Update Bullet to the latest commit 126b676

1 files changed, 18 insertions, 25 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
index b009f41aec..42ed1fbb87 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
@@ -13,43 +13,38 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
-
 #include "btUniversalConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 
-
-
 #define UNIV_EPS btScalar(0.01f)
 
-
 // constructor
 // anchor, axis1 and axis2 are in world coordinate system
 // axis1 must be orthogonal to axis2
 btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
-: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
+	: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+	  m_anchor(anchor),
+	  m_axis1(axis1),
+	  m_axis2(axis2)
 {
 	// build frame basis
 	// 6DOF constraint uses Euler angles and to define limits
 	// it is assumed that rotational order is :
 	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
+	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
 	// used to prevent constraint from instability on poles;
 	// new position of X, allowed limits are (-PI,PI);
 	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
 	// Build the frame in world coordinate system first
 	btVector3 zAxis = m_axis1.normalize();
 	btVector3 yAxis = m_axis2.normalize();
-	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]);
 	frameInW.setOrigin(anchor);
 	// now get constraint frame in local coordinate systems
 	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
@@ -58,30 +53,28 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
 	setLinearLowerLimit(btVector3(0., 0., 0.));
 	setLinearUpperLimit(btVector3(0., 0., 0.));
 	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
-	setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI - UNIV_EPS,  SIMD_PI - UNIV_EPS));
+	setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
 }
 
-void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+void btUniversalConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
 {
-  m_axis1 = axis1;
-  m_axis2 = axis2;
+	m_axis1 = axis1;
+	m_axis2 = 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]);
 	frameInW.setOrigin(m_anchor);
 
 	// now get constraint frame in local coordinate systems
 	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
 
-  calculateTransforms();
+	calculateTransforms();
 }
-
-