Update Bullet to the latest commit 126b676

1 files changed, 24 insertions, 40 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index 3f875989ea..8baf52bcd1 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -17,26 +17,23 @@ subject to the following restrictions:
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 
-
-btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
 	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
 {
-    init();
+	init();
 }
 
-
 btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-        : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
+	: btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
 {
-    init();
+	init();
 }
 
-
 void btGeneric6DofSpringConstraint::init()
 {
 	m_objectType = D6_SPRING_CONSTRAINT_TYPE;
 
-	for(int i = 0; i < 6; i++)
+	for (int i = 0; i < 6; i++)
 	{
 		m_springEnabled[i] = false;
 		m_equilibriumPoint[i] = btScalar(0.f);
@@ -45,12 +42,11 @@ void btGeneric6DofSpringConstraint::init()
 	}
 }
 
-
 void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springEnabled[index] = onOff;
-	if(index < 3)
+	if (index < 3)
 	{
 		m_linearLimits.m_enableMotor[index] = onOff;
 	}
@@ -60,44 +56,38 @@ void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
 	}
 }
 
-
-
 void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springStiffness[index] = stiffness;
 }
 
-
 void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
 {
 	btAssert((index >= 0) && (index < 6));
 	m_springDamping[index] = damping;
 }
 
-
 void btGeneric6DofSpringConstraint::setEquilibriumPoint()
 {
 	calculateTransforms();
 	int i;
 
-	for( i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
 		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
 	}
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
 		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
 	}
 }
 
-
-
 void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
 {
 	btAssert((index >= 0) && (index < 6));
 	calculateTransforms();
-	if(index < 3)
+	if (index < 3)
 	{
 		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
 	}
@@ -113,15 +103,14 @@ void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
 	m_equilibriumPoint[index] = val;
 }
 
-
 void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
 {
 	// it is assumed that calculateTransforms() have been called before this call
 	int i;
 	//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		if(m_springEnabled[i])
+		if (m_springEnabled[i])
 		{
 			// get current position of constraint
 			btScalar currPos = m_calculatedLinearDiff[i];
@@ -130,28 +119,27 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
 			// spring force is (delta * m_stiffness) according to Hooke's Law
 			btScalar force = delta * m_springStiffness[i];
 			btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
-			m_linearLimits.m_targetVelocity[i] =  velFactor * force;
-			m_linearLimits.m_maxMotorForce[i] =  btFabs(force);
+			m_linearLimits.m_targetVelocity[i] = velFactor * force;
+			m_linearLimits.m_maxMotorForce[i] = btFabs(force);
 		}
 	}
-	for(i = 0; i < 3; i++)
+	for (i = 0; i < 3; i++)
 	{
-		if(m_springEnabled[i + 3])
+		if (m_springEnabled[i + 3])
 		{
 			// get current position of constraint
 			btScalar currPos = m_calculatedAxisAngleDiff[i];
 			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i+3];
+			btScalar delta = currPos - m_equilibriumPoint[i + 3];
 			// spring force is (-delta * m_stiffness) according to Hooke's Law
-			btScalar force = -delta * m_springStiffness[i+3];
-			btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
+			btScalar force = -delta * m_springStiffness[i + 3];
+			btScalar velFactor = info->fps * m_springDamping[i + 3] / btScalar(info->m_numIterations);
 			m_angularLimits[i].m_targetVelocity = velFactor * force;
 			m_angularLimits[i].m_maxMotorForce = btFabs(force);
 		}
 	}
 }
 
-
 void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
 {
 	// this will be called by constraint solver at the constraint setup stage
@@ -161,25 +149,21 @@ void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
 	btGeneric6DofConstraint::getInfo2(info);
 }
 
-
-void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
 	btVector3 zAxis = axis1.normalized();
 	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
 
 	btTransform frameInW;
 	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-                                xAxis[1], yAxis[1], zAxis[1],
-                                xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
+								 xAxis[1], yAxis[1], zAxis[1],
+								 xAxis[2], yAxis[2], zAxis[2]);
 
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
 
-  calculateTransforms();
+	calculateTransforms();
 }
-
-
-