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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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243
examples/ThirdPartyLibs/BussIK/Spherical.h
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@@ -20,8 +20,6 @@ subject to the following restrictions:
*
*/
//
// Spherical Operations Classes
//
@@ -30,7 +28,7 @@ subject to the following restrictions:
//
// OrientationR3
//
// A. Quaternion
// A. Quaternion
//
// B. RotationMapR3 // Elsewhere
//
@@ -48,80 +46,76 @@ subject to the following restrictions:
#include "LinearR4.h"
#include "MathMisc.h"
class SphericalInterpolator; // Spherical linear interpolation of vectors
class SphericalBSpInterpolator; // Spherical Bspline interpolation of vector
class Quaternion; // Quaternion (x,y,z,w) values.
class EulerAnglesR3; // Euler Angles
class SphericalInterpolator; // Spherical linear interpolation of vectors
class SphericalBSpInterpolator; // Spherical Bspline interpolation of vector
class Quaternion; // Quaternion (x,y,z,w) values.
class EulerAnglesR3; // Euler Angles
// *****************************************************
// SphericalInterpolator class *
// - Does linear interpolation (slerp-ing) *
// * * * * * * * * * * * * * * * * * * * * * * * * * * *
class SphericalInterpolator {
class SphericalInterpolator
{
private:
VectorR3 startDir, endDir; // Unit vectors (starting and ending)
double startLen, endLen; // Magnitudes of the vectors
double rotRate; // Angle between start and end vectors
VectorR3 startDir, endDir; // Unit vectors (starting and ending)
double startLen, endLen; // Magnitudes of the vectors
double rotRate; // Angle between start and end vectors
public:
SphericalInterpolator( const VectorR3& u, const VectorR3& v );
SphericalInterpolator(const VectorR3& u, const VectorR3& v);
VectorR3 InterValue ( double frac ) const;
VectorR3 InterValue(double frac) const;
};
// ***************************************************************
// * Quaternion class - prototypes *
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
class Quaternion {
class Quaternion
{
public:
double x, y, z, w;
public:
Quaternion() :x(0.0), y(0.0), z(0.0), w(1.0) {};
Quaternion( double, double, double, double );
Quaternion() : x(0.0), y(0.0), z(0.0), w(1.0){};
Quaternion(double, double, double, double);
inline Quaternion& Set( double xx, double yy, double zz, double ww );
inline Quaternion& Set( const VectorR4& );
Quaternion& Set( const EulerAnglesR3& );
Quaternion& Set( const RotationMapR3& );
Quaternion& SetRotate( const VectorR3& );
inline Quaternion& Set(double xx, double yy, double zz, double ww);
inline Quaternion& Set(const VectorR4&);
Quaternion& Set(const EulerAnglesR3&);
Quaternion& Set(const RotationMapR3&);
Quaternion& SetRotate(const VectorR3&);
Quaternion& SetIdentity(); // Set to the identity map
Quaternion Inverse() const; // Return the Inverse
Quaternion& Invert(); // Invert this quaternion
Quaternion& SetIdentity(); // Set to the identity map
Quaternion Inverse() const; // Return the Inverse
Quaternion& Invert(); // Invert this quaternion
double Angle(); // Angle of rotation
double Norm(); // Norm of x,y,z component
double Angle(); // Angle of rotation
double Norm(); // Norm of x,y,z component
Quaternion& operator*=(const Quaternion&);
};
Quaternion operator*(const Quaternion&, const Quaternion&);
inline Quaternion ToQuat( const VectorR4& v)
{
return Quaternion(v.x,v.y,v.z,v.w);
}
inline double Quaternion::Norm()
inline Quaternion ToQuat(const VectorR4& v)
{
return sqrt( x*x + y*y + z*z );
return Quaternion(v.x, v.y, v.z, v.w);
}
inline double Quaternion::Angle ()
inline double Quaternion::Norm()
{
return sqrt(x * x + y * y + z * z);
}
inline double Quaternion::Angle()
{
double halfAngle = asin(Norm());
return halfAngle+halfAngle;
return halfAngle + halfAngle;
}
// ****************************************************************
// Solid Geometry Routines *
// ****************************************************************
@@ -130,116 +124,118 @@ inline double Quaternion::Angle ()
// Three unit vectors u,v,w specify the geodesics u-v and v-w which
// meet at vertex uv. The angle from v-w to v-u is returned. This
// is always in the range [0, 2PI).
double SphereAngle( const VectorR3& u, const VectorR3& v, const VectorR3& w );
double SphereAngle(const VectorR3& u, const VectorR3& v, const VectorR3& w);
// Compute the area of a triangle on the unit sphere. Three unit vectors
// specify the corners of the triangle in COUNTERCLOCKWISE order.
inline double SphericalTriangleArea(
const VectorR3& u, const VectorR3& v, const VectorR3& w )
inline double SphericalTriangleArea(
const VectorR3& u, const VectorR3& v, const VectorR3& w)
{
double AngleA = SphereAngle( u,v,w );
double AngleB = SphereAngle( v,w,u );
double AngleC = SphereAngle( w,u,v );
return ( AngleA+AngleB+AngleC - PI );
double AngleA = SphereAngle(u, v, w);
double AngleB = SphereAngle(v, w, u);
double AngleC = SphereAngle(w, u, v);
return (AngleA + AngleB + AngleC - PI);
}
// ****************************************************************
// Spherical Mean routines *
// ****************************************************************
// Weighted sum of vectors
VectorR3 WeightedSum( long Num, const VectorR3 vv[], const double weights[] );
VectorR4 WeightedSum( long Num, const VectorR4 vv[], const double weights[] );
VectorR3 WeightedSum(long Num, const VectorR3 vv[], const double weights[]);
VectorR4 WeightedSum(long Num, const VectorR4 vv[], const double weights[]);
// Weighted average of vectors on the sphere.
// Weighted average of vectors on the sphere.
// Sum of weights should equal one (but no checking is done)
VectorR3 ComputeMeanSphere( long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
VectorR3 ComputeMeanSphere( long Num, const VectorR3 vv[], const double weights[],
const VectorR3& InitialVec,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
VectorR4 ComputeMeanSphere( long Num, const VectorR4 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
Quaternion ComputeMeanQuat( long Num, const Quaternion qq[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
VectorR3 ComputeMeanSphere(long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
VectorR3 ComputeMeanSphere(long Num, const VectorR3 vv[], const double weights[],
const VectorR3& InitialVec,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
VectorR4 ComputeMeanSphere(long Num, const VectorR4 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
Quaternion ComputeMeanQuat(long Num, const Quaternion qq[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
// Next functions mostly for internal use.
// It takes an initial estimate InitialVec (and a flag for
// indicating quaternions).
VectorR4 ComputeMeanSphere( long Num, const VectorR4 vv[], const double weights[],
const VectorR4& InitialVec, int QuatFlag=0,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
const int SPHERICAL_NOTQUAT=0;
const int SPHERICAL_QUAT=1;
VectorR4 ComputeMeanSphere(long Num, const VectorR4 vv[], const double weights[],
const VectorR4& InitialVec, int QuatFlag = 0,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
const int SPHERICAL_NOTQUAT = 0;
const int SPHERICAL_QUAT = 1;
// Slow version, mostly for testing
VectorR3 ComputeMeanSphereSlow( long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16 );
VectorR4 ComputeMeanSphereSlow( long Num, const VectorR4 vv[], const double weights[],
double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16 );
VectorR3 ComputeMeanSphereOld( long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
VectorR4 ComputeMeanSphereOld( long Num, const VectorR4 vv[], const double weights[],
const VectorR4& InitialVec, int QuatFlag,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 );
VectorR3 ComputeMeanSphereSlow(long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16);
VectorR4 ComputeMeanSphereSlow(long Num, const VectorR4 vv[], const double weights[],
double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16);
VectorR3 ComputeMeanSphereOld(long Num, const VectorR3 vv[], const double weights[],
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
VectorR4 ComputeMeanSphereOld(long Num, const VectorR4 vv[], const double weights[],
const VectorR4& InitialVec, int QuatFlag,
double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13);
// Solves a system of spherical-mean equalities, where the system is
// given as a tridiagonal matrix.
void SolveTriDiagSphere ( int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 );
void SolveTriDiagSphere ( int numPoints,
const double* tridiagvalues, const VectorR4* c,
VectorR4* p,
double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 );
void SolveTriDiagSphere(int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy = 1.0e-15, double bkupaccuracy = 1.0e-13);
void SolveTriDiagSphere(int numPoints,
const double* tridiagvalues, const VectorR4* c,
VectorR4* p,
double accuracy = 1.0e-15, double bkupaccuracy = 1.0e-13);
// The "Slow" version uses a simpler but slower iteration with a linear rate of
// convergence. The base version uses a Newton iteration with a quadratic
// rate of convergence.
void SolveTriDiagSphereSlow ( int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy=1.0e-15, double bkupaccuracy=5.0e-15 );
void SolveTriDiagSphereSlow ( int numPoints,
const double* tridiagvalues, const VectorR4* c,
VectorR4* p,
double accuracy=1.0e-15, double bkupaccuracy=5.0e-15 );
void SolveTriDiagSphereSlow(int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy = 1.0e-15, double bkupaccuracy = 5.0e-15);
void SolveTriDiagSphereSlow(int numPoints,
const double* tridiagvalues, const VectorR4* c,
VectorR4* p,
double accuracy = 1.0e-15, double bkupaccuracy = 5.0e-15);
// The "Unstable" version probably shouldn't be used except for very short sequences
// of knots. Mostly it's used for testing purposes now.
void SolveTriDiagSphereUnstable ( int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 );
void SolveTriDiagSphereHelperUnstable ( int numPoints,
const double* tridiagvalues, const VectorR3 *c,
const VectorR3& p0value,
VectorR3 *p,
double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 );
void SolveTriDiagSphereUnstable(int numPoints,
const double* tridiagvalues, const VectorR3* c,
VectorR3* p,
double accuracy = 1.0e-15, double bkupaccuracy = 1.0e-13);
void SolveTriDiagSphereHelperUnstable(int numPoints,
const double* tridiagvalues, const VectorR3* c,
const VectorR3& p0value,
VectorR3* p,
double accuracy = 1.0e-15, double bkupaccuracy = 1.0e-13);
// ***************************************************************
// * Quaternion class - inlined member functions *
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
inline VectorR4::VectorR4 ( const Quaternion& q )
: x(q.x), y(q.y), z(q.z), w(q.w)
{}
inline VectorR4& VectorR4::Set ( const Quaternion& q )
inline VectorR4::VectorR4(const Quaternion& q)
: x(q.x), y(q.y), z(q.z), w(q.w)
{
x = q.x; y = q.y; z = q.z; w = q.w;
}
inline VectorR4& VectorR4::Set(const Quaternion& q)
{
x = q.x;
y = q.y;
z = q.z;
w = q.w;
return *this;
}
inline Quaternion::Quaternion( double xx, double yy, double zz, double ww)
: x(xx), y(yy), z(zz), w(ww)
{}
inline Quaternion& Quaternion::Set( double xx, double yy, double zz, double ww )
inline Quaternion::Quaternion(double xx, double yy, double zz, double ww)
: x(xx), y(yy), z(zz), w(ww)
{
}
inline Quaternion& Quaternion::Set(double xx, double yy, double zz, double ww)
{
x = xx;
y = yy;
@@ -248,7 +244,7 @@ inline Quaternion& Quaternion::Set( double xx, double yy, double zz, double ww )
return *this;
}
inline Quaternion& Quaternion::Set( const VectorR4& u)
inline Quaternion& Quaternion::Set(const VectorR4& u)
{
x = u.x;
y = u.y;
@@ -271,28 +267,27 @@ inline Quaternion operator*(const Quaternion& q1, const Quaternion& q2)
return q;
}
inline Quaternion& Quaternion::operator*=( const Quaternion& q )
inline Quaternion& Quaternion::operator*=(const Quaternion& q)
{
double wnew = w*q.w - (x*q.x + y*q.y + z*q.z);
double xnew = w*q.x + q.w*x + (y*q.z - z*q.y);
double ynew = w*q.y + q.w*y + (z*q.x - x*q.z);
z = w*q.z + q.w*z + (x*q.y - y*q.x);
double wnew = w * q.w - (x * q.x + y * q.y + z * q.z);
double xnew = w * q.x + q.w * x + (y * q.z - z * q.y);
double ynew = w * q.y + q.w * y + (z * q.x - x * q.z);
z = w * q.z + q.w * z + (x * q.y - y * q.x);
w = wnew;
x = xnew;
y = ynew;
return *this;
}
inline Quaternion Quaternion::Inverse() const // Return the Inverse
inline Quaternion Quaternion::Inverse() const // Return the Inverse
{
return ( Quaternion( x, y, z, -w ) );
return (Quaternion(x, y, z, -w));
}
inline Quaternion& Quaternion::Invert() // Invert this quaternion
inline Quaternion& Quaternion::Invert() // Invert this quaternion
{
w = -w;
return *this;
}
#endif // SPHERICAL_H
#endif // SPHERICAL_H