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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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67
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
View File

@@ -23,13 +23,13 @@ struct MyClass
float m_maxForce;
float m_maxForce2;
MyClass()
:m_testData(42),
m_controllerId(-1),
m_constraintId(-1),
m_constraintId2(-1),
m_gripperId(-1),
m_maxForce(0),
m_maxForce2(0)
: m_testData(42),
m_controllerId(-1),
m_constraintId(-1),
m_constraintId2(-1),
m_gripperId(-1),
m_maxForce(0),
m_maxForce2(0)
{
}
virtual ~MyClass()
@@ -46,21 +46,20 @@ B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context)
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
if (obj && obj->m_controllerId>=0)
MyClass* obj = (MyClass*)context->m_userPointer;
if (obj && obj->m_controllerId >= 0)
{
{
int i = 0;
{
for (int n=0;n<context->m_numVRControllerEvents;n++)
for (int n = 0; n < context->m_numVRControllerEvents; n++)
{
const b3VRControllerEvent& event = context->m_vrControllerEvents[n];
if (event.m_controllerId ==obj->m_controllerId)
if (event.m_controllerId == obj->m_controllerId)
{
if (obj->m_constraintId>=0)
if (obj->m_constraintId >= 0)
{
struct b3UserConstraint constraintInfo;
if (b3GetUserConstraintInfo(context->m_physClient, obj->m_constraintId, &constraintInfo))
@@ -70,16 +69,16 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
b3SharedMemoryCommandHandle commandHandle;
int userConstraintUniqueId = obj->m_constraintId;
commandHandle = b3InitChangeUserConstraintCommand(context->m_physClient, userConstraintUniqueId);
double pos[4] = {event.m_pos[0],event.m_pos[1],event.m_pos[2],1};
double pos[4] = {event.m_pos[0], event.m_pos[1], event.m_pos[2], 1};
b3InitChangeUserConstraintSetPivotInB(commandHandle, pos);
double orn[4] = {event.m_orn[0],event.m_orn[1],event.m_orn[2],event.m_orn[3]};
double orn[4] = {event.m_orn[0], event.m_orn[1], event.m_orn[2], event.m_orn[3]};
b3InitChangeUserConstraintSetFrameInB(commandHandle, orn);
b3InitChangeUserConstraintSetMaxForce(commandHandle, obj->m_maxForce);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
}
// apply the analogue button to close the constraint, using a gear constraint with position target
if (obj->m_constraintId2>=0)
if (obj->m_constraintId2 >= 0)
{
struct b3UserConstraint constraintInfo;
if (b3GetUserConstraintInfo(context->m_physClient, obj->m_constraintId2, &constraintInfo))
@@ -92,16 +91,16 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
//0 -> open, 1 = closed
double openPos = 1.;
double relPosTarget = openPos - (event.m_analogAxis*openPos);
double relPosTarget = openPos - (event.m_analogAxis * openPos);
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, relPosTarget);
b3InitChangeUserConstraintSetERP(commandHandle,1);
b3InitChangeUserConstraintSetERP(commandHandle, 1);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
}
}
//printf("event.m_analogAxis=%f\n", event.m_analogAxis);
// use the pr2_gripper motors to keep the gripper centered/symmetric around the center axis
if (obj->m_gripperId>=0)
if (obj->m_gripperId >= 0)
{
//this block is similar to
//b = p.getJointState(pr2_gripper,2)[0]
@@ -111,9 +110,9 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
//printf("obj->m_gripperId=%d\n", obj->m_gripperId);
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(context->m_physClient, obj->m_gripperId);
b3RequestActualStateCommandInit(context->m_physClient, obj->m_gripperId);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
int status_type = b3GetStatusType(status_handle);
if (status_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
@@ -123,8 +122,6 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
b3JointSensorState sensorState;
if (b3GetJointState(context->m_physClient, status_handle, 2, &sensorState))
{
b3SharedMemoryCommandHandle commandHandle;
double targetPosition = sensorState.m_jointPosition;
//printf("targetPosition =%f\n", targetPosition);
@@ -138,25 +135,23 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
double kd = .6;
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,targetVelocity);
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity);
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, obj->m_maxForce2);
b3SubmitClientCommandAndWaitStatus(context->m_physClient, cmd_handle);
}
} else
}
else
{
//printf("???\n");
}
} else
}
else
{
//printf("no\n");
}
}
}
}
}
}
@@ -166,12 +161,10 @@ B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* con
return 0;
}
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
MyClass* obj = (MyClass*) context->m_userPointer;
if (arguments->m_numInts>=4 && arguments->m_numFloats >= 2)
MyClass* obj = (MyClass*)context->m_userPointer;
if (arguments->m_numInts >= 4 && arguments->m_numFloats >= 2)
{
obj->m_constraintId = arguments->m_ints[1];
obj->m_constraintId2 = arguments->m_ints[2];
@@ -187,18 +180,16 @@ B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* cont
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
int statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
}
}
return 0;
}
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
MyClass* obj = (MyClass*)context->m_userPointer;
delete obj;
context->m_userPointer = 0;

17
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
View File

@@ -4,21 +4,20 @@
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
extern "C"
{
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//optional APIs
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//optional APIs
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define TEST_PLUGIN_H
#endif //#define TEST_PLUGIN_H