Remove trailing whitespaces and duplicated blank lines1.2.0

1 files changed, 25 insertions, 264 deletions

diff --git a/src/PhysicsMath.h b/src/PhysicsMath.h
index 99ef76f..758931b 100644
--- a/src/PhysicsMath.h
+++ b/src/PhysicsMath.h
@@ -2,33 +2,23 @@
 
 #define _PHYSICSMATH_H_
 
-
-
 #include <cmath>
 
 #include "Quaternions.h"
 
-
-
 //------------------------------------------------------------------------//
 
 // Misc. Constants
 
 //------------------------------------------------------------------------//
 
-
-
 float	const	pi	= 3.14159265f;
 
 float	const	g	= -32.174f;		// acceleration due to gravity, ft/s^2
 
 float	const	rho = 0.0023769f;	// desity of air at sea level, slugs/ft^3
 
-float	const	tol = 0.0000000001f;		// float type tolerance 
-
-
-
-
+float	const	tol = 0.0000000001f;		// float type tolerance
 
 //------------------------------------------------------------------------//
 
@@ -40,28 +30,20 @@ inline	float	DegreesToRadians(float deg);
 
 inline	float	RadiansToDegrees(float rad);
 
-
-
 inline	float	DegreesToRadians(float deg)
 
 {
-
 	return deg * pi / 180.0f;
-
 }
 
-
-
 inline	float	RadiansToDegrees(float rad)
 
-{	
+{
 
 	return rad * 180.0f / pi;
 
 }
 
-
-
 //------------------------------------------------------------------------//
 
 // Vector Class and vector functions
@@ -78,22 +60,16 @@ public:
 
 	float z;
 
-
-
 	Vector(void);
 
 	Vector(float xi, float yi, float zi);
 
-
-
 	float Magnitude(void);
 
 	void  Normalize(void);
 
 	void  Reverse(void);
 
-
-
 	Vector& operator+=(Vector u);	// vector addition
 
 	Vector& operator-=(Vector u);	// vector subtraction
@@ -102,16 +78,10 @@ public:
 
 	Vector& operator/=(float s);	// scalar divide
 
-
-
 	Vector operator-(void);
 
-
-
 };
 
-
-
 inline	Vector operator+(Vector u, Vector v);
 
 inline	Vector operator-(Vector u, Vector v);
@@ -128,8 +98,6 @@ inline	Vector operator/(Vector u, float s);
 
 inline	float TripleScalarProduct(Vector u, Vector v, Vector w);
 
-
-
 inline Vector::Vector(void)
 
 {
@@ -142,8 +110,6 @@ inline Vector::Vector(void)
 
 }
 
-
-
 inline Vector::Vector(float xi, float yi, float zi)
 
 {
@@ -156,8 +122,6 @@ inline Vector::Vector(float xi, float yi, float zi)
 
 }
 
-
-
 inline	float Vector::Magnitude(void)
 
 {
@@ -166,8 +130,6 @@ inline	float Vector::Magnitude(void)
 
 }
 
-
-
 inline	void  Vector::Normalize(void)
 
 {
@@ -180,9 +142,7 @@ inline	void  Vector::Normalize(void)
 
 	y /= m;
 
-	z /= m;	
-
-
+	z /= m;
 
 	if (fabs(x) < tol) x = 0.0f;
 
@@ -192,8 +152,6 @@ inline	void  Vector::Normalize(void)
 
 }
 
-
-
 inline	void  Vector::Reverse(void)
 
 {
@@ -206,8 +164,6 @@ inline	void  Vector::Reverse(void)
 
 }
 
-
-
 inline Vector& Vector::operator+=(Vector u)
 
 {
@@ -222,8 +178,6 @@ inline Vector& Vector::operator+=(Vector u)
 
 }
 
-
-
 inline	Vector& Vector::operator-=(Vector u)
 
 {
@@ -238,8 +192,6 @@ inline	Vector& Vector::operator-=(Vector u)
 
 }
 
-
-
 inline	Vector& Vector::operator*=(float s)
 
 {
@@ -254,8 +206,6 @@ inline	Vector& Vector::operator*=(float s)
 
 }
 
-
-
 inline	Vector& Vector::operator/=(float s)
 
 {
@@ -270,8 +220,6 @@ inline	Vector& Vector::operator/=(float s)
 
 }
 
-
-
 inline	Vector Vector::operator-(void)
 
 {
@@ -280,10 +228,6 @@ inline	Vector Vector::operator-(void)
 
 }
 
-
-
-
-
 inline	Vector operator+(Vector u, Vector v)
 
 {
@@ -292,8 +236,6 @@ inline	Vector operator+(Vector u, Vector v)
 
 }
 
-
-
 inline	Vector operator-(Vector u, Vector v)
 
 {
@@ -302,8 +244,6 @@ inline	Vector operator-(Vector u, Vector v)
 
 }
 
-
-
 // Vector cross product (u cross v)
 
 inline	Vector operator^(Vector u, Vector v)
@@ -318,8 +258,6 @@ inline	Vector operator^(Vector u, Vector v)
 
 }
 
-
-
 // Vector dot product
 
 inline	float operator*(Vector u, Vector v)
@@ -330,8 +268,6 @@ inline	float operator*(Vector u, Vector v)
 
 }
 
-
-
 inline	Vector operator*(float s, Vector u)
 
 {
@@ -340,8 +276,6 @@ inline	Vector operator*(float s, Vector u)
 
 }
 
-
-
 inline	Vector operator*(Vector u, float s)
 
 {
@@ -350,8 +284,6 @@ inline	Vector operator*(Vector u, float s)
 
 }
 
-
-
 inline	Vector operator/(Vector u, float s)
 
 {
@@ -360,8 +292,6 @@ inline	Vector operator/(Vector u, float s)
 
 }
 
-
-
 // triple scalar product (u dot (v cross w))
 
 inline	float TripleScalarProduct(Vector u, Vector v, Vector w)
@@ -376,52 +306,36 @@ inline	float TripleScalarProduct(Vector u, Vector v, Vector w)
 
 	//return u*(v^w);
 
-
-
 }
 
-
-
-
-
-
-
 //------------------------------------------------------------------------//
 
 // Matrix Class and matrix functions
 
 //------------------------------------------------------------------------//
 
-
-
 class Matrix3x3 {
 
 public:
 
 	// elements eij: i -> row, j -> column
 
-	float	e11, e12, e13, e21, e22, e23, e31, e32, e33;	
-
-
+	float	e11, e12, e13, e21, e22, e23, e31, e32, e33;
 
 	Matrix3x3(void);
 
-	Matrix3x3(	float r1c1, float r1c2, float r1c3, 
+	Matrix3x3(	float r1c1, float r1c2, float r1c3,
 
-				float r2c1, float r2c2, float r2c3, 
+				float r2c1, float r2c2, float r2c3,
 
 				float r3c1, float r3c2, float r3c3 );
 
-
-
 	float	det(void);
 
 	Matrix3x3	Transpose(void);
 
 	Matrix3x3	Inverse(void);
 
-
-
 	Matrix3x3& operator+=(Matrix3x3 m);
 
 	Matrix3x3& operator-=(Matrix3x3 m);
@@ -432,8 +346,6 @@ public:
 
 };
 
-
-
 inline	Matrix3x3 operator+(Matrix3x3 m1, Matrix3x3 m2);
 
 inline	Matrix3x3 operator-(Matrix3x3 m1, Matrix3x3 m2);
@@ -450,16 +362,6 @@ inline	Vector operator*(Matrix3x3 m, Vector u);
 
 inline	Vector operator*(Vector u, Matrix3x3 m);
 
-
-
-
-
-
-
-
-
-
-
 inline	Matrix3x3::Matrix3x3(void)
 
 {
@@ -484,11 +386,9 @@ inline	Matrix3x3::Matrix3x3(void)
 
 }
 
+inline	Matrix3x3::Matrix3x3(	float r1c1, float r1c2, float r1c3,
 
-
-inline	Matrix3x3::Matrix3x3(	float r1c1, float r1c2, float r1c3, 
-
-								float r2c1, float r2c2, float r2c3, 
+								float r2c1, float r2c2, float r2c3,
 
 								float r3c1, float r3c2, float r3c3 )
 
@@ -514,28 +414,24 @@ inline	Matrix3x3::Matrix3x3(	float r1c1, float r1c2, float r1c3,
 
 }
 
-
-
 inline	float	Matrix3x3::det(void)
 
 {
 
-	return	e11*e22*e33 - 
+	return	e11*e22*e33 -
 
-			e11*e32*e23 + 
+			e11*e32*e23 +
 
-			e21*e32*e13 - 
+			e21*e32*e13 -
 
-			e21*e12*e33 + 
+			e21*e12*e33 +
 
-			e31*e12*e23 - 
+			e31*e12*e23 -
 
-			e31*e22*e13;	
+			e31*e22*e13;
 
 }
 
-
-
 inline	Matrix3x3	Matrix3x3::Transpose(void)
 
 {
@@ -544,30 +440,24 @@ inline	Matrix3x3	Matrix3x3::Transpose(void)
 
 }
 
-
-
 inline	Matrix3x3	Matrix3x3::Inverse(void)
 
 {
 
-	float	d = e11*e22*e33 - 
+	float	d = e11*e22*e33 -
 
-				e11*e32*e23 + 
+				e11*e32*e23 +
 
-				e21*e32*e13 - 
+				e21*e32*e13 -
 
-				e21*e12*e33 + 
+				e21*e12*e33 +
 
-				e31*e12*e23 - 
+				e31*e12*e23 -
 
 				e31*e22*e13;
 
-
-
 	if (d == 0) d = 1;
 
-
-
 	return	Matrix3x3(	(e22*e33-e23*e32)/d,
 
 						-(e12*e33-e13*e32)/d,
@@ -584,12 +474,10 @@ inline	Matrix3x3	Matrix3x3::Inverse(void)
 
 						-(e11*e32-e12*e31)/d,
 
-						(e11*e22-e12*e21)/d );	
+						(e11*e22-e12*e21)/d );
 
 }
 
-
-
 inline	Matrix3x3& Matrix3x3::operator+=(Matrix3x3 m)
 
 {
@@ -616,8 +504,6 @@ inline	Matrix3x3& Matrix3x3::operator+=(Matrix3x3 m)
 
 }
 
-
-
 inline	Matrix3x3& Matrix3x3::operator-=(Matrix3x3 m)
 
 {
@@ -644,8 +530,6 @@ inline	Matrix3x3& Matrix3x3::operator-=(Matrix3x3 m)
 
 }
 
-
-
 inline	Matrix3x3& Matrix3x3::operator*=(float s)
 
 {
@@ -672,8 +556,6 @@ inline	Matrix3x3& Matrix3x3::operator*=(float s)
 
 }
 
-
-
 inline	Matrix3x3& Matrix3x3::operator/=(float s)
 
 {
@@ -700,8 +582,6 @@ inline	Matrix3x3& Matrix3x3::operator/=(float s)
 
 }
 
-
-
 inline	Matrix3x3 operator+(Matrix3x3 m1, Matrix3x3 m2)
 
 {
@@ -726,8 +606,6 @@ inline	Matrix3x3 operator+(Matrix3x3 m1, Matrix3x3 m2)
 
 }
 
-
-
 inline	Matrix3x3 operator-(Matrix3x3 m1, Matrix3x3 m2)
 
 {
@@ -752,11 +630,9 @@ inline	Matrix3x3 operator-(Matrix3x3 m1, Matrix3x3 m2)
 
 }
 
-
-
 inline	Matrix3x3 operator/(Matrix3x3 m, float s)
 
-{	
+{
 
 	return	Matrix3x3(	m.e11/s,
 
@@ -778,8 +654,6 @@ inline	Matrix3x3 operator/(Matrix3x3 m, float s)
 
 }
 
-
-
 inline	Matrix3x3 operator*(Matrix3x3 m1, Matrix3x3 m2)
 
 {
@@ -804,8 +678,6 @@ inline	Matrix3x3 operator*(Matrix3x3 m1, Matrix3x3 m2)
 
 }
 
-
-
 inline	Matrix3x3 operator*(Matrix3x3 m, float s)
 
 {
@@ -830,8 +702,6 @@ inline	Matrix3x3 operator*(Matrix3x3 m, float s)
 
 }
 
-
-
 inline	Matrix3x3 operator*(float s, Matrix3x3 m)
 
 {
@@ -856,8 +726,6 @@ inline	Matrix3x3 operator*(float s, Matrix3x3 m)
 
 }
 
-
-
 inline	Vector operator*(Matrix3x3 m, Vector u)
 
 {
@@ -866,12 +734,10 @@ inline	Vector operator*(Matrix3x3 m, Vector u)
 
 					m.e21*u.x + m.e22*u.y + m.e23*u.z,
 
-					m.e31*u.x + m.e32*u.y + m.e33*u.z);					
+					m.e31*u.x + m.e32*u.y + m.e33*u.z);
 
 }
 
-
-
 inline	Vector operator*(Vector u, Matrix3x3 m)
 
 {
@@ -884,16 +750,12 @@ inline	Vector operator*(Vector u, Matrix3x3 m)
 
 }
 
-
-
 //------------------------------------------------------------------------//
 
 // Quaternion Class and Quaternion functions
 
 //------------------------------------------------------------------------//
 
-
-
 class Quaternion {
 
 public:
@@ -902,14 +764,10 @@ public:
 
 	Vector	v;	// vector part: v.x, v.y, v.z
 
-
-
 	Quaternion(void);
 
 	Quaternion(float e0, float e1, float e2, float e3);
 
-
-
 	float	Magnitude(void);
 
 	Vector	GetVector(void);
@@ -928,8 +786,6 @@ public:
 
 };
 
-
-
 inline	Quaternion operator+(Quaternion q1, Quaternion q2);
 
 inline	Quaternion operator-(Quaternion q1, Quaternion q2);
@@ -958,10 +814,6 @@ inline	Quaternion	MakeQFromEulerAngles(float x, float y, float z);
 
 inline	Vector	MakeEulerAnglesFromQ(Quaternion q);
 
-
-
-
-
 inline	Quaternion::Quaternion(void)
 
 {
@@ -976,8 +828,6 @@ inline	Quaternion::Quaternion(void)
 
 }
 
-
-
 inline	Quaternion::Quaternion(float e0, float e1, float e2, float e3)
 
 {
@@ -992,8 +842,6 @@ inline	Quaternion::Quaternion(float e0, float e1, float e2, float e3)
 
 }
 
-
-
 inline	float	Quaternion::Magnitude(void)
 
 {
@@ -1002,8 +850,6 @@ inline	float	Quaternion::Magnitude(void)
 
 }
 
-
-
 inline	Vector	Quaternion::GetVector(void)
 
 {
@@ -1012,8 +858,6 @@ inline	Vector	Quaternion::GetVector(void)
 
 }
 
-
-
 inline	float	Quaternion::GetScalar(void)
 
 {
@@ -1022,8 +866,6 @@ inline	float	Quaternion::GetScalar(void)
 
 }
 
-
-
 inline	Quaternion	Quaternion::operator+=(Quaternion q)
 
 {
@@ -1040,8 +882,6 @@ inline	Quaternion	Quaternion::operator+=(Quaternion q)
 
 }
 
-
-
 inline	Quaternion	Quaternion::operator-=(Quaternion q)
 
 {
@@ -1058,8 +898,6 @@ inline	Quaternion	Quaternion::operator-=(Quaternion q)
 
 }
 
-
-
 inline	Quaternion Quaternion::operator*=(float s)
 
 {
@@ -1076,8 +914,6 @@ inline	Quaternion Quaternion::operator*=(float s)
 
 }
 
-
-
 inline	Quaternion Quaternion::operator/=(float s)
 
 {
@@ -1094,8 +930,6 @@ inline	Quaternion Quaternion::operator/=(float s)
 
 }
 
-
-
 /*inline	Quaternion	Quaternion::operator~()
 
 {
@@ -1104,8 +938,6 @@ inline	Quaternion Quaternion::operator/=(float s)
 
 }*/
 
-
-
 inline	Quaternion operator+(Quaternion q1, Quaternion q2)
 
 {
@@ -1120,8 +952,6 @@ inline	Quaternion operator+(Quaternion q1, Quaternion q2)
 
 }
 
-
-
 inline	Quaternion operator-(Quaternion q1, Quaternion q2)
 
 {
@@ -1136,8 +966,6 @@ inline	Quaternion operator-(Quaternion q1, Quaternion q2)
 
 }
 
-
-
 inline	Quaternion operator*(Quaternion q1, Quaternion q2)
 
 {
@@ -1148,12 +976,10 @@ inline	Quaternion operator*(Quaternion q1, Quaternion q2)
 
 							q1.n*q2.v.y + q1.v.y*q2.n + q1.v.z*q2.v.x - q1.v.x*q2.v.z,
 
-							q1.n*q2.v.z + q1.v.z*q2.n + q1.v.x*q2.v.y - q1.v.y*q2.v.x);							
+							q1.n*q2.v.z + q1.v.z*q2.n + q1.v.x*q2.v.y - q1.v.y*q2.v.x);
 
 }
 
-
-
 inline	Quaternion operator*(Quaternion q, float s)
 
 {
@@ -1162,8 +988,6 @@ inline	Quaternion operator*(Quaternion q, float s)
 
 }
 
-
-
 inline	Quaternion operator*(float s, Quaternion q)
 
 {
@@ -1172,8 +996,6 @@ inline	Quaternion operator*(float s, Quaternion q)
 
 }
 
-
-
 inline	Quaternion operator*(Quaternion q, Vector v)
 
 {
@@ -1188,8 +1010,6 @@ inline	Quaternion operator*(Quaternion q, Vector v)
 
 }
 
-
-
 inline	Quaternion operator*(Vector v, Quaternion q)
 
 {
@@ -1204,8 +1024,6 @@ inline	Quaternion operator*(Vector v, Quaternion q)
 
 }
 
-
-
 inline	Quaternion operator/(Quaternion q, float s)
 
 {
@@ -1214,8 +1032,6 @@ inline	Quaternion operator/(Quaternion q, float s)
 
 }
 
-
-
 inline	float QGetAngle(Quaternion q)
 
 {
@@ -1224,8 +1040,6 @@ inline	float QGetAngle(Quaternion q)
 
 }
 
-
-
 inline	Vector QGetAxis(Quaternion q)
 
 {
@@ -1234,26 +1048,20 @@ inline	Vector QGetAxis(Quaternion q)
 
 	float m;
 
-
-
 	v = q.GetVector();
 
 	m = v.Magnitude();
 
-	
-
 	if (m <= tol)
 
 		return Vector();
 
 	else
 
-		return v/m;	
+		return v/m;
 
 }
 
-
-
 inline	Quaternion QRotate(Quaternion q1, Quaternion q2)
 
 {
@@ -1262,28 +1070,18 @@ inline	Quaternion QRotate(Quaternion q1, Quaternion q2)
 
 }
 
-
-
 inline	Vector	QVRotate(Quaternion q, Vector v)
 
 {
 
 	Quaternion t;
 
-
-
-
-
 	t = q*v*(~q);
 
-
-
 	return	t.GetVector();
 
 }
 
-
-
 inline	Quaternion	MakeQFromEulerAngles(float x, float y, float z)
 
 {
@@ -1296,14 +1094,10 @@ inline	Quaternion	MakeQFromEulerAngles(float x, float y, float z)
 
 	double	yaw = DegreesToRadians(z);
 
-	
-
 	double	cyaw, cpitch, croll, syaw, spitch, sroll;
 
 	double	cyawcpitch, syawspitch, cyawspitch, syawcpitch;
 
-
-
 	cyaw = cos(0.5f * yaw);
 
 	cpitch = cos(0.5f * pitch);
@@ -1316,8 +1110,6 @@ inline	Quaternion	MakeQFromEulerAngles(float x, float y, float z)
 
 	sroll = sin(0.5f * roll);
 
-
-
 	cyawcpitch = cyaw*cpitch;
 
 	syawspitch = syaw*spitch;
@@ -1326,24 +1118,18 @@ inline	Quaternion	MakeQFromEulerAngles(float x, float y, float z)
 
 	syawcpitch = syaw*cpitch;
 
-
-
 	q.n = (float) (cyawcpitch * croll + syawspitch * sroll);
 
-	q.v.x = (float) (cyawcpitch * sroll - syawspitch * croll); 
+	q.v.x = (float) (cyawcpitch * sroll - syawspitch * croll);
 
 	q.v.y = (float) (cyawspitch * croll + syawcpitch * sroll);
 
 	q.v.z = (float) (syawcpitch * croll - cyawspitch * sroll);
 
-
-
 	return q;
 
 }
 
-
-
 inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 {
@@ -1356,8 +1142,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 	Vector	u;
 
-
-
 	q00 = q.n * q.n;
 
 	q11 = q.v.x * q.v.x;
@@ -1366,8 +1150,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 	q33 = q.v.z * q.v.z;
 
-
-
 	r11 = q00 + q11 - q22 - q33;
 
 	r21 = 2 * (q.v.x*q.v.y + q.n*q.v.z);
@@ -1378,8 +1160,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 	r33 = q00 - q11 - q22 + q33;
 
-
-
 	tmp = fabs(r31);
 
 	if(tmp > 0.999999)
@@ -1390,8 +1170,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 		r13 = 2 * (q.v.x*q.v.z + q.n*q.v.y);
 
-
-
 		u.x = RadiansToDegrees(0.0f); //roll
 
 		u.y = RadiansToDegrees((float) (-(pi/2) * r31/tmp)); // pitch
@@ -1402,8 +1180,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 	}
 
-
-
 	u.x = RadiansToDegrees((float) atan2(r32, r33)); // roll
 
 	u.y = RadiansToDegrees((float) asin(-r31));		 // pitch
@@ -1412,21 +1188,6 @@ inline	Vector	MakeEulerAnglesFromQ(Quaternion q)
 
 	return u;
 
-	
-
-
-
 }
 
-
-
-
-
-
-
-
-
-
-
 #endif
-