Merge pull request #24740 from OBKF/update-bullet-physics

Update Bullet physics to commit 126b676

1 files changed, 12 insertions, 18 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
index 9e70841043..8c24d93a64 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
@@ -16,35 +16,32 @@ subject to the following restrictions:
 #ifndef BT_UNIVERSAL_CONSTRAINT_H
 #define BT_UNIVERSAL_CONSTRAINT_H
 
-
-
 #include "LinearMath/btVector3.h"
 #include "btTypedConstraint.h"
 #include "btGeneric6DofConstraint.h"
 
-
-
 /// Constraint similar to ODE Universal Joint
 /// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
 /// and Y (axis 2)
-/// Description from ODE manual : 
-/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
+/// Description from ODE manual :
+/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
 /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
 
-ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint
+ATTRIBUTE_ALIGNED16(class)
+btUniversalConstraint : public btGeneric6DofConstraint
 {
 protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
+	btVector3 m_anchor;
+	btVector3 m_axis1;
+	btVector3 m_axis2;
+
 public:
-	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
-    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
+	btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
 	// access
 	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
 	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
@@ -56,10 +53,7 @@ public:
 	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
 	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
 
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
+	void setAxis(const btVector3& axis1, const btVector3& axis2);
 };
 
-
-
-#endif // BT_UNIVERSAL_CONSTRAINT_H
-
+#endif  // BT_UNIVERSAL_CONSTRAINT_H