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

PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93

src/engine/engine_forward.c

@@ -65,7 +65,6 @@ void mj_checkPos(const mjModel* m, mjData* d) {
 }
 
 
-
 // check velocities, reset if bad
 void mj_checkVel(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
@@ -82,7 +81,6 @@ void mj_checkVel(const mjModel* m, mjData* d) {
 }
 
 
-
 // check accelerations, reset if bad
 void mj_checkAcc(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
@@ -102,7 +100,6 @@ void mj_checkAcc(const mjModel* m, mjData* d) {
 }
 
 
-
 //-------------------------- solver components -----------------------------------------------------
 
 // args for internal functions in mj_fwdPosition
@@ -128,7 +125,6 @@ void* mj_collisionThreaded(void* args) {
 }
 
 
-
 // position-dependent computations
 void mj_fwdPosition(const mjModel* m, mjData* d) {
   TM_START1;
@@ -189,7 +185,6 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
 }
 
 
-
 // velocity-dependent computations
 void mj_fwdVelocity(const mjModel* m, mjData* d) {
   TM_START;
@@ -233,7 +228,6 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
 }
 
 
-
 // returns the next act given the current act_dot, after clamping
 static mjtNum nextActivation(const mjModel* m, const mjData* d,
                              int actuator_id, int act_adr, mjtNum act_dot) {
@@ -261,7 +255,6 @@ static mjtNum nextActivation(const mjModel* m, const mjData* d,
 }
 
 
-
 // clamp vector to range
 static void clampVec(mjtNum* vec, const mjtNum* range, const mjtByte* limited, int n,
                       const int* index) {
@@ -274,7 +267,6 @@ static void clampVec(mjtNum* vec, const mjtNum* range, const mjtByte* limited, i
 }
 
 
-
 // (qpos, qvel, ctrl, act) => (qfrc_actuator, actuator_force, act_dot)
 void mj_fwdActuation(const mjModel* m, mjData* d) {
   TM_START;
@@ -554,7 +546,6 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
 }
 
 
-
 // add up all non-constraint forces, compute qacc_smooth
 void mj_fwdAcceleration(const mjModel* m, mjData* d) {
   int nv = m->nv;
@@ -570,7 +561,6 @@ void mj_fwdAcceleration(const mjModel* m, mjData* d) {
 }
 
 
-
 // warmstart/init solver
 static void warmstart(const mjModel* m, mjData* d) {
   int nv = m->nv, nefc = d->nefc;
@@ -651,7 +641,6 @@ static void warmstart(const mjModel* m, mjData* d) {
 }
 
 
-
 // struct encapsulating arguments to thread task
 struct mjSolIslandArgs_ {
   const mjModel* m;
@@ -700,7 +689,6 @@ static void solve_threaded(const mjModel* m, mjData* d, int flg_Newton) {
 }
 
 
-
 // compute efc_b, efc_force, qfrc_constraint; update qacc
 void mj_fwdConstraint(const mjModel* m, mjData* d) {
   TM_START;
@@ -794,7 +782,6 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
 }
 
 
-
 //-------------------------- integrators  ----------------------------------------------------------
 
 // advance state and time given activation derivatives, acceleration, and optional velocity
@@ -894,14 +881,12 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
 }
 
 
-
 // Euler integrator, semi-implicit in velocity
 void mj_Euler(const mjModel* m, mjData* d) {
   mj_EulerSkip(m, d, 0);
 }
 
 
-
 // RK4 tableau
 const mjtNum RK4_A[9] = {
   0.5,    0,      0,
@@ -1007,7 +992,6 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
 }
 
 
-
 // fully implicit in velocity, possibly skipping factorization
 void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
   TM_START;
@@ -1075,14 +1059,12 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
 }
 
 
-
 // fully implicit in velocity
 void mj_implicit(const mjModel* m, mjData* d) {
   mj_implicitSkip(m, d, 0);
 }
 
 
-
 // return 1 if potential energy was computed by sensor, 0 otherwise
 static int energyPosSensor(const mjModel* m) {
   if (mjDISABLED(mjDSBL_SENSOR)) {
@@ -1098,7 +1080,6 @@ static int energyPosSensor(const mjModel* m) {
 }
 
 
-
 // return 1 if kinetic energy was computed by sensor, 0 otherwise
 static int energyVelSensor(const mjModel* m) {
   if (mjDISABLED(mjDSBL_SENSOR)) {
@@ -1114,7 +1095,6 @@ static int energyVelSensor(const mjModel* m) {
 }
 
 
-
 //-------------------------- top-level API ---------------------------------------------------------
 
 // forward dynamics with skip; skipstage is mjtStage
@@ -1171,14 +1151,12 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
 }
 
 
-
 // forward dynamics
 void mj_forward(const mjModel* m, mjData* d) {
   mj_forwardSkip(m, d, mjSTAGE_NONE, 0);
 }
 
 
-
 // advance simulation using control callback
 void mj_step(const mjModel* m, mjData* d) {
   TM_START;
@@ -1217,7 +1195,6 @@ void mj_step(const mjModel* m, mjData* d) {
 }
 
 
-
 // advance simulation in two phases: before input is set by user
 void mj_step1(const mjModel* m, mjData* d) {
   TM_START;