Update Bullet to the latest commit 126b676

1 files changed, 70 insertions, 88 deletions

diff --git a/thirdparty/bullet/LinearMath/btTransformUtil.h b/thirdparty/bullet/LinearMath/btTransformUtil.h
index 182cc43fab..b874dd6807 100644
--- a/thirdparty/bullet/LinearMath/btTransformUtil.h
+++ b/thirdparty/bullet/LinearMath/btTransformUtil.h
@@ -12,77 +12,66 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef BT_TRANSFORM_UTIL_H
 #define BT_TRANSFORM_UTIL_H
 
 #include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
-
-
-
+#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
 
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
+SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
 {
 	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-      supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-      supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); 
+					 supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
+					 supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
 }
 
-
-
-
-
-
 /// Utils related to temporal transforms
 class btTransformUtil
 {
-
 public:
-
-	static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
+	static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
 	{
 		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-//	#define QUATERNION_DERIVATIVE
-	#ifdef QUATERNION_DERIVATIVE
+		//	#define QUATERNION_DERIVATIVE
+#ifdef QUATERNION_DERIVATIVE
 		btQuaternion predictedOrn = curTrans.getRotation();
 		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
 		predictedOrn.safeNormalize();
-	#else
+#else
 		//Exponential map
 		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
 		btVector3 axis;
-		btScalar	fAngle2 = angvel.length2();
-        	btScalar    fAngle = 0;
-        	if (fAngle2>SIMD_EPSILON)
-        	{
-            		fAngle = btSqrt(fAngle2);
-        	}
+		btScalar fAngle2 = angvel.length2();
+		btScalar fAngle = 0;
+		if (fAngle2 > SIMD_EPSILON)
+		{
+			fAngle = btSqrt(fAngle2);
+		}
 
 		//limit the angular motion
-		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
+		if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
 		{
 			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
 		}
 
-		if ( fAngle < btScalar(0.001) )
+		if (fAngle < btScalar(0.001))
 		{
 			// use Taylor's expansions of sync function
-			axis   = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
+			axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
 		}
 		else
 		{
 			// sync(fAngle) = sin(c*fAngle)/t
-			axis   = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
+			axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
 		}
-		btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
+		btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
 		btQuaternion orn0 = curTrans.getRotation();
 
 		btQuaternion predictedOrn = dorn * orn0;
 		predictedOrn.safeNormalize();
-	#endif
-		if (predictedOrn.length2()>SIMD_EPSILON)
+#endif
+		if (predictedOrn.length2() > SIMD_EPSILON)
 		{
 			predictedTransform.setRotation(predictedOrn);
 		}
@@ -92,137 +81,133 @@ public:
 		}
 	}
 
-	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
 	{
 		linVel = (pos1 - pos0) / timeStep;
 		btVector3 axis;
-		btScalar  angle;
+		btScalar angle;
 		if (orn0 != orn1)
 		{
-			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
 			angVel = axis * angle / timeStep;
-		} else
+		}
+		else
 		{
-			angVel.setValue(0,0,0);
+			angVel.setValue(0, 0, 0);
 		}
 	}
 
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
+	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
 	{
 		btQuaternion orn1 = orn0.nearest(orn1a);
 		btQuaternion dorn = orn1 * orn0.inverse();
 		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
 		axis[3] = btScalar(0.);
 		//check for axis length
 		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		if (len < SIMD_EPSILON * SIMD_EPSILON)
+			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
 		else
 			axis /= btSqrt(len);
 	}
 
-	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
 	{
 		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
 		btVector3 axis;
-		btScalar  angle;
-		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		btScalar angle;
+		calculateDiffAxisAngle(transform0, transform1, axis, angle);
 		angVel = axis * angle / timeStep;
 	}
 
-	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
+	static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
 	{
 		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
 		btQuaternion dorn;
 		dmat.getRotation(dorn);
 
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		///floating point inaccuracy can lead to w component > 1..., which breaks
 		dorn.normalize();
-		
+
 		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
 		axis[3] = btScalar(0.);
 		//check for axis length
 		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		if (len < SIMD_EPSILON * SIMD_EPSILON)
+			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
 		else
 			axis /= btSqrt(len);
 	}
-
 };
 
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
 ///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class	btConvexSeparatingDistanceUtil
+class btConvexSeparatingDistanceUtil
 {
-	btQuaternion	m_ornA;
-	btQuaternion	m_ornB;
-	btVector3	m_posA;
-	btVector3	m_posB;
-	
-	btVector3	m_separatingNormal;
+	btQuaternion m_ornA;
+	btQuaternion m_ornB;
+	btVector3 m_posA;
+	btVector3 m_posB;
 
-	btScalar	m_boundingRadiusA;
-	btScalar	m_boundingRadiusB;
-	btScalar	m_separatingDistance;
+	btVector3 m_separatingNormal;
 
-public:
+	btScalar m_boundingRadiusA;
+	btScalar m_boundingRadiusB;
+	btScalar m_separatingDistance;
 
-	btConvexSeparatingDistanceUtil(btScalar	boundingRadiusA,btScalar	boundingRadiusB)
-		:m_boundingRadiusA(boundingRadiusA),
-		m_boundingRadiusB(boundingRadiusB),
-		m_separatingDistance(0.f)
+public:
+	btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
+		: m_boundingRadiusA(boundingRadiusA),
+		  m_boundingRadiusB(boundingRadiusB),
+		  m_separatingDistance(0.f)
 	{
 	}
 
-	btScalar	getConservativeSeparatingDistance()
+	btScalar getConservativeSeparatingDistance()
 	{
 		return m_separatingDistance;
 	}
 
-	void	updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
+	void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
 	{
 		const btVector3& toPosA = transA.getOrigin();
 		const btVector3& toPosB = transB.getOrigin();
 		btQuaternion toOrnA = transA.getRotation();
 		btQuaternion toOrnB = transB.getRotation();
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
-			
-
-			btVector3 linVelA,angVelA,linVelB,angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
+			btVector3 linVelA, angVelA, linVelB, angVelB;
+			btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
+			btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
 			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB-linVelA);
+			btVector3 relLinVel = (linVelB - linVelA);
 			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength<0.f)
+			if (relLinVelocLength < 0.f)
 			{
 				relLinVelocLength = 0.f;
 			}
-	
-			btScalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+
+			btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
 			m_separatingDistance -= projectedMotion;
 		}
-	
+
 		m_posA = toPosA;
 		m_posB = toPosB;
 		m_ornA = toOrnA;
 		m_ornB = toOrnB;
 	}
 
-	void	initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
+	void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
 	{
 		m_separatingDistance = separatingDistance;
 
-		if (m_separatingDistance>0.f)
+		if (m_separatingDistance > 0.f)
 		{
 			m_separatingNormal = separatingVector;
-			
+
 			const btVector3& toPosA = transA.getOrigin();
 			const btVector3& toPosB = transB.getOrigin();
 			btQuaternion toOrnA = transA.getRotation();
@@ -233,9 +218,6 @@ public:
 			m_ornB = toOrnB;
 		}
 	}
-
 };
 
-
-#endif //BT_TRANSFORM_UTIL_H
-
+#endif  //BT_TRANSFORM_UTIL_H