1 files changed, 93 insertions, 63 deletions

diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
index c179daeec6..0c398a3727 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
@@ -10,32 +10,37 @@
 #include "../../LinearMath/btMatrixX.h"
 #define BT_ID_HAVE_MAT3X
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 class vec3;
 class vecx;
 class mat33;
 typedef btMatrixX<idScalar> matxx;
 
-class vec3 : public btVector3 {
+class vec3 : public btVector3
+{
 public:
 	vec3() : btVector3() {}
 	vec3(const btVector3& btv) { *this = btv; }
 	idScalar& operator()(int i) { return (*this)[i]; }
 	const idScalar& operator()(int i) const { return (*this)[i]; }
 	int size() const { return 3; }
-	const vec3& operator=(const btVector3& rhs) {
+	const vec3& operator=(const btVector3& rhs)
+	{
 		*static_cast<btVector3*>(this) = rhs;
 		return *this;
 	}
 };
 
-class mat33 : public btMatrix3x3 {
+class mat33 : public btMatrix3x3
+{
 public:
 	mat33() : btMatrix3x3() {}
 	mat33(const btMatrix3x3& btm) { *this = btm; }
 	idScalar& operator()(int i, int j) { return (*this)[i][j]; }
 	const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
-	const mat33& operator=(const btMatrix3x3& rhs) {
+	const mat33& operator=(const btMatrix3x3& rhs)
+	{
 		*static_cast<btMatrix3x3*>(this) = rhs;
 		return *this;
 	}
@@ -47,10 +52,12 @@ inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s)
 
 inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
 
-class vecx : public btVectorX<idScalar> {
+class vecx : public btVectorX<idScalar>
+{
 public:
 	vecx(int size) : btVectorX<idScalar>(size) {}
-	const vecx& operator=(const btVectorX<idScalar>& rhs) {
+	const vecx& operator=(const btVectorX<idScalar>& rhs)
+	{
 		*static_cast<btVectorX<idScalar>*>(this) = rhs;
 		return *this;
 	}
@@ -66,43 +73,53 @@ public:
 	friend vecx operator/(const vecx& a, const idScalar& s);
 };
 
-inline vecx operator*(const vecx& a, const idScalar& s) {
+inline vecx operator*(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result(i) = a(i) * s;
 	}
 	return result;
 }
 inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b) {
+inline vecx operator+(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
+	if (a.size() != b.size())
+	{
 		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result(i) = a(i) + b(i);
 	}
 
 	return result;
 }
 
-inline vecx operator-(const vecx& a, const vecx& b) {
+inline vecx operator-(const vecx& a, const vecx& b)
+{
 	vecx result(a.size());
 	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
+	if (a.size() != b.size())
+	{
 		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
 		abort();
 	}
-	for (int i = 0; i < a.size(); i++) {
+	for (int i = 0; i < a.size(); i++)
+	{
 		result(i) = a(i) - b(i);
 	}
 	return result;
 }
-inline vecx operator/(const vecx& a, const idScalar& s) {
+inline vecx operator/(const vecx& a, const idScalar& s)
+{
 	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
+	for (int i = 0; i < result.size(); i++)
+	{
 		result(i) = a(i) / s;
 	}
 
@@ -110,63 +127,76 @@ inline vecx operator/(const vecx& a, const idScalar& s) {
 }
 
 // use btMatrixX to implement 3xX matrix
-class mat3x : public matxx {
+class mat3x : public matxx
+{
 public:
-    mat3x(){}
-    mat3x(const mat3x&rhs) {
-        matxx::resize(rhs.rows(), rhs.cols());
-        *this = rhs;
-    }
-    mat3x(int rows, int cols): matxx(3,cols) {
-    }
-    void operator=(const mat3x& rhs) {
-	if (m_cols != rhs.m_cols) {
-            bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-            abort();
+	mat3x() {}
+	mat3x(const mat3x& rhs)
+	{
+		matxx::resize(rhs.rows(), rhs.cols());
+		*this = rhs;
+	}
+	mat3x(int rows, int cols) : matxx(3, cols)
+	{
+	}
+	void operator=(const mat3x& rhs)
+	{
+		if (m_cols != rhs.m_cols)
+		{
+			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+			abort();
+		}
+		for (int i = 0; i < rows(); i++)
+		{
+			for (int k = 0; k < cols(); k++)
+			{
+				setElem(i, k, rhs(i, k));
+			}
+		}
+	}
+	void setZero()
+	{
+		matxx::setZero();
 	}
-        for(int i=0;i<rows();i++) {
-            for(int k=0;k<cols();k++) {
-                setElem(i,k,rhs(i,k));
-            }
-        }
-    }
-    void setZero() {
-        matxx::setZero();
-    }
 };
 
-
-inline vec3 operator*(const mat3x& a, const vecx& b) {
-    vec3 result;
-    if (a.cols() != b.size()) {
-        bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-        abort();
-    }
-    result(0)=0.0;
-    result(1)=0.0;
-    result(2)=0.0;
-    for(int i=0;i<b.size();i++) {
-        for(int k=0;k<3;k++) {
-            result(k)+=a(k,i)*b(i);
-        }
-    }
-    return result;
+inline vec3 operator*(const mat3x& a, const vecx& b)
+{
+	vec3 result;
+	if (a.cols() != b.size())
+	{
+		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+		abort();
+	}
+	result(0) = 0.0;
+	result(1) = 0.0;
+	result(2) = 0.0;
+	for (int i = 0; i < b.size(); i++)
+	{
+		for (int k = 0; k < 3; k++)
+		{
+			result(k) += a(k, i) * b(i);
+		}
+	}
+	return result;
 }
 
-
-inline void resize(mat3x &m, idArrayIdx size) {
-    m.resize(3, size);
-    m.setZero();
+inline void resize(mat3x& m, idArrayIdx size)
+{
+	m.resize(3, size);
+	m.setZero();
 }
 
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
-    m->setElem(row, col, val);
+inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
+{
+	m->setElem(row, col, val);
 }
 
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
-    m->setElem(row, col, val);
+inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
+{
+	m->setElem(row, col, val);
 }
 
-}
+}  // namespace btInverseDynamics
 
 #endif  // IDLINEARMATHINTERFACE_HPP_