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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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19
src/Bullet3Dynamics/shared/b3ContactConstraint4.h
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@@ -5,30 +5,27 @@
typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
struct b3ContactConstraint4
{
b3Float4 m_linear;//normal?
b3Float4 m_linear; //normal?
b3Float4 m_worldPos[4];
b3Float4 m_center; // friction
b3Float4 m_center; // friction
float m_jacCoeffInv[4];
float m_b[4];
float m_appliedRambdaDt[4];
float m_fJacCoeffInv[2]; // friction
float m_fAppliedRambdaDt[2]; // friction
float m_fJacCoeffInv[2]; // friction
float m_fAppliedRambdaDt[2]; // friction
unsigned int m_bodyA;
unsigned int m_bodyB;
int m_batchIdx;
int m_batchIdx;
unsigned int m_paddings;
};
//inline void setFrictionCoeff(float value) { m_linear[3] = value; }
inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
{
return constraint->m_linear.w;
return constraint->m_linear.w;
}
#endif //B3_CONTACT_CONSTRAINT5_H
#endif //B3_CONTACT_CONSTRAINT5_H

133
src/Bullet3Dynamics/shared/b3ConvertConstraint4.h
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@@ -4,89 +4,84 @@
#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);
void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)
void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q);
void b3PlaneSpace1(b3Float4ConstArg n, b3Float4* p, b3Float4* q)
{
if (b3Fabs(n.z) > 0.70710678f) {
// choose p in y-z plane
float a = n.y*n.y + n.z*n.z;
float k = 1.f/sqrt(a);
p[0].x = 0;
p[0].y = -n.z*k;
p[0].z = n.y*k;
// set q = n x p
q[0].x = a*k;
q[0].y = -n.x*p[0].z;
q[0].z = n.x*p[0].y;
}
else {
// choose p in x-y plane
float a = n.x*n.x + n.y*n.y;
float k = 1.f/sqrt(a);
p[0].x = -n.y*k;
p[0].y = n.x*k;
p[0].z = 0;
// set q = n x p
q[0].x = -n.z*p[0].y;
q[0].y = n.z*p[0].x;
q[0].z = a*k;
}
if (b3Fabs(n.z) > 0.70710678f)
{
// choose p in y-z plane
float a = n.y * n.y + n.z * n.z;
float k = 1.f / sqrt(a);
p[0].x = 0;
p[0].y = -n.z * k;
p[0].z = n.y * k;
// set q = n x p
q[0].x = a * k;
q[0].y = -n.x * p[0].z;
q[0].z = n.x * p[0].y;
}
else
{
// choose p in x-y plane
float a = n.x * n.x + n.y * n.y;
float k = 1.f / sqrt(a);
p[0].x = -n.y * k;
p[0].y = n.x * k;
p[0].z = 0;
// set q = n x p
q[0].x = -n.z * p[0].y;
q[0].y = n.z * p[0].x;
q[0].z = a * k;
}
}
void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
void setLinearAndAngular(b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
{
*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);
*linear = b3MakeFloat4(n.x, n.y, n.z, 0.f);
*angular0 = b3Cross3(r0, n);
*angular1 = -b3Cross3(r1, n);
}
float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )
float calcRelVel(b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1)
{
return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);
}
float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,
float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
{
// linear0,1 are normlized
float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;
float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);
float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;
float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);
return -1.f/(jmj0+jmj1+jmj2+jmj3);
float jmj0 = invMass0; //b3Dot3F4(linear0, linear0)*invMass0;
float jmj1 = b3Dot3F4(mtMul3(angular0, *invInertia0), angular0);
float jmj2 = invMass1; //b3Dot3F4(linear1, linear1)*invMass1;
float jmj3 = b3Dot3F4(mtMul3(angular1, *invInertia1), angular1);
return -1.f / (jmj0 + jmj1 + jmj2 + jmj3);
}
void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB,
__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
b3ContactConstraint4_t* dstC )
void setConstraint4(b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB,
__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
b3ContactConstraint4_t* dstC)
{
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
float dtInv = 1.f/dt;
for(int ic=0; ic<4; ic++)
float dtInv = 1.f / dt;
for (int ic = 0; ic < 4; ic++)
{
dstC->m_appliedRambdaDt[ic] = 0.f;
}
dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
dstC->m_linear = src->m_worldNormalOnB;
dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
for(int ic=0; ic<4; ic++)
dstC->m_linear.w = 0.7f; //src->getFrictionCoeff() );
for (int ic = 0; ic < 4; ic++)
{
b3Float4 r0 = src->m_worldPosB[ic] - posA;
b3Float4 r1 = src->m_worldPosB[ic] - posB;
if( ic >= src->m_worldNormalOnB.w )//npoints
if (ic >= src->m_worldNormalOnB.w) //npoints
{
dstC->m_jacCoeffInv[ic] = 0.f;
continue;
@@ -98,56 +93,56 @@ void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4Co
setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
invMassA, &invInertiaA, invMassB, &invInertiaB);
relVelN = calcRelVel(linear, -linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB);
linVelA, angVelA, linVelB, angVelB);
float e = 0.f;//src->getRestituitionCoeff();
if( relVelN*relVelN < 0.004f ) e = 0.f;
float e = 0.f; //src->getRestituitionCoeff();
if (relVelN * relVelN < 0.004f) e = 0.f;
dstC->m_b[ic] = e*relVelN;
dstC->m_b[ic] = e * relVelN;
//float penetration = src->m_worldPosB[ic].w;
dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift) * positionConstraintCoeff * dtInv;
dstC->m_appliedRambdaDt[ic] = 0.f;
}
}
if( src->m_worldNormalOnB.w > 0 )//npoints
{ // prepare friction
b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);
for(int i=0; i<src->m_worldNormalOnB.w; i++)
if (src->m_worldNormalOnB.w > 0) //npoints
{ // prepare friction
b3Float4 center = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
for (int i = 0; i < src->m_worldNormalOnB.w; i++)
center += src->m_worldPosB[i];
center /= (float)src->m_worldNormalOnB.w;
b3Float4 tangent[2];
b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);
b3PlaneSpace1(src->m_worldNormalOnB, &tangent[0], &tangent[1]);
b3Float4 r[2];
r[0] = center - posA;
r[1] = center - posB;
for(int i=0; i<2; i++)
for (int i = 0; i < 2; i++)
{
b3Float4 linear, angular0, angular1;
setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
invMassA, &invInertiaA, invMassB, &invInertiaB);
dstC->m_fAppliedRambdaDt[i] = 0.f;
}
dstC->m_center = center;
}
for(int i=0; i<4; i++)
for (int i = 0; i < 4; i++)
{
if( i<src->m_worldNormalOnB.w )
if (i < src->m_worldNormalOnB.w)
{
dstC->m_worldPos[i] = src->m_worldPosB[i];
}
else
{
dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);
dstC->m_worldPos[i] = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
}
}
}

3
src/Bullet3Dynamics/shared/b3Inertia.h
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@@ -11,5 +11,4 @@ struct b3Inertia
b3Mat3x3 m_initInvInertia;
};
#endif //B3_INERTIA_H
#endif //B3_INERTIA_H

53
src/Bullet3Dynamics/shared/b3IntegrateTransforms.h
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@@ -2,11 +2,8 @@
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
inline void integrateSingleTransform(__global b3RigidBodyData_t* bodies, int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
{
if (bodies[nodeID].m_invMass != 0.f)
{
float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
@@ -18,27 +15,27 @@ inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nod
bodies[nodeID].m_angVel.x *= angularDamping;
bodies[nodeID].m_angVel.y *= angularDamping;
bodies[nodeID].m_angVel.z *= angularDamping;
b3Float4 angvel = bodies[nodeID].m_angVel;
float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
//limit the angular motion
if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
{
fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
}
if(fAngle < 0.001f)
if (fAngle < 0.001f)
{
// use Taylor's expansions of sync function
axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
}
b3Quat dorn;
dorn.x = axis.x;
dorn.y = axis.y;
@@ -47,23 +44,21 @@ inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nod
b3Quat orn0 = bodies[nodeID].m_quat;
b3Quat predictedOrn = b3QuatMul(dorn, orn0);
predictedOrn = b3QuatNormalized(predictedOrn);
bodies[nodeID].m_quat=predictedOrn;
bodies[nodeID].m_quat = predictedOrn;
}
//linear velocity
bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
//linear velocity
bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;
//apply gravity
bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
}
}
inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
inline void b3IntegrateTransform(__global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
{
float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
if( (body->m_invMass != 0.f))
if ((body->m_invMass != 0.f))
{
//angular velocity
{
@@ -72,23 +67,23 @@ inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeSt
body->m_angVel.x *= angularDamping;
body->m_angVel.y *= angularDamping;
body->m_angVel.z *= angularDamping;
b3Float4 angvel = body->m_angVel;
float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
//limit the angular motion
if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
if (fAngle * timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
{
fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
}
if(fAngle < 0.001f)
if (fAngle < 0.001f)
{
// use Taylor's expansions of sync function
axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * 0.020833333333f * fAngle * fAngle);
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
axis = angvel * (b3Sin(0.5f * fAngle * timeStep) / fAngle);
}
b3Quat dorn;
dorn.x = axis.x;
@@ -99,15 +94,13 @@ inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeSt
b3Quat predictedOrn = b3QuatMul(dorn, orn0);
predictedOrn = b3QuatNormalized(predictedOrn);
body->m_quat=predictedOrn;
body->m_quat = predictedOrn;
}
//apply gravity
body->m_linVel += gravityAcceleration * timeStep;
//linear velocity
body->m_pos += body->m_linVel * timeStep;
//linear velocity
body->m_pos += body->m_linVel * timeStep;
}
}