fixes: make argument names in header and cpp the same

3 files changed, 22 insertions, 22 deletions

diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 8c9c67f85..c853aed77 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -64,31 +64,31 @@ protected:
 
 	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
 									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
 									const btContactSolverInfo& infoGlobal,
 									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
 	void setupTorsionalFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
 									btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
 									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
 	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 	btSolverConstraint&	addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
 
-	
-	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 
+
+	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
 								const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
 
 	static void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
 
-	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
+	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
 										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
-	
+
 	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
 
 	virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
@@ -96,7 +96,7 @@ protected:
 	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
     virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal);
-    void convertJoint(btSolverConstraint* destConstraintRow, btTypedConstraint* srcConstraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
+    void convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
 
     virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
 
@@ -122,9 +122,9 @@ protected:
     {
         return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
     }
-		
+
 protected:
-	
+
     void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
     void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
     void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
@@ -139,15 +139,15 @@ protected:
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();
 
 	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-		
+
 	///clear internal cached data and reset random seed
 	virtual	void	reset();
-	
+
 	unsigned long btRand2();
 
 	int btRandInt2 (int n);
@@ -161,7 +161,7 @@ public:
 		return m_btSeed2;
 	}
 
-	
+
 	virtual btConstraintSolverType	getSolverType() const
 	{
 		return BT_SEQUENTIAL_IMPULSE_SOLVER;
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
index 4ccf7b247..82a719a3e 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
@@ -537,7 +537,7 @@ void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersist
     BT_PROFILE( "allocAllContactConstraints" );
     btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray;
     cachedInfoArray.resizeNoInitialize( numManifolds );
-    if (false)
+    if (/* DISABLES CODE */ (false))
     {
         // sequential
         internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal);
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
index 0577d8d2d..55d53474c 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -127,7 +127,7 @@ protected:
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btSequentialImpulseConstraintSolverMt();
 	virtual ~btSequentialImpulseConstraintSolverMt();
 
@@ -136,11 +136,11 @@ public:
     btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
     btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
     btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
-    btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
+    btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd );
 
-    void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifold, int numManifolds, const btContactSolverInfo& infoGlobal);
+    void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
     void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
-    void internalSetupContactConstraints(int iContact, const btContactSolverInfo& infoGlobal);
+    void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
     void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
     void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
     void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);