1 files changed, 42 insertions, 52 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
index ad1d1bf78f..f00a440fa3 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -25,81 +25,73 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
 }
 
 #ifndef __SPU__
-btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
 {
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
 	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
 	if (lenSqr < btScalar(0.0001))
 	{
-		vec.setValue(1,0,0);
-	} else
+		vec.setValue(1, 0, 0);
+	}
+	else
 	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
 		vec *= rlen;
 	}
-    
-    if( m_numPoints > 0 )
-    {
-        // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
-    //    btVector3 scaled = vec * m_localScaling;
-        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
-        return getScaledPoint(index);
-    }
+
+	if (m_numPoints > 0)
+	{
+		// Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
+		//    btVector3 scaled = vec * m_localScaling;
+		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);  //FIXME: may violate encapsulation of m_unscaledPoints
+		return getScaledPoint(index);
+	}
 
 	return supVec;
 }
 
-void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 {
-    for( int j = 0; j < numVectors; j++ )
-    {
-        const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
-        btScalar maxDot;
-        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
-        supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
-        if( 0 <= index )
-        {
-            //WARNING: don't swap next lines, the w component would get overwritten!
-            supportVerticesOut[j] = getScaledPoint(index);
-            supportVerticesOut[j][3] = maxDot;
-        }
-    }
-
+	for (int j = 0; j < numVectors; j++)
+	{
+		const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
+		btScalar maxDot;
+		int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
+		supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
+		if (0 <= index)
+		{
+			//WARNING: don't swap next lines, the w component would get overwritten!
+			supportVerticesOut[j] = getScaledPoint(index);
+			supportVerticesOut[j][3] = maxDot;
+		}
+	}
 }
-	
-
 
-btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
 {
 	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
 
-	if ( getMargin()!=btScalar(0.) )
+	if (getMargin() != btScalar(0.))
 	{
 		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
+			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+		}
 		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
+		supVertex += getMargin() * vecnorm;
 	}
 	return supVertex;
 }
 
-
 #endif
 
-
-
-
-
-
 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int	btConvexPointCloudShape::getNumVertices() const
+int btConvexPointCloudShape::getNumVertices() const
 {
 	return m_numPoints;
 }
@@ -109,31 +101,29 @@ int btConvexPointCloudShape::getNumEdges() const
 	return 0;
 }
 
-void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
 {
-	btAssert (0);
+	btAssert(0);
 }
 
-void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
+void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
 {
-	vtx = m_unscaledPoints[i]*m_localScaling;
+	vtx = m_unscaledPoints[i] * m_localScaling;
 }
 
-int	btConvexPointCloudShape::getNumPlanes() const
+int btConvexPointCloudShape::getNumPlanes() const
 {
 	return 0;
 }
 
-void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
 {
-
 	btAssert(0);
 }
 
 //not yet
-bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
 {
 	btAssert(0);
 	return false;
 }
-