lib/pathplan/shortest.c: [nfc] reflow some code for readability

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index 0b769ab8dd4213dc8d20b1651757937e5aadbd69..d2bc7a10e5307ebcec7937bece9ece70bd4ede53 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -328,25 +328,19 @@ static bool isdiagonal(int pnli, int pnlip2, pointnlink_t ** pnlps,
     pnlip1 = (pnli + 1) % pnln;
     pnlim1 = (pnli + pnln - 1) % pnln;
     /* If P[pnli] is a convex vertex [ pnli+1 left of (pnli-1,pnli) ]. */
-    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;
+    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;
     /* 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;
@@ -367,12 +361,9 @@ static int loadtriangle(pointnlink_t * pnlap, pointnlink_t * pnlbp,
     }
     trip = &tris[tril++];
     trip->mark = 0;
-    trip->e[0].pnl0p = pnlap, trip->e[0].pnl1p = pnlbp, trip->e[0].rtp =
-       NULL;
-    trip->e[1].pnl0p = pnlbp, trip->e[1].pnl1p = pnlcp, trip->e[1].rtp =
-       NULL;
-    trip->e[2].pnl0p = pnlcp, trip->e[2].pnl1p = pnlap, trip->e[2].rtp =
-       NULL;
+    trip->e[0].pnl0p = pnlap, trip->e[0].pnl1p = pnlbp, trip->e[0].rtp = NULL;
+    trip->e[1].pnl0p = pnlbp, trip->e[1].pnl1p = pnlcp, trip->e[1].rtp = NULL;
+    trip->e[2].pnl0p = pnlcp, trip->e[2].pnl1p = pnlap, trip->e[2].rtp = NULL;
     for (ei = 0; ei < 3; ei++)
        trip->e[ei].ltp = trip;
 
@@ -444,12 +435,10 @@ static int finddqsplit(pointnlink_t * pnlp)
     int index;
 
     for (index = dq.fpnlpi; index < dq.apex; index++)
-       if (ccw(dq.pnlps[index + 1]->pp, dq.pnlps[index]->pp, pnlp->pp) ==
-           ISCCW)
+       if (ccw(dq.pnlps[index + 1]->pp, dq.pnlps[index]->pp, pnlp->pp) == ISCCW)
            return index;
     for (index = dq.lpnlpi; index > dq.apex; index--)
-       if (ccw(dq.pnlps[index - 1]->pp, dq.pnlps[index]->pp, pnlp->pp) ==
-           ISCW)
+       if (ccw(dq.pnlps[index - 1]->pp, dq.pnlps[index]->pp, pnlp->pp) == ISCW)
            return index;
     return dq.apex;
 }
@@ -503,8 +492,7 @@ static int pointintri(int trii, Ppoint_t * pp)
     int ei, sum;
 
     for (ei = 0, sum = 0; ei < 3; ei++)
-       if (ccw(tris[trii].e[ei].pnl0p->pp,
-               tris[trii].e[ei].pnl1p->pp, pp) != ISCW)
+       if (ccw(tris[trii].e[ei].pnl0p->pp, tris[trii].e[ei].pnl1p->pp, pp) != ISCW)
            sum++;
     return sum == 3 || sum == 0;
 }