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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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76
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
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@@ -13,8 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btGjkConvexCast.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "btGjkPairDetector.h"
@@ -27,41 +25,39 @@ subject to the following restrictions:
#define MAX_ITERATIONS 32
#endif
btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),
m_convexB(convexB)
btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
: m_simplexSolver(simplexSolver),
m_convexA(convexA),
m_convexB(convexB)
{
}
bool btGjkConvexCast::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result)
bool btGjkConvexCast::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result)
{
m_simplexSolver->reset();
/// compute linear velocity for this interval, to interpolate
//assume no rotation/angular velocity, assert here?
btVector3 linVelA,linVelB;
linVelA = toA.getOrigin()-fromA.getOrigin();
linVelB = toB.getOrigin()-fromB.getOrigin();
btVector3 linVelA, linVelB;
linVelA = toA.getOrigin() - fromA.getOrigin();
linVelB = toB.getOrigin() - fromB.getOrigin();
btScalar radius = btScalar(0.001);
btScalar lambda = btScalar(0.);
btVector3 v(1,0,0);
btVector3 v(1, 0, 0);
int maxIter = MAX_ITERATIONS;
btVector3 n;
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
bool hasResult = false;
btVector3 c;
btVector3 r = (linVelA-linVelB);
btVector3 r = (linVelA - linVelB);
btScalar lastLambda = lambda;
//btScalar epsilon = btScalar(0.001);
@@ -69,17 +65,14 @@ bool btGjkConvexCast::calcTimeOfImpact(
int numIter = 0;
//first solution, using GJK
btTransform identityTrans;
identityTrans.setIdentity();
// result.drawCoordSystem(sphereTr);
// result.drawCoordSystem(sphereTr);
btPointCollector pointCollector;
btPointCollector pointCollector;
btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,0);//m_penetrationDepthSolver);
btGjkPairDetector gjk(m_convexA, m_convexB, m_simplexSolver, 0); //m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
@@ -87,7 +80,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
input.m_transformA = fromA;
input.m_transformB = fromB;
gjk.getClosestPoints(input,pointCollector,0);
gjk.getClosestPoints(input, pointCollector, 0);
hasResult = pointCollector.m_hasResult;
c = pointCollector.m_pointInWorld;
@@ -98,20 +91,18 @@ bool btGjkConvexCast::calcTimeOfImpact(
dist = pointCollector.m_distance;
n = pointCollector.m_normalOnBInWorld;
//not close enough
while (dist > radius)
{
numIter++;
if (numIter > maxIter)
{
return false; //todo: report a failure
return false; //todo: report a failure
}
btScalar dLambda = btScalar(0.);
btScalar projectedLinearVelocity = r.dot(n);
dLambda = dist / (projectedLinearVelocity);
lambda = lambda - dLambda;
@@ -132,35 +123,35 @@ bool btGjkConvexCast::calcTimeOfImpact(
lastLambda = lambda;
//interpolate to next lambda
result.DebugDraw( lambda );
input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda);
input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda);
gjk.getClosestPoints(input,pointCollector,0);
result.DebugDraw(lambda);
input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
gjk.getClosestPoints(input, pointCollector, 0);
if (pointCollector.m_hasResult)
{
if (pointCollector.m_distance < btScalar(0.))
{
result.m_fraction = lastLambda;
n = pointCollector.m_normalOnBInWorld;
result.m_normal=n;
result.m_normal = n;
result.m_hitPoint = pointCollector.m_pointInWorld;
return true;
}
c = pointCollector.m_pointInWorld;
c = pointCollector.m_pointInWorld;
n = pointCollector.m_normalOnBInWorld;
dist = pointCollector.m_distance;
} else
}
else
{
//??
return false;
}
}
//is n normalized?
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
if (n.dot(r)>=-result.m_allowedPenetration)
if (n.dot(r) >= -result.m_allowedPenetration)
return false;
result.m_fraction = lambda;
@@ -170,7 +161,4 @@ bool btGjkConvexCast::calcTimeOfImpact(
}
return false;
}