Sync Bullet to upstream

This syncs Bullet to the latest upstream git version as of writing this.
(commit 47b0259b9700455022b5cf79b651cc1dc71dd59e).

1 files changed, 81 insertions, 96 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
index 52f346bf726..c4d33c429f0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
@@ -16,29 +16,29 @@ subject to the following restrictions:
 #include "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
+									   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
+														   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
+																				 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
+																									   m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
@@ -46,8 +46,8 @@ m_numVertices(0)
 	addVertex(pt2);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
-m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
+																															 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
@@ -56,17 +56,16 @@ m_numVertices(0)
 	addVertex(pt3);
 }
 
-
-void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
 #if 1
-	btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+	btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
 #else
-	aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
-	aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+	aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+	aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
 
 	//just transform the vertices in worldspace, and take their AABB
-	for (int i=0;i<m_numVertices;i++)
+	for (int i = 0; i < m_numVertices; i++)
 	{
 		btVector3 worldVertex = t(m_vertices[i]);
 		aabbMin.setMin(worldVertex);
@@ -75,18 +74,13 @@ void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3
 #endif
 }
 
-
-
-
-
 void btBU_Simplex1to4::addVertex(const btVector3& pt)
 {
 	m_vertices[m_numVertices++] = pt;
 	recalcLocalAabb();
 }
 
-
-int	btBU_Simplex1to4::getNumVertices() const
+int btBU_Simplex1to4::getNumVertices() const
 {
 	return m_numVertices;
 }
@@ -97,122 +91,113 @@ int btBU_Simplex1to4::getNumEdges() const
 
 	switch (m_numVertices)
 	{
-	case 0:
-		return 0;
-	case 1: return 0;
-	case 2: return 1;
-	case 3: return 3;
-	case 4: return 6;
-
-
+		case 0:
+			return 0;
+		case 1:
+			return 0;
+		case 2:
+			return 1;
+		case 3:
+			return 3;
+		case 4:
+			return 6;
 	}
 
 	return 0;
 }
 
-void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
 {
-	
-    switch (m_numVertices)
+	switch (m_numVertices)
 	{
-
-	case 2: 
-		pa = m_vertices[0];
-		pb = m_vertices[1];
-		break;
-	case 3:  
-		switch (i)
-		{
-		case 0:
-			pa = m_vertices[0];
-			pb = m_vertices[1];
-			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
 		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
-
-		}
-		break;
-	case 4: 
-		switch (i)
-		{
-		case 0:
 			pa = m_vertices[0];
 			pb = m_vertices[1];
 			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
-		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
 		case 3:
-			pa = m_vertices[0];
-			pb = m_vertices[3];
+			switch (i)
+			{
+				case 0:
+					pa = m_vertices[0];
+					pb = m_vertices[1];
+					break;
+				case 1:
+					pa = m_vertices[1];
+					pb = m_vertices[2];
+					break;
+				case 2:
+					pa = m_vertices[2];
+					pb = m_vertices[0];
+					break;
+			}
 			break;
 		case 4:
-			pa = m_vertices[1];
-			pb = m_vertices[3];
-			break;
-		case 5:
-			pa = m_vertices[2];
-			pb = m_vertices[3];
-			break;
-		}
-
+			switch (i)
+			{
+				case 0:
+					pa = m_vertices[0];
+					pb = m_vertices[1];
+					break;
+				case 1:
+					pa = m_vertices[1];
+					pb = m_vertices[2];
+					break;
+				case 2:
+					pa = m_vertices[2];
+					pb = m_vertices[0];
+					break;
+				case 3:
+					pa = m_vertices[0];
+					pb = m_vertices[3];
+					break;
+				case 4:
+					pa = m_vertices[1];
+					pb = m_vertices[3];
+					break;
+				case 5:
+					pa = m_vertices[2];
+					pb = m_vertices[3];
+					break;
+			}
 	}
-
-
-
-
 }
 
-void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
+void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
 {
 	vtx = m_vertices[i];
 }
 
-int	btBU_Simplex1to4::getNumPlanes() const
+int btBU_Simplex1to4::getNumPlanes() const
 {
 	switch (m_numVertices)
 	{
-	case 0:
+		case 0:
 			return 0;
-	case 1:
+		case 1:
 			return 0;
-	case 2:
+		case 2:
 			return 0;
-	case 3:
+		case 3:
 			return 2;
-	case 4:
+		case 4:
 			return 4;
-	default:
+		default:
 		{
 		}
 	}
 	return 0;
 }
 
-
-void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
+void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
 {
-	
 }
 
-int btBU_Simplex1to4::getIndex(int ) const
+int btBU_Simplex1to4::getIndex(int) const
 {
 	return 0;
 }
 
-bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
+bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
 {
 	return false;
 }
-