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Co-authored-by: Addisu Taddese <addisu@gmail.com> Signed-off-by: Diego Ferigo <diego.ferigo@iit.it>
gazebosim · Jun 10, 2020 · 47dd41b · 47dd41b
1 parent 21edcba
commit 47dd41b
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/dartsim/src/SimulationFeatures.cc b/dartsim/src/SimulationFeatures.cc
@@ -86,7 +86,7 @@ SimulationFeatures::GetContactsFromLastStep(const Identity &_worldID) const
       CompositeData extraData;
 
       // Add normal, depth and wrench to extraData.
-      auto& extraContactData = extraData.Get<ExtraContactData>();
+      auto &extraContactData = extraData.Get<ExtraContactData>();
       extraContactData.force = dtContact.force;
       extraContactData.normal = dtContact.normal;
       extraContactData.depth = dtContact.penetrationDepth;

diff --git a/include/ignition/physics/GetContacts.hh b/include/ignition/physics/GetContacts.hh
@@ -36,14 +36,14 @@ class IGNITION_PHYSICS_VISIBLE GetContactsFromLastStepFeature
   public: template <typename PolicyT>
   struct ExtraContactDataT
   {
-     using Scalar = typename PolicyT::Scalar;
-     using VectorType = typename FromPolicy<PolicyT>::template Use<Vector>;
+    using Scalar = typename PolicyT::Scalar;
+    using VectorType = typename FromPolicy<PolicyT>::template Use<Vector>;
 
-    /// \brief The contact force from body acting on the first body
-    /// expressed in the world frame
+    /// \brief The contact force acting on the first body expressed
+    /// in the world frame
     VectorType force;
-    /// \brief The normal of the force from the second body to the first
-    /// body expressed in the world frame
+    /// \brief The normal of the force acting on the first body expressed
+    /// in the world frame
     VectorType normal;
     /// \brief The penetration depth
     Scalar depth;

diff --git a/include/ignition/physics/detail/GetContacts.hh b/include/ignition/physics/detail/GetContacts.hh
@@ -58,10 +58,12 @@ auto GetContactsFromLastStepFeature::World<
     auto *extraContactData =
         contact.extraData.template Query<ExtraContactData>();
 
-    if (extraContactData) {
-        contactOutput.template Get<ExtraContactData>() =
-            std::move(*extraContactData);
+    if (extraContactData)
+    {
+      contactOutput.template Get<ExtraContactData>() =
+          std::move(*extraContactData);
     }
+
   }
   return output;
 }