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aux/math: Code style, pointer star location

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This commit is contained in:
Jakob Bornecrantz 2019-09-29 11:42:53 +01:00
parent 3bee6e3a8b
commit b95e114160
2 changed files with 47 additions and 47 deletions
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78
src/xrt/auxiliary/math/m_base.cpp
View file

@ -23,7 +23,7 @@
*/ */
static inline Eigen::Quaternionf static inline Eigen::Quaternionf
copy(const struct xrt_quat& q) copy(const struct xrt_quat &q)
{ {
// Eigen constructor order is different from XRT, OpenHMD and OpenXR! // Eigen constructor order is different from XRT, OpenHMD and OpenXR!
// Eigen: `float w, x, y, z`. // Eigen: `float w, x, y, z`.
@ -32,19 +32,19 @@ copy(const struct xrt_quat& q)
} }
static inline Eigen::Quaternionf static inline Eigen::Quaternionf
copy(const struct xrt_quat* q) copy(const struct xrt_quat *q)
{ {
return copy(*q); return copy(*q);
} }
static inline Eigen::Vector3f static inline Eigen::Vector3f
copy(const struct xrt_vec3& v) copy(const struct xrt_vec3 &v)
{ {
return Eigen::Vector3f(v.x, v.y, v.z); return Eigen::Vector3f(v.x, v.y, v.z);
} }
static inline Eigen::Vector3f static inline Eigen::Vector3f
copy(const struct xrt_vec3* v) copy(const struct xrt_vec3 *v)
{ {
return copy(*v); return copy(*v);
} }
@ -57,7 +57,7 @@ copy(const struct xrt_vec3* v)
*/ */
extern "C" bool extern "C" bool
math_vec3_validate(const struct xrt_vec3* vec3) math_vec3_validate(const struct xrt_vec3 *vec3)
{ {
assert(vec3 != NULL); assert(vec3 != NULL);
@ -65,7 +65,7 @@ math_vec3_validate(const struct xrt_vec3* vec3)
} }
extern "C" void extern "C" void
math_vec3_accum(const struct xrt_vec3* additional, struct xrt_vec3* inAndOut) math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut)
{ {
assert(additional != NULL); assert(additional != NULL);
assert(inAndOut != NULL); assert(inAndOut != NULL);
@ -81,7 +81,7 @@ math_vec3_accum(const struct xrt_vec3* additional, struct xrt_vec3* inAndOut)
*/ */
extern "C" bool extern "C" bool
math_quat_validate(const struct xrt_quat* quat) math_quat_validate(const struct xrt_quat *quat)
{ {
assert(quat != NULL); assert(quat != NULL);
auto rot = copy(*quat); auto rot = copy(*quat);
@ -103,16 +103,16 @@ math_quat_validate(const struct xrt_quat* quat)
} }
extern "C" void extern "C" void
math_quat_normalize(struct xrt_quat* inout) math_quat_normalize(struct xrt_quat *inout)
{ {
assert(inout != NULL); assert(inout != NULL);
map_quat(*inout).normalize(); map_quat(*inout).normalize();
} }
extern "C" void extern "C" void
math_quat_rotate(const struct xrt_quat* left, math_quat_rotate(const struct xrt_quat *left,
const struct xrt_quat* right, const struct xrt_quat *right,
struct xrt_quat* result) struct xrt_quat *result)
{ {
assert(left != NULL); assert(left != NULL);
assert(right != NULL); assert(right != NULL);
@ -127,9 +127,9 @@ math_quat_rotate(const struct xrt_quat* left,
} }
extern "C" void extern "C" void
math_quat_rotate_vec3(const struct xrt_quat* left, math_quat_rotate_vec3(const struct xrt_quat *left,
const struct xrt_vec3* right, const struct xrt_vec3 *right,
struct xrt_vec3* result) struct xrt_vec3 *result)
{ {
assert(left != NULL); assert(left != NULL);
assert(right != NULL); assert(right != NULL);
@ -151,7 +151,7 @@ math_quat_rotate_vec3(const struct xrt_quat* left,
*/ */
extern "C" bool extern "C" bool
math_pose_validate(const struct xrt_pose* pose) math_pose_validate(const struct xrt_pose *pose)
{ {
assert(pose != NULL); assert(pose != NULL);
@ -160,7 +160,7 @@ math_pose_validate(const struct xrt_pose* pose)
} }
extern "C" void extern "C" void
math_pose_invert(const struct xrt_pose* pose, struct xrt_pose* outPose) math_pose_invert(const struct xrt_pose *pose, struct xrt_pose *outPose)
{ {
assert(pose != NULL); assert(pose != NULL);
assert(outPose != NULL); assert(outPose != NULL);
@ -179,7 +179,7 @@ math_pose_invert(const struct xrt_pose* pose, struct xrt_pose* outPose)
* Return the result of transforming a point by a pose/transform. * Return the result of transforming a point by a pose/transform.
*/ */
static inline Eigen::Vector3f static inline Eigen::Vector3f
transform_point(const xrt_pose& transform, const xrt_vec3& point) transform_point(const xrt_pose &transform, const xrt_vec3 &point)
{ {
return orientation(transform) * map_vec3(point) + position(transform); return orientation(transform) * map_vec3(point) + position(transform);
} }
@ -188,7 +188,7 @@ transform_point(const xrt_pose& transform, const xrt_vec3& point)
* Return the result of transforming a pose by a pose/transform. * Return the result of transforming a pose by a pose/transform.
*/ */
static inline xrt_pose static inline xrt_pose
transform_pose(const xrt_pose& transform, const xrt_pose& pose) transform_pose(const xrt_pose &transform, const xrt_pose &pose)
{ {
xrt_pose ret; xrt_pose ret;
position(ret) = transform_point(transform, pose.position); position(ret) = transform_point(transform, pose.position);
@ -197,9 +197,9 @@ transform_pose(const xrt_pose& transform, const xrt_pose& pose)
} }
extern "C" void extern "C" void
math_pose_transform(const struct xrt_pose* transform, math_pose_transform(const struct xrt_pose *transform,
const struct xrt_pose* pose, const struct xrt_pose *pose,
struct xrt_pose* outPose) struct xrt_pose *outPose)
{ {
assert(pose != NULL); assert(pose != NULL);
assert(transform != NULL); assert(transform != NULL);
@ -210,10 +210,10 @@ math_pose_transform(const struct xrt_pose* transform,
} }
extern "C" void extern "C" void
math_pose_openxr_locate(const struct xrt_pose* space_pose, math_pose_openxr_locate(const struct xrt_pose *space_pose,
const struct xrt_pose* relative_pose, const struct xrt_pose *relative_pose,
const struct xrt_pose* base_space_pose, const struct xrt_pose *base_space_pose,
struct xrt_pose* result) struct xrt_pose *result)
{ {
assert(space_pose != NULL); assert(space_pose != NULL);
assert(relative_pose != NULL); assert(relative_pose != NULL);
@ -245,9 +245,9 @@ math_pose_openxr_locate(const struct xrt_pose* space_pose,
* This is a differential transform. * This is a differential transform.
*/ */
static inline Eigen::Vector3f static inline Eigen::Vector3f
rotate_deriv(Eigen::Matrix3f const& rotation, rotate_deriv(Eigen::Matrix3f const &rotation,
const xrt_vec3& derivativeVector, const xrt_vec3 &derivativeVector,
Eigen::Matrix3f const& rotationInverse) Eigen::Matrix3f const &rotationInverse)
{ {
return ((rotation * map_vec3(derivativeVector)).transpose() * return ((rotation * map_vec3(derivativeVector)).transpose() *
rotationInverse) rotationInverse)
@ -287,8 +287,8 @@ MAKE_REL_FLAG_CHECK(has_some_derivative,
* Apply a transform to a space relation. * Apply a transform to a space relation.
*/ */
static inline void static inline void
transform_accumulate_pose(const xrt_pose& transform, transform_accumulate_pose(const xrt_pose &transform,
xrt_space_relation& relation, xrt_space_relation &relation,
bool do_translation = true, bool do_translation = true,
bool do_rotation = true) bool do_rotation = true)
{ {
@ -364,14 +364,14 @@ static const struct xrt_space_relation BLANK_RELATION = {
}; };
extern "C" void extern "C" void
math_relation_reset(struct xrt_space_relation* out) math_relation_reset(struct xrt_space_relation *out)
{ {
*out = BLANK_RELATION; *out = BLANK_RELATION;
} }
extern "C" void extern "C" void
math_relation_accumulate_transform(const struct xrt_pose* transform, math_relation_accumulate_transform(const struct xrt_pose *transform,
struct xrt_space_relation* in_out_relation) struct xrt_space_relation *in_out_relation)
{ {
assert(transform != nullptr); assert(transform != nullptr);
assert(in_out_relation != nullptr); assert(in_out_relation != nullptr);
@ -382,8 +382,8 @@ math_relation_accumulate_transform(const struct xrt_pose* transform,
extern "C" void extern "C" void
math_relation_accumulate_relation( math_relation_accumulate_relation(
const struct xrt_space_relation* additional_relation, const struct xrt_space_relation *additional_relation,
struct xrt_space_relation* in_out_relation) struct xrt_space_relation *in_out_relation)
{ {
assert(additional_relation != NULL); assert(additional_relation != NULL);
assert(in_out_relation != NULL); assert(in_out_relation != NULL);
@ -425,10 +425,10 @@ math_relation_accumulate_relation(
} }
extern "C" void extern "C" void
math_relation_openxr_locate(const struct xrt_pose* space_pose, math_relation_openxr_locate(const struct xrt_pose *space_pose,
const struct xrt_space_relation* relative_relation, const struct xrt_space_relation *relative_relation,
const struct xrt_pose* base_space_pose, const struct xrt_pose *base_space_pose,
struct xrt_space_relation* result) struct xrt_space_relation *result)
{ {
assert(space_pose != NULL); assert(space_pose != NULL);
assert(relative_relation != NULL); assert(relative_relation != NULL);

16
src/xrt/auxiliary/math/m_eigen_interop.h
View file

@ -25,7 +25,7 @@
* if it were a `const Eigen::Quaternionf&`. * if it were a `const Eigen::Quaternionf&`.
*/ */
static inline Eigen::Map<const Eigen::Quaternionf> static inline Eigen::Map<const Eigen::Quaternionf>
map_quat(const struct xrt_quat& q) map_quat(const struct xrt_quat &q)
{ {
return Eigen::Map<const Eigen::Quaternionf>{&q.x}; return Eigen::Map<const Eigen::Quaternionf>{&q.x};
} }
@ -38,7 +38,7 @@ map_quat(const struct xrt_quat& q)
* were a `Eigen::Quaternionf&`. * were a `Eigen::Quaternionf&`.
*/ */
static inline Eigen::Map<Eigen::Quaternionf> static inline Eigen::Map<Eigen::Quaternionf>
map_quat(struct xrt_quat& q) map_quat(struct xrt_quat &q)
{ {
return Eigen::Map<Eigen::Quaternionf>{&q.x}; return Eigen::Map<Eigen::Quaternionf>{&q.x};
} }
@ -51,7 +51,7 @@ map_quat(struct xrt_quat& q)
* if it were a `const Eigen::Vector3f&`. * if it were a `const Eigen::Vector3f&`.
*/ */
static inline Eigen::Map<const Eigen::Vector3f> static inline Eigen::Map<const Eigen::Vector3f>
map_vec3(const struct xrt_vec3& v) map_vec3(const struct xrt_vec3 &v)
{ {
return Eigen::Map<const Eigen::Vector3f>{&v.x}; return Eigen::Map<const Eigen::Vector3f>{&v.x};
} }
@ -64,7 +64,7 @@ map_vec3(const struct xrt_vec3& v)
* if it were a `Eigen::Vector3f&`. * if it were a `Eigen::Vector3f&`.
*/ */
static inline Eigen::Map<Eigen::Vector3f> static inline Eigen::Map<Eigen::Vector3f>
map_vec3(struct xrt_vec3& v) map_vec3(struct xrt_vec3 &v)
{ {
return Eigen::Map<Eigen::Vector3f>{&v.x}; return Eigen::Map<Eigen::Vector3f>{&v.x};
} }
@ -79,7 +79,7 @@ map_vec3(struct xrt_vec3& v)
* Return a Eigen type wrapping a pose's orientation (const). * Return a Eigen type wrapping a pose's orientation (const).
*/ */
static inline Eigen::Map<const Eigen::Quaternionf> static inline Eigen::Map<const Eigen::Quaternionf>
orientation(const struct xrt_pose& pose) orientation(const struct xrt_pose &pose)
{ {
return map_quat(pose.orientation); return map_quat(pose.orientation);
} }
@ -88,7 +88,7 @@ orientation(const struct xrt_pose& pose)
* Return a Eigen type wrapping a pose's orientation. * Return a Eigen type wrapping a pose's orientation.
*/ */
static inline Eigen::Map<Eigen::Quaternionf> static inline Eigen::Map<Eigen::Quaternionf>
orientation(struct xrt_pose& pose) orientation(struct xrt_pose &pose)
{ {
return map_quat(pose.orientation); return map_quat(pose.orientation);
} }
@ -97,7 +97,7 @@ orientation(struct xrt_pose& pose)
* Return a Eigen type wrapping a pose's position (const). * Return a Eigen type wrapping a pose's position (const).
*/ */
static inline Eigen::Map<const Eigen::Vector3f> static inline Eigen::Map<const Eigen::Vector3f>
position(const struct xrt_pose& pose) position(const struct xrt_pose &pose)
{ {
return map_vec3(pose.position); return map_vec3(pose.position);
} }
@ -106,7 +106,7 @@ position(const struct xrt_pose& pose)
* Return a Eigen type wrapping a pose's position. * Return a Eigen type wrapping a pose's position.
*/ */
static inline Eigen::Map<Eigen::Vector3f> static inline Eigen::Map<Eigen::Vector3f>
position(struct xrt_pose& pose) position(struct xrt_pose &pose)
{ {
return map_vec3(pose.position); return map_vec3(pose.position);
} }