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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_sensor.c
-11
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@@ -91,7 +91,6 @@ static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
}
// get xpos and xmat pointers to an object in mjData
static void get_xpos_xmat(const mjData* d, mjtObj type, int id, int sensor_id,
mjtNum **xpos, mjtNum **xmat) {
@@ -122,7 +121,6 @@ static void get_xpos_xmat(const mjData* d, mjtObj type, int id, int sensor_id,
}
// get global quaternion of an object in mjData
static void get_xquat(const mjModel* m, const mjData* d, mjtObj type, int id, int sensor_id,
mjtNum *quat) {
@@ -148,7 +146,6 @@ static void get_xquat(const mjModel* m, const mjData* d, mjtObj type, int id, in
}
static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
const int cam_res[2], mjtNum cam_fovy,
@@ -241,7 +238,6 @@ static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
}
// check if a contact body/geom matches a sensor spec (type, id)
static int checkMatch(const mjModel* m, int body, int geom, mjtObj type, int id) {
if (type == mjOBJ_UNKNOWN) return 1;
@@ -314,7 +310,6 @@ static int matchContact(const mjModel* m, const mjData* d, int conid,
}
// fill in output data for contact sensor for all fields
// if flg_flip > 0, normal/tangent rotate 180 about frame[2]
// force/torque flip-z s.t. force is equal-and-opposite in new contact frame
@@ -361,7 +356,6 @@ static void copySensorData(const mjModel* m, const mjData* d,
}
// compute total wrench about one point, in the global frame
static void total_wrench(mjtNum force[3], mjtNum torque[3], const mjtNum point[3], int n,
const mjtNum *wrench, const mjtNum *pos, const mjtNum *frame) {
@@ -388,7 +382,6 @@ static void total_wrench(mjtNum force[3], mjtNum torque[3], const mjtNum point[3
}
//-------------------------------- sensor ----------------------------------------------------------
// position-dependent sensors
@@ -692,7 +685,6 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
}
// velocity-dependent sensors
void mj_sensorVel(const mjModel* m, mjData* d) {
int objtype, objid, reftype, refid, adr, nusersensor = 0;
@@ -875,7 +867,6 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
}
// acceleration/force-dependent sensors
void mj_sensorAcc(const mjModel* m, mjData* d) {
int rootid, bodyid, objtype, objid, adr, nusersensor = 0;
@@ -1400,7 +1391,6 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
}
//-------------------------------- energy ----------------------------------------------------------
// position-dependent energy (potential)
@@ -1491,7 +1481,6 @@ void mj_energyPos(const mjModel* m, mjData* d) {
}
// velocity-dependent energy (kinetic)
void mj_energyVel(const mjModel* m, mjData* d) {
mj_markStack(d);