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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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145
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -7,93 +7,90 @@ struct UrdfModel;
///btTransform is a position and 3x3 matrix, as defined in Bullet/src/LinearMath/btTransform
class btTransform;
///UrdfRenderingInterface is a simple rendering interface, mainly for URDF-based robots.
///There is an implementation in
///UrdfRenderingInterface is a simple rendering interface, mainly for URDF-based robots.
///There is an implementation in
///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
struct UrdfRenderingInterface
{
virtual ~UrdfRenderingInterface() {}
{
virtual ~UrdfRenderingInterface() {}
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0;
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) = 0;
///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int collisionObjectUid)=0;
virtual void removeVisualShape(int collisionObjectUid) = 0;
///update the world transform + scaling of the visual shape, using the shapeUid
virtual void syncTransform(int collisionObjectUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
virtual void syncTransform(int collisionObjectUid, const class btTransform& worldTransform, const class btVector3& localScaling) = 0;
///return the number of visual shapes, for a particular body unique id
virtual int getNumVisualShapes(int bodyUniqueId)=0;
virtual int getNumVisualShapes(int bodyUniqueId) = 0;
///return the visual shape information, for a particular body unique id and 'shape index'
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData) = 0;
///change the RGBA color for some visual shape.
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])=0;
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]) = 0;
///select a given texture for some visual shape.
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId)=0;
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId) = 0;
///pick the up-axis, either Y (1) or Z (2)
virtual void setUpAxis(int axis)=0;
///compute the view matrix based on those parameters
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
///clear the render buffer with a particular color.
virtual void clearBuffers(struct TGAColor& clearColor)=0;
///remove all visual shapes.
virtual void resetAll()=0;
///return the frame buffer width and height for the renderer
virtual void getWidthAndHeight(int& width, int& height)=0;
///set the frame buffer width and height for the renderer
virtual void setWidthAndHeight(int width, int height)=0;
///set the light direction, in world coordinates
virtual void setLightDirection(float x, float y, float z)=0;
///set the ambient light color, in world coordinates
virtual void setLightColor(float x, float y, float z)=0;
///set the light distance
virtual void setLightDistance(float dist)=0;
///set the light ambient coefficient
virtual void setLightAmbientCoeff(float ambientCoeff)=0;
///set the light diffuse coefficient
virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
///set the light specular coefficient
virtual void setLightSpecularCoeff(float specularCoeff)=0;
///enable or disable rendering of shadows
virtual void setShadow(bool hasShadow)=0;
///some undocumented flags for experimentation (todo: document)
virtual void setFlags(int flags)=0;
///provide the image pixels as a part of a stream.
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
///render an image, using some arbitraty view and projection matrix
virtual void render()=0;
///render an image using the provided view and projection matrix
virtual void render(const float viewMat[16], const float projMat[16])=0;
///load a texture from file, in png or other popular/supported format
virtual int loadTextureFile(const char* filename)=0;
///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height)=0;
virtual void setUpAxis(int axis) = 0;
///compute the view matrix based on those parameters
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ) = 0;
///clear the render buffer with a particular color.
virtual void clearBuffers(struct TGAColor& clearColor) = 0;
///remove all visual shapes.
virtual void resetAll() = 0;
///return the frame buffer width and height for the renderer
virtual void getWidthAndHeight(int& width, int& height) = 0;
///set the frame buffer width and height for the renderer
virtual void setWidthAndHeight(int width, int height) = 0;
///set the light direction, in world coordinates
virtual void setLightDirection(float x, float y, float z) = 0;
///set the ambient light color, in world coordinates
virtual void setLightColor(float x, float y, float z) = 0;
///set the light distance
virtual void setLightDistance(float dist) = 0;
///set the light ambient coefficient
virtual void setLightAmbientCoeff(float ambientCoeff) = 0;
///set the light diffuse coefficient
virtual void setLightDiffuseCoeff(float diffuseCoeff) = 0;
///set the light specular coefficient
virtual void setLightSpecularCoeff(float specularCoeff) = 0;
///enable or disable rendering of shadows
virtual void setShadow(bool hasShadow) = 0;
///some undocumented flags for experimentation (todo: document)
virtual void setFlags(int flags) = 0;
///provide the image pixels as a part of a stream.
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied) = 0;
///render an image, using some arbitraty view and projection matrix
virtual void render() = 0;
///render an image using the provided view and projection matrix
virtual void render(const float viewMat[16], const float projMat[16]) = 0;
///load a texture from file, in png or other popular/supported format
virtual int loadTextureFile(const char* filename) = 0;
///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height) = 0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H
#endif //LINK_VISUAL_SHAPES_CONVERTER_H