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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_support.c
+10 -10
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@@ -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;
}
}