Cleanup: Reduce amount of misleading indentation

Was polluting compile output too much.

3 files changed, 28 insertions, 26 deletions

diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp
index e21cd36e4c8..0baf580ca68 100644
--- a/intern/itasc/ConstraintSet.cpp
+++ b/intern/itasc/ConstraintSet.cpp
@@ -145,27 +145,29 @@ bool ConstraintSet::closeLoop(){
     //toggle=!toggle;
     //svd_boost_Macie(Jf,U,S,V,B,temp,1e-3*threshold,toggle);
 	int ret = KDL::svd_eigen_HH(m_Jf,m_U,m_S,m_V,m_temp);
-    if(ret<0)
-        return false;
+	if(ret<0)
+		return false;
 
 	// the reference point and frame of the jacobian is the base frame
 	// m_externalPose-m_internalPose is the twist to extend the end effector
 	// to get the required pose => change the reference point to the base frame
 	Twist twist_delta(diff(m_internalPose,m_externalPose));
 	twist_delta=twist_delta.RefPoint(-m_internalPose.p);
-    for(unsigned int i=0;i<6;i++)
-        m_tdelta(i)=twist_delta(i);
-    //TODO: use damping in constraintset inversion?
-    for(unsigned int i=0;i<6;i++)
-        if(m_S(i)<m_threshold){
+	for(unsigned int i=0;i<6;i++)
+		m_tdelta(i)=twist_delta(i);
+	//TODO: use damping in constraintset inversion?
+	for(unsigned int i=0;i<6;i++) {
+		if(m_S(i)<m_threshold){
 			m_B.row(i).setConstant(0.0);
-        }else
-            m_B.row(i) = m_U.col(i)/m_S(i);
+		} else {
+			m_B.row(i) = m_U.col(i)/m_S(i);
+		}
+	}
 
-    m_Jf_inv.noalias()=m_V*m_B;
+	m_Jf_inv.noalias()=m_V*m_B;
 
-    m_chi.noalias()+=m_Jf_inv*m_tdelta;
-    updateJacobian();
+	m_chi.noalias()+=m_Jf_inv*m_tdelta;
+	updateJacobian();
 	// m_externalPose-m_internalPose in end effector frame
 	// this is just to compare the pose, a different formula would work too
 	return Equal(m_internalPose.Inverse()*m_externalPose,F_identity,m_threshold);
diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp
index 7ed8fc4e63c..5768a994970 100644
--- a/intern/itasc/Scene.cpp
+++ b/intern/itasc/Scene.cpp
@@ -146,11 +146,11 @@ bool Scene::addObject(const std::string& name, Object* object, UncontrolledObjec
 
 bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const std::string& object1,const std::string& object2, const std::string& ee1, const std::string& ee2)
 {
-    //Check if objects exist:
-    ObjectMap::iterator object1_it = objects.find(object1);
-    ObjectMap::iterator object2_it = objects.find(object2);
-    if(object1_it==objects.end()||object2_it==objects.end())
-        return false;
+	//Check if objects exist:
+	ObjectMap::iterator object1_it = objects.find(object1);
+	ObjectMap::iterator object2_it = objects.find(object2);
+	if(object1_it==objects.end()||object2_it==objects.end())
+		return false;
 	int ee1_index = object1_it->second->object->addEndEffector(ee1);
 	int ee2_index = object2_it->second->object->addEndEffector(ee2);
 	if (ee1_index < 0 || ee2_index < 0)
@@ -159,11 +159,11 @@ bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const s
 		constraints.insert(ConstraintMap::value_type(name,new ConstraintSet_struct(
 			task,object1_it,ee1_index,object2_it,ee2_index,
 			Range(m_ncTotal,task->getNrOfConstraints()),Range(6*m_nsets,6))));
-    if(!result.second)
-        return false;
-    m_ncTotal+=task->getNrOfConstraints();
-    m_nsets+=1;
-    return true;
+	if(!result.second)
+		return false;
+	m_ncTotal+=task->getNrOfConstraints();
+	m_nsets+=1;
+	return true;
 }
 
 bool Scene::addSolver(Solver* _solver){
diff --git a/intern/itasc/WSDLSSolver.cpp b/intern/itasc/WSDLSSolver.cpp
index 6fdd8e6e06c..2514dbb9041 100644
--- a/intern/itasc/WSDLSSolver.cpp
+++ b/intern/itasc/WSDLSSolver.cpp
@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 	e_scalar N, M;
 
 	// Create the Weighted jacobian
-    m_AWq.noalias() = A*Wq;
+	m_AWq.noalias() = A*Wq;
 	for (i=0; i<m_nc; i++)
 		m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
 
@@ -72,11 +72,11 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 	} else {
 		ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
 	}
-    if(ret<0)
-        return false;
+	if(ret<0)
+		return false;
 
 	m_Wy_ydot = Wy.array() * ydot.array();
-    m_WqV.noalias() = Wq*m_V;
+	m_WqV.noalias() = Wq*m_V;
 	qdot.setZero();
 	e_scalar maxDeltaS = e_scalar(0.0);
 	e_scalar prevS = e_scalar(0.0);