drake/geometry opts back into clang-format linting

[SeanCurtis-TRI]

Towards #4843.

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This change is 

[SeanCurtis-TRI]

Reviewable status: 1 unresolved discussion, LGTM missing from assignee jwnimmer-tri(platform)

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a discussion (no related file):
+(release notes: none) +(status: single reviewer ok)
+@jwnimmer-tri

FYI I felt that this PR wasn't too big. Let me know if you disagree and I'll chop it up.

[jwnimmer-tri]

Reviewed 38 of 38 files at r1, all commit messages.
Reviewable status: 5 unresolved discussions, LGTM missing from assignee jwnimmer-tri(platform)

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a discussion (no related file):

Previously, SeanCurtis-TRI (Sean Curtis) wrote…

+(release notes: none) +(status: single reviewer ok)
+@jwnimmer-tri

FYI I felt that this PR wasn't too big. Let me know if you disagree and I'll chop it up.

(Wrong place for this thread. Marking resolved.)

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a discussion (no related file):
See SeanCurtis-TRI#14.

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geometry/collision_filter_manager.h line 15 at r1 (raw file):

class GeometryState;

// Disable formatter to preserve doxygen tables.

BTW Here and throughout all files where the same off/on was added around Doxygen, did you render the Doxygen website and pydrake website to cross-check that the formatting directives don't mess with our docstring extraction?

I seem to recall in the past that this was OK (docs still look good), but probably worth another sanity check now.

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geometry/test/proximity_engine_test.cc line 2912 at r1 (raw file):

  };
  const std::vector<Configuration> configurations{// Non-overlapping
                                                  {Vector3d(4., 0., 0.), 1.},

BTW If we changed these to obey the required float format (zero after decimal), possibly the auto-formatter would do a better job?

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geometry/test/geometry_state_test.cc line 4294 at r1 (raw file):

  // Registering a new frame does not modify the versions.
  FrameId new_frame_0 = VerifyVersionUnchanged(
      static_cast<FrameId (GeometryState<double>::*)(  // NOLINT

BTW I would be happy for us to disable whitespace/parens in CPPLINT.cfg so that we can lose these NOLINT stragglers, just like I did with the other whitespacae fight in my inbound PR here.

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geometry/test/meshcat_internal_test.cc line 221 at r1 (raw file):

  // Test pairs: (registered geometry name, expected transformed name).
  std::vector<std::pair<std::string, std::string>> test_names{

nit Probably a single list of pairs is easier on the eyes, so clang-format off?

[SeanCurtis-TRI]

Next round up.

Reviewable status: 2 unresolved discussions, LGTM missing from assignee jwnimmer-tri(platform)

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a discussion (no related file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

See SeanCurtis-TRI#14.

Done.

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geometry/collision_filter_manager.h line 15 at r1 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

BTW Here and throughout all files where the same off/on was added around Doxygen, did you render the Doxygen website and pydrake website to cross-check that the formatting directives don't mess with our docstring extraction?

I seem to recall in the past that this was OK (docs still look good), but probably worth another sanity check now.

I had explicitly checked (as I've been burned by this in the past). The doxygen was there in C++. I was particularly worried about pydrake, but it was there as well. However, I was reminded that the doxygen tables get mangled for pydrake.

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geometry/test/proximity_engine_test.cc line 2912 at r1 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

BTW If we changed these to obey the required float format (zero after decimal), possibly the auto-formatter would do a better job?

The file has roughly 500 instances of non-compliant float format. I can fix them in this PR or a follow up. Preferences?

(In the meantime, I've hit this block now.)

[jwnimmer-tri]

Reviewed 9 of 9 files at r2, all commit messages.
Reviewable status: 3 unresolved discussions

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geometry/test/proximity_engine_test.cc line 2912 at r1 (raw file):

Previously, SeanCurtis-TRI (Sean Curtis) wrote…

The file has roughly 500 instances of non-compliant float format. I can fix them in this PR or a follow up. Preferences?

(In the meantime, I've hit this block now.)

This block was the only place I meant, just to goad the clang-format gods into doing something more like what we visually want.

If you'd also like to fix the rest of the file that's OK, but probably in a follow-up PR.

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geometry/meshcat_types_internal.h line 593 at r2 (raw file):

    int8_t ext;
    // Based on pack_numpy_array method in meshcat-python geometry.py. See
    // also

nit Hmm, can we revert this line wrap? On second look, I'm not sure why ti got wrapped.

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geometry/meshcat_types_internal.h line 603 at r2 (raw file):

    } else if (std::is_same_v<Scalar, uint32_t>) {
      // TODO(russt): Using std::remove_cv<Scalar> did not work here (it
      // failed to match).  Need to understand and resolve this.

nit Hmm, can we revert this line wrap? On second look, I'm not sure why ti got wrapped.

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geometry/test/proximity_engine_test.cc line 3393 at r2 (raw file):

        const double abs_w = std::abs(w);
        // Skip interior points.
        if (abs_u != 1. && abs_v != 1. && abs_w != 1.) continue;

nit Oops, I missed this in the first pass. Add curly braces to avoid burying the control flow.

[SeanCurtis-TRI]

Reviewable status: complete! all discussions resolved, LGTM from assignee jwnimmer-tri(platform)

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geometry/meshcat_types_internal.h line 593 at r2 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Hmm, can we revert this line wrap? On second look, I'm not sure why ti got wrapped.

Done

These two are related to the whole weird indentation fight that got resolved with the namespace macro change.

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geometry/meshcat_types_internal.h line 603 at r2 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Hmm, can we revert this line wrap? On second look, I'm not sure why ti got wrapped.

Done

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geometry/test/proximity_engine_test.cc line 2912 at r1 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

This block was the only place I meant, just to goad the clang-format gods into doing something more like what we visually want.

If you'd also like to fix the rest of the file that's OK, but probably in a follow-up PR.

Follow up it is.

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geometry/test/proximity_engine_test.cc line 3393 at r2 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Oops, I missed this in the first pass. Add curly braces to avoid burying the control flow.

Good eye.

[jwnimmer-tri]

Reviewed 2 of 2 files at r3, all commit messages.
Reviewable status: complete! all discussions resolved, LGTM from assignee jwnimmer-tri(platform)

[jwnimmer-tri]

Reviewable status: 1 unresolved discussion

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a discussion (no related file):
The CI error is that I forgot to replicate the drake/.clang-format edits into drake/bindings/pydrake/.clang-format. The two need to be in sync, and that isn't automated, only cross-checked.