1 files changed, 29 insertions, 45 deletions

diff --git a/servers/physics/joints/cone_twist_joint_sw.h b/servers/physics/joints/cone_twist_joint_sw.h
index eb7a5cd1b1..c122c22258 100644
--- a/servers/physics/joints/cone_twist_joint_sw.h
+++ b/servers/physics/joints/cone_twist_joint_sw.h
@@ -51,14 +51,11 @@ Written by: Marcus Hennix
 #ifndef CONE_TWIST_JOINT_SW_H
 #define CONE_TWIST_JOINT_SW_H
 
-#include "servers/physics/joints_sw.h"
 #include "servers/physics/joints/jacobian_entry_sw.h"
-
-
+#include "servers/physics/joints_sw.h"
 
 ///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
-class ConeTwistJointSW : public JointSW
-{
+class ConeTwistJointSW : public JointSW {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
@@ -72,86 +69,73 @@ public:
 		BodySW *_arr[2];
 	};
 
-	JacobianEntrySW	m_jac[3]; //3 orthogonal linear constraints
-
+	JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
 
 	real_t m_appliedImpulse;
 	Transform m_rbAFrame;
 	Transform m_rbBFrame;
 
-	real_t	m_limitSoftness;
-	real_t	m_biasFactor;
-	real_t	m_relaxationFactor;
-
-	real_t	m_swingSpan1;
-	real_t	m_swingSpan2;
-	real_t	m_twistSpan;
+	real_t m_limitSoftness;
+	real_t m_biasFactor;
+	real_t m_relaxationFactor;
 
-	Vector3   m_swingAxis;
-	Vector3	m_twistAxis;
+	real_t m_swingSpan1;
+	real_t m_swingSpan2;
+	real_t m_twistSpan;
 
-	real_t	m_kSwing;
-	real_t	m_kTwist;
+	Vector3 m_swingAxis;
+	Vector3 m_twistAxis;
 
-	real_t	m_twistLimitSign;
-	real_t	m_swingCorrection;
-	real_t	m_twistCorrection;
+	real_t m_kSwing;
+	real_t m_kTwist;
 
-	real_t	m_accSwingLimitImpulse;
-	real_t	m_accTwistLimitImpulse;
+	real_t m_twistLimitSign;
+	real_t m_swingCorrection;
+	real_t m_twistCorrection;
 
-	bool		m_angularOnly;
-	bool		m_solveTwistLimit;
-	bool		m_solveSwingLimit;
+	real_t m_accSwingLimitImpulse;
+	real_t m_accTwistLimitImpulse;
 
+	bool m_angularOnly;
+	bool m_solveTwistLimit;
+	bool m_solveSwingLimit;
 
 public:
-
 	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
 
 	virtual bool setup(real_t p_step);
 	virtual void solve(real_t p_step);
 
-	ConeTwistJointSW(BodySW* rbA,BodySW* rbB,const Transform& rbAFrame, const Transform& rbBFrame);
-
+	ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame);
 
-	void	setAngularOnly(bool angularOnly)
-	{
+	void setAngularOnly(bool angularOnly) {
 		m_angularOnly = angularOnly;
 	}
 
-	void	setLimit(real_t _swingSpan1,real_t _swingSpan2,real_t _twistSpan,  real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f)
-	{
+	void setLimit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f) {
 		m_swingSpan1 = _swingSpan1;
 		m_swingSpan2 = _swingSpan2;
-		m_twistSpan  = _twistSpan;
+		m_twistSpan = _twistSpan;
 
-		m_limitSoftness =  _softness;
+		m_limitSoftness = _softness;
 		m_biasFactor = _biasFactor;
 		m_relaxationFactor = _relaxationFactor;
 	}
 
-	inline int getSolveTwistLimit()
-	{
+	inline int getSolveTwistLimit() {
 		return m_solveTwistLimit;
 	}
 
-	inline int getSolveSwingLimit()
-	{
+	inline int getSolveSwingLimit() {
 		return m_solveTwistLimit;
 	}
 
-	inline real_t getTwistLimitSign()
-	{
+	inline real_t getTwistLimitSign() {
 		return m_twistLimitSign;
 	}
 
 	void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
 	real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
-
-
 };
 
-
-
 #endif // CONE_TWIST_JOINT_SW_H