chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

Browse Source 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
This commit is contained in:
Yuval Tassa
2025-10-01 07:57:17 -07:00
committed by Copybara-Service
parent c439628f82
commit edbdb5195c
36 changed files with 8 additions and 651 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_convex.c
-34
View File
@@ -84,7 +84,6 @@ static int mjc_penetration(const mjModel* m, mjCCDObj* obj1, mjCCDObj* obj2,
}
// ccd center function
void mjccd_center(const void *obj, ccd_vec3_t *center) {
mjc_center(center->v, (const mjCCDObj*) obj);
@@ -114,7 +113,6 @@ void mjc_center(mjtNum res[3], const mjCCDObj *obj) {
}
// prism center function
static void mjc_prism_center(mjtNum res[3], const mjCCDObj* obj) {
// compute mean
@@ -126,7 +124,6 @@ static void mjc_prism_center(mjtNum res[3], const mjCCDObj* obj) {
}
// ccd prism center function
static void mjccd_prism_center(const void *obj, ccd_vec3_t *center) {
mjc_prism_center(center->v, (const mjCCDObj*) obj);
@@ -143,7 +140,6 @@ static inline void mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum
}
// transform a vector from local to global frame
static inline void localToGlobal(mjtNum res[3], const mjtNum mat[9], const mjtNum dir[3],
const mjtNum pos[3]) {
@@ -157,7 +153,6 @@ static inline void localToGlobal(mjtNum res[3], const mjtNum mat[9], const mjtNu
}
// point support function
void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjtNum* pos = obj->data->geom_xpos + 3*obj->geom;
@@ -167,7 +162,6 @@ void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// sphere support function
static void mjc_sphereSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -183,7 +177,6 @@ static void mjc_sphereSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3])
}
// line support function (capsule)
void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -208,7 +201,6 @@ void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// capsule support function
static void mjc_capsuleSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -238,7 +230,6 @@ static void mjc_capsuleSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]
}
// ellipsoid support function
static void mjc_ellipsoidSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -278,7 +269,6 @@ static void mjc_ellipsoidSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[
}
// cylinder support function
static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -311,7 +301,6 @@ static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3
}
// box support function
static void mjc_boxSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -343,14 +332,12 @@ static void mjc_boxSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// dot product between mjtNum and float
static inline mjtNum dot3f(const mjtNum a[3], const float b[3]) {
return a[0]*(mjtNum)b[0] + a[1]*(mjtNum)b[1] + a[2]*(mjtNum)b[2];
}
// mesh support function via exhaustive search
static void mjc_meshSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -398,7 +385,6 @@ static void mjc_meshSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// mesh support function via hill climbing
static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -449,7 +435,6 @@ static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[
}
// prism support function
static void mjc_prism_support(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
int istart, ibest;
@@ -471,7 +456,6 @@ static void mjc_prism_support(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3])
}
// flex support function
static void mjc_flexSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
const mjModel* m = obj->model;
@@ -512,7 +496,6 @@ static void mjc_flexSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// libccd support function
void mjccd_support(const void *_obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
mjCCDObj *obj = (mjCCDObj *)_obj;
@@ -720,7 +703,6 @@ void mjccd_support(const void *_obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
}
// libccd prism support function
static void mjccd_prism_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec) {
mjc_prism_support(vec->v, (mjCCDObj*) obj, dir->v);
@@ -784,7 +766,6 @@ void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjt
}
// set flex data for CCD object
static void mjc_setCCDObjFlex(mjCCDObj* obj, int flex, int elem, int vert) {
obj->flex = flex;
@@ -793,7 +774,6 @@ static void mjc_setCCDObjFlex(mjCCDObj* obj, int flex, int elem, int vert) {
}
// initialize CCD structure
static void mjc_initCCD(ccd_t* ccd, const mjModel* m) {
CCD_INIT(ccd);
@@ -803,7 +783,6 @@ static void mjc_initCCD(ccd_t* ccd, const mjModel* m) {
}
// find convex-convex collision
static int mjc_CCDIteration(const mjModel* m, const mjData* d, mjCCDObj* obj1, mjCCDObj* obj2,
mjContact* con, int max_contacts, mjtNum margin) {
@@ -873,7 +852,6 @@ static int mjc_CCDIteration(const mjModel* m, const mjData* d, mjCCDObj* obj1, m
}
// compare new contact to previous contacts, return 1 if it is far from all of them
static int mjc_isDistinctContact(mjContact* con, int ncon, mjtNum tolerance) {
for (int i=0; i < ncon-1; i++) {
@@ -885,7 +863,6 @@ static int mjc_isDistinctContact(mjContact* con, int ncon, mjtNum tolerance) {
}
// in-place rotation of spatial frame around given point of origin
static void mju_rotateFrame(const mjtNum origin[3], const mjtNum rot[9],
mjtNum xmat[9], mjtNum xpos[3]) {
@@ -907,7 +884,6 @@ static void mju_rotateFrame(const mjtNum origin[3], const mjtNum rot[9],
}
// return number of contacts supported by a single pass of narrowphase
static int maxContacts(const mjCCDObj* obj1, const mjCCDObj* obj2) {
const mjModel* m = obj1->model;
@@ -936,7 +912,6 @@ static int maxContacts(const mjCCDObj* obj1, const mjCCDObj* obj2) {
}
// multi-point convex-convex collision, using libccd
int mjc_Convex(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
@@ -1024,7 +999,6 @@ int mjc_Convex(const mjModel* m, const mjData* d,
}
// parameters for plane-mesh extra contacts
const int maxplanemesh = 3;
const mjtNum tolplanemesh = 0.3;
@@ -1063,7 +1037,6 @@ static int addplanemesh(mjContact* con, const float vertex[3],
}
// plane-convex collision, using libccd
int mjc_PlaneConvex(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
@@ -1164,7 +1137,6 @@ int mjc_PlaneConvex(const mjModel* m, const mjData* d,
}
//---------------------------- heightfield collisions ---------------------------------------------
// ccd prism first dir
@@ -1191,7 +1163,6 @@ static void addVert(int* nvert, mjCCDObj* obj, mjtNum x, mjtNum y, mjtNum z) {
}
// entry point for heightfield collisions
int mjc_ConvexHField(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin) {
@@ -1379,7 +1350,6 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
}
//--------------------------- fix contact frame normal ---------------------------------------------
// compute normal for point outside ellipsoid, using ray-projection SQP
@@ -1437,7 +1407,6 @@ static int mjc_ellipsoidInside(mjtNum nrm[3], const mjtNum pos[3], const mjtNum
}
// compute normal for point inside ellipsoid, using diagonal QCQP
static int mjc_ellipsoidOutside(mjtNum nrm[3], const mjtNum pos[3], const mjtNum size[3]) {
// algorithm constants
@@ -1487,7 +1456,6 @@ static int mjc_ellipsoidOutside(mjtNum nrm[3], const mjtNum pos[3], const mjtNum
}
// entry point
void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2) {
mjtNum dst1, dst2;
@@ -1637,7 +1605,6 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
}
//---------------------------- flex collisions ---------------------------------------------
// geom-elem or elem-elem or vert-elem convex collision using ccd
@@ -1654,7 +1621,6 @@ int mjc_ConvexElem(const mjModel* m, const mjData* d, mjContact* con,
}
// test a height field and a flex element for collision
int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
int g, int f, int e, mjtNum margin) {