1 files changed, 18 insertions, 19 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 36ba21f5bb0..7fa0559f975 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -12,6 +12,7 @@ subject to the following restrictions:
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+#define CLEAR_MANIFOLD 1
 
 #include "btSphereSphereCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -19,14 +20,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
-: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
-m_ownManifold(false),
-m_manifoldPtr(mf)
+btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
+	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
+	  m_ownManifold(false),
+	  m_manifoldPtr(mf)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -40,7 +41,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
 	}
 }
 
-void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereSphereCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 
@@ -52,27 +53,27 @@ void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObject
 	btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
 	btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
 
-	btVector3 diff = col0Wrap->getWorldTransform().getOrigin()-  col1Wrap->getWorldTransform().getOrigin();
+	btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
 	btScalar len = diff.length();
 	btScalar radius0 = sphere0->getRadius();
 	btScalar radius1 = sphere1->getRadius();
 
 #ifdef CLEAR_MANIFOLD
-	m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
+	m_manifoldPtr->clearManifold();  //don't do this, it disables warmstarting
 #endif
 
 	///iff distance positive, don't generate a new contact
-	if ( len > (radius0+radius1))
+	if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
 	{
 #ifndef CLEAR_MANIFOLD
 		resultOut->refreshContactPoints();
-#endif //CLEAR_MANIFOLD
+#endif  //CLEAR_MANIFOLD
 		return;
 	}
 	///distance (negative means penetration)
-	btScalar dist = len - (radius0+radius1);
+	btScalar dist = len - (radius0 + radius1);
 
-	btVector3 normalOnSurfaceB(1,0,0);
+	btVector3 normalOnSurfaceB(1, 0, 0);
 	if (len > SIMD_EPSILON)
 	{
 		normalOnSurfaceB = diff / len;
@@ -81,20 +82,18 @@ void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObject
 	///point on A (worldspace)
 	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
-	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
+	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
 
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	
-	
-	resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
+
+	resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
 
 #ifndef CLEAR_MANIFOLD
 	resultOut->refreshContactPoints();
-#endif //CLEAR_MANIFOLD
-
+#endif  //CLEAR_MANIFOLD
 }
 
-btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)col0;
 	(void)col1;