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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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119
Extras/InverseDynamics/MultiBodyTreeCreator.cpp
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@@ -1,64 +1,71 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator)
{
int num_bodies;
int parent_index;
JointType joint_type;
vec3 body_r_parent_body_ref;
mat33 body_R_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
int user_int;
void* user_ptr;
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
int num_bodies;
int parent_index;
JointType joint_type;
vec3 body_r_parent_body_ref;
mat33 body_R_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
int user_int;
void* user_ptr;
MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree)
{
bt_id_error_message("cannot allocate tree\n");
return 0x0;
}
MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree) {
bt_id_error_message("cannot allocate tree\n");
return 0x0;
}
// TODO: move to some policy argument
tree->setAcceptInvalidMassParameters(false);
// TODO: move to some policy argument
tree->setAcceptInvalidMassParameters(false);
// get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies))
{
bt_id_error_message("getting body indices\n");
delete tree;
return 0x0;
}
// get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies)) {
bt_id_error_message("getting body indices\n");
delete tree;
return 0x0;
}
// get data for all bodies
for (int index = 0; index < num_bodies; index++)
{
// get body parameters from user callbacks
if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr))
{
bt_id_error_message("getting data for body %d\n", index);
delete tree;
return 0x0;
}
// add body to system
if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr))
{
bt_id_error_message("adding body %d\n", index);
delete tree;
return 0x0;
}
}
// finalize initialization
if (-1 == tree->finalize())
{
bt_id_error_message("building system\n");
delete tree;
return 0x0;
}
// get data for all bodies
for (int index = 0; index < num_bodies; index++) {
// get body parameters from user callbacks
if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr)) {
bt_id_error_message("getting data for body %d\n", index);
delete tree;
return 0x0;
}
// add body to system
if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr)) {
bt_id_error_message("adding body %d\n", index);
delete tree;
return 0x0;
}
}
// finalize initialization
if (-1 == tree->finalize()) {
bt_id_error_message("building system\n");
delete tree;
return 0x0;
}
return tree;
}
return tree;
}
} // namespace btInverseDynamics