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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_util_blas.c
-43
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@@ -37,7 +37,6 @@ void mju_zero3(mjtNum res[3]) {
}
// vec1 == vec2
int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]) {
return mju_abs(vec1[0] - vec2[0]) < mjMINVAL &&
@@ -46,7 +45,6 @@ int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]) {
}
// res = vec
void mju_copy3(mjtNum res[3], const mjtNum data[3]) {
res[0] = data[0];
@@ -55,7 +53,6 @@ void mju_copy3(mjtNum res[3], const mjtNum data[3]) {
}
// res = vec*scl
void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
res[0] = vec[0] * scl;
@@ -64,7 +61,6 @@ void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
}
// res = vec1 + vec2
void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
res[0] = vec1[0] + vec2[0];
@@ -73,7 +69,6 @@ void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
}
// res = vec1 - vec2
void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
res[0] = vec1[0] - vec2[0];
@@ -82,7 +77,6 @@ void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
}
// res += vec
void mju_addTo3(mjtNum res[3], const mjtNum vec[3]) {
res[0] += vec[0];
@@ -91,7 +85,6 @@ void mju_addTo3(mjtNum res[3], const mjtNum vec[3]) {
}
// res -= vec
void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]) {
res[0] -= vec[0];
@@ -100,7 +93,6 @@ void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]) {
}
// res += vec*scl
void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
res[0] += vec[0] * scl;
@@ -109,7 +101,6 @@ void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
}
// res = vec1 + vec2*scl
void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl) {
res[0] = vec1[0] + scl*vec2[0];
@@ -118,7 +109,6 @@ void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtN
}
// normalize vector, return length before normalization
mjtNum mju_normalize3(mjtNum vec[3]) {
mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
@@ -138,21 +128,18 @@ mjtNum mju_normalize3(mjtNum vec[3]) {
}
// compute vector length (without normalizing)
mjtNum mju_norm3(const mjtNum vec[3]) {
return mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
}
// vector dot-product
mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]) {
return vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2];
}
// Cartesian distance between 3D vectors
mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
@@ -160,7 +147,6 @@ mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
}
// multiply 3-by-3 matrix by vector
void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
mjtNum tmp[3] = {
@@ -174,7 +160,6 @@ void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
}
// multiply transposed 3-by-3 matrix by vector
void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
mjtNum tmp[3] = {
@@ -188,7 +173,6 @@ void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
}
// multiply 3x3 matrices,
void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[3] + mat1[2]*mat2[6];
@@ -203,7 +187,6 @@ void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
}
// multiply 3x3 matrices, first argument transposed
void mju_mulMatTMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
res[0] = mat1[0]*mat2[0] + mat1[3]*mat2[3] + mat1[6]*mat2[6];
@@ -218,7 +201,6 @@ void mju_mulMatTMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9])
}
// multiply 3x3 matrices, second argument transposed
void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[1] + mat1[2]*mat2[2];
@@ -233,7 +215,6 @@ void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9])
}
//------------------------------ 4D vector and matrix-vector operations ----------------------------
// res = 0
@@ -245,7 +226,6 @@ void mju_zero4(mjtNum res[4]) {
}
// res = (1,0,0,0)
void mju_unit4(mjtNum res[4]) {
res[0] = 1;
@@ -264,7 +244,6 @@ void mju_copy4(mjtNum res[4], const mjtNum data[4]) {
}
// normalize vector, return length before normalization
mjtNum mju_normalize4(mjtNum vec[4]) {
mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2] + vec[3]*vec[3]);
@@ -286,7 +265,6 @@ mjtNum mju_normalize4(mjtNum vec[4]) {
}
//------------------------------ vector operations -------------------------------------------------
// res = 0
@@ -295,7 +273,6 @@ void mju_zero(mjtNum* res, int n) {
}
// res = val
void mju_fill(mjtNum* res, mjtNum val, int n) {
for (int i=0; i < n; i++) {
@@ -304,14 +281,12 @@ void mju_fill(mjtNum* res, mjtNum val, int n) {
}
// res = vec
void mju_copy(mjtNum* res, const mjtNum* vec, int n) {
memcpy(res, vec, n*sizeof(mjtNum));
}
// sum(vec)
mjtNum mju_sum(const mjtNum* vec, int n) {
mjtNum res = 0;
@@ -324,7 +299,6 @@ mjtNum mju_sum(const mjtNum* vec, int n) {
}
// sum(abs(vec))
mjtNum mju_L1(const mjtNum* vec, int n) {
mjtNum res = 0;
@@ -337,7 +311,6 @@ mjtNum mju_L1(const mjtNum* vec, int n) {
}
// res = vec*scl
void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
int i = 0;
@@ -382,7 +355,6 @@ void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
}
// res = vec1 + vec2
void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
int i = 0;
@@ -425,7 +397,6 @@ void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
}
// res = vec1 - vec2
void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
int i = 0;
@@ -468,7 +439,6 @@ void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
}
// res += vec
void mju_addTo(mjtNum* res, const mjtNum* vec, int n) {
int i = 0;
@@ -511,7 +481,6 @@ void mju_addTo(mjtNum* res, const mjtNum* vec, int n) {
}
// res -= vec
void mju_subFrom(mjtNum* res, const mjtNum* vec, int n) {
int i = 0;
@@ -554,7 +523,6 @@ void mju_subFrom(mjtNum* res, const mjtNum* vec, int n) {
}
// res += vec*scl
void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
int i = 0;
@@ -646,7 +614,6 @@ void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl,
}
// normalize vector, return length before normalization
mjtNum mju_normalize(mjtNum* res, int n) {
mjtNum norm = (mjtNum)mju_sqrt(mju_dot(res, res, n));
@@ -668,14 +635,12 @@ mjtNum mju_normalize(mjtNum* res, int n) {
}
// compute vector length (without normalizing)
mjtNum mju_norm(const mjtNum* res, int n) {
return mju_sqrt(mju_dot(res, res, n));
}
// vector dot-product
mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
mjtNum res = 0;
@@ -751,7 +716,6 @@ void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, in
}
// multiply transposed matrix and vector
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
mjtNum tmp;
@@ -765,7 +729,6 @@ void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, i
}
// multiply square matrix with vectors on both sides: return vec1'*mat*vec2
mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n) {
mjtNum res = 0;
@@ -776,7 +739,6 @@ mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec
}
//------------------------------ matrix operations -------------------------------------------------
// transpose matrix
@@ -789,7 +751,6 @@ void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
}
// symmetrize square matrix res = (mat + mat')/2
void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
for (int i=0; i < n; i++) {
@@ -801,7 +762,6 @@ void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
}
// identity matrix
void mju_eye(mjtNum* mat, int n) {
mju_zero(mat, n*n);
@@ -811,7 +771,6 @@ void mju_eye(mjtNum* mat, int n) {
}
//------------------------------ matrix-matrix operations ------------------------------------------
// multiply matrices, exploit sparsity of mat1
@@ -831,7 +790,6 @@ void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
}
// multiply matrices, second argument transposed
void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int r2) {
@@ -887,7 +845,6 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
}
// multiply matrices, first argument transposed
void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2) {