Specify clang-format option to always use left pointer alignment (UBC-Thunderbots#3678)

* Specify clang-format option to always use left pointer alignment

* Formatting

Author: nycrat

.clang-format

@@ -15,6 +15,7 @@ BreakBeforeBraces: Allman
 BreakStringLiterals: 'false'
 ColumnLimit: '90'
 Cpp11BracedListStyle: 'true'
+DerivePointerAlignment: 'false'
 IncludeBlocks: Regroup
 IndentCaseLabels: 'true'
 IndentWidth: '4'

src/extlibs/er_force_sim/src/amun/simulator/simball.cpp

@@ -225,9 +225,9 @@ void SimBall::begin(bool robot_collision)
 
 // samples a plane rotated towards the camera, sets p to the average position of
 // the visible points and returns the relative amount of visible pixels
-static float positionOfVisiblePixels(btVector3 &p, const btVector3 &simulatorBallPosition,
-                                     const btVector3 &simulatorCameraPosition,
-                                     const btCollisionWorld *const m_world)
+static float positionOfVisiblePixels(btVector3& p, const btVector3& simulatorBallPosition,
+                                     const btVector3& simulatorCameraPosition,
+                                     const btCollisionWorld* const m_world)
 {
     const float simulatorBallRadius =
         static_cast<float>(BALL_MAX_RADIUS_METERS) * SIMULATOR_SCALE;
@@ -299,8 +299,8 @@ static float positionOfVisiblePixels(btVector3 &p, const btVector3 &simulatorBal
     return static_cast<float>(cameraHitCounter) / static_cast<float>(maxHits);
 }
 
-bool SimBall::update(SSLProto::SSL_DetectionBall &ball, float stddev, float stddevArea,
-                     const btVector3 &cameraPosition, bool enableInvisibleBall,
+bool SimBall::update(SSLProto::SSL_DetectionBall& ball, float stddev, float stddevArea,
+                     const btVector3& cameraPosition, bool enableInvisibleBall,
                      float visibilityThreshold, btVector3 positionOffset)
 {
     btTransform transform;
@@ -311,8 +311,8 @@ bool SimBall::update(SSLProto::SSL_DetectionBall &ball, float stddev, float stdd
                         enableInvisibleBall, visibilityThreshold, positionOffset);
 }
 
-bool SimBall::addDetection(SSLProto::SSL_DetectionBall &ball, btVector3 pos, float stddev,
-                           float stddevArea, const btVector3 &cameraPosition,
+bool SimBall::addDetection(SSLProto::SSL_DetectionBall& ball, btVector3 pos, float stddev,
+                           float stddevArea, const btVector3& cameraPosition,
                            bool enableInvisibleBall, float visibilityThreshold,
                            btVector3 positionOffset)
 {
@@ -382,7 +382,7 @@ bool SimBall::addDetection(SSLProto::SSL_DetectionBall &ball, btVector3 pos, flo
     return true;
 }
 
-void SimBall::move(const sslsim::TeleportBall &ball)
+void SimBall::move(const sslsim::TeleportBall& ball)
 {
     m_move = ball;
 }
@@ -398,7 +398,7 @@ btVector3 SimBall::speed() const
     return m_body->getLinearVelocity();
 }
 
-void SimBall::writeBallState(world::SimBall &ball) const
+void SimBall::writeBallState(world::SimBall& ball) const
 {
     const btVector3 ballPosition =
         m_body->getWorldTransform().getOrigin() / SIMULATOR_SCALE;
@@ -415,7 +415,7 @@ void SimBall::writeBallState(world::SimBall &ball) const
     ball.set_angular_z(angularVelocity.z());
 }
 
-void SimBall::restoreState(const world::SimBall &ball)
+void SimBall::restoreState(const world::SimBall& ball)
 {
     btVector3 position(ball.p_x(), ball.p_y(), ball.p_z());
     m_body->getWorldTransform().setOrigin(position * SIMULATOR_SCALE);
@@ -440,7 +440,7 @@ bool SimBall::isInvalid() const
     return isNan || isBelowField;
 }
 
-void SimBall::kick(const btVector3 &power)
+void SimBall::kick(const btVector3& power)
 {
     m_body->activate();
     m_body->applyCentralForce(power);

src/extlibs/er_force_sim/src/amun/simulator/simball.h

@@ -52,13 +52,13 @@ class camun::simulator::SimBall
      */
     void begin(bool robot_collision);
 
-    bool update(SSLProto::SSL_DetectionBall &ball, float stddev, float stddevArea,
-                const btVector3 &cameraPosition, bool enableInvisibleBall,
+    bool update(SSLProto::SSL_DetectionBall& ball, float stddev, float stddevArea,
+                const btVector3& cameraPosition, bool enableInvisibleBall,
                 float visibilityThreshold, btVector3 positionOffset);
 
-    void move(const sslsim::TeleportBall &ball);
+    void move(const sslsim::TeleportBall& ball);
 
-    void kick(const btVector3 &power);
+    void kick(const btVector3& power);
 
     /**
      * Returns the ball's position projected onto the floor (z component is not included)
@@ -74,20 +74,20 @@ class camun::simulator::SimBall
      */
     btVector3 speed() const;
 
-    void writeBallState(world::SimBall &ball) const;
+    void writeBallState(world::SimBall& ball) const;
 
-    void restoreState(const world::SimBall &ball);
+    void restoreState(const world::SimBall& ball);
 
-    btRigidBody *body() const
+    btRigidBody* body() const
     {
         return m_body.get();
     }
 
     bool isInvalid() const;
 
     // can be used to add ball mis-detections
-    bool addDetection(SSLProto::SSL_DetectionBall &ball, btVector3 pos, float stddev,
-                      float stddevArea, const btVector3 &cameraPosition,
+    bool addDetection(SSLProto::SSL_DetectionBall& ball, btVector3 pos, float stddev,
+                      float stddevArea, const btVector3& cameraPosition,
                       bool enableInvisibleBall, float visibilityThreshold,
                       btVector3 positionOffset);
 

src/extlibs/er_force_sim/src/amun/simulator/simfield.cpp

@@ -25,7 +25,7 @@
 using namespace camun::simulator;
 
 SimField::SimField(std::shared_ptr<btDiscreteDynamicsWorld> world,
-                   const world::Geometry &geometry)
+                   const world::Geometry& geometry)
     : m_world(world)
 {
     const float totalWidth  = geometry.field_width() / 2.0f + geometry.boundary_width();
@@ -100,13 +100,13 @@ SimField::SimField(std::shared_ptr<btDiscreteDynamicsWorld> world,
 
 SimField::~SimField()
 {
-    for (const auto &object : m_objects)
+    for (const auto& object : m_objects)
     {
         m_world->removeCollisionObject(object.get());
     }
 }
 
-void SimField::addObject(btCollisionShape *shape, const btTransform &transform,
+void SimField::addObject(btCollisionShape* shape, const btTransform& transform,
                          float restitution, float friction)
 {
     std::unique_ptr<btCollisionObject> object = std::make_unique<btCollisionObject>();

src/extlibs/er_force_sim/src/amun/simulator/simfield.h

@@ -37,11 +37,11 @@ class camun::simulator::SimField
 {
    public:
     SimField(std::shared_ptr<btDiscreteDynamicsWorld> world,
-             const world::Geometry &geometry);
+             const world::Geometry& geometry);
     ~SimField();
 
    private:
-    void addObject(btCollisionShape *shape, const btTransform &transform,
+    void addObject(btCollisionShape* shape, const btTransform& transform,
                    float restitution, float friction);
 
    private:

src/extlibs/er_force_sim/src/amun/simulator/simrobot.cpp

@@ -31,8 +31,8 @@ using namespace camun::simulator;
 
 const float MAX_SPEED = 1000;
 
-SimRobot::SimRobot(const robot::Specs &specs,
-                   std::shared_ptr<btDiscreteDynamicsWorld> world, const btVector3 &pos,
+SimRobot::SimRobot(const robot::Specs& specs,
+                   std::shared_ptr<btDiscreteDynamicsWorld> world, const btVector3& pos,
                    float dir)
     : m_specs(specs),
       m_world(world),
@@ -54,11 +54,11 @@ SimRobot::SimRobot(const robot::Specs &specs,
         createRobotMesh(m_specs.radius() - COLLISION_MARGIN / SIMULATOR_SCALE,
                         m_specs.height() - 2 * COLLISION_MARGIN / SIMULATOR_SCALE,
                         m_specs.angle(), 0.04f, m_specs.dribbler_height() + 0.02f);
-    for (const auto &hullPart : mesh)
+    for (const auto& hullPart : mesh)
     {
         std::unique_ptr<btConvexHullShape> hullPartShape =
             std::make_unique<btConvexHullShape>();
-        for (const auto &[x, y, z] : hullPart)
+        for (const auto& [x, y, z] : hullPart)
         {
             hullPartShape->addPoint(btVector3(x, y, z) * SIMULATOR_SCALE);
         }
@@ -158,7 +158,7 @@ void SimRobot::calculateDribblerMove(const btVector3 pos, const btQuaternion rot
     m_dribblerBody->setAngularVelocity(btVector3(0, 0, 0));
 }
 
-void SimRobot::dribble(const SimBall &ball, float speed)
+void SimRobot::dribble(const SimBall& ball, float speed)
 {
     if (m_perfectDribbler)
     {
@@ -210,7 +210,7 @@ void SimRobot::setDribbleMode(bool perfectDribbler)
     m_perfectDribbler = perfectDribbler;
 }
 
-void SimRobot::begin(SimBall &ball, double time)
+void SimRobot::begin(SimBall& ball, double time)
 {
     m_commandTime += time;
     m_inStandby = false;
@@ -235,7 +235,7 @@ void SimRobot::begin(SimBall &ball, double time)
         stopDribbling();
     }
 
-    auto sendPartialCoordError = [this](const std::string &msg)
+    auto sendPartialCoordError = [this](const std::string& msg)
     {
         std::cerr << "Partial coordinates are not implemented yet" << msg << std::endl;
         if (!m_move.has_by_force() || !m_move.by_force())
@@ -335,7 +335,7 @@ void SimRobot::begin(SimBall &ball, double time)
             }
             else
             {
-                const auto &transform = m_body->getWorldTransform();
+                const auto& transform = m_body->getWorldTransform();
                 rot                   = transform.getRotation();
                 pos                   = transform.getOrigin();
             }
@@ -543,7 +543,7 @@ float SimRobot::bound(float acceleration, float oldSpeed, float speedupLimit,
     }
 }
 
-btVector3 SimRobot::relativeBallSpeed(const SimBall &ball) const
+btVector3 SimRobot::relativeBallSpeed(const SimBall& ball) const
 {
     btTransform t             = m_body->getWorldTransform();
     const btVector3 ballSpeed = ball.speed();
@@ -554,7 +554,7 @@ btVector3 SimRobot::relativeBallSpeed(const SimBall &ball) const
     return diff;
 }
 
-bool SimRobot::canKickBall(const SimBall &ball) const
+bool SimRobot::canKickBall(const SimBall& ball) const
 {
     const btVector3 ballPos = ball.position();
     // can't kick jumping ball
@@ -572,17 +572,17 @@ bool SimRobot::canKickBall(const SimBall &ball) const
     int numManifolds = m_world->getDispatcher()->getNumManifolds();
     for (int i = 0; i < numManifolds; ++i)
     {
-        btPersistentManifold *contactManifold =
+        btPersistentManifold* contactManifold =
             m_world->getDispatcher()->getManifoldByIndexInternal(i);
-        btCollisionObject *objectA = (btCollisionObject *)(contactManifold->getBody0());
-        btCollisionObject *objectB = (btCollisionObject *)(contactManifold->getBody1());
+        btCollisionObject* objectA = (btCollisionObject*)(contactManifold->getBody0());
+        btCollisionObject* objectB = (btCollisionObject*)(contactManifold->getBody1());
         if ((objectA == m_dribblerBody.get() && objectB == ball.body()) ||
             (objectA == ball.body() && objectB == m_dribblerBody.get()))
         {
             int numContacts = contactManifold->getNumContacts();
             for (int j = 0; j < numContacts; ++j)
             {
-                btManifoldPoint &pt = contactManifold->getContactPoint(j);
+                btManifoldPoint& pt = contactManifold->getContactPoint(j);
                 if (pt.getDistance() < 0.001f * SIMULATOR_SCALE)
                 {
                     return true;
@@ -593,8 +593,8 @@ bool SimRobot::canKickBall(const SimBall &ball) const
     return false;
 }
 
-robot::RadioResponse SimRobot::setCommand(const SSLSimulationProto::RobotCommand &command,
-                                          const SimBall &ball, bool charge, float rxLoss,
+robot::RadioResponse SimRobot::setCommand(const SSLSimulationProto::RobotCommand& command,
+                                          const SimBall& ball, bool charge, float rxLoss,
                                           float txLoss)
 {
     m_sslCommand  = command;
@@ -619,15 +619,15 @@ robot::RadioResponse SimRobot::setCommand(const SSLSimulationProto::RobotCommand
     float v_s   = v_local.x() / SIMULATOR_SCALE;
     float omega = m_body->getAngularVelocity().z();
 
-    robot::SpeedStatus *speedStatus = response.mutable_estimated_speed();
+    robot::SpeedStatus* speedStatus = response.mutable_estimated_speed();
     speedStatus->set_v_f(v_f);
     speedStatus->set_v_s(v_s);
     speedStatus->set_omega(omega);
 
     return response;
 }
 
-void SimRobot::update(SSLProto::SSL_DetectionRobot &robot, float stddev_p,
+void SimRobot::update(SSLProto::SSL_DetectionRobot& robot, float stddev_p,
                       float stddev_phi, int64_t time, btVector3 positionOffset)
 {
     // setup vision packet
@@ -651,7 +651,7 @@ void SimRobot::update(SSLProto::SSL_DetectionRobot &robot, float stddev_p,
     m_lastSendTime = time;
 }
 
-bool SimRobot::touchesBall(const SimBall &ball) const
+bool SimRobot::touchesBall(const SimBall& ball) const
 {
     // for some reason btHingeConstraints, which is used when dribbling, are not always
     // detected as contact by bullet. so if the ball is being dribbled then we assume it
@@ -666,12 +666,12 @@ bool SimRobot::touchesBall(const SimBall &ball) const
     int num_manifolds = m_world->getDispatcher()->getNumManifolds();
     for (int i = 0; i < num_manifolds; ++i)
     {
-        btPersistentManifold *contact_manifold =
+        btPersistentManifold* contact_manifold =
             m_world->getDispatcher()->getManifoldByIndexInternal(i);
 
         // determine if the two objects are the ball and robot body/dribbler
-        btCollisionObject *objectA = (btCollisionObject *)(contact_manifold->getBody0());
-        btCollisionObject *objectB = (btCollisionObject *)(contact_manifold->getBody1());
+        btCollisionObject* objectA = (btCollisionObject*)(contact_manifold->getBody0());
+        btCollisionObject* objectB = (btCollisionObject*)(contact_manifold->getBody1());
         if ((objectA == m_dribblerBody.get() && objectB == ball.body()) ||
             (objectA == ball.body() && objectB == m_dribblerBody.get()) ||
             (objectA == m_body.get() && objectB == ball.body()) ||
@@ -681,7 +681,7 @@ bool SimRobot::touchesBall(const SimBall &ball) const
             int num_contacts = contact_manifold->getNumContacts();
             for (int j = 0; j < num_contacts; ++j)
             {
-                btManifoldPoint &pt = contact_manifold->getContactPoint(j);
+                btManifoldPoint& pt = contact_manifold->getContactPoint(j);
                 if (pt.getDistance() < 0.001f * SIMULATOR_SCALE)
                 {
                     return true;
@@ -693,7 +693,7 @@ bool SimRobot::touchesBall(const SimBall &ball) const
     return false;
 }
 
-void SimRobot::update(world::SimRobot &robot, const SimBall &ball) const
+void SimRobot::update(world::SimRobot& robot, const SimBall& ball) const
 {
     btTransform transform;
     m_motionState->getWorldTransform(transform);
@@ -704,7 +704,7 @@ void SimRobot::update(world::SimRobot &robot, const SimBall &ball) const
     robot.set_id(m_specs.id());
 
     const btQuaternion q = transform.getRotation();
-    auto *rotation       = robot.mutable_rotation();
+    auto* rotation       = robot.mutable_rotation();
     rotation->set_real(q.getX());
     rotation->set_i(q.getY());
     rotation->set_j(q.getZ());
@@ -731,10 +731,10 @@ void SimRobot::update(world::SimRobot &robot, const SimBall &ball) const
     int numManifolds      = m_world->getDispatcher()->getNumManifolds();
     for (int i = 0; i < numManifolds; ++i)
     {
-        btPersistentManifold *contactManifold =
+        btPersistentManifold* contactManifold =
             m_world->getDispatcher()->getManifoldByIndexInternal(i);
-        btCollisionObject *objectA = (btCollisionObject *)(contactManifold->getBody0());
-        btCollisionObject *objectB = (btCollisionObject *)(contactManifold->getBody1());
+        btCollisionObject* objectA = (btCollisionObject*)(contactManifold->getBody0());
+        btCollisionObject* objectB = (btCollisionObject*)(contactManifold->getBody1());
         if ((objectA == m_dribblerBody.get() && objectB == ball.body()) ||
             (objectA == ball.body() && objectB == m_dribblerBody.get()) ||
             (objectA == m_body.get() && objectB == ball.body()) ||
@@ -746,7 +746,7 @@ void SimRobot::update(world::SimRobot &robot, const SimBall &ball) const
     robot.set_touches_ball(ballTouchesRobot);
 }
 
-void SimRobot::restoreState(const world::SimRobot &robot)
+void SimRobot::restoreState(const world::SimRobot& robot)
 {
     btVector3 position(robot.p_x(), robot.p_y(), robot.p_z());
     m_body->getWorldTransform().setOrigin(position * SIMULATOR_SCALE);
@@ -759,7 +759,7 @@ void SimRobot::restoreState(const world::SimRobot &robot)
     m_body->setAngularVelocity(angular);
 }
 
-void SimRobot::move(const sslsim::TeleportRobot &robot)
+void SimRobot::move(const sslsim::TeleportRobot& robot)
 {
     m_move = robot;
 }