Merge pull request #92 from JoaoCostaIFG/ros2-rviz-plugins

Ros2 Humble - Translated flatland viz tools to rviz plugins

.github/workflows/industrial_ci_action.yml

@@ -7,7 +7,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: humble, ROS_REPO: main, AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true}
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v1

.gitignore

@@ -7,4 +7,6 @@ docs/_templates/*
 .vscode/*
 */.vscode
 .history
-*/.history
+*/.history
+**/.idea/
+**/cmake-build-debug/

flatland_box2d/include/Box2D/Box2D.h

@@ -1,20 +1,20 @@
 /*
-* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
+ * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty.  In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BOX2D_H
 #define BOX2D_H
@@ -31,28 +31,18 @@ For discussion please visit http://box2d.org/forum
 
 // These include files constitute the main Box2D API
 
-#include "Box2D/Common/b2Settings.h"
-#include "Box2D/Common/b2Draw.h"
-#include "Box2D/Common/b2Timer.h"
-
+#include "Box2D/Collision/Shapes/b2ChainShape.h"
 #include "Box2D/Collision/Shapes/b2CircleShape.h"
 #include "Box2D/Collision/Shapes/b2EdgeShape.h"
-#include "Box2D/Collision/Shapes/b2ChainShape.h"
 #include "Box2D/Collision/Shapes/b2PolygonShape.h"
-
 #include "Box2D/Collision/b2BroadPhase.h"
 #include "Box2D/Collision/b2Distance.h"
 #include "Box2D/Collision/b2DynamicTree.h"
 #include "Box2D/Collision/b2TimeOfImpact.h"
-
-#include "Box2D/Dynamics/b2Body.h"
-#include "Box2D/Dynamics/b2Fixture.h"
-#include "Box2D/Dynamics/b2WorldCallbacks.h"
-#include "Box2D/Dynamics/b2TimeStep.h"
-#include "Box2D/Dynamics/b2World.h"
-
+#include "Box2D/Common/b2Draw.h"
+#include "Box2D/Common/b2Settings.h"
+#include "Box2D/Common/b2Timer.h"
 #include "Box2D/Dynamics/Contacts/b2Contact.h"
-
 #include "Box2D/Dynamics/Joints/b2DistanceJoint.h"
 #include "Box2D/Dynamics/Joints/b2FrictionJoint.h"
 #include "Box2D/Dynamics/Joints/b2GearJoint.h"
@@ -64,5 +54,10 @@ For discussion please visit http://box2d.org/forum
 #include "Box2D/Dynamics/Joints/b2RopeJoint.h"
 #include "Box2D/Dynamics/Joints/b2WeldJoint.h"
 #include "Box2D/Dynamics/Joints/b2WheelJoint.h"
+#include "Box2D/Dynamics/b2Body.h"
+#include "Box2D/Dynamics/b2Fixture.h"
+#include "Box2D/Dynamics/b2TimeStep.h"
+#include "Box2D/Dynamics/b2World.h"
+#include "Box2D/Dynamics/b2WorldCallbacks.h"
 
 #endif

flatland_box2d/include/Box2D/Collision/Shapes/b2ChainShape.h

@@ -1,20 +1,20 @@
 /*
-* Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
+ * Copyright (c) 2006-2010 Erin Catto http://www.box2d.org
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty.  In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef B2_CHAIN_SHAPE_H
 #define B2_CHAIN_SHAPE_H
@@ -24,82 +24,83 @@
 class b2EdgeShape;
 
 /// A chain shape is a free form sequence of line segments.
-/// The chain has two-sided collision, so you can use inside and outside collision.
-/// Therefore, you may use any winding order.
-/// Since there may be many vertices, they are allocated using b2Alloc.
-/// Connectivity information is used to create smooth collisions.
-/// WARNING: The chain will not collide properly if there are self-intersections.
+/// The chain has two-sided collision, so you can use inside and outside
+/// collision. Therefore, you may use any winding order. Since there may be many
+/// vertices, they are allocated using b2Alloc. Connectivity information is used
+/// to create smooth collisions. WARNING: The chain will not collide properly if
+/// there are self-intersections.
 class b2ChainShape : public b2Shape
 {
 public:
-	b2ChainShape();
+  b2ChainShape();
 
-	/// The destructor frees the vertices using b2Free.
-	~b2ChainShape();
+  /// The destructor frees the vertices using b2Free.
+  ~b2ChainShape();
 
-	/// Clear all data.
-	void Clear();
+  /// Clear all data.
+  void Clear();
 
-	/// Create a loop. This automatically adjusts connectivity.
-	/// @param vertices an array of vertices, these are copied
-	/// @param count the vertex count
-	void CreateLoop(const b2Vec2* vertices, int32 count);
+  /// Create a loop. This automatically adjusts connectivity.
+  /// @param vertices an array of vertices, these are copied
+  /// @param count the vertex count
+  void CreateLoop(const b2Vec2 * vertices, int32 count);
 
-	/// Create a chain with isolated end vertices.
-	/// @param vertices an array of vertices, these are copied
-	/// @param count the vertex count
-	void CreateChain(const b2Vec2* vertices, int32 count);
+  /// Create a chain with isolated end vertices.
+  /// @param vertices an array of vertices, these are copied
+  /// @param count the vertex count
+  void CreateChain(const b2Vec2 * vertices, int32 count);
 
-	/// Establish connectivity to a vertex that precedes the first vertex.
-	/// Don't call this for loops.
-	void SetPrevVertex(const b2Vec2& prevVertex);
+  /// Establish connectivity to a vertex that precedes the first vertex.
+  /// Don't call this for loops.
+  void SetPrevVertex(const b2Vec2 & prevVertex);
 
-	/// Establish connectivity to a vertex that follows the last vertex.
-	/// Don't call this for loops.
-	void SetNextVertex(const b2Vec2& nextVertex);
+  /// Establish connectivity to a vertex that follows the last vertex.
+  /// Don't call this for loops.
+  void SetNextVertex(const b2Vec2 & nextVertex);
 
-	/// Implement b2Shape. Vertices are cloned using b2Alloc.
-	b2Shape* Clone(b2BlockAllocator* allocator) const override;
+  /// Implement b2Shape. Vertices are cloned using b2Alloc.
+  b2Shape * Clone(b2BlockAllocator * allocator) const override;
 
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const override;
+  /// @see b2Shape::GetChildCount
+  int32 GetChildCount() const override;
 
-	/// Get a child edge.
-	void GetChildEdge(b2EdgeShape* edge, int32 index) const;
+  /// Get a child edge.
+  void GetChildEdge(b2EdgeShape * edge, int32 index) const;
 
-	/// This always return false.
-	/// @see b2Shape::TestPoint
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+  /// This always return false.
+  /// @see b2Shape::TestPoint
+  bool TestPoint(const b2Transform & transform, const b2Vec2 & p) const override;
 
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-					const b2Transform& transform, int32 childIndex) const override;
+  /// Implement b2Shape.
+  bool RayCast(
+    b2RayCastOutput * output, const b2RayCastInput & input, const b2Transform & transform,
+    int32 childIndex) const override;
 
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+  /// @see b2Shape::ComputeAABB
+  void ComputeAABB(b2AABB * aabb, const b2Transform & transform, int32 childIndex) const override;
 
-	/// Chains have zero mass.
-	/// @see b2Shape::ComputeMass
-	void ComputeMass(b2MassData* massData, float32 density) const override;
+  /// Chains have zero mass.
+  /// @see b2Shape::ComputeMass
+  void ComputeMass(b2MassData * massData, float32 density) const override;
 
-	/// The vertices. Owned by this class.
-	b2Vec2* m_vertices;
+  /// The vertices. Owned by this class.
+  b2Vec2 * m_vertices;
 
-	/// The vertex count.
-	int32 m_count;
+  /// The vertex count.
+  int32 m_count;
 
-	b2Vec2 m_prevVertex, m_nextVertex;
-	bool m_hasPrevVertex, m_hasNextVertex;
+  b2Vec2 m_prevVertex, m_nextVertex;
+  bool m_hasPrevVertex, m_hasNextVertex;
 };
 
 inline b2ChainShape::b2ChainShape()
 {
-	m_type = e_chain;
-	m_radius = b2_polygonRadius;
-	m_vertices = nullptr;
-	m_count = 0;
-	m_hasPrevVertex = false;
-	m_hasNextVertex = false;
+  m_type = e_chain;
+  m_radius = b2_polygonRadius;
+  m_vertices = nullptr;
+  m_count = 0;
+  m_hasPrevVertex = false;
+  m_hasNextVertex = false;
 }
 
 #endif

flatland_box2d/include/Box2D/Collision/Shapes/b2CircleShape.h

@@ -1,20 +1,20 @@
 /*
-* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
+ * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty.  In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef B2_CIRCLE_SHAPE_H
 #define B2_CIRCLE_SHAPE_H
@@ -25,36 +25,37 @@
 class b2CircleShape : public b2Shape
 {
 public:
-	b2CircleShape();
+  b2CircleShape();
 
-	/// Implement b2Shape.
-	b2Shape* Clone(b2BlockAllocator* allocator) const override;
+  /// Implement b2Shape.
+  b2Shape * Clone(b2BlockAllocator * allocator) const override;
 
-	/// @see b2Shape::GetChildCount
-	int32 GetChildCount() const override;
+  /// @see b2Shape::GetChildCount
+  int32 GetChildCount() const override;
 
-	/// Implement b2Shape.
-	bool TestPoint(const b2Transform& transform, const b2Vec2& p) const override;
+  /// Implement b2Shape.
+  bool TestPoint(const b2Transform & transform, const b2Vec2 & p) const override;
 
-	/// Implement b2Shape.
-	bool RayCast(b2RayCastOutput* output, const b2RayCastInput& input,
-				const b2Transform& transform, int32 childIndex) const override;
+  /// Implement b2Shape.
+  bool RayCast(
+    b2RayCastOutput * output, const b2RayCastInput & input, const b2Transform & transform,
+    int32 childIndex) const override;
 
-	/// @see b2Shape::ComputeAABB
-	void ComputeAABB(b2AABB* aabb, const b2Transform& transform, int32 childIndex) const override;
+  /// @see b2Shape::ComputeAABB
+  void ComputeAABB(b2AABB * aabb, const b2Transform & transform, int32 childIndex) const override;
 
-	/// @see b2Shape::ComputeMass
-	void ComputeMass(b2MassData* massData, float32 density) const override;
+  /// @see b2Shape::ComputeMass
+  void ComputeMass(b2MassData * massData, float32 density) const override;
 
-	/// Position
-	b2Vec2 m_p;
+  /// Position
+  b2Vec2 m_p;
 };
 
 inline b2CircleShape::b2CircleShape()
 {
-	m_type = e_circle;
-	m_radius = 0.0f;
-	m_p.SetZero();
+  m_type = e_circle;
+  m_radius = 0.0f;
+  m_p.SetZero();
 }
 
 #endif