format file

format

format

7 files changed, 48 insertions, 49 deletions

diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index 856b5d411..7d53f8624 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -1049,7 +1049,7 @@ btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
 		const btScalar length = delta.length();
 		results.normal = delta / length;
 		results.witnesses[0] += results.normal * margin;
-        results.distance = length - margin;
+		results.distance = length - margin;
 		return results.distance;
 	}
 	else
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 139d69c7d..4916848fe 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -282,7 +282,7 @@ void btDeformableBodySolver::updateVelocity()
 			}
 			else
 			{
-				psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;                
+				psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;
 			}
 			psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
 			++counter;
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h
index 3b559bbf7..1e2c9f5bc 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.h
+++ b/src/BulletSoftBody/btDeformableContactConstraint.h
@@ -216,7 +216,7 @@ public:
 class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint
 {
 public:
-    btSoftBody::Face* m_face;
+	btSoftBody::Face* m_face;
 	bool m_useStrainLimiting;
 	btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
 	btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp
index 733e648c4..7f67260ce 100644
--- a/src/BulletSoftBody/btDeformableContactProjection.cpp
+++ b/src/BulletSoftBody/btDeformableContactProjection.cpp
@@ -452,8 +452,8 @@ void btDeformableContactProjection::checkConstraints(const TVStack& x)
 				d[j] += lm.m_weights[k] * x[lm.m_indices[k]].dot(lm.m_dirs[j]);
 			}
 		}
-//		printf("d = %f, %f, %f\n", d[0], d[1], d[2]);
-//        printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]);
+		//		printf("d = %f, %f, %f\n", d[0], d[1], d[2]);
+		//        printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]);
 	}
 }
 
@@ -494,7 +494,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
 			lm.m_dirs[2] = btVector3(0, 0, 1);
 			m_lagrangeMultipliers.push_back(lm);
 		}
-        
+
 		for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
 		{
 			if (!m_nodeRigidConstraints[i][j].m_binding)
@@ -520,20 +520,20 @@ void btDeformableContactProjection::setLagrangeMultiplier()
 				lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal;
 			}
 			m_lagrangeMultipliers.push_back(lm);
-        }            
-        
+		}
+
 		for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
 		{
 			if (!m_faceRigidConstraints[i][j].m_binding)
 			{
 				continue;
 			}
-            btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
+			btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face;
 
 			btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary;
 			LagrangeMultiplier lm;
 			lm.m_num_nodes = 3;
-            
+
 			for (int k = 0; k < 3; ++k)
 			{
 				face->m_n[k]->m_constrained = true;
@@ -542,7 +542,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
 			}
 			if (m_faceRigidConstraints[i][j].m_static)
 			{
-                face->m_pcontact[3] = 1;
+				face->m_pcontact[3] = 1;
 				lm.m_num_constraints = 3;
 				lm.m_dirs[0] = btVector3(1, 0, 0);
 				lm.m_dirs[1] = btVector3(0, 1, 0);
@@ -550,7 +550,7 @@ void btDeformableContactProjection::setLagrangeMultiplier()
 			}
 			else
 			{
-                face->m_pcontact[3] = 0;
+				face->m_pcontact[3] = 0;
 				lm.m_num_constraints = 1;
 				lm.m_dirs[0] = m_faceRigidConstraints[i][j].m_normal;
 			}
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index 257483d64..dbde78944 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -401,7 +401,6 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
 
 	// At this point, dv should be golden for nodes in contact
 	// proceed to solve deformable momentum equation
-    
 	m_deformableBodySolver->solveDeformableConstraints(timeStep);
 }
 
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index cca065afd..f71545215 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -2818,7 +2818,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
 	btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
 								: colObjWrap->getWorldTransform();
 	btScalar dst;
-    btGjkEpaSolver2::sResults results;
+	btGjkEpaSolver2::sResults results;
 
 //	#define USE_QUADRATURE 1
 #define CACHE_PREV_COLLISION
@@ -2860,7 +2860,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
 	}
 #endif
 
-    // collision detection using x*
+	// collision detection using x*
 	btTransform triangle_transform;
 	triangle_transform.setIdentity();
 	triangle_transform.setOrigin(f.m_n[0]->m_q);
@@ -2872,42 +2872,42 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
 	if (dst >= 0)
 		return false;
 
-    // Use consistent barycenter to recalculate distance.
-    #ifdef CACHE_PREV_COLLISION
-        if (f.m_pcontact[3] != 0)
-        {
-            for (int i = 0; i < 3; ++i)
-                bary[i] = f.m_pcontact[i];
-            contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
-            const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
-            btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr,results);
-            cti.m_colObj = colObjWrap->getCollisionObject();
-            dst = results.distance;
-            cti.m_normal = results.normal;
-            cti.m_offset = dst;
-        
-            //point-convex CD
-            wtr = colObjWrap->getWorldTransform();
-            btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
-            triangle_transform.setOrigin(f.m_n[0]->m_x);
-            btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
-            
-            dst = results.distance - csh->getMargin() - margin;
-            return true;
-        }
-    #endif
-    
-    // Use triangle-convex CD.
+// Use consistent barycenter to recalculate distance.
+#ifdef CACHE_PREV_COLLISION
+	if (f.m_pcontact[3] != 0)
+	{
+		for (int i = 0; i < 3; ++i)
+			bary[i] = f.m_pcontact[i];
+		contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
+		const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
+		btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr, results);
+		cti.m_colObj = colObjWrap->getCollisionObject();
+		dst = results.distance;
+		cti.m_normal = results.normal;
+		cti.m_offset = dst;
+
+		//point-convex CD
+		wtr = colObjWrap->getWorldTransform();
+		btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
+		triangle_transform.setOrigin(f.m_n[0]->m_x);
+		btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
+
+		dst = results.distance - csh->getMargin() - margin;
+		return true;
+	}
+#endif
+
+	// Use triangle-convex CD.
 	wtr = colObjWrap->getWorldTransform();
 	btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
 	triangle_transform.setOrigin(f.m_n[0]->m_x);
 	btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
 	contact_point = results.witnesses[0];
 	getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
-    
-    for (int i = 0; i < 3; ++i)
-       f.m_pcontact[i] = bary[i];
-    
+
+	for (int i = 0; i < 3; ++i)
+		f.m_pcontact[i] = bary[i];
+
 	dst = results.distance - csh->getMargin() - margin;
 	cti.m_colObj = colObjWrap->getCollisionObject();
 	cti.m_normal = results.normal;
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 62ec76769..c17bbb5cd 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -1686,7 +1686,7 @@ struct btSoftColliders
 						c.m_c2 = ima;
 						c.m_c3 = fc;
 						c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
-                        c.m_c5 = n.m_effectiveMass_inv;
+						c.m_c5 = n.m_effectiveMass_inv;
 
 						if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
 						{
@@ -1838,9 +1838,9 @@ struct btSoftColliders
 					psb->m_faceRigidContacts.push_back(c);
 				}
 			}
-            // Set caching barycenters to be false after collision detection.
-            // Only turn on when contact is static.
-            f.m_pcontact[3] = 0;
+			// Set caching barycenters to be false after collision detection.
+			// Only turn on when contact is static.
+			f.m_pcontact[3] = 0;
 		}
 		btSoftBody* psb;
 		const btCollisionObjectWrapper* m_colObj1Wrap;