style: Apply clang-format to all source files

1 files changed, 39 insertions, 28 deletions

diff --git a/src/3d/visual_debug.cc b/src/3d/visual_debug.cc
index 78c751b..35ab60d 100644
--- a/src/3d/visual_debug.cc
+++ b/src/3d/visual_debug.cc
@@ -215,25 +215,28 @@ void VisualDebug::add_mesh_normals(const mat4& transform, uint32_t num_vertices,
 
     vec4 p_world = transform * vec4(v.p[0], v.p[1], v.p[2], 1.0f);
     vec3 n_object = vec3(v.n[0], v.n[1], v.n[2]);
-    vec4 n_world_h = normal_matrix * vec4(n_object.x, n_object.y, n_object.z, 0.0f);
+    vec4 n_world_h =
+        normal_matrix * vec4(n_object.x, n_object.y, n_object.z, 0.0f);
     vec3 n_world = n_world_h.xyz().normalize();
 
-    lines_.push_back(
-        {p_world.xyz(), p_world.xyz() + n_world * 0.1f, // 0.1 is the length
-         {0.0f, 1.0f, 1.0f}                             // Cyan color
-        });
+    lines_.push_back({
+        p_world.xyz(),
+        p_world.xyz() + n_world * 0.1f, // 0.1 is the length
+        {0.0f, 1.0f, 1.0f}              // Cyan color
+    });
   }
 }
 
-void VisualDebug::add_mesh_wireframe(const mat4& transform, uint32_t num_vertices,
-                                     const MeshVertex* vertices, uint32_t num_indices,
-                                     const uint32_t* indices, const vec3& color) {
+void VisualDebug::add_mesh_wireframe(
+    const mat4& transform, uint32_t num_vertices, const MeshVertex* vertices,
+    uint32_t num_indices, const uint32_t* indices, const vec3& color) {
   if (!vertices || !indices || num_indices == 0)
     return;
 
   for (uint32_t i = 0; i < num_indices; i += 3) {
-    if (i + 2 >= num_indices) break;
-    
+    if (i + 2 >= num_indices)
+      break;
+
     uint32_t idx0 = indices[i];
     uint32_t idx1 = indices[i + 1];
     uint32_t idx2 = indices[i + 2];
@@ -241,9 +244,12 @@ void VisualDebug::add_mesh_wireframe(const mat4& transform, uint32_t num_vertice
     if (idx0 >= num_vertices || idx1 >= num_vertices || idx2 >= num_vertices)
       continue;
 
-    vec4 p0_world = transform * vec4(vertices[idx0].p[0], vertices[idx0].p[1], vertices[idx0].p[2], 1.0f);
-    vec4 p1_world = transform * vec4(vertices[idx1].p[0], vertices[idx1].p[1], vertices[idx1].p[2], 1.0f);
-    vec4 p2_world = transform * vec4(vertices[idx2].p[0], vertices[idx2].p[1], vertices[idx2].p[2], 1.0f);
+    vec4 p0_world = transform * vec4(vertices[idx0].p[0], vertices[idx0].p[1],
+                                     vertices[idx0].p[2], 1.0f);
+    vec4 p1_world = transform * vec4(vertices[idx1].p[0], vertices[idx1].p[1],
+                                     vertices[idx1].p[2], 1.0f);
+    vec4 p2_world = transform * vec4(vertices[idx2].p[0], vertices[idx2].p[1],
+                                     vertices[idx2].p[2], 1.0f);
 
     add_line(p0_world.xyz(), p1_world.xyz(), color);
     add_line(p1_world.xyz(), p2_world.xyz(), color);
@@ -251,7 +257,8 @@ void VisualDebug::add_mesh_wireframe(const mat4& transform, uint32_t num_vertice
   }
 }
 
-void VisualDebug::add_line(const vec3& start, const vec3& end, const vec3& color) {
+void VisualDebug::add_line(const vec3& start, const vec3& end,
+                           const vec3& color) {
   lines_.push_back({start, end, color});
 }
 
@@ -262,7 +269,8 @@ void VisualDebug::add_cross(const vec3& center, float size, const vec3& color) {
   add_line(center - vec3(0, 0, s), center + vec3(0, 0, s), color);
 }
 
-void VisualDebug::add_sphere(const vec3& center, float radius, const vec3& color) {
+void VisualDebug::add_sphere(const vec3& center, float radius,
+                             const vec3& color) {
   const int kSegments = 16;
   const float kStep = 6.2831853f / kSegments;
 
@@ -272,14 +280,14 @@ void VisualDebug::add_sphere(const vec3& center, float radius, const vec3& color
       float a2 = (i + 1) * kStep;
       vec3 p1 = center;
       vec3 p2 = center;
-      
+
       // axis mapping: 0=x, 1=y, 2=z
       p1[axis1] += std::cos(a1) * radius;
       p1[axis2] += std::sin(a1) * radius;
-      
+
       p2[axis1] += std::cos(a2) * radius;
       p2[axis2] += std::sin(a2) * radius;
-      
+
       add_line(p1, p2, color);
     }
   };
@@ -289,30 +297,31 @@ void VisualDebug::add_sphere(const vec3& center, float radius, const vec3& color
   draw_circle(1, 2); // YZ
 }
 
-void VisualDebug::add_cone(const vec3& apex, const vec3& dir, float height, float radius, const vec3& color) {
+void VisualDebug::add_cone(const vec3& apex, const vec3& dir, float height,
+                           float radius, const vec3& color) {
   vec3 d = dir.normalize();
   vec3 base_center = apex + d * height;
-  
+
   // Rotation to align (0, 1, 0) with d
   quat q = quat::from_to(vec3(0, 1, 0), d);
-  
+
   const int kSegments = 16;
   const float kStep = 6.2831853f / kSegments;
-  
+
   for (int i = 0; i < kSegments; ++i) {
     float a1 = i * kStep;
     float a2 = (i + 1) * kStep;
-    
+
     // Circle points in XZ plane (local space, y=0)
     vec3 p1_local(std::cos(a1) * radius, 0, std::sin(a1) * radius);
     vec3 p2_local(std::cos(a2) * radius, 0, std::sin(a2) * radius);
-    
+
     // Rotate and translate to base_center
     vec3 p1 = base_center + q.rotate(p1_local);
     vec3 p2 = base_center + q.rotate(p2_local);
-    
+
     add_line(p1, p2, color); // Base circle
-    
+
     // Connect to apex (draw every 4th segment to avoid clutter)
     if (i % 4 == 0) {
       add_line(apex, p1, color);
@@ -320,8 +329,10 @@ void VisualDebug::add_cone(const vec3& apex, const vec3& dir, float height, floa
   }
 }
 
-void VisualDebug::add_trajectory(const std::vector<vec3>& points, const vec3& color) {
-  if (points.size() < 2) return;
+void VisualDebug::add_trajectory(const std::vector<vec3>& points,
+                                 const vec3& color) {
+  if (points.size() < 2)
+    return;
   for (size_t i = 0; i < points.size() - 1; ++i) {
     add_line(points[i], points[i + 1], color);
   }