1 files changed, 84 insertions, 84 deletions

diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
index 58f4f58..85a8cf1 100644
--- a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
@@ -1,21 +1,21 @@
 /* The MIT License
- * 
+ *
  * Copyright (c) 2010 Intel Corporation.
  * All rights reserved.
  *
- * Based on the convexdecomposition library from 
+ * Based on the convexdecomposition library from
  * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -127,88 +127,88 @@ namespace OpenSim.Region.PhysicsModules.ConvexDecompositionDotNet
         }
 
         public static float4x4 Inverse(float4x4 m)
-            {
-                    float4x4 d = new float4x4();
-                    //float dst = d.x.x;
-                    float[] tmp = new float[12]; // temp array for pairs
-                    float[] src = new float[16]; // array of transpose source matrix
-                    float det; // determinant
-                    // transpose matrix
-                    for (int i = 0; i < 4; i++)
-                    {
-                            src[i] = m[i].x;
-                            src[i + 4] = m[i].y;
-                            src[i + 8] = m[i].z;
-                            src[i + 12] = m[i].w;
-                    }
-                    // calculate pairs for first 8 elements (cofactors)
-                    tmp[0] = src[10] * src[15];
-                    tmp[1] = src[11] * src[14];
-                    tmp[2] = src[9] * src[15];
-                    tmp[3] = src[11] * src[13];
-                    tmp[4] = src[9] * src[14];
-                    tmp[5] = src[10] * src[13];
-                    tmp[6] = src[8] * src[15];
-                    tmp[7] = src[11] * src[12];
-                    tmp[8] = src[8] * src[14];
-                    tmp[9] = src[10] * src[12];
-                    tmp[10] = src[8] * src[13];
-                    tmp[11] = src[9] * src[12];
-                    // calculate first 8 elements (cofactors)
-                    d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
-                    d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
-                    d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
-                    d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
-                    d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
-                    d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
-                    d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
-                    d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
-                    d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
-                    d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
-                    d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
-                    d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
-                    d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
-                    d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
-                    d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
-                    d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
-                    // calculate pairs for second 8 elements (cofactors)
-                    tmp[0] = src[2]*src[7];
-                    tmp[1] = src[3]*src[6];
-                    tmp[2] = src[1]*src[7];
-                    tmp[3] = src[3]*src[5];
-                    tmp[4] = src[1]*src[6];
-                    tmp[5] = src[2]*src[5];
-                    tmp[6] = src[0]*src[7];
-                    tmp[7] = src[3]*src[4];
-                    tmp[8] = src[0]*src[6];
-                    tmp[9] = src[2]*src[4];
-                    tmp[10] = src[0]*src[5];
-                    tmp[11] = src[1]*src[4];
-                    // calculate second 8 elements (cofactors)
-                    d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
-                    d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
-                    d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
-                    d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
-                    d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
-                    d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
-                    d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
-                    d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
-                    d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
-                    d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
-                    d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
-                    d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
-                    d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
-                    d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
-                    d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
-                    d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
-                    // calculate determinant
+        {
+            float4x4 d = new float4x4();
+            //float dst = d.x.x;
+            float[] tmp = new float[12]; // temp array for pairs
+            float[] src = new float[16]; // array of transpose source matrix
+            float det; // determinant
+            // transpose matrix
+            for (int i = 0; i < 4; i++)
+            {
+                src[i] = m[i].x;
+                src[i + 4] = m[i].y;
+                src[i + 8] = m[i].z;
+                src[i + 12] = m[i].w;
+            }
+            // calculate pairs for first 8 elements (cofactors)
+            tmp[0] = src[10] * src[15];
+            tmp[1] = src[11] * src[14];
+            tmp[2] = src[9] * src[15];
+            tmp[3] = src[11] * src[13];
+            tmp[4] = src[9] * src[14];
+            tmp[5] = src[10] * src[13];
+            tmp[6] = src[8] * src[15];
+            tmp[7] = src[11] * src[12];
+            tmp[8] = src[8] * src[14];
+            tmp[9] = src[10] * src[12];
+            tmp[10] = src[8] * src[13];
+            tmp[11] = src[9] * src[12];
+            // calculate first 8 elements (cofactors)
+            d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
+            d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
+            d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
+            d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
+            d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
+            d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
+            d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
+            d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
+            d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
+            d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
+            d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
+            d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
+            d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
+            d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
+            d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
+            d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
+            // calculate pairs for second 8 elements (cofactors)
+            tmp[0] = src[2]*src[7];
+            tmp[1] = src[3]*src[6];
+            tmp[2] = src[1]*src[7];
+            tmp[3] = src[3]*src[5];
+            tmp[4] = src[1]*src[6];
+            tmp[5] = src[2]*src[5];
+            tmp[6] = src[0]*src[7];
+            tmp[7] = src[3]*src[4];
+            tmp[8] = src[0]*src[6];
+            tmp[9] = src[2]*src[4];
+            tmp[10] = src[0]*src[5];
+            tmp[11] = src[1]*src[4];
+            // calculate second 8 elements (cofactors)
+            d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
+            d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
+            d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
+            d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
+            d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
+            d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
+            d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
+            d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
+            d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
+            d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
+            d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
+            d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
+            d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
+            d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
+            d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
+            d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
+            // calculate determinant
             det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
-                    // calculate matrix inverse
-                    det = 1/det;
+            // calculate matrix inverse
+            det = 1/det;
             for (int j = 0; j < 4; j++)
                 d[j] *= det;
-                    return d;
-            }
+            return d;
+        }
 
         public static float4x4 MatrixRigidInverse(float4x4 m)
         {