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

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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
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src/engine/engine_core_constraint.c
-34
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@@ -45,7 +45,6 @@
//-------------------------- utility functions -----------------------------------------------------
// allocate efc arrays on arena, return 1 on success, 0 on failure
static int arenaAllocEfc(const mjModel* m, mjData* d) {
#undef MJ_M
@@ -83,7 +82,6 @@ static int arenaAllocEfc(const mjModel* m, mjData* d) {
}
// determine type of solver
int mj_isDual(const mjModel* m) {
if (m->opt.solver == mjSOL_PGS || m->opt.noslip_iterations > 0) {
@@ -94,7 +92,6 @@ int mj_isDual(const mjModel* m) {
}
// assign/clamp contact friction parameters
void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source) {
if (mjENABLED(mjENBL_OVERRIDE)) {
@@ -110,7 +107,6 @@ void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source) {
// assign/override contact reference parameters
void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source) {
if (mjENABLED(mjENBL_OVERRIDE)) {
@@ -121,7 +117,6 @@ void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source) {
}
// assign/override contact impedance parameters
void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source) {
if (mjENABLED(mjENBL_OVERRIDE)) {
@@ -132,7 +127,6 @@ void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source) {
}
// assign/override contact margin
mjtNum mj_assignMargin(const mjModel* m, mjtNum source) {
if (mjENABLED(mjENBL_OVERRIDE)) {
@@ -143,7 +137,6 @@ mjtNum mj_assignMargin(const mjModel* m, mjtNum source) {
}
// compute element bodies and weights for given contact point, return #bodies
// if v is one of the element vertices, reduce element to fragment
static int mj_elemBodyWeight(const mjModel* m, const mjData* d, int f, int e, int v,
@@ -183,7 +176,6 @@ static int mj_elemBodyWeight(const mjModel* m, const mjData* d, int f, int e, in
}
// compute body weights for a given contact vertex, return #bodies
static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int v,
const mjtNum point[3], int* body, mjtNum* weight, mjtNum bw) {
@@ -207,7 +199,6 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int v,
}
// add contact to d->contact list; return 0 if success; 1 if buffer full
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
// move arena pointer back to the end of the existing contact array and invalidate efc_ arrays
@@ -232,7 +223,6 @@ int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
}
// add #size rows to constraint Jacobian; set pos, margin, frictionloss, type, id
static void mj_addConstraint(const mjModel* m, mjData* d,
const mjtNum* jac, const mjtNum* pos,
@@ -328,7 +318,6 @@ static void mj_addConstraint(const mjModel* m, mjData* d,
}
// multiply Jacobian by vector
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
// exit if no constraints
@@ -349,7 +338,6 @@ void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
}
// multiply JacobianT by vector
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
// exit if no constraints
@@ -370,7 +358,6 @@ void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
}
//--------------------- instantiate constraints by type --------------------------------------------
// equality constraints
@@ -649,7 +636,6 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
}
// frictional dofs and tendons
void mj_instantiateFriction(const mjModel* m, mjData* d) {
int nv = m->nv, issparse = mj_isSparse(m);
@@ -705,7 +691,6 @@ void mj_instantiateFriction(const mjModel* m, mjData* d) {
}
// joint and tendon limits
void mj_instantiateLimit(const mjModel* m, mjData* d) {
int side, nv = m->nv, issparse = mj_isSparse(m);
@@ -845,7 +830,6 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
}
// compute Jacobian for contact, return number of DOFs affected
int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
mjtNum* jac, mjtNum* jacdif, mjtNum* jacdifp,
@@ -1027,7 +1011,6 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
}
//------------------------ compute constraint parameters -------------------------------------------
// compute diagApprox
@@ -1207,7 +1190,6 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
}
// get solref, solimp for specified constraint
static void getsolparam(const mjModel* m, const mjData* d, int i,
mjtNum* solref, mjtNum* solreffriction, mjtNum* solimp) {
@@ -1283,7 +1265,6 @@ static void getsolparam(const mjModel* m, const mjData* d, int i,
}
// get pos and dim for specified constraint
static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int* dim) {
// get id of constraint-related object
@@ -1319,7 +1300,6 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
}
// return a to the power of b, quick return for powers 1 and 2
// solimp[4] == 2 is the default, so these branches are common
static mjtNum power(mjtNum a, mjtNum b) {
@@ -1332,7 +1312,6 @@ static mjtNum power(mjtNum a, mjtNum b) {
}
// compute impedance and derivative for one constraint
static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
mjtNum* imp, mjtNum* impP) {
@@ -1385,7 +1364,6 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
}
// compute efc_R, efc_D, efc_KBIP, adjust efc_diagApprox
void mj_makeImpedance(const mjModel* m, mjData* d) {
int dim, nefc = d->nefc;
@@ -1504,7 +1482,6 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
}
//------------------------------------- constraint counting ----------------------------------------
// count the non-zero columns in the Jacobian difference of two bodies
@@ -1525,7 +1502,6 @@ static int mj_jacDifPairCount(const mjModel* m, int* chain,
}
// count the non-zero columns of the Jacobian returned by mj_jacSum
static int mj_jacSumCount(const mjModel* m, mjData* d, int* chain,
int n, const int* body) {
@@ -1558,7 +1534,6 @@ static int mj_jacSumCount(const mjModel* m, mjData* d, int* chain,
}
// return number of constraint non-zeros, handle dense and dof-less cases
static inline int mj_addConstraintCount(const mjModel* m, int size, int NV) {
// over count for dense allocation
@@ -1569,7 +1544,6 @@ static inline int mj_addConstraintCount(const mjModel* m, int size, int NV) {
}
// count equality constraints, count Jacobian nonzeros if nnz is not NULL
static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
int ne = 0, nnze = 0;
@@ -1707,7 +1681,6 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
}
// count frictional constraints, count Jacobian nonzeros if nnz is not NULL
static int mj_nf(const mjModel* m, const mjData* d, int *nnz) {
int nf = 0;
@@ -1735,7 +1708,6 @@ static int mj_nf(const mjModel* m, const mjData* d, int *nnz) {
}
// count limit constraints, count Jacobian nonzeros if nnz is not NULL
static int mj_nl(const mjModel* m, const mjData* d, int *nnz) {
int nl = 0;
@@ -1802,7 +1774,6 @@ static int mj_nl(const mjModel* m, const mjData* d, int *nnz) {
}
// count contact constraints, count Jacobian nonzeros if nnz is not NULL
static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
int nnzc = 0, nc = 0;
@@ -1901,7 +1872,6 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
}
//---------------------------- top-level API for constraint construction ---------------------------
// driver: call all functions above
@@ -2005,7 +1975,6 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
}
// compute efc_AR
void mj_projectConstraint(const mjModel* m, mjData* d) {
int nefc = d->nefc, nv = m->nv;
@@ -2243,7 +2212,6 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
// compute efc_vel, efc_aref
void mj_referenceConstraint(const mjModel* m, mjData* d) {
int nefc = d->nefc;
@@ -2260,7 +2228,6 @@ void mj_referenceConstraint(const mjModel* m, mjData* d) {
}
//---------------------------- update constraint state ---------------------------------------------
// compute efc_state, efc_force
@@ -2461,7 +2428,6 @@ void mj_constraintUpdate_impl(int ne, int nf, int nefc,
}
// compute efc_state, efc_force, qfrc_constraint
// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,