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

Update Bullet physics to commit 126b676

1 files changed, 71 insertions, 87 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
index 04656b912c..99d6894e56 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -24,122 +24,111 @@ class btDynamicsWorld;
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
 class btRaycastVehicle : public btActionInterface
 {
+	btAlignedObjectArray<btVector3> m_forwardWS;
+	btAlignedObjectArray<btVector3> m_axle;
+	btAlignedObjectArray<btScalar> m_forwardImpulse;
+	btAlignedObjectArray<btScalar> m_sideImpulse;
 
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-	
-		///backwards compatibility
-		int	m_userConstraintType;
-		int	m_userConstraintId;
+	///backwards compatibility
+	int m_userConstraintType;
+	int m_userConstraintId;
 
 public:
 	class btVehicleTuning
+	{
+	public:
+		btVehicleTuning()
+			: m_suspensionStiffness(btScalar(5.88)),
+			  m_suspensionCompression(btScalar(0.83)),
+			  m_suspensionDamping(btScalar(0.88)),
+			  m_maxSuspensionTravelCm(btScalar(500.)),
+			  m_frictionSlip(btScalar(10.5)),
+			  m_maxSuspensionForce(btScalar(6000.))
 		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5)),
-				m_maxSuspensionForce(btScalar(6000.))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-			btScalar	m_maxSuspensionForce;
-
-		};
-private:
+		}
+		btScalar m_suspensionStiffness;
+		btScalar m_suspensionCompression;
+		btScalar m_suspensionDamping;
+		btScalar m_maxSuspensionTravelCm;
+		btScalar m_frictionSlip;
+		btScalar m_maxSuspensionForce;
+	};
 
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
+private:
+	btVehicleRaycaster* m_vehicleRaycaster;
+	btScalar m_pitchControl;
+	btScalar m_steeringValue;
 	btScalar m_currentVehicleSpeedKmHour;
 
 	btRigidBody* m_chassisBody;
 
 	int m_indexRightAxis;
 	int m_indexUpAxis;
-	int	m_indexForwardAxis;
+	int m_indexForwardAxis;
 
 	void defaultInit(const btVehicleTuning& tuning);
 
 public:
-
 	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
+	btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster);
 
+	virtual ~btRaycastVehicle();
 
 	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step)
 	{
-        (void) collisionWorld;
+		(void)collisionWorld;
 		updateVehicle(step);
 	}
-	
 
 	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-			
+	void debugDraw(btIDebugDraw* debugDrawer);
+
 	const btTransform& getChassisWorldTransform() const;
-	
+
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
-	
-	
+
 	void resetSuspension();
 
-	btScalar	getSteeringValue(int wheel) const;
+	btScalar getSteeringValue(int wheel) const;
 
-	void	setSteeringValue(btScalar steering,int wheel);
+	void setSteeringValue(btScalar steering, int wheel);
 
+	void applyEngineForce(btScalar force, int wheel);
 
-	void	applyEngineForce(btScalar force, int wheel);
+	const btTransform& getWheelTransformWS(int wheelIndex) const;
 
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
+	void updateWheelTransform(int wheelIndex, bool interpolatedTransform = true);
 
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+	//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
 
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
+	btWheelInfo& addWheel(const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel);
 
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
+	inline int getNumWheels() const
+	{
+		return int(m_wheelInfo.size());
 	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
 
+	btAlignedObjectArray<btWheelInfo> m_wheelInfo;
 
-	const btWheelInfo&	getWheelInfo(int index) const;
+	const btWheelInfo& getWheelInfo(int index) const;
 
-	btWheelInfo&	getWheelInfo(int index);
+	btWheelInfo& getWheelInfo(int index);
 
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
+	void updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform = true);
 
-	
-	void setBrake(btScalar brake,int wheelIndex);
+	void setBrake(btScalar brake, int wheelIndex);
 
-	void	setPitchControl(btScalar pitch)
+	void setPitchControl(btScalar pitch)
 	{
 		m_pitchControl = pitch;
 	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
 
+	void updateSuspension(btScalar deltaTime);
 
+	virtual void updateFriction(btScalar timeStep);
 
 	inline btRigidBody* getRigidBody()
 	{
@@ -151,7 +140,7 @@ public:
 		return m_chassisBody;
 	}
 
-	inline int	getRightAxis() const
+	inline int getRightAxis() const
 	{
 		return m_indexRightAxis;
 	}
@@ -165,46 +154,44 @@ public:
 		return m_indexForwardAxis;
 	}
 
-	
 	///Worldspace forward vector
 	btVector3 getForwardVector() const
 	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
+		const btTransform& chassisTrans = getChassisWorldTransform();
 
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
+		btVector3 forwardW(
+			chassisTrans.getBasis()[0][m_indexForwardAxis],
+			chassisTrans.getBasis()[1][m_indexForwardAxis],
+			chassisTrans.getBasis()[2][m_indexForwardAxis]);
 
 		return forwardW;
 	}
 
 	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
+	btScalar getCurrentSpeedKmHour() const
 	{
 		return m_currentVehicleSpeedKmHour;
 	}
 
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
 	{
 		m_indexRightAxis = rightIndex;
 		m_indexUpAxis = upIndex;
 		m_indexForwardAxis = forwardIndex;
 	}
 
-
 	///backwards compatibility
 	int getUserConstraintType() const
 	{
-		return m_userConstraintType ;
+		return m_userConstraintType;
 	}
 
-	void	setUserConstraintType(int userConstraintType)
+	void setUserConstraintType(int userConstraintType)
 	{
 		m_userConstraintType = userConstraintType;
 	};
 
-	void	setUserConstraintId(int uid)
+	void setUserConstraintId(int uid)
 	{
 		m_userConstraintId = uid;
 	}
@@ -213,22 +200,19 @@ public:
 	{
 		return m_userConstraintId;
 	}
-
 };
 
 class btDefaultVehicleRaycaster : public btVehicleRaycaster
 {
-	btDynamicsWorld*	m_dynamicsWorld;
+	btDynamicsWorld* m_dynamicsWorld;
+
 public:
 	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
+		: m_dynamicsWorld(world)
 	{
 	}
 
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
+	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result);
 };
 
-
-#endif //BT_RAYCASTVEHICLE_H
-
+#endif  //BT_RAYCASTVEHICLE_H