Code-style consistency improvement:

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

Extras/InverseDynamics/User2InternalIndex.cpp

@@ -1,99 +1,121 @@
 #include "User2InternalIndex.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
 
-void User2InternalIndex::addBody(const int body, const int parent) {
-    m_user_parent_index_map[body] = parent;
+void User2InternalIndex::addBody(const int body, const int parent)
+{
+	m_user_parent_index_map[body] = parent;
 }
 
-int User2InternalIndex::findRoot(int index) {
-    if (0 == m_user_parent_index_map.count(index)) {
-        return index;
-    }
-    return findRoot(m_user_parent_index_map[index]);
+int User2InternalIndex::findRoot(int index)
+{
+	if (0 == m_user_parent_index_map.count(index))
+	{
+		return index;
+	}
+	return findRoot(m_user_parent_index_map[index]);
 }
 
 // modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
 // URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
 // int urdfParentIndex)
-void User2InternalIndex::recurseIndexSets(const int user_body_index) {
-    m_user_to_internal[user_body_index] = m_current_index;
-    m_current_index++;
-    for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
-        recurseIndexSets(m_user_child_indices[user_body_index][i]);
-    }
+void User2InternalIndex::recurseIndexSets(const int user_body_index)
+{
+	m_user_to_internal[user_body_index] = m_current_index;
+	m_current_index++;
+	for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++)
+	{
+		recurseIndexSets(m_user_child_indices[user_body_index][i]);
+	}
 }
 
-int User2InternalIndex::buildMapping() {
-    // find root index
-    int user_root_index = -1;
-    for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
-         it != m_user_parent_index_map.end(); it++) {
-        int current_root_index = findRoot(it->second);
-        if (it == m_user_parent_index_map.begin()) {
-            user_root_index = current_root_index;
-        } else {
-            if (user_root_index != current_root_index) {
-                bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
-                              current_root_index);
-                return -1;
-            }
-        }
-    }
+int User2InternalIndex::buildMapping()
+{
+	// find root index
+	int user_root_index = -1;
+	for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
+		 it != m_user_parent_index_map.end(); it++)
+	{
+		int current_root_index = findRoot(it->second);
+		if (it == m_user_parent_index_map.begin())
+		{
+			user_root_index = current_root_index;
+		}
+		else
+		{
+			if (user_root_index != current_root_index)
+			{
+				bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
+									current_root_index);
+				return -1;
+			}
+		}
+	}
 
-    // build child index map
-    for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
-         it != m_user_parent_index_map.end(); it++) {
-        m_user_child_indices[it->second].push_back(it->first);
-    }
+	// build child index map
+	for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
+		 it != m_user_parent_index_map.end(); it++)
+	{
+		m_user_child_indices[it->second].push_back(it->first);
+	}
 
-    m_current_index = -1;
-    // build internal index set
-    m_user_to_internal[user_root_index] = -1;  // add map for root link
-    recurseIndexSets(user_root_index);
+	m_current_index = -1;
+	// build internal index set
+	m_user_to_internal[user_root_index] = -1;  // add map for root link
+	recurseIndexSets(user_root_index);
 
-    // reverse mapping
-    for (std::map<int, int>::iterator it = m_user_to_internal.begin();
-         it != m_user_to_internal.end(); it++) {
-        m_internal_to_user[it->second] = it->first;
-    }
+	// reverse mapping
+	for (std::map<int, int>::iterator it = m_user_to_internal.begin();
+		 it != m_user_to_internal.end(); it++)
+	{
+		m_internal_to_user[it->second] = it->first;
+	}
 
-    m_map_built = true;
-    return 0;
+	m_map_built = true;
+	return 0;
 }
 
-int User2InternalIndex::user2internal(const int user, int *internal) const {
+int User2InternalIndex::user2internal(const int user, int *internal) const
+{
+	if (!m_map_built)
+	{
+		return -1;
+	}
 
-    if (!m_map_built) {
-        return -1;
-    }
-
-    std::map<int, int>::const_iterator it;
-    it = m_user_to_internal.find(user);
-    if (it != m_user_to_internal.end()) {
-        *internal = it->second;
-        return 0;
-    } else {
-        bt_id_error_message("no user index %d\n", user);
-        return -1;
-    }
+	std::map<int, int>::const_iterator it;
+	it = m_user_to_internal.find(user);
+	if (it != m_user_to_internal.end())
+	{
+		*internal = it->second;
+		return 0;
+	}
+	else
+	{
+		bt_id_error_message("no user index %d\n", user);
+		return -1;
+	}
 }
 
-int User2InternalIndex::internal2user(const int internal, int *user) const {
+int User2InternalIndex::internal2user(const int internal, int *user) const
+{
+	if (!m_map_built)
+	{
+		return -1;
+	}
 
-    if (!m_map_built) {
-        return -1;
-    }
-
-    std::map<int, int>::const_iterator it;
-    it = m_internal_to_user.find(internal);
-    if (it != m_internal_to_user.end()) {
-        *user = it->second;
-        return 0;
-    } else {
-        bt_id_error_message("no internal index %d\n", internal);
-        return -1;
-    }
-}
+	std::map<int, int>::const_iterator it;
+	it = m_internal_to_user.find(internal);
+	if (it != m_internal_to_user.end())
+	{
+		*user = it->second;
+		return 0;
+	}
+	else
+	{
+		bt_id_error_message("no internal index %d\n", internal);
+		return -1;
+	}
 }
+}  // namespace btInverseDynamics