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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_vis_visualize.c
+9 -7
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@@ -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