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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_vis_interact.c
-14
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@@ -63,7 +63,6 @@ void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
}
// transform pose from model to room space
void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
const mjtNum* modelquat, const mjvScene* scn) {
@@ -95,7 +94,6 @@ void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
}
// get camera info in model space: average left and right OpenGL cameras
void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvScene* scn) {
mjtNum pos[3], fwd[3], u[3], quat[4];
@@ -169,7 +167,6 @@ void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSc
}
// get camera info in room space: average left and right OpenGL cameras
void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvScene* scn) {
mjtNum pos[3], fwd[3], u[3];
@@ -219,7 +216,6 @@ void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvSce
}
// get frustum height at unit distance from camera; average left and right OpenGL cameras
mjtNum mjv_frustumHeight(const mjvScene* scn) {
const mjvGLCamera* cam1 = scn->camera;
@@ -251,7 +247,6 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
}
// rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
mjtNum xaxis[2], yaxis[2];
@@ -271,7 +266,6 @@ void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
}
// convert 2D mouse motion to z-aligned 3D world coordinates
static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNum* forward) {
mjtNum vec[3];
@@ -316,7 +310,6 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
}
// move camera with mouse; action is mjtMouse
void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjvScene* scn, mjvCamera* cam) {
@@ -407,7 +400,6 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
}
// move perturb object with mouse; action is mjtMouse
void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
mjtNum reldy, const mjvScene* scn, mjvPerturb* pert) {
@@ -498,7 +490,6 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
}
// move model with mouse; action is mjtMouse
void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
const mjtNum roomup[3], mjvScene* scn) {
@@ -576,7 +567,6 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
}
// copy perturb pos,quat from selected body; set scale for perturbation
void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert) {
mj_markStack(d);
@@ -636,7 +626,6 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur
}
// set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise
// d->qpos written only if flg_paused and subtree root for selected body has free joint
void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, int flg_paused) {
@@ -690,7 +679,6 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, i
}
// set perturb force,torque in d->xfrc_applied, if selected body is dynamic
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert) {
int sel = pert->select;
@@ -763,7 +751,6 @@ void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert)
}
// return the average of two OpenGL cameras
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2) {
mjtNum pos[3], forward[3], up[3], projection, tmp1[3], tmp2[3];
@@ -812,7 +799,6 @@ mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2)
}
// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,