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

Update Bullet physics to commit 126b676

1 files changed, 51 insertions, 56 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
index 2d83c8bfba..64a6f272ca 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -15,11 +15,9 @@ subject to the following restrictions:
 
 #include "btConeShape.h"
 
-
-
-btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
-m_radius (radius),
-m_height(height)
+btConeShape::btConeShape(btScalar radius, btScalar height) : btConvexInternalShape(),
+															 m_radius(radius),
+															 m_height(height)
 {
 	m_shapeType = CONE_SHAPE_PROXYTYPE;
 	setConeUpIndex(1);
@@ -27,42 +25,40 @@ m_height(height)
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
 }
 
-btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
-btConeShape(radius,height)
+btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
 {
 	setConeUpIndex(2);
 }
 
-btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
-btConeShape(radius,height)
+btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
 {
 	setConeUpIndex(0);
 }
 
 ///choose upAxis index
-void	btConeShape::setConeUpIndex(int upIndex)
+void btConeShape::setConeUpIndex(int upIndex)
 {
 	switch (upIndex)
 	{
-	case 0:
+		case 0:
 			m_coneIndices[0] = 1;
 			m_coneIndices[1] = 0;
 			m_coneIndices[2] = 2;
-		break;
-	case 1:
+			break;
+		case 1:
 			m_coneIndices[0] = 0;
 			m_coneIndices[1] = 1;
 			m_coneIndices[2] = 2;
-		break;
-	case 2:
+			break;
+		case 2:
 			m_coneIndices[0] = 0;
 			m_coneIndices[1] = 2;
 			m_coneIndices[2] = 1;
-		break;
-	default:
-		btAssert(0);
+			break;
+		default:
+			btAssert(0);
 	};
-	
+
 	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
 	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
 	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
@@ -70,72 +66,71 @@ void	btConeShape::setConeUpIndex(int upIndex)
 
 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
 {
-	
 	btScalar halfHeight = m_height * btScalar(0.5);
 
- if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
- {
-	btVector3 tmp;
-
-	tmp[m_coneIndices[0]] = btScalar(0.);
-	tmp[m_coneIndices[1]] = halfHeight;
-	tmp[m_coneIndices[2]] = btScalar(0.);
-	return tmp;
- }
-  else {
-    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
-    if (s > SIMD_EPSILON) {
-      btScalar d = m_radius / s;
-	  btVector3 tmp;
-	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
-	  tmp[m_coneIndices[1]] = -halfHeight;
-	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
-	  return tmp;
-    }
-    else  {
+	if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
+	{
 		btVector3 tmp;
+
 		tmp[m_coneIndices[0]] = btScalar(0.);
-		tmp[m_coneIndices[1]] = -halfHeight;
+		tmp[m_coneIndices[1]] = halfHeight;
 		tmp[m_coneIndices[2]] = btScalar(0.);
 		return tmp;
 	}
-  }
-
+	else
+	{
+		btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
+		if (s > SIMD_EPSILON)
+		{
+			btScalar d = m_radius / s;
+			btVector3 tmp;
+			tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
+			tmp[m_coneIndices[1]] = -halfHeight;
+			tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
+			return tmp;
+		}
+		else
+		{
+			btVector3 tmp;
+			tmp[m_coneIndices[0]] = btScalar(0.);
+			tmp[m_coneIndices[1]] = -halfHeight;
+			tmp[m_coneIndices[2]] = btScalar(0.);
+			return tmp;
+		}
+	}
 }
 
-btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
+btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 {
-		return coneLocalSupport(vec);
+	return coneLocalSupport(vec);
 }
 
-void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-	for (int i=0;i<numVectors;i++)
+	for (int i = 0; i < numVectors; i++)
 	{
 		const btVector3& vec = vectors[i];
 		supportVerticesOut[i] = coneLocalSupport(vec);
 	}
 }
 
-
-btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
+btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = coneLocalSupport(vec);
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
-void	btConeShape::setLocalScaling(const btVector3& scaling)
+void btConeShape::setLocalScaling(const btVector3& scaling)
 {
 	int axis = m_coneIndices[1];
 	int r1 = m_coneIndices[0];