1 files changed, 153 insertions, 158 deletions

diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
index 87d8841cfa..cec6f401ec 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
+++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyData.h
@@ -19,199 +19,194 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
-
-struct	SoftBodyMaterialData
+struct SoftBodyMaterialData
 {
-	float	m_linearStiffness;
-	float	m_angularStiffness;
-	float	m_volumeStiffness;
-	int		m_flags;
+	float m_linearStiffness;
+	float m_angularStiffness;
+	float m_volumeStiffness;
+	int m_flags;
 };
 
-struct	SoftBodyNodeData
+struct SoftBodyNodeData
 {
-	SoftBodyMaterialData		*m_material;
-	btVector3FloatData			m_position;
-	btVector3FloatData			m_previousPosition;
-	btVector3FloatData			m_velocity;
-	btVector3FloatData			m_accumulatedForce;
-	btVector3FloatData			m_normal;
-	float						m_inverseMass;
-	float						m_area;
-	int							m_attach;
-	int							m_pad;
+	SoftBodyMaterialData *m_material;
+	btVector3FloatData m_position;
+	btVector3FloatData m_previousPosition;
+	btVector3FloatData m_velocity;
+	btVector3FloatData m_accumulatedForce;
+	btVector3FloatData m_normal;
+	float m_inverseMass;
+	float m_area;
+	int m_attach;
+	int m_pad;
 };
 
-struct	SoftBodyLinkData
+struct SoftBodyLinkData
 {
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[2];			// Node pointers
-	float					m_restLength;			// Rest length		
-	int						m_bbending;		// Bending link
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[2];  // Node pointers
+	float m_restLength;    // Rest length
+	int m_bbending;        // Bending link
 };
 
-struct	SoftBodyFaceData
+struct SoftBodyFaceData
 {
-	btVector3FloatData		m_normal;		// Normal
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[3];			// Node pointers
-	float					m_restArea;			// Rest area
-};	
+	btVector3FloatData m_normal;  // Normal
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[3];  // Node pointers
+	float m_restArea;      // Rest area
+};
 
-struct	SoftBodyTetraData
+struct SoftBodyTetraData
 {
-	btVector3FloatData		m_c0[4];		// gradients
-	SoftBodyMaterialData	*m_material;
-	int						m_nodeIndices[4];			// Node pointers		
-	float					m_restVolume;			// Rest volume
-	float					m_c1;			// (4*kVST)/(im0+im1+im2+im3)
-	float					m_c2;			// m_c1/sum(|g0..3|^2)
-	int						m_pad;
+	btVector3FloatData m_c0[4];  // gradients
+	SoftBodyMaterialData *m_material;
+	int m_nodeIndices[4];  // Node pointers
+	float m_restVolume;    // Rest volume
+	float m_c1;            // (4*kVST)/(im0+im1+im2+im3)
+	float m_c2;            // m_c1/sum(|g0..3|^2)
+	int m_pad;
 };
 
-struct	SoftRigidAnchorData
+struct SoftRigidAnchorData
 {
-	btMatrix3x3FloatData	m_c0;			// Impulse matrix
-	btVector3FloatData		m_c1;			// Relative anchor
-	btVector3FloatData		m_localFrame;		// Anchor position in body space
-	btRigidBodyData			*m_rigidBody;
-	int						m_nodeIndex;			// Node pointer
-	float					m_c2;			// ima*dt
+	btMatrix3x3FloatData m_c0;        // Impulse matrix
+	btVector3FloatData m_c1;          // Relative anchor
+	btVector3FloatData m_localFrame;  // Anchor position in body space
+	btRigidBodyData *m_rigidBody;
+	int m_nodeIndex;  // Node pointer
+	float m_c2;       // ima*dt
 };
 
-
-
-struct	SoftBodyConfigData
+struct SoftBodyConfigData
 {
-	int					m_aeroModel;		// Aerodynamic model (default: V_Point)
-	float				m_baumgarte;			// Velocities correction factor (Baumgarte)
-	float				m_damping;			// Damping coefficient [0,1]
-	float				m_drag;			// Drag coefficient [0,+inf]
-	float				m_lift;			// Lift coefficient [0,+inf]
-	float				m_pressure;			// Pressure coefficient [-inf,+inf]
-	float				m_volume;			// Volume conversation coefficient [0,+inf]
-	float				m_dynamicFriction;			// Dynamic friction coefficient [0,1]
-	float				m_poseMatch;			// Pose matching coefficient [0,1]		
-	float				m_rigidContactHardness;			// Rigid contacts hardness [0,1]
-	float				m_kineticContactHardness;			// Kinetic contacts hardness [0,1]
-	float				m_softContactHardness;			// Soft contacts hardness [0,1]
-	float				m_anchorHardness;			// Anchors hardness [0,1]
-	float				m_softRigidClusterHardness;		// Soft vs rigid hardness [0,1] (cluster only)
-	float				m_softKineticClusterHardness;		// Soft vs kinetic hardness [0,1] (cluster only)
-	float				m_softSoftClusterHardness;		// Soft vs soft hardness [0,1] (cluster only)
-	float				m_softRigidClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_softKineticClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_softSoftClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
-	float				m_maxVolume;		// Maximum volume ratio for pose
-	float				m_timeScale;		// Time scale
-	int					m_velocityIterations;	// Velocities solver iterations
-	int					m_positionIterations;	// Positions solver iterations
-	int					m_driftIterations;	// Drift solver iterations
-	int					m_clusterIterations;	// Cluster solver iterations
-	int					m_collisionFlags;	// Collisions flags
+	int m_aeroModel;                         // Aerodynamic model (default: V_Point)
+	float m_baumgarte;                       // Velocities correction factor (Baumgarte)
+	float m_damping;                         // Damping coefficient [0,1]
+	float m_drag;                            // Drag coefficient [0,+inf]
+	float m_lift;                            // Lift coefficient [0,+inf]
+	float m_pressure;                        // Pressure coefficient [-inf,+inf]
+	float m_volume;                          // Volume conversation coefficient [0,+inf]
+	float m_dynamicFriction;                 // Dynamic friction coefficient [0,1]
+	float m_poseMatch;                       // Pose matching coefficient [0,1]
+	float m_rigidContactHardness;            // Rigid contacts hardness [0,1]
+	float m_kineticContactHardness;          // Kinetic contacts hardness [0,1]
+	float m_softContactHardness;             // Soft contacts hardness [0,1]
+	float m_anchorHardness;                  // Anchors hardness [0,1]
+	float m_softRigidClusterHardness;        // Soft vs rigid hardness [0,1] (cluster only)
+	float m_softKineticClusterHardness;      // Soft vs kinetic hardness [0,1] (cluster only)
+	float m_softSoftClusterHardness;         // Soft vs soft hardness [0,1] (cluster only)
+	float m_softRigidClusterImpulseSplit;    // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_softKineticClusterImpulseSplit;  // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_softSoftClusterImpulseSplit;     // Soft vs rigid impulse split [0,1] (cluster only)
+	float m_maxVolume;                       // Maximum volume ratio for pose
+	float m_timeScale;                       // Time scale
+	int m_velocityIterations;                // Velocities solver iterations
+	int m_positionIterations;                // Positions solver iterations
+	int m_driftIterations;                   // Drift solver iterations
+	int m_clusterIterations;                 // Cluster solver iterations
+	int m_collisionFlags;                    // Collisions flags
 };
 
-struct	SoftBodyPoseData
+struct SoftBodyPoseData
 {
-	btMatrix3x3FloatData	m_rot;			// Rotation
-	btMatrix3x3FloatData	m_scale;			// Scale
-	btMatrix3x3FloatData	m_aqq;			// Base scaling
-	btVector3FloatData		m_com;			// COM
-
-	btVector3FloatData		*m_positions;			// Reference positions
-	float					*m_weights;	// Weights
-	int						m_numPositions;
-	int						m_numWeigts;
-
-	int						m_bvolume;		// Is valid
-	int						m_bframe;		// Is frame
-	float					m_restVolume;		// Rest volume
-	int						m_pad;
+	btMatrix3x3FloatData m_rot;    // Rotation
+	btMatrix3x3FloatData m_scale;  // Scale
+	btMatrix3x3FloatData m_aqq;    // Base scaling
+	btVector3FloatData m_com;      // COM
+
+	btVector3FloatData *m_positions;  // Reference positions
+	float *m_weights;                 // Weights
+	int m_numPositions;
+	int m_numWeigts;
+
+	int m_bvolume;       // Is valid
+	int m_bframe;        // Is frame
+	float m_restVolume;  // Rest volume
+	int m_pad;
 };
 
-struct	SoftBodyClusterData
+struct SoftBodyClusterData
 {
-		btTransformFloatData		m_framexform;
-		btMatrix3x3FloatData		m_locii;
-		btMatrix3x3FloatData		m_invwi;
-		btVector3FloatData			m_com;
-		btVector3FloatData			m_vimpulses[2];
-		btVector3FloatData			m_dimpulses[2];
-		btVector3FloatData			m_lv;
-		btVector3FloatData			m_av;
-		
-		btVector3FloatData			*m_framerefs;
-		int							*m_nodeIndices;
-		float						*m_masses;
-
-		int							m_numFrameRefs;
-		int							m_numNodes;
-		int							m_numMasses;
-
-		float						m_idmass;
-		float						m_imass;
-		int							m_nvimpulses;
-		int							m_ndimpulses;
-		float						m_ndamping;
-		float						m_ldamping;
-		float						m_adamping;
-		float						m_matching;
-		float						m_maxSelfCollisionImpulse;
-		float						m_selfCollisionImpulseFactor;
-		int							m_containsAnchor;
-		int							m_collide;
-		int							m_clusterIndex;
+	btTransformFloatData m_framexform;
+	btMatrix3x3FloatData m_locii;
+	btMatrix3x3FloatData m_invwi;
+	btVector3FloatData m_com;
+	btVector3FloatData m_vimpulses[2];
+	btVector3FloatData m_dimpulses[2];
+	btVector3FloatData m_lv;
+	btVector3FloatData m_av;
+
+	btVector3FloatData *m_framerefs;
+	int *m_nodeIndices;
+	float *m_masses;
+
+	int m_numFrameRefs;
+	int m_numNodes;
+	int m_numMasses;
+
+	float m_idmass;
+	float m_imass;
+	int m_nvimpulses;
+	int m_ndimpulses;
+	float m_ndamping;
+	float m_ldamping;
+	float m_adamping;
+	float m_matching;
+	float m_maxSelfCollisionImpulse;
+	float m_selfCollisionImpulseFactor;
+	int m_containsAnchor;
+	int m_collide;
+	int m_clusterIndex;
 };
 
-
-enum	btSoftJointBodyType
+enum btSoftJointBodyType
 {
-	BT_JOINT_SOFT_BODY_CLUSTER=1,
+	BT_JOINT_SOFT_BODY_CLUSTER = 1,
 	BT_JOINT_RIGID_BODY,
 	BT_JOINT_COLLISION_OBJECT
 };
 
-struct	btSoftBodyJointData
+struct btSoftBodyJointData
 {
-	void						*m_bodyA;
-	void						*m_bodyB;
-	btVector3FloatData			m_refs[2];
-	float						m_cfm;
-	float						m_erp;
-	float						m_split;
-	int							m_delete;
-	btVector3FloatData			m_relPosition[2];//linear
-	int							m_bodyAtype;
-	int							m_bodyBtype;
-	int							m_jointType;
-	int							m_pad;
+	void *m_bodyA;
+	void *m_bodyB;
+	btVector3FloatData m_refs[2];
+	float m_cfm;
+	float m_erp;
+	float m_split;
+	int m_delete;
+	btVector3FloatData m_relPosition[2];  //linear
+	int m_bodyAtype;
+	int m_bodyBtype;
+	int m_jointType;
+	int m_pad;
 };
 
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btSoftBodyFloatData
+struct btSoftBodyFloatData
 {
-	btCollisionObjectFloatData	m_collisionObjectData;
-
-	SoftBodyPoseData		*m_pose;
-	SoftBodyMaterialData	**m_materials;
-	SoftBodyNodeData		*m_nodes;
-	SoftBodyLinkData		*m_links;
-	SoftBodyFaceData		*m_faces;
-	SoftBodyTetraData		*m_tetrahedra;
-	SoftRigidAnchorData		*m_anchors;
-	SoftBodyClusterData		*m_clusters;
-	btSoftBodyJointData		*m_joints;
-
-	int						m_numMaterials;
-	int						m_numNodes;
-	int						m_numLinks;
-	int						m_numFaces;
-	int						m_numTetrahedra;
-	int						m_numAnchors;
-	int						m_numClusters;
-	int						m_numJoints;
-	SoftBodyConfigData		m_config;
+	btCollisionObjectFloatData m_collisionObjectData;
+
+	SoftBodyPoseData *m_pose;
+	SoftBodyMaterialData **m_materials;
+	SoftBodyNodeData *m_nodes;
+	SoftBodyLinkData *m_links;
+	SoftBodyFaceData *m_faces;
+	SoftBodyTetraData *m_tetrahedra;
+	SoftRigidAnchorData *m_anchors;
+	SoftBodyClusterData *m_clusters;
+	btSoftBodyJointData *m_joints;
+
+	int m_numMaterials;
+	int m_numNodes;
+	int m_numLinks;
+	int m_numFaces;
+	int m_numTetrahedra;
+	int m_numAnchors;
+	int m_numClusters;
+	int m_numJoints;
+	SoftBodyConfigData m_config;
 };
 
-#endif //BT_SOFTBODY_FLOAT_DATA
-
+#endif  //BT_SOFTBODY_FLOAT_DATA