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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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213
examples/ExtendedTutorials/NewtonsRopeCradle.cpp
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@@ -15,12 +15,12 @@
#include "NewtonsRopeCradle.h"
#include <vector> // TODO: Should I use another data structure?
#include <vector> // TODO: Should I use another data structure?
#include <iterator>
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
@@ -28,31 +28,32 @@
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
static btScalar gDisplacedPendula = 1; // number of displaced pendula
static btScalar gDisplacedPendula = 1; // number of displaced pendula
//TODO: This is an int as well
static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other
static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other
static btScalar gSphereRadius = 1; // pendula radius
static btScalar gSphereRadius = 1; // pendula radius
static btScalar gInitialPendulumWidth = 4; // default pendula width
static btScalar gInitialPendulumWidth = 4; // default pendula width
static btScalar gInitialPendulumHeight = 8; // default pendula height
static btScalar gInitialPendulumHeight = 8; // default pendula height
static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain)
static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain)
static btScalar gDisplacementForce = 30; // default force to displace the pendula
static btScalar gDisplacementForce = 30; // default force to displace the pendula
static btScalar gForceScalar = 0; // default force scalar to apply a displacement
static btScalar gForceScalar = 0; // default force scalar to apply a displacement
struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
NewtonsRopeCradleExample(struct GUIHelperInterface* helper) :
CommonRigidBodyBase(helper) {
struct NewtonsRopeCradleExample : public CommonRigidBodyBase
{
NewtonsRopeCradleExample(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper)
{
}
virtual ~NewtonsRopeCradleExample(){}
virtual ~NewtonsRopeCradleExample() {}
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
virtual void renderScene();
@@ -60,7 +61,7 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
void createEmptyDynamicsWorld()
{
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
@@ -76,31 +77,30 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
}
virtual void createRopePendulum(btSphereShape* colShape,
const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass);
const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass);
virtual void changePendulaRestitution(btScalar restitution);
virtual void connectWithRope(btRigidBody* body1, btRigidBody* body2);
virtual bool keyboardCallback(int key, int state);
virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
return (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
}
void resetCamera()
{
float dist = 41;
float pitch = -35;
float yaw = 52;
float targetPos[3]={0,0.46,0};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
float targetPos[3] = {0, 0.46, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
std::vector<btSliderConstraint*> constraints;
std::vector<btRigidBody*> pendula;
btSoftBodyWorldInfo softBodyWorldInfo;
btSoftBodyWorldInfo softBodyWorldInfo;
};
static NewtonsRopeCradleExample* nex = NULL;
@@ -111,26 +111,25 @@ void applyRForceWithForceScalar(float forceScalar);
void NewtonsRopeCradleExample::initPhysics()
{
{ // create a slider to change the number of pendula
{ // create a slider to change the number of pendula
SliderParams slider("Number of Pendula", &gPendulaQty);
slider.m_minVal = 1;
slider.m_maxVal = 50;
slider.m_clampToIntegers = true;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the number of displaced pendula
{ // create a slider to change the number of displaced pendula
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
slider.m_minVal = 0;
slider.m_maxVal = 49;
slider.m_clampToIntegers = true;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the pendula restitution
{ // create a slider to change the pendula restitution
SliderParams slider("Pendula Restitution", &gPendulaRestitution);
slider.m_minVal = 0;
slider.m_maxVal = 1;
@@ -140,16 +139,16 @@ void NewtonsRopeCradleExample::initPhysics()
slider);
}
{ // create a slider to change the rope resolution
{ // create a slider to change the rope resolution
SliderParams slider("Rope Resolution", &gRopeResolution);
slider.m_minVal = 1;
slider.m_maxVal = 20;
slider.m_clampToIntegers = true;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the pendulum width
{ // create a slider to change the pendulum width
SliderParams slider("Pendulum Width", &gInitialPendulumWidth);
slider.m_minVal = 0;
slider.m_maxVal = 40;
@@ -158,7 +157,7 @@ void NewtonsRopeCradleExample::initPhysics()
slider);
}
{ // create a slider to change the pendulum height
{ // create a slider to change the pendulum height
SliderParams slider("Pendulum Height", &gInitialPendulumHeight);
slider.m_minVal = 0;
slider.m_maxVal = 40;
@@ -167,7 +166,7 @@ void NewtonsRopeCradleExample::initPhysics()
slider);
}
{ // create a slider to change the force to displace the lowest pendulum
{ // create a slider to change the force to displace the lowest pendulum
SliderParams slider("Displacement force", &gDisplacementForce);
slider.m_minVal = 0.1;
slider.m_maxVal = 200;
@@ -175,8 +174,8 @@ void NewtonsRopeCradleExample::initPhysics()
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to apply the force by slider
{ // create a slider to apply the force by slider
SliderParams slider("Apply displacement force", &gForceScalar);
slider.m_minVal = -1;
slider.m_maxVal = 1;
@@ -193,29 +192,26 @@ void NewtonsRopeCradleExample::initPhysics()
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
if (m_dynamicsWorld->getDebugDrawer())
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
btIDebugDraw::DBG_DrawWireframe
+ btIDebugDraw::DBG_DrawContactPoints
+ btIDebugDraw::DBG_DrawConstraints
+ btIDebugDraw::DBG_DrawConstraintLimits);
btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawConstraints + btIDebugDraw::DBG_DrawConstraintLimits);
{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
btScalar pendulumMass(1.0f);
btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
btQuaternion orientation(0,0,0,1); // orientation of the pendula
btVector3 position(0.0f, 15.0f, 0.0f); // initial left-most pendulum position
btQuaternion orientation(0, 0, 0, 1); // orientation of the pendula
// Re-using the same collision is better for memory usage and performance
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
m_collisionShapes.push_back(pendulumShape);
for (int i = 0; i < floor(gPendulaQty); i++) {
for (int i = 0; i < floor(gPendulaQty); i++)
{
// create pendulum
createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth,
gInitialPendulumHeight, pendulumMass);
createRopePendulum(pendulumShape, position, orientation, gInitialPendulumWidth,
gInitialPendulumHeight, pendulumMass);
// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between)
position.setX(position.x()-2.1f * gSphereRadius);
position.setX(position.x() - 2.1f * gSphereRadius);
}
}
@@ -224,11 +220,11 @@ void NewtonsRopeCradleExample::initPhysics()
void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody* body2)
{
btSoftBody* softBodyRope0 = btSoftBodyHelpers::CreateRope(softBodyWorldInfo,body1->getWorldTransform().getOrigin(),body2->getWorldTransform().getOrigin(),gRopeResolution,0);
btSoftBody* softBodyRope0 = btSoftBodyHelpers::CreateRope(softBodyWorldInfo, body1->getWorldTransform().getOrigin(), body2->getWorldTransform().getOrigin(), gRopeResolution, 0);
softBodyRope0->setTotalMass(0.1f);
softBodyRope0->appendAnchor(0,body1);
softBodyRope0->appendAnchor(softBodyRope0->m_nodes.size()-1,body2);
softBodyRope0->appendAnchor(0, body1);
softBodyRope0->appendAnchor(softBodyRope0->m_nodes.size() - 1, body2);
softBodyRope0->m_cfg.piterations = 5;
softBodyRope0->m_cfg.kDP = 0.005f;
@@ -239,18 +235,19 @@ void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody*
getSoftDynamicsWorld()->addSoftBody(softBodyRope0);
}
void NewtonsRopeCradleExample::stepSimulation(float deltaTime) {
void NewtonsRopeCradleExample::stepSimulation(float deltaTime)
{
applyRForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
applyRForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
if (m_dynamicsWorld) {
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(deltaTime);
}
}
void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass) {
const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass)
{
// The pendulum looks like this (names when built):
// O O topSphere1 topSphere2
// \ /
@@ -261,32 +258,31 @@ void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
startTransform.setIdentity();
// calculate sphere positions
btVector3 topSphere1RelPosition(0,0,width);
btVector3 topSphere2RelPosition(0,0,-width);
btVector3 bottomSphereRelPosition(0,-height,0);
btVector3 topSphere1RelPosition(0, 0, width);
btVector3 topSphere2RelPosition(0, 0, -width);
btVector3 bottomSphereRelPosition(0, -height, 0);
// position the top sphere above ground with appropriate orientation
startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * topSphere1RelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
btRigidBody* topSphere1 = createRigidBody(0, startTransform, colShape); // make top sphere static
startTransform.setOrigin(btVector3(0, 0, 0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * topSphere1RelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
btRigidBody* topSphere1 = createRigidBody(0, startTransform, colShape); // make top sphere static
// position the top sphere above ground with appropriate orientation
startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * topSphere2RelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
btRigidBody* topSphere2 = createRigidBody(0, startTransform, colShape); // make top sphere static
startTransform.setOrigin(btVector3(0, 0, 0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * topSphere2RelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
btRigidBody* topSphere2 = createRigidBody(0, startTransform, colShape); // make top sphere static
// position the bottom sphere below the top sphere
startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * bottomSphereRelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
startTransform.setOrigin(btVector3(0, 0, 0)); // no translation intitially
startTransform.setRotation(pendulumOrientation); // pendulum rotation
startTransform.setOrigin(startTransform * bottomSphereRelPosition); // rotate this position
startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
bottomSphere->setFriction(0); // we do not need friction here
bottomSphere->setFriction(0); // we do not need friction here
pendula.push_back(bottomSphere);
// disable the deactivation when objects do not move anymore
@@ -294,7 +290,7 @@ void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
topSphere2->setActivationState(DISABLE_DEACTIVATION);
bottomSphere->setActivationState(DISABLE_DEACTIVATION);
bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
// add ropes between spheres
connectWithRope(topSphere1, bottomSphere);
@@ -306,44 +302,52 @@ void NewtonsRopeCradleExample::renderScene()
CommonRigidBodyBase::renderScene();
btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
for (int i = 0; i < softWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)softWorld->getSoftBodyArray()[i];
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
btSoftBodyHelpers::DrawFrame(psb, softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, softWorld->getDebugDrawer(), softWorld->getDrawFlags());
}
}
}
void NewtonsRopeCradleExample::changePendulaRestitution(btScalar restitution) {
void NewtonsRopeCradleExample::changePendulaRestitution(btScalar restitution)
{
for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
rit != pendula.end(); rit++) {
rit != pendula.end(); rit++)
{
btAssert((*rit) && "Null constraint");
(*rit)->setRestitution(restitution);
}
}
bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) {
bool NewtonsRopeCradleExample::keyboardCallback(int key, int state)
{
//b3Printf("Key pressed: %d in state %d \n",key,state);
// key 3
switch (key) {
case '3' /*ASCII for 3*/: {
applyPendulumForce(gDisplacementForce);
return true;
}
switch (key)
{
case '3' /*ASCII for 3*/:
{
applyPendulumForce(gDisplacementForce);
return true;
}
}
return false;
}
void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
if(pendulumForce != 0){
b3Printf("Apply %f to pendulum",pendulumForce);
for (int i = 0; i < gDisplacedPendula; i++) {
void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce)
{
if (pendulumForce != 0)
{
b3Printf("Apply %f to pendulum", pendulumForce);
for (int i = 0; i < gDisplacedPendula; i++)
{
if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
}
@@ -352,17 +356,21 @@ void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
// GUI parameter modifiers
void onRopePendulaRestitutionChanged(float pendulaRestitution, void*) {
if (nex){
void onRopePendulaRestitutionChanged(float pendulaRestitution, void*)
{
if (nex)
{
nex->changePendulaRestitution(pendulaRestitution);
}
}
void applyRForceWithForceScalar(float forceScalar) {
if(nex){
void applyRForceWithForceScalar(float forceScalar)
{
if (nex)
{
btScalar appliedForce = forceScalar * gDisplacementForce;
if(fabs(gForceScalar) < 0.2f)
if (fabs(gForceScalar) < 0.2f)
gForceScalar = 0;
nex->applyPendulumForce(appliedForce);
@@ -370,7 +378,8 @@ void applyRForceWithForceScalar(float forceScalar) {
}
CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(
CommonExampleOptions& options) {
CommonExampleOptions& options)
{
nex = new NewtonsRopeCradleExample(options.m_guiHelper);
return nex;
}