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.
 

include/mujoco.h

@@ -765,38 +765,38 @@ MJAPI void mju_writeLog(const char* type, const char* msg);
 #define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
 
 #ifdef mjUSEDOUBLE
-#define mju_sqrt    sqrt
+  #define mju_sqrt    sqrt
-#define mju_exp     exp
+  #define mju_exp     exp
-#define mju_sin     sin
+  #define mju_sin     sin
-#define mju_cos     cos
+  #define mju_cos     cos
-#define mju_tan     tan
+  #define mju_tan     tan
-#define mju_asin    asin
+  #define mju_asin    asin
-#define mju_acos    acos
+  #define mju_acos    acos
-#define mju_atan2   atan2
+  #define mju_atan2   atan2
-#define mju_tanh    tanh
+  #define mju_tanh    tanh
-#define mju_pow     pow
+  #define mju_pow     pow
-#define mju_abs     fabs
+  #define mju_abs     fabs
-#define mju_log     log
+  #define mju_log     log
-#define mju_log10   log10
+  #define mju_log10   log10
-#define mju_floor   floor
+  #define mju_floor   floor
-#define mju_ceil    ceil
+  #define mju_ceil    ceil
 
 #else
-#define mju_sqrt    sqrtf
+  #define mju_sqrt    sqrtf
-#define mju_exp     expf
+  #define mju_exp     expf
-#define mju_sin     sinf
+  #define mju_sin     sinf
-#define mju_cos     cosf
+  #define mju_cos     cosf
-#define mju_tan     tanf
+  #define mju_tan     tanf
-#define mju_asin    asinf
+  #define mju_asin    asinf
-#define mju_acos    acosf
+  #define mju_acos    acosf
-#define mju_atan2   atan2f
+  #define mju_atan2   atan2f
-#define mju_tanh    tanhf
+  #define mju_tanh    tanhf
-#define mju_pow     powf
+  #define mju_pow     powf
-#define mju_abs     fabsf
+  #define mju_abs     fabsf
-#define mju_log     logf
+  #define mju_log     logf
-#define mju_log10   log10f
+  #define mju_log10   log10f
-#define mju_floor   floorf
+  #define mju_floor   floorf
-#define mju_ceil    ceilf
+  #define mju_ceil    ceilf
 #endif
 
 

sample/derivative.cc

@@ -22,10 +22,9 @@
 #if defined(_OPENMP)
   #include <omp.h>
 #else
-// omp timer replacement
+  // 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

@@ -635,18 +635,16 @@ void watch(void) {
   MJDATA_POINTERS_PREAMBLE(m);
 
   // find specified field in mjData arrays, update value
-  #define X(TYPE, NAME, NR, NC)                                               \
+  #define X(TYPE, NAME, NR, NC)                                                             \
-          if( !mju::strcmp_arr(#NAME, settings.field) &&                      \
+    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], \
+      return;                                                                               \
-                         "invalid index");                                    \
+    }
-              return;                                                         \
-          }
 
     MJDATA_POINTERS
   #undef X
@@ -654,7 +652,7 @@ void watch(void) {
 
 
 
-//-------------------------------- UI construction --------------------------------------
+//---------------------------------- UI construction -----------------------------------------------
 
 // make physics section of UI
 void makephysics(int oldstate) {