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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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275
examples/LuaDemo/LuaPhysicsSetup.cpp
View File

@@ -1,6 +1,5 @@
#include "LuaPhysicsSetup.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
@@ -8,136 +7,127 @@
struct LuaPhysicsSetup : public CommonMultiBodyBase
{
LuaPhysicsSetup(GUIHelperInterface* helper);
virtual ~LuaPhysicsSetup();
virtual void initPhysics();
virtual void exitPhysics();
virtual void stepSimulation(float deltaTime)
{
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
CommonMultiBodyBase::stepSimulation(deltaTime);
}
};
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
#include <iostream>
extern "C" {
#include "lua.h"
#include "lualib.h"
#include "lauxlib.h"
extern "C"
{
#include "lua.h"
#include "lualib.h"
#include "lauxlib.h"
}
const char* sLuaFileName = "init_physics.lua";
static int upaxis = 1;
//const char* sLuaFileName = "init_urdf.lua";
//static int upaxis = 2;
static const float scaling=0.35f;
static const float scaling = 0.35f;
static LuaPhysicsSetup* sLuaDemo = 0;
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
{
btVector4(1, 0, 0, 1),
btVector4(0, 1, 0, 1),
btVector4(0, 1, 1, 1),
btVector4(1, 1, 0, 1),
};
LuaPhysicsSetup::LuaPhysicsSetup(GUIHelperInterface* helper)
:CommonMultiBodyBase(helper)
: CommonMultiBodyBase(helper)
{
sLuaDemo = this;
sLuaDemo = this;
}
LuaPhysicsSetup::~LuaPhysicsSetup()
{
sLuaDemo = 0;
sLuaDemo = 0;
}
//todo: allow to create solver, broadphase, multiple worlds etc.
static int gCreateDefaultDynamicsWorld(lua_State *L)
static int gCreateDefaultDynamicsWorld(lua_State* L)
{
sLuaDemo->createEmptyDynamicsWorld();
btVector3 grav(0,0,0);
grav[upaxis] = -10;
btVector3 grav(0, 0, 0);
grav[upaxis] = -10;
sLuaDemo->m_dynamicsWorld->setGravity(grav);
sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata(L, sLuaDemo->m_dynamicsWorld);
return 1;
}
static int gDeleteDynamicsWorld(lua_State *L)
static int gDeleteDynamicsWorld(lua_State* L)
{
return 0;
}
ATTRIBUTE_ALIGNED16(struct) CustomRigidBodyData
ATTRIBUTE_ALIGNED16(struct)
CustomRigidBodyData
{
int m_graphicsInstanceIndex;
};
static int gCreateCubeShape(lua_State *L)
static int gCreateCubeShape(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==4)
if (argc == 4)
{
btVector3 halfExtents(1,1,1);
if (!lua_isuserdata(L,1))
btVector3 halfExtents(1, 1, 1);
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument to createCubeShape should be world";
return 0;
}
//expect userdata = sLuaDemo->m_dynamicsWorld
halfExtents = btVector3(lua_tonumber(L,2),lua_tonumber(L,3),lua_tonumber(L,4));
halfExtents = btVector3(lua_tonumber(L, 2), lua_tonumber(L, 3), lua_tonumber(L, 4));
btCollisionShape* colShape = new btBoxShape(halfExtents);
lua_pushlightuserdata (L, colShape);
lua_pushlightuserdata(L, colShape);
return 1;
} else
}
else
{
std::cerr << "Error: invalid number of arguments to createCubeShape, expected 4 (world,halfExtentsX,halfExtentsY,halfExtentsX) but got " << argc;
}
return 0;
}
static int gCreateSphereShape(lua_State *L)
static int gCreateSphereShape(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==2)
if (argc == 2)
{
btVector3 halfExtents(1,1,1);
if (!lua_isuserdata(L,1))
btVector3 halfExtents(1, 1, 1);
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument to createSphereShape should be world";
return 0;
}
//expect userdata = sLuaDemo->m_dynamicsWorld
btScalar radius = lua_tonumber(L,2);
btScalar radius = lua_tonumber(L, 2);
btCollisionShape* colShape = new btSphereShape(radius);
lua_pushlightuserdata (L, colShape);
lua_pushlightuserdata(L, colShape);
return 1;
} else
}
else
{
std::cerr << "Error: invalid number of arguments to createSphereShape, expected 2 (world,radius) but got " << argc;
}
@@ -146,26 +136,26 @@ static int gCreateSphereShape(lua_State *L)
int luaL_returnlen(lua_State* L, int index)
{
lua_len(L, index);
int len = lua_tointeger(L,-1);
lua_pop(L, 1);
return len;
lua_len(L, index);
int len = lua_tointeger(L, -1);
lua_pop(L, 1);
return len;
}
btVector3 getLuaVectorArg(lua_State* L, int index)
{
btVector3 pos(0,0,0);
btVector3 pos(0, 0, 0);
int sz = luaL_returnlen(L, index); // get size of table
{
lua_rawgeti(L, index, 1); // push t[i]
pos[0] = lua_tonumber(L,-1);
pos[0] = lua_tonumber(L, -1);
lua_pop(L, 1);
lua_rawgeti(L, index, 2); // push t[i]
pos[1] = lua_tonumber(L,-1);
pos[1] = lua_tonumber(L, -1);
lua_pop(L, 1);
lua_rawgeti(L, index, 3); // push t[i]
pos[2] = lua_tonumber(L,-1);
pos[2] = lua_tonumber(L, -1);
lua_pop(L, 1);
}
return pos;
@@ -173,55 +163,53 @@ btVector3 getLuaVectorArg(lua_State* L, int index)
btQuaternion getLuaQuaternionArg(lua_State* L, int index)
{
btQuaternion orn(0,0,0,1);
btQuaternion orn(0, 0, 0, 1);
int sz = luaL_returnlen(L, index); // get size of table
{
lua_rawgeti(L, index, 1); // push t[i]
orn[0] = lua_tonumber(L,-1);
orn[0] = lua_tonumber(L, -1);
lua_pop(L, 1);
lua_rawgeti(L, index, 2); // push t[i]
orn[1] = lua_tonumber(L,-1);
orn[1] = lua_tonumber(L, -1);
lua_pop(L, 1);
lua_rawgeti(L, index, 3); // push t[i]
orn[2] = lua_tonumber(L,-1);
orn[2] = lua_tonumber(L, -1);
lua_pop(L, 1);
lua_rawgeti(L, index, 4); // push t[i]
orn[3] = lua_tonumber(L,-1);
orn[3] = lua_tonumber(L, -1);
lua_pop(L, 1);
}
return orn;
}
static int gLoadMultiBodyFromUrdf(lua_State *L)
static int gLoadMultiBodyFromUrdf(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==4)
if (argc == 4)
{
if (!lua_isuserdata(L,1))
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument to b3CreateRigidbody should be world";
return 0;
}
luaL_checktype(L,3, LUA_TTABLE);
luaL_checktype(L, 3, LUA_TTABLE);
btVector3 pos = getLuaVectorArg(L,3);
btVector3 pos = getLuaVectorArg(L, 3);
btQuaternion orn = getLuaQuaternionArg(L,4);
btQuaternion orn = getLuaQuaternionArg(L, 4);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)lua_touserdata(L, 1);
if (world != sLuaDemo->m_dynamicsWorld)
{
std::cerr << "error: first argument expected to be a world";
return 0;
}
const char* fileName = lua_tostring(L,2);
const char* fileName = lua_tostring(L, 2);
#if 1
BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
bool loadOk = u2b.loadURDF(fileName);
bool loadOk = u2b.loadURDF(fileName);
if (loadOk)
{
b3Printf("loaded %s OK!", fileName);
@@ -231,22 +219,21 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
tr.setOrigin(pos);
tr.setRotation(orn);
int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(sLuaDemo->m_guiHelper);
bool m_useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, tr,sLuaDemo->m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
ConvertURDF2Bullet(u2b, creation, tr, sLuaDemo->m_dynamicsWorld, m_useMultiBody, u2b.getPathPrefix());
btMultiBody* mb = creation.getBulletMultiBody();
if (mb)
{
lua_pushlightuserdata (L, mb);
lua_pushlightuserdata(L, mb);
return 1;
}
} else
}
else
{
b3Printf("can't find %s",fileName);
b3Printf("can't find %s", fileName);
}
#endif
}
@@ -254,116 +241,116 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
return 0;
}
static int gCreateRigidBody (lua_State *L)
static int gCreateRigidBody(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==5)
if (argc == 5)
{
btTransform startTransform;
startTransform.setIdentity();
if (!lua_isuserdata(L,1))
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument to b3CreateRigidbody should be world";
return 0;
}
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)lua_touserdata(L, 1);
if (world != sLuaDemo->m_dynamicsWorld)
{
std::cerr << "error: first argument expected to be a world";
return 0;
}
if (!lua_isuserdata(L,2))
if (!lua_isuserdata(L, 2))
{
std::cerr << "error: second argument to b3CreateRigidbody should be collision shape";
return 0;
}
btScalar mass = lua_tonumber(L,3);
btScalar mass = lua_tonumber(L, 3);
luaL_checktype(L,4, LUA_TTABLE);
luaL_checktype(L, 4, LUA_TTABLE);
btVector3 pos = getLuaVectorArg(L,4);
btVector3 pos = getLuaVectorArg(L, 4);
btQuaternion orn = getLuaQuaternionArg(L,5);
btQuaternion orn = getLuaQuaternionArg(L, 5);
btCollisionShape* colShape = (btCollisionShape* )lua_touserdata(L,2);
btCollisionShape* colShape = (btCollisionShape*)lua_touserdata(L, 2);
//expect userdata = sLuaDemo->m_dynamicsWorld
btVector3 inertia(0,0,0);
btVector3 inertia(0, 0, 0);
if (mass)
{
colShape->calculateLocalInertia(mass,inertia);
colShape->calculateLocalInertia(mass, inertia);
}
btRigidBody* body = new btRigidBody(mass,0,colShape,inertia);
btRigidBody* body = new btRigidBody(mass, 0, colShape, inertia);
body->getWorldTransform().setOrigin(pos);
body->getWorldTransform().setRotation(orn);
world->addRigidBody(body);
lua_pushlightuserdata (L, body);
lua_pushlightuserdata(L, body);
return 1;
} else
}
else
{
std::cerr << "Error: invalid number of arguments to createRigidBody, expected 5 (world,shape,mass,pos,orn) but got " << argc;
}
return 0;
}
static int gSetBodyPosition(lua_State *L)
static int gSetBodyPosition(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==3)
if (argc == 3)
{
if (!lua_isuserdata(L,1))
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument needs to be a world";
return 0;
}
if (!lua_isuserdata(L,2))
if (!lua_isuserdata(L, 2))
{
std::cerr << "error: second argument needs to be a body";
return 0;
}
btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
btVector3 pos = getLuaVectorArg(L,3);
btRigidBody* body = (btRigidBody*)lua_touserdata(L, 2);
btVector3 pos = getLuaVectorArg(L, 3);
btTransform& tr = body ->getWorldTransform();
btTransform& tr = body->getWorldTransform();
tr.setOrigin(pos);
body->setWorldTransform(tr);
} else
}
else
{
std::cerr << "error: setBodyPosition expects 6 arguments like setBodyPosition(world,body,0,1,0)";
}
return 0;
}
static int gSetBodyOrientation(lua_State *L)
static int gSetBodyOrientation(lua_State* L)
{
int argc = lua_gettop(L);
if (argc==3)
if (argc == 3)
{
if (!lua_isuserdata(L,1))
if (!lua_isuserdata(L, 1))
{
std::cerr << "error: first argument needs to be a world";
return 0;
}
if (!lua_isuserdata(L,2))
if (!lua_isuserdata(L, 2))
{
std::cerr << "error: second argument needs to be a body";
return 0;
}
btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
btQuaternion orn = getLuaQuaternionArg(L,3);
btTransform& tr = body ->getWorldTransform();
btRigidBody* body = (btRigidBody*)lua_touserdata(L, 2);
btQuaternion orn = getLuaQuaternionArg(L, 3);
btTransform& tr = body->getWorldTransform();
tr.setRotation(orn);
body->setWorldTransform(tr);
} else
}
else
{
std::cerr << "error: setBodyOrientation expects 3 arguments like setBodyOrientation(world,body,orn)";
}
@@ -374,37 +361,36 @@ static int gSetBodyOrientation(lua_State *L)
//b3CreateHingeConstraint(world,bodyA,bodyB,...)
static void report_errors(lua_State *L, int status)
static void report_errors(lua_State* L, int status)
{
if ( status!=0 ) {
std::cerr << "-- " << lua_tostring(L, -1) << std::endl;
lua_pop(L, 1); // remove error message
}
if (status != 0)
{
std::cerr << "-- " << lua_tostring(L, -1) << std::endl;
lua_pop(L, 1); // remove error message
}
}
void LuaPhysicsSetup::initPhysics()
{
m_guiHelper->setUpAxis(upaxis);
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
int numPrefixes = sizeof(prefix) / sizeof(const char*);
char relativeFileName[1024];
FILE* f=0;
FILE* f = 0;
int result = 0;
for (int i=0;!f && i<numPrefixes;i++)
for (int i = 0; !f && i < numPrefixes; i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],sLuaFileName);
f = fopen(relativeFileName,"rb");
sprintf(relativeFileName, "%s%s", prefix[i], sLuaFileName);
f = fopen(relativeFileName, "rb");
}
if (f)
{
fclose(f);
lua_State *L = luaL_newstate();
lua_State* L = luaL_newstate();
luaopen_io(L); // provides io.*
luaopen_io(L); // provides io.*
luaopen_base(L);
luaopen_table(L);
luaopen_string(L);
@@ -412,43 +398,40 @@ void LuaPhysicsSetup::initPhysics()
//luaopen_package(L);
luaL_openlibs(L);
// make my_function() available to Lua programs
// make my_function() available to Lua programs
lua_register(L, "createDefaultDynamicsWorld", gCreateDefaultDynamicsWorld);
lua_register(L, "deleteDynamicsWorld", gDeleteDynamicsWorld);
lua_register(L, "createCubeShape", gCreateCubeShape);
lua_register(L, "createSphereShape", gCreateSphereShape);
lua_register(L, "loadMultiBodyFromUrdf",gLoadMultiBodyFromUrdf);
lua_register(L, "loadMultiBodyFromUrdf", gLoadMultiBodyFromUrdf);
lua_register(L, "createRigidBody", gCreateRigidBody);
lua_register(L, "setBodyPosition", gSetBodyPosition);
lua_register(L, "setBodyOrientation", gSetBodyOrientation);
int s = luaL_loadfile(L, relativeFileName);
if ( s==0 ) {
// execute Lua program
s = lua_pcall(L, 0, LUA_MULTRET, 0);
if (s == 0)
{
// execute Lua program
s = lua_pcall(L, 0, LUA_MULTRET, 0);
}
report_errors(L, s);
lua_close(L);
} else
{
b3Error("Cannot find Lua file%s\n",sLuaFileName);
}
else
{
b3Error("Cannot find Lua file%s\n", sLuaFileName);
}
}
void LuaPhysicsSetup::exitPhysics()
{
CommonMultiBodyBase::exitPhysics();
}
class CommonExampleInterface* LuaDemoCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* LuaDemoCreateFunc(struct CommonExampleOptions& options)
{
return new LuaPhysicsSetup(options.m_guiHelper);
}

4
examples/LuaDemo/LuaPhysicsSetup.h
View File

@@ -1,6 +1,6 @@
#ifndef _LUA_PHYSICS_SETUP_H
#define _LUA_PHYSICS_SETUP_H
class CommonExampleInterface* LuaDemoCreateFunc(struct CommonExampleOptions& options);
class CommonExampleInterface* LuaDemoCreateFunc(struct CommonExampleOptions& options);
#endif //_LUA_PHYSICS_SETUP_H
#endif //_LUA_PHYSICS_SETUP_H