Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
PiperOrigin-RevId: 813754244 Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
c439628f82
commit
edbdb5195c
@@ -67,7 +67,6 @@ static inline void resetArena(mjData* d) {
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}
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// plane to geom_center squared distance, g1 is a plane
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static mjtNum planeGeomDist(const mjModel* m, mjData* d, int g1, int g2) {
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mjtNum* mat1 = d->geom_xmat + 9*g1;
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@@ -79,7 +78,6 @@ static mjtNum planeGeomDist(const mjModel* m, mjData* d, int g1, int g2) {
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}
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// return 1 if body has plane geom, 0 otherwise
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static int hasPlane(const mjModel* m, int body) {
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int start = m->body_geomadr[body];
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@@ -97,7 +95,6 @@ static int hasPlane(const mjModel* m, int body) {
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}
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// filter contact based on type and affinity
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static int filterBitmask(int contype1, int conaffinity1,
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int contype2, int conaffinity2) {
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@@ -105,7 +102,6 @@ static int filterBitmask(int contype1, int conaffinity1,
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}
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// filter contact based on global AABBs
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static int filterBox(const mjtNum aabb1[6], const mjtNum aabb2[6], mjtNum margin) {
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if (aabb1[0]+aabb1[3]+margin < aabb2[0]-aabb2[3]) return 1;
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@@ -118,7 +114,6 @@ static int filterBox(const mjtNum aabb1[6], const mjtNum aabb2[6], mjtNum margin
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}
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// filter contact based sphere-box test, treating sphere as box
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static int filterSphereBox(const mjtNum s[3], mjtNum bound, const mjtNum aabb[6]) {
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if (s[0]+bound < aabb[0]-aabb[3]) return 1;
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@@ -131,7 +126,6 @@ static int filterSphereBox(const mjtNum s[3], mjtNum bound, const mjtNum aabb[6]
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}
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// filter contact based on bounding sphere test (raw)
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static int filterSphere(const mjtNum pos1[3], const mjtNum pos2[3], mjtNum bound) {
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mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
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@@ -141,7 +135,6 @@ static int filterSphere(const mjtNum pos1[3], const mjtNum pos2[3], mjtNum bound
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}
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// filter contact based on bounding sphere test
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static int mj_filterSphere(const mjModel* m, mjData* d, int g1, int g2, mjtNum margin) {
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// neither geom is a plane
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@@ -163,7 +156,6 @@ static int mj_filterSphere(const mjModel* m, mjData* d, int g1, int g2, mjtNum m
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}
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// filter body pair: 1- discard, 0- proceed
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static int filterBodyPair(int weldbody1, int weldparent1, int weldbody2,
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int weldparent2, int dsbl_filterparent) {
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@@ -183,7 +175,6 @@ static int filterBodyPair(int weldbody1, int weldparent1, int weldbody2,
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}
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// return 1 if bodyflex can collide, 0 otherwise
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static int canCollide(const mjModel* m, int bf) {
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if (bf < m->nbody) {
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@@ -195,7 +186,6 @@ static int canCollide(const mjModel* m, int bf) {
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}
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// return 1 if two bodyflexes can collide, 0 otherwise
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static int canCollide2(const mjModel* m, int bf1, int bf2) {
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int nbody = m->nbody;
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@@ -209,7 +199,6 @@ static int canCollide2(const mjModel* m, int bf1, int bf2) {
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}
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// return 1 if element is active, 0 otherwise
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int mj_isElemActive(const mjModel* m, int f, int e) {
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if (m->flex_dim[f] < 3) {
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@@ -220,7 +209,6 @@ int mj_isElemActive(const mjModel* m, int f, int e) {
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}
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//----------------------------- collision detection entry point ------------------------------------
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// compare contact pairs by their geom/elem/vert IDs
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@@ -483,7 +471,6 @@ void mj_collision(const mjModel* m, mjData* d) {
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}
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//------------------------------------ binary tree search ------------------------------------------
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// collision tree node
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@@ -522,7 +509,6 @@ void mj_collideGeomPair(const mjModel* m, mjData* d, int g1, int g2, int merged,
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}
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// oriented bounding boxes collision (see Gottschalk et al.)
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int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
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const mjtNum xpos1[3], const mjtNum xmat1[9],
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@@ -621,7 +607,6 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
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}
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// binary search between two bodyflex trees
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void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
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int merged, int startadr, int pairadr) {
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@@ -856,7 +841,6 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
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}
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//----------------------------- broad-phase collision detection ------------------------------------
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// make AAMM (xmin[3], xmax[3]) for one bodyflex
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@@ -929,7 +913,6 @@ static void makeAAMM(const mjModel* m, mjData* d, mjtNum* aamm, int bf, const mj
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}
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// add bodyflex pair in buffer; do not filter if m is NULL
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static void add_pair(const mjModel* m, int bf1, int bf2,
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int* npair, int* pair, int maxpair) {
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@@ -987,7 +970,6 @@ static void add_pair(const mjModel* m, int bf1, int bf2,
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}
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//----------------------------- general Sweep and Prune algorithm ----------------------------------
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// helper structure for SAP sorting
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@@ -1103,7 +1085,6 @@ static int mj_SAP(mjData* d, const mjtNum* aamm, int n, int axis, int* pair, int
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}
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// add vector to covariance
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static void updateCov(mjtNum cov[9], const mjtNum vec[3], const mjtNum cen[3]) {
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mjtNum dif[3] = {vec[0]-cen[0], vec[1]-cen[1], vec[2]-cen[2]};
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@@ -1125,7 +1106,6 @@ static void updateCov(mjtNum cov[9], const mjtNum vec[3], const mjtNum cen[3]) {
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}
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// comparison function for unsigned ints
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static inline int uintcmp(int* i, int* j, void* context) {
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if ((unsigned) *i < (unsigned) *j) {
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@@ -1279,7 +1259,6 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
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}
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//----------------------------- narrow-phase collision detection -----------------------------------
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// compute contact condim, gap, solref, solimp, friction
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@@ -1379,7 +1358,6 @@ static void mj_contactParam(const mjModel* m, int* condim, mjtNum* gap,
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}
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// set contact parameters
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static void mj_setContact(const mjModel* m, mjContact* con,
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int condim, mjtNum includemargin,
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@@ -1410,7 +1388,6 @@ static void mj_setContact(const mjModel* m, mjContact* con,
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}
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// make capsule from two flex vertices
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static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
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mjtNum pos[3], mjtNum mat[9], mjtNum size[2]) {
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@@ -1432,7 +1409,6 @@ static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
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}
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// test two geoms for collision, apply filters, add to contact list
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void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
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int num, type1, type2, condim;
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@@ -1629,7 +1605,6 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
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}
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// test a plane geom and a flex for collision, add to contact list
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void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
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mjContact con;
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@@ -1686,7 +1661,6 @@ void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
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}
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// test single triangle plane : vertex
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static int planeVertex(mjContact* con, const mjtNum* pos, mjtNum rad,
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int t0, int t1, int t2, int v) {
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@@ -1717,7 +1691,6 @@ static int planeVertex(mjContact* con, const mjtNum* pos, mjtNum rad,
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}
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// test for internal flex collisions, add to contact list
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// ignore margin to avoid permament self-collision
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void mj_collideFlexInternal(const mjModel* m, mjData* d, int f) {
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@@ -1782,7 +1755,6 @@ void mj_collideFlexInternal(const mjModel* m, mjData* d, int f) {
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}
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// test active element self-collisions with SAP
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// ignore margin to avoid permanent self-collision
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void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
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@@ -1835,7 +1807,6 @@ void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
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}
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// test a geom and an elem for collision, add to contact list
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void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
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mjtNum margin = mj_assignMargin(m, mju_max(m->geom_margin[g], m->flex_margin[f]));
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@@ -1954,7 +1925,6 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
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}
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// test two elems for collision, add to contact list
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void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2) {
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mjtNum margin = mj_assignMargin(m, mju_max(m->flex_margin[f1], m->flex_margin[f2]));
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@@ -2054,7 +2024,6 @@ void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2
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}
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// test element and vertex for collision, add to contact list
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void mj_collideElemVert(const mjModel* m, mjData* d, int f, int e, int v) {
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mjtNum margin = mj_assignMargin(m, m->flex_margin[f]);
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