1 files changed, 112 insertions, 134 deletions

diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
index 3e5675f729..a368c8a0c0 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
@@ -42,7 +42,6 @@ class btDispatcher;
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
 //! Collision Algorithm for GImpact Shapes
 /*!
 For register this algorithm in Bullet, proceed as following:
@@ -54,36 +53,35 @@ btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 protected:
-	btCollisionAlgorithm * m_convex_algorithm;
-    btPersistentManifold * m_manifoldPtr;
+	btCollisionAlgorithm* m_convex_algorithm;
+	btPersistentManifold* m_manifoldPtr;
 	btManifoldResult* m_resultOut;
-	const btDispatcherInfo * m_dispatchInfo;
+	const btDispatcherInfo* m_dispatchInfo;
 	int m_triface0;
 	int m_part0;
 	int m_triface1;
 	int m_part1;
 
-
 	//! Creates a new contact point
-	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
+	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
 		return m_manifoldPtr;
 	}
 
 	SIMD_FORCE_INLINE void destroyConvexAlgorithm()
 	{
-		if(m_convex_algorithm)
+		if (m_convex_algorithm)
 		{
 			m_convex_algorithm->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
+			m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm);
 			m_convex_algorithm = NULL;
 		}
 	}
 
 	SIMD_FORCE_INLINE void destroyContactManifolds()
 	{
-		if(m_manifoldPtr == NULL) return;
+		if (m_manifoldPtr == NULL) return;
 		m_dispatcher->releaseManifold(m_manifoldPtr);
 		m_manifoldPtr = NULL;
 	}
@@ -104,207 +102,187 @@ protected:
 		return m_manifoldPtr;
 	}
 
-
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		if(getLastManifold() == 0)
+		if (getLastManifold() == 0)
 		{
-			newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+			newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
 		}
 
 		m_resultOut->setPersistentManifold(getLastManifold());
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		checkManifold(body0Wrap,body1Wrap);
+		checkManifold(body0Wrap, body1Wrap);
 
-		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
-				body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
-		return convex_algorithm ;
+		btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
+			body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
+		return convex_algorithm;
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 	{
-		if(m_convex_algorithm) return;
-		m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
+		if (m_convex_algorithm) return;
+		m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
 	}
 
+	void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
+						 const btCollisionObjectWrapper* body1Wrap,
+						 const btVector3& point,
+						 const btVector3& normal,
+						 btScalar distance);
 
-
-
-	void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
-					const btCollisionObjectWrapper * body1Wrap,
-					const btVector3 & point,
-					const btVector3 & normal,
-					btScalar distance);
-
-//! Collision routines
-//!@{
+	//! Collision routines
+	//!@{
 
 	void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
-				  const btCollisionObjectWrapper* body1Wrap,
-				  const btGImpactMeshShapePart * shape0,
-				  const btGImpactMeshShapePart * shape1,
-				  const int * pairs, int pair_count);
+							   const btCollisionObjectWrapper* body1Wrap,
+							   const btGImpactMeshShapePart* shape0,
+							   const btGImpactMeshShapePart* shape1,
+							   const int* pairs, int pair_count);
 
 	void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btGImpactMeshShapePart * shape1,
-					  const int * pairs, int pair_count);
-
-
-
+							   const btCollisionObjectWrapper* body1Wrap,
+							   const btGImpactMeshShapePart* shape0,
+							   const btGImpactMeshShapePart* shape1,
+							   const int* pairs, int pair_count);
 
 	void shape_vs_shape_collision(
-					  const btCollisionObjectWrapper* body0,
-					  const btCollisionObjectWrapper* body1,
-					  const btCollisionShape * shape0,
-					  const btCollisionShape * shape1);
+		const btCollisionObjectWrapper* body0,
+		const btCollisionObjectWrapper* body1,
+		const btCollisionShape* shape0,
+		const btCollisionShape* shape1);
 
 	void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btCollisionShape* shape0,
-					  const btCollisionShape* shape1);
-
-
+									const btCollisionObjectWrapper* body1Wrap,
+									const btCollisionShape* shape0,
+									const btCollisionShape* shape1);
 
 	void gimpact_vs_gimpact_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btGImpactShapeInterface * shape1,btPairSet & pairset);
+		const btTransform& trans0,
+		const btTransform& trans1,
+		const btGImpactShapeInterface* shape0,
+		const btGImpactShapeInterface* shape1, btPairSet& pairset);
 
 	void gimpact_vs_shape_find_pairs(
-					  const btTransform & trans0,
-					  const btTransform & trans1,
-					  const btGImpactShapeInterface * shape0,
-					  const btCollisionShape * shape1,
-					  btAlignedObjectArray<int> & collided_primitives);
-
+		const btTransform& trans0,
+		const btTransform& trans1,
+		const btGImpactShapeInterface* shape0,
+		const btCollisionShape* shape1,
+		btAlignedObjectArray<int>& collided_primitives);
 
 	void gimpacttrimeshpart_vs_plane_collision(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactMeshShapePart * shape0,
-					  const btStaticPlaneShape * shape1,bool swapped);
-
+		const btCollisionObjectWrapper* body0Wrap,
+		const btCollisionObjectWrapper* body1Wrap,
+		const btGImpactMeshShapePart* shape0,
+		const btStaticPlaneShape* shape1, bool swapped);
 
 public:
-
-	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+	btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btGImpactCollisionAlgorithm();
 
-	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
-	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 	{
 		if (m_manifoldPtr)
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
-	btManifoldResult*	internalGetResultOut()
+	btManifoldResult* internalGetResultOut()
 	{
 		return m_resultOut;
 	}
 
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	struct CreateFunc : public btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
-			return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
+			return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
 		}
 	};
 
 	//! Use this function for register the algorithm externally
-	static void registerAlgorithm(btCollisionDispatcher * dispatcher);
+	static void registerAlgorithm(btCollisionDispatcher* dispatcher);
 #ifdef TRI_COLLISION_PROFILING
 	//! Gets the average time in miliseconds of tree collisions
 	static float getAverageTreeCollisionTime();
 
 	//! Gets the average time in miliseconds of triangle collisions
 	static float getAverageTriangleCollisionTime();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
 	//! Collides two gimpact shapes
 	/*!
 	\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
 	*/
 
-
 	void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btGImpactShapeInterface * shape1);
+							const btCollisionObjectWrapper* body1Wrap,
+							const btGImpactShapeInterface* shape0,
+							const btGImpactShapeInterface* shape1);
 
 	void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-					  const btCollisionObjectWrapper* body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btCollisionShape * shape1,bool swapped);
+						  const btCollisionObjectWrapper* body1Wrap,
+						  const btGImpactShapeInterface* shape0,
+						  const btCollisionShape* shape1, bool swapped);
 
-	void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btCompoundShape * shape1,bool swapped);
+	void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
+								  const btCollisionObjectWrapper* body1Wrap,
+								  const btGImpactShapeInterface* shape0,
+								  const btCompoundShape* shape1, bool swapped);
 
 	void gimpact_vs_concave(
-					  const btCollisionObjectWrapper * body0Wrap,
-					  const btCollisionObjectWrapper * body1Wrap,
-					  const btGImpactShapeInterface * shape0,
-					  const btConcaveShape * shape1,bool swapped);
-
-
-
-
-		/// Accessor/Mutator pairs for Part and triangleID
-    void 	setFace0(int value) 
-    { 
-    	m_triface0 = value; 
-    }
-    int getFace0() 
-    { 
-    	return m_triface0; 
-    }
-    void setFace1(int value) 
-    { 
-    	m_triface1 = value; 
-    }
-    int getFace1() 
-    { 
-    	return m_triface1; 
-    }
-    void setPart0(int value) 
-    { 
-    	m_part0 = value; 
-    }
-    int getPart0() 
-    { 
-    	return m_part0; 
-    }
-    void setPart1(int value) 
-    { 
-    	m_part1 = value; 
-		}
-    int getPart1() 
-    { 
-    	return m_part1; 
-    }
+		const btCollisionObjectWrapper* body0Wrap,
+		const btCollisionObjectWrapper* body1Wrap,
+		const btGImpactShapeInterface* shape0,
+		const btConcaveShape* shape1, bool swapped);
 
+	/// Accessor/Mutator pairs for Part and triangleID
+	void setFace0(int value)
+	{
+		m_triface0 = value;
+	}
+	int getFace0()
+	{
+		return m_triface0;
+	}
+	void setFace1(int value)
+	{
+		m_triface1 = value;
+	}
+	int getFace1()
+	{
+		return m_triface1;
+	}
+	void setPart0(int value)
+	{
+		m_part0 = value;
+	}
+	int getPart0()
+	{
+		return m_part0;
+	}
+	void setPart1(int value)
+	{
+		m_part1 = value;
+	}
+	int getPart1()
+	{
+		return m_part1;
+	}
 };
 
-
 //algorithm details
 //#define BULLET_TRIANGLE_COLLISION 1
 #define GIMPACT_VS_PLANE_COLLISION 1
 
-
-
-#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
+#endif  //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H