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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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239
examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
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@@ -2,7 +2,6 @@
#ifndef COMMON_RIGID_BODY_MT_BASE_H
#define COMMON_RIGID_BODY_MT_BASE_H
#include "btBulletDynamicsCommon.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
@@ -13,49 +12,57 @@
enum SolverType
{
SOLVER_TYPE_SEQUENTIAL_IMPULSE,
SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT,
SOLVER_TYPE_NNCG,
SOLVER_TYPE_MLCP_PGS,
SOLVER_TYPE_MLCP_DANTZIG,
SOLVER_TYPE_MLCP_LEMKE,
SOLVER_TYPE_SEQUENTIAL_IMPULSE,
SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT,
SOLVER_TYPE_NNCG,
SOLVER_TYPE_MLCP_PGS,
SOLVER_TYPE_MLCP_DANTZIG,
SOLVER_TYPE_MLCP_LEMKE,
SOLVER_TYPE_COUNT
SOLVER_TYPE_COUNT
};
inline const char* getSolverTypeName( SolverType t )
inline const char* getSolverTypeName(SolverType t)
{
switch (t)
{
case SOLVER_TYPE_SEQUENTIAL_IMPULSE: return "SequentialImpulse";
case SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT: return "SequentialImpulseMt";
case SOLVER_TYPE_NNCG: return "NNCG";
case SOLVER_TYPE_MLCP_PGS: return "MLCP ProjectedGaussSeidel";
case SOLVER_TYPE_MLCP_DANTZIG: return "MLCP Dantzig";
case SOLVER_TYPE_MLCP_LEMKE: return "MLCP Lemke";
default:{}
}
btAssert( !"unhandled solver type in switch" );
return "???";
switch (t)
{
case SOLVER_TYPE_SEQUENTIAL_IMPULSE:
return "SequentialImpulse";
case SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT:
return "SequentialImpulseMt";
case SOLVER_TYPE_NNCG:
return "NNCG";
case SOLVER_TYPE_MLCP_PGS:
return "MLCP ProjectedGaussSeidel";
case SOLVER_TYPE_MLCP_DANTZIG:
return "MLCP Dantzig";
case SOLVER_TYPE_MLCP_LEMKE:
return "MLCP Lemke";
default:
{
}
}
btAssert(!"unhandled solver type in switch");
return "???";
}
struct CommonRigidBodyMTBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btDiscreteDynamicsWorld* m_dynamicsWorld;
SolverType m_solverType;
bool m_multithreadedWorld;
bool m_multithreadCapable;
SolverType m_solverType;
bool m_multithreadedWorld;
bool m_multithreadCapable;
//data for picking objects
class btRigidBody* m_pickedBody;
class btRigidBody* m_pickedBody;
class btTypedConstraint* m_pickedConstraint;
int m_savedState;
int m_savedState;
btVector3 m_oldPickingPos;
btVector3 m_hitPos;
btScalar m_oldPickingDist;
@@ -64,13 +71,12 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
CommonRigidBodyMTBase(struct GUIHelperInterface* helper);
virtual ~CommonRigidBodyMTBase();
btDiscreteDynamicsWorld* getDynamicsWorld()
btDiscreteDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
virtual void createDefaultParameters();
virtual void createDefaultParameters();
virtual void createEmptyDynamicsWorld();
virtual void stepSimulation(float deltaTime)
@@ -81,8 +87,8 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
}
}
virtual void drawScreenText();
virtual void renderScene();
virtual void drawScreenText();
virtual void renderScene();
virtual void physicsDebugDraw(int debugFlags);
virtual void exitPhysics()
@@ -91,15 +97,14 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld)
{
int i;
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
int i;
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -113,7 +118,7 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
}
}
//delete collision shapes
for (int j = 0; j<m_collisionShapes.size(); j++)
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
@@ -121,84 +126,80 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
m_collisionShapes.clear();
delete m_dynamicsWorld;
m_dynamicsWorld=0;
m_dynamicsWorld = 0;
delete m_solver;
m_solver=0;
m_solver = 0;
delete m_broadphase;
m_broadphase=0;
m_broadphase = 0;
delete m_dispatcher;
m_dispatcher=0;
m_dispatcher = 0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
m_collisionConfiguration = 0;
}
virtual void debugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
virtual void debugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
}
m_dynamicsWorld->debugDrawWorld();
}
m_dynamicsWorld->debugDrawWorld();
}
}
}
virtual bool keyboardCallback(int key, int state)
virtual bool keyboardCallback(int key, int state)
{
if ((key==B3G_F3) && state && m_dynamicsWorld)
if ((key == B3G_F3) && state && m_dynamicsWorld)
{
btDefaultSerializer* serializer = new btDefaultSerializer();
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
FILE* file = fopen("testFile.bullet", "wb");
fwrite(serializer->getBufferPointer(), serializer->getCurrentBufferSize(), 1, file);
fclose(file);
//b3Printf("btDefaultSerializer wrote testFile.bullet");
delete serializer;
return true;
}
return false;//don't handle this key
return false; //don't handle this key
}
btVector3 getRayTo(int x,int y)
btVector3 getRayTo(int x, int y)
{
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (!renderer)
{
btAssert(0);
return btVector3(0,0,0);
return btVector3(0, 0, 0);
}
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float tanFov = (top - bottom) * 0.5f / nearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 camPos,camTarget;
btVector3 camPos, camTarget;
renderer->getActiveCamera()->getCameraPosition(camPos);
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget-camPos);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget - camPos);
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
rayForward *= farPlane;
btVector3 rightOffset;
btVector3 cameraUp=btVector3(0,0,0);
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
btVector3 cameraUp = btVector3(0, 0, 0);
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()] = 1;
btVector3 vertical = cameraUp;
@@ -208,25 +209,22 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
vertical = hor.cross(rayForward);
vertical.safeNormalize();
float tanfov = tanf(0.5f*fov);
float tanfov = tanf(0.5f * fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect;
float width = float(renderer->getScreenWidth());
float height = float (renderer->getScreenHeight());
float height = float(renderer->getScreenHeight());
aspect = width / height;
hor*=aspect;
aspect = width / height;
hor *= aspect;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/width;
btVector3 dVert = vertical * 1.f/height;
btVector3 dHor = hor * 1.f / width;
btVector3 dVert = vertical * 1.f / height;
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += btScalar(x) * dHor;
@@ -234,10 +232,10 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
return rayTo;
}
virtual bool mouseMoveCallback(float x,float y)
virtual bool mouseMoveCallback(float x, float y)
{
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (!renderer)
{
btAssert(0);
@@ -247,21 +245,21 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
btVector3 rayTo = getRayTo(int(x), int(y));
btVector3 rayFrom;
renderer->getActiveCamera()->getCameraPosition(rayFrom);
movePickedBody(rayFrom,rayTo);
movePickedBody(rayFrom, rayTo);
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (!renderer)
{
btAssert(0);
return false;
}
CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
#if 0
@@ -289,25 +287,23 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
printf("NO CONTROL pressed\n");
}
#endif
if (state==1)
if (state == 1)
{
if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
if (button == 0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL)))
{
btVector3 camPos;
renderer->getActiveCamera()->getCameraPosition(camPos);
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(int(x),int(y));
btVector3 rayTo = getRayTo(int(x), int(y));
pickBody(rayFrom, rayTo);
}
} else
}
else
{
if (button==0)
if (button == 0)
{
removePickingConstraint();
//remove p2p
@@ -318,10 +314,9 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
return false;
}
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_dynamicsWorld==0)
if (m_dynamicsWorld == 0)
return false;
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
@@ -329,7 +324,6 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
if (rayCallback.hasHit())
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
@@ -352,7 +346,6 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
}
}
// pickObject(pickPos, rayCallback.m_collisionObject);
m_oldPickingPos = rayToWorld;
m_hitPos = pickPos;
@@ -364,7 +357,7 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
}
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_pickedBody && m_pickedConstraint)
if (m_pickedBody && m_pickedConstraint)
{
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
if (pickCon)
@@ -397,15 +390,13 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
}
}
btBoxShape* createBoxShape(const btVector3& halfExtents)
{
btBoxShape* box = new btBoxShape(halfExtents);
return box;
}
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
{
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
@@ -416,7 +407,7 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
if (isDynamic)
shape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
@@ -430,28 +421,24 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
#else
btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
body->setWorldTransform(startTransform);
#endif//
#endif //
body->setUserIndex(-1);
m_dynamicsWorld->addRigidBody(body);
return body;
}
btRigidBody* createKinematicBody(const btTransform& startTransform, btCollisionShape* shape)
{
btAssert( ( !shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE ) );
btRigidBody* body = new btRigidBody( 0.0f, NULL, shape );
body->setWorldTransform( startTransform );
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
body->setUserIndex( -1 );
m_dynamicsWorld->addRigidBody( body );
return body;
}
btRigidBody* createKinematicBody(const btTransform& startTransform, btCollisionShape* shape)
{
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
btRigidBody* body = new btRigidBody(0.0f, NULL, shape);
body->setWorldTransform(startTransform);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setUserIndex(-1);
m_dynamicsWorld->addRigidBody(body);
return body;
}
};
#endif //#define COMMON_RIGID_BODY_MT_BASE_H
#endif //#define COMMON_RIGID_BODY_MT_BASE_H