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

PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93

src/engine/engine_core_util.c

@@ -48,7 +48,6 @@ int mj_isPyramidal(const mjModel* m) {
 }
 
 
-
 //-------------------------- sparse chains ---------------------------------------------------------
 
 // merge dof chains for two bodies
@@ -95,7 +94,6 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
 }
 
 
-
 // merge dof chains for two simple bodies
 int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
   // swap bodies if wrong order
@@ -127,7 +125,6 @@ int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
 }
 
 
-
 // get body chain
 int mj_bodyChain(const mjModel* m, int body, int* chain) {
   // simple body
@@ -173,7 +170,6 @@ int mj_bodyChain(const mjModel* m, int body, int* chain) {
 }
 
 
-
 //-------------------------- Jacobians -------------------------------------------------------------
 
 // compute 3/6-by-nv Jacobian of global point attached to given body
@@ -230,21 +226,18 @@ void mj_jac(const mjModel* m, const mjData* d,
 }
 
 
-
 // compute body Jacobian
 void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body) {
   mj_jac(m, d, jacp, jacr, d->xpos+3*body, body);
 }
 
 
-
 // compute body-com Jacobian
 void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body) {
   mj_jac(m, d, jacp, jacr, d->xipos+3*body, body);
 }
 
 
-
 // compute subtree-com Jacobian
 void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
   int nv = m->nv;
@@ -273,21 +266,18 @@ void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
 }
 
 
-
 // compute geom Jacobian
 void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom) {
   mj_jac(m, d, jacp, jacr, d->geom_xpos + 3*geom, m->geom_bodyid[geom]);
 }
 
 
-
 // compute site Jacobian
 void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site) {
   mj_jac(m, d, jacp, jacr, d->site_xpos + 3*site, m->site_bodyid[site]);
 }
 
 
-
 // compute translation Jacobian of point, and rotation Jacobian of axis
 void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
                      const mjtNum point[3], const mjtNum axis[3], int body) {
@@ -312,7 +302,6 @@ void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacA
 }
 
 
-
 // compute 3/6-by-nv sparse Jacobian of global point attached to given body
 void mj_jacSparse(const mjModel* m, const mjData* d,
                   mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
@@ -382,7 +371,6 @@ void mj_jacSparse(const mjModel* m, const mjData* d,
 }
 
 
-
 // sparse Jacobian difference for simple body contacts
 void mj_jacSparseSimple(const mjModel* m, const mjData* d,
                         mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
@@ -445,7 +433,6 @@ void mj_jacSparseSimple(const mjModel* m, const mjData* d,
 }
 
 
-
 // dense or sparse Jacobian difference for two body points: pos2 - pos1, global
 int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
                   int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
@@ -522,7 +509,6 @@ int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
 }
 
 
-
 // dense or sparse weighted sum of multiple body Jacobians at same point
 int mj_jacSum(const mjModel* m, mjData* d, int* chain,
               int n, const int* body, const mjtNum* weight,
@@ -596,7 +582,6 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
 }
 
 
-
 // compute 3/6-by-nv Jacobian time derivative of global point attached to given body
 void mj_jacDot(const mjModel* m, const mjData* d,
                mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body) {
@@ -672,7 +657,6 @@ void mj_jacDot(const mjModel* m, const mjData* d,
 }
 
 
-
 // compute subtree angular momentum matrix
 void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
   int nv = m->nv;
@@ -742,7 +726,6 @@ void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
 }
 
 
-
 // count warnings, print only the first time
 void mj_warning(mjData* d, int warning, int info) {
   // check type
@@ -764,8 +747,6 @@ void mj_warning(mjData* d, int warning, int info) {
 
 
 
-
-
 // compute object 6D velocity in object-centered frame, world/local orientation
 void mj_objectVelocity(const mjModel* m, const mjData* d,
                        int objtype, int objid, mjtNum res[6], int flg_local) {
@@ -817,7 +798,6 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
 }
 
 
-
 // compute object 6D acceleration in object-centered frame, world/local orientation
 void mj_objectAcceleration(const mjModel* m, const mjData* d,
                            int objtype, int objid, mjtNum res[6], int flg_local) {
@@ -943,4 +923,3 @@ void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
 }
 
 
-