Commit: f7263b8b1a4e2650c776b148d54986e41879e2e4
Author: Sergey Sharybin
Date: Thu Sep 1 12:14:16 2016 +0200
Branches: master
https://developer.blender.org/rBf7263b8b1a4e2650c776b148d54986e41879e2e4
Cleanup: Reduce amount of misleading indentation
Was polluting compile output too much.
===================================================================
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
M intern/elbeem/intern/controlparticles.cpp
M intern/elbeem/intern/isosurface.h
M intern/itasc/ConstraintSet.cpp
M intern/itasc/Scene.cpp
M intern/itasc/WSDLSSolver.cpp
===================================================================
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
index 2c36277..c1da9f3 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
@@ -151,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1,
const btTransform& xf1
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
- if( count2 > 0 )
- index = (int) normal1.minDot( vertices2, count2, minDot);
+ if( count2 > 0 )
+ index = (int) normal1.minDot( vertices2, count2, minDot);
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -174,9 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
- btScalar maxDot;
- if( count1 > 0 )
- edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
+ btScalar maxDot;
+ if( count1 > 0 )
+ edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index a80c438..589a7f5 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -232,8 +232,8 @@ void btCompoundCollisionAlgorithm::processCollision (const
btCollisionObjectWrap
m_compoundShapeRevision = compoundShape->getUpdateRevision();
}
- if (m_childCollisionAlgorithms.size()==0)
- return;
+ if (m_childCollisionAlgorithms.size()==0)
+ return;
const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
diff --git a/intern/elbeem/intern/controlparticles.cpp
b/intern/elbeem/intern/controlparticles.cpp
index 526fac0..f6329ad 100644
--- a/intern/elbeem/intern/controlparticles.cpp
+++ b/intern/elbeem/intern/controlparticles.cpp
@@ -1316,7 +1316,8 @@ void
ControlParticles::finishControl(std::vector<ControlForces> &forces, LbmFloa
if(cvweight>1.) { cvweight = 1.; }
// thus cvweight is in the range of
0..influenceVelocity, currently not normalized by numCParts
cvweight *= ivel;
- if(cvweight<0.) cvweight=0.; if(cvweight>1.)
cvweight=1.;
+ if(cvweight<0.) cvweight=0.;
+ if(cvweight>1.) cvweight=1.;
// LBM, FIXME todo use relaxation factor
//pvel = (cvel*0.5 * cvweight) + (pvel *
(1.0-cvweight));
forces[i].weightVel = cvweight;
diff --git a/intern/elbeem/intern/isosurface.h
b/intern/elbeem/intern/isosurface.h
index 15b9238..30fd9ad 100644
--- a/intern/elbeem/intern/isosurface.h
+++ b/intern/elbeem/intern/isosurface.h
@@ -67,8 +67,10 @@ class IsoSurface :
/*! set # of subdivisions, this has to be done before init! */
void setSubdivs(int s) {
if(mInitDone)
errFatal("IsoSurface::setSubdivs","Changing subdivs after init!",
SIMWORLD_INITERROR);
- if(s<1) s=1; if(s>10) s=10;
- mSubdivs = s; }
+ if(s<1) s=1;
+ if(s>10) s=10;
+ mSubdivs = s;
+ }
int getSubdivs() { return mSubdivs;}
/*! set full edge settings, this has to be done before init! */
void setUseFulledgeArrays(bool set) {
diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp
index e21cd36..0baf580 100644
--- a/intern/itasc/ConstraintSet.cpp
+++ b/intern/itasc/ConstraintSet.cpp
@@ -145,27 +145,29 @@ bool ConstraintSet::closeLoop(){
//toggle=!toggle;
//svd_boost_Macie(Jf,U,S,V,B,temp,1e-3*threshold,toggle);
int ret = KDL::svd_eigen_HH(m_Jf,m_U,m_S,m_V,m_temp);
- if(ret<0)
- return false;
+ if(ret<0)
+ return false;
// the reference point and frame of the jacobian is the base frame
// m_externalPose-m_internalPose is the twist to extend the end effector
// to get the required pose => change the reference point to the base
frame
Twist twist_delta(diff(m_internalPose,m_externalPose));
twist_delta=twist_delta.RefPoint(-m_internalPose.p);
- for(unsigned int i=0;i<6;i++)
- m_tdelta(i)=twist_delta(i);
- //TODO: use damping in constraintset inversion?
- for(unsigned int i=0;i<6;i++)
- if(m_S(i)<m_threshold){
+ for(unsigned int i=0;i<6;i++)
+ m_tdelta(i)=twist_delta(i);
+ //TODO: use damping in constraintset inversion?
+ for(unsigned int i=0;i<6;i++) {
+ if(m_S(i)<m_threshold){
m_B.row(i).setConstant(0.0);
- }else
- m_B.row(i) = m_U.col(i)/m_S(i);
+ } else {
+ m_B.row(i) = m_U.col(i)/m_S(i);
+ }
+ }
- m_Jf_inv.noalias()=m_V*m_B;
+ m_Jf_inv.noalias()=m_V*m_B;
- m_chi.noalias()+=m_Jf_inv*m_tdelta;
- updateJacobian();
+ m_chi.noalias()+=m_Jf_inv*m_tdelta;
+ updateJacobian();
// m_externalPose-m_internalPose in end effector frame
// this is just to compare the pose, a different formula would work too
return
Equal(m_internalPose.Inverse()*m_externalPose,F_identity,m_threshold);
diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp
index 7ed8fc4..5768a99 100644
--- a/intern/itasc/Scene.cpp
+++ b/intern/itasc/Scene.cpp
@@ -146,11 +146,11 @@ bool Scene::addObject(const std::string& name, Object*
object, UncontrolledObjec
bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const
std::string& object1,const std::string& object2, const std::string& ee1, const
std::string& ee2)
{
- //Check if objects exist:
- ObjectMap::iterator object1_it = objects.find(object1);
- ObjectMap::iterator object2_it = objects.find(object2);
- if(object1_it==objects.end()||object2_it==objects.end())
- return false;
+ //Check if objects exist:
+ ObjectMap::iterator object1_it = objects.find(object1);
+ ObjectMap::iterator object2_it = objects.find(object2);
+ if(object1_it==objects.end()||object2_it==objects.end())
+ return false;
int ee1_index = object1_it->second->object->addEndEffector(ee1);
int ee2_index = object2_it->second->object->addEndEffector(ee2);
if (ee1_index < 0 || ee2_index < 0)
@@ -159,11 +159,11 @@ bool Scene::addConstraintSet(const std::string&
name,ConstraintSet* task,const s
constraints.insert(ConstraintMap::value_type(name,new
ConstraintSet_struct(
task,object1_it,ee1_index,object2_it,ee2_index,
Range(m_ncTotal,task->getNrOfConstraints()),Range(6*m_nsets,6))));
- if(!result.second)
- return false;
- m_ncTotal+=task->getNrOfConstraints();
- m_nsets+=1;
- return true;
+ if(!result.second)
+ return false;
+ m_ncTotal+=task->getNrOfConstraints();
+ m_nsets+=1;
+ return true;
}
bool Scene::addSolver(Solver* _solver){
diff --git a/intern/itasc/WSDLSSolver.cpp b/intern/itasc/WSDLSSolver.cpp
index 6fdd8e6..2514dbb 100644
--- a/intern/itasc/WSDLSSolver.cpp
+++ b/intern/itasc/WSDLSSolver.cpp
@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector&
Wy, const e_vector& y
e_scalar N, M;
// Create the Weighted jacobian
- m_AWq.noalias() = A*Wq;
+ m_AWq.noalias() = A*Wq;
for (i=0; i<m_nc; i++)
m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
@@ -72,11 +72,11 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector&
Wy, const e_vector& y
} else {
ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
}
- if(ret<0)
- return false;
+ if(ret<0)
+ return false;
m_Wy_ydot = Wy.array() * ydot.array();
- m_WqV.noalias() = Wq*m_V;
+ m_WqV.noalias() = Wq*m_V;
qdot.setZero();
e_scalar maxDeltaS = e_scalar(0.0);
e_scalar prevS = e_scalar(0.0);
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