Update Bullet to the latest commit 126b676

1 files changed, 49 insertions, 54 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index 125580d199..438456fe51 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btMatrix3x3.h"
 
-
 //notes:
 // Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the btJacobianEntry memory layout 16 bytes
@@ -27,25 +26,26 @@ subject to the following restrictions:
 /// Jacobian entry is an abstraction that allows to describe constraints
 /// it can be used in combination with a constraint solver
 /// Can be used to relate the effect of an impulse to the constraint error
-ATTRIBUTE_ALIGNED16(class) btJacobianEntry
+ATTRIBUTE_ALIGNED16(class)
+btJacobianEntry
 {
 public:
-	btJacobianEntry() {};
+	btJacobianEntry(){};
 	//constraint between two different rigidbodies
 	btJacobianEntry(
 		const btMatrix3x3& world2A,
 		const btMatrix3x3& world2B,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& rel_pos1, const btVector3& rel_pos2,
 		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
+		const btVector3& inertiaInvA,
 		const btScalar massInvA,
 		const btVector3& inertiaInvB,
 		const btScalar massInvB)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 
@@ -54,33 +54,31 @@ public:
 
 	//angular constraint between two different rigidbodies
 	btJacobianEntry(const btVector3& jointAxis,
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+					const btMatrix3x3& world2A,
+					const btMatrix3x3& world2B,
+					const btVector3& inertiaInvA,
+					const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)))
 	{
-		m_aJ= world2A*jointAxis;
-		m_bJ = world2B*-jointAxis;
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_aJ = world2A * jointAxis;
+		m_bJ = world2B * -jointAxis;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
 
 	//angular constraint between two different rigidbodies
 	btJacobianEntry(const btVector3& axisInA,
-		const btVector3& axisInB,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
-		, m_aJ(axisInA)
-		, m_bJ(-axisInB)
+					const btVector3& axisInB,
+					const btVector3& inertiaInvA,
+					const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
 	{
-		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_0MinvJt = inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
@@ -88,25 +86,25 @@ public:
 	//constraint on one rigidbody
 	btJacobianEntry(
 		const btMatrix3x3& world2A,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& rel_pos1, const btVector3& rel_pos2,
 		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
+		const btVector3& inertiaInvA,
 		const btScalar massInvA)
-		:m_linearJointAxis(jointAxis)
+		: m_linearJointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+		m_aJ = world2A * (rel_pos1.cross(jointAxis));
+		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
+		m_0MinvJt = inertiaInvA * m_aJ;
+		m_1MinvJt = btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 
 		btAssert(m_Adiag > btScalar(0.0));
 	}
 
-	btScalar	getDiagonal() const { return m_Adiag; }
+	btScalar getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
+	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
 	{
 		const btJacobianEntry& jacA = *this;
 		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
@@ -114,42 +112,39 @@ public:
 		return lin + ang;
 	}
 
-	
-
 	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
+	btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA, const btScalar massInvB) const
 	{
 		const btJacobianEntry& jacA = *this;
 		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
 		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
 		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		btVector3 lin0 = massInvA * lin ;
+		btVector3 lin0 = massInvA * lin;
 		btVector3 lin1 = massInvB * lin;
-		btVector3 sum = ang0+ang1+lin0+lin1;
-		return sum[0]+sum[1]+sum[2];
+		btVector3 sum = ang0 + ang1 + lin0 + lin1;
+		return sum[0] + sum[1] + sum[2];
 	}
 
-	btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
+	btScalar getRelativeVelocity(const btVector3& linvelA, const btVector3& angvelA, const btVector3& linvelB, const btVector3& angvelB)
 	{
 		btVector3 linrel = linvelA - linvelB;
-		btVector3 angvela  = angvelA * m_aJ;
-		btVector3 angvelb  = angvelB * m_bJ;
+		btVector3 angvela = angvelA * m_aJ;
+		btVector3 angvelb = angvelB * m_bJ;
 		linrel *= m_linearJointAxis;
 		angvela += angvelb;
 		angvela += linrel;
-		btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		btScalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
 		return rel_vel2 + SIMD_EPSILON;
 	}
-//private:
+	//private:
 
-	btVector3	m_linearJointAxis;
-	btVector3	m_aJ;
-	btVector3	m_bJ;
-	btVector3	m_0MinvJt;
-	btVector3	m_1MinvJt;
+	btVector3 m_linearJointAxis;
+	btVector3 m_aJ;
+	btVector3 m_bJ;
+	btVector3 m_0MinvJt;
+	btVector3 m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	btScalar	m_Adiag;
-
+	btScalar m_Adiag;
 };
 
-#endif //BT_JACOBIAN_ENTRY_H
+#endif  //BT_JACOBIAN_ENTRY_H