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
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Copybara-Service
Copybara-Service
parent
c439628f82
commit
edbdb5195c
@@ -51,21 +51,18 @@ static void ray_map(const mjtNum* pos, const mjtNum* mat, const mjtNum* pnt, con
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}
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// map to azimuth angle in spherical coordinates
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static mjtNum longitude(const mjtNum vec[3]) {
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return mju_atan2(vec[1], vec[0]);
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}
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// map to elevation angle in spherical coordinates
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static mjtNum latitude(const mjtNum vec[3]) {
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return mju_atan2(mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1]), vec[2]);
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}
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// eliminate geom
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static int ray_eliminate(const mjModel* m, const mjData* d, int geomid,
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const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude) {
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@@ -101,7 +98,6 @@ static int ray_eliminate(const mjModel* m, const mjData* d, int geomid,
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}
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// compute solution from quadratic: a*x^2 + 2*b*x + c = 0
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static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum* x) {
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// compute determinant and check
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@@ -128,7 +124,6 @@ static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum* x) {
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}
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// intersect ray with triangle
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mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
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const mjtNum* b0, const mjtNum* b1) {
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@@ -218,7 +213,6 @@ static mjtNum ray_plane(const mjtNum* pos, const mjtNum* mat, const mjtNum* size
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}
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// sphere
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static mjtNum ray_sphere(const mjtNum* pos, const mjtNum* mat, mjtNum dist_sqr,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -234,7 +228,6 @@ static mjtNum ray_sphere(const mjtNum* pos, const mjtNum* mat, mjtNum dist_sqr,
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}
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// capsule
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static mjtNum ray_capsule(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -301,7 +294,6 @@ static mjtNum ray_capsule(const mjtNum* pos, const mjtNum* mat, const mjtNum* si
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}
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// ellipsoid
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static mjtNum ray_ellipsoid(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -323,7 +315,6 @@ static mjtNum ray_ellipsoid(const mjtNum* pos, const mjtNum* mat, const mjtNum*
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}
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// cylinder
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static mjtNum ray_cylinder(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -383,7 +374,6 @@ static mjtNum ray_cylinder(const mjtNum* pos, const mjtNum* mat, const mjtNum* s
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}
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// box
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static mjtNum ray_box(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec, mjtNum* all) {
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@@ -449,7 +439,6 @@ static mjtNum ray_box(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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}
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// intersect ray with hfield
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mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -597,7 +586,6 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
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}
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// ray vs axis-aligned bounding box using slab method
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// see Ericson, Real-time Collision Detection section 5.3.3.
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int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
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@@ -732,7 +720,6 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
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}
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// intersect ray with signed distance field
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mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -793,7 +780,6 @@ mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
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}
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// intersect ray with mesh
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mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
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const mjtNum* pnt, const mjtNum* vec) {
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@@ -811,7 +797,6 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
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}
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// intersect ray with pure geom, no meshes or hfields
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mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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const mjtNum* pnt, const mjtNum* vec, int geomtype) {
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@@ -841,7 +826,6 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
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}
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// intersect ray with flex, return nearest vertex id
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mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,
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mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid,
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@@ -1019,7 +1003,6 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
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}
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// intersect ray with skin, return nearest vertex id
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mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
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const mjtNum* pnt, const mjtNum* vec, int vertid[1]) {
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@@ -1112,7 +1095,6 @@ mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
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}
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// return 1 if point is inside object-aligned bounding box, 0 otherwise
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static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
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const mjtNum xmat[9], const mjtNum pnt[3]) {
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@@ -1134,7 +1116,6 @@ static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
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}
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//---------------------------- main entry point ----------------------------------------------------
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// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
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