lib/pathplan/shortest.c: [nfc] remove unnecessary parens

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index f2f308dc3c80f59eae094f52492a2c0a09cdd78f..0b769ab8dd4213dc8d20b1651757937e5aadbd69 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -119,9 +119,9 @@ int Pshortestpath(Ppoly_t * polyp, Ppoint_t eps[2], Ppolyline_t * output)
            minx = polyp->ps[pi].x, minpi = pi;
     }
     p2 = polyp->ps[minpi];
-    p1 = polyp->ps[((minpi == 0) ? polyp->pn - 1 : minpi - 1)];
-    p3 = polyp->ps[((minpi == polyp->pn - 1) ? 0 : minpi + 1)];
-    if (((p1.x == p2.x && p2.x == p3.x) && (p3.y > p2.y)) ||
+    p1 = polyp->ps[minpi == 0 ? polyp->pn - 1 : minpi - 1];
+    p3 = polyp->ps[(minpi == polyp->pn - 1) ? 0 : minpi + 1];
+    if ((p1.x == p2.x && p2.x == p3.x && p3.y > p2.y) ||
        ccw(&p1, &p2, &p3) != ISCCW) {
        for (pi = polyp->pn - 1; pi >= 0; pi--) {
            if (pi < polyp->pn - 1
@@ -331,22 +331,22 @@ static bool isdiagonal(int pnli, int pnlip2, pointnlink_t ** pnlps,
     if (ccw(pnlps[pnlim1]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp) ==
        ISCCW)
        res =
-           (ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlim1]->pp) ==
-            ISCCW)
-           && (ccw(pnlps[pnlip2]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp)
-               == ISCCW);
+           ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlim1]->pp) ==
+            ISCCW
+           && ccw(pnlps[pnlip2]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp)
+               == ISCCW;
     /* Assume (pnli - 1, pnli, pnli + 1) not collinear. */
     else
-       res = (ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp,
-                  pnlps[pnlip1]->pp) == ISCW);
+       res = ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp,
+                  pnlps[pnlip1]->pp) == ISCW;
     if (!res)
        return false;
 
     /* check against all other edges */
     for (pnlj = 0; pnlj < pnln; pnlj++) {
        pnljp1 = (pnlj + 1) % pnln;
-       if (!((pnlj == pnli) || (pnljp1 == pnli) ||
-             (pnlj == pnlip2) || (pnljp1 == pnlip2)))
+       if (!(pnlj == pnli || pnljp1 == pnli ||
+             pnlj == pnlip2 || pnljp1 == pnlip2))
            if (intersects(pnlps[pnli]->pp, pnlps[pnlip2]->pp,
                           pnlps[pnlj]->pp, pnlps[pnljp1]->pp))
                return false;
@@ -459,9 +459,9 @@ static int ccw(Ppoint_t * p1p, Ppoint_t * p2p, Ppoint_t * p3p)
 {
     double d;
 
-    d = ((p1p->y - p2p->y) * (p3p->x - p2p->x)) -
-       ((p3p->y - p2p->y) * (p1p->x - p2p->x));
-    return (d > 0) ? ISCCW : ((d < 0) ? ISCW : ISON);
+    d = (p1p->y - p2p->y) * (p3p->x - p2p->x) -
+       (p3p->y - p2p->y) * (p1p->x - p2p->x);
+    return d > 0 ? ISCCW : (d < 0 ? ISCW : ISON);
 }
 
 /* line to line intersection */
@@ -476,10 +476,10 @@ static bool intersects(Ppoint_t * pap, Ppoint_t * pbp,
            between(pcp, pdp, pap) || between(pcp, pdp, pbp))
            return true;
     } else {
-       ccw1 = (ccw(pap, pbp, pcp) == ISCCW) ? 1 : 0;
-       ccw2 = (ccw(pap, pbp, pdp) == ISCCW) ? 1 : 0;
-       ccw3 = (ccw(pcp, pdp, pap) == ISCCW) ? 1 : 0;
-       ccw4 = (ccw(pcp, pdp, pbp) == ISCCW) ? 1 : 0;
+       ccw1 = ccw(pap, pbp, pcp) == ISCCW ? 1 : 0;
+       ccw2 = ccw(pap, pbp, pdp) == ISCCW ? 1 : 0;
+       ccw3 = ccw(pcp, pdp, pap) == ISCCW ? 1 : 0;
+       ccw4 = ccw(pcp, pdp, pbp) == ISCCW ? 1 : 0;
        return (ccw1 ^ ccw2) && (ccw3 ^ ccw4);
     }
     return false;
@@ -494,8 +494,8 @@ static bool between(Ppoint_t * pap, Ppoint_t * pbp, Ppoint_t * pcp)
     p2.x = pcp->x - pap->x, p2.y = pcp->y - pap->y;
     if (ccw(pap, pbp, pcp) != ISON)
        return false;
-    return (p2.x * p1.x + p2.y * p1.y >= 0) &&
-       (p2.x * p2.x + p2.y * p2.y <= p1.x * p1.x + p1.y * p1.y);
+    return p2.x * p1.x + p2.y * p1.y >= 0 &&
+       p2.x * p2.x + p2.y * p2.y <= p1.x * p1.x + p1.y * p1.y;
 }
 
 static int pointintri(int trii, Ppoint_t * pp)
@@ -506,7 +506,7 @@ static int pointintri(int trii, Ppoint_t * pp)
        if (ccw(tris[trii].e[ei].pnl0p->pp,
                tris[trii].e[ei].pnl1p->pp, pp) != ISCW)
            sum++;
-    return (sum == 3 || sum == 0);
+    return sum == 3 || sum == 0;
 }
 
 static int growpnls(int newpnln)