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
@@ -53,7 +53,6 @@ static const int MAX_ARRAY_SIZE = INT_MAX / 4;
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//----------------------------------- static utility functions -------------------------------------
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//----------------------------------- static utility functions -------------------------------------
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// id used to identify binary mjModel file/buffer
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@@ -80,7 +79,6 @@ static int getnint(void) {
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}
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// count buffer members in mjModel (mjtSize)
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static int getnbuffer(void) {
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int cnt = 0;
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@@ -93,7 +91,6 @@ static int getnbuffer(void) {
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}
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// count pointers in mjModel
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static int getnptr(void) {
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int cnt = 0;
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@@ -106,7 +103,6 @@ static int getnptr(void) {
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}
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// write to memory buffer
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static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf) {
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// check pointers
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@@ -125,7 +121,6 @@ static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf
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}
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// read from memory buffer
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static void bufread(void* dest, int num, int szbuf, const void* buf, int* ptrbuf) {
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// check pointers
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@@ -144,7 +139,6 @@ static void bufread(void* dest, int num, int szbuf, const void* buf, int* ptrbuf
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}
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// number of bytes to be skipped to achieve 64-byte alignment
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static inline unsigned int SKIP(intptr_t offset) {
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const unsigned int align = 64;
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@@ -153,7 +147,6 @@ static inline unsigned int SKIP(intptr_t offset) {
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}
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//----------------------------------- mjModel construction -----------------------------------------
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// set pointers in mjModel buffer
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@@ -183,7 +176,6 @@ static void mj_setPtrModel(mjModel* m) {
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}
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// increases buffer size without causing integer overflow, returns 0 if
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// operation would cause overflow
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// performs the following operations:
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@@ -213,14 +205,12 @@ static int safeAddToBufferSize(intptr_t* offset, mjtSize* nbuffer,
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}
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// free model memory without destroying the struct
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static void freeModelBuffers(mjModel* m) {
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mju_free(m->buffer);
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}
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// allocate and initialize mjModel structure
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void mj_makeModel(mjModel** dest,
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int nq, int nv, int nu, int na, int nbody, int nbvh,
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@@ -403,7 +393,6 @@ void mj_makeModel(mjModel** dest,
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}
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// copy mjModel, if dest==NULL create new model
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mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
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// allocate new model if needed
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@@ -456,7 +445,6 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
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}
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// copy mjModel, skip large arrays not required for abstract visualization
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void mjv_copyModel(mjModel* dest, const mjModel* src) {
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// check sizes
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@@ -488,7 +476,6 @@ void mjv_copyModel(mjModel* dest, const mjModel* src) {
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}
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// save model to binary file, or memory buffer of szbuf>0
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void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz) {
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FILE* fp = 0;
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@@ -680,7 +667,6 @@ void mj_deleteModel(mjModel* m) {
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}
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// size of buffer needed to hold model
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int mj_sizeModel(const mjModel* m) {
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int size = (
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@@ -700,8 +686,6 @@ int mj_sizeModel(const mjModel* m) {
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}
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//-------------------------- sparse system matrix construction -------------------------------------
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// construct sparse representation of dof-dof matrix
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@@ -878,7 +862,6 @@ void mj_makeBSparse(int nv, int nbody, int nB,
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}
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// check D and B sparsity for consistency
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static void checkDBSparse(const mjModel* m) {
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// process all dofs
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@@ -899,7 +882,6 @@ static void checkDBSparse(const mjModel* m) {
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}
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// integer valued dst[D or C or M] = src[M (legacy)], handle different sparsity representations
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static void copyM2Sparse(int nv,
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const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
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@@ -1008,7 +990,6 @@ static void mj_setPtrData(const mjModel* m, mjData* d) {
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}
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// initialize plugins, copy into d (required for deletion)
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void mj_initPlugin(const mjModel* m, mjData* d) {
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d->nplugin = m->nplugin;
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@@ -1025,7 +1006,6 @@ void mj_initPlugin(const mjModel* m, mjData* d) {
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}
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// free mjData memory without destroying the struct
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static void freeDataBuffers(mjData* d) {
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#ifdef ADDRESS_SANITIZER
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@@ -1045,7 +1025,6 @@ static void freeDataBuffers(mjData* d) {
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}
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// allocate and initialize raw mjData structure
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void mj_makeRawData(mjData** dest, const mjModel* m) {
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intptr_t offset = 0;
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@@ -1114,7 +1093,6 @@ void mj_makeRawData(mjData** dest, const mjModel* m) {
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}
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// allocate and initialize mjData structure
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mjData* mj_makeData(const mjModel* m) {
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mjData* d = NULL;
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@@ -1127,7 +1105,6 @@ mjData* mj_makeData(const mjModel* m) {
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}
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// copy mjData, if dest==NULL create new data;
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// flg_all 1: copy all fields, 0: skip fields not required for visualization
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mjData* mj_copyDataVisual(mjData* dest, const mjModel* m, const mjData* src, int flg_all) {
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@@ -1275,7 +1252,6 @@ mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src) {
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}
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// clear data, set defaults
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static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
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//------------------------------ save plugin state and data
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@@ -1428,21 +1404,18 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
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}
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// clear data, set data->qpos = model->qpos0
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void mj_resetData(const mjModel* m, mjData* d) {
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_resetData(m, d, 0);
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}
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// clear data, set data->qpos = model->qpos0, fill with debug_value
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void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value) {
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_resetData(m, d, debug_value);
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}
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// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
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void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key) {
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_resetData(m, d, 0);
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@@ -1460,7 +1433,6 @@ void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key) {
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}
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// de-allocate mjData
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void mj_deleteData(mjData* d) {
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if (d) {
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@@ -1470,7 +1442,6 @@ void mj_deleteData(mjData* d) {
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}
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// number of position and velocity coordinates for each joint type
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const int nPOS[4] = {7, 4, 1, 1};
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const int nVEL[4] = {6, 3, 1, 1};
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@@ -1546,7 +1517,6 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
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}
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// returns the number of objects of the given type
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// -1: mjOBJ_UNKNOWN
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// -2: invalid objtype
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@@ -1613,7 +1583,6 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
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}
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// validate reference fields in a model; return null if valid, error message otherwise
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const char* mj_validateReferences(const mjModel* m) {
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// for each field in mjModel that refers to another field, call X with:
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