From 4e1ada6250bcee7e839d38e68bec5966cc67108a Mon Sep 17 00:00:00 2001
From: Andrew Wilson <andx_roo@live.com>
Date: Sat, 5 Feb 2022 11:02:17 -0500
Subject: [PATCH] STYLE: Uncrustify
---
Source/Controllers/imstkRigidObjectController.cpp | 10 +++++-----
Source/Controllers/imstkRigidObjectController.h | 4 ++--
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/Source/Controllers/imstkRigidObjectController.cpp b/Source/Controllers/imstkRigidObjectController.cpp
index ad35d45ea..5c73de577 100644
--- a/Source/Controllers/imstkRigidObjectController.cpp
+++ b/Source/Controllers/imstkRigidObjectController.cpp
@@ -75,15 +75,15 @@ RigidObjectController::update(const double dt)
const Vec3d& devicePos = getPosition();
const Quatd& deviceOrientation = getOrientation();
- const Vec3d& deviceOffset = Vec3d(0.0, 0.0, 0.0);
+ const Vec3d& deviceOffset = Vec3d(0.0, 0.0, 0.0);
// If using critical damping automatically compute kd
if (m_useCriticalDamping)
{
- const double mass = m_rigidObject->getRigidBody()->getMass();
+ const double mass = m_rigidObject->getRigidBody()->getMass();
const double linearKs = m_linearKs.maxCoeff();
m_linearKd = 2.0 * std::sqrt(mass * linearKs);
-
+
const Mat3d inertia = m_rigidObject->getRigidBody()->getIntertiaTensor();
// Currently kd is not a 3d vector though it could be.
// So here we make an approximation. Either:
@@ -92,10 +92,10 @@ RigidObjectController::update(const double dt)
// Both may behave weird on anistropic inertia tensors
//const double inertiaScale = inertia.eigenvalues().real().maxCoeff();
const double inertiaScale = std::cbrt(inertia.determinant());
- const double angularKs = m_angularKs.maxCoeff();
+ const double angularKs = m_angularKs.maxCoeff();
m_angularKd = 2.0 * std::sqrt(inertiaScale * angularKs);
}
-
+
// If kd > 2 * sqrt(mass * ks); The system is overdamped (may be intentional)
// If kd < 2 * sqrt(mass * ks); The system is underdamped (never intended)
diff --git a/Source/Controllers/imstkRigidObjectController.h b/Source/Controllers/imstkRigidObjectController.h
index 201c54814..d483f623f 100644
--- a/Source/Controllers/imstkRigidObjectController.h
+++ b/Source/Controllers/imstkRigidObjectController.h
@@ -174,8 +174,8 @@ protected:
Vec3d m_tS = Vec3d::Zero();
Vec3d m_tD = Vec3d::Zero();
- double m_forceScaling = 0.0000075;
- bool m_useSpring = true; ///> If off, pos & orientation directly set
+ double m_forceScaling = 0.0000075;
+ bool m_useSpring = true; ///> If off, pos & orientation directly set
bool m_useCriticalDamping = true; ///> If on, kd is automatically computed
bool m_forceSmoothening = true;
--
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