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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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66
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -1,21 +1,18 @@
#ifdef B3_USE_ROBOTSIM_GUI
#include "b3RobotSimulatorClientAPI.h"
#include "b3RobotSimulatorClientAPI.h"
#else
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#endif
#include "../Utils/b3Clock.h"
#include <string.h>
#include <stdio.h>
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#define ASSERT_EQ(a, b) assert((a) == (b));
#include "MinitaurSetup.h"
int main(int argc, char* argv[])
{
#ifdef B3_USE_ROBOTSIM_GUI
@@ -32,20 +29,20 @@ int main(int argc, char* argv[])
}
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->configureDebugVisualizer(COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->setTimeOut(10);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
btScalar fixedTimeStep = 1./240.;
btScalar fixedTimeStep = 1. / 240.;
sim->setTimeStep(fixedTimeStep);
btQuaternion q = sim->getQuaternionFromEuler(btVector3(0.1,0.2,0.3));
btQuaternion q = sim->getQuaternionFromEuler(btVector3(0.1, 0.2, 0.3));
btVector3 rpy;
rpy = sim->getEulerFromQuaternion(q);
sim->setGravity(btVector3(0,0,-9.8));
sim->setGravity(btVector3(0, 0, -9.8));
//int blockId = sim->loadURDF("cube.urdf");
//b3BodyInfo bodyInfo;
@@ -54,9 +51,8 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
MinitaurSetup minitaur;
int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0,0,.3));
int minitaurUid = minitaur.setupMinitaur(sim, btVector3(0, 0, .3));
//b3RobotSimulatorLoadUrdfFileArgs args;
//args.m_startPosition.setValue(2,0,1);
//int r2d2 = sim->loadURDF("r2d2.urdf",args);
@@ -64,7 +60,7 @@ int main(int argc, char* argv[])
//b3RobotSimulatorLoadFileResults sdfResults;
//if (!sim->loadSDF("two_cubes.sdf",sdfResults))
//{
// b3Warning("Can't load SDF!\n");
// b3Warning("Can't load SDF!\n");
//}
b3Clock clock;
@@ -87,48 +83,46 @@ int main(int argc, char* argv[])
sim->getKeyboardEvents(&keyEvents);
if (keyEvents.m_numKeyboardEvents)
{
//printf("num key events = %d]\n", keyEvents.m_numKeyboardEvents);
//m_keyState is a flag combination of eButtonIsDown,eButtonTriggered, eButtonReleased
for (int i=0;i<keyEvents.m_numKeyboardEvents;i++)
for (int i = 0; i < keyEvents.m_numKeyboardEvents; i++)
{
b3KeyboardEvent& e = keyEvents.m_keyboardEvents[i];
if (e.m_keyCode=='0')
if (e.m_keyCode == '0')
{
if ( e.m_keyState&eButtonTriggered)
if (e.m_keyState & eButtonTriggered)
{
if (vidLogId < 0)
{
vidLogId = sim->startStateLogging(STATE_LOGGING_VIDEO_MP4,"video.mp4");
}
vidLogId = sim->startStateLogging(STATE_LOGGING_VIDEO_MP4, "video.mp4");
}
else
{
sim->stopStateLogging(vidLogId);
vidLogId=-1;
vidLogId = -1;
}
}
}
if (e.m_keyCode=='m')
if (e.m_keyCode == 'm')
{
if ( minitaurLogId<0 && e.m_keyState&eButtonTriggered)
if (minitaurLogId < 0 && e.m_keyState & eButtonTriggered)
{
minitaurLogId = sim->startStateLogging(STATE_LOGGING_MINITAUR,"simlog.bin");
minitaurLogId = sim->startStateLogging(STATE_LOGGING_MINITAUR, "simlog.bin");
}
if (minitaurLogId>=0 && e.m_keyState&eButtonReleased)
if (minitaurLogId >= 0 && e.m_keyState & eButtonReleased)
{
sim->stopStateLogging(minitaurLogId);
minitaurLogId=-1;
minitaurLogId = -1;
}
}
if (e.m_keyCode == 'r' && e.m_keyState&eButtonTriggered)
if (e.m_keyCode == 'r' && e.m_keyState & eButtonTriggered)
{
rotateCamera = 1-rotateCamera;
rotateCamera = 1 - rotateCamera;
}
//printf("keyEvent[%d].m_keyCode = %d, state = %d\n", i,keyEvents.m_keyboardEvents[i].m_keyCode,keyEvents.m_keyboardEvents[i].m_keyState);
}
}
@@ -136,25 +130,23 @@ int main(int argc, char* argv[])
if (rotateCamera)
{
static double yaw=0;
static double yaw = 0;
double distance = 1;
yaw+=0.1;
yaw += 0.1;
btVector3 basePos;
btQuaternion baseOrn;
sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
sim->resetDebugVisualizerCamera(distance,-20, yaw,basePos);
sim->getBasePositionAndOrientation(minitaurUid, basePos, baseOrn);
sim->resetDebugVisualizerCamera(distance, -20, yaw, basePos);
}
b3Clock::usleep(1000.*1000.*fixedTimeStep);
b3Clock::usleep(1000. * 1000. * fixedTimeStep);
}
printf("sim->disconnect\n");
sim->disconnect();
printf("delete sim\n");
delete sim;
printf("exit\n");
}