From c9195f997f3e797f03ab90464e4158717198a167 Mon Sep 17 00:00:00 2001 From: skal Date: Sun, 8 Feb 2026 07:40:29 +0100 Subject: style: Apply clang-format to all source files --- src/3d/visual_debug.cc | 67 +++++++++++++++++++++++++++++--------------------- 1 file changed, 39 insertions(+), 28 deletions(-) (limited to 'src/3d/visual_debug.cc') 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& points, const vec3& color) { - if (points.size() < 2) return; +void VisualDebug::add_trajectory(const std::vector& 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); } -- cgit v1.2.3