Remove inappropriate executable bits and minor reformat of code and changelog.

PiperOrigin-RevId: 416854656
Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5

doc/changelog.rst

@@ -24,7 +24,7 @@ General
 
 4. Safer string handling: replaced ``strcat``, ``strcpy``, and ``sprintf`` with ``strncat``, ``strncpy``, and
    ``snprintf`` respectively.
-#. Changed indentation from 4 spaces to 2 spaces everywhere.
+#. Changed indentation from 4 spaces to 2 spaces, K&R bracing style, added braces to one-line conditionals.
 
 Bug Fixes
 ^^^^^^^^^
@@ -40,7 +40,7 @@ Bug Fixes
       This is a minor breaking change. Simulation of a model with automatically-computed capsule inertias will be
       numerically different, leading to, for example, breakage of golden-value tests.
 #. Fixed bug related to :ref:`force <sensor-force>` and :ref:`torque <sensor-torque>` sensors. Until this change, forces
-   torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced by contacts. Force and
+   and torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced by contacts. Force
    and torque sensors now correctly take into account the effects of :ref:`connect <equality-connect>` and
    :ref:`weld <equality-weld>` constraints.
 

sample/derivative.cc

@@ -24,8 +24,7 @@
 #else
   // omp timer replacement
   #include <chrono>
-  double omp_get_wtime(void)
+  double omp_get_wtime(void) {
-  {
     static std::chrono::system_clock::time_point _start = std::chrono::system_clock::now();
     std::chrono::duration<double> elapsed = std::chrono::system_clock::now() - _start;
     return elapsed.count();
@@ -34,8 +33,7 @@
   // omp functions used below
   void omp_set_dynamic(int) {}
   void omp_set_num_threads(int) {}
-  int omp_get_num_procs(void)
+  int omp_get_num_procs(void) {
-  {
     return 1;
   }
 #endif

sample/simulate.cc

@@ -637,14 +637,12 @@ void watch(void) {
   // find specified field in mjData arrays, update value
   #define X(TYPE, NAME, NR, NC)                                                             \
     if (!mju::strcmp_arr(#NAME, settings.field) &&                                          \
-              !mju::strcmp_arr(#TYPE, "mjtNum") )                             \
+        !mju::strcmp_arr(#TYPE, "mjtNum")) {                                                \
-          {                                                                   \
+      if (settings.index>=0 && settings.index<m->NR*NC) {                                   \
-              if( settings.index>=0 && settings.index<m->NR*NC )              \
+        printfield(ui0.sect[SECT_WATCH].item[2].multi.name[0], d->NAME + settings.index);   \
-                  printfield(ui0.sect[SECT_WATCH].item[2].multi.name[0],      \
+      } else {                                                                              \
-                             d->NAME + settings.index);                       \
+        mju::strcpy_arr(ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index");       \
-              else                                                            \
+      }                                                                                     \
-                  mju::strcpy_arr(ui0.sect[SECT_WATCH].item[2].multi.name[0], \
-                         "invalid index");                                    \
       return;                                                                               \
     }
 
@@ -654,7 +652,7 @@ void watch(void) {
 
 
 
-//-------------------------------- UI construction --------------------------------------
+//---------------------------------- UI construction -----------------------------------------------
 
 // make physics section of UI
 void makephysics(int oldstate) {