fix space

fix space

5 files changed, 20 insertions, 25 deletions

diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 6d9e3122c..8f5ec1a8e 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -326,9 +326,9 @@ public:
 				m_robotSim.loadURDF("plane.urdf", args);
 			}
 			m_robotSim.setGravity(btVector3(0, 0, -10));
-                        b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
-                        args.m_startPosition.setValue(0, 0, 5);
-                        args.m_startOrientation.setValue(1, 0, 0, 1);
+			b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
+			args.m_startPosition.setValue(0, 0, 5);
+			args.m_startOrientation.setValue(1, 0, 0, 1);
 			m_robotSim.loadSoftBody("bunny.obj", args);
 
 			b3JointInfo revoluteJoint1;
@@ -405,7 +405,7 @@ public:
 				m_robotSim.loadURDF("plane.urdf", args);
 			}
 			m_robotSim.setGravity(btVector3(0, 0, -10));
-                        b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
+			b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
 			m_robotSim.loadSoftBody("bunny.obj", args);
 		}
 	}
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 85319aeb4..9ba2dc37c 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -614,9 +614,8 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
 	B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
-        B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
-        B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
-
+	B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
+	B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
 	B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 7682e7786..9164c5bd4 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -7376,8 +7376,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 				psb->generateBendingConstraints(2, pm);
 				psb->m_cfg.piterations = 20;
 				psb->m_cfg.kDF = 0.5;
-                                //turn on softbody vs softbody collision
-                                psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
+				//turn on softbody vs softbody collision
+				psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
 				psb->randomizeConstraints();
 				psb->rotate(initialOrn);
 				psb->translate(initialPos);
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
index 4b4f50c8a..27bc23163 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -1143,7 +1143,7 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
 	}
 
 	b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
-        b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
+	b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
 	b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
 	b3LoadSoftBodySetScale(command, args.m_scale);
 	b3LoadSoftBodySetMass(command, args.m_mass);
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index 50e7478bf..d8fd179c0 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -56,43 +56,39 @@ struct b3RobotSimulatorLoadSoftBodyArgs
 {
 	btVector3 m_startPosition;
 	btQuaternion m_startOrientation;
-        double m_scale;
-        double m_mass;
-        double m_collisionMargin;
+	double m_scale;
+	double m_mass;
+	double m_collisionMargin;
 
-        b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double& scale, const double& mass, const double& collisionMargin )
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
 		: m_startPosition(startPos),
 		  m_startOrientation(startOrn),
 		  m_scale(scale),
 		  m_mass(mass),
-                  m_collisionMargin(collisionMargin)
+		  m_collisionMargin(collisionMargin)
 	{
 	}
 
-
-        b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
 	{
-          b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
+		b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
 	}
 
-
 	b3RobotSimulatorLoadSoftBodyArgs()
 	{
-          b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
+		b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
 	}
 
-
-        b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
+	b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
 		: m_startPosition(btVector3(0, 0, 0)),
 		  m_startOrientation(btQuaternion(0, 0, 0, 1)),
 		  m_scale(scale),
 		  m_mass(mass),
-                  m_collisionMargin(collisionMargin)
+		  m_collisionMargin(collisionMargin)
 	{
 	}
 };
 
-
 struct b3RobotSimulatorLoadFileResults
 {
 	btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -688,7 +684,7 @@ public:
 
 	int getConstraintUniqueId(int serialIndex);
 
-        void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args);
+	void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
 
 	virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
 	virtual struct GUIHelperInterface *getGuiHelper();