format files

5 files changed, 377 insertions, 381 deletions

diff --git a/examples/DeformableDemo/LoadDeformed.cpp b/examples/DeformableDemo/LoadDeformed.cpp
index dc1991f2c..55c322779 100644
--- a/examples/DeformableDemo/LoadDeformed.cpp
+++ b/examples/DeformableDemo/LoadDeformed.cpp
@@ -29,236 +29,233 @@
 
 class LoadDeformed : public CommonDeformableBodyBase
 {
-    int steps;
-    btSoftBody* psb;
-    char filename;
-    int reset_frame;
-    float sim_time;
-    
+	int steps;
+	btSoftBody* psb;
+	char filename;
+	int reset_frame;
+	float sim_time;
+
 public:
-    LoadDeformed(struct GUIHelperInterface* helper)
-        : CommonDeformableBodyBase(helper)
-    {
-        steps = 0;
-        psb = nullptr;
-        reset_frame = 0;
-        sim_time=0;
-    }
-    virtual ~LoadDeformed()
-    {
-    }
-    void initPhysics();
-
-    void exitPhysics();
-
-    void resetCamera()
-    {
-        float dist = 2;
-        float pitch = -45;
-        float yaw = 100;
-        float targetPos[3] = {0, 0, 0};
-        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
-    }
-    
-    void stepSimulation(float deltaTime)
-    {
-        steps ++;
-        sim_time+=deltaTime;
-////        int seconds = 1/deltaTime;
-        if(0){
-//        if (reset_frame==0 && steps<100){
-////            printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
-            char filename[100];
-            sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
-            btSoftBodyHelpers::writeState(filename, psb);
-        }
-        if(sim_time+reset_frame*0.05>=5) exit(0);
-        float internalTimeStep = 1. / 240.f;
-//        float internalTimeStep = 0.1f;
-        m_dynamicsWorld->stepSimulation(deltaTime, deltaTime/internalTimeStep, internalTimeStep);
-    }
-    
-    void addCloth(const btVector3& origin);
-    
-    virtual void renderScene()
-    {
-        CommonDeformableBodyBase::renderScene();
-        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
-        
-        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
-        {
-            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
-            {
-                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
-                btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
-            }
-        }
-    }
+	LoadDeformed(struct GUIHelperInterface* helper)
+		: CommonDeformableBodyBase(helper)
+	{
+		steps = 0;
+		psb = nullptr;
+		reset_frame = 0;
+		sim_time = 0;
+	}
+	virtual ~LoadDeformed()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+		float dist = 2;
+		float pitch = -45;
+		float yaw = 100;
+		float targetPos[3] = {0, 0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+
+	void stepSimulation(float deltaTime)
+	{
+		steps++;
+		sim_time += deltaTime;
+		////        int seconds = 1/deltaTime;
+		if (0)
+		{
+			//        if (reset_frame==0 && steps<100){
+			////            printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
+			char filename[100];
+			sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
+			btSoftBodyHelpers::writeState(filename, psb);
+		}
+		if (sim_time + reset_frame * 0.05 >= 5) exit(0);
+		float internalTimeStep = 1. / 240.f;
+		//        float internalTimeStep = 0.1f;
+		m_dynamicsWorld->stepSimulation(deltaTime, deltaTime / internalTimeStep, internalTimeStep);
+	}
+
+	void addCloth(const btVector3& origin);
+
+	virtual void renderScene()
+	{
+		CommonDeformableBodyBase::renderScene();
+		btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+
+		for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+		{
+			btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+			{
+				btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+			}
+		}
+	}
 };
 
 void LoadDeformed::initPhysics()
 {
-    m_guiHelper->setUpAxis(1);
-
-    ///collision configuration contains default setup for memory, collision setup
-    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
-
-    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
-    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-
-    m_broadphase = new btDbvtBroadphase();
-    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
-
-    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
-    sol->setDeformableSolver(deformableBodySolver);
-    m_solver = sol;
-
-    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
-    btVector3 gravity = btVector3(0, -9.8, 0);
-    m_dynamicsWorld->setGravity(gravity);
-    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
-    getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
-
-    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-
-    {
-        ///create a ground
-        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
-        groundShape->setMargin(0.02);
-        m_collisionShapes.push_back(groundShape);
-        
-        btTransform groundTransform;
-        groundTransform.setIdentity();
-        groundTransform.setOrigin(btVector3(0, -3.5, 0));
-        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
-        btScalar mass(0.);
-        
-        //rigidbody is dynamic if and only if mass is non zero, otherwise static
-        bool isDynamic = (mass != 0.f);
-        
-        btVector3 localInertia(0, 0, 0);
-        if (isDynamic)
-            groundShape->calculateLocalInertia(mass, localInertia);
-        
-        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
-        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
-        btRigidBody* body = new btRigidBody(rbInfo);
-        body->setFriction(4);
-        
-        //add the ground to the dynamics world
-        m_dynamicsWorld->addRigidBody(body);
-    }
-      addCloth(btVector3(0, 1, 0));
-      getDeformableDynamicsWorld()->setImplicit(false);
-      getDeformableDynamicsWorld()->setLineSearch(false);
-      m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+	btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+	sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	m_dynamicsWorld->setGravity(gravity);
+	getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	{
+		///create a ground
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
+		groundShape->setMargin(0.02);
+		m_collisionShapes.push_back(groundShape);
+
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0, -3.5, 0));
+		groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+		btScalar mass(0.);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0, 0, 0);
+		if (isDynamic)
+			groundShape->calculateLocalInertia(mass, localInertia);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+		body->setFriction(4);
+
+		//add the ground to the dynamics world
+		m_dynamicsWorld->addRigidBody(body);
+	}
+	addCloth(btVector3(0, 1, 0));
+	getDeformableDynamicsWorld()->setImplicit(false);
+	getDeformableDynamicsWorld()->setLineSearch(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 }
 
 void LoadDeformed::addCloth(const btVector3& origin)
 // create a piece of cloth
 {
-    const btScalar s = 0.6;
-    const btScalar h = 0;
-    
-    psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2*s),
-                                                     btVector3(+s, h, -2*s),
-                                                     btVector3(-s, h, +2*s),
-                                                     btVector3(+s, h, +2*s),
-                                                     15,30,
-                                                     0, true, 0.0);
-    
-    psb->getCollisionShape()->setMargin(0.02);
-    psb->generateBendingConstraints(2);
-    psb->setTotalMass(.5);
-    psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
-    psb->m_cfg.kCHR = 1; // collision hardness with rigid body
-    psb->m_cfg.kDF = 0.1;
-    psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
-    btTransform clothTransform;
-    clothTransform.setIdentity();
-    clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
-    psb->transform(clothTransform);
-    
-    b3BulletDefaultFileIO fileio;
-    char absolute_path[1024];
-    char filename[100];
-    sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
-    fileio.findResourcePath(filename, absolute_path, 1024);
-    btAlignedObjectArray<btVector3> qs;
-    btAlignedObjectArray<btVector3> vs;
-    btSoftBodyHelpers:: loadDeformableState(qs, vs, absolute_path, &fileio);
-    if(reset_frame>0)
-        psb->updateState(qs,vs);
-    psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
-    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
-    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
-//    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
-    psb->setCollisionFlags(0);
-    psb->setCacheBarycenter(true);
-    getDeformableDynamicsWorld()->addSoftBody(psb);
-    psb->setSelfCollision(false);
-    
-    btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.2, true);
-    psb->setSpringStiffness(4);
-    getDeformableDynamicsWorld()->addForce(psb, mass_spring);
-    m_forces.push_back(mass_spring);
-    btVector3 gravity = btVector3(0, -9.8, 0);
-    btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
-    getDeformableDynamicsWorld()->addForce(psb, gravity_force);
-//    getDeformableDynamicsWorld()->setUseProjection(true);
-    m_forces.push_back(gravity_force);
+	const btScalar s = 0.6;
+	const btScalar h = 0;
+
+	psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2 * s),
+										 btVector3(+s, h, -2 * s),
+										 btVector3(-s, h, +2 * s),
+										 btVector3(+s, h, +2 * s),
+										 15, 30,
+										 0, true, 0.0);
+
+	psb->getCollisionShape()->setMargin(0.02);
+	psb->generateBendingConstraints(2);
+	psb->setTotalMass(.5);
+	psb->m_cfg.kKHR = 1;  // collision hardness with kinematic objects
+	psb->m_cfg.kCHR = 1;  // collision hardness with rigid body
+	psb->m_cfg.kDF = 0.1;
+	psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
+	btTransform clothTransform;
+	clothTransform.setIdentity();
+	clothTransform.setOrigin(btVector3(0, 0.2, 0) + origin);
+	psb->transform(clothTransform);
+
+	b3BulletDefaultFileIO fileio;
+	char absolute_path[1024];
+	char filename[100];
+	sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
+	fileio.findResourcePath(filename, absolute_path, 1024);
+	btAlignedObjectArray<btVector3> qs;
+	btAlignedObjectArray<btVector3> vs;
+	btSoftBodyHelpers::loadDeformableState(qs, vs, absolute_path, &fileio);
+	if (reset_frame > 0)
+		psb->updateState(qs, vs);
+	psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
+	//    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+	psb->setCollisionFlags(0);
+	psb->setCacheBarycenter(true);
+	getDeformableDynamicsWorld()->addSoftBody(psb);
+	psb->setSelfCollision(false);
+
+	btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.2, true);
+	psb->setSpringStiffness(4);
+	getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+	m_forces.push_back(mass_spring);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+	getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+	//    getDeformableDynamicsWorld()->setUseProjection(true);
+	m_forces.push_back(gravity_force);
 }
 
 void LoadDeformed::exitPhysics()
 {
-    //cleanup in the reverse order of creation/initialization
-    removePickingConstraint();
-    //remove the rigidbodies from the dynamics world and delete them
-    int i;
-    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
-    {
-        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
-        btRigidBody* body = btRigidBody::upcast(obj);
-        if (body && body->getMotionState())
-        {
-            delete body->getMotionState();
-        }
-        m_dynamicsWorld->removeCollisionObject(obj);
-        delete obj;
-    }
-    // delete forces
-    for (int j = 0; j < m_forces.size(); j++)
-    {
-        btDeformableLagrangianForce* force = m_forces[j];
-        delete force;
-    }
-    m_forces.clear();
-    
-    //delete collision shapes
-    for (int j = 0; j < m_collisionShapes.size(); j++)
-    {
-        btCollisionShape* shape = m_collisionShapes[j];
-        delete shape;
-    }
-    m_collisionShapes.clear();
-
-    delete m_dynamicsWorld;
-
-    delete m_solver;
-
-    delete m_broadphase;
-
-    delete m_dispatcher;
-
-    delete m_collisionConfiguration;
-}
+	//cleanup in the reverse order of creation/initialization
+	removePickingConstraint();
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+	// delete forces
+	for (int j = 0; j < m_forces.size(); j++)
+	{
+		btDeformableLagrangianForce* force = m_forces[j];
+		delete force;
+	}
+	m_forces.clear();
 
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
 
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
 
 class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options)
 {
-    return new LoadDeformed(options.m_guiHelper);
+	return new LoadDeformed(options.m_guiHelper);
 }
-
-
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 862d5e35e..eafde0d22 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -1483,18 +1483,19 @@ void btSoftBody::randomizeConstraints()
 #undef NEXTRAND
 }
 
-
-void btSoftBody::updateState(const btAlignedObjectArray<btVector3>& q, const btAlignedObjectArray<btVector3>& v){
-    int node_count =m_nodes.size();
-    btAssert(node_count == q.size());
-    btAssert(node_count == v.size());
-    for (int i = 0; i<node_count; i++){
-        Node& n = m_nodes[i];
-        n.m_x = q[i];
-        n.m_q = q[i];
-        n.m_v = v[i];
-        n.m_vn = v[i];
-    }
+void btSoftBody::updateState(const btAlignedObjectArray<btVector3>& q, const btAlignedObjectArray<btVector3>& v)
+{
+	int node_count = m_nodes.size();
+	btAssert(node_count == q.size());
+	btAssert(node_count == v.size());
+	for (int i = 0; i < node_count; i++)
+	{
+		Node& n = m_nodes[i];
+		n.m_x = q[i];
+		n.m_q = q[i];
+		n.m_v = v[i];
+		n.m_vn = v[i];
+	}
 }
 
 //
@@ -2835,7 +2836,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
 	btScalar dst;
 	btGjkEpaSolver2::sResults results;
 
-//	#define USE_QUADRATURE 1
+	//	#define USE_QUADRATURE 1
 
 	// use collision quadrature point
 #ifdef USE_QUADRATURE
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index badf4600d..1ef8e89b0 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -298,7 +298,7 @@ public:
 	};
 	struct RenderFace
 	{
-		RenderNode* m_n[3];          // Node pointers
+		RenderNode* m_n[3];  // Node pointers
 	};
 
 	/* Face			*/
@@ -786,7 +786,7 @@ public:
 	typedef btAlignedObjectArray<Cluster*> tClusterArray;
 	typedef btAlignedObjectArray<Note> tNoteArray;
 	typedef btAlignedObjectArray<Node> tNodeArray;
-	typedef btAlignedObjectArray< RenderNode> tRenderNodeArray;
+	typedef btAlignedObjectArray<RenderNode> tRenderNodeArray;
 	typedef btAlignedObjectArray<btDbvtNode*> tLeafArray;
 	typedef btAlignedObjectArray<Link> tLinkArray;
 	typedef btAlignedObjectArray<Face> tFaceArray;
@@ -813,7 +813,7 @@ public:
 	tRenderNodeArray m_renderNodes;    // Render Nodes
 	tLinkArray m_links;                // Links
 	tFaceArray m_faces;                // Faces
-	tRenderFaceArray m_renderFaces;          // Faces
+	tRenderFaceArray m_renderFaces;    // Faces
 	tTetraArray m_tetras;              // Tetras
 	btAlignedObjectArray<TetraScratch> m_tetraScratches;
 	btAlignedObjectArray<TetraScratch> m_tetraScratchesTn;
@@ -1051,9 +1051,9 @@ public:
 								   Material* mat = 0);
 	/* Randomize constraints to reduce solver bias							*/
 	void randomizeConstraints();
-    
-    void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs);
-    
+
+	void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs);
+
 	/* Release clusters														*/
 	void releaseCluster(int index);
 	void releaseClusters();
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp
index dd7abb48e..eac45284c 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -1489,167 +1489,165 @@ void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
 
 static inline bool isSpace(const char c)
 {
-    return (c == ' ') || (c == '\t');
+	return (c == ' ') || (c == '\t');
 }
 static inline bool isNewLine(const char c)
 {
-    return (c == '\r') || (c == '\n') || (c == '\0');
+	return (c == '\r') || (c == '\n') || (c == '\0');
 }
 static inline float parseFloat(const char*& token)
 {
-    token += strspn(token, " \t");
-    float f = (float)atof(token);
-    token += strcspn(token, " \t\r");
-    return f;
+	token += strspn(token, " \t");
+	float f = (float)atof(token);
+	token += strcspn(token, " \t\r");
+	return f;
 }
 static inline void parseFloat3(
-    float& x, float& y, float& z,
-    const char*& token)
+	float& x, float& y, float& z,
+	const char*& token)
 {
-    x = parseFloat(token);
-    y = parseFloat(token);
-    z = parseFloat(token);
+	x = parseFloat(token);
+	y = parseFloat(token);
+	z = parseFloat(token);
 }
 
+void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
+{
+	std::ofstream fs;
+	fs.open(file);
+	btAssert(fs);
+	fs << std::scientific << std::setprecision(16);
+
+	// Only write out for trimesh, directly write out all the nodes and faces.xs
+	for (int i = 0; i < psb->m_nodes.size(); ++i)
+	{
+		fs << "q";
+		for (int d = 0; d < 3; d++)
+		{
+			fs << " " << psb->m_nodes[i].m_q[d];
+		}
+		fs << "\n";
+	}
 
-void btSoftBodyHelpers:: writeState(const char* file, const btSoftBody* psb){
-    std::ofstream fs;
-    fs.open(file);
-    btAssert(fs);
-    fs<< std::scientific<<std::setprecision(16);
-
-        // Only write out for trimesh, directly write out all the nodes and faces.xs
-        for (int i = 0; i < psb->m_nodes.size(); ++i)
-        {
-            fs << "q";
-            for (int d = 0; d < 3; d++)
-            {
-                fs << " " << psb->m_nodes[i].m_q[d];
-            }
-            fs << "\n";
-        }
-
-        for (int i = 0; i < psb->m_nodes.size(); ++i)
-        {
-            fs << "v";
-            for (int d = 0; d < 3; d++)
-            {
-                fs << " " << psb->m_nodes[i].m_v[d];
-            }
-            fs << "\n";
-        }
-    fs.close();
+	for (int i = 0; i < psb->m_nodes.size(); ++i)
+	{
+		fs << "v";
+		for (int d = 0; d < 3; d++)
+		{
+			fs << " " << psb->m_nodes[i].m_v[d];
+		}
+		fs << "\n";
+	}
+	fs.close();
 }
 
+std::string btSoftBodyHelpers::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
+{
+	{
+		qs.clear();
+		vs.clear();
+		std::string tmp = filename;
+		std::stringstream err;
+#ifdef USE_STREAM
+		std::ifstream ifs(filename);
+		if (!ifs)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#else
+		int fileHandle = fileIO->fileOpen(filename, "r");
+		if (fileHandle < 0)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#endif
+
+		std::string name;
 
-std::string btSoftBodyHelpers:: loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO){
-    {
-        qs.clear();
-        vs.clear();
-        std::string tmp = filename;
-        std::stringstream err;
-    #ifdef USE_STREAM
-        std::ifstream ifs(filename);
-        if (!ifs)
-        {
-            err << "Cannot open file [" << filename << "]" << std::endl;
-            return err.str();
-        }
-    #else
-        int fileHandle = fileIO->fileOpen(filename, "r");
-        if (fileHandle < 0)
-        {
-            err << "Cannot open file [" << filename << "]" << std::endl;
-            return err.str();
-        }
-    #endif
-
-        std::string name;
-
-
-        int maxchars = 8192;              // Alloc enough size.
-        std::vector<char> buf(maxchars);  // Alloc enough size.
-        std::string linebuf;
-        linebuf.reserve(maxchars);
-
-    #ifdef USE_STREAM
-        while (ifs.peek() != -1)
-    #else
-        char* line = 0;
-        do
-    #endif
-        {
-            linebuf.resize(0);
-    #ifdef USE_STREAM
-            safeGetline(ifs, linebuf);
-    #else
-            char tmpBuf[1024];
-            line = fileIO->readLine(fileHandle, tmpBuf, 1024);
-            if (line)
-            {
-                linebuf = line;
-            }
-    #endif
-            // Trim newline '\r\n' or '\r'
-            if (linebuf.size() > 0)
-            {
-                if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
-            }
-            if (linebuf.size() > 0)
-            {
-                if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
-            }
-
-            // Skip if empty line.
-            if (linebuf.empty())
-            {
-                continue;
-            }
-
-            // Skip leading space.
-            const char* token = linebuf.c_str();
-            token += strspn(token, " \t");
-
-            assert(token);
-            if (token[0] == '\0') continue;  // empty line
-
-            if (token[0] == '#') continue;  // comment line
-
-            // q
-            if (token[0] == 'q' && isSpace((token[1])))
-            {
-                token += 2;
-                float x, y, z;
-                parseFloat3(x, y, z, token);
-                qs.push_back(btVector3(x,y,z));
-                continue;
-            }
-
-            // v
-            if (token[0] == 'v'  && isSpace((token[1])))
-            {
-                token += 3;
-                float x, y, z;
-                parseFloat3(x, y, z, token);
-                vs.push_back(btVector3(x,y,z));
-                continue;
-            }
-
-            // Ignore unknown command.
-        }
-    #ifndef USE_STREAM
-        while (line)
-            ;
-    #endif
-
-        if (fileHandle >= 0)
-        {
-            fileIO->fileClose(fileHandle);
-        }
-        return err.str();
-    }
-}
+		int maxchars = 8192;              // Alloc enough size.
+		std::vector<char> buf(maxchars);  // Alloc enough size.
+		std::string linebuf;
+		linebuf.reserve(maxchars);
+
+#ifdef USE_STREAM
+		while (ifs.peek() != -1)
+#else
+		char* line = 0;
+		do
+#endif
+		{
+			linebuf.resize(0);
+#ifdef USE_STREAM
+			safeGetline(ifs, linebuf);
+#else
+			char tmpBuf[1024];
+			line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+			if (line)
+			{
+				linebuf = line;
+			}
+#endif
+			// Trim newline '\r\n' or '\r'
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+
+			// Skip if empty line.
+			if (linebuf.empty())
+			{
+				continue;
+			}
+
+			// Skip leading space.
+			const char* token = linebuf.c_str();
+			token += strspn(token, " \t");
+
+			assert(token);
+			if (token[0] == '\0') continue;  // empty line
 
+			if (token[0] == '#') continue;  // comment line
+
+			// q
+			if (token[0] == 'q' && isSpace((token[1])))
+			{
+				token += 2;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				qs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// v
+			if (token[0] == 'v' && isSpace((token[1])))
+			{
+				token += 3;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				vs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// Ignore unknown command.
+		}
+#ifndef USE_STREAM
+		while (line)
+			;
+#endif
+
+		if (fileHandle >= 0)
+		{
+			fileIO->fileClose(fileHandle);
+		}
+		return err.str();
+	}
+}
 
 void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)
 {
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h
index 7dfd58590..d1fdf0450 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.h
+++ b/src/BulletSoftBody/btSoftBodyHelpers.h
@@ -146,10 +146,10 @@ struct btSoftBodyHelpers
 	static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
 
 	static void writeObj(const char* file, const btSoftBody* psb);
-    
-    static void writeState(const char* file, const btSoftBody* psb);
-    
-    static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs,  btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
+
+	static void writeState(const char* file, const btSoftBody* psb);
+
+	static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
 
 	static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);