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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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143
examples/MultiBody/Pendulum.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
///Original author: Erwin Coumans, January 2016
///Compare the simulation of a pendulum with
///Compare the simulation of a pendulum with
#ifdef USE_GTEST
#include <gtest/gtest.h>
@@ -30,9 +30,8 @@ struct Pendulum : public CommonMultiBodyBase
{
btMultiBody* m_multiBody;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
public:
Pendulum(struct GUIHelperInterface* helper);
virtual ~Pendulum();
virtual void initPhysics();
@@ -42,15 +41,13 @@ public:
float dist = 5;
float pitch = -21;
float yaw = 270;
float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
float targetPos[3] = {0, 0, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
Pendulum::Pendulum(struct GUIHelperInterface* helper)
:CommonMultiBodyBase(helper)
: CommonMultiBodyBase(helper)
{
}
@@ -58,24 +55,19 @@ Pendulum::~Pendulum()
{
}
void Pendulum::initPhysics()
{
int upAxis = 1;
m_guiHelper->setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
}
{
bool floating = false;
@@ -86,24 +78,24 @@ void Pendulum::initPhysics()
bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.5, 0.1);
btVector3 baseHalfExtents(0.05, 0.5, 0.1);
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 0.f;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
//pMultiBody->useRK4Integration(true);
m_multiBody = pMultiBody;
pMultiBody->setBaseWorldTransform(btTransform::getIdentity());
//init the links
btVector3 hingeJointAxis(1, 0, 0);
//y-axis assumed up
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] , 0);
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1], 0);
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
for(int i = 0; i < numLinks; ++i)
for (int i = 0; i < numLinks; ++i)
{
float linkMass = 10.f;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
@@ -113,114 +105,109 @@ void Pendulum::initPhysics()
}
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
delete shape;
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
hingeJointAxis,
parentComToCurrentPivot,
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
hingeJointAxis,
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
}
pMultiBody->finalizeMultiDof();
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
world->addMultiBody(pMultiBody);
pMultiBody->setCanSleep(canSleep);
pMultiBody->setHasSelfCollision(selfCollide);
pMultiBody->setUseGyroTerm(gyro);
//
if(!damping)
if (!damping)
{
pMultiBody->setLinearDamping(0.f);
pMultiBody->setAngularDamping(0.f);
}else
{ pMultiBody->setLinearDamping(0.1f);
}
else
{
pMultiBody->setLinearDamping(0.1f);
pMultiBody->setAngularDamping(0.9f);
}
m_dynamicsWorld->setGravity(btVector3(0,-9.81,0));
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
{
btCollisionShape* shape =new btSphereShape(radius);
btCollisionShape* shape = new btSphereShape(radius);
m_guiHelper->createCollisionShapeGraphicsObject(shape);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(shape);
bool isDynamic = 1;
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
btVector4 color(1,0,0,1);
m_guiHelper->createCollisionObjectGraphicsObject(col,color);
pMultiBody->getLink(i).m_collider=col;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
btVector4 color(1, 0, 0, 1);
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
pMultiBody->getLink(i).m_collider = col;
}
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
pMultiBody->forwardKinematics(scratch_q,scratch_m);
pMultiBody->forwardKinematics(scratch_q, scratch_m);
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
pMultiBody->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
pMultiBody->updateCollisionObjectWorldTransforms(world_to_local, local_origin);
}
}
void Pendulum::stepSimulation(float deltaTime)
{
m_multiBody->addJointTorque(0, 20.0);
#ifdef USE_GTEST
m_dynamicsWorld->stepSimulation(1./1000.0,0);
#ifdef USE_GTEST
m_dynamicsWorld->stepSimulation(1. / 1000.0, 0);
#else
m_dynamicsWorld->stepSimulation(deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime);
#endif
btVector3 from = m_multiBody->getBaseWorldTransform().getOrigin();
btVector3 to = m_multiBody->getLink(0).m_collider->getWorldTransform().getOrigin();
btVector4 color(1,0,0,1);
btVector4 color(1, 0, 0, 1);
if (m_guiHelper->getRenderInterface())
{
m_guiHelper->getRenderInterface()->drawLine(from,to,color,btScalar(1));
m_guiHelper->getRenderInterface()->drawLine(from, to, color, btScalar(1));
}
}
#ifdef USE_GTEST
TEST(BulletDynamicsTest, pendulum)
TEST(BulletDynamicsTest, pendulum)
{
DummyGUIHelper noGfx;
Pendulum* setup = new Pendulum(&noGfx);
setup->initPhysics();
int numGoldValues = sizeof(sPendulumGold)/sizeof(float);
for (int i=0;i<2000;i++)
int numGoldValues = sizeof(sPendulumGold) / sizeof(float);
for (int i = 0; i < 2000; i++)
{
setup->stepSimulation(0.001);
int index = i*2+1;
ASSERT_LE(index,numGoldValues);
ASSERT_NEAR(setup->m_multiBody->getJointPos(0),sPendulumGold[index],0.005);
int index = i * 2 + 1;
ASSERT_LE(index, numGoldValues);
ASSERT_NEAR(setup->m_multiBody->getJointPos(0), sPendulumGold[index], 0.005);
}
setup->exitPhysics();
delete setup;
}
int main(int argc, char **argv) {
int main(int argc, char** argv)
{
#if _MSC_VER
_CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);
//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
#endif
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
#endif //USE_GTEST
#endif //USE_GTEST
class CommonExampleInterface* TestPendulumCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* TestPendulumCreateFunc(struct CommonExampleOptions& options)
{
return new Pendulum(options.m_guiHelper);
}