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Fix minor formatting issues and use nullptr consistently.

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PiperOrigin-RevId: 819178621
Change-Id: I3f6bfb6888075188d49e32110af2074b07c6b918
This commit is contained in:
Haroon Qureshi
2025-10-14 06:15:02 -07:00
committed by Copybara-Service
parent f7708954cb
commit f1d45bd542
1 changed files with 24 additions and 25 deletions
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src/user/user_mesh.cc
+24 -25
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@@ -59,7 +59,7 @@
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtnum.h>
#include "engine/engine_crossplatform.h" #include "engine/engine_crossplatform.h" // IWYU pragma: keep
#include "engine/engine_plugin.h" #include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
#include "user/user_cache.h" #include "user/user_cache.h"
@@ -73,7 +73,6 @@ extern "C" {
} }
namespace { namespace {
using mujoco::user::VectorToString;
using mujoco::user::FilePath; using mujoco::user::FilePath;
using std::max; using std::max;
using std::min; using std::min;
@@ -211,8 +210,8 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
mjuu_setvec(aamm_, 1e10, 1e10, 1e10); mjuu_setvec(aamm_, 1e10, 1e10, 1e10);
mjuu_setvec(aamm_+3, -1e10, -1e10, -1e10); mjuu_setvec(aamm_+3, -1e10, -1e10, -1e10);
szgraph_ = 0; szgraph_ = 0;
center_ = NULL; center_ = nullptr;
graph_ = NULL; graph_ = nullptr;
needhull_ = false; needhull_ = false;
maxhullvert_ = -1; maxhullvert_ = -1;
processed_ = false; processed_ = false;
@@ -254,14 +253,14 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
this->center_ = (double*)mju_malloc(ncenter); this->center_ = (double*)mju_malloc(ncenter);
memcpy(this->center_, other.center_, ncenter); memcpy(this->center_, other.center_, ncenter);
} else { } else {
this->center_ = NULL; this->center_ = nullptr;
} }
if (other.graph_) { if (other.graph_) {
size_t szgraph = szgraph_*sizeof(int); size_t szgraph = szgraph_*sizeof(int);
this->graph_ = (int*)mju_malloc(szgraph); this->graph_ = (int*)mju_malloc(szgraph);
memcpy(this->graph_, other.graph_, szgraph); memcpy(this->graph_, other.graph_, szgraph);
} else { } else {
this->graph_ = NULL; this->graph_ = nullptr;
} }
} }
PointToLocal(); PointToLocal();
@@ -332,8 +331,8 @@ void mjCMesh::CopyFromSpec() {
if (center_) mju_free(center_); if (center_) mju_free(center_);
if (graph_) mju_free(graph_); if (graph_) mju_free(graph_);
szgraph_ = 0; szgraph_ = 0;
center_ = NULL; center_ = nullptr;
graph_ = NULL; graph_ = nullptr;
// use filename if name is missing // use filename if name is missing
if (name.empty()) { if (name.empty()) {
@@ -524,7 +523,7 @@ namespace {
struct VertexKey { struct VertexKey {
float v[3]; 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]); 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 // get file data in buffer
char* buffer = 0; char* buffer = 0;
int buffer_sz = mju_readResource(resource, (const void**) &buffer); int buffer_sz = mju_readResource(resource, (const void**)&buffer);
// still not found // still not found
if (buffer_sz < 0) { if (buffer_sz < 0) {
@@ -1285,7 +1284,7 @@ void mjCMesh::LoadMSH(mjResource* resource, bool remove_repeated) {
// get file data in buffer // get file data in buffer
char* buffer = 0; char* buffer = 0;
int buffer_sz = mju_readResource(resource, (const void**) &buffer); int buffer_sz = mju_readResource(resource, (const void**)&buffer);
// still not found // still not found
if (buffer_sz < 0) { if (buffer_sz < 0) {
@@ -1880,7 +1879,7 @@ void mjCMesh::MakeGraph() {
qh_zero(qh, stderr); qh_zero(qh, stderr);
// qhull basic init // 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 // install longjmp error handler
exitcode = setjmp(qh->errexit); exitcode = setjmp(qh->errexit);
@@ -1888,7 +1887,7 @@ void mjCMesh::MakeGraph() {
if (!exitcode) { if (!exitcode) {
// actual init // actual init
qh_initflags(qh, const_cast<char*>(qhopt.c_str())); qh_initflags(qh, const_cast<char*>(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 // construct convex hull
qh_qhull(qh); qh_qhull(qh);
@@ -2661,10 +2660,11 @@ void mjCMesh::MakeNormal() {
normal_[3*i+2]*normal_[3*i+2]); normal_[3*i+2]*normal_[3*i+2]);
// divide by length // divide by length
if (len > mjMINVAL) if (len > mjMINVAL) {
for (int j=0; j < 3; j++) { for (int j=0; j < 3; j++) {
normal_[3*i+j] /= len; normal_[3*i+j] /= len;
}else { }
} else {
normal_[3*i] = normal_[3*i+1] = 0; normal_[3*i] = normal_[3*i+1] = 0;
normal_[3*i+2] = 1; normal_[3*i+2] = 1;
} }
@@ -3270,7 +3270,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// get index and check range // get index and check range
int jj = vertid_[i][j]; int jj = vertid_[i][j];
if (jj < 0 || jj >= nvert) { 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 // accumulate
@@ -3281,7 +3281,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// check coverage // check coverage
for (int i=0; i < nvert; i++) { for (int i=0; i < nvert; i++) {
if (vw[i] <= mjMINVAL) { 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 // load skin in SKN BIN format
void mjCSkin::LoadSKN(mjResource* resource) { void mjCSkin::LoadSKN(mjResource* resource) {
char* buffer = 0; 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) { if (buffer_sz < 0) {
throw mjCError(this, "could not read SKN file '%s'", resource->name); throw mjCError(this, "could not read SKN file '%s'", resource->name);
@@ -3589,8 +3589,8 @@ void inline ComputeBasis<Stencil2D>(double basis[9], const double* x,
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) { for (int j = 0; j < 3; j++) {
basis[3*i+j] = ( basisL[i]*basisR[j] + basis[3*i+j] = (basisL[i]*basisR[j] +
basisR[i]*basisL[j] ) / (8*volume*volume); basisR[i]*basisL[j]) / (8*volume*volume);
} }
} }
} }
@@ -3625,8 +3625,8 @@ void inline ComputeBasis<Stencil3D>(double basis[9], const double* x,
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) { for (int j = 0; j < 3; j++) {
basis[3*i+j] = ( normalL[i]*normalR[j] + basis[3*i+j] = (normalL[i]*normalR[j] +
normalR[i]*normalL[j] ) / (36*2*volume*volume); normalR[i]*normalL[j]) / (36*2*volume*volume);
} }
} }
} }
@@ -3898,7 +3898,7 @@ void inline ComputeLinearStiffness(std::vector<double>& K,
} }
if (dof != n) { // SHOULD NOT OCCUR 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 // 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++) { for (int e = 0; e < kNumEdges[dim-1]; e++) {
auto pair = std::pair( auto pair = std::pair(
min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]), 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 // if edge is already present in the vector only store its index
auto [it, inserted] = edge_indices.insert({pair, nedge}); auto [it, inserted] = edge_indices.insert({pair, nedge});