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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_smooth.c
-21
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@@ -177,7 +177,6 @@ void mj_kinematics(const mjModel* m, mjData* d) {
}
// map inertias and motion dofs to global frame centered at subtree-CoM
void mj_comPos(const mjModel* m, mjData* d) {
int nbody = m->nbody, njnt = m->njnt;
@@ -260,7 +259,6 @@ void mj_comPos(const mjModel* m, mjData* d) {
}
// compute camera and light positions and orientations
void mj_camlight(const mjModel* m, mjData* d) {
mjtNum pos[3], matT[9];
@@ -379,7 +377,6 @@ void mj_camlight(const mjModel* m, mjData* d) {
}
// update dynamic BVH; leaf aabbs must be updated before call
void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
mj_markStack(d);
@@ -427,7 +424,6 @@ void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
}
// compute flex-related quantities
void mj_flex(const mjModel* m, mjData* d) {
int nv = m->nv, issparse = mj_isSparse(m);
@@ -636,7 +632,6 @@ void mj_flex(const mjModel* m, mjData* d) {
}
// compute tendon lengths and moments
void mj_tendon(const mjModel* m, mjData* d) {
int issparse = mj_isSparse(m), nv = m->nv, nten = m->ntendon;
@@ -850,7 +845,6 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
// compute time derivative of dense tendon Jacobian for one tendon
void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
int nv = m->nv;
@@ -970,7 +964,6 @@ void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
}
// compute actuator/transmission lengths and moments
void mj_transmission(const mjModel* m, mjData* d) {
int nv = m->nv, nu = m->nu;
@@ -1456,7 +1449,6 @@ void mj_transmission(const mjModel* m, mjData* d) {
}
//-------------------------- inertia ---------------------------------------------------------------
// add tendon armature to M
@@ -1519,7 +1511,6 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
}
// composite rigid body inertia algorithm
void mj_crb(const mjModel* m, mjData* d) {
int nv = m->nv;
@@ -1570,7 +1561,6 @@ void mj_crb(const mjModel* m, mjData* d) {
}
void mj_makeM(const mjModel* m, mjData* d) {
TM_START;
mj_crb(m, d);
@@ -1580,7 +1570,6 @@ void mj_makeM(const mjModel* m, mjData* d) {
}
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
// (legacy implementation)
void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
@@ -1644,7 +1633,6 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
}
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
@@ -1654,7 +1642,6 @@ void mj_factorM(const mjModel* m, mjData* d) {
}
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
const int* rownnz, const int* rowadr, const int* colind) {
@@ -1680,7 +1667,6 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
}
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// (legacy implementation)
void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
@@ -1793,7 +1779,6 @@ void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
}
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* colind) {
@@ -1875,7 +1860,6 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv,
}
// sparse backsubstitution: x = inv(L'*D*L)*y
// use factorization in d
void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
@@ -1887,7 +1871,6 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
}
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n) {
@@ -1935,7 +1918,6 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
}
//---------------------------------- velocity ------------------------------------------------------
// compute cvel, cdof_dot
@@ -2007,7 +1989,6 @@ void mj_comVel(const mjModel* m, mjData* d) {
}
// subtree linear velocity and angular momentum
void mj_subtreeVel(const mjModel* m, mjData* d) {
int nbody = m->nbody;
@@ -2130,7 +2111,6 @@ void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result) {
}
// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
void mj_rnePostConstraint(const mjModel* m, mjData* d) {
int nbody = m->nbody;
@@ -2318,7 +2298,6 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
}
// add bias force due to tendon armature
void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
int ntendon = m->ntendon, nv = m->nv, issparse = mj_isSparse(m);