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Avoid variable name shadowing in all engine source files.

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PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
This commit is contained in:
Yuval Tassa
2023-03-24 10:32:54 -07:00
committed by Copybara-Service
parent 3f14d97f6b
commit d6f2dd143d
9 changed files with 85 additions and 82 deletions
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src/engine/engine_collision_box.c
+27 -27
View File
@@ -316,52 +316,52 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
};
mjtNum c[2];
} d2;
d2 p, s, d /*, c, tmp1*/;
mjtNum u, v, w, e1, best /* ,e2 */, l /* , e3, e4 */;
d2 p, s, dd /*, c, tmp1*/;
mjtNum uu, vv, w, ee1, best /* ,e2 */, l /* , e3, e4 */;
bestdist = bestdistmax;
p.x = pos[0];
p.y = pos[1];
d.x = halfaxis[0];
d.y = halfaxis[1];
dd.x = halfaxis[0];
dd.y = halfaxis[1];
s.x = size2[0];
s.y = size2[1];
l = sqrt(d.x * d.x + d.y * d.y);
l = sqrt(dd.x * dd.x + dd.y * dd.y);
u = d.x * s.y;
v = d.y * s.x;
w = d.x * p.y - d.y * p.x;
uu = dd.x * s.y;
vv = dd.y * s.x;
w = dd.x * p.y - dd.y * p.x;
best = -1;
e1 = +u - v;
if ((e1 < 0) == (w < 0)) {
if (best < mju_abs(e1)) {
best = mju_abs(e1);
ee1 = +uu - vv;
if ((ee1 < 0) == (w < 0)) {
if (best < mju_abs(ee1)) {
best = mju_abs(ee1);
c1 = 0;
}
}
e1 = -u - v;
if ((e1 < 0) == (w < 0)) {
if (best < mju_abs(e1)) {
best = mju_abs(e1);
ee1 = -uu - vv;
if ((ee1 < 0) == (w < 0)) {
if (best < mju_abs(ee1)) {
best = mju_abs(ee1);
c1 = 1;
}
}
e1 = +u + v;
if ((e1 < 0) == (w < 0)) {
if (best < mju_abs(e1)) {
best = mju_abs(e1);
ee1 = +uu + vv;
if ((ee1 < 0) == (w < 0)) {
if (best < mju_abs(ee1)) {
best = mju_abs(ee1);
c1 = 2;
}
}
e1 = -u + v;
if ((e1 < 0) == (w < 0)) {
if (best < mju_abs(e1)) {
best = mju_abs(e1);
ee1 = -uu + vv;
if ((ee1 < 0) == (w < 0)) {
if (best < mju_abs(ee1)) {
best = mju_abs(ee1);
c1 = 3;
}
}
@@ -369,21 +369,21 @@ int mjc_CapsuleBox(const mjModel* m, const mjData* d, mjContact* con,
// c.x = s.x * ((c1 / 2) ? -1 : 1);
// c.y = s.y * ((c1 % 2) ? -1 : 1);
e1 = fabs(w) / l;
ee1 = fabs(w) / l;
// e2 = best / l;
// printf("%g %g %g %g %g %g\n",c.x,c.y,d.x,d.y,e1,e2);
// tmp1.x = c.x - p.x;
// tmp1.y = c.y - p.y;
e1 = d.x * d.x + d.y * d.y;
ee1 = dd.x * dd.x + dd.y * dd.y;
// e2 = tmp1.x * d.x + tmp1.y * d.y;
// e3 = e2 / e1;
// printf("%g %g %g %g %g %g %g \n",c.x,c.y,d.x,d.y,e1,e2,e3);
e1 = p.x + (+s.y - p.y) / d.y * d.x;
ee1 = p.x + (+s.y - p.y) / dd.y * dd.x;
// e2 = p.x + (-s.y - p.y) / d.y * d.x;
// e3 = p.y + (+s.x - p.x) / d.x * d.y;
// e4 = p.y + (-s.x - p.x) / d.x * d.y;
src/engine/engine_collision_driver.c
+15 -15
View File
@@ -632,7 +632,7 @@ static int can_collide(const mjModel* m, int b) {
// broadphase collision detector
int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
int i, j, b1, b2, toremove, cnt, npair = 0, nbody = m->nbody, ngeom = m->ngeom;
int b1, b2, toremove, cnt, npair = 0, nbody = m->nbody, ngeom = m->ngeom;
mjtNum cov[9], cen[3], dif[3], eigval[3], frame[9], quat[4];
mjtBroadphase *sortbuf, *activebuf;
mjtNum *aabb;
@@ -727,13 +727,13 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
}
// allocate sort buffer
i = sizeof(mjtBroadphase)/sizeof(mjtNum);
j = sizeof(mjtBroadphase)%sizeof(mjtNum);
sortbuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(i + (j ? 1 : 0)));
activebuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(i + (j ? 1 : 0)));
int quot = sizeof(mjtBroadphase)/sizeof(mjtNum);
int rem = sizeof(mjtBroadphase)%sizeof(mjtNum);
sortbuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(quot + (rem ? 1 : 0)));
activebuf = (mjtBroadphase*)mj_stackAlloc(d, 2*bufcnt*(quot + (rem ? 1 : 0)));
// init sortbuf with axis0
j = 0;
int k = 0;
for (int i=1; i<nbody; i++) {
// cannot colide
if (!can_collide(m, i)) {
@@ -741,15 +741,15 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
}
// init
sortbuf[2*j].body_ismax = i;
sortbuf[2*j].value = (float)aabb[6*i];
sortbuf[2*j+1].body_ismax = i + 0x10000;
sortbuf[2*j+1].value = (float)aabb[6*i+1];
j++;
sortbuf[2*k].body_ismax = i;
sortbuf[2*k].value = (float)aabb[6*i];
sortbuf[2*k+1].body_ismax = i + 0x10000;
sortbuf[2*k+1].value = (float)aabb[6*i+1];
k++;
}
// sanity check; SHOULD NOT OCCUR
if (j!=bufcnt) {
if (k!=bufcnt) {
mju_error("Internal error in broadphase: unexpected bufcnt");
}
@@ -828,7 +828,7 @@ endbroad:
// test two geoms for collision, apply filters, add to contact list
// flg_user disables filters and uses usermargin
void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user, mjtNum usermargin) {
int i, num, type1, type2, condim;
int num, type1, type2, condim;
mjtNum margin, gap, mix, friction[5], solref[mjNREF], solimp[mjNIMP];
mjContact con[mjMAXCONPAIR];
int ipair = (g2<0 ? g1 : -1);
@@ -841,7 +841,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
// order geoms by type
if (m->geom_type[g1] > m->geom_type[g2]) {
i = g1;
int i = g1;
g1 = g2;
g2 = i;
}
@@ -938,7 +938,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
}
// consolidate good
i = 0;
int i = 0;
for (int j=0; j<num; j++) {
if (con[j].dim==0) {
// different: copy
src/engine/engine_core_constraint.c
+3 -3
View File
@@ -1630,10 +1630,10 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
// check that nnzJ was computed correctly
if (d->nefc > 0) {
int nnz = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
if (d->nnzJ != nnz) {
int nnzJ = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
if (d->nnzJ != nnzJ) {
mju_error("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnz, d->nnzJ);
nnzJ, d->nnzJ);
}
}
} else if (d->nefc > nefc_allocated) {
src/engine/engine_core_smooth.c
+12 -12
View File
@@ -1562,28 +1562,28 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
// forward pass over bodies: compute cacc, cfrc_int
mjtNum cacc[6], cfrc_body[6], cfrc_corr[6];
mju_zero(d->cfrc_int, 6);
for (int i=1; i<m->nbody; i++) {
for (int j=1; j<m->nbody; j++) {
// get body's first dof address
int bda = m->body_dofadr[i];
int bda = m->body_dofadr[j];
// cacc = cacc_parent + cdofdot * qvel + cdof * qacc
mju_mulDofVec(cacc, d->cdof_dot+6*bda, d->qvel+bda, m->body_dofnum[i]);
mju_add(d->cacc+6*i, d->cacc+6*m->body_parentid[i], cacc, 6);
mju_mulDofVec(cacc, d->cdof+6*bda, d->qacc+bda, m->body_dofnum[i]);
mju_addTo(d->cacc+6*i, cacc, 6);
mju_mulDofVec(cacc, d->cdof_dot+6*bda, d->qvel+bda, m->body_dofnum[j]);
mju_add(d->cacc+6*j, d->cacc+6*m->body_parentid[j], cacc, 6);
mju_mulDofVec(cacc, d->cdof+6*bda, d->qacc+bda, m->body_dofnum[j]);
mju_addTo(d->cacc+6*j, cacc, 6);
// cfrc_body = cinert * cacc + cvel x (cinert * cvel)
mju_mulInertVec(cfrc_body, d->cinert+10*i, d->cacc+6*i);
mju_mulInertVec(cfrc_corr, d->cinert+10*i, d->cvel+6*i);
mju_crossForce(cfrc, d->cvel+6*i, cfrc_corr);
mju_mulInertVec(cfrc_body, d->cinert+10*j, d->cacc+6*j);
mju_mulInertVec(cfrc_corr, d->cinert+10*j, d->cvel+6*j);
mju_crossForce(cfrc, d->cvel+6*j, cfrc_corr);
mju_addTo(cfrc_body, cfrc, 6);
// set cfrc_int = cfrc_body - cfrc_ext
mju_sub(d->cfrc_int+6*i, cfrc_body, d->cfrc_ext+6*i, 6);
mju_sub(d->cfrc_int+6*j, cfrc_body, d->cfrc_ext+6*j, 6);
}
// backward pass over bodies: accumulate cfrc_int from children
for (int i=m->nbody-1; i>0; i--) {
mju_addTo(d->cfrc_int+6*m->body_parentid[i], d->cfrc_int+6*i, 6);
for (int j=m->nbody-1; j>0; j--) {
mju_addTo(d->cfrc_int+6*m->body_parentid[j], d->cfrc_int+6*j, 6);
}
}
src/engine/engine_plugin.cc
+2 -2
View File
@@ -380,8 +380,8 @@ const mjpPlugin* mjp_getPluginUnsafe(const char* name, int* slot, int nslot) {
return nullptr;
}
Global& plugin = GetGlobal();
PluginTable* table = &plugin.table();
Global& plugins = GetGlobal();
PluginTable* table = &plugins.table();
int found_slot = 0;
while (table) {
for (int i = 0;
src/engine/engine_support.c
+10 -10
View File
@@ -909,14 +909,14 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
M_rowadr[i] = i*nv;
// reverse order
for (int j=0; j<adr1/2; j++) {
mjtNum tmp = M[i*nv+j];
M[i*nv+j] = M[i*nv+adr1-1-j];
M[i*nv+adr1-1-j] = tmp;
for (int k=0; k<adr1/2; k++) {
mjtNum tmp = M[i*nv+k];
M[i*nv+k] = M[i*nv+adr1-1-k];
M[i*nv+adr1-1-k] = tmp;
int tmpi = M_colind[i*nv+j];
M_colind[i*nv+j] = M_colind[i*nv+adr1-1-j];
M_colind[i*nv+adr1-1-j] = tmpi;
int tmpi = M_colind[i*nv+k];
M_colind[i*nv+k] = M_colind[i*nv+adr1-1-k];
M_colind[i*nv+adr1-1-k] = tmpi;
}
}
}
@@ -924,10 +924,10 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
// make symmetric
for (int i=1; i<nv; i++) {
if (!m->dof_simplenum[i]) {
for (int adr=nv*i; adr<nv*i+M_rownnz[i]-1; adr++) {
for (int k=nv*i; k<nv*i+M_rownnz[i]-1; k++) {
// add to row given by column index
adr1 = nv*M_colind[adr] + M_rownnz[M_colind[adr]]++;
M[adr1] = M[adr];
adr1 = nv*M_colind[k] + M_rownnz[M_colind[k]]++;
M[adr1] = M[k];
M_colind[adr1] = i;
}
}
src/engine/engine_util_misc.c
+2 -2
View File
@@ -81,7 +81,7 @@ static mjtNum wrap_circle(mjtNum* pnt, const mjtNum* d, const mjtNum* sd, mjtNum
mjtNum dif[2] = {d[2]-d[0], d[3]-d[1]};
mjtNum a, tmp[2], dd, sqrt0, sqrt1;
mjtNum sol[2][2][2], good[2], wlen;
int i, sgn;
int sgn;
// either point inside circle or circle too small: no wrap
if (sqlen0<sqrad || sqlen1<sqrad || rad<mjMINVAL) {
@@ -138,7 +138,7 @@ static mjtNum wrap_circle(mjtNum* pnt, const mjtNum* d, const mjtNum* sd, mjtNum
}
// select the better solution
i = (good[0]>good[1] ? 0 : 1);
int i = (good[0]>good[1] ? 0 : 1);
pnt[0] = sol[i][0][0];
pnt[1] = sol[i][0][1];
pnt[2] = sol[i][1][0];
src/engine/engine_vfs.c
+5 -4
View File
@@ -24,9 +24,10 @@
// strip path prefix from filename
static void vfs_strippath(char* newname, const char* oldname) {
int i, sz = strlen(oldname);
int sz = strlen(oldname);
// find last delimiter
int i;
for (i=sz-1; i>=0; i--) {
if (oldname[i]=='\\' || oldname[i]=='/') {
break;
@@ -45,9 +46,9 @@ static void vfs_strippath(char* newname, const char* oldname) {
mju_strncpy(newname, oldname+i+1, mjMAXVFSNAME);
// make lowercase
for (int i=strlen(newname)-1; i>=0; i--) {
if (newname[i]>='A' && newname[i]<='Z') {
newname[i] = (char)(((int)newname[i]) +'a' - 'A');
for (int j=strlen(newname)-1; j>=0; j--) {
if (newname[j]>='A' && newname[j]<='Z') {
newname[j] = (char)(((int)newname[j]) +'a' - 'A');
}
}
}
src/engine/engine_vis_visualize.c
+9 -7
View File
@@ -464,12 +464,12 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int objtype, category;
mjtNum sz[3], mat[9], selpos[3];
mjtNum catenary[3*mjNCATENARY];
mjtNum *cur, *nxt, *xpos, *xfrc;
mjtNum *cur, *nxt, *xfrc;
mjtNum vec[3], end[3], axis[3], rod, len, det, tmp[9], quat[4];
mjtByte broken;
mjvGeom* thisgeom;
mjvPerturb localpert;
float scl = m->stat.meansize, rgba[4];
float scl = m->stat.meansize;
// make default pert if missing
if (!pert) {
@@ -612,12 +612,12 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjtNum density = mass / mju_max(mjMINVAL, volume);
// scale = root3(density)
mjtNum scl = mju_pow(density*0.001, 1.0/3.0);
mjtNum scale = mju_pow(density*0.001, 1.0/3.0);
// scale sizes, so that box/ellipsoid with density of 1000 has same mass
sz[0] *= scl;
sz[1] *= scl;
sz[2] *= scl;
sz[0] *= scale;
sz[1] *= scale;
sz[2] *= scale;
}
// construct geom
@@ -659,6 +659,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
pert->refselpos[0], pert->refselpos[1], pert->refselpos[2]);
// prepare color
float rgba[4];
mixcolor(rgba, m->vis.rgba.constraint,
(pert->active & mjPERT_TRANSLATE)>0,
(pert->active2 & mjPERT_TRANSLATE)>0);
@@ -683,6 +684,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
START
// prepare color, use inertia color
float rgba[4];
mixcolor(rgba, m->vis.rgba.inertia,
(pert->active & mjPERT_ROTATE)>0,
(pert->active2 & mjPERT_ROTATE)>0);
@@ -1681,7 +1683,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int i=1; i<m->nbody; i++) {
if (!mju_isZero(d->xfrc_applied+6*i, 6) && (category & catmask)) {
// point of application and force
xpos = d->xipos+3*i;
mjtNum *xpos = d->xipos+3*i;
xfrc = d->xfrc_applied+6*i;
// force perturbation