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Add spaces around comparison operators in render/ and ui/ source files.

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PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
This commit is contained in:
Yuval Tassa
2023-05-28 07:04:06 -07:00
committed by Copybara-Service
parent 455b1cd2e2
commit d1c6561f1c
5 changed files with 509 additions and 500 deletions
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src/render/render_context.c
+90 -90
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@@ -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);