1 files changed, 92 insertions, 97 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 93865cbc59..89f8db8b1a 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 #include "LinearMath/btScalar.h"
 
-enum	btSolverMode
+enum btSolverMode
 {
 	SOLVER_RANDMIZE_ORDER = 1,
 	SOLVER_FRICTION_SEPARATE = 2,
@@ -35,134 +35,129 @@ enum	btSolverMode
 
 struct btContactSolverInfoData
 {
-	
-
-	btScalar	m_tau;
-	btScalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	btScalar	m_friction;
-	btScalar	m_timeStep;
-	btScalar	m_restitution;
-	int		m_numIterations;
-	btScalar	m_maxErrorReduction;
-	btScalar	m_sor;//successive over-relaxation term
-	btScalar	m_erp;//error reduction for non-contact constraints
-	btScalar	m_erp2;//error reduction for contact constraints
-	btScalar	m_globalCfm;//constraint force mixing for contacts and non-contacts
-	btScalar	m_frictionERP;//error reduction for friction constraints
-	btScalar	m_frictionCFM;//constraint force mixing for friction constraints
-
-	int			m_splitImpulse;
-	btScalar	m_splitImpulsePenetrationThreshold;
-	btScalar	m_splitImpulseTurnErp;
-	btScalar	m_linearSlop;
-	btScalar	m_warmstartingFactor;
-
-	int			m_solverMode;
-	int	m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	btScalar	m_maxGyroscopicForce;
-	btScalar	m_singleAxisRollingFrictionThreshold;
-	btScalar	m_leastSquaresResidualThreshold;
-	btScalar	m_restitutionVelocityThreshold;
-
+	btScalar m_tau;
+	btScalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	btScalar m_friction;
+	btScalar m_timeStep;
+	btScalar m_restitution;
+	int m_numIterations;
+	btScalar m_maxErrorReduction;
+	btScalar m_sor;          //successive over-relaxation term
+	btScalar m_erp;          //error reduction for non-contact constraints
+	btScalar m_erp2;         //error reduction for contact constraints
+	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
+	btScalar m_frictionERP;  //error reduction for friction constraints
+	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
+
+	int m_splitImpulse;
+	btScalar m_splitImpulsePenetrationThreshold;
+	btScalar m_splitImpulseTurnErp;
+	btScalar m_linearSlop;
+	btScalar m_warmstartingFactor;
+
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	btScalar m_maxGyroscopicForce;
+	btScalar m_singleAxisRollingFrictionThreshold;
+	btScalar m_leastSquaresResidualThreshold;
+	btScalar m_restitutionVelocityThreshold;
+	bool m_jointFeedbackInWorldSpace;
+	bool m_jointFeedbackInJointFrame;
 };
 
 struct btContactSolverInfo : public btContactSolverInfoData
 {
-
-	
-
 	inline btContactSolverInfo()
 	{
 		m_tau = btScalar(0.6);
 		m_damping = btScalar(1.0);
 		m_friction = btScalar(0.3);
-		m_timeStep = btScalar(1.f/60.f);
+		m_timeStep = btScalar(1.f / 60.f);
 		m_restitution = btScalar(0.);
 		m_maxErrorReduction = btScalar(20.);
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.2);
 		m_globalCfm = btScalar(0.);
-		m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
+		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
 		m_frictionCFM = btScalar(0.);
 		m_sor = btScalar(1.);
 		m_splitImpulse = true;
 		m_splitImpulsePenetrationThreshold = -.04f;
 		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = btScalar(0.0);
-		m_warmstartingFactor=btScalar(0.85);
+		m_warmstartingFactor = btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
-		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
-		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
+		m_minimumSolverBatchSize = 128;                        //try to combine islands until the amount of constraints reaches this limit
+		m_maxGyroscopicForce = 100.f;                          ///it is only used for 'explicit' version of gyroscopic force
+		m_singleAxisRollingFrictionThreshold = 1e30f;          ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 		m_leastSquaresResidualThreshold = 0.f;
-		m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
+		m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
+		m_jointFeedbackInWorldSpace = false;
+		m_jointFeedbackInJointFrame = false;
 	}
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btContactSolverInfoDoubleData
 {
-	double		m_tau;
-	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double		m_friction;
-	double		m_timeStep;
-	double		m_restitution;
-	double		m_maxErrorReduction;
-	double		m_sor;
-	double		m_erp;//used as Baumgarte factor
-	double		m_erp2;//used in Split Impulse
-	double		m_globalCfm;//constraint force mixing
-	double		m_splitImpulsePenetrationThreshold;
-	double		m_splitImpulseTurnErp;
-	double		m_linearSlop;
-	double		m_warmstartingFactor;
-	double		m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
-	double		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	int			m_splitImpulse;
-	char		m_padding[4];
-
+	double m_tau;
+	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	double m_friction;
+	double m_timeStep;
+	double m_restitution;
+	double m_maxErrorReduction;
+	double m_sor;
+	double m_erp;        //used as Baumgarte factor
+	double m_erp2;       //used in Split Impulse
+	double m_globalCfm;  //constraint force mixing
+	double m_splitImpulsePenetrationThreshold;
+	double m_splitImpulseTurnErp;
+	double m_linearSlop;
+	double m_warmstartingFactor;
+	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
+	double m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+	int m_splitImpulse;
+	char m_padding[4];
 };
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct btContactSolverInfoFloatData
 {
-	float		m_tau;
-	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float		m_friction;
-	float		m_timeStep;
-
-	float		m_restitution;
-	float		m_maxErrorReduction;
-	float		m_sor;
-	float		m_erp;//used as Baumgarte factor
-
-	float		m_erp2;//used in Split Impulse
-	float		m_globalCfm;//constraint force mixing
-	float		m_splitImpulsePenetrationThreshold;
-	float		m_splitImpulseTurnErp;
-
-	float		m_linearSlop;
-	float		m_warmstartingFactor;
-	float		m_maxGyroscopicForce;
-	float		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-
-	int			m_splitImpulse;
-	char		m_padding[4];
+	float m_tau;
+	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	float m_friction;
+	float m_timeStep;
+
+	float m_restitution;
+	float m_maxErrorReduction;
+	float m_sor;
+	float m_erp;  //used as Baumgarte factor
+
+	float m_erp2;       //used in Split Impulse
+	float m_globalCfm;  //constraint force mixing
+	float m_splitImpulsePenetrationThreshold;
+	float m_splitImpulseTurnErp;
+
+	float m_linearSlop;
+	float m_warmstartingFactor;
+	float m_maxGyroscopicForce;
+	float m_singleAxisRollingFrictionThreshold;
+
+	int m_numIterations;
+	int m_solverMode;
+	int m_restingContactRestitutionThreshold;
+	int m_minimumSolverBatchSize;
+
+	int m_splitImpulse;
+	char m_padding[4];
 };
 
-
-
-#endif //BT_CONTACT_SOLVER_INFO
+#endif  //BT_CONTACT_SOLVER_INFO