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Cleanup: use braces in headers

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This commit is contained in:
Campbell Barton
2023-09-24 14:52:38 +10:00
parent d1d570d318
commit 2721b937fb
63 changed files with 605 additions and 308 deletions
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57
intern/iksolver/intern/IK_Math.h
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@@ -56,12 +56,15 @@ static inline Eigen::Matrix3d CreateMatrix(double xx,
static inline Eigen::Matrix3d RotationMatrix(double sine, double cosine, int axis)
{
if (axis == 0)
if (axis == 0) {
return CreateMatrix(1.0, 0.0, 0.0, 0.0, cosine, -sine, 0.0, sine, cosine);
else if (axis == 1)
}
else if (axis == 1) {
return CreateMatrix(cosine, 0.0, sine, 0.0, 1.0, 0.0, -sine, 0.0, cosine);
else
}
else {
return CreateMatrix(cosine, -sine, 0.0, sine, cosine, 0.0, 0.0, 0.0, 1.0);
}
}
static inline Eigen::Matrix3d RotationMatrix(double angle, int axis)
@@ -74,32 +77,41 @@ static inline double EulerAngleFromMatrix(const Eigen::Matrix3d &R, int axis)
double t = sqrt(R(0, 0) * R(0, 0) + R(0, 1) * R(0, 1));
if (t > 16.0 * IK_EPSILON) {
if (axis == 0)
if (axis == 0) {
return -atan2(R(1, 2), R(2, 2));
else if (axis == 1)
}
else if (axis == 1) {
return atan2(-R(0, 2), t);
else
}
else {
return -atan2(R(0, 1), R(0, 0));
}
}
else {
if (axis == 0)
if (axis == 0) {
return -atan2(-R(2, 1), R(1, 1));
else if (axis == 1)
}
else if (axis == 1) {
return atan2(-R(0, 2), t);
else
}
else {
return 0.0f;
}
}
}
static inline double safe_acos(double f)
{
// acos that does not return NaN with rounding errors
if (f <= -1.0)
if (f <= -1.0) {
return M_PI;
else if (f >= 1.0)
}
else if (f >= 1.0) {
return 0.0;
else
}
else {
return acos(f);
}
}
static inline Eigen::Vector3d normalize(const Eigen::Vector3d &v)
@@ -152,11 +164,12 @@ static inline Eigen::Vector3d SphericalRangeParameters(const Eigen::Matrix3d &R)
double num = 2.0 * (1.0 + R(1, 1));
// singularity at pi
if (fabs(num) < IK_EPSILON)
if (fabs(num) < IK_EPSILON) {
// TODO: this does now rotation of size pi over z axis, but could
// be any axis, how to deal with this I'm not sure, maybe don't
// enforce limits at all then.
return Eigen::Vector3d(0.0, tau, 1.0);
}
num = 1.0 / sqrt(num);
double ax = -R(2, 1) * num;
@@ -184,8 +197,9 @@ static inline Eigen::Vector3d MatrixToAxisAngle(const Eigen::Matrix3d &R)
double c = safe_acos((R(0, 0) + R(1, 1) + R(2, 2) - 1) / 2);
double l = delta.norm();
if (!FuzzyZero(l))
if (!FuzzyZero(l)) {
delta *= c / l;
}
return delta;
}
@@ -213,20 +227,24 @@ static inline bool EllipseClamp(double &ax, double &az, double *amin, double *am
}
if (FuzzyZero(xlim) || FuzzyZero(zlim)) {
if (x <= xlim && z <= zlim)
if (x <= xlim && z <= zlim) {
return false;
}
if (x > xlim)
if (x > xlim) {
x = xlim;
if (z > zlim)
}
if (z > zlim) {
z = zlim;
}
}
else {
double invx = 1.0 / (xlim * xlim);
double invz = 1.0 / (zlim * zlim);
if ((x * x * invx + z * z * invz) <= 1.0)
if ((x * x * invx + z * z * invz) <= 1.0) {
return false;
}
if (FuzzyZero(x)) {
x = 0.0;
@@ -236,8 +254,9 @@ static inline bool EllipseClamp(double &ax, double &az, double *amin, double *am
double rico = z / x;
double old_x = x;
x = sqrt(1.0 / (invx + invz * rico * rico));
if (old_x < 0.0)
if (old_x < 0.0) {
x = -x;
}
z = rico * x;
}
}