Address code quality warnings (1/N: readability-avoid-const-params-in…

…-decls)

Differential Revision: D58825200

momentum/character/blend_shape.h

@@ -39,7 +39,7 @@ struct BlendShape : public BlendShapeBase {
 
   VectorXf estimateCoefficients(
       gsl::span<const Vector3f> vertices,
-      const float regularization = 1.0f,
+      float regularization = 1.0f,
       const VectorXf& weights = VectorXf()) const;
 
   void setShapeVector(size_t index, gsl::span<const Vector3f> shapeVector);

momentum/character/blend_shape_base.h

@@ -18,7 +18,7 @@ namespace momentum {
 struct BlendShapeBase {
  public:
   BlendShapeBase() {}
-  BlendShapeBase(const size_t modelSize, const size_t numShapes);
+  BlendShapeBase(size_t modelSize, size_t numShapes);
 
   void setShapeVectors(const MatrixXf& shapeVectors) {
     shapeVectors_ = shapeVectors;

momentum/character/joint_state.h

@@ -60,13 +60,13 @@ struct JointStateT {
   // possible as this is part of many inner loops.
   /// The derivative of a global vector ref wrt the rotation parameters of the global
   /// transformation.
-  [[nodiscard]] Eigen::Vector3<T> getRotationDerivative(
-      const size_t index,
-      const Eigen::Vector3<T>& ref) const;
+  [[nodiscard]] Eigen::Vector3<T> getRotationDerivative(size_t index, const Eigen::Vector3<T>& ref)
+      const;
 
   /// The derivative of any global vector wrt the translation parameters of the global
   /// transformation.
-  [[nodiscard]] Eigen::Vector3<T> getTranslationDerivative(const size_t index) const;
+  [[nodiscard]] Eigen::Vector3<T> getTranslationDerivative(size_t index) const;
+
   /// The derivative of a global vector ref wrt the scaling parameter of the global transformation.
   [[nodiscard]] Eigen::Vector3<T> getScaleDerivative(const Eigen::Vector3<T>& ref) const noexcept;
 

momentum/character/linear_skinning.h

@@ -41,7 +41,7 @@ Affine3f getInverseSSDTransformation(
     const TransformationList& inverseBindPose,
     const SkinWeights& skin,
     const SkeletonState& state,
-    const size_t index);
+    size_t index);
 
 std::vector<Vector3f> applyInverseSSD(
     const TransformationList& inverseBindPose,

momentum/character/parameter_limits.h

@@ -87,7 +87,7 @@ JointParameters applyJointParameterLimits(
 ParameterLimits getPoseConstraintParameterLimits(
     const std::string& name,
     const ParameterTransform& pt,
-    const float weight = 1.0f);
+    float weight = 1.0f);
 
 MOMENTUM_DEFINE_POINTERS(ParameterLimits)
 } // namespace momentum

momentum/character_sequence_solver/multipose_solver_function.h

@@ -23,7 +23,7 @@ class MultiposeSolverFunctionT : public SolverFunctionT<T> {
       const Skeleton* skel,
       const ParameterTransformT<T>* parameterTransform,
       gsl::span<const int> universal,
-      const size_t frames);
+      size_t frames);
 
   double getError(const Eigen::VectorX<T>& parameters) final;
 
@@ -38,7 +38,7 @@ class MultiposeSolverFunctionT : public SolverFunctionT<T> {
   void updateParameters(Eigen::VectorX<T>& parameters, const Eigen::VectorX<T>& gradient) final;
   void setEnabledParameters(const ParameterSet&) final;
 
-  void addErrorFunction(const size_t frame, SkeletonErrorFunctionT<T>* errorFunction);
+  void addErrorFunction(size_t frame, SkeletonErrorFunctionT<T>* errorFunction);
 
   size_t getNumFrames() const {
     return states_.size();
@@ -48,7 +48,7 @@ class MultiposeSolverFunctionT : public SolverFunctionT<T> {
     return frameParameters_[frame];
   }
 
-  void setFrameParameters(const size_t frame, const ModelParametersT<T>& parameters);
+  void setFrameParameters(size_t frame, const ModelParametersT<T>& parameters);
   Eigen::VectorX<T> getUniversalParameters();
   Eigen::VectorX<T> getJoinedParameterVector() const;
   void setJoinedParameterVector(const Eigen::VectorX<T>& joinedParameters);

momentum/character_sequence_solver/sequence_solver_function.h

@@ -27,7 +27,7 @@ class SequenceSolverFunctionT : public SolverFunctionT<T> {
       const Skeleton* skel,
       const ParameterTransformT<T>* parameterTransform,
       const ParameterSet& universal,
-      const size_t nFrames);
+      size_t nFrames);
 
   double getError(const Eigen::VectorX<T>& parameters) final;
 
@@ -50,22 +50,20 @@ class SequenceSolverFunctionT : public SolverFunctionT<T> {
   // is convenient for e.g. limit errors but requires that the error function be stateless. Note:
   // you are allowed to call this in a multithreaded context but you must ensure the frame indices
   // are different between the different threads.
-  void addErrorFunction(
-      const size_t frame,
-      std::shared_ptr<SkeletonErrorFunctionT<T>> errorFunction);
+  void addErrorFunction(size_t frame, std::shared_ptr<SkeletonErrorFunctionT<T>> errorFunction);
   void addSequenceErrorFunction(
-      const size_t startFrame,
+      size_t startFrame,
       std::shared_ptr<SequenceErrorFunctionT<T>> errorFunction);
 
   size_t getNumFrames() const {
     return states_.size();
   }
 
-  const ModelParametersT<T>& getFrameParameters(const size_t frame) const {
+  const ModelParametersT<T>& getFrameParameters(size_t frame) const {
     return frameParameters_[frame];
   }
 
-  void setFrameParameters(const size_t frame, const ModelParametersT<T>& parameters);
+  void setFrameParameters(size_t frame, const ModelParametersT<T>& parameters);
   ModelParametersT<T> getUniversalParameters() const;
   Eigen::VectorX<T> getJoinedParameterVector() const;
   void setJoinedParameterVector(const Eigen::VectorX<T>& joinedParameters);

momentum/character_solver/aim_error_function.h

@@ -66,7 +66,7 @@ class AimDistErrorFunctionT : public ConstraintErrorFunctionT<T, AimDataT<T>, 3,
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector3<T>&,
       optional_ref<std::array<Vector3<T>, 2>> v = {},
@@ -103,7 +103,7 @@ class AimDirErrorFunctionT : public ConstraintErrorFunctionT<T, AimDataT<T>, 3,
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector3<T>&,
       optional_ref<std::array<Vector3<T>, 2>> v = {},

momentum/character_solver/constraint_error_function.h

@@ -213,7 +213,7 @@ class ConstraintErrorFunctionT : public SkeletonErrorFunctionT<T> {
   /// @param[out] v: if valid, output the vector v=T*source; there could be NumVec of vs
   /// @param[out] dfdv: if valid, output the matrix df/dv of dimension FuncDim x 3 per v
   virtual void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       FuncType& f,
       optional_ref<std::array<VType, NumVec>> v = {},

momentum/character_solver/fixed_axis_error_function.h

@@ -60,7 +60,7 @@ class FixedAxisDiffErrorFunctionT : public ConstraintErrorFunctionT<T, FixedAxis
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector3<T>& f,
       optional_ref<std::array<Vector3<T>, 1>> v = {},
@@ -94,7 +94,7 @@ class FixedAxisCosErrorFunctionT : public ConstraintErrorFunctionT<T, FixedAxisD
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector<T, 1>& f,
       optional_ref<std::array<Vector3<T>, 1>> v = {},
@@ -129,7 +129,7 @@ class FixedAxisAngleErrorFunctionT
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector<T, 1>& f,
       optional_ref<std::array<Vector3<T>, 1>> v = {},

momentum/character_solver/normal_error_function.h

@@ -64,7 +64,7 @@ class NormalErrorFunctionT : public ConstraintErrorFunctionT<T, NormalDataT<T>,
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector<T, 1>&,
       optional_ref<std::array<Vector3<T>, 2>> v = {},

momentum/character_solver/orientation_error_function.h

@@ -64,7 +64,7 @@ class OrientationErrorFunctionT : public ConstraintErrorFunctionT<T, Orientation
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector<T, 9>& f,
       optional_ref<std::array<Vector3<T>, 3>> v = {},

momentum/character_solver/plane_error_function.h

@@ -36,7 +36,7 @@ std::vector<PlaneDataT<T>> createFloorConstraints(
     const LocatorList& locators,
     const Vector3<T>& floorNormal,
     const T& floorOffset,
-    const float weight);
+    float weight);
 
 /// The PlaneErrorFunction computes the 3D positional errors from a list of Constraints.
 /// Each constraint specifies a locator on the skeleton (parent joint and offset), and its target 3D
@@ -86,7 +86,7 @@ class PlaneErrorFunctionT : public ConstraintErrorFunctionT<T, PlaneDataT<T>, 1>
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector<T, 1>& f,
       optional_ref<std::array<Vector3<T>, 1>> = {},

momentum/character_solver/position_error_function.h

@@ -65,7 +65,7 @@ class PositionErrorFunctionT : public ConstraintErrorFunctionT<T, PositionDataT<
 
  protected:
   void evalFunction(
-      const size_t constrIndex,
+      size_t constrIndex,
       const JointStateT<T>& state,
       Vector3<T>&,
       optional_ref<std::array<Vector3<T>, 1>> = {},

momentum/character_solver/simd_normal_error_function.h

@@ -26,11 +26,11 @@ struct SimdNormalConstraints {
   void clearConstraints();
 
   bool addConstraint(
-      const size_t jointIndex,
+      size_t jointIndex,
       const Vector3f& offset,
       const Vector3f& normal,
       const Vector3f& target,
-      const float targetWeight);
+      float targetWeight);
 
   VectorXi getNumConstraints() const;
 

momentum/character_solver/simd_plane_error_function.h

@@ -28,11 +28,11 @@ struct SimdPlaneConstraints final {
   void clearConstraints();
 
   void addConstraint(
-      const size_t jointIndex,
+      size_t jointIndex,
       const Vector3f& offset,
       const Vector3f& targetNormal,
-      const float targetOffset,
-      const float targetWeight);
+      float targetOffset,
+      float targetWeight);
 
   VectorXi getNumConstraints() const;
 

momentum/character_solver/simd_position_error_function.h

@@ -28,10 +28,10 @@ struct SimdPositionConstraints final {
   void clearConstraints();
 
   void addConstraint(
-      const size_t jointIndex,
+      size_t jointIndex,
       const Vector3f& offset,
       const Vector3f& target,
-      const float targetWeight);
+      float targetWeight);
 
   VectorXi getNumConstraints() const;
 

momentum/character_solver/vertex_error_function.h

@@ -92,8 +92,8 @@ class VertexErrorFunctionT : public SkeletonErrorFunctionT<T> {
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
       const VertexConstraintT<T>& constr,
-      const T sourceNormalWeight,
-      const T targetNormalWeight,
+      T sourceNormalWeight,
+      T targetNormalWeight,
       Ref<Eigen::MatrixX<T>> jac,
       T& res) const;
 
@@ -107,8 +107,8 @@ class VertexErrorFunctionT : public SkeletonErrorFunctionT<T> {
       const ModelParametersT<T>& modelParameters,
       const SkeletonStateT<T>& state,
       const VertexConstraintT<T>& constr,
-      const T sourceNormalWeight,
-      const T targetNormalWeight,
+      T sourceNormalWeight,
+      T targetNormalWeight,
       Eigen::Ref<Eigen::VectorX<T>> jointGrad) const;
 
   // Utility function used now in calculateNormalJacobian and calculatePositionGradient

momentum/gui/rerun/logger.h

@@ -40,7 +40,7 @@ void logMarkerLocatorCorrespondence(
     const std::map<std::string, size_t>& locatorLookup,
     const LocatorState& locatorState,
     gsl::span<const Marker> markers,
-    const float kPositionErrorThreshold);
+    float kPositionErrorThreshold);
 
 void logBvh(
     const rerun::RecordingStream& rec,

momentum/io/character_io.h

@@ -48,8 +48,8 @@ enum class CharacterFormat : uint8_t {
 /// @return The loaded Character object.
 [[nodiscard]] Character loadFullCharacterFromBuffer(
     CharacterFormat format,
-    const gsl::span<const std::byte> characterBuffer,
-    const gsl::span<const std::byte> paramBuffer = gsl::span<const std::byte>(),
-    const gsl::span<const std::byte> locBuffer = gsl::span<const std::byte>());
+    gsl::span<const std::byte> characterBuffer,
+    gsl::span<const std::byte> paramBuffer = gsl::span<const std::byte>(),
+    gsl::span<const std::byte> locBuffer = gsl::span<const std::byte>());
 
 } // namespace momentum

momentum/io/fbx/fbx_io.h

@@ -24,8 +24,8 @@ void saveFbx(
     const Character& character,
     const MatrixXf& poses = MatrixXf(),
     const VectorXf& identity = VectorXf(),
-    const double framerate = 120.0,
-    const bool saveMesh = false);
+    double framerate = 120.0,
+    bool saveMesh = false);
 
 // A shorthand of saveFbx() to save both the skeleton and mesh as a model but without any animation
 void saveFbxModel(const filesystem::path& filename, const Character& character);

momentum/io/gltf/gltf_builder.hpp

@@ -62,10 +62,10 @@ class GltfBuilder final {
   // the motion, the character will be automatically added with the default settings.
   void addMotion(
       const Character& character,
-      const float fps = 120.0f,
+      float fps = 120.0f,
       const MotionParameters& motion = {},
       const IdentityParameters& offsets = {},
-      const bool addExtensions = true,
+      bool addExtensions = true,
       const std::string& customName = "default");
 
   // Add a skeleton states to the provided character. If addCharacter is not called before adding
@@ -85,23 +85,23 @@ class GltfBuilder final {
   /// MarkerMesh::None).
   /// @param[in] animName Optional parameter specifying the animation name (default is "default").
   void addMarkerSequence(
-      const float fps,
+      float fps,
       gsl::span<const std::vector<momentum::Marker>> markerSequence,
-      const MarkerMesh markerMesh = MarkerMesh::None,
+      MarkerMesh markerMesh = MarkerMesh::None,
       const std::string& animName = "default");
 
   // Save the file with the provided filename. If the fileFormat is 'GltfFileFormat::EXTENSION',
   // will deduct the file format by filename.
   // When embedResources is true, it will set all the existing buffers to embed the data.
   void save(
       const filesystem::path& filename,
-      const GltfFileFormat fileFormat = GltfFileFormat::EXTENSION,
+      GltfFileFormat fileFormat = GltfFileFormat::EXTENSION,
       bool embedResources = false);
 
   static void save(
       fx::gltf::Document& document,
       const filesystem::path& filename,
-      const GltfFileFormat fileFormat = GltfFileFormat::EXTENSION,
+      GltfFileFormat fileFormat = GltfFileFormat::EXTENSION,
       bool embedResources = false);
 
   // Set all existing buffers to embed resources.

momentum/io/gltf/gltf_io.h

@@ -71,7 +71,7 @@ std::tuple<MatrixXf, VectorXf, float> loadMotionOnCharacter(
 /// represented as joint parameters, and the fps. The model parameters and joint parameters are
 /// mapped to the input character by name matching.
 std::tuple<MatrixXf, VectorXf, float> loadMotionOnCharacter(
-    const gsl::span<const std::byte> byteSpan,
+    gsl::span<const std::byte> byteSpan,
     const Character& character);
 
 /// Loads a MarkerSequence from a file.
@@ -82,7 +82,7 @@ MarkerSequence loadMarkerSequence(const filesystem::path& filename);
 
 fx::gltf::Document makeCharacterDocument(
     const Character& character,
-    const float fps = 120.0f,
+    float fps = 120.0f,
     const MotionParameters& motion = {},
     const IdentityParameters& offsets = {},
     const std::vector<std::vector<Marker>>& markerSequence = {},
@@ -97,11 +97,11 @@ fx::gltf::Document makeCharacterDocument(
 void saveCharacter(
     const filesystem::path& filename,
     const Character& Character,
-    const float fps = 120.0f,
+    float fps = 120.0f,
     const MotionParameters& motion = {},
     const IdentityParameters& offsets = {},
     const std::vector<std::vector<Marker>>& markerSequence = {},
-    const GltfFileFormat fileFormat = GltfFileFormat::EXTENSION);
+    GltfFileFormat fileFormat = GltfFileFormat::EXTENSION);
 
 /// Saves character skeleton states to a glb file.
 ///

momentum/io/openfbx/polygon_data.h

@@ -46,10 +46,10 @@ struct PolygonData {
   // If everything is kosher, returns an empty string.
   // This function is used in a few places when reading the mesh from
   // disk to make sure it's valid.
-  std::string errorMessage(const size_t numVertices) const;
+  [[nodiscard]] std::string errorMessage(size_t numVertices) const;
 
   // Similar to errorMessage, but the issue is not severe enough to terminate.
-  std::string warnMessage(const size_t numTexVertices) const;
+  [[nodiscard]] std::string warnMessage(size_t numTexVertices) const;
 
   size_t numPolygons() const;
 };