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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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78
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -4,13 +4,12 @@
#include "../ImportURDFDemo/URDFImporterInterface.h"
#include "../ImportURDFDemo/UrdfRenderingInterface.h"
struct MJCFErrorLogger
{
virtual ~MJCFErrorLogger() {}
virtual void reportError(const char* error)=0;
virtual void reportWarning(const char* warning)=0;
virtual void printMessage(const char* msg)=0;
virtual void reportError(const char* error) = 0;
virtual void reportWarning(const char* warning) = 0;
virtual void printMessage(const char* msg) = 0;
};
struct MJCFURDFTexture
@@ -30,27 +29,26 @@ class BulletMJCFImporter : public URDFImporterInterface
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
{
return false;
}
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }
virtual const char* getPathPrefix();
///return >=0 for the root link index, -1 if there is no root link
virtual int getRootLinkIndex() const;
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const;
virtual const char* getPathPrefix();
///return >=0 for the root link index, -1 if there is no root link
virtual int getRootLinkIndex() const;
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const;
virtual std::string getBodyName() const;
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
@@ -58,40 +56,38 @@ public:
bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
//optional method to get collision group (type) and mask (affinity)
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual std::string getJointName(int linkIndex) const;
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo) const;
virtual std::string getJointName(int linkIndex) const;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const ;
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
virtual void activateModel(int modelIndex);
virtual int getNumAllocatedMeshInterfaces() const;
virtual btStridingMeshInterface* getAllocatedMeshInterface(int index);
};
#endif //BULLET_MJCF_IMPORTER_H
#endif //BULLET_MJCF_IMPORTER_H