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Add missing braces.

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PiperOrigin-RevId: 466576293
Change-Id: Ifea04abeed531befac6ab335bb66b1f1ce0f10a6
This commit is contained in:
Yuval Tassa
2022-08-09 22:52:41 -07:00
committed by Copybara-Service
parent 95d5db3f81
commit d6e46bda50
1 changed files with 6 additions and 3 deletions
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src/engine/engine_core_constraint.c
+6 -3
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@@ -630,7 +630,7 @@ void mj_instantiateFriction(const mjModel* m, mjData* d) {
jac = mj_stackAlloc(d, nv); jac = mj_stackAlloc(d, nv);
// find frictional dofs // find frictional dofs
for (int i=0; i<nv; i++) for (int i=0; i<nv; i++) {
if (m->dof_frictionloss[i]>0) { if (m->dof_frictionloss[i]>0) {
// prepare Jacobian: sparse or dense // prepare Jacobian: sparse or dense
if (issparse) { if (issparse) {
@@ -648,6 +648,7 @@ void mj_instantiateFriction(const mjModel* m, mjData* d) {
break; break;
} }
} }
}
// find frictional tendons // find frictional tendons
for (int i=0; i<m->ntendon; i++) { for (int i=0; i<m->ntendon; i++) {
@@ -684,7 +685,7 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
jac = mj_stackAlloc(d, nv); jac = mj_stackAlloc(d, nv);
// find joint limits // find joint limits
for (int i=0; i<m->njnt; i++) for (int i=0; i<m->njnt; i++) {
if (m->jnt_limited[i]) { if (m->jnt_limited[i]) {
// get margin // get margin
margin = m->jnt_margin[i]; margin = m->jnt_margin[i];
@@ -767,9 +768,10 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
} }
} }
} }
}
// find tendon limits // find tendon limits
for (int i=0; i<m->ntendon; i++) for (int i=0; i<m->ntendon; i++) {
if (m->tendon_limited[i]) { if (m->tendon_limited[i]) {
// get value = lenth, margin // get value = lenth, margin
value = d->ten_length[i]; value = d->ten_length[i];
@@ -799,6 +801,7 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
} }
} }
} }
}
mjFREESTACK; mjFREESTACK;
} }