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
@@ -36,6 +36,7 @@
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#include "engine/engine_vis_init.h"
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#include "engine/engine_vis_interact.h"
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//----------------------------- utility functions and macros ---------------------------------------
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static const mjtNum IDENTITY[9] = {1, 0, 0,
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@@ -49,7 +50,6 @@ static void f2f(float* dest, const float* src, int n) {
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}
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// make text label
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static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
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const char* typestr = mju_type2Str(type);
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@@ -71,7 +71,6 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
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}
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// convert HSV to RGB
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static void hsv2rgb(float *RGB, float H, float S, float V) {
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float R, G, B;
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@@ -106,7 +105,6 @@ static void hsv2rgb(float *RGB, float H, float S, float V) {
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}
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static const float kIslandSaturation = 0.8;
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static const float kIslandValue = 0.7;
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@@ -136,7 +134,6 @@ static void mixcolor(float rgba[4], const float ref[4], int flg1, int flg2) {
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}
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// a body is static if it is welded to the world and is not a mocap body
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static int bodycategory(const mjModel* m, int bodyid) {
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if (m->body_weldid[bodyid] == 0 && m->body_mocapid[bodyid] == -1) {
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@@ -180,7 +177,6 @@ void releaseGeom(mjvGeom** geom, mjvScene* scn) {
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}
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// make a triangle in thisgeom at coordinates v0, v1, v2 with a given color
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static void makeTriangle(mjvGeom* thisgeom, const mjtNum v0[3], const mjtNum v1[3],
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const mjtNum v2[3], const float rgba[4]) {
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@@ -196,7 +192,6 @@ static void makeTriangle(mjvGeom* thisgeom, const mjtNum v0[3], const mjtNum v1[
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}
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// copy material fields from model to visual geom
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static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float* rgba,
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const mjtByte* flags) {
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@@ -226,7 +221,6 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
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}
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// set (type, size, pos, mat) connector-type geom between given points
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// assume that mjv_initGeom was already called to set all other properties
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void mjv_connector(mjvGeom* geom, int type, mjtNum width,
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@@ -269,7 +263,6 @@ void mjv_connector(mjvGeom* geom, int type, mjtNum width,
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}
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// initialize given fields when not NULL, set the rest to their default values
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void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
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const mjtNum* pos, const mjtNum* mat, const float* rgba) {
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@@ -353,7 +346,6 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
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}
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// mark geom as selected
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static void markselected(const mjVisual* vis, mjvGeom* geom) {
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// add emission
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@@ -361,7 +353,6 @@ static void markselected(const mjVisual* vis, mjvGeom* geom) {
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}
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// draw 3 cylinders representing a "frame" decor element
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void addFrameGeoms(mjvScene* scn, int i, mjtNum* pos, mjtNum* rot, float length, float width) {
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// draw separate geoms for each axis
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@@ -393,7 +384,6 @@ void addFrameGeoms(mjvScene* scn, int i, mjtNum* pos, mjtNum* rot, float length,
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}
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//----------------------------- camera functions --------------------------------------------------
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// computes the camera frustum
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@@ -410,7 +400,6 @@ static void getFrustum(float zver[2], float zhor[2], float znear,
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}
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void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
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const mjData* d, const mjvCamera* cam) {
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switch (cam->type) {
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@@ -534,7 +523,6 @@ void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjMod
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}
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//----------------------------- main API functions -------------------------------------------------
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// add contact-related geoms in mjvObject
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@@ -2506,7 +2494,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
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}
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// make list of lights only
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void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
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mjvLight* thislight;
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@@ -2582,7 +2569,6 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
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}
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// update camera only
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void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn) {
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// return if nothing to do
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@@ -2659,7 +2645,6 @@ void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScen
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}
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// construct face, flat normals
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static void makeFace(float* _face, float* _normal, mjtNum radius, const mjtNum* vertxpos,
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int nface, int i0, int i1, int i2) {
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@@ -2692,7 +2677,6 @@ static void makeFace(float* _face, float* _normal, mjtNum radius, const mjtNum*
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}
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// add face normal to vertices
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static void addNormal(mjtNum* vertnorm, const mjtNum* vertxpos,
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int i0, int i1, int i2) {
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@@ -2713,7 +2697,6 @@ static void addNormal(mjtNum* vertnorm, const mjtNum* vertxpos,
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}
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// construct face, smooth normals
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static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_flat,
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const mjtNum* vertnorm, const mjtNum* vertxpos,
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@@ -2761,7 +2744,6 @@ static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_
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}
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// construct side in 2D face
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static void makeSide(float* _face, float* _normal, mjtNum radius,
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const mjtNum* vertnorm, const mjtNum* vertxpos,
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@@ -2798,7 +2780,6 @@ static void makeSide(float* _face, float* _normal, mjtNum radius,
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}
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// copy texcoord for face
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static void copyTex(float* dst, const float* src, int nface, int i0, int i1, int i2) {
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if (!dst || !src) {
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@@ -2814,7 +2795,6 @@ static void copyTex(float* dst, const float* src, int nface, int i0, int i1, int
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}
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// update visible flexes only
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void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
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// save flex visualization flags in scene (needed by renderer)
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@@ -2974,7 +2954,6 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
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}
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// update all skins, here for backward API compatibility
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void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn) {
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mjvOption opt;
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@@ -2984,7 +2963,6 @@ void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn) {
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}
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// update visible skins only
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void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt) {
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// process skins
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@@ -3113,7 +3091,6 @@ void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, cons
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}
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// update entire scene
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void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
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const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
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@@ -3163,7 +3140,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
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}
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//----------------------------------- catenary functions -------------------------------------------
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// returns hyperbolic cosine and optionally computes hyperbolic sine
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@@ -3176,14 +3152,12 @@ static inline mjtNum cosh_sinh(mjtNum x, mjtNum* sinh) {
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}
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// returns intercept of the catenary equation
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static inline mjtNum catenary_intercept(mjtNum v, mjtNum h, mjtNum length) {
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return 1/mju_sqrt(mju_sqrt(length*length - v*v)/h - 1);
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}
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// returns residual of catenary equation and optionally computes its gradient w.r.t b
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static inline mjtNum catenary_residual(mjtNum b, mjtNum intercept, mjtNum* grad) {
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mjtNum a = 0.5 / b;
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@@ -3195,7 +3169,6 @@ static inline mjtNum catenary_residual(mjtNum b, mjtNum intercept, mjtNum* grad)
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}
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// convergence tolerance for catenary solver
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static const mjtNum tolerance = 1e-9;
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@@ -3240,7 +3213,6 @@ static inline mjtNum solve_catenary(mjtNum v, mjtNum h, mjtNum length) {
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}
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// points along catenary of given length between x0 and x1, returns number of points
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int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
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mjtNum* catenary, int ncatenary) {
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