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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_driver.c
+15 -15
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@@ -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