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Replace calls to floor/ceil with mju_floor/mju_ceil.

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PiperOrigin-RevId: 675988982
Change-Id: I5f4d09d957ac7030cd4ce70e72f78dd4f07a6090
This commit is contained in:
Kyle Bayes
2024-09-18 07:46:59 -07:00
committed by Copybara-Service
parent ddbc083810
commit e439b748a4
1 changed files with 8 additions and 8 deletions
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src/engine/engine_collision_convex.c
+8 -8
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@@ -788,10 +788,10 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
}
// compute sub-grid bounds
cmin = (int) floor((xmin + size1[0]) / (2*size1[0]) * (ncol-1));
cmax = (int) ceil ((xmax + size1[0]) / (2*size1[0]) * (ncol-1));
rmin = (int) floor((ymin + size1[1]) / (2*size1[1]) * (nrow-1));
rmax = (int) ceil ((ymax + size1[1]) / (2*size1[1]) * (nrow-1));
cmin = (int) mju_floor((xmin + size1[0]) / (2*size1[0]) * (ncol-1));
cmax = (int) mju_ceil ((xmax + size1[0]) / (2*size1[0]) * (ncol-1));
rmin = (int) mju_floor((ymin + size1[1]) / (2*size1[1]) * (nrow-1));
rmax = (int) mju_ceil ((ymax + size1[1]) / (2*size1[1]) * (nrow-1));
cmin = mjMAX(0, cmin);
cmax = mjMIN(ncol-1, cmax);
rmin = mjMAX(0, rmin);
@@ -1235,10 +1235,10 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
}
// compute sub-grid bounds
cmin = (int) floor((xmin + hsize[0]) / (2*hsize[0]) * (ncol-1));
cmax = (int) ceil ((xmax + hsize[0]) / (2*hsize[0]) * (ncol-1));
rmin = (int) floor((ymin + hsize[1]) / (2*hsize[1]) * (nrow-1));
rmax = (int) ceil ((ymax + hsize[1]) / (2*hsize[1]) * (nrow-1));
cmin = (int) mju_floor((xmin + hsize[0]) / (2*hsize[0]) * (ncol-1));
cmax = (int) mju_ceil ((xmax + hsize[0]) / (2*hsize[0]) * (ncol-1));
rmin = (int) mju_floor((ymin + hsize[1]) / (2*hsize[1]) * (nrow-1));
rmax = (int) mju_ceil ((ymax + hsize[1]) / (2*hsize[1]) * (nrow-1));
cmin = mjMAX(0, cmin);
cmax = mjMIN(ncol-1, cmax);
rmin = mjMAX(0, rmin);