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astyle on the library.

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This commit is contained in:
Ryan Pavlik
2012-12-10 14:13:58 -06:00
parent 82080f9f37
commit a86f33afa5
23 changed files with 1168 additions and 1056 deletions
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77
src/dynamics.c
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@@ -77,12 +77,21 @@ void calculate_orientation(struct accel_t* ac, struct vec3b_t* accel, struct ori
z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
/* make sure x,y,z are between -1 and 1 for the tan functions */
if (x < -1.0f) x = -1.0f;
else if (x > 1.0f) x = 1.0f;
if (y < -1.0f) y = -1.0f;
else if (y > 1.0f) y = 1.0f;
if (z < -1.0f) z = -1.0f;
else if (z > 1.0f) z = 1.0f;
if (x < -1.0f) {
x = -1.0f;
} else if (x > 1.0f) {
x = 1.0f;
}
if (y < -1.0f) {
y = -1.0f;
} else if (y > 1.0f) {
y = 1.0f;
}
if (z < -1.0f) {
z = -1.0f;
} else if (z > 1.0f) {
z = 1.0f;
}
/* if it is over 1g then it is probably accelerating and not reliable */
if (abs(accel->x - ac->cal_zero.x) <= ac->cal_g.x) {
@@ -180,39 +189,39 @@ void calc_joystick_state(struct joystick_t* js, float x, float y) {
void apply_smoothing(struct accel_t* ac, struct orient_t* orient, int type) {
switch (type) {
case SMOOTH_ROLL:
{
/* it's possible last iteration was nan or inf, so set it to 0 if that happened */
if (isnan(ac->st_roll) || isinf(ac->st_roll))
ac->st_roll = 0.0f;
case SMOOTH_ROLL: {
/* it's possible last iteration was nan or inf, so set it to 0 if that happened */
if (isnan(ac->st_roll) || isinf(ac->st_roll)) {
ac->st_roll = 0.0f;
}
/*
* If the sign changes (which will happen if going from -180 to 180)
* or from (-1 to 1) then don't smooth, just use the new angle.
*/
if (((ac->st_roll < 0) && (orient->roll > 0)) || ((ac->st_roll > 0) && (orient->roll < 0))) {
ac->st_roll = orient->roll;
} else {
orient->roll = ac->st_roll + (ac->st_alpha * (orient->a_roll - ac->st_roll));
ac->st_roll = orient->roll;
/*
* If the sign changes (which will happen if going from -180 to 180)
* or from (-1 to 1) then don't smooth, just use the new angle.
*/
if (((ac->st_roll < 0) && (orient->roll > 0)) || ((ac->st_roll > 0) && (orient->roll < 0))) {
ac->st_roll = orient->roll;
} else {
orient->roll = ac->st_roll + (ac->st_alpha * (orient->a_roll - ac->st_roll));
ac->st_roll = orient->roll;
}
return;
}
return;
}
case SMOOTH_PITCH: {
if (isnan(ac->st_pitch) || isinf(ac->st_pitch)) {
ac->st_pitch = 0.0f;
}
case SMOOTH_PITCH:
{
if (isnan(ac->st_pitch) || isinf(ac->st_pitch))
ac->st_pitch = 0.0f;
if (((ac->st_pitch < 0) && (orient->pitch > 0)) || ((ac->st_pitch > 0) && (orient->pitch < 0))) {
ac->st_pitch = orient->pitch;
} else {
orient->pitch = ac->st_pitch + (ac->st_alpha * (orient->a_pitch - ac->st_pitch));
ac->st_pitch = orient->pitch;
}
if (((ac->st_pitch < 0) && (orient->pitch > 0)) || ((ac->st_pitch > 0) && (orient->pitch < 0))) {
ac->st_pitch = orient->pitch;
} else {
orient->pitch = ac->st_pitch + (ac->st_alpha * (orient->a_pitch - ac->st_pitch));
ac->st_pitch = orient->pitch;
return;
}
return;
}
}
}