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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_util.cc
+4 -4
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@@ -22,10 +22,10 @@
#include <string>
#include <string_view>
#include <mujoco/mjmacro.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "engine/engine_crossplatform.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_util_spatial.h"
using std::isnan;
@@ -443,9 +443,9 @@ void mjuu_offcenter(double* res, const double mass, const double* vec) {
void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl) {
// compute equivalent box
double equivbox[3];
equivbox[0] = sqrt(mjMAX(mjMINVAL, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
equivbox[1] = sqrt(mjMAX(mjMINVAL, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
equivbox[2] = sqrt(mjMAX(mjMINVAL, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
equivbox[0] = sqrt(mju_max(mjMINVAL, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
equivbox[1] = sqrt(mju_max(mjMINVAL, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
equivbox[2] = sqrt(mju_max(mjMINVAL, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
// apply formula for box (or rather cross) viscosity