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Remove empty initializers to ensure MSVC compatibility.

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Add -Wgnu-empty-initializer to Clang builds to catch this issue in the future. Initialising arrays with empty braces is not part of the C standard and fails on MSVC. This commit should catch the issue earlier by detecting it in Clang.

PiperOrigin-RevId: 517373961
Change-Id: I518006e84151e8d5b45a7fe00ba7675dfb031ca0
This commit is contained in:
Alessio Quaglino
2023-03-17 04:01:26 -07:00
committed by Copybara-Service
parent 70959c1a2c
commit ee566eb880
5 changed files with 7 additions and 4 deletions
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cmake/MujocoOptions.cmake
+1
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@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-int-in-bool-context -Wno-int-in-bool-context
-Wno-sign-compare -Wno-sign-compare
-Wno-unknown-pragmas -Wno-unknown-pragmas
-Wgnu-empty-initializer
) )
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
sample/cmake/SampleOptions.cmake
+1
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@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-int-in-bool-context -Wno-int-in-bool-context
-Wno-sign-compare -Wno-sign-compare
-Wno-unknown-pragmas -Wno-unknown-pragmas
-Wgnu-empty-initializer
) )
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
simulate/cmake/SimulateOptions.cmake
+1
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@@ -93,6 +93,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-int-in-bool-context -Wno-int-in-bool-context
-Wno-sign-compare -Wno-sign-compare
-Wno-unknown-pragmas -Wno-unknown-pragmas
-Wgnu-empty-initializer
) )
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
src/engine/engine_collision_driver.c
+2 -2
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@@ -222,8 +222,8 @@ void mj_collideTree(const mjModel* m, mjData* d, int b1, int b2,
const mjtNum* bvh2 = m->bvh_aabb + 6 * bvhadr2; const mjtNum* bvh2 = m->bvh_aabb + 6 * bvhadr2;
const int* child1 = m->bvh_child + 2 * bvhadr1; const int* child1 = m->bvh_child + 2 * bvhadr1;
const int* child2 = m->bvh_child + 2 * bvhadr2; const int* child2 = m->bvh_child + 2 * bvhadr2;
mjtNum product[36] = {}; // 2 bb x 2 bb x 3 axes (body) x 3 axes (world) mjtNum product[36]; // 2 bb x 2 bb x 3 axes (body) x 3 axes (world)
mjtNum offset[12] = {}; // 2 bb x 2 bb x 3 axes (world) mjtNum offset[12]; // 2 bb x 2 bb x 3 axes (world)
mjtByte initialize = 1; mjtByte initialize = 1;
mjMARKSTACK; mjMARKSTACK;
src/user/user_objects.cc
+2 -2
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@@ -757,7 +757,7 @@ int mjCBody::MakeBVH(std::vector<mjCGeom *>& elements, int lev) {
mjtNum vert[3] = {elements[i]->pos[0] - ipos[0], mjtNum vert[3] = {elements[i]->pos[0] - ipos[0],
elements[i]->pos[1] - ipos[1], elements[i]->pos[1] - ipos[1],
elements[i]->pos[2] - ipos[2]}; elements[i]->pos[2] - ipos[2]};
mjtNum lpos[3] = {}; mjtNum lpos[3];
mju_rotVecQuat(lpos, vert, qinv); mju_rotVecQuat(lpos, vert, qinv);
pos[i] = lpos[axis]; pos[i] = lpos[axis];
} }
@@ -776,7 +776,7 @@ int mjCBody::MakeBVH(std::vector<mjCGeom *>& elements, int lev) {
mjtNum vert[3] = {elements[i]->pos[0] - ipos[0], mjtNum vert[3] = {elements[i]->pos[0] - ipos[0],
elements[i]->pos[1] - ipos[1], elements[i]->pos[1] - ipos[1],
elements[i]->pos[2] - ipos[2]}; elements[i]->pos[2] - ipos[2]};
mjtNum lpos[3] = {}; mjtNum lpos[3];
mju_rotVecQuat(lpos, vert, qinv); mju_rotVecQuat(lpos, vert, qinv);
// skip visual objects // skip visual objects