1 files changed, 31 insertions, 32 deletions

diff --git a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
index 1b933c5264..8881c9a638 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h
@@ -13,41 +13,40 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
 #define B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
 
-
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
 struct b3GrahamVector3 : public b3Vector3
 {
 	b3GrahamVector3(const b3Vector3& org, int orgIndex)
-		:b3Vector3(org),
-			m_orgIndex(orgIndex)
+		: b3Vector3(org),
+		  m_orgIndex(orgIndex)
 	{
 	}
-	b3Scalar	m_angle;
+	b3Scalar m_angle;
 	int m_orgIndex;
 };
 
-
-struct b3AngleCompareFunc {
+struct b3AngleCompareFunc
+{
 	b3Vector3 m_anchor;
 	b3AngleCompareFunc(const b3Vector3& anchor)
-	: m_anchor(anchor) 
+		: m_anchor(anchor)
 	{
 	}
-	bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const {
+	bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const
+	{
 		if (a.m_angle != b.m_angle)
 			return a.m_angle < b.m_angle;
 		else
 		{
-			b3Scalar al = (a-m_anchor).length2();
-			b3Scalar bl = (b-m_anchor).length2();
+			b3Scalar al = (a - m_anchor).length2();
+			b3Scalar bl = (b - m_anchor).length2();
 			if (al != bl)
-				return  al < bl;
+				return al < bl;
 			else
 			{
 				return a.m_orgIndex < b.m_orgIndex;
@@ -58,60 +57,60 @@ struct b3AngleCompareFunc {
 
 inline void b3GrahamScanConvexHull2D(b3AlignedObjectArray<b3GrahamVector3>& originalPoints, b3AlignedObjectArray<b3GrahamVector3>& hull, const b3Vector3& normalAxis)
 {
-	b3Vector3 axis0,axis1;
-	b3PlaneSpace1(normalAxis,axis0,axis1);
-	
+	b3Vector3 axis0, axis1;
+	b3PlaneSpace1(normalAxis, axis0, axis1);
 
-	if (originalPoints.size()<=1)
+	if (originalPoints.size() <= 1)
 	{
-		for (int i=0;i<originalPoints.size();i++)
+		for (int i = 0; i < originalPoints.size(); i++)
 			hull.push_back(originalPoints[0]);
 		return;
 	}
 	//step1 : find anchor point with smallest projection on axis0 and move it to first location
-	for (int i=0;i<originalPoints.size();i++)
+	for (int i = 0; i < originalPoints.size(); i++)
 	{
-//		const b3Vector3& left = originalPoints[i];
-//		const b3Vector3& right = originalPoints[0];
+		//		const b3Vector3& left = originalPoints[i];
+		//		const b3Vector3& right = originalPoints[0];
 		b3Scalar projL = originalPoints[i].dot(axis0);
 		b3Scalar projR = originalPoints[0].dot(axis0);
 		if (projL < projR)
 		{
-			originalPoints.swap(0,i);
+			originalPoints.swap(0, i);
 		}
 	}
 
 	//also precompute angles
 	originalPoints[0].m_angle = -1e30f;
-	for (int i=1;i<originalPoints.size();i++)
+	for (int i = 1; i < originalPoints.size(); i++)
 	{
 		b3Vector3 xvec = axis0;
-		b3Vector3 ar = originalPoints[i]-originalPoints[0];
+		b3Vector3 ar = originalPoints[i] - originalPoints[0];
 		originalPoints[i].m_angle = b3Cross(xvec, ar).dot(normalAxis) / ar.length();
 	}
 
 	//step 2: sort all points, based on 'angle' with this anchor
 	b3AngleCompareFunc comp(originalPoints[0]);
-	originalPoints.quickSortInternal(comp,1,originalPoints.size()-1);
+	originalPoints.quickSortInternal(comp, 1, originalPoints.size() - 1);
 
 	int i;
-	for (i = 0; i<2; i++) 
+	for (i = 0; i < 2; i++)
 		hull.push_back(originalPoints[i]);
 
 	//step 3: keep all 'convex' points and discard concave points (using back tracking)
-	for (; i != originalPoints.size(); i++) 
+	for (; i != originalPoints.size(); i++)
 	{
 		bool isConvex = false;
-		while (!isConvex&& hull.size()>1) {
-			b3Vector3& a = hull[hull.size()-2];
-			b3Vector3& b = hull[hull.size()-1];
-			isConvex = b3Cross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
+		while (!isConvex && hull.size() > 1)
+		{
+			b3Vector3& a = hull[hull.size() - 2];
+			b3Vector3& b = hull[hull.size() - 1];
+			isConvex = b3Cross(a - b, a - originalPoints[i]).dot(normalAxis) > 0;
 			if (!isConvex)
 				hull.pop_back();
-			else 
+			else
 				hull.push_back(originalPoints[i]);
 		}
 	}
 }
 
-#endif //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
+#endif  //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H