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style cleanup: whitespace / commas

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This commit is contained in:
Campbell Barton
2012-04-29 15:47:02 +00:00
parent 038c12895f
commit e701f9b670
249 changed files with 3261 additions and 3262 deletions
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52
source/blender/ikplugin/intern/itasc_plugin.cpp
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@@ -424,16 +424,16 @@ static IK_Data* get_ikdata(bPose *pose)
}
static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis)
{
double t = KDL::sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));
double t = KDL::sqrt(R(0, 0)*R(0, 0) + R(0, 1)*R(0, 1));
if (t > 16.0*KDL::epsilon) {
if (axis == 0) return -KDL::atan2(R(1,2), R(2,2));
else if (axis == 1) return KDL::atan2(-R(0,2), t);
else return -KDL::atan2(R(0,1), R(0,0));
if (axis == 0) return -KDL::atan2(R(1, 2), R(2, 2));
else if (axis == 1) return KDL::atan2(-R(0, 2), t);
else return -KDL::atan2(R(0, 1), R(0, 0));
}
else {
if (axis == 0) return -KDL::atan2(-R(2,1), R(1,1));
else if (axis == 1) return KDL::atan2(-R(0,2), t);
if (axis == 0) return -KDL::atan2(-R(2, 1), R(1, 1));
else if (axis == 1) return KDL::atan2(-R(0, 2), t);
else return 0.0f;
}
}
@@ -441,8 +441,8 @@ static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis)
static double ComputeTwist(const KDL::Rotation& R)
{
// qy and qw are the y and w components of the quaternion from R
double qy = R(0,2) - R(2,0);
double qw = R(0,0) + R(1,1) + R(2,2) + 1;
double qy = R(0, 2) - R(2, 0);
double qw = R(0, 0) + R(1, 1) + R(2, 2) + 1;
double tau = 2*KDL::atan2(qy, qw);
@@ -471,31 +471,31 @@ static void RemoveEulerAngleFromMatrix(KDL::Rotation& R, double angle, int axis)
}
#if 0
static void GetEulerXZY(const KDL::Rotation& R, double& X,double& Z,double& Y)
static void GetEulerXZY(const KDL::Rotation& R, double& X, double& Z, double& Y)
{
if (fabs(R(0,1)) > 1.0 - KDL::epsilon ) {
X = -KDL::sign(R(0,1)) * KDL::atan2(R(1,2), R(1,0));
Z = -KDL::sign(R(0,1)) * KDL::PI / 2;
if (fabs(R(0, 1)) > 1.0 - KDL::epsilon ) {
X = -KDL::sign(R(0, 1)) * KDL::atan2(R(1, 2), R(1, 0));
Z = -KDL::sign(R(0, 1)) * KDL::PI / 2;
Y = 0.0;
}
else {
X = KDL::atan2(R(2,1), R(1,1));
Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
Y = KDL::atan2(R(0,2), R(0,0));
X = KDL::atan2(R(2, 1), R(1, 1));
Z = KDL::atan2(-R(0, 1), KDL::sqrt( KDL::sqr(R(0, 0)) + KDL::sqr(R(0, 2))));
Y = KDL::atan2(R(0, 2), R(0, 0));
}
}
static void GetEulerXYZ(const KDL::Rotation& R, double& X,double& Y,double& Z)
static void GetEulerXYZ(const KDL::Rotation& R, double& X, double& Y, double& Z)
{
if (fabs(R(0,2)) > 1.0 - KDL::epsilon ) {
X = KDL::sign(R(0,2)) * KDL::atan2(-R(1,0), R(1,1));
Y = KDL::sign(R(0,2)) * KDL::PI / 2;
if (fabs(R(0, 2)) > 1.0 - KDL::epsilon ) {
X = KDL::sign(R(0, 2)) * KDL::atan2(-R(1, 0), R(1, 1));
Y = KDL::sign(R(0, 2)) * KDL::PI / 2;
Z = 0.0;
}
else {
X = KDL::atan2(-R(1,2), R(2,2));
Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
Z = KDL::atan2(-R(0,1), R(0,0));
X = KDL::atan2(-R(1, 2), R(2, 2));
Y = KDL::atan2(R(0, 2), KDL::sqrt( KDL::sqr(R(0, 0)) + KDL::sqr(R(0, 1))));
Z = KDL::atan2(-R(0, 1), R(0, 0));
}
}
#endif
@@ -804,16 +804,16 @@ static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintV
if (chan->rotmode > 0) {
/* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */
eulO_to_mat3( rmat,chan->eul, chan->rotmode);
eulO_to_mat3( rmat, chan->eul, chan->rotmode);
}
else if (chan->rotmode == ROT_MODE_AXISANGLE) {
/* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */
axis_angle_to_mat3( rmat,&chan->quat[1], chan->quat[0]);
axis_angle_to_mat3( rmat, &chan->quat[1], chan->quat[0]);
}
else {
/* quats are normalised before use to eliminate scaling issues */
normalize_qt(chan->quat);
quat_to_mat3( rmat,chan->quat);
quat_to_mat3(rmat, chan->quat);
}
KDL::Rotation jointRot(
rmat[0][0], rmat[1][0], rmat[2][0],
@@ -1388,7 +1388,7 @@ static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
e_matrix& Wq = arm->getWq();
assert(Wq.cols() == (int)weights.size());
for (int q=0; q<Wq.cols(); q++)
Wq(q,q)=weights[q];
Wq(q, q)=weights[q];
// get the inverse rest pose frame of the base to compute relative rest pose of end effectors
// this is needed to handle the enforce parameter
// ikscene->pchan[0] is the root channel of the tree