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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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61
test/RobotClientAPI/SlopeFrictionMain.cpp
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@@ -6,64 +6,61 @@
#include <string.h>
#include <stdio.h>
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#define ASSERT_EQ(a, b) assert((a) == (b));
#include "MinitaurSetup.h"
#define NUM_SIM 1
int main(int argc, char* argv[])
{
b3RobotSimulatorClientAPI* sims[2];
b3Scalar fixedTimeStep = 1./240.;
for (int i=0;i<NUM_SIM;i++)
b3Scalar fixedTimeStep = 1. / 240.;
for (int i = 0; i < NUM_SIM; i++)
{
b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
sims[i] = sim;
sim->connect(eCONNECT_GUI);//eCONNECT_GUI);//DIRECT);
sim->connect(eCONNECT_GUI); //eCONNECT_GUI);//DIRECT);
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->configureDebugVisualizer(COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
//sim->setTimeOut(3);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
sim->setTimeStep(fixedTimeStep);
b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1, 0.2, 0.3));
b3Vector3 rpy;
rpy = sim->getEulerFromQuaternion(q);
sim->setGravity(b3MakeVector3(0,0,-9.8));
sim->setGravity(b3MakeVector3(0, 0, -9.8));
//int blockId = sim->loadURDF("cube.urdf");
//b3BodyInfo bodyInfo;
//sim->getBodyInfo(blockId,&bodyInfo);
b3Quaternion orn;
orn.setEulerZYX(0,B3_PI*0.23,0);
orn.setEulerZYX(0, B3_PI * 0.23, 0);
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,0);
args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation = orn;
args.m_useMultiBody = i==0? false : true;//true : false;//false : true;
sim->loadURDF("plane.urdf",args);
args.m_useMultiBody = i == 0 ? false : true; //true : false;//false : true;
args.m_startPosition.setValue(0,0,0.66);
args.m_startOrientation.setEulerZYX(0,B3_PI*0.23,0);
sim->loadURDF("cube_soft.urdf",args);
sim->loadURDF("plane.urdf", args);
args.m_startPosition.setValue(0, 0, 0.66);
args.m_startOrientation.setEulerZYX(0, B3_PI * 0.23, 0);
sim->loadURDF("cube_soft.urdf", args);
double distance = 1.5;
double yaw = 50;
sim->resetDebugVisualizerCamera(distance,yaw,20,b3MakeVector3(0,0,0.1));
sim->resetDebugVisualizerCamera(distance, yaw, 20, b3MakeVector3(0, 0, 0.1));
sim->setRealTimeSimulation(false);
}
int enableSim = 1;
while (sims[0]->canSubmitCommand())
while (sims[0]->canSubmitCommand())
{
#if 0
#if 0
b3KeyboardEventsData keyEvents;
sim->getKeyboardEvents(&keyEvents);
if (keyEvents.m_numKeyboardEvents)
@@ -79,33 +76,27 @@ int main(int argc, char* argv[])
}
}
}
#endif
for (int i=0;i<NUM_SIM;i++)
#endif
for (int i = 0; i < NUM_SIM; i++)
{
sims[i]->setGravity(b3MakeVector3(0,0,-10));
sims[i]->setGravity(b3MakeVector3(0, 0, -10));
//printf(".");
if (enableSim)
{
sims[i]->stepSimulation();
sims[i]->stepSimulation();
}
}
b3Clock::usleep(1000.*1000.*fixedTimeStep);
b3Clock::usleep(1000. * 1000. * fixedTimeStep);
}
printf("sim->disconnect\n");
for (int i=0;i<NUM_SIM;i++)
for (int i = 0; i < NUM_SIM; i++)
{
sims[i]->disconnect();
printf("delete sim\n");
delete sims[i];
}
printf("exit\n");
}