Update Bullet to the latest commit 126b676

1 files changed, 41 insertions, 41 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
index 6fa1550e9e..deed3e2a12 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
@@ -25,66 +25,66 @@ class btMultiBodyConstraint;
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16 (struct)	btMultiBodySolverConstraint
+ATTRIBUTE_ALIGNED16(struct)
+btMultiBodySolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1)
-	{}
-
-	int				m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
-	int				m_jacAindex;
-	int				m_deltaVelBindex;
-	int				m_jacBindex;
-
-	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal1;	
-	btVector3		m_relpos2CrossNormal;
-	btVector3		m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
-	
-
-	btVector3		m_angularComponentA;
-	btVector3		m_angularComponentB;
-	
-	mutable btSimdScalar	m_appliedPushImpulse;
-	mutable btSimdScalar	m_appliedImpulse;
-
-	btScalar	m_friction;
-	btScalar	m_jacDiagABInv;
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	
-    btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-	btScalar		m_rhsPenetration;
-    union
+	btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1)
 	{
-		void*		m_originalContactPoint;
-		btScalar	m_unusedPadding4;
+	}
+
+	int m_deltaVelAindex;  //more generic version of m_relpos1CrossNormal/m_contactNormal1
+	int m_jacAindex;
+	int m_deltaVelBindex;
+	int m_jacBindex;
+
+	btVector3 m_relpos1CrossNormal;
+	btVector3 m_contactNormal1;
+	btVector3 m_relpos2CrossNormal;
+	btVector3 m_contactNormal2;  //usually m_contactNormal2 == -m_contactNormal1, but not always
+
+	btVector3 m_angularComponentA;
+	btVector3 m_angularComponentB;
+
+	mutable btSimdScalar m_appliedPushImpulse;
+	mutable btSimdScalar m_appliedImpulse;
+
+	btScalar m_friction;
+	btScalar m_jacDiagABInv;
+	btScalar m_rhs;
+	btScalar m_cfm;
+
+	btScalar m_lowerLimit;
+	btScalar m_upperLimit;
+	btScalar m_rhsPenetration;
+	union {
+		void* m_originalContactPoint;
+		btScalar m_unusedPadding4;
 	};
 
-	int	m_overrideNumSolverIterations;
-    int			m_frictionIndex;
+	int m_overrideNumSolverIterations;
+	int m_frictionIndex;
 
 	int m_solverBodyIdA;
 	btMultiBody* m_multiBodyA;
-	int			m_linkA;
-	
+	int m_linkA;
+
 	int m_solverBodyIdB;
 	btMultiBody* m_multiBodyB;
-	int			m_linkB;
+	int m_linkB;
 
 	//for writing back applied impulses
-	btMultiBodyConstraint*	m_orgConstraint;
+	btMultiBodyConstraint* m_orgConstraint;
 	int m_orgDofIndex;
 
-	enum		btSolverConstraintType
+	enum btSolverConstraintType
 	{
 		BT_SOLVER_CONTACT_1D = 0,
 		BT_SOLVER_FRICTION_1D
 	};
 };
 
-typedef btAlignedObjectArray<btMultiBodySolverConstraint>	btMultiBodyConstraintArray;
+typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
 
-#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
+#endif  //BT_MULTIBODY_SOLVER_CONSTRAINT_H