From f1d45bd5422c74beddfb0d1deb590a02583d21de Mon Sep 17 00:00:00 2001 From: Haroon Qureshi Date: Tue, 14 Oct 2025 06:15:02 -0700 Subject: [PATCH] Fix minor formatting issues and use nullptr consistently. PiperOrigin-RevId: 819178621 Change-Id: I3f6bfb6888075188d49e32110af2074b07c6b918 --- src/user/user_mesh.cc | 49 +++++++++++++++++++++---------------------- 1 file changed, 24 insertions(+), 25 deletions(-) diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc index e139b431..d1e01d04 100644 --- a/src/user/user_mesh.cc +++ b/src/user/user_mesh.cc @@ -59,7 +59,7 @@ #include #include #include -#include "engine/engine_crossplatform.h" +#include "engine/engine_crossplatform.h" // IWYU pragma: keep #include "engine/engine_plugin.h" #include "engine/engine_util_errmem.h" #include "user/user_cache.h" @@ -73,7 +73,6 @@ extern "C" { } namespace { - using mujoco::user::VectorToString; using mujoco::user::FilePath; using std::max; using std::min; @@ -211,8 +210,8 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) { mjuu_setvec(aamm_, 1e10, 1e10, 1e10); mjuu_setvec(aamm_+3, -1e10, -1e10, -1e10); szgraph_ = 0; - center_ = NULL; - graph_ = NULL; + center_ = nullptr; + graph_ = nullptr; needhull_ = false; maxhullvert_ = -1; processed_ = false; @@ -254,14 +253,14 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) { this->center_ = (double*)mju_malloc(ncenter); memcpy(this->center_, other.center_, ncenter); } else { - this->center_ = NULL; + this->center_ = nullptr; } if (other.graph_) { size_t szgraph = szgraph_*sizeof(int); this->graph_ = (int*)mju_malloc(szgraph); memcpy(this->graph_, other.graph_, szgraph); } else { - this->graph_ = NULL; + this->graph_ = nullptr; } } PointToLocal(); @@ -332,8 +331,8 @@ void mjCMesh::CopyFromSpec() { if (center_) mju_free(center_); if (graph_) mju_free(graph_); szgraph_ = 0; - center_ = NULL; - graph_ = NULL; + center_ = nullptr; + graph_ = nullptr; // use filename if name is missing if (name.empty()) { @@ -524,7 +523,7 @@ namespace { struct VertexKey { float v[3]; - bool operator==(const VertexKey &other) const { + bool operator==(const VertexKey& other) const { return (v[0] == other.v[0] && v[1] == other.v[1] && v[2] == other.v[2]); } @@ -1212,7 +1211,7 @@ void mjCMesh::LoadSTL(mjResource* resource) { // get file data in buffer char* buffer = 0; - int buffer_sz = mju_readResource(resource, (const void**) &buffer); + int buffer_sz = mju_readResource(resource, (const void**)&buffer); // still not found if (buffer_sz < 0) { @@ -1285,7 +1284,7 @@ void mjCMesh::LoadMSH(mjResource* resource, bool remove_repeated) { // get file data in buffer char* buffer = 0; - int buffer_sz = mju_readResource(resource, (const void**) &buffer); + int buffer_sz = mju_readResource(resource, (const void**)&buffer); // still not found if (buffer_sz < 0) { @@ -1880,7 +1879,7 @@ void mjCMesh::MakeGraph() { qh_zero(qh, stderr); // qhull basic init - qh_init_A(qh, stdin, stdout, stderr, 0, NULL); + qh_init_A(qh, stdin, stdout, stderr, 0, nullptr); // install longjmp error handler exitcode = setjmp(qh->errexit); @@ -1888,7 +1887,7 @@ void mjCMesh::MakeGraph() { if (!exitcode) { // actual init qh_initflags(qh, const_cast(qhopt.c_str())); - qh_init_B(qh, vert_.data(), nvert(), 3, False); + qh_init_B(qh, vert_.data(), nvert(), 3, qh_False); // construct convex hull qh_qhull(qh); @@ -2661,10 +2660,11 @@ void mjCMesh::MakeNormal() { normal_[3*i+2]*normal_[3*i+2]); // divide by length - if (len > mjMINVAL) + if (len > mjMINVAL) { for (int j=0; j < 3; j++) { normal_[3*i+j] /= len; - }else { + } + } else { normal_[3*i] = normal_[3*i+1] = 0; normal_[3*i+2] = 1; } @@ -3270,7 +3270,7 @@ void mjCSkin::Compile(const mjVFS* vfs) { // get index and check range int jj = vertid_[i][j]; if (jj < 0 || jj >= nvert) { - throw mjCError(this, "vertid %d out of range in skin", NULL, jj); + throw mjCError(this, "vertid %d out of range in skin", nullptr, jj); } // accumulate @@ -3281,7 +3281,7 @@ void mjCSkin::Compile(const mjVFS* vfs) { // check coverage for (int i=0; i < nvert; i++) { if (vw[i] <= mjMINVAL) { - throw mjCError(this, "vertex %d must have positive total weight in skin", NULL, i); + throw mjCError(this, "vertex %d must have positive total weight in skin", nullptr, i); } } @@ -3314,7 +3314,7 @@ void mjCSkin::Compile(const mjVFS* vfs) { // load skin in SKN BIN format void mjCSkin::LoadSKN(mjResource* resource) { char* buffer = 0; - int buffer_sz = mju_readResource(resource, (const void**) &buffer); + int buffer_sz = mju_readResource(resource, (const void**)&buffer); if (buffer_sz < 0) { throw mjCError(this, "could not read SKN file '%s'", resource->name); @@ -3589,8 +3589,8 @@ void inline ComputeBasis(double basis[9], const double* x, for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - basis[3*i+j] = ( basisL[i]*basisR[j] + - basisR[i]*basisL[j] ) / (8*volume*volume); + basis[3*i+j] = (basisL[i]*basisR[j] + + basisR[i]*basisL[j]) / (8*volume*volume); } } } @@ -3625,8 +3625,8 @@ void inline ComputeBasis(double basis[9], const double* x, for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - basis[3*i+j] = ( normalL[i]*normalR[j] + - normalR[i]*normalL[j] ) / (36*2*volume*volume); + basis[3*i+j] = (normalL[i]*normalR[j] + + normalR[i]*normalL[j]) / (36*2*volume*volume); } } } @@ -3898,7 +3898,7 @@ void inline ComputeLinearStiffness(std::vector& K, } if (dof != n) { // SHOULD NOT OCCUR - throw mjCError(NULL, "incorrect number of basis functions"); + throw mjCError(nullptr, "incorrect number of basis functions"); } // tensor contraction of the gradients of elastic strains @@ -4263,8 +4263,7 @@ void mjCFlex::Compile(const mjVFS* vfs) { for (int e = 0; e < kNumEdges[dim-1]; e++) { auto pair = std::pair( min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]), - max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]) - ); + max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])); // if edge is already present in the vector only store its index auto [it, inserted] = edge_indices.insert({pair, nedge});