Clean up includes in src/engine

yuvaltassa · copybara-github · commit 52da7586dc48 · 2025-09-16T09:36:44.000-07:00
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <string.h>
+#include <math.h>
 
-#include <mujoco/mjmacro.h>
 #include "engine/engine_collision_primitive.h"
 #include "engine/engine_util_blas.h"
 
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
@@ -27,7 +27,6 @@
 #include "engine/engine_collision_sdf.h"
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_util.h"
-#include "engine/engine_io.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_sort.h"
diff --git a/src/engine/engine_collision_primitive.c b/src/engine/engine_collision_primitive.c
@@ -15,7 +15,6 @@
 #include "engine/engine_collision_primitive.h"
 
 #include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_misc.h"
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
@@ -22,7 +22,6 @@
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjtnum.h>
 #include "engine/engine_collision_primitive.h"
-#include "engine/engine_io.h"
 #include "engine/engine_plugin.h"
 #include "engine/engine_ray.h"
 #include "engine/engine_util_blas.h"
diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h
@@ -18,7 +18,6 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
-#include <mujoco/mjxmacro.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
@@ -15,7 +15,6 @@
 #include "engine/engine_core_smooth.h"
 
 #include <stddef.h>
-#include <string.h>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
diff --git a/src/engine/engine_core_util.c b/src/engine/engine_core_util.c
@@ -18,7 +18,6 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
-#include "engine/engine_crossplatform.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
diff --git a/src/engine/engine_core_util.h b/src/engine/engine_core_util.h
@@ -18,7 +18,6 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
-#include "engine/engine_memory.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c
@@ -17,7 +17,6 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_constraint.h"
 #include "engine/engine_core_util.h"
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_memory.h"
diff --git a/src/engine/engine_derivative_fd.c b/src/engine/engine_derivative_fd.c
@@ -15,14 +15,12 @@
 #include "engine/engine_derivative_fd.h"
 
 #include <stddef.h>
-#include <string.h>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_forward.h"
-#include "engine/engine_io.h"
 #include "engine/engine_inverse.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_macro.h"
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
@@ -24,7 +24,6 @@
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_derivative.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_forward.h"
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
@@ -14,21 +14,19 @@
 
 #include "engine/engine_io.h"
 
-#include <inttypes.h>  // NOLINT required for PRIu64, PRIuPTR
+#include <inttypes.h>  // IWYU pragma: keep
 #include <limits.h>
 #include <stddef.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 
-#include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_core_util.h"
-#include "engine/engine_crossplatform.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_plugin.h"
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
@@ -18,7 +18,6 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
-#include <mujoco/mjxmacro.h>
 
 #ifdef __cplusplus
 #include <cstddef>
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
@@ -22,11 +22,8 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
-#include "engine/engine_core_constraint.h"
 #include "engine/engine_core_util.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
-#include "engine/engine_support.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
 #include "engine/engine_util_sparse.h"
diff --git a/src/engine/engine_macro.h b/src/engine/engine_macro.h
@@ -17,7 +17,6 @@
 
 #include <stdint.h>
 
-#include <mujoco/mjmacro.h>
 #include "engine/engine_callback.h"  // IWYU pragma: export
 
 //-------------------------------- utility macros --------------------------------------------------
diff --git a/src/engine/engine_memory.c b/src/engine/engine_memory.c
@@ -14,7 +14,7 @@
 
 #include "engine/engine_memory.h"
 
-#include <inttypes.h>  // NOLINT required for PRIu64, PRIuPTR
+#include <inttypes.h>  // IWYU pragma: keep
 #include <limits.h>
 #include <stddef.h>
 #include <stdint.h>
@@ -23,16 +23,9 @@
 #include <string.h>
 
 #include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjxmacro.h>
 #include "engine/engine_crossplatform.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
 #include "thread/thread_pool.h"
 
 #ifdef ADDRESS_SANITIZER
diff --git a/src/engine/engine_memory.h b/src/engine/engine_memory.h
@@ -17,7 +17,6 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
 #include <mujoco/mjxmacro.h>
 
 #ifdef __cplusplus
diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c
@@ -15,7 +15,6 @@
 #include "engine/engine_passive.h"
 
 #include <stddef.h>
-#include <string.h>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
@@ -24,7 +23,6 @@
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_util.h"
 #include "engine/engine_crossplatform.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_plugin.h"
 #include "engine/engine_support.h"
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
@@ -32,7 +32,6 @@
 #include "engine/engine_support.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
 
 #ifdef MEMORY_SANITIZER
   #include <sanitizer/msan_interface.h>
diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c
@@ -15,6 +15,7 @@
 
 #include "engine/engine_ray.h"
 
+#include <math.h>
 #include <stddef.h>
 
 #include <mujoco/mjdata.h>
@@ -23,9 +24,7 @@
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjvisualize.h>
 #include "engine/engine_collision_sdf.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
-#include "engine/engine_plugin.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
@@ -21,7 +21,6 @@
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_core_util.h"
 #include "engine/engine_forward.h"
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
@@ -24,9 +24,7 @@
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_core_util.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
-#include "engine/engine_support.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
@@ -15,6 +15,7 @@
 #include "engine/engine_util_misc.h"
 
 #include <ctype.h>
+#include <math.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h
@@ -17,7 +17,6 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
@@ -15,7 +15,6 @@
 #include "engine/engine_util_sparse.h"
 #include "engine/engine_util_sparse_avx.h"  // IWYU pragma: keep
 
-#include <string.h>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
diff --git a/src/engine/engine_util_sparse_avx.h b/src/engine/engine_util_sparse_avx.h
@@ -24,7 +24,6 @@
 #include <string.h>
 
 #include <mujoco/mjtnum.h>
-#include "engine/engine_macro.h"
 
 
 //------------------------------ sparse operations using avx ---------------------------------------
diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c
@@ -14,6 +14,8 @@
 
 #include "engine/engine_util_spatial.h"
 
+#include <math.h>
+
 #include <mujoco/mjmodel.h>
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h
@@ -16,7 +16,7 @@
 #define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
 
 #include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/src/engine/engine_vis_init.h b/src/engine/engine_vis_init.h
@@ -15,7 +15,6 @@
 #ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
 #define MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
 
-#include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c
@@ -17,16 +17,13 @@
 #include <stddef.h>
 
 #include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjvisualize.h>
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_core_util.h"
-#include "engine/engine_io.h"
 #include "engine/engine_memory.h"
 #include "engine/engine_ray.h"
-#include "engine/engine_support.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
@@ -14,6 +14,7 @@
 
 #include "engine/engine_vis_visualize.h"
 
+#include <math.h>
 #include <stddef.h>
 #include <string.h>
 
