Merge pull request #24740 from OBKF/update-bullet-physics

Update Bullet physics to commit 126b676

1 files changed, 12 insertions, 18 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
index 98e2a5b8c4..6ab7502af3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.h
@@ -11,33 +11,27 @@
 class b3GpuPgsContactSolver
 {
 protected:
-
 	int m_debugOutput;
 
-	struct b3GpuBatchingPgsSolverInternalData*		m_data;
+	struct b3GpuBatchingPgsSolverInternalData* m_data;
+
+	void batchContacts(b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx);
 
-	void batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
-	
-	inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
-	inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
-	inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies, int* batchSizes);
-	
+	inline int sortConstraintByBatch(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
+	inline int sortConstraintByBatch2(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies);
+	inline int sortConstraintByBatch3(b3Contact4* cs, int n, int simdWidth, int staticIdx, int numBodies, int* batchSizes);
 
-	
-	void solveContactConstraintBatchSizes(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
+	void solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+										  b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
 
-		void solveContactConstraint(  const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf, 
-			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);//const b3OpenCLArray<int>* gpuBatchSizes);
+	void solveContactConstraint(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
+								b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n, int maxNumBatches, int numIterations, const b3AlignedObjectArray<int>* batchSizes);  //const b3OpenCLArray<int>* gpuBatchSizes);
 
 public:
-	
-	b3GpuPgsContactSolver(cl_context ctx,cl_device_id device, cl_command_queue  q,int pairCapacity);
+	b3GpuPgsContactSolver(cl_context ctx, cl_device_id device, cl_command_queue q, int pairCapacity);
 	virtual ~b3GpuPgsContactSolver();
 
 	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index);
-
 };
 
-#endif //B3_GPU_BATCHING_PGS_SOLVER_H
-
+#endif  //B3_GPU_BATCHING_PGS_SOLVER_H