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Improve readability of body transmission code.

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(code block mentioned in #1790)

PiperOrigin-RevId: 653601254
Change-Id: Ibee727ab668b690c3b9a55c39110c6219cca17fa
This commit is contained in:
Yuval Tassa
2024-07-18 06:42:41 -07:00
committed by Copybara-Service
parent 231d9632cd
commit ffb50b7b67
1 changed files with 7 additions and 3 deletions
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src/engine/engine_core_smooth.c
+7 -3
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@@ -1168,14 +1168,18 @@ void mj_transmission(const mjModel* m, mjData* d) {
for (int j=0; j < d->ncon; j++) { for (int j=0; j < d->ncon; j++) {
const mjContact* con = d->contact+j; const mjContact* con = d->contact+j;
// get geom ids
int g1 = con->geom[0];
int g2 = con->geom[1];
// contact involving flex, continue // contact involving flex, continue
if (con->geom[0] < 0 || con->geom[1] < 0) { if (g1 < 0 || g2 < 0) {
continue; continue;
} }
// get body ids // get body ids
int b1 = m->geom_bodyid[con->geom[0]]; int b1 = m->geom_bodyid[g1];
int b2 = m->geom_bodyid[con->geom[1]]; int b2 = m->geom_bodyid[g2];
// irrelevant contact, continue // irrelevant contact, continue
if (b1 != id && b2 != id) { if (b1 != id && b2 != id) {