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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_objects.cc
+14 -14
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@@ -946,10 +946,10 @@ void mjCBody::Compile(void) {
// check and correct mass and inertia
if (id>0) {
// fix minimum
mass = mjMAX(mass, model->boundmass);
inertia[0] = mjMAX(inertia[0], model->boundinertia);
inertia[1] = mjMAX(inertia[1], model->boundinertia);
inertia[2] = mjMAX(inertia[2], model->boundinertia);
mass = mju_max(mass, model->boundmass);
inertia[0] = mju_max(inertia[0], model->boundinertia);
inertia[1] = mju_max(inertia[1], model->boundinertia);
inertia[2] = mju_max(inertia[2], model->boundinertia);
// check for negative values
if (mass<0 || inertia[0]<0 || inertia[1]<0 ||inertia[2]<0) {
@@ -1438,7 +1438,7 @@ double mjCGeom::GetRBound(void) {
return sqrt(size[0]*size[0]+size[1]*size[1]);
case mjGEOM_ELLIPSOID:
return mjMAX(mjMAX(size[0], size[1]), size[2]);
return mju_max(mju_max(size[0], size[1]), size[2]);
case mjGEOM_BOX:
return sqrt(size[0]*size[0]+size[1]*size[1]+size[2]*size[2]);
@@ -1446,9 +1446,9 @@ double mjCGeom::GetRBound(void) {
case mjGEOM_MESH:
case mjGEOM_SDF:
aabb = model->meshes[meshid]->aabb();
haabb[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
haabb[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
haabb[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));
haabb[0] = mju_max(fabs(aabb[0]), fabs(aabb[3]));
haabb[1] = mju_max(fabs(aabb[1]), fabs(aabb[4]));
haabb[2] = mju_max(fabs(aabb[2]), fabs(aabb[5]));
return sqrt(haabb[0]*haabb[0] + haabb[1]*haabb[1] + haabb[2]*haabb[2]);
default:
@@ -1761,9 +1761,9 @@ void mjCGeom::Compile(void) {
size[2] = 0.5*(model->hfields[hfieldid]->size[2]+model->hfields[hfieldid]->size[3]);
} else if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
const double* aabb = model->meshes[meshid]->aabb();
size[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
size[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
size[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));
size[0] = mju_max(fabs(aabb[0]), fabs(aabb[3]));
size[1] = mju_max(fabs(aabb[1]), fabs(aabb[4]));
size[2] = mju_max(fabs(aabb[2]), fabs(aabb[5]));
}
for (double s : size) {
@@ -3132,9 +3132,9 @@ void mjCPair::Compile(void) {
// friction: max
if (!mjuu_defined(friction[0])) {
friction[0] = friction[1] = mjMAX(pg1->friction[0], pg2->friction[0]);
friction[2] = mjMAX(pg1->friction[1], pg2->friction[1]);
friction[3] = friction[4] = mjMAX(pg1->friction[2], pg2->friction[2]);
friction[0] = friction[1] = mju_max(pg1->friction[0], pg2->friction[0]);
friction[2] = mju_max(pg1->friction[1], pg2->friction[1]);
friction[3] = friction[4] = mju_max(pg1->friction[2], pg2->friction[2]);
}
// solver mix factor