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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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162
examples/Constraints/ConstraintPhysicsSetup.cpp
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@@ -1,11 +1,8 @@
#include "ConstraintPhysicsSetup.h"
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
struct ConstraintPhysicsSetup : public CommonRigidBodyBase
{
ConstraintPhysicsSetup(struct GUIHelperInterface* helper);
@@ -14,21 +11,18 @@ struct ConstraintPhysicsSetup : public CommonRigidBodyBase
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 7;
float pitch = -44;
float yaw = 721;
float targetPos[3]={8,1,-11};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
float targetPos[3] = {8, 1, -11};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
ConstraintPhysicsSetup::ConstraintPhysicsSetup(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
: CommonRigidBodyBase(helper)
{
}
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
@@ -36,63 +30,56 @@ ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
}
static btScalar val;
static btScalar targetVel=0;
static btScalar maxImpulse=10000;
static btHingeAccumulatedAngleConstraint* spDoorHinge=0;
static btScalar actualHingeVelocity=0.f;
static btScalar targetVel = 0;
static btScalar maxImpulse = 10000;
static btHingeAccumulatedAngleConstraint* spDoorHinge = 0;
static btScalar actualHingeVelocity = 0.f;
static btVector3 btAxisA(0,1,0);
static btVector3 btAxisA(0, 1, 0);
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
{
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;
if (m_dynamicsWorld)
val = spDoorHinge->getAccumulatedHingeAngle() * SIMD_DEGS_PER_RAD;
if (m_dynamicsWorld)
{
spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse);
spDoorHinge->enableAngularMotor(true, targetVel, maxImpulse);
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
m_dynamicsWorld->stepSimulation(deltaTime, 10, 1. / 240.);
btHingeConstraint* hinge = spDoorHinge;
btHingeConstraint* hinge = spDoorHinge;
if (hinge)
{
const btRigidBody& bodyA = hinge->getRigidBodyA();
const btRigidBody& bodyB = hinge->getRigidBodyB();
if (hinge)
{
btTransform trA = bodyA.getWorldTransform();
btVector3 angVelA = bodyA.getAngularVelocity();
btVector3 angVelB = bodyB.getAngularVelocity();
const btRigidBody& bodyA = hinge->getRigidBodyA();
const btRigidBody& bodyB = hinge->getRigidBodyB();
btTransform trA = bodyA.getWorldTransform();
btVector3 angVelA = bodyA.getAngularVelocity();
btVector3 angVelB = bodyB.getAngularVelocity();
{
btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
btScalar vel = angVelA.dot(ax1);
vel -= angVelB.dot(ax1);
printf("hinge velocity (q) = %f\n", vel);
actualHingeVelocity=vel;
}
btVector3 ortho0,ortho1;
btPlaneSpace1(btAxisA,ortho0,ortho1);
{
btScalar vel2 = angVelA.dot(ortho0);
vel2 -= angVelB.dot(ortho0);
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
}
{
btScalar vel0 = angVelA.dot(ortho1);
vel0 -= angVelB.dot(ortho1);
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
}
}
{
btVector3 ax1 = trA.getBasis() * hinge->getFrameOffsetA().getBasis().getColumn(2);
btScalar vel = angVelA.dot(ax1);
vel -= angVelB.dot(ax1);
printf("hinge velocity (q) = %f\n", vel);
actualHingeVelocity = vel;
}
btVector3 ortho0, ortho1;
btPlaneSpace1(btAxisA, ortho0, ortho1);
{
btScalar vel2 = angVelA.dot(ortho0);
vel2 -= angVelB.dot(ortho0);
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
}
{
btScalar vel0 = angVelA.dot(ortho1);
vel0 -= angVelB.dot(ortho1);
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
}
}
}
}
void ConstraintPhysicsSetup::initPhysics()
{
m_guiHelper->setUpAxis(1);
@@ -100,62 +87,59 @@ void ConstraintPhysicsSetup::initPhysics()
createEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
int mode = btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawConstraintLimits;
int mode = btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawConstraints + btIDebugDraw::DBG_DrawConstraintLimits;
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
{
SliderParams slider("target vel", &targetVel);
slider.m_minVal = -4;
slider.m_maxVal = 4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("target vel",&targetVel);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("max impulse", &maxImpulse);
slider.m_minVal = 0;
slider.m_maxVal = 1000;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("max impulse",&maxImpulse);
slider.m_minVal=0;
slider.m_maxVal=1000;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("actual vel", &actualHingeVelocity);
slider.m_minVal = -4;
slider.m_maxVal = 4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("actual vel",&actualHingeVelocity);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
val = 1.f;
{
SliderParams slider("angle", &val);
slider.m_minVal = -720;
slider.m_maxVal = 720;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
val=1.f;
{
SliderParams slider("angle",&val);
slider.m_minVal=-720;
slider.m_maxVal=720;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{ // create a door using hinge constraint attached to the world
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
btRigidBody* pDoorBody = createRigidBody(1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge = new btHingeAccumulatedAngleConstraint(*pDoorBody, btPivotA, btAxisA);
m_dynamicsWorld->addConstraint(spDoorHinge);
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
class CommonExampleInterface* ConstraintCreateFunc(CommonExampleOptions& options)
class CommonExampleInterface* ConstraintCreateFunc(CommonExampleOptions& options)
{
return new ConstraintPhysicsSetup(options.m_guiHelper);
}