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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_passive.c
-9
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@@ -460,7 +460,6 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
}
// body-level gravity compensation, return 1 if any, 0 otherwise
static int mj_gravcomp(const mjModel* m, mjData* d) {
if (!m->ngravcomp || mjDISABLED(mjDSBL_GRAVITY) || mju_norm3(m->opt.gravity) == 0) {
@@ -483,7 +482,6 @@ static int mj_gravcomp(const mjModel* m, mjData* d) {
}
// fluid forces
static int mj_fluid(const mjModel* m, mjData* d) {
int has_fluid = m->opt.viscosity > 0 || m->opt.density > 0;
@@ -515,7 +513,6 @@ static int mj_fluid(const mjModel* m, mjData* d) {
}
// passive contact forces
int mj_contactPassive(const mjModel* m, mjData* d) {
int ncon = d->ncon, issparse = mj_isSparse(m);
@@ -598,7 +595,6 @@ int mj_contactPassive(const mjModel* m, mjData* d) {
}
// all passive forces
void mj_passive(const mjModel* m, mjData* d) {
int nv = m->nv;
@@ -692,7 +688,6 @@ void mj_passive(const mjModel* m, mjData* d) {
}
//---------------------------------- fluid models --------------------------------------------------
// fluid forces based on inertia-box approximation
@@ -755,7 +750,6 @@ void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
}
// fluid forces based on ellipsoid approximation
void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
mjtNum lvel[6], wind[6], lwind[6], lfrc[6], bfrc[6];
@@ -872,7 +866,6 @@ static inline mjtNum mji_ellipsoid_max_moment(const mjtNum size[3], const int di
}
// lift and drag forces due to motion in the fluid
void mj_viscousForces(
const mjtNum local_vels[6], const mjtNum fluid_density,
@@ -960,7 +953,6 @@ void mj_viscousForces(
}
// read the geom_fluid_coefs array into its constituent parts
void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
mjtNum* geom_fluid_coef,
@@ -990,7 +982,6 @@ void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
}
// write components into geom_fluid_coefs array
void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
const mjtNum* geom_fluid_coef,