Add .clang-format to user/, format user_composite

PiperOrigin-RevId: 958225464
Change-Id: Iad7eb52dbecf7585f98375c90863ca707c494590

src/user/.clang-format

@@ -0,0 +1,28 @@
+---
+BasedOnStyle:  Google
+Language:  Cpp
+ColumnLimit:  100
+IncludeBlocks: Preserve
+AlignArrayOfStructures: Left
+AlignConsecutiveAssignments:
+  Enabled:       true
+  AlignCompound: true
+  PadOperators:  true
+AlignConsecutiveDeclarations:
+  Enabled:  true
+AlignConsecutiveShortCaseStatements:
+  Enabled:  true
+AlignEscapedNewlines: LeftWithLastLine
+AlignTrailingComments:
+  Kind:  Always
+  OverEmptyLines:  2
+AllowAllArgumentsOnNextLine: false
+AllowShortBlocksOnASingleLine: Always
+AllowShortFunctionsOnASingleLine: Inline
+BreakBinaryOperations: RespectPrecedence
+BinPackArguments: false
+BinPackParameters: OnePerLine
+IndentPPDirectives: None
+MaxEmptyLinesToKeep: 2
+SortIncludes: false
+...

src/user/user_composite.cc

@@ -44,7 +44,6 @@ static bool comperr(char* error, const char* msg, int error_sz) {
 }
 
 
-
 // constructor
 mjCComposite::mjCComposite(void) {
   // common properties
@@ -77,16 +76,13 @@ mjCComposite::mjCComposite(void) {
   skingroup   = 0;
 
   // clear add flags
-  for (int i=0; i < mjNCOMPKINDS; i++) {
+  for (int i = 0; i < mjNCOMPKINDS; i++) { add[i] = false; }
-    add[i] = false;
-  }
 
   // clear internal
   dim = 0;
 }
 
 
-
 // create the array of default joint options, append new elements only for particles type
 bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
   for (int i = 0; i < mjNCOMPKINDS; i++) {
@@ -103,7 +99,6 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
 }
 
 
-
 // set defaults, after reading top-level info and skin
 void mjCComposite::SetDefault(void) {
   // set all default groups to 3
@@ -126,16 +121,13 @@ void mjCComposite::SetDefault(void) {
 }
 
 
-
 // make composite object
 bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
   mjCModel* model = (mjCModel*)spec->element;
 
   // check counts
   for (int i = 0; i < 3; i++) {
-    if (count[i] < 1) {
+    if (count[i] < 1) { return comperr(error, "Positive counts expected in composite", error_sz); }
-      return comperr(error, "Positive counts expected in composite", error_sz);
-    }
   }
 
   // check cable sizes are nonzero if vertices are not prescribed
@@ -159,9 +151,7 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
       first = true;
     } else {
       dim++;
-      if (first) {
+      if (first) { return comperr(error, "Singleton counts must come last", error_sz); }
-        return comperr(error, "Singleton counts must come last", error_sz);
-      }
     }
   }
 
@@ -239,12 +229,9 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
 }
 
 
-
 bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
   // check dim
-  if (dim != 1) {
+  if (dim != 1) { return comperr(error, "Cable must be one-dimensional", error_sz); }
-    return comperr(error, "Cable must be one-dimensional", error_sz);
-  }
 
   // check geom type
   if (def[0].spec.geom->type != mjGEOM_CYLINDER &&
@@ -313,9 +300,8 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
 }
 
 
-
+mjsBody* mjCComposite::AddCableBody(
-mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
+    mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]) {
-                                    double normal[3], double prev_quat[4]) {
   char   txt_geom[100], txt_site[100], txt_slide[100];
   char   this_body[100], next_body[100], this_joint[100];
   double dquat[4], this_quat[4];
@@ -328,17 +314,20 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
 
   // compute edge and tangent vectors
   double edge[3], tprev[3], tnext[3], length_prev = 0;
-  mjuu_setvec(edge, uservert[3*(ix+1)+0]-uservert[3*ix+0],
+  mjuu_setvec(edge,
+              uservert[3 * (ix + 1) + 0] - uservert[3 * ix + 0],
               uservert[3 * (ix + 1) + 1] - uservert[3 * ix + 1],
               uservert[3 * (ix + 1) + 2] - uservert[3 * ix + 2]);
   if (!first) {
-    mjuu_setvec(tprev, uservert[3*ix+0]-uservert[3*(ix-1)+0],
+    mjuu_setvec(tprev,
+                uservert[3 * ix + 0] - uservert[3 * (ix - 1) + 0],
                 uservert[3 * ix + 1] - uservert[3 * (ix - 1) + 1],
                 uservert[3 * ix + 2] - uservert[3 * (ix - 1) + 2]);
     length_prev = mjuu_normvec(tprev, 3);
   }
   if (!last) {
-    mjuu_setvec(tnext, uservert[3*(ix+2)+0]-uservert[3*(ix+1)+0],
+    mjuu_setvec(tnext,
+                uservert[3 * (ix + 2) + 0] - uservert[3 * (ix + 1) + 0],
                 uservert[3 * (ix + 2) + 1] - uservert[3 * (ix + 1) + 1],
                 uservert[3 * (ix + 2) + 2] - uservert[3 * (ix + 1) + 2]);
     mjuu_normvec(tnext, 3);
@@ -374,13 +363,12 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
   body = mjs_addBody(body, 0);
   mjs_setName(body->element, this_body);
   if (first) {
-    mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
+    mjuu_setvec(body->pos,
+                offset[0] + uservert[3 * ix],
                 offset[1] + uservert[3 * ix + 1],
                 offset[2] + uservert[3 * ix + 2]);
     mjuu_copyvec(body->quat, this_quat, 4);
-    if (frame) {
+    if (frame) { mjs_setFrame(body->element, frame); }
-      mjs_setFrame(body->element, frame);
-    }
   } else {
     mjuu_setvec(body->pos, length_prev, 0, 0);
     double negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
@@ -392,8 +380,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
   mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
   mjs_setDefault(geom->element, mjs_getDefault(body->element));
   mjs_setName(geom->element, txt_geom);
-  if (def[0].spec.geom->type == mjGEOM_CYLINDER ||
+  if (def[0].spec.geom->type == mjGEOM_CYLINDER || def[0].spec.geom->type == mjGEOM_CAPSULE) {
-      def[0].spec.geom->type == mjGEOM_CAPSULE) {
     mjuu_zerovec(geom->fromto, 6);
     geom->fromto[3] = length;
   } else if (def[0].spec.geom->type == mjGEOM_BOX) {
@@ -445,7 +432,6 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
 }
 
 
-
 // copy local vectors to skin
 void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
   mjs_setInt(skin->face, face.data(), face.size());
@@ -471,7 +457,6 @@ void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
 }
 
 
-
 // add skin to 2D
 void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
   char txt[100];
@@ -567,7 +552,6 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
 }
 
 
-
 // add bones to 1D
 void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
   char this_body[100];
@@ -591,15 +575,19 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
         bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
         bindpos.push_back(-def[0].spec.geom->size[1]);
         bindpos.push_back(0);
-        bindquat.push_back(1); bindquat.push_back(0);
+        bindquat.push_back(1);
-        bindquat.push_back(0); bindquat.push_back(0);
+        bindquat.push_back(0);
+        bindquat.push_back(0);
+        bindquat.push_back(0);
       } else {
         mjs_appendString(skin->bodyname, this_body);
         bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
         bindpos.push_back(def[0].spec.geom->size[1]);
         bindpos.push_back(0);
-        bindquat.push_back(1); bindquat.push_back(0);
+        bindquat.push_back(1);
-        bindquat.push_back(0); bindquat.push_back(0);
+        bindquat.push_back(0);
+        bindquat.push_back(0);
+        bindquat.push_back(0);
       }
 
       // create vertid and vertweight
@@ -610,7 +598,6 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
 }
 
 
-
 void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
   // populate bones
   for (int ix = 0; ix < count[0]; ix++) {
@@ -654,8 +641,8 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
 }
 
 
-
 //------------------------------------- subgrid matrices
+// clang-format off
 
 // C = W * [f; f_x; f_y; f_xy]
 static const mjtNum subW[16*16] = {
@@ -883,7 +870,7 @@ static const mjtNum subD22[] = {
   9, -1,    6, -1,    5, 1,    10, 1,    -1,
   9, -0.5,  2, -0.5,  1, 0.5,  10, 0.5,  -1
 };
-
+// clang-format on
 
 // add skin to 2D, with subgrid
 void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
@@ -1063,9 +1050,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
       int boneid[16];
       int cnt = 0;
       for (int dx = -1; dx < 3; dx++) {
-        for (int dy=-1; dy < 3; dy++) {
+        for (int dy = -1; dy < 3; dy++) { boneid[cnt++] = (ix + dx) * count[1] + (iy + dy); }
-          boneid[cnt++] = (ix+dx)*count[1] + (iy+dy);
-        }
       }
 
       // process subgrid, top-rigth owns last index
@@ -1100,4 +1085,3 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
   mju_free(Weight);
   mju_free(D);
 }
-