1 files changed, 77 insertions, 85 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
index 35b5197006..c108255b9f 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
@@ -3,95 +3,87 @@
 
 inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx)
 {
-	if( nPoints == 0 )
-        return 0;
-    
-    if (nPoints <=4)
-        return nPoints;
-    
-    
-    if (nPoints >64)
-        nPoints = 64;
-    
-	b3Float4 center = b3MakeFloat4(0,0,0,0);
+	if (nPoints == 0)
+		return 0;
+
+	if (nPoints <= 4)
+		return nPoints;
+
+	if (nPoints > 64)
+		nPoints = 64;
+
+	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
 	{
-		
-		for (int i=0;i<nPoints;i++)
+		for (int i = 0; i < nPoints; i++)
 			center += p[i];
 		center /= (float)nPoints;
 	}
-    
-	
-    
+
 	//	sample 4 directions
-    
-    b3Float4 aVector = p[0] - center;
-    b3Float4 u = b3Cross3( nearNormal, aVector );
-    b3Float4 v = b3Cross3( nearNormal, u );
-    u = b3FastNormalized3( u );
-    v = b3FastNormalized3( v );
-    
-    
-    //keep point with deepest penetration
-    float minW= FLT_MAX;
-    
-    int minIndex=-1;
-    
-    b3Float4 maxDots;
-    maxDots.x = FLT_MIN;
-    maxDots.y = FLT_MIN;
-    maxDots.z = FLT_MIN;
-    maxDots.w = FLT_MIN;
-    
-    //	idx, distance
-    for(int ie = 0; ie<nPoints; ie++ )
-    {
-        if (p[ie].w<minW)
-        {
-            minW = p[ie].w;
-            minIndex=ie;
-        }
-        float f;
-        b3Float4 r = p[ie]-center;
-        f = b3Dot3F4( u, r );
-        if (f<maxDots.x)
-        {
-            maxDots.x = f;
-            contactIdx[0].x = ie;
-        }
-        
-        f = b3Dot3F4( -u, r );
-        if (f<maxDots.y)
-        {
-            maxDots.y = f;
-            contactIdx[0].y = ie;
-        }
-        
-        
-        f = b3Dot3F4( v, r );
-        if (f<maxDots.z)
-        {
-            maxDots.z = f;
-            contactIdx[0].z = ie;
-        }
-        
-        f = b3Dot3F4( -v, r );
-        if (f<maxDots.w)
-        {
-            maxDots.w = f;
-            contactIdx[0].w = ie;
-        }
-        
-    }
-    
-    if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-    {
-        //replace the first contact with minimum (todo: replace contact with least penetration)
-        contactIdx[0].x = minIndex;
-    }
-    
-    return 4;
-    
+
+	b3Float4 aVector = p[0] - center;
+	b3Float4 u = b3Cross3(nearNormal, aVector);
+	b3Float4 v = b3Cross3(nearNormal, u);
+	u = b3FastNormalized3(u);
+	v = b3FastNormalized3(v);
+
+	//keep point with deepest penetration
+	float minW = FLT_MAX;
+
+	int minIndex = -1;
+
+	b3Float4 maxDots;
+	maxDots.x = FLT_MIN;
+	maxDots.y = FLT_MIN;
+	maxDots.z = FLT_MIN;
+	maxDots.w = FLT_MIN;
+
+	//	idx, distance
+	for (int ie = 0; ie < nPoints; ie++)
+	{
+		if (p[ie].w < minW)
+		{
+			minW = p[ie].w;
+			minIndex = ie;
+		}
+		float f;
+		b3Float4 r = p[ie] - center;
+		f = b3Dot3F4(u, r);
+		if (f < maxDots.x)
+		{
+			maxDots.x = f;
+			contactIdx[0].x = ie;
+		}
+
+		f = b3Dot3F4(-u, r);
+		if (f < maxDots.y)
+		{
+			maxDots.y = f;
+			contactIdx[0].y = ie;
+		}
+
+		f = b3Dot3F4(v, r);
+		if (f < maxDots.z)
+		{
+			maxDots.z = f;
+			contactIdx[0].z = ie;
+		}
+
+		f = b3Dot3F4(-v, r);
+		if (f < maxDots.w)
+		{
+			maxDots.w = f;
+			contactIdx[0].w = ie;
+		}
+	}
+
+	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
+	{
+		//replace the first contact with minimum (todo: replace contact with least penetration)
+		contactIdx[0].x = minIndex;
+	}
+
+	return 4;
 }
 
-#endif //B3_REDUCE_CONTACTS_H
+#endif  //B3_REDUCE_CONTACTS_H