fix linter offenses

include/gz/sim/components/MultiRay.hh

@@ -65,9 +65,11 @@ GZ_SIM_REGISTER_COMPONENT("gz_sim_components.MultiRay", MultiRay)
 /// \brief A component type that contains the raycasting results from multiple
 // rays from an entity into a physics world.
 using MultiRayIntersections =
-  gz::sim::components::Component<std::vector<RayIntersectionInfo>, class MultiRayIntersectionsTag>;
+  gz::sim::components::Component<std::vector<RayIntersectionInfo>,
+  class MultiRayIntersectionsTag>;
 
-GZ_SIM_REGISTER_COMPONENT("gz_sim_components.MultiRayIntersections", MultiRayIntersections)
+GZ_SIM_REGISTER_COMPONENT(
+  "gz_sim_components.MultiRayIntersections", MultiRayIntersections)
 }
 }
 }

src/systems/physics/Physics.cc

@@ -4183,8 +4183,8 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
 void PhysicsPrivate::UpdateRayIntersections(EntityComponentManager &_ecm)
 {
   GZ_PROFILE("PhysicsPrivate::UpdateRayIntersections");
-  // Quit early if the MultiRayIntersections component hasn't been created. This means
-  // there are no systems that need contact information
+  // Quit early if the MultiRayIntersections component hasn't been created.
+  // This means there are no systems that need contact information
   if (!_ecm.HasComponentType(components::MultiRayIntersections::typeId))
     return;
 
@@ -4200,9 +4200,9 @@ void PhysicsPrivate::UpdateRayIntersections(EntityComponentManager &_ecm)
   auto worldRayIntersectionFeature =
       this->entityWorldMap.EntityCast<RayIntersectionFeatureList>(worldEntity);
 
-  // Go through each entity that has a MultiRay and MultiRayIntersections components,
-  // trace the rays and set the MultiRayIntersections component value to the list of
-  // intersections that correspond to the ray entity
+  // Go through each entity that has a MultiRay and MultiRayIntersections
+  // components, trace the rays and set the MultiRayIntersections component
+  // value to the list of intersections that correspond to the ray entity
   _ecm.Each<components::MultiRay,
             components::MultiRayIntersections>(
       [&](const Entity &/*_entity*/,
@@ -4212,7 +4212,7 @@ void PhysicsPrivate::UpdateRayIntersections(EntityComponentManager &_ecm)
         // Retrieve the rays from the MultiRay component
         const auto &rays = _multiRay->Data();
 
-        // Retrieve and clear the results from the MultiRayIntersections component
+        // Retrieve and clear results from MultiRayIntersections component
         auto &rayIntersections = _multiRayIntersections->Data();
         rayIntersections.clear();
 
@@ -4221,10 +4221,12 @@ void PhysicsPrivate::UpdateRayIntersections(EntityComponentManager &_ecm)
           // Compute the ray intersections
           auto rayIntersection =
             worldRayIntersectionFeature->GetRayIntersectionFromLastStep(
-              math::eigen3::convert(ray.start), math::eigen3::convert(ray.end));
+              math::eigen3::convert(ray.start),
+              math::eigen3::convert(ray.end));
 
           const auto result =
-            rayIntersection.Get<physics::World3d<RayIntersectionFeatureList>::RayIntersection>();
+            rayIntersection.Get<
+              physics::World3d<RayIntersectionFeatureList>::RayIntersection>();
 
           // Store the results into the MultiRayIntersections component
           components::RayIntersectionInfo info;

test/integration/physics_system.cc

@@ -2909,7 +2909,7 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(JointsInWorld))
 }
 
 //////////////////////////////////////////////////
-/// This test verifies that ray intersections are computed by physics system during Update loop.
+/// Test ray intersections computed by physics system during Update loop.
 TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
 {
   ServerConfig serverConfig;
@@ -2930,9 +2930,10 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
   testSystem.OnPreUpdate(
       [&](const UpdateInfo &/*_info*/, EntityComponentManager &_ecm)
       {
-        // Set the physics collision detector to bullet (that supports ray intersections).
+        // Set collision detector to bullet (supports ray intersections).
         auto worldEntity = _ecm.EntityByComponents(components::World());
-        _ecm.CreateComponent(worldEntity, components::PhysicsCollisionDetector("bullet"));
+        _ecm.CreateComponent(
+          worldEntity, components::PhysicsCollisionDetector("bullet"));
 
         // Create MultiRay and MultiRayIntersections components for testEntity1
         testEntity1 = _ecm.CreateEntity();
@@ -2945,7 +2946,8 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
         _ecm.CreateComponent(testEntity2, components::MultiRayIntersections());
 
         // Add 5 rays to testEntity1 that intersect with the ground plane
-        auto &rays1 = _ecm.Component<components::MultiRay>(testEntity1)->Data();
+        auto &rays1 =
+          _ecm.Component<components::MultiRay>(testEntity1)->Data();
         for (size_t i = 0; i < 5; ++i)
         {
           components::RayInfo ray;
@@ -2954,7 +2956,7 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
           rays1.push_back(ray);
         }
 
-        // Add 2 rays to testEntity2 that does not intersect with the ground plane
+        // Add 2 rays to testEntity2 that don't intersect with the ground plane
         auto &rays2 = _ecm.Component<components::MultiRay>(testEntity2)->Data();
         for (size_t i = 0; i < 2; ++i)
         {
@@ -2964,13 +2966,15 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
           rays2.push_back(ray);
         }
       });
-  // During PostUpdate, check the ray intersections for testEntity1 and testEntity2
+  // Check ray intersections for testEntity1 and testEntity2
   testSystem.OnPostUpdate(
       [&](const UpdateInfo &/*_info*/, const EntityComponentManager &_ecm)
       {
         // check the raycasting results for testEntity1
         auto &rays1 = _ecm.Component<components::MultiRay>(testEntity1)->Data();
-        auto &results1 = _ecm.Component<components::MultiRayIntersections>(testEntity1)->Data();
+        auto &results1 =
+          _ecm.Component<components::MultiRayIntersections>(
+            testEntity1)->Data();
         ASSERT_EQ(rays1.size(), results1.size());
 
         for (size_t i = 0; i < results1.size(); ++i) {
@@ -2983,14 +2987,20 @@ TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RayIntersections))
         }
 
         // check the raycasting results for testEntity2
-        auto &rays2 = _ecm.Component<components::MultiRay>(testEntity2)->Data();
-        auto &results2 = _ecm.Component<components::MultiRayIntersections>(testEntity2)->Data();
+        auto &rays2 =
+          _ecm.Component<components::MultiRay>(testEntity2)->Data();
+        auto &results2 =
+          _ecm.Component<components::MultiRayIntersections>(
+            testEntity2)->Data();
         ASSERT_EQ(rays2.size(), results2.size());
 
         for (size_t i = 0; i < results2.size(); ++i) {
-          ASSERT_TRUE(math::eigen3::convert(results2[i].point).array().isNaN().all());
-          ASSERT_TRUE(math::eigen3::convert(results2[i].normal).array().isNaN().all());
-          ASSERT_TRUE(std::isnan(results2[i].fraction));
+          ASSERT_TRUE(
+            math::eigen3::convert(results2[i].point).array().isNaN().all());
+          ASSERT_TRUE(
+            math::eigen3::convert(results2[i].normal).array().isNaN().all());
+          ASSERT_TRUE(
+            std::isnan(results2[i].fraction));
         }
       });