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Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names), and fix a couple of typos.

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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
This commit is contained in:
Kyle Bayes
2023-08-02 14:42:49 +01:00
committed by nimrod
parent dac34c91bb
commit efca1a76aa
9 changed files with 712 additions and 532 deletions
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src/user/user_objects.cc
+6 -5
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@@ -1302,7 +1302,8 @@ double mjCGeom::GetVolume(void) {
if (model->exactmeshinertia || typeinertia==mjSHELL_MESH) {
return pmesh->GetVolumeRef(typeinertia);
} else {
return pmesh->boxsz_volume[0]*pmesh->boxsz_volume[1]*pmesh->boxsz_volume[2]*8;
const double* boxsz_volume = pmesh->boxsz_volume();
return boxsz_volume[0]*boxsz_volume[1]*boxsz_volume[2]*8;
}
}
@@ -1419,7 +1420,7 @@ void mjCGeom::SetInertia(void) {
// compute radius of bounding sphere
double mjCGeom::GetRBound(void) {
double* aabb;
const double* aabb;
double haabb[3] = {0};
switch (type) {
@@ -1439,7 +1440,7 @@ double mjCGeom::GetRBound(void) {
return sqrt(size[0]*size[0]+size[1]*size[1]+size[2]*size[2]);
case mjGEOM_MESH:
aabb = model->meshes[meshid]->aabb;
aabb = model->meshes[meshid]->aabb();
haabb[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
haabb[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
haabb[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));
@@ -1585,7 +1586,7 @@ void mjCGeom::ComputeAABB() {
break;
case mjGEOM_MESH:
mjuu_copyvec(aabb, model->meshes[meshid]->aabb, 6);
mjuu_copyvec(aabb, model->meshes[meshid]->aabb(), 6);
break;
case mjGEOM_PLANE:
@@ -1752,7 +1753,7 @@ void mjCGeom::Compile(void) {
size[1] = model->hfields[hfieldid]->size[1];
size[2] = 0.5*(model->hfields[hfieldid]->size[2]+model->hfields[hfieldid]->size[3]);
} else if (type==mjGEOM_MESH) {
double* aabb = model->meshes[meshid]->aabb;
const double* aabb = model->meshes[meshid]->aabb();
size[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
size[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
size[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));