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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
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@@ -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;