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Replace mjMIN and mjMAX with mju_min and mju_max, where possible.

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PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
This commit is contained in:
Yuval Tassa
2023-09-19 05:39:55 -07:00
committed by Copybara-Service
parent 9cf1f6eba4
commit dfd48dd821
9 changed files with 45 additions and 50 deletions
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src/user/user_mesh.cc
+8 -8
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@@ -13,7 +13,6 @@
// limitations under the License.
#include <algorithm>
#include <array>
#include <cmath>
#include <csetjmp>
#include <cstddef>
@@ -53,6 +52,7 @@
#include "engine/engine_resource.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_util_solve.h"
#include "engine/engine_util_spatial.h"
#include "user/user_model.h"
@@ -709,7 +709,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
case mjGEOM_CAPSULE:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = mjMAX(0, boxsz[2] - geom->size[0]/2);
geom->size[1] = mju_max(0, boxsz[2] - geom->size[0]/2);
break;
case mjGEOM_CYLINDER:
@@ -747,7 +747,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
for (int i=0; i<nvert_; i++) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = mjuu_dist3(v, cen);
geom->size[0] = mjMAX(geom->size[0], dst);
geom->size[0] = mju_max(geom->size[0], dst);
}
break;
@@ -760,11 +760,11 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
geom->size[0] = mjMAX(geom->size[0], dst);
geom->size[0] = mju_max(geom->size[0], dst);
// proceed with z: valid for cylinder
double dst2 = fabs(v[2]-cen[2]);
geom->size[1] = mjMAX(geom->size[1], dst2);
geom->size[1] = mju_max(geom->size[1], dst2);
}
// special handling of capsule: consider curved cap
@@ -779,7 +779,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
// get spherical elevation at horizontal distance dst
double h = geom->size[0] * sin(acos(dst/geom->size[0]));
geom->size[1] = mjMAX(geom->size[1], dst2-h);
geom->size[1] = mju_max(geom->size[1], dst2-h);
}
}
break;
@@ -1399,8 +1399,8 @@ void mjCMesh::Process() {
vert_[3*i+j] = (float) res[j];
// axis-aligned bounding box
aabb_[j+0] = mjMIN(aabb_[j+0], res[j]);
aabb_[j+3] = mjMAX(aabb_[j+3], res[j]);
aabb_[j+0] = mju_min(aabb_[j+0], res[j]);
aabb_[j+3] = mju_max(aabb_[j+3], res[j]);
}
}
for (int i=0; i<nnormal_; i++) {