From 4446c3a593c51603e135e38951607b9b668ddec5 Mon Sep 17 00:00:00 2001
From: Sebastian Parborg <darkdefende@gmail.com>
Date: Wed, 2 Sep 2020 20:41:30 +0200
Subject: Sync Bullet to upstream

This syncs Bullet to the latest upstream git version as of writing this.
(commit 47b0259b9700455022b5cf79b651cc1dc71dd59e).
---
 .../ConstraintSolver/btSolve2LinearConstraint.h    | 88 ++++++++++------------
 1 file changed, 41 insertions(+), 47 deletions(-)

(limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h')

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
index e8bfabf864e..fca8ecec81d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
@@ -19,20 +19,16 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btVector3.h"
 
-
 class btRigidBody;
 
-
-
 /// constraint class used for lateral tyre friction.
-class	btSolve2LinearConstraint
+class btSolve2LinearConstraint
 {
-	btScalar	m_tau;
-	btScalar	m_damping;
+	btScalar m_tau;
+	btScalar m_damping;
 
 public:
-
-	btSolve2LinearConstraint(btScalar tau,btScalar damping)
+	btSolve2LinearConstraint(btScalar tau, btScalar damping)
 	{
 		m_tau = tau;
 		m_damping = damping;
@@ -40,52 +36,51 @@ public:
 	//
 	// solve unilateral constraint (equality, direct method)
 	//
-	void resolveUnilateralPairConstraint(		
-														   btRigidBody* body0,
+	void resolveUnilateralPairConstraint(
+		btRigidBody* body0,
 		btRigidBody* body1,
 
 		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
+		const btMatrix3x3& world2B,
+
+		const btVector3& invInertiaADiag,
+		const btScalar invMassA,
+		const btVector3& linvelA, const btVector3& angvelA,
+		const btVector3& rel_posA1,
+		const btVector3& invInertiaBDiag,
+		const btScalar invMassB,
+		const btVector3& linvelB, const btVector3& angvelB,
+		const btVector3& rel_posA2,
+
+		btScalar depthA, const btVector3& normalA,
+		const btVector3& rel_posB1, const btVector3& rel_posB2,
+		btScalar depthB, const btVector3& normalB,
+		btScalar& imp0, btScalar& imp1);
 
 	//
 	// solving 2x2 lcp problem (inequality, direct solution )
 	//
 	void resolveBilateralPairConstraint(
-			btRigidBody* body0,
-						btRigidBody* body1,
+		btRigidBody* body0,
+		btRigidBody* body1,
 		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-/*
+		const btMatrix3x3& world2B,
+
+		const btVector3& invInertiaADiag,
+		const btScalar invMassA,
+		const btVector3& linvelA, const btVector3& angvelA,
+		const btVector3& rel_posA1,
+		const btVector3& invInertiaBDiag,
+		const btScalar invMassB,
+		const btVector3& linvelB, const btVector3& angvelB,
+		const btVector3& rel_posA2,
+
+		btScalar depthA, const btVector3& normalA,
+		const btVector3& rel_posB1, const btVector3& rel_posB2,
+		btScalar depthB, const btVector3& normalB,
+		btScalar& imp0, btScalar& imp1);
+
+	/*
 	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
 						const btScalar invMassA,
 						const btVector3& linvelA,const btVector3& angvelA,
@@ -101,7 +96,6 @@ public:
 					  btScalar& imp0,btScalar& imp1);
 
 */
-
 };
 
-#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
+#endif  //BT_SOLVE_2LINEAR_CONSTRAINT_H
-- 
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