]) {
+  for (int i=0; i < it->multi.nelem; i++) {
+    if (x >= sep[i] && x < sep[i+1]) {
       return i;
     }
   }
@@ -550,7 +550,7 @@ static int findradioline(const mjuiItem* it, const mjUI* ui,
 static int findselect(const mjuiItem* it, const mjUI* ui,
                       const mjuiState* ins, const mjrContext* con) {
   // not tracking: nothing to do
-  if (!(ui->mousesect>0 && ui->mouseitem>=0 && it && it->type==mjITEM_SELECT)) {
+  if (!(ui->mousesect > 0 && ui->mouseitem >= 0 && it && it->type == mjITEM_SELECT)) {
     return -1;
   }
 
@@ -564,7 +564,7 @@ static int findselect(const mjuiItem* it, const mjUI* ui,
   // find in box
   double rx, ry;
   mouseinrect(r, ui, ins, &rx, &ry);
-  if (ry>0 && ry<1 && rx>0 && rx<1) {
+  if (ry > 0 && ry < 1 && rx > 0 && rx < 1) {
     int k = (int)floor(ry*it->multi.nelem);
     k = mjMAX(0, mjMIN(it->multi.nelem-1, k));
     return it->multi.nelem-1-k;
@@ -597,7 +597,7 @@ void scrollrect(mjrRect rect, const mjUI* ui, const mjrContext* con,
 
 // is point in rectangle
 static int inside(int x, int y, mjrRect r) {
-  return (x>=r.left && x<=r.left+r.width && y>=r.bottom && y<=r.bottom+r.height);
+  return (x >= r.left && x <= r.left+r.width && y >= r.bottom && y <= r.bottom+r.height);
 }
 
 
@@ -611,20 +611,20 @@ static int insideoval(int x, int y, mjrRect r) {
 
   // check center
   int radius = r.height/2;
-  if (x>=r.left+radius && x<=r.left+r.width-radius) {
+  if (x >= r.left+radius && x <= r.left+r.width-radius) {
     return 1;
   }
 
   // left circle
   int dx = x - (r.left+radius);
   int dy = y - (r.bottom+radius);
-  if (dx<0 && (dx*dx + dy*dy < radius*radius)) {
+  if (dx < 0 && (dx*dx + dy*dy < radius*radius)) {
     return 1;
   }
 
   // right circle
   dx = x - (r.left+r.width-radius);
-  if (dx>0 && (dx*dx + dy*dy < radius*radius)) {
+  if (dx > 0 && (dx*dx + dy*dy < radius*radius)) {
     return 1;
   }
 
@@ -648,7 +648,7 @@ static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* co
   mjrRect rect = ins->rect[ui->rectid];
 
   // scrollbar
-  if (ui->height>rect.height) {
+  if (ui->height > rect.height) {
     // construct rectangles
     mjrRect bar;
     mjrRect thumb;
@@ -662,7 +662,7 @@ static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* co
       }
 
       // below thumb
-      else if (y<thumb.bottom) {
+      else if (y < thumb.bottom) {
         *sect = -2;
       }
 
@@ -681,12 +681,12 @@ static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* co
   mouseinui(ui, ins, &x, &y);
 
   // check sections and items
-  for (int n=0; n<ui->nsect; n++) {
+  for (int n=0; n < ui->nsect; n++) {
     // get section pointer
     const mjuiSection* s = ui->sect + n;
 
     // in title
-    if (s->state<2 && inside(x, y, s->rtitle)) {
+    if (s->state < 2 && inside(x, y, s->rtitle)) {
       *sect = n+1;
       *item = -1;
       return;
@@ -694,8 +694,8 @@ static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* co
 
     // in content and open: check items
     if (s->state && inside(x, y, s->rcontent)) {
-      for (int i=0; i<s->nitem; i++) {
-        if (s->item[i].type==mjITEM_BUTTON ?
+      for (int i=0; i < s->nitem; i++) {
+        if (s->item[i].type == mjITEM_BUTTON ?
             insideoval(x, y, s->item[i].rect) :
             inside(x, y, s->item[i].rect)) {
           *sect = n+1;
@@ -725,7 +725,7 @@ static void setslider(mjuiItem* it, mjUI* ui,
   mjtNum val = (mjtNum)(it->slider.range[0]*(1-rx) + it->slider.range[1]*rx);
 
   // set slider position
-  if (it->type==mjITEM_SLIDERINT) {
+  if (it->type == mjITEM_SLIDERINT) {
     *(int*)it->pdata = mju_round(val);
   } else {
     *(mjtNum*)it->pdata = val;
@@ -738,14 +738,14 @@ static void setslider(mjuiItem* it, mjUI* ui,
 // return 0 if ok, error code otherwise
 static int checkedit(const char* text, const mjuiItem* it) {
   // text always passes
-  if (it->type==mjITEM_EDITTXT) {
+  if (it->type == mjITEM_EDITTXT) {
     return 0;
   }
 
   // check type
-  if (it->type!=mjITEM_EDITINT &&
-      it->type!=mjITEM_EDITNUM &&
-      it->type!=mjITEM_EDITFLOAT) {
+  if (it->type != mjITEM_EDITINT &&
+      it->type != mjITEM_EDITNUM &&
+      it->type != mjITEM_EDITFLOAT) {
     mju_error("Internal error: expected edit control");
   }
 
@@ -755,21 +755,21 @@ static int checkedit(const char* text, const mjuiItem* it) {
                  val, val+1, val+2, val+3, val+4, val+5, val+6);
 
   // check length
-  if (n!=it->edit.nelem) {
+  if (n != it->edit.nelem) {
     return 1;
   }
 
   // check range when defined
-  for (int i=0; i<n; i++)
-    if (it->edit.range[i][0]<it->edit.range[i][1] &&
-        (val[i]<it->edit.range[i][0] || val[i]>it->edit.range[i][1])) {
+  for (int i=0; i < n; i++)
+    if (it->edit.range[i][0] < it->edit.range[i][1] &&
+        (val[i] < it->edit.range[i][0] || val[i] > it->edit.range[i][1])) {
       return 2;
     }
 
   // require int values for int type
-  if (it->type==mjITEM_EDITINT) {
-    for (int i=0; i<n; i++) {
-      if (val[i]!=(double)((int)val[i])) {
+  if (it->type == mjITEM_EDITINT) {
+    for (int i=0; i < n; i++) {
+      if (val[i] != (double)((int)val[i])) {
         return 3;
       }
     }
@@ -784,7 +784,7 @@ static int checkedit(const char* text, const mjuiItem* it) {
 // return 0 if ok, error code otherwise
 static int text2array(const char* text, const mjuiItem* it) {
   // text: copy
-  if (it->type==mjITEM_EDITTXT) {
+  if (it->type == mjITEM_EDITTXT) {
     // copy string, assume mjMAXUINAME allocation
     char* pdata = (char*)it->pdata;
     strncpy(pdata, text, mjMAXUINAME);
@@ -793,7 +793,7 @@ static int text2array(const char* text, const mjuiItem* it) {
   }
 
   // check type
-  if (it->type!=mjITEM_EDITINT && it->type!=mjITEM_EDITNUM && it->type!=mjITEM_EDITFLOAT) {
+  if (it->type != mjITEM_EDITINT && it->type != mjITEM_EDITNUM && it->type != mjITEM_EDITFLOAT) {
     mju_error("Internal error: expected edit control");
   }
 
@@ -803,42 +803,42 @@ static int text2array(const char* text, const mjuiItem* it) {
                  val, val+1, val+2, val+3, val+4, val+5, val+6);
 
   // check length
-  if (n!=it->edit.nelem) {
+  if (n != it->edit.nelem) {
     return 1;
   }
 
   // check range when defined
-  for (int i=0; i<n; i++) {
-    if (it->edit.range[i][0]<it->edit.range[i][1] &&
-        (val[i]<it->edit.range[i][0] || val[i]>it->edit.range[i][1])) {
+  for (int i=0; i < n; i++) {
+    if (it->edit.range[i][0] < it->edit.range[i][1] &&
+        (val[i] < it->edit.range[i][0] || val[i] > it->edit.range[i][1])) {
       return 2;
     }
   }
 
   // require int values for int type
-  if (it->type==mjITEM_EDITINT) {
-    for (int i=0; i<n; i++) {
-      if (val[i]!=(double)((int)val[i])) {
+  if (it->type == mjITEM_EDITINT) {
+    for (int i=0; i < n; i++) {
+      if (val[i] != (double)((int)val[i])) {
         return 3;
       }
     }
   }
 
   // copy values
-  if (it->type==mjITEM_EDITINT) {
+  if (it->type == mjITEM_EDITINT) {
     int* pdata = (int*)it->pdata;
-    for (int i=0; i<n; i++) {
+    for (int i=0; i < n; i++) {
       pdata[i] = (int)val[i];
     }
   } else {
-    if (it->type==mjITEM_EDITNUM) {
+    if (it->type == mjITEM_EDITNUM) {
       mjtNum* pdata = (mjtNum*)it->pdata;
-      for (int i=0; i<n; i++) {
+      for (int i=0; i < n; i++) {
         pdata[i] = (mjtNum)val[i];
       }
     } else {
       float* pdata = (float*)it->pdata;
-      for (int i=0; i<n; i++) {
+      for (int i=0; i < n; i++) {
         pdata[i] = (float)val[i];
       }
     }
@@ -852,7 +852,7 @@ static int text2array(const char* text, const mjuiItem* it) {
 // convert numeric array to edit text
 static void array2text(char* text, const mjuiItem* it) {
   // text: copy
-  if (it->type==mjITEM_EDITTXT) {
+  if (it->type == mjITEM_EDITTXT) {
     // copy string, assume mjMAXUINAME allocation
     strncpy(text, (const char*)it->pdata, mjMAXUINAME);
     text[mjMAXUINAME-1] = 0;
@@ -860,7 +860,7 @@ static void array2text(char* text, const mjuiItem* it) {
   }
 
   // check type
-  if (it->type!=mjITEM_EDITINT && it->type!=mjITEM_EDITNUM && it->type!=mjITEM_EDITFLOAT) {
+  if (it->type != mjITEM_EDITINT && it->type != mjITEM_EDITNUM && it->type != mjITEM_EDITFLOAT) {
     mju_error("Internal error: expected edit control");
   }
 
@@ -868,16 +868,16 @@ static void array2text(char* text, const mjuiItem* it) {
   int n = it->edit.nelem;
   char buf[50];
   text[0] = 0;
-  for (int i=0; i<n; i++) {
-    if (it->type==mjITEM_EDITINT) {
+  for (int i=0; i < n; i++) {
+    if (it->type == mjITEM_EDITINT) {
       mjSNPRINTF(buf, "%d", ((int*)it->pdata)[i]);
-    } else if (it->type==mjITEM_EDITNUM) {
+    } else if (it->type == mjITEM_EDITNUM) {
       mjSNPRINTF(buf, "%.4g", ((mjtNum*)it->pdata)[i]);
     } else {
       mjSNPRINTF(buf, "%.4g", ((float*)it->pdata)[i]);
     }
     strncat(text, buf, mjMAXUITEXT - strlen(text) - 1);
-    if (i<n-1) {
+    if (i < n-1) {
       strncat(text, "  ", mjMAXUITEXT - strlen(text) - 1);
     }
   }
@@ -887,36 +887,36 @@ static void array2text(char* text, const mjuiItem* it) {
 // return (remapped) key if valid, 0 if not valid
 static int validkey(int key, int sz, int type, const mjuiState* state) {
   // text
-  if (type==mjITEM_EDITTXT) {
-    if (sz<mjMAXUINAME-1 && key>=32 && key<=127) {
+  if (type == mjITEM_EDITTXT) {
+    if (sz < mjMAXUINAME-1 && key >= 32 && key <= 127) {
       // lower case if Shift (Caps Lock cannot be detected in GLWF)
-      if (key>='A' && key<='Z' && !state->shift) {
+      if (key >= 'A' && key <= 'Z' && !state->shift) {
         key = key + 'a' - 'A';
       }
 
       // Shift: remap remaining keys
       else if (state->shift) {
-        if (key=='`') {
+        if (key == '`') {
           key = '~';
-        } else if (key=='-') {
+        } else if (key == '-') {
           key = '_';
-        } else if (key=='=') {
+        } else if (key == '=') {
           key = '+';
-        } else if (key=='[') {
+        } else if (key == '[') {
           key = '{';
-        } else if (key==']') {
+        } else if (key == ']') {
           key = '}';
-        } else if (key=='\\') {
+        } else if (key == '\\') {
           key = '|';
-        } else if (key==';') {
+        } else if (key == ';') {
           key = ':';
-        } else if (key=='\'') {
+        } else if (key == '\'') {
           key = '"';
-        } else if (key==',') {
+        } else if (key == ',') {
           key = '<';
-        } else if (key=='.') {
+        } else if (key == '.') {
           key = '>';
-        } else if (key=='/') {
+        } else if (key == '/') {
           key = '?';
         }
       }
@@ -928,25 +928,25 @@ static int validkey(int key, int sz, int type, const mjuiState* state) {
   }
 
   // numeric
-  else if (type==mjITEM_EDITINT || type==mjITEM_EDITNUM || type==mjITEM_EDITFLOAT) {
-    if (sz<(mjMAXUITEXT-1) &&
-        (key==' ' || key=='+' || key=='=' || key=='-' || (key>='0' && key<='9') ||
-         (key>=mjKEY_NUMPAD_0 && key<=mjKEY_NUMPAD_9) ||
-         ((key=='e' || key=='E' || key=='.') &&
-          (type==mjITEM_EDITNUM || type==mjITEM_EDITFLOAT)))) {
+  else if (type == mjITEM_EDITINT || type == mjITEM_EDITNUM || type == mjITEM_EDITFLOAT) {
+    if (sz < (mjMAXUITEXT-1) &&
+        (key == ' ' || key == '+' || key == '=' || key == '-' || (key >= '0' && key <= '9') ||
+         (key >= mjKEY_NUMPAD_0 && key <= mjKEY_NUMPAD_9) ||
+         ((key == 'e' || key == 'E' || key == '.') &&
+          (type == mjITEM_EDITNUM || type == mjITEM_EDITFLOAT)))) {
 
       // remap '=' to '+'
-      if (key=='=') {
+      if (key == '=') {
         key = '+';
       }
 
       // remap 'E' to 'e'
-      if (key=='E') {
+      if (key == 'E') {
         key = 'e';
       }
 
       // remap numberpad to top row
-      if (key>=mjKEY_NUMPAD_0 && key<=mjKEY_NUMPAD_9) {
+      if (key >= mjKEY_NUMPAD_0 && key <= mjKEY_NUMPAD_9) {
         key = key - mjKEY_NUMPAD_0 + '0';
       }
 
@@ -968,7 +968,7 @@ static int validkey(int key, int sz, int type, const mjuiState* state) {
 // adjust editscroll so cursor is visible
 static void revealcursor(mjrRect r, mjUI* ui, const mjrContext* con) {
   // scroll left
-  if (ui->editcursor<=ui->editscroll) {
+  if (ui->editcursor <= ui->editscroll) {
     ui->editscroll = ui->editcursor;
     return;
   }
@@ -978,13 +978,13 @@ static void revealcursor(mjrRect r, mjUI* ui, const mjrContext* con) {
 
   // scan backwards
   int i = ui->editcursor;
-  while (width>=0 && i>=ui->editscroll) {
+  while (width >= 0 && i >= ui->editscroll) {
     i--;
     width -= con->charWidth[(unsigned char)ui->edittext[i]];
   }
 
   // adjust scroll if out of width
-  if (width<0) {
+  if (width < 0) {
     ui->editscroll = i+1;
   }
 }
@@ -1004,10 +1004,10 @@ static void setcursor(mjrRect r, mjUI* ui, const mjuiState* ins, const mjrContex
   mouseinrect(r1, ui, ins, &rx, &ry);
 
   // outside rectangle
-  if (rx<0) {
+  if (rx < 0) {
     ui->editcursor = 0;
     ui->editscroll = 0;
-  } else if (rx>1) {
+  } else if (rx > 1) {
     ui->editcursor = strlen(ui->edittext);
     revealcursor(r, ui, con);
   }
@@ -1018,12 +1018,12 @@ static void setcursor(mjrRect r, mjUI* ui, const mjuiState* ins, const mjrContex
     int R = mju_round(r1.width*rx), bestdif = R;
 
     // find closest between-char position
-    for (int i=ui->editscroll; i<strlen(ui->edittext); i++) {
+    for (int i=ui->editscroll; i < strlen(ui->edittext); i++) {
       // add next width
       cumsum += con->charWidth[(unsigned char)ui->edittext[i]];
 
       // update best
-      if (bestdif>abs(cumsum-R)) {
+      if (bestdif > abs(cumsum-R)) {
         bestdif = abs(cumsum-R);
         besti = i+1;
       }
@@ -1048,7 +1048,7 @@ static void parseshortcut(const char* text, int* mod, int* key) {
   }
 
   // require between 2 and 5 characters
-  if (strlen(text)<2 || strlen(text)>5) {
+  if (strlen(text) < 2 || strlen(text) > 5) {
     mju_error("mjui_add: invalid shortcut specification");
   }
 
@@ -1075,12 +1075,12 @@ static void parseshortcut(const char* text, int* mod, int* key) {
   }
 
   // key
-  if (text[1]=='#') {
-    if (sscanf(text+2, "%d", key)!=1) {
+  if (text[1] == '#') {
+    if (sscanf(text+2, "%d", key) != 1) {
       mju_error("mjui_add: invalid shortcut numeric code");
     }
   } else {
-    if (text[2]!=0) {
+    if (text[2] != 0) {
       mju_error("mjui_add: invalid shortcut");
     }
     *key = (int)text[1];
@@ -1092,12 +1092,12 @@ static void parseshortcut(const char* text, int* mod, int* key) {
 // check fpr matching modifier and shortcut
 static int matchshortcut(const mjuiState* ins, int mod, int key) {
   // match key
-  if (!key || ins->key!=key) {
+  if (!key || ins->key != key) {
     return 0;
   }
 
   // match modifier
-  if ((ins->control!=0) + 2*(ins->shift!=0) + 4*(ins->alt!=0) != mod) {
+  if ((ins->control != 0) + 2*(ins->shift != 0) + 4*(ins->alt != 0) != mod) {
     return 0;
   }
 
@@ -1110,7 +1110,7 @@ static int matchshortcut(const mjuiState* ins, int mod, int key) {
 
 // Get builtin UI theme spacing (0-1).
 mjuiThemeSpacing mjui_themeSpacing(int ind) {
-  if (ind==0) {
+  if (ind == 0) {
     return themeSpacing0;
   } else {
     return themeSpacing1;
@@ -1121,11 +1121,11 @@ mjuiThemeSpacing mjui_themeSpacing(int ind) {
 
 // Get builtin UI theme color (0-3).
 mjuiThemeColor mjui_themeColor(int ind) {
-  if (ind==0) {
+  if (ind == 0) {
     return themeColor0;
-  } else if (ind==1) {
+  } else if (ind == 1) {
     return themeColor1;
-  } else if (ind==2) {
+  } else if (ind == 2) {
     return themeColor2;
   } else {
     return themeColor3;
@@ -1140,19 +1140,19 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
   double x[1+2*mjMAXUIEDIT];
 
   // process entries until end marker
-  while (def[n].type!=mjITEM_END) {
+  while (def[n].type != mjITEM_END) {
     // section
-    if (def[n].type==mjITEM_SECTION) {
+    if (def[n].type == mjITEM_SECTION) {
       // check limit
-      if (ui->nsect>=mjMAXUISECT) {
+      if (ui->nsect >= mjMAXUISECT) {
         mju_error("mjui_add: too many sections");
       }
 
       // check data
-      if (strlen(def[n].name)>=mjMAXUINAME-1) {
+      if (strlen(def[n].name) >= mjMAXUINAME-1) {
         mju_error("mjui_add: section name too long");
       }
-      if (def[n].state<0 || def[n].state>2) {
+      if (def[n].state < 0 || def[n].state > 2) {
         mju_error("mjui_add: invalid section state");
       }
 
@@ -1168,26 +1168,26 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
     }
 
     // item
-    else if (def[n].type>=0 && def[n].type<mjNITEM) {
+    else if (def[n].type >= 0 && def[n].type < mjNITEM) {
       // first section must be defined
-      if (ui->nsect<=0) {
+      if (ui->nsect <= 0) {
         mju_error("mjui_add: item defined outside section");
       }
       mjuiSection* se = ui->sect + (ui->nsect-1);
 
       // check limit
-      if (se->nitem>=mjMAXUIITEM) {
+      if (se->nitem >= mjMAXUIITEM) {
         mju_error("mjui_add: too many items in section");
       }
 
       // check item data
-      if (def[n].type<0 || def[n].type>=mjNITEM) {
+      if (def[n].type < 0 || def[n].type >= mjNITEM) {
         mju_error("mjui_add: invalid item type");
       }
-      if (strlen(def[n].name)>=mjMAXUINAME) {
+      if (strlen(def[n].name) >= mjMAXUINAME) {
         mju_error("mjui_add: item name too long");
       }
-      if (def[n].state<0) {
+      if (def[n].state < 0) {
         mju_error("mjui_add: invalid item state");
       }
 
@@ -1205,43 +1205,45 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
       it->itemid = se->nitem - 1;
 
       // data pointer check
-      if (it->type>mjITEM_BUTTON && it->pdata==0) {
+      if (it->type > mjITEM_BUTTON && it->pdata == 0) {
         mju_error("mjui_add: no data pointer for item with data");
       }
-      if (it->type<=mjITEM_BUTTON && it->pdata) {
+      if (it->type <= mjITEM_BUTTON && it->pdata) {
         mju_error("mjui_add: data pointer for item without data");
       }
 
       // parse button and check
-      if (it->type==mjITEM_BUTTON || it->type==mjITEM_CHECKINT || it->type==mjITEM_CHECKBYTE) {
+      if (it->type == mjITEM_BUTTON ||
+          it->type == mjITEM_CHECKINT ||
+          it->type == mjITEM_CHECKBYTE) {
         parseshortcut(def[n].other, &(it->single.modifier), &(it->single.shortcut));
       }
 
       // parse static, radio, radioline, select
-      else if (it->type==mjITEM_STATIC    ||
-               it->type==mjITEM_RADIO     ||
-               it->type==mjITEM_RADIOLINE ||
-               it->type==mjITEM_SELECT) {
+      else if (it->type == mjITEM_STATIC    ||
+               it->type == mjITEM_RADIO     ||
+               it->type == mjITEM_RADIOLINE ||
+               it->type == mjITEM_SELECT) {
         // init
         it->multi.nelem = 0;
         num = strlen(def[n].other);
         i = 0;
 
         // find names in '/n'-separated string
-        while (i<num) {
+        while (i < num) {
           // check limit
-          if (it->multi.nelem>=mjMAXUIMULTI) {
+          if (it->multi.nelem >= mjMAXUIMULTI) {
             mju_error("mjui_add: too many multi elements");
           }
 
           // find next '\n' or 0
           start = i;
-          while (def[n].other[i]!='\n' && def[n].other[i]!=0) {
+          while (def[n].other[i] != '\n' && def[n].other[i] != 0) {
             i++;
           }
 
           // check string
-          if (i==start || i-start>=mjMAXUINAME-1) {
+          if (i == start || i-start >= mjMAXUINAME-1) {
             mju_error("mjui_add: invalid multi element name");
           }
 
@@ -1257,10 +1259,10 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
       }
 
       // parse slider
-      else if (it->type==mjITEM_SLIDERINT || it->type==mjITEM_SLIDERNUM) {
+      else if (it->type == mjITEM_SLIDERINT || it->type == mjITEM_SLIDERNUM) {
         // read and check number
         num = sscanf(def[n].other, "%lf %lf %lf", x, x+1, x+2);
-        if (num!=2 && num!=3) {
+        if (num != 2 && num != 3) {
           mju_error("mjui_add: slider expects 'min max [div]'");
         }
 
@@ -1269,10 +1271,10 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
         it->slider.range[1] = x[1];
 
         // assign divisions if provided, otherwise default
-        if (num==3) {
+        if (num == 3) {
           it->slider.divisions = mjMAX(1, x[2]);
         } else {
-          if (it->type==mjITEM_SLIDERINT) {
+          if (it->type == mjITEM_SLIDERINT) {
             it->slider.divisions = mjMAX(1, x[1]-x[0]);
           } else {
             it->slider.divisions = 200;
@@ -1281,9 +1283,9 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
       }
 
       // parse edit numeric
-      else if (it->type==mjITEM_EDITINT || it->type==mjITEM_EDITNUM || it->type==mjITEM_EDITFLOAT) {
+      else if (it->type == mjITEM_EDITINT || it->type == mjITEM_EDITNUM || it->type == mjITEM_EDITFLOAT) {
         // check mjMAXUIEDIT
-        if (mjMAXUIEDIT>7) {
+        if (mjMAXUIEDIT > 7) {
           mju_error("internal error: mjMAXUIEDIT bigger than 7");
         }
 
@@ -1292,20 +1294,20 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
                      x, x+1, x+2, x+3, x+4, x+5, x+6, x+7, x+8, x+9, x+10, x+11, x+12, x+13, x+14);
 
         // check length, assign
-        if (num<1) {
+        if (num < 1) {
           mju_error("mjui_add: edit length missing");
         }
         it->edit.nelem = mju_round((mjtNum)x[0]);
-        if (it->edit.nelem<1 || it->edit.nelem>mjMAXUIEDIT) {
+        if (it->edit.nelem < 1 || it->edit.nelem > mjMAXUIEDIT) {
           mju_error("mjui_add: invalid edit length");
         }
-        if (it->edit.nelem*2!=(num-1) && num>1) {
+        if (it->edit.nelem*2 != (num-1) && num > 1) {
           mju_error("mjui_add: incorrent number of edit ranges");
         }
 
         // copy ranges
-        if (num>1) {
-          for (int i=0; i<it->edit.nelem; i++) {
+        if (num > 1) {
+          for (int i=0; i < it->edit.nelem; i++) {
             it->edit.range[i][0] = x[1+2*i];
             it->edit.range[i][1] = x[2+2*i];
           }
@@ -1313,7 +1315,7 @@ void mjui_add(mjUI* ui, const mjuiDef* def) {
       }
 
       // edit text: nothing to parse
-      else if (it->type==mjITEM_EDITTXT) {
+      else if (it->type == mjITEM_EDITTXT) {
         // clear nelem, for style
         it->edit.nelem = 0;
       }
@@ -1365,7 +1367,7 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
 
   // process sections
   int skip;
-  for (int n=0; n<ui->nsect; n++) {
+  for (int n=0; n < ui->nsect; n++) {
     // vertical padding before section
     height += g_section;
     maxheight += g_section;
@@ -1376,7 +1378,7 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
     // title rectangle
     s->rtitle.left = g_section;
     s->rtitle.width = w_master - w_scroll - 2*g_section;
-    if (s->state<2) {
+    if (s->state < 2) {
       s->rtitle.bottom = height + textheight;
       s->rtitle.height = textheight;
     } else {
@@ -1394,7 +1396,7 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
     s->rcontent.height = 0;
 
     // process items within section
-    for (int i=0; i<s->nitem; i++) {
+    for (int i=0; i < s->nitem; i++) {
       // get item pointer
       mjuiItem* it = s->item + i;
 
@@ -1403,11 +1405,11 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
 
       // determine skip (collapsed separator before item)
       skip = 0;
-      if (i>0 && it->type!=mjITEM_SEPARATOR) {
-        for (int k=i-1; k>=0; k--) {
-          if (s->item[k].type==mjITEM_SEPARATOR) {
+      if (i > 0 && it->type != mjITEM_SEPARATOR) {
+        for (int k=i-1; k >= 0; k--) {
+          if (s->item[k].type == mjITEM_SEPARATOR) {
             // collapsed state: skip items below it
-            if (s->item[k].state==mjSEPCLOSED) {
+            if (s->item[k].state == mjSEPCLOSED) {
               skip = 1;
             }
 
@@ -1417,11 +1419,13 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
       }
 
       // vertical padding before item
-      s->rcontent.height += it->type==mjITEM_SEPARATOR ? g_section : g_itemver;
+      s->rcontent.height += it->type == mjITEM_SEPARATOR ? g_section : g_itemver;
 
       // packed pair of items
-      if (i<s->nitem-1 && s->item[i+1].type==it->type &&
-          (it->type==mjITEM_BUTTON || it->type==mjITEM_CHECKINT || it->type==mjITEM_CHECKBYTE)) {
+      if (i < s->nitem-1 && s->item[i+1].type == it->type &&
+          (it->type == mjITEM_BUTTON ||
+           it->type == mjITEM_CHECKINT ||
+           it->type == mjITEM_CHECKBYTE)) {
         // get next item pointer
         mjuiItem* it1 = s->item + (i+1);
 
@@ -1452,21 +1456,21 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
         it->rect.left = s->rcontent.left + g_itemside;
 
         // static
-        if (it->type==mjITEM_STATIC) {
+        if (it->type == mjITEM_STATIC) {
           it->rect.width = s->rcontent.width - 2*g_itemside;
           it->rect.height = (con->charHeight+g_textver)*it->multi.nelem;
         }
 
         // single column
-        else if (it->type==mjITEM_BUTTON ||
-                 it->type==mjITEM_CHECKINT ||
-                 it->type==mjITEM_CHECKBYTE) {
+        else if (it->type == mjITEM_BUTTON ||
+                 it->type == mjITEM_CHECKINT ||
+                 it->type == mjITEM_CHECKBYTE) {
           it->rect.width = colwidth;
           it->rect.height = textheight;
         }
 
         // radio
-        else if (it->type==mjITEM_RADIO) {
+        else if (it->type == mjITEM_RADIO) {
           int ncol = ui->radiocol ? ui->radiocol : 2;
           int nrow = (it->multi.nelem-1)/ncol + 1;
           it->rect.width = s->rcontent.width - 2*g_itemside;
@@ -1481,9 +1485,9 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
 
         // add room for label
         if (it->name[0] &&
-            (it->type>=mjITEM_RADIO ||
-             it->type>=mjITEM_RADIOLINE ||
-             it->type==mjITEM_STATIC)) {
+            (it->type >= mjITEM_RADIO ||
+             it->type >= mjITEM_RADIOLINE ||
+             it->type == mjITEM_STATIC)) {
           it->rect.left = s->rcontent.left + g_itemside + g_label;
           it->rect.width = s->rcontent.width - (2*g_itemside + g_label);
         }
@@ -1518,14 +1522,14 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
   maxheight += g_section;
 
   // invert bottom for all sections and items
-  for (int n=0; n<ui->nsect; n++) {
+  for (int n=0; n < ui->nsect; n++) {
     // section
     mjuiSection* s = ui->sect + n;
     s->rtitle.bottom = height - s->rtitle.bottom;
     s->rcontent.bottom = height - s->rcontent.bottom;
 
     // items
-    for (int i=0; i<s->nitem; i++) {
+    for (int i=0; i < s->nitem; i++) {
       s->item[i].rect.bottom = height - s->item[i].rect.bottom;
     }
   }
@@ -1540,9 +1544,9 @@ void mjui_resize(mjUI* ui, const mjrContext* con) {
 
 // predicate handler
 static int evalpredicate(int state, mjfItemEnable predicate, void* userdata) {
-  if (state<=0) {
+  if (state <= 0) {
     return 0;
-  } else if (state==1 || predicate==NULL) {
+  } else if (state == 1 || predicate == NULL) {
     return 1;
   } else {
     return predicate(state, userdata);
@@ -1591,12 +1595,12 @@ static void shortcuthelp(mjrRect r, int modifier, int shortcut,
 
   // key: ascii or decode map
   char key[10] = "";
-  if (shortcut>32 && shortcut<=126) {
+  if (shortcut > 32 && shortcut <= 126) {
     key[0] = (char)shortcut;
     key[1] = 0;
   } else {
-    for (int i=0; i<NMAP; i++) {
-      if (keymap[i].key==shortcut) {
+    for (int i=0; i < NMAP; i++) {
+      if (keymap[i].key == shortcut) {
         mjSTRNCPY(key, keymap[i].value);
         break;
       }
@@ -1605,11 +1609,11 @@ static void shortcuthelp(mjrRect r, int modifier, int shortcut,
 
   // modifier
   char text[50] = "";
-  if (modifier==1) {
+  if (modifier == 1) {
     mjSTRNCPY(text, "Ctrl ");
-  } else if (modifier==2) {
+  } else if (modifier == 2) {
     mjSTRNCPY(text, "Shift ");
-  } else if (modifier==4) {
+  } else if (modifier == 4) {
     mjSTRNCPY(text, "Alt ");
   }
 
@@ -1652,7 +1656,7 @@ void mjui_update(int section, int item, const mjUI* ui,
   initOpenGL(ui, con);
 
   // all sections: clear background
-  if (section<0) {
+  if (section < 0) {
     glClearColor(ui->color.master[0], ui->color.master[1],
                  ui->color.master[2], 1);
     glClear(GL_COLOR_BUFFER_BIT);
@@ -1661,7 +1665,7 @@ void mjui_update(int section, int item, const mjUI* ui,
   // select sections
   int start_section = 0;
   int num_section = ui->nsect;
-  if (section>=0) {
+  if (section >= 0) {
     start_section = section;
     num_section = 1;
   }
@@ -1671,7 +1675,7 @@ void mjui_update(int section, int item, const mjUI* ui,
   mjrRect r;
   char text[mjMAXUITEXT];
   int sep[mjMAXUIMULTI+1];
-  for (int n=start_section; n<start_section+num_section; n++) {
+  for (int n=start_section; n < start_section+num_section; n++) {
     // get section pointer
     const mjuiSection* s = ui->sect + n;
 
@@ -1679,9 +1683,9 @@ void mjui_update(int section, int item, const mjUI* ui,
     int maxwidth = (s->rtitle.width - 2*g_itemside - g_itemmid)/2 - 2*g_texthor;
 
     // redraw section title and pane
-    if (section<0 || item<0) {
+    if (section < 0 || item < 0) {
       // title shown
-      if (s->state<2) {
+      if (s->state < 2) {
         // interpolated rectangle
         r = s->rtitle;
         glBegin(GL_QUADS);
@@ -1718,18 +1722,18 @@ void mjui_update(int section, int item, const mjUI* ui,
     // select items
     int start_item = 0;
     int num_item = s->nitem;
-    if (section>=0 && item>=0) {
+    if (section >= 0 && item >= 0) {
       start_item = item;
       num_item = 1;
     }
 
     // draw item(s)
-    for (int i=start_item; i<start_item+num_item; i++) {
+    for (int i=start_item; i < start_item+num_item; i++) {
       // get item pointer
       const mjuiItem* it = s->item + i;
 
       // zero size: skip
-      if (it->rect.height==0) {
+      if (it->rect.height == 0) {
         continue;
       }
 
@@ -1765,9 +1769,9 @@ void mjui_update(int section, int item, const mjUI* ui,
                  it->rect.width-2*g_texthor, ui->color.sectfont, con);
 
         // symbol
-        if (it->state==mjSEPCLOSED+1) {
+        if (it->state == mjSEPCLOSED+1) {
           drawsymbol(it->rect, 1, 1, ui, con);
-        } else if (it->state==mjSEPCLOSED) {
+        } else if (it->state == mjSEPCLOSED) {
           drawsymbol(it->rect, 0, 1, ui, con);
         }
 
@@ -1786,7 +1790,7 @@ void mjui_update(int section, int item, const mjUI* ui,
         drawrectangle(r, rgbpane, rgbpane, con);
 
         // text lines
-        for (int k=0; k<it->multi.nelem; k++) {
+        for (int k=0; k < it->multi.nelem; k++) {
           drawtext(it->multi.name[k],
                    r.left+g_texthor,
                    r.bottom+g_textver+(it->multi.nelem-k-1)*(con->charHeight+g_textver),
@@ -1800,7 +1804,7 @@ void mjui_update(int section, int item, const mjUI* ui,
         }
 
         // outline or filled, depending on mouse
-        if (ui->mousesect==n+1 && ui->mouseitem==i && msect==n+1 && mitem==i) {
+        if (ui->mousesect == n+1 && ui->mouseitem == i && msect == n+1 && mitem == i) {
           drawoval(it->rect, rgbdecor, NULL, con);
         } else {
           drawoval(it->rect, rgbdecor, rgbpane, con);
@@ -1819,14 +1823,15 @@ void mjui_update(int section, int item, const mjUI* ui,
         break;
 
       case mjITEM_CHECKINT:
-      case mjITEM_CHECKBYTE: {
+      case mjITEM_CHECKBYTE:
+        {
           if (state) {
             rgbdecor = ui->color.check;
           }
 
           // get value according to type
           int k;
-          if (it->type==mjITEM_CHECKINT) {
+          if (it->type == mjITEM_CHECKINT) {
             k = *(int*)it->pdata;
           } else {
             k = *(mjtByte*)it->pdata;
@@ -1871,7 +1876,7 @@ void mjui_update(int section, int item, const mjUI* ui,
         drawrectangle(r, rgbdecor, NULL, con);
 
         // element names
-        for (int k=0; k<it->multi.nelem; k++) {
+        for (int k=0; k < it->multi.nelem; k++) {
           r = radioelement(it, k, ui, con);
           drawtext(it->multi.name[k],
                    r.left+g_texthor,
@@ -1880,7 +1885,8 @@ void mjui_update(int section, int item, const mjUI* ui,
         }
         break;
 
-      case mjITEM_RADIOLINE: {
+      case mjITEM_RADIOLINE:
+        {
           if (state) {
             rgbdecor = ui->color.radio;
           }
@@ -1905,7 +1911,7 @@ void mjui_update(int section, int item, const mjUI* ui,
           drawrectangle(r, rgbdecor, NULL, con);
 
           // element names
-          for (int k=0; k<it->multi.nelem; k++) {
+          for (int k=0; k < it->multi.nelem; k++) {
             // compute rectangle for element
             r = it->rect;
             r.left += sep[k];
@@ -1932,7 +1938,7 @@ void mjui_update(int section, int item, const mjUI* ui,
         drawrectangle(it->rect, rgbdecor, NULL, con);
 
         // value: only if non-empty
-        if (it->multi.nelem>0) {
+        if (it->multi.nelem > 0) {
           drawtext(it->multi.name[*(int*)it->pdata],
                    it->rect.left+g_texthor,
                    it->rect.bottom+g_textver,
@@ -1950,7 +1956,7 @@ void mjui_update(int section, int item, const mjUI* ui,
         }
 
         // compute relative slider position
-        if (it->type==mjITEM_SLIDERINT) {
+        if (it->type == mjITEM_SLIDERINT) {
           sel = (mjtNum)(*(int*)it->pdata);
         } else {
           sel = *(mjtNum*)it->pdata;
@@ -1966,13 +1972,13 @@ void mjui_update(int section, int item, const mjUI* ui,
         drawrectangle(r, rgbdecor2, NULL, con);
 
         // show divisions if not too many
-        if (it->slider.divisions<=20) {
+        if (it->slider.divisions <= 20) {
           // repare rectangle
           r.width = SCL(2, con);
           r.height = g_textver;
 
           // draw ticks
-          for (int k=1; k<(int)it->slider.divisions; k++) {
+          for (int k=1; k < (int)it->slider.divisions; k++) {
             r.left = it->rect.left - r.width/2 +
                      it->rect.width*k/it->slider.divisions;
             drawrectangle(r, rgbpane, NULL, con);
@@ -1986,7 +1992,7 @@ void mjui_update(int section, int item, const mjUI* ui,
                  g_label-2*g_texthor, rgbfont, con);
 
         // value
-        if (it->type==mjITEM_SLIDERINT) {
+        if (it->type == mjITEM_SLIDERINT) {
           mjSNPRINTF(text, "%d", *(int*)it->pdata);
         } else {
           mjSNPRINTF(text, "%.3g", *(mjtNum*)it->pdata);
@@ -2012,9 +2018,9 @@ void mjui_update(int section, int item, const mjUI* ui,
                  g_label-2*g_texthor, rgbfont, con);
 
         // activated
-        if (ui->editsect>0 && ui->editsect==n+1 && ui->edititem==i) {
+        if (ui->editsect > 0 && ui->editsect == n+1 && ui->edititem == i) {
           // fill box, indicate valid state with color
-          if (checkedit(ui->edittext, it)==0) {
+          if (checkedit(ui->edittext, it) == 0) {
             drawrectangle(it->rect, rgbdecor, NULL, con);
           } else {
             drawrectangle(it->rect, ui->color.edit2, NULL, con);
@@ -2057,12 +2063,12 @@ void mjui_update(int section, int item, const mjUI* ui,
   }
 
   // select tracking
-  if (ui->mousesect>0 && ui->mouseitem>=0) {
+  if (ui->mousesect > 0 && ui->mouseitem >= 0) {
     // get item pointer
     const mjuiItem* it = ui->sect[ui->mousesect-1].item + ui->mouseitem;
 
     // proceed if select type
-    if (it->type==mjITEM_SELECT) {
+    if (it->type == mjITEM_SELECT) {
       // margin
       r = it->rect;
       r.left -= g_itemside;
@@ -2079,7 +2085,7 @@ void mjui_update(int section, int item, const mjUI* ui,
 
       // hightlight row under mouse
       int k = findselect(it, ui, state, con);
-      if (k>=0) {
+      if (k >= 0) {
         mjrRect r1 = r;
         r1.bottom = r.bottom + (it->multi.nelem-1-k)*cellheight;
         r1.height = cellheight;
@@ -2087,7 +2093,7 @@ void mjui_update(int section, int item, const mjUI* ui,
       }
 
       // values
-      for (int k=0; k<it->multi.nelem; k++) {
+      for (int k=0; k < it->multi.nelem; k++) {
         drawtext(it->multi.name[k],
                  r.left+g_texthor,
                  r.bottom+g_textver+(it->multi.nelem-1-k)*cellheight,
@@ -2109,13 +2115,13 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
   ui->editchanged = NULL;
 
   // non-left mouse events: handle shortcut help
-  if ((state->type==mjEVENT_PRESS || state->type==mjEVENT_MOVE ||
-       state->type==mjEVENT_RELEASE) && state->button!=mjBUTTON_LEFT) {
-    if (state->button==mjBUTTON_RIGHT) {
-      if (state->type==mjEVENT_PRESS) {
+  if ((state->type == mjEVENT_PRESS || state->type == mjEVENT_MOVE ||
+       state->type == mjEVENT_RELEASE) && state->button != mjBUTTON_LEFT) {
+    if (state->button == mjBUTTON_RIGHT) {
+      if (state->type == mjEVENT_PRESS) {
         ui->mousehelp = 1;
         mjui_update(-1, -1, ui, state, con);
-      } else if (state->type==mjEVENT_RELEASE) {
+      } else if (state->type == mjEVENT_RELEASE) {
         ui->mousehelp = 0;
         mjui_update(-1, -1, ui, state, con);
       }
@@ -2129,7 +2135,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
   int item_cur = -1;
   mjuiItem* it_cur = NULL;
   findmouse(ui, state, con, &sect_cur, &item_cur);
-  if (sect_cur>0 && item_cur >= 0) {
+  if (sect_cur > 0 && item_cur >= 0) {
     it_cur = ui->sect[sect_cur-1].item + item_cur;
   }
 
@@ -2137,7 +2143,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
   int sect_rec = ui->mousesect;
   int item_rec = -1;
   mjuiItem* it_rec = NULL;
-  if (sect_rec>0) {
+  if (sect_rec > 0) {
     item_rec = ui->mouseitem;
     it_rec = ui->sect[sect_rec-1].item + item_rec;
   }
@@ -2146,7 +2152,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
   int sect_edit = ui->editsect;
   int item_edit = -1;
   mjuiItem* it_edit = NULL;
-  if (sect_edit>0) {
+  if (sect_edit > 0) {
     item_edit = ui->edititem;
     it_edit = ui->sect[sect_edit-1].item + item_edit;
   }
@@ -2155,9 +2161,9 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
   switch (state->type) {
   case mjEVENT_MOVE:
     // move scrollbar
-    if (sect_rec==-1) {
+    if (sect_rec == -1) {
       ui->scroll -= mju_round((state->dy * ui->height) /
-                               state->rect[ui->rectid].height);
+                              state->rect[ui->rectid].height);
       ui->scroll = mjMAX(0, mjMIN(ui->scroll,
                                   ui->height-state->rect[ui->rectid].height));
     }
@@ -2165,7 +2171,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
     // item
     else if (it_rec) {
       // move slider
-      if (it_rec->type==mjITEM_SLIDERINT || it_rec->type==mjITEM_SLIDERNUM) {
+      if (it_rec->type == mjITEM_SLIDERINT || it_rec->type == mjITEM_SLIDERNUM) {
         setslider(it_rec, ui, state, con);
 
         // redraw, return change
@@ -2174,10 +2180,10 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       }
 
       // move edit
-      else if (it_rec->type==mjITEM_EDITINT ||
-               it_rec->type==mjITEM_EDITNUM ||
-               it_rec->type==mjITEM_EDITFLOAT ||
-               it_rec->type==mjITEM_EDITTXT) {
+      else if (it_rec->type == mjITEM_EDITINT ||
+               it_rec->type == mjITEM_EDITNUM ||
+               it_rec->type == mjITEM_EDITFLOAT ||
+               it_rec->type == mjITEM_EDITTXT) {
         setcursor(it_rec->rect, ui, state, con);
       }
 
@@ -2188,9 +2194,9 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
 
   case mjEVENT_PRESS:
     // edit in progress
-    if (sect_edit>0) {
+    if (sect_edit > 0) {
       // same: adjust cursor position
-      if (sect_edit==sect_cur && item_edit==item_cur) {
+      if (sect_edit == sect_cur && item_edit == item_cur) {
         // start mouse tracking
         ui->mousesect = sect_cur;
         ui->mouseitem = item_cur;
@@ -2204,7 +2210,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       }
 
       // different: instantiate, record editchange
-      if (text2array(ui->edittext, it_edit)==0) {
+      if (text2array(ui->edittext, it_edit) == 0) {
         ui->editchanged = it_edit;
       }
 
@@ -2219,27 +2225,27 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
     ui->mousesect = 0;
 
     // start scrollbar drag
-    if (sect_cur==-1) {
+    if (sect_cur == -1) {
       ui->mousesect = -1;
       ui->mouseitem = 0;
     }
 
     // scroll down
-    else if (sect_cur==-2) {
+    else if (sect_cur == -2) {
       ui->scroll = ui->height - state->rect[ui->rectid].height;
     }
 
     // scroll up
-    else if (sect_cur==-3) {
+    else if (sect_cur == -3) {
       ui->scroll = 0;
     }
 
     // section title
-    else if (sect_cur>0 && item_cur<0) {
+    else if (sect_cur > 0 && item_cur < 0) {
       // double-click: make all sections like this
       if (state->doubleclick) {
-        for (int i=0; i<ui->nsect; i++) {
-          if (ui->sect[i].state<2 && ui->sect[sect_cur-1].state<2) {
+        for (int i=0; i < ui->nsect; i++) {
+          if (ui->sect[i].state < 2 && ui->sect[sect_cur-1].state < 2) {
             ui->sect[i].state = ui->sect[sect_cur-1].state;
           }
         }
@@ -2247,7 +2253,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
 
       // single click: toggle section state
       else {
-        if (ui->sect[sect_cur-1].state<2) {
+        if (ui->sect[sect_cur-1].state < 2) {
           ui->sect[sect_cur-1].state = 1 - ui->sect[sect_cur-1].state;
         }
       }
@@ -2258,7 +2264,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
     }
 
     // item
-    else if (sect_cur>0 && item_cur>=0) {
+    else if (sect_cur > 0 && item_cur >= 0) {
       // nothing to do for inactive item
       if (!evalpredicate(it_cur->state, ui->predicate, ui->userdata)) {
         return ui->editchanged;
@@ -2268,14 +2274,14 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       switch (it_cur->type) {
       case mjITEM_SEPARATOR:
         // expanded: collapse
-        if (it_cur->state==mjSEPCLOSED+1) {
+        if (it_cur->state == mjSEPCLOSED+1) {
           it_cur->state = mjSEPCLOSED;
           mjui_resize(ui, con);
           mjui_update(-1, -1, ui, state, con);
         }
 
         // collapsed: expand
-        else if (it_cur->state==mjSEPCLOSED) {
+        else if (it_cur->state == mjSEPCLOSED) {
           it_cur->state = mjSEPCLOSED+1;
           mjui_resize(ui, con);
           mjui_update(-1, -1, ui, state, con);
@@ -2306,7 +2312,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       case mjITEM_RADIO:
         // set selected element
         i = findradio(it_cur, ui, state, con);
-        if (i>=0) {
+        if (i >= 0) {
           *(int*)it_cur->pdata = i;
           change = 1;
         }
@@ -2315,7 +2321,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       case mjITEM_RADIOLINE:
         // set selected element
         i = findradioline(it_cur, ui, state, con);
-        if (i>=0) {
+        if (i >= 0) {
           *(int*)it_cur->pdata = i;
           change = 1;
         }
@@ -2369,10 +2375,10 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
 
   case mjEVENT_RELEASE:
     // selection box change
-    if (it_rec && it_rec->type==mjITEM_SELECT) {
+    if (it_rec && it_rec->type == mjITEM_SELECT) {
       // find and set value
       i = findselect(it_rec, ui, state, con);
-      if (i>=0) {
+      if (i >= 0) {
         *(int*)it_rec->pdata = i;
       }
 
@@ -2381,13 +2387,13 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       mjui_update(-1, -1, ui, state, con);
 
       // return if value set change
-      if (i>=0) {
+      if (i >= 0) {
         return it_rec;
       }
     }
 
     // button release
-    else if (it_rec && it_rec->type==mjITEM_BUTTON) {
+    else if (it_rec && it_rec->type == mjITEM_BUTTON) {
       // free mouse and redraw
       ui->mousesect = 0;
       mjui_update(sect_rec-1, item_rec, ui, state, con);
@@ -2408,7 +2414,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
 
   case mjEVENT_KEY:
     // editing
-    if (sect_edit>0) {
+    if (sect_edit > 0) {
       // copy key and clear
       key = state->key;
       state->key = 0;
@@ -2420,7 +2426,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
         break;
 
       case mjKEY_ENTER:           // instantiate
-        if (text2array(ui->edittext, it_edit)==0) {
+        if (text2array(ui->edittext, it_edit) == 0) {
           ui->editsect = 0;
 
           // redraw
@@ -2459,9 +2465,9 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
         break;
 
       case mjKEY_BACKSPACE:       // delete before cursor
-        if (ui->editcursor>0) {
+        if (ui->editcursor > 0) {
           // shift chars after cursor to the left
-          for (int i=ui->editcursor; i<=strlen(ui->edittext); i++) {
+          for (int i=ui->editcursor; i <= strlen(ui->edittext); i++) {
             ui->edittext[i-1] = ui->edittext[i];
           }
 
@@ -2471,9 +2477,9 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
         break;
 
       case mjKEY_DELETE:          // delete after cursor
-        if (ui->editcursor<strlen(ui->edittext)) {
+        if (ui->editcursor < strlen(ui->edittext)) {
           // shift chars after cursor to the left
-          for (int i=ui->editcursor; i<=strlen(ui->edittext); i++) {
+          for (int i=ui->editcursor; i <= strlen(ui->edittext); i++) {
             ui->edittext[i] = ui->edittext[i+1];
           }
         }
@@ -2483,7 +2489,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
         key = validkey(key, strlen(ui->edittext), it_edit->type, state);
         if (key) {
           // shift chars after cursor to the right
-          for (int i=strlen(ui->edittext); i>=ui->editcursor; i--) {
+          for (int i=strlen(ui->edittext); i >= ui->editcursor; i--) {
             ui->edittext[i+1] = ui->edittext[i];
           }
 
@@ -2496,7 +2502,7 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
       }
 
       // reveal cursor if still editing
-      if (ui->editsect>0) {
+      if (ui->editsect > 0) {
         revealcursor(it_edit->rect, ui, con);
       }
 
@@ -2507,17 +2513,17 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
     // shortcut search
     else {
       // search section shortcuts
-      for (int n=0; n<ui->nsect; n++)
+      for (int n=0; n < ui->nsect; n++)
         if (matchshortcut(state, ui->sect[n].modifier, ui->sect[n].shortcut)) {
           // collapse all
-          for (int i=0; i<ui->nsect; i++) {
-            if (ui->sect[i].state<2) {
+          for (int i=0; i < ui->nsect; i++) {
+            if (ui->sect[i].state < 2) {
               ui->sect[i].state = 0;
             }
           }
 
           // expand this
-          if (ui->sect[n].state<2) {
+          if (ui->sect[n].state < 2) {
             ui->sect[n].state = 1;
           }
 
@@ -2531,14 +2537,14 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
         }
 
       // search item shortcuts
-      for (int n=0; n<ui->nsect; n++) {
-        for (int i=0; i<ui->sect[n].nitem; i++) {
+      for (int n=0; n < ui->nsect; n++) {
+        for (int i=0; i < ui->sect[n].nitem; i++) {
           // get pointer to item
           it = ui->sect[n].item + i;;
 
           // check
-          if ((it->type==mjITEM_BUTTON || it->type==mjITEM_CHECKINT ||
-               it->type==mjITEM_CHECKBYTE) &&
+          if ((it->type == mjITEM_BUTTON || it->type == mjITEM_CHECKINT ||
+               it->type == mjITEM_CHECKBYTE) &&
               matchshortcut(state, it->single.modifier, it->single.shortcut)) {
             // clear key
             state->key = 0;
@@ -2546,10 +2552,10 @@ mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
             // active: process shortcut
             if (evalpredicate(it->state, ui->predicate, ui->userdata)) {
               // toggle if check
-              if (it->type==mjITEM_CHECKINT) {
+              if (it->type == mjITEM_CHECKINT) {
                 *(int*)it->pdata = 1 - *(int*)it->pdata;
                 mjui_update(n, i, ui, state, con);
-              } else if (it->type==mjITEM_CHECKBYTE) {
+              } else if (it->type == mjITEM_CHECKBYTE) {
                 *(mjtByte*)it->pdata = 1 - *(mjtByte*)it->pdata;
                 mjui_update(n, i, ui, state, con);
               }
@@ -2591,19 +2597,18 @@ void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con) {
                 ui->color.master[2], 1);
 
   // adjust scroll
-  if (ui->scroll>0 && ui->height-ui->scroll<rect.height) {
+  if (ui->scroll > 0 && ui->height-ui->scroll < rect.height) {
     ui->scroll = mjMAX(0, ui->height - rect.height);
   }
 
   // blit to current buffer
   mjrRect raux = {0, mjMAX(0, ui->height - ui->scroll - rect.height),
-                  ui->width, mjMIN(rect.height, ui->height - ui->scroll)
-                 };
+                  ui->width, mjMIN(rect.height, ui->height - ui->scroll)};
   mjr_blitAux(ui->auxid, raux, rect.left,
               rect.bottom + mjMAX(0, rect.height - ui->height + ui->scroll), con);
 
   // draw scrollbar on top if needed
-  if (ui->height>rect.height) {
+  if (ui->height > rect.height) {
     // construct rectangles
     mjrRect bar;
     mjrRect thumb;