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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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118
Extras/InverseDynamics/SimpleTreeCreator.cpp
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@@ -2,68 +2,76 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// minimal "tree" (chain)
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0;
m_body_T_parent_ref(0, 2) = 0;
m_body_T_parent_ref(1, 0) = 0;
m_body_T_parent_ref(1, 1) = 1;
m_body_T_parent_ref(1, 2) = 0;
m_body_T_parent_ref(2, 0) = 0;
m_body_T_parent_ref(2, 1) = 0;
m_body_T_parent_ref(2, 2) = 1;
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim)
{
m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0;
m_body_T_parent_ref(0, 2) = 0;
m_body_T_parent_ref(1, 0) = 0;
m_body_T_parent_ref(1, 1) = 1;
m_body_T_parent_ref(1, 2) = 0;
m_body_T_parent_ref(2, 0) = 0;
m_body_T_parent_ref(2, 1) = 0;
m_body_T_parent_ref(2, 2) = 1;
m_parent_r_parent_body_ref(0) = 1.0;
m_parent_r_parent_body_ref(1) = 0.0;
m_parent_r_parent_body_ref(2) = 0.0;
m_parent_r_parent_body_ref(0) = 1.0;
m_parent_r_parent_body_ref(1) = 0.0;
m_parent_r_parent_body_ref(2) = 0.0;
m_body_r_body_com(0) = 0.5;
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_body_r_body_com(0) = 0.5;
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_body_I_body(0, 0) = 1;
m_body_I_body(0, 1) = 0;
m_body_I_body(0, 2) = 0;
m_body_I_body(1, 0) = 0;
m_body_I_body(1, 1) = 1;
m_body_I_body(1, 2) = 0;
m_body_I_body(2, 0) = 0;
m_body_I_body(2, 1) = 0;
m_body_I_body(2, 2) = 1;
m_body_I_body(0, 0) = 1;
m_body_I_body(0, 1) = 0;
m_body_I_body(0, 2) = 0;
m_body_I_body(1, 0) = 0;
m_body_I_body(1, 1) = 1;
m_body_I_body(1, 2) = 0;
m_body_I_body(2, 0) = 0;
m_body_I_body(2, 1) = 0;
m_body_I_body(2, 2) = 1;
m_axis(0) = 0;
m_axis(1) = 0;
m_axis(2) = 1;
m_axis(0) = 0;
m_axis(1) = 0;
m_axis(2) = 1;
}
int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
*num_bodies = m_num_bodies;
return 0;
int SimpleTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
*parent_index = body_index - 1;
if (body_index % 2) {
*joint_type = PRISMATIC;
} else {
*joint_type = REVOLUTE;
}
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index) {
(*parent_r_parent_body_ref)(2) = 1.0;
}
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_axis;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
*user_int = 0;
*user_ptr = 0;
return 0;
}
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
*parent_index = body_index - 1;
if (body_index % 2)
{
*joint_type = PRISMATIC;
}
else
{
*joint_type = REVOLUTE;
}
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index)
{
(*parent_r_parent_body_ref)(2) = 1.0;
}
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_axis;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
*user_int = 0;
*user_ptr = 0;
return 0;
}
} // namespace btInverseDynamics