SCons: Format buildsystem files with psf/black

Configured for a max line length of 120 characters.

psf/black is very opinionated and purposely doesn't leave much room for
configuration. The output is mostly OK so that should be fine for us,
but some things worth noting:

- Manually wrapped strings will be reflowed, so by using a line length
  of 120 for the sake of preserving readability for our long command
  calls, it also means that some manually wrapped strings are back on
  the same line and should be manually merged again.

- Code generators using string concatenation extensively look awful,
  since black puts each operand on a single line. We need to refactor
  these generators to use more pythonic string formatting, for which
  many options are available (`%`, `format` or f-strings).

- CI checks and a pre-commit hook will be added to ensure that future
  buildsystem changes are well-formatted.

2 files changed, 179 insertions, 181 deletions

diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 02d0a31a69..692c749886 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -1,208 +1,203 @@
 #!/usr/bin/env python
 
-Import('env')
-Import('env_modules')
+Import("env")
+Import("env_modules")
 
 env_bullet = env_modules.Clone()
 
 # Thirdparty source files
 
-if env['builtin_bullet']:
+if env["builtin_bullet"]:
     # Build only version 2 for now (as of 2.89)
     # Sync file list with relevant upstream CMakeLists.txt for each folder.
     thirdparty_dir = "#thirdparty/bullet/"
 
     bullet2_src = [
         # BulletCollision
-          "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp"
-        , "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp"
-        , "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp"
-        , "BulletCollision/BroadphaseCollision/btDbvt.cpp"
-        , "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp"
-        , "BulletCollision/BroadphaseCollision/btDispatcher.cpp"
-        , "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp"
-        , "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp"
-        , "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp"
-        , "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp"
-        , "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp"
-        , "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp"
-        , "BulletCollision/CollisionDispatch/btCollisionObject.cpp"
-        , "BulletCollision/CollisionDispatch/btCollisionWorld.cpp"
-        , "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp"
-        , "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp"
-        , "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btGhostObject.cpp"
-        , "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp"
-        , "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp"
-        , "BulletCollision/CollisionDispatch/btManifoldResult.cpp"
-        , "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp"
-        , "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp"
-        , "BulletCollision/CollisionDispatch/btUnionFind.cpp"
-        , "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp"
-        , "BulletCollision/CollisionShapes/btBoxShape.cpp"
-        , "BulletCollision/CollisionShapes/btBox2dShape.cpp"
-        , "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp"
-        , "BulletCollision/CollisionShapes/btCapsuleShape.cpp"
-        , "BulletCollision/CollisionShapes/btCollisionShape.cpp"
-        , "BulletCollision/CollisionShapes/btCompoundShape.cpp"
-        , "BulletCollision/CollisionShapes/btConcaveShape.cpp"
-        , "BulletCollision/CollisionShapes/btConeShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvexHullShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvexInternalShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"
-        , "BulletCollision/CollisionShapes/btConvexShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvex2dShape.cpp"
-        , "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp"
-        , "BulletCollision/CollisionShapes/btCylinderShape.cpp"
-        , "BulletCollision/CollisionShapes/btEmptyShape.cpp"
-        , "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp"
-        , "BulletCollision/CollisionShapes/btMiniSDF.cpp"
-        , "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp"
-        , "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp"
-        , "BulletCollision/CollisionShapes/btMultiSphereShape.cpp"
-        , "BulletCollision/CollisionShapes/btOptimizedBvh.cpp"
-        , "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"
-        , "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"
-        , "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp"
-        , "BulletCollision/CollisionShapes/btShapeHull.cpp"
-        , "BulletCollision/CollisionShapes/btSphereShape.cpp"
-        , "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp"
-        , "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp"
-        , "BulletCollision/CollisionShapes/btTetrahedronShape.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleBuffer.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleCallback.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleMesh.cpp"
-        , "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"
-        , "BulletCollision/CollisionShapes/btUniformScalingShape.cpp"
-        , "BulletCollision/Gimpact/btContactProcessing.cpp"
-        , "BulletCollision/Gimpact/btGenericPoolAllocator.cpp"
-        , "BulletCollision/Gimpact/btGImpactBvh.cpp"
-        , "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp"
-        , "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"
-        , "BulletCollision/Gimpact/btGImpactShape.cpp"
-        , "BulletCollision/Gimpact/btTriangleShapeEx.cpp"
-        , "BulletCollision/Gimpact/gim_box_set.cpp"
-        , "BulletCollision/Gimpact/gim_contact.cpp"
-        , "BulletCollision/Gimpact/gim_memory.cpp"
-        , "BulletCollision/Gimpact/gim_tri_collision.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp"
-        , "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp"
-
+        "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp",
+        "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp",
+        "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp",
+        "BulletCollision/BroadphaseCollision/btDbvt.cpp",
+        "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp",
+        "BulletCollision/BroadphaseCollision/btDispatcher.cpp",
+        "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp",
+        "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp",
+        "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp",
+        "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp",
+        "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp",
+        "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp",
+        "BulletCollision/CollisionDispatch/btCollisionObject.cpp",
+        "BulletCollision/CollisionDispatch/btCollisionWorld.cpp",
+        "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp",
+        "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp",
+        "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btGhostObject.cpp",
+        "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp",
+        "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp",
+        "BulletCollision/CollisionDispatch/btManifoldResult.cpp",
+        "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp",
+        "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp",
+        "BulletCollision/CollisionDispatch/btUnionFind.cpp",
+        "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp",
+        "BulletCollision/CollisionShapes/btBoxShape.cpp",
+        "BulletCollision/CollisionShapes/btBox2dShape.cpp",
+        "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp",
+        "BulletCollision/CollisionShapes/btCapsuleShape.cpp",
+        "BulletCollision/CollisionShapes/btCollisionShape.cpp",
+        "BulletCollision/CollisionShapes/btCompoundShape.cpp",
+        "BulletCollision/CollisionShapes/btConcaveShape.cpp",
+        "BulletCollision/CollisionShapes/btConeShape.cpp",
+        "BulletCollision/CollisionShapes/btConvexHullShape.cpp",
+        "BulletCollision/CollisionShapes/btConvexInternalShape.cpp",
+        "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp",
+        "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp",
+        "BulletCollision/CollisionShapes/btConvexShape.cpp",
+        "BulletCollision/CollisionShapes/btConvex2dShape.cpp",
+        "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp",
+        "BulletCollision/CollisionShapes/btCylinderShape.cpp",
+        "BulletCollision/CollisionShapes/btEmptyShape.cpp",
+        "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp",
+        "BulletCollision/CollisionShapes/btMiniSDF.cpp",
+        "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp",
+        "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp",
+        "BulletCollision/CollisionShapes/btMultiSphereShape.cpp",
+        "BulletCollision/CollisionShapes/btOptimizedBvh.cpp",
+        "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp",
+        "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp",
+        "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp",
+        "BulletCollision/CollisionShapes/btShapeHull.cpp",
+        "BulletCollision/CollisionShapes/btSphereShape.cpp",
+        "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp",
+        "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp",
+        "BulletCollision/CollisionShapes/btTetrahedronShape.cpp",
+        "BulletCollision/CollisionShapes/btTriangleBuffer.cpp",
+        "BulletCollision/CollisionShapes/btTriangleCallback.cpp",
+        "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp",
+        "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp",
+        "BulletCollision/CollisionShapes/btTriangleMesh.cpp",
+        "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp",
+        "BulletCollision/CollisionShapes/btUniformScalingShape.cpp",
+        "BulletCollision/Gimpact/btContactProcessing.cpp",
+        "BulletCollision/Gimpact/btGenericPoolAllocator.cpp",
+        "BulletCollision/Gimpact/btGImpactBvh.cpp",
+        "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp",
+        "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp",
+        "BulletCollision/Gimpact/btGImpactShape.cpp",
+        "BulletCollision/Gimpact/btTriangleShapeEx.cpp",
+        "BulletCollision/Gimpact/gim_box_set.cpp",
+        "BulletCollision/Gimpact/gim_contact.cpp",
+        "BulletCollision/Gimpact/gim_memory.cpp",
+        "BulletCollision/Gimpact/gim_tri_collision.cpp",
+        "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp",
+        "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp",
+        "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp",
+        "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp",
+        "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp",
+        "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp",
+        "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp",
+        "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp",
+        "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp",
+        "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp",
+        "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp",
+        "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp",
         # BulletDynamics
-        , "BulletDynamics/Character/btKinematicCharacterController.cpp"
-        , "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btContactConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btGearConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp"
-        , "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp"
-        , "BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp"
-        , "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp"
-        , "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp"
-        , "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp"
-        , "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp"
-        , "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp"
-        , "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp"
-        , "BulletDynamics/Dynamics/btRigidBody.cpp"
-        , "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp"
-        #, "BulletDynamics/Dynamics/Bullet-C-API.cpp"
-        , "BulletDynamics/Vehicle/btRaycastVehicle.cpp"
-        , "BulletDynamics/Vehicle/btWheelInfo.cpp"
-        , "BulletDynamics/Featherstone/btMultiBody.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"
-        , "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp"
-        , "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp"
-        , "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp"
-        , "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp"
-
+        "BulletDynamics/Character/btKinematicCharacterController.cpp",
+        "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btContactConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btGearConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp",
+        "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp",
+        "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp",
+        "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp",
+        "BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp",
+        "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp",
+        "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp",
+        "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp",
+        "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp",
+        "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp",
+        "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp",
+        "BulletDynamics/Dynamics/btRigidBody.cpp",
+        "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp",
+        # "BulletDynamics/Dynamics/Bullet-C-API.cpp",
+        "BulletDynamics/Vehicle/btRaycastVehicle.cpp",
+        "BulletDynamics/Vehicle/btWheelInfo.cpp",
+        "BulletDynamics/Featherstone/btMultiBody.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp",
+        "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp",
+        "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp",
+        "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp",
+        "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp",
+        "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp",
+        "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp",
         # BulletInverseDynamics
-        , "BulletInverseDynamics/IDMath.cpp"
-        , "BulletInverseDynamics/MultiBodyTree.cpp"
-        , "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp"
-        , "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"
-
+        "BulletInverseDynamics/IDMath.cpp",
+        "BulletInverseDynamics/MultiBodyTree.cpp",
+        "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp",
+        "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp",
         # BulletSoftBody
-        , "BulletSoftBody/btSoftBody.cpp"
-        , "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"
-        , "BulletSoftBody/btSoftBodyHelpers.cpp"
-        , "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp"
-        , "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp"
-        , "BulletSoftBody/btSoftRigidDynamicsWorld.cpp"
-        , "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"
-        , "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"
-        , "BulletSoftBody/btDefaultSoftBodySolver.cpp"
-        , "BulletSoftBody/btDeformableBackwardEulerObjective.cpp"
-        , "BulletSoftBody/btDeformableBodySolver.cpp"
-        , "BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"
-        , "BulletSoftBody/btDeformableContactProjection.cpp"
-        , "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"
-        , "BulletSoftBody/btDeformableContactConstraint.cpp"
-
+        "BulletSoftBody/btSoftBody.cpp",
+        "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp",
+        "BulletSoftBody/btSoftBodyHelpers.cpp",
+        "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp",
+        "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp",
+        "BulletSoftBody/btSoftRigidDynamicsWorld.cpp",
+        "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp",
+        "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp",
+        "BulletSoftBody/btDefaultSoftBodySolver.cpp",
+        "BulletSoftBody/btDeformableBackwardEulerObjective.cpp",
+        "BulletSoftBody/btDeformableBodySolver.cpp",
+        "BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp",
+        "BulletSoftBody/btDeformableContactProjection.cpp",
+        "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp",
+        "BulletSoftBody/btDeformableContactConstraint.cpp",
         # clew
-        , "clew/clew.c"
-
+        "clew/clew.c",
         # LinearMath
-        , "LinearMath/btAlignedAllocator.cpp"
-        , "LinearMath/btConvexHull.cpp"
-        , "LinearMath/btConvexHullComputer.cpp"
-        , "LinearMath/btGeometryUtil.cpp"
-        , "LinearMath/btPolarDecomposition.cpp"
-        , "LinearMath/btQuickprof.cpp"
-        , "LinearMath/btSerializer.cpp"
-        , "LinearMath/btSerializer64.cpp"
-        , "LinearMath/btThreads.cpp"
-        , "LinearMath/btVector3.cpp"
-        , "LinearMath/TaskScheduler/btTaskScheduler.cpp"
-        , "LinearMath/TaskScheduler/btThreadSupportPosix.cpp"
-        , "LinearMath/TaskScheduler/btThreadSupportWin32.cpp"
+        "LinearMath/btAlignedAllocator.cpp",
+        "LinearMath/btConvexHull.cpp",
+        "LinearMath/btConvexHullComputer.cpp",
+        "LinearMath/btGeometryUtil.cpp",
+        "LinearMath/btPolarDecomposition.cpp",
+        "LinearMath/btQuickprof.cpp",
+        "LinearMath/btSerializer.cpp",
+        "LinearMath/btSerializer64.cpp",
+        "LinearMath/btThreads.cpp",
+        "LinearMath/btVector3.cpp",
+        "LinearMath/TaskScheduler/btTaskScheduler.cpp",
+        "LinearMath/TaskScheduler/btThreadSupportPosix.cpp",
+        "LinearMath/TaskScheduler/btThreadSupportWin32.cpp",
     ]
 
     thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
 
     # Treat Bullet headers as system headers to avoid raising warnings. Not supported on MSVC.
     if not env.msvc:
-        env_bullet.Append(CPPFLAGS=['-isystem', Dir(thirdparty_dir).path])
+        env_bullet.Append(CPPFLAGS=["-isystem", Dir(thirdparty_dir).path])
     else:
         env_bullet.Prepend(CPPPATH=[thirdparty_dir])
     # if env['target'] == "debug" or env['target'] == "release_debug":
diff --git a/modules/bullet/config.py b/modules/bullet/config.py
index 92dbcf5cb0..f6fd0be8ba 100644
--- a/modules/bullet/config.py
+++ b/modules/bullet/config.py
@@ -1,14 +1,17 @@
 def can_build(env, platform):
     return True
 
+
 def configure(env):
     pass
 
+
 def get_doc_classes():
     return [
         "BulletPhysicsDirectBodyState",
         "BulletPhysicsServer",
     ]
 
+
 def get_doc_path():
     return "doc_classes"