Update Bullet to the latest commit 126b676

1 files changed, 56 insertions, 80 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 1098d0c96b..4b22b2fff5 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "btContactConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btVector3.h"
@@ -22,44 +21,33 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
-:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
-	m_contactManifold(*contactManifold)
+btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold, btRigidBody& rbA, btRigidBody& rbB)
+	: btTypedConstraint(CONTACT_CONSTRAINT_TYPE, rbA, rbB),
+	  m_contactManifold(*contactManifold)
 {
-
 }
 
 btContactConstraint::~btContactConstraint()
 {
-
 }
 
-void	btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
+void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
 {
 	m_contactManifold = *contactManifold;
 }
 
-void btContactConstraint::getInfo1 (btConstraintInfo1* info)
+void btContactConstraint::getInfo1(btConstraintInfo1* info)
 {
-
 }
 
-void btContactConstraint::getInfo2 (btConstraintInfo2* info)
+void btContactConstraint::getInfo2(btConstraintInfo2* info)
 {
-
 }
 
-void	btContactConstraint::buildJacobian()
+void btContactConstraint::buildJacobian()
 {
-
 }
 
-
-
-
-
 #include "btContactConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btVector3.h"
@@ -68,64 +56,59 @@ void	btContactConstraint::buildJacobian()
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-
-
 //response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
 btScalar resolveSingleCollision(
-        btRigidBody* body1,
-        btCollisionObject* colObj2,
-		const btVector3& contactPositionWorld,
-		const btVector3& contactNormalOnB,
-        const btContactSolverInfo& solverInfo,
-		btScalar distance)
+	btRigidBody* body1,
+	btCollisionObject* colObj2,
+	const btVector3& contactPositionWorld,
+	const btVector3& contactNormalOnB,
+	const btContactSolverInfo& solverInfo,
+	btScalar distance)
 {
 	btRigidBody* body2 = btRigidBody::upcast(colObj2);
-    
-	
-    const btVector3& normal = contactNormalOnB;
-
-    btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); 
-    btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
-    
-    btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-    btVector3 vel = vel1 - vel2;
-    btScalar rel_vel;
-    rel_vel = normal.dot(vel);
-    
-    btScalar combinedRestitution = 0.f;
-    btScalar restitution = combinedRestitution* -rel_vel;
-
-    btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
-    btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
-	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
-	btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
+
+	const btVector3& normal = contactNormalOnB;
+
+	btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
+	btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
+
+	btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
+	btVector3 vel2 = body2 ? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
+	btVector3 vel = vel1 - vel2;
+	btScalar rel_vel;
+	rel_vel = normal.dot(vel);
+
+	btScalar combinedRestitution = 0.f;
+	btScalar restitution = combinedRestitution * -rel_vel;
+
+	btScalar positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
+	btScalar velocityError = -(1.0f + restitution) * rel_vel;  // * damping;
+	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld, normal);
+	btScalar denom1 = body2 ? body2->computeImpulseDenominator(contactPositionWorld, normal) : 0.f;
 	btScalar relaxation = 1.f;
-	btScalar jacDiagABInv = relaxation/(denom0+denom1);
+	btScalar jacDiagABInv = relaxation / (denom0 + denom1);
 
-    btScalar penetrationImpulse = positionalError * jacDiagABInv;
-    btScalar velocityImpulse = velocityError * jacDiagABInv;
+	btScalar penetrationImpulse = positionalError * jacDiagABInv;
+	btScalar velocityImpulse = velocityError * jacDiagABInv;
 
-    btScalar normalImpulse = penetrationImpulse+velocityImpulse;
-    normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
+	btScalar normalImpulse = penetrationImpulse + velocityImpulse;
+	normalImpulse = 0.f > normalImpulse ? 0.f : normalImpulse;
 
-	body1->applyImpulse(normal*(normalImpulse), rel_pos1);
-    if (body2)
-		body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
-    
-    return normalImpulse;
-}
+	body1->applyImpulse(normal * (normalImpulse), rel_pos1);
+	if (body2)
+		body2->applyImpulse(-normal * (normalImpulse), rel_pos2);
 
+	return normalImpulse;
+}
 
 //bilateral constraint between two dynamic objects
 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
+							btRigidBody& body2, const btVector3& pos2,
+							btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep)
 {
 	(void)timeStep;
 	(void)distance;
 
-
 	btScalar normalLenSqr = normal.length2();
 	btAssert(btFabs(normalLenSqr) < btScalar(1.1));
 	if (normalLenSqr > btScalar(1.1))
@@ -133,45 +116,38 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 		impulse = btScalar(0.);
 		return;
 	}
-	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	//this jacobian entry could be re-used for all iterations
-	
+
 	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
 	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
 	btVector3 vel = vel1 - vel2;
-	
 
-	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
-		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
-		body2.getInvInertiaDiagLocal(),body2.getInvMass());
+	btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+						body2.getCenterOfMassTransform().getBasis().transpose(),
+						rel_pos1, rel_pos2, normal, body1.getInvInertiaDiagLocal(), body1.getInvMass(),
+						body2.getInvInertiaDiagLocal(), body2.getInvMass());
 
 	btScalar jacDiagAB = jac.getDiagonal();
 	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-	
-	  btScalar rel_vel = jac.getRelativeVelocity(
+
+	btScalar rel_vel = jac.getRelativeVelocity(
 		body1.getLinearVelocity(),
 		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
 		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-
-
+		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
 
 	rel_vel = normal.dot(vel);
-	
+
 	//todo: move this into proper structure
 	btScalar contactDamping = btScalar(0.2);
 
 #ifdef ONLY_USE_LINEAR_MASS
 	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
-	impulse = - contactDamping * rel_vel * massTerm;
-#else	
+	impulse = -contactDamping * rel_vel * massTerm;
+#else
 	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
 	impulse = velocityImpulse;
 #endif
 }
-
-
-
-