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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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192
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -19,26 +19,25 @@ subject to the following restrictions:
#include "LinearMath/btSerializer.h"
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity)
: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
m_dynamicAabbTree(0),
m_updateRevision(1),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
: m_localAabbMin(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)),
m_localAabbMax(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)),
m_dynamicAabbTree(0),
m_updateRevision(1),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
{
m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
if (enableDynamicAabbTree)
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
m_dynamicAabbTree = new (mem) btDbvt();
btAssert(mem == m_dynamicAabbTree);
}
m_children.reserve(initialChildCapacity);
}
btCompoundShape::~btCompoundShape()
{
if (m_dynamicAabbTree)
@@ -48,7 +47,7 @@ btCompoundShape::~btCompoundShape()
}
}
void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
void btCompoundShape::addChildShape(const btTransform& localTransform, btCollisionShape* shape)
{
m_updateRevision++;
//m_childTransforms.push_back(localTransform);
@@ -60,11 +59,10 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
child.m_childShapeType = shape->getShapeType();
child.m_childMargin = shape->getMargin();
//extend the local aabbMin/aabbMax
btVector3 localAabbMin,localAabbMax;
shape->getAabb(localTransform,localAabbMin,localAabbMax);
for (int i=0;i<3;i++)
btVector3 localAabbMin, localAabbMax;
shape->getAabb(localTransform, localAabbMin, localAabbMax);
for (int i = 0; i < 3; i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
{
@@ -74,31 +72,30 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
{
m_localAabbMax[i] = localAabbMax[i];
}
}
if (m_dynamicAabbTree)
{
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
size_t index = m_children.size();
child.m_node = m_dynamicAabbTree->insert(bounds,reinterpret_cast<void*>(index) );
child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index));
}
m_children.push_back(child);
}
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb)
{
m_children[childIndex].m_transform = newChildTransform;
if (m_dynamicAabbTree)
{
///update the dynamic aabb tree
btVector3 localAabbMin,localAabbMax;
m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
btVector3 localAabbMin, localAabbMax;
m_children[childIndex].m_childShape->getAabb(newChildTransform, localAabbMin, localAabbMax);
ATTRIBUTE_ALIGNED16(btDbvtVolume)
bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
//int index = m_children.size()-1;
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
m_dynamicAabbTree->update(m_children[childIndex].m_node, bounds);
}
if (shouldRecalculateLocalAabb)
@@ -110,35 +107,30 @@ void btCompoundShape::updateChildTransform(int childIndex, const btTransform& ne
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
{
m_updateRevision++;
btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
btAssert(childShapeIndex >= 0 && childShapeIndex < m_children.size());
if (m_dynamicAabbTree)
{
m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
}
m_children.swap(childShapeIndex,m_children.size()-1);
if (m_dynamicAabbTree)
m_children.swap(childShapeIndex, m_children.size() - 1);
if (m_dynamicAabbTree)
m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
m_children.pop_back();
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
m_updateRevision++;
// Find the children containing the shape specified, and remove those children.
//note: there might be multiple children using the same shape!
for(int i = m_children.size()-1; i >= 0 ; i--)
for (int i = m_children.size() - 1; i >= 0; i--)
{
if(m_children[i].m_childShape == shape)
if (m_children[i].m_childShape == shape)
{
removeChildShapeByIndex(i);
}
}
recalculateLocalAabb();
}
@@ -147,15 +139,15 @@ void btCompoundShape::recalculateLocalAabb()
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
btVector3 localAabbMin, localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
for (int i = 0; i < 3; i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
@@ -166,53 +158,47 @@ void btCompoundShape::recalculateLocalAabb()
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
void btCompoundShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
//avoid an illegal AABB when there are no children
if (!m_children.size())
{
localHalfExtents.setValue(0,0,0);
localCenter.setValue(0,0,0);
localHalfExtents.setValue(0, 0, 0);
localCenter.setValue(0, 0, 0);
}
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
btMatrix3x3 abs_b = trans.getBasis().absolute();
btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter);
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center-extent;
aabbMax = center+extent;
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
void btCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{
//approximation: take the inertia from the aabb for now
btTransform ident;
ident.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 aabbMin, aabbMax;
getAabb(ident, aabbMin, aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
btScalar lx = btScalar(2.) * (halfExtents.x());
btScalar ly = btScalar(2.) * (halfExtents.y());
btScalar lz = btScalar(2.) * (halfExtents.z());
inertia[0] = mass / (btScalar(12.0)) * (ly * ly + lz * lz);
inertia[1] = mass / (btScalar(12.0)) * (lx * lx + lz * lz);
inertia[2] = mass / (btScalar(12.0)) * (lx * lx + ly * ly);
}
void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
{
int n = m_children.size();
@@ -223,18 +209,18 @@ void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, bt
for (k = 0; k < n; k++)
{
btAssert(masses[k]>0);
btAssert(masses[k] > 0);
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
btAssert(totalMass>0);
btAssert(totalMass > 0);
center /= totalMass;
principal.setOrigin(center);
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
for ( k = 0; k < n; k++)
for (k = 0; k < n; k++)
{
btVector3 i;
m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
@@ -259,8 +245,8 @@ void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, bt
j[0].setValue(o2, 0, 0);
j[1].setValue(0, o2, 0);
j[2].setValue(0, 0, o2);
j[0] += o * -o.x();
j[1] += o * -o.y();
j[0] += o * -o.x();
j[1] += o * -o.y();
j[2] += o * -o.z();
//add inertia tensor of pointmass
@@ -273,59 +259,50 @@ void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, bt
inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
}
void btCompoundShape::setLocalScaling(const btVector3& scaling)
{
for(int i = 0; i < m_children.size(); i++)
for (int i = 0; i < m_children.size(); i++)
{
btTransform childTrans = getChildTransform(i);
btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
// childScale = childScale * (childTrans.getBasis() * scaling);
// childScale = childScale * (childTrans.getBasis() * scaling);
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
updateChildTransform(i, childTrans,false);
updateChildTransform(i, childTrans, false);
}
m_localScaling = scaling;
recalculateLocalAabb();
}
void btCompoundShape::createAabbTreeFromChildren()
{
if ( !m_dynamicAabbTree )
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
if (!m_dynamicAabbTree)
{
void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
m_dynamicAabbTree = new (mem) btDbvt();
btAssert(mem == m_dynamicAabbTree);
for ( int index = 0; index < m_children.size(); index++ )
{
btCompoundShapeChild &child = m_children[index];
for (int index = 0; index < m_children.size(); index++)
{
btCompoundShapeChild& child = m_children[index];
//extend the local aabbMin/aabbMax
btVector3 localAabbMin,localAabbMax;
child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
//extend the local aabbMin/aabbMax
btVector3 localAabbMin, localAabbMax;
child.m_childShape->getAabb(child.m_transform, localAabbMin, localAabbMax);
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
size_t index2 = index;
child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
}
}
child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2));
}
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
btCompoundShapeData* shapeData = (btCompoundShapeData*)dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
shapeData->m_collisionMargin = float(m_collisionMargin);
@@ -333,27 +310,26 @@ const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serialize
shapeData->m_childShapePtr = 0;
if (shapeData->m_numChildShapes)
{
btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData), shapeData->m_numChildShapes);
btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
for (int i = 0; i < shapeData->m_numChildShapes; i++, memPtr++)
{
memPtr->m_childMargin = float(m_children[i].m_childMargin);
memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
//don't serialize shapes that already have been serialized
if (!serializer->findPointer(m_children[i].m_childShape))
{
btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
}
btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(), 1);
const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, m_children[i].m_childShape);
}
memPtr->m_childShapeType = m_children[i].m_childShapeType;
m_children[i].m_transform.serializeFloat(memPtr->m_transform);
}
serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
serializer->finalizeChunk(chunk, "btCompoundShapeChildData", BT_ARRAY_CODE, chunk->m_oldPtr);
}
return "btCompoundShapeData";
}