Update Bullet to the latest commit 126b676

1 files changed, 306 insertions, 363 deletions

diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
index 9d7e40562c..5b85e87041 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef GIMPACT_SHAPE_H
 #define GIMPACT_SHAPE_H
 
@@ -37,8 +36,7 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-#include "btGImpactQuantizedBvh.h" // box tree class
-
+#include "btGImpactQuantizedBvh.h"  // box tree class
 
 //! declare Quantized trees, (you can change to float based trees)
 typedef btGImpactQuantizedBvh btGImpactBoxSet;
@@ -50,10 +48,8 @@ enum eGIMPACT_SHAPE_TYPE
 	CONST_GIMPACT_TRIMESH_SHAPE
 };
 
-
-
 //! Helper class for tetrahedrons
-class btTetrahedronShapeEx:public btBU_Simplex1to4
+class btTetrahedronShapeEx : public btBU_Simplex1to4
 {
 public:
 	btTetrahedronShapeEx()
@@ -61,10 +57,9 @@ public:
 		m_numVertices = 4;
 	}
 
-
 	SIMD_FORCE_INLINE void setVertices(
-		const btVector3 & v0,const btVector3 & v1,
-		const btVector3 & v2,const btVector3 & v3)
+		const btVector3& v0, const btVector3& v1,
+		const btVector3& v2, const btVector3& v3)
 	{
 		m_vertices[0] = v0;
 		m_vertices[1] = v1;
@@ -74,45 +69,42 @@ public:
 	}
 };
 
-
 //! Base class for gimpact shapes
 class btGImpactShapeInterface : public btConcaveShape
 {
 protected:
-    btAABB m_localAABB;
-    bool m_needs_update;
-    btVector3  localScaling;
-    btGImpactBoxSet m_box_set;// optionally boxset
+	btAABB m_localAABB;
+	bool m_needs_update;
+	btVector3 localScaling;
+	btGImpactBoxSet m_box_set;  // optionally boxset
 
 	//! use this function for perfofm refit in bounding boxes
-    //! use this function for perfofm refit in bounding boxes
-    virtual void calcLocalAABB()
-    {
+	//! use this function for perfofm refit in bounding boxes
+	virtual void calcLocalAABB()
+	{
 		lockChildShapes();
-    	if(m_box_set.getNodeCount() == 0)
-    	{
-    		m_box_set.buildSet();
-    	}
-    	else
-    	{
-    		m_box_set.update();
-    	}
-    	unlockChildShapes();
-
-    	m_localAABB = m_box_set.getGlobalBox();
-    }
+		if (m_box_set.getNodeCount() == 0)
+		{
+			m_box_set.buildSet();
+		}
+		else
+		{
+			m_box_set.update();
+		}
+		unlockChildShapes();
 
+		m_localAABB = m_box_set.getGlobalBox();
+	}
 
 public:
 	btGImpactShapeInterface()
 	{
-		m_shapeType=GIMPACT_SHAPE_PROXYTYPE;
+		m_shapeType = GIMPACT_SHAPE_PROXYTYPE;
 		m_localAABB.invalidate();
 		m_needs_update = true;
-		localScaling.setValue(1.f,1.f,1.f);
+		localScaling.setValue(1.f, 1.f, 1.f);
 	}
 
-
 	//! performs refit operation
 	/*!
 	Updates the entire Box set of this shape.
@@ -120,47 +112,46 @@ public:
 		will does nothing.
 	\post if m_needs_update == true, then it calls calcLocalAABB();
 	*/
-    SIMD_FORCE_INLINE void updateBound()
-    {
-    	if(!m_needs_update) return;
-    	calcLocalAABB();
-    	m_needs_update  = false;
-    }
-
-    //! If the Bounding box is not updated, then this class attemps to calculate it.
-    /*!
+	SIMD_FORCE_INLINE void updateBound()
+	{
+		if (!m_needs_update) return;
+		calcLocalAABB();
+		m_needs_update = false;
+	}
+
+	//! If the Bounding box is not updated, then this class attemps to calculate it.
+	/*!
     \post Calls updateBound() for update the box set.
     */
-    void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        btAABB transformedbox = m_localAABB;
-        transformedbox.appy_transform(t);
-        aabbMin = transformedbox.m_min;
-        aabbMax = transformedbox.m_max;
-    }
-
-    //! Tells to this object that is needed to refit the box set
-    virtual void postUpdate()
-    {
-    	m_needs_update = true;
-    }
+	void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAABB transformedbox = m_localAABB;
+		transformedbox.appy_transform(t);
+		aabbMin = transformedbox.m_min;
+		aabbMax = transformedbox.m_max;
+	}
+
+	//! Tells to this object that is needed to refit the box set
+	virtual void postUpdate()
+	{
+		m_needs_update = true;
+	}
 
 	//! Obtains the local box, which is the global calculated box of the total of subshapes
-	SIMD_FORCE_INLINE const btAABB & getLocalBox()
+	SIMD_FORCE_INLINE const btAABB& getLocalBox()
 	{
 		return m_localAABB;
 	}
 
+	virtual int getShapeType() const
+	{
+		return GIMPACT_SHAPE_PROXYTYPE;
+	}
 
-    virtual int	getShapeType() const
-    {
-        return GIMPACT_SHAPE_PROXYTYPE;
-    }
-
-    /*!
+	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		localScaling = scaling;
 		postUpdate();
@@ -171,46 +162,43 @@ public:
 		return localScaling;
 	}
 
-
 	virtual void setMargin(btScalar margin)
-    {
-    	m_collisionMargin = margin;
-    	int i = getNumChildShapes();
-    	while(i--)
-    	{
+	{
+		m_collisionMargin = margin;
+		int i = getNumChildShapes();
+		while (i--)
+		{
 			btCollisionShape* child = getChildShape(i);
 			child->setMargin(margin);
-    	}
+		}
 
 		m_needs_update = true;
-    }
-
+	}
 
 	//! Subshape member functions
 	//!@{
 
 	//! Base method for determinig which kind of GIMPACT shape we get
-	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ;
+	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0;
 
 	//! gets boxset
-	SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const
+	SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const
 	{
 		return &m_box_set;
 	}
 
 	//! Determines if this class has a hierarchy structure for sorting its primitives
-	SIMD_FORCE_INLINE bool hasBoxSet()  const
+	SIMD_FORCE_INLINE bool hasBoxSet() const
 	{
-		if(m_box_set.getNodeCount() == 0) return false;
+		if (m_box_set.getNodeCount() == 0) return false;
 		return true;
 	}
 
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const = 0;
-
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0;
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const  = 0;
+	virtual int getNumChildShapes() const = 0;
 
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const = 0;
@@ -221,11 +209,9 @@ public:
 	//! Determines if this shape has tetrahedrons
 	virtual bool needsRetrieveTetrahedrons() const = 0;
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0;
-
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0;
-
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0;
 
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0;
 
 	//! call when reading child shapes
 	virtual void lockChildShapes() const
@@ -237,94 +223,91 @@ public:
 	}
 
 	//! if this trimesh
-	SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const
+	SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const
 	{
-		getPrimitiveManager()->get_primitive_triangle(index,triangle);
+		getPrimitiveManager()->get_primitive_triangle(index, triangle);
 	}
 
-
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        btAABB child_aabb;
-        getPrimitiveManager()->get_primitive_box(child_index,child_aabb);
-        child_aabb.appy_transform(t);
-        aabbMin = child_aabb.m_min;
-        aabbMax = child_aabb.m_max;
-    }
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAABB child_aabb;
+		getPrimitiveManager()->get_primitive_box(child_index, child_aabb);
+		child_aabb.appy_transform(t);
+		aabbMin = child_aabb.m_min;
+		aabbMax = child_aabb.m_max;
+	}
 
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index) = 0;
 
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const = 0;
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const = 0;
+	virtual btTransform getChildTransform(int index) const = 0;
 
 	//! Sets the children transform
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform) = 0;
+	virtual void setChildTransform(int index, const btTransform& transform) = 0;
 
 	//!@}
 
-
 	//! virtual method for ray collision
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback)  const
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
 	{
-        (void) rayFrom; (void) rayTo; (void) resultCallback;
+		(void)rayFrom;
+		(void)rayTo;
+		(void)resultCallback;
 	}
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 	{
-        (void) callback; (void) aabbMin; (void) aabbMax;
+		(void)callback;
+		(void)aabbMin;
+		(void)aabbMax;
 	}
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/,const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
+	virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/, const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
 	{
-		
 	}
 
 	//!@}
-
 };
 
-
 //! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once
 /*!
 This class only can manage Convex subshapes
 */
-class btGImpactCompoundShape	: public btGImpactShapeInterface
+class btGImpactCompoundShape : public btGImpactShapeInterface
 {
 public:
 	//! compound primitive manager
-	class CompoundPrimitiveManager:public btPrimitiveManagerBase
+	class CompoundPrimitiveManager : public btPrimitiveManagerBase
 	{
 	public:
 		virtual ~CompoundPrimitiveManager() {}
-		btGImpactCompoundShape * m_compoundShape;
-
+		btGImpactCompoundShape* m_compoundShape;
 
 		CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)
-            : btPrimitiveManagerBase()
+			: btPrimitiveManagerBase()
 		{
 			m_compoundShape = compound.m_compoundShape;
 		}
 
-		CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape)
+		CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape)
 		{
 			m_compoundShape = compoundShape;
 		}
@@ -341,13 +324,13 @@ public:
 
 		virtual int get_primitive_count() const
 		{
-			return (int )m_compoundShape->getNumChildShapes();
+			return (int)m_compoundShape->getNumChildShapes();
 		}
 
-		virtual void get_primitive_box(int prim_index ,btAABB & primbox) const
+		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
 		{
 			btTransform prim_trans;
-			if(m_compoundShape->childrenHasTransform())
+			if (m_compoundShape->childrenHasTransform())
 			{
 				prim_trans = m_compoundShape->getChildTransform(prim_index);
 			}
@@ -356,30 +339,26 @@ public:
 				prim_trans.setIdentity();
 			}
 			const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);
-			shape->getAabb(prim_trans,primbox.m_min,primbox.m_max);
+			shape->getAabb(prim_trans, primbox.m_min, primbox.m_max);
 		}
 
-		virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const
+		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
 		{
 			btAssert(0);
-            (void) prim_index; (void) triangle;
+			(void)prim_index;
+			(void)triangle;
 		}
-
 	};
 
-
-
 protected:
 	CompoundPrimitiveManager m_primitive_manager;
-	btAlignedObjectArray<btTransform>		m_childTransforms;
-	btAlignedObjectArray<btCollisionShape*>	m_childShapes;
-
+	btAlignedObjectArray<btTransform> m_childTransforms;
+	btAlignedObjectArray<btCollisionShape*> m_childShapes;
 
 public:
-
 	btGImpactCompoundShape(bool children_has_transform = true)
 	{
-        (void) children_has_transform;
+		(void)children_has_transform;
 		m_primitive_manager.m_compoundShape = this;
 		m_box_set.setPrimitiveManager(&m_primitive_manager);
 	}
@@ -388,36 +367,33 @@ public:
 	{
 	}
 
-
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
 	{
-		if(m_childTransforms.size()==0) return false;
+		if (m_childTransforms.size() == 0) return false;
 		return true;
 	}
 
-
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return &m_primitive_manager;
 	}
 
 	//! Obtains the compopund primitive manager
-	SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager()
+	SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager()
 	{
 		return &m_primitive_manager;
 	}
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		return m_childShapes.size();
 	}
 
-
 	//! Use this method for adding children. Only Convex shapes are allowed.
-	void addChildShape(const btTransform& localTransform,btCollisionShape* shape)
+	void addChildShape(const btTransform& localTransform, btCollisionShape* shape)
 	{
 		btAssert(shape->isConvex());
 		m_childTransforms.push_back(localTransform);
@@ -444,24 +420,22 @@ public:
 	}
 
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-
-    	if(childrenHasTransform())
-    	{
-    		m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax);
-    	}
-    	else
-    	{
-    		m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax);
-    	}
-    }
-
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		if (childrenHasTransform())
+		{
+			m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax);
+		}
+		else
+		{
+			m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax);
+		}
+	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
 		btAssert(m_childTransforms.size() == m_childShapes.size());
 		return m_childTransforms[index];
@@ -471,7 +445,7 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
 		btAssert(m_childTransforms.size() == m_childShapes.size());
 		m_childTransforms[index] = transform;
@@ -490,24 +464,24 @@ public:
 		return false;
 	}
 
-
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-        (void) prim_index; (void) triangle;
+		(void)prim_index;
+		(void)triangle;
 		btAssert(0);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index; (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
-
 	//! Calculates the exact inertia tensor for this shape
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactCompound";
 	}
@@ -516,11 +490,8 @@ public:
 	{
 		return CONST_GIMPACT_COMPOUND_SHAPE;
 	}
-
 };
 
-
-
 //! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
 /*!
 - Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh
@@ -535,21 +506,21 @@ public:
 	/*!
 	Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism
 	*/
-	class TrimeshPrimitiveManager:public btPrimitiveManagerBase
+	class TrimeshPrimitiveManager : public btPrimitiveManagerBase
 	{
 	public:
 		btScalar m_margin;
-		btStridingMeshInterface * m_meshInterface;
+		btStridingMeshInterface* m_meshInterface;
 		btVector3 m_scale;
 		int m_part;
 		int m_lock_count;
-		const unsigned char *vertexbase;
+		const unsigned char* vertexbase;
 		int numverts;
 		PHY_ScalarType type;
 		int stride;
-		const unsigned char *indexbase;
+		const unsigned char* indexbase;
 		int indexstride;
-		int  numfaces;
+		int numfaces;
 		PHY_ScalarType indicestype;
 
 		TrimeshPrimitiveManager()
@@ -557,7 +528,7 @@ public:
 			m_meshInterface = NULL;
 			m_part = 0;
 			m_margin = 0.01f;
-			m_scale = btVector3(1.f,1.f,1.f);
+			m_scale = btVector3(1.f, 1.f, 1.f);
 			m_lock_count = 0;
 			vertexbase = 0;
 			numverts = 0;
@@ -567,8 +538,8 @@ public:
 			numfaces = 0;
 		}
 
- 		TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager)
-            : btPrimitiveManagerBase()
+		TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager)
+			: btPrimitiveManagerBase()
 		{
 			m_meshInterface = manager.m_meshInterface;
 			m_part = manager.m_part;
@@ -581,11 +552,10 @@ public:
 			indexbase = 0;
 			indexstride = 0;
 			numfaces = 0;
-
 		}
 
 		TrimeshPrimitiveManager(
-			btStridingMeshInterface * meshInterface,	int part)
+			btStridingMeshInterface* meshInterface, int part)
 		{
 			m_meshInterface = meshInterface;
 			m_part = part;
@@ -598,29 +568,28 @@ public:
 			indexbase = 0;
 			indexstride = 0;
 			numfaces = 0;
-
 		}
 
 		virtual ~TrimeshPrimitiveManager() {}
 
 		void lock()
 		{
-			if(m_lock_count>0)
+			if (m_lock_count > 0)
 			{
 				m_lock_count++;
 				return;
 			}
 			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,numverts,
-				type, stride,&indexbase, indexstride, numfaces,indicestype,m_part);
+				&vertexbase, numverts,
+				type, stride, &indexbase, indexstride, numfaces, indicestype, m_part);
 
 			m_lock_count = 1;
 		}
 
 		void unlock()
 		{
-			if(m_lock_count == 0) return;
-			if(m_lock_count>1)
+			if (m_lock_count == 0) return;
+			if (m_lock_count > 1)
 			{
 				--m_lock_count;
 				return;
@@ -637,93 +606,91 @@ public:
 
 		virtual int get_primitive_count() const
 		{
-			return (int )numfaces;
+			return (int)numfaces;
 		}
 
 		SIMD_FORCE_INLINE int get_vertex_count() const
 		{
-			return (int )numverts;
+			return (int)numverts;
 		}
 
-		SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const
+		SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const
 		{
-			if(indicestype == PHY_SHORT)
+			if (indicestype == PHY_SHORT)
 			{
-				unsigned short* s_indices = (unsigned short *)(indexbase + face_index * indexstride);
+				unsigned short* s_indices = (unsigned short*)(indexbase + face_index * indexstride);
 				i0 = s_indices[0];
 				i1 = s_indices[1];
 				i2 = s_indices[2];
 			}
 			else
 			{
-				unsigned int * i_indices = (unsigned int *)(indexbase + face_index*indexstride);
+				unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
 				i0 = i_indices[0];
 				i1 = i_indices[1];
 				i2 = i_indices[2];
 			}
 		}
 
-		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const
+		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
 		{
-			if(type == PHY_DOUBLE)
+			if (type == PHY_DOUBLE)
 			{
-				double * dvertices = (double *)(vertexbase + vertex_index*stride);
-				vertex[0] = btScalar(dvertices[0]*m_scale[0]);
-				vertex[1] = btScalar(dvertices[1]*m_scale[1]);
-				vertex[2] = btScalar(dvertices[2]*m_scale[2]);
+				double* dvertices = (double*)(vertexbase + vertex_index * stride);
+				vertex[0] = btScalar(dvertices[0] * m_scale[0]);
+				vertex[1] = btScalar(dvertices[1] * m_scale[1]);
+				vertex[2] = btScalar(dvertices[2] * m_scale[2]);
 			}
 			else
 			{
-				float * svertices = (float *)(vertexbase + vertex_index*stride);
-				vertex[0] = svertices[0]*m_scale[0];
-				vertex[1] = svertices[1]*m_scale[1];
-				vertex[2] = svertices[2]*m_scale[2];
+				float* svertices = (float*)(vertexbase + vertex_index * stride);
+				vertex[0] = svertices[0] * m_scale[0];
+				vertex[1] = svertices[1] * m_scale[1];
+				vertex[2] = svertices[2] * m_scale[2];
 			}
 		}
 
-		virtual void get_primitive_box(int prim_index ,btAABB & primbox) const
+		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
 		{
-			btPrimitiveTriangle  triangle;
-			get_primitive_triangle(prim_index,triangle);
+			btPrimitiveTriangle triangle;
+			get_primitive_triangle(prim_index, triangle);
 			primbox.calc_from_triangle_margin(
 				triangle.m_vertices[0],
-				triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin);
+				triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin);
 		}
 
-		virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const
+		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
 		{
 			unsigned int indices[3];
-			get_indices(prim_index,indices[0],indices[1],indices[2]);
-			get_vertex(indices[0],triangle.m_vertices[0]);
-			get_vertex(indices[1],triangle.m_vertices[1]);
-			get_vertex(indices[2],triangle.m_vertices[2]);
+			get_indices(prim_index, indices[0], indices[1], indices[2]);
+			get_vertex(indices[0], triangle.m_vertices[0]);
+			get_vertex(indices[1], triangle.m_vertices[1]);
+			get_vertex(indices[2], triangle.m_vertices[2]);
 			triangle.m_margin = m_margin;
 		}
 
-		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const
+		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const
 		{
 			unsigned int indices[3];
-			get_indices(prim_index,indices[0],indices[1],indices[2]);
-			get_vertex(indices[0],triangle.m_vertices1[0]);
-			get_vertex(indices[1],triangle.m_vertices1[1]);
-			get_vertex(indices[2],triangle.m_vertices1[2]);
+			get_indices(prim_index, indices[0], indices[1], indices[2]);
+			get_vertex(indices[0], triangle.m_vertices1[0]);
+			get_vertex(indices[1], triangle.m_vertices1[1]);
+			get_vertex(indices[2], triangle.m_vertices1[2]);
 			triangle.setMargin(m_margin);
 		}
-
 	};
 
-
 protected:
 	TrimeshPrimitiveManager m_primitive_manager;
-public:
 
+public:
 	btGImpactMeshShapePart()
 	{
 		m_box_set.setPrimitiveManager(&m_primitive_manager);
 	}
 
-    btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part );
-    virtual ~btGImpactMeshShapePart();
+	btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part);
+	virtual ~btGImpactMeshShapePart();
 
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
@@ -731,40 +698,36 @@ public:
 		return false;
 	}
 
-
 	//! call when reading child shapes
-    virtual void lockChildShapes() const;
-    virtual void unlockChildShapes()  const;
+	virtual void lockChildShapes() const;
+	virtual void unlockChildShapes() const;
 
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		return m_primitive_manager.get_primitive_count();
 	}
 
-
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index)
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
-
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return btTransform();
 	}
@@ -773,35 +736,27 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
-        (void) index;
-        (void) transform;
+		(void)index;
+		(void)transform;
 		btAssert(0);
 	}
 
-
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return &m_primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager()
+	SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager()
 	{
 		return &m_primitive_manager;
 	}
 
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
-
-
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-
-
-
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactMeshShapePart";
 	}
@@ -823,61 +778,58 @@ public:
 		return false;
 	}
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-		m_primitive_manager.get_bullet_triangle(prim_index,triangle);
+		m_primitive_manager.get_bullet_triangle(prim_index, triangle);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index;
-        (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
-
-
 	SIMD_FORCE_INLINE int getVertexCount() const
 	{
 		return m_primitive_manager.get_vertex_count();
 	}
 
-	SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const
+	SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const
 	{
-		m_primitive_manager.get_vertex(vertex_index,vertex);
+		m_primitive_manager.get_vertex(vertex_index, vertex);
 	}
 
 	SIMD_FORCE_INLINE void setMargin(btScalar margin)
-    {
-    	m_primitive_manager.m_margin = margin;
-    	postUpdate();
-    }
-
-    SIMD_FORCE_INLINE btScalar getMargin() const
-    {
-    	return m_primitive_manager.m_margin;
-    }
-
-    virtual void	setLocalScaling(const btVector3& scaling)
-    {
-    	m_primitive_manager.m_scale = scaling;
-    	postUpdate();
-    }
-
-    virtual const btVector3& getLocalScaling() const
-    {
-    	return m_primitive_manager.m_scale;
-    }
-
-    SIMD_FORCE_INLINE int getPart() const
-    {
-    	return (int)m_primitive_manager.m_part;
-    }
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-	virtual void	processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
-};
+	{
+		m_primitive_manager.m_margin = margin;
+		postUpdate();
+	}
+
+	SIMD_FORCE_INLINE btScalar getMargin() const
+	{
+		return m_primitive_manager.m_margin;
+	}
+
+	virtual void setLocalScaling(const btVector3& scaling)
+	{
+		m_primitive_manager.m_scale = scaling;
+		postUpdate();
+	}
+
+	virtual const btVector3& getLocalScaling() const
+	{
+		return m_primitive_manager.m_scale;
+	}
 
+	SIMD_FORCE_INLINE int getPart() const
+	{
+		return (int)m_primitive_manager.m_part;
+	}
+
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
+};
 
 //! This class manages a mesh supplied by the btStridingMeshInterface interface.
 /*!
@@ -893,29 +845,29 @@ class btGImpactMeshShape : public btGImpactShapeInterface
 
 protected:
 	btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
-	void buildMeshParts(btStridingMeshInterface * meshInterface)
+	void buildMeshParts(btStridingMeshInterface* meshInterface)
 	{
-		for (int i=0;i<meshInterface->getNumSubParts() ;++i )
+		for (int i = 0; i < meshInterface->getNumSubParts(); ++i)
 		{
-			btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i);
+			btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i);
 			m_mesh_parts.push_back(newpart);
 		}
 	}
 
 	//! use this function for perfofm refit in bounding boxes
-    virtual void calcLocalAABB()
-    {
-    	m_localAABB.invalidate();
-    	int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-    		m_mesh_parts[i]->updateBound();
-    		m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
-    	}
-    }
+	virtual void calcLocalAABB()
+	{
+		m_localAABB.invalidate();
+		int i = m_mesh_parts.size();
+		while (i--)
+		{
+			m_mesh_parts[i]->updateBound();
+			m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
+		}
+	}
 
 public:
-	btGImpactMeshShape(btStridingMeshInterface * meshInterface)
+	btGImpactMeshShape(btStridingMeshInterface* meshInterface)
 	{
 		m_meshInterface = meshInterface;
 		buildMeshParts(meshInterface);
@@ -924,15 +876,14 @@ public:
 	virtual ~btGImpactMeshShape()
 	{
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			delete part;
-    	}
+		}
 		m_mesh_parts.clear();
 	}
 
-
 	btStridingMeshInterface* getMeshInterface()
 	{
 		return m_meshInterface;
@@ -948,79 +899,73 @@ public:
 		return m_mesh_parts.size();
 	}
 
-	btGImpactMeshShapePart * getMeshPart(int index)
+	btGImpactMeshShapePart* getMeshPart(int index)
 	{
 		return m_mesh_parts[index];
 	}
 
-
-
-	const btGImpactMeshShapePart * getMeshPart(int index) const
+	const btGImpactMeshShapePart* getMeshPart(int index) const
 	{
 		return m_mesh_parts[index];
 	}
 
-
-	virtual void	setLocalScaling(const btVector3& scaling)
+	virtual void setLocalScaling(const btVector3& scaling)
 	{
 		localScaling = scaling;
 
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->setLocalScaling(scaling);
-    	}
+		}
 
 		m_needs_update = true;
 	}
 
 	virtual void setMargin(btScalar margin)
-    {
-    	m_collisionMargin = margin;
+	{
+		m_collisionMargin = margin;
 
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->setMargin(margin);
-    	}
+		}
 
 		m_needs_update = true;
-    }
+	}
 
 	//! Tells to this object that is needed to refit all the meshes
-    virtual void postUpdate()
-    {
+	virtual void postUpdate()
+	{
 		int i = m_mesh_parts.size();
-    	while(i--)
-    	{
-			btGImpactMeshShapePart * part = m_mesh_parts[i];
+		while (i--)
+		{
+			btGImpactMeshShapePart* part = m_mesh_parts[i];
 			part->postUpdate();
-    	}
-
-    	m_needs_update = true;
-    }
+		}
 
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+		m_needs_update = true;
+	}
 
+	virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
 	//! Obtains the primitive manager
-	virtual const btPrimitiveManagerBase * getPrimitiveManager()  const
+	virtual const btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		btAssert(0);
 		return NULL;
 	}
 
-
 	//! Gets the number of children
-	virtual int	getNumChildShapes() const
+	virtual int getNumChildShapes() const
 	{
 		btAssert(0);
 		return 0;
 	}
 
-
 	//! if true, then its children must get transforms.
 	virtual bool childrenHasTransform() const
 	{
@@ -1042,15 +987,17 @@ public:
 		return false;
 	}
 
-	virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const
+	virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
 	{
-        (void) prim_index; (void) triangle;
+		(void)prim_index;
+		(void)triangle;
 		btAssert(0);
 	}
 
-	virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const
+	virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
 	{
-        (void) prim_index; (void) tetrahedron;
+		(void)prim_index;
+		(void)tetrahedron;
 		btAssert(0);
 	}
 
@@ -1065,39 +1012,38 @@ public:
 		btAssert(0);
 	}
 
-
-
-
 	//! Retrieves the bound from a child
-    /*!
+	/*!
     */
-    virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-    {
-        (void) child_index; (void) t; (void) aabbMin; (void) aabbMax;
-        btAssert(0);
-    }
+	virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		(void)child_index;
+		(void)t;
+		(void)aabbMin;
+		(void)aabbMax;
+		btAssert(0);
+	}
 
 	//! Gets the children
 	virtual btCollisionShape* getChildShape(int index)
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
-
 	//! Gets the child
 	virtual const btCollisionShape* getChildShape(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return NULL;
 	}
 
 	//! Gets the children transform
-	virtual btTransform	getChildTransform(int index) const
+	virtual btTransform getChildTransform(int index) const
 	{
-        (void) index;
+		(void)index;
 		btAssert(0);
 		return btTransform();
 	}
@@ -1106,59 +1052,56 @@ public:
 	/*!
 	\post You must call updateBound() for update the box set.
 	*/
-	virtual void setChildTransform(int index, const btTransform & transform)
+	virtual void setChildTransform(int index, const btTransform& transform)
 	{
-        (void) index; (void) transform;
+		(void)index;
+		(void)transform;
 		btAssert(0);
 	}
 
-
 	virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
 	{
 		return CONST_GIMPACT_TRIMESH_SHAPE;
 	}
 
-
-	virtual const char*	getName()const
+	virtual const char* getName() const
 	{
 		return "GImpactMesh";
 	}
 
-	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback)  const;
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;
 
 	//! Function for retrieve triangles.
 	/*!
 	It gives the triangles in local space
 	*/
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
-	virtual void	processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
+	virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
 
-	virtual	int	calculateSerializeBufferSize() const;
+	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
+	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btGImpactMeshShapeData
+struct btGImpactMeshShapeData
 {
-	btCollisionShapeData	m_collisionShapeData;
+	btCollisionShapeData m_collisionShapeData;
 
 	btStridingMeshInterfaceData m_meshInterface;
 
-	btVector3FloatData	m_localScaling;
+	btVector3FloatData m_localScaling;
 
-	float	m_collisionMargin;
+	float m_collisionMargin;
 
-	int		m_gimpactSubType;
+	int m_gimpactSubType;
 };
 
-SIMD_FORCE_INLINE	int	btGImpactMeshShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btGImpactMeshShapeData);
 }
 
-
-#endif //GIMPACT_MESH_SHAPE_H
+#endif  //GIMPACT_MESH_SHAPE_H