chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Avoid variable name shadowing in all engine source files.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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);
}
}