/external/bullet-2.81-rev2613/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

/*
Bullet Continuous Collision Detection and Physics Library
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,
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#include "btCollisionWorld.h"
#include "btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"

//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION


//#define USE_BRUTEFORCE_RAYBROADPHASE 1
//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
//#define RECALCULATE_AABB_RAYCAST 1

//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"


///for debug drawing

//for debug rendering
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"



btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache),
m_debugDrawer(0),
m_forceUpdateAllAabbs(true)
{
	m_stackAlloc = collisionConfiguration->getStackAllocator();
	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}


btCollisionWorld::~btCollisionWorld()
{

	//clean up remaining objects
	int i;
	for (i=0;i<m_collisionObjects.size();i++)
	{
		btCollisionObject* collisionObject= m_collisionObjects[i];

		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
		if (bp)
		{
			//
			// only clear the cached algorithms
			//
			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
			getBroadphase()->destroyProxy(bp,m_dispatcher1);
			collisionObject->setBroadphaseHandle(0);
		}
	}


}










void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
{

	btAssert(collisionObject);

	//check that the object isn't already added
	btAssert( m_collisionObjects.findLinearSearch(collisionObject)  == m_collisionObjects.size());

	m_collisionObjects.push_back(collisionObject);

	//calculate new AABB
	btTransform trans = collisionObject->getWorldTransform();

	btVector3	minAabb;
	btVector3	maxAabb;
	collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);

	int type = collisionObject->getCollisionShape()->getShapeType();
	collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
		minAabb,
		maxAabb,
		type,
		collisionObject,
		collisionFilterGroup,
		collisionFilterMask,
		m_dispatcher1,0
		))	;





}



void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
{
	btVector3 minAabb,maxAabb;
	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
	//need to increase the aabb for contact thresholds
	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
	minAabb -= contactThreshold;
	maxAabb += contactThreshold;

	if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
	{
		btVector3 minAabb2,maxAabb2;
		colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
		minAabb2 -= contactThreshold;
		maxAabb2 += contactThreshold;
		minAabb.setMin(minAabb2);
		maxAabb.setMax(maxAabb2);
	}

	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;

	//moving objects should be moderately sized, probably something wrong if not
	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
	{
		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
	} else
	{
		//something went wrong, investigate
		//this assert is unwanted in 3D modelers (danger of loosing work)
		colObj->setActivationState(DISABLE_SIMULATION);

		static bool reportMe = true;
		if (reportMe && m_debugDrawer)
		{
			reportMe = false;
			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
			m_debugDrawer->reportErrorWarning("Thanks.\n");
		}
	}
}

void	btCollisionWorld::updateAabbs()
{
	BT_PROFILE("updateAabbs");

	btTransform predictedTrans;
	for ( int i=0;i<m_collisionObjects.size();i++)
	{
		btCollisionObject* colObj = m_collisionObjects[i];

		//only update aabb of active objects
		if (m_forceUpdateAllAabbs || colObj->isActive())
		{
			updateSingleAabb(colObj);
		}
	}
}


void	btCollisionWorld::computeOverlappingPairs()
{
	BT_PROFILE("calculateOverlappingPairs");
	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}

void	btCollisionWorld::performDiscreteCollisionDetection()
{
	BT_PROFILE("performDiscreteCollisionDetection");

	btDispatcherInfo& dispatchInfo = getDispatchInfo();

	updateAabbs();

	computeOverlappingPairs();

	btDispatcher* dispatcher = getDispatcher();
	{
		BT_PROFILE("dispatchAllCollisionPairs");
		if (dispatcher)
			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
	}

}



void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
{


	//bool removeFromBroadphase = false;

	{

		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
		if (bp)
		{
			//
			// only clear the cached algorithms
			//
			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
			getBroadphase()->destroyProxy(bp,m_dispatcher1);
			collisionObject->setBroadphaseHandle(0);
		}
	}


	//swapremove
	m_collisionObjects.remove(collisionObject);

}


void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
										btCollisionObject* collisionObject,
										const btCollisionShape* collisionShape,
										const btTransform& colObjWorldTransform,
										RayResultCallback& resultCallback)
{
	btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform);
	btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
}

void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
										const btCollisionObjectWrapper* collisionObjectWrap,
										RayResultCallback& resultCallback)
{
	btSphereShape pointShape(btScalar(0.0));
	pointShape.setMargin(0.f);
	const btConvexShape* castShape = &pointShape;
	const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
	const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();

	if (collisionShape->isConvex())
	{
		//		BT_PROFILE("rayTestConvex");
		btConvexCast::CastResult castResult;
		castResult.m_fraction = resultCallback.m_closestHitFraction;

		btConvexShape* convexShape = (btConvexShape*) collisionShape;
		btVoronoiSimplexSolver	simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
		btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
		//btGjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);
		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST

		if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
		{
			//add hit
			if (castResult.m_normal.length2() > btScalar(0.0001))
			{
				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
				{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
					//rotate normal into worldspace
					castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST

					castResult.m_normal.normalize();
					btCollisionWorld::LocalRayResult localRayResult
						(
						collisionObjectWrap->getCollisionObject(),
						0,
						castResult.m_normal,
						castResult.m_fraction
						);

					bool normalInWorldSpace = true;
					resultCallback.addSingleResult(localRayResult, normalInWorldSpace);

				}
			}
		}
	} else {
		if (collisionShape->isConcave())
		{
			//			BT_PROFILE("rayTestConcave");
			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
			{
				///optimized version for btBvhTriangleMeshShape
				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();

				//ConvexCast::CastResult
				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
				{
					btCollisionWorld::RayResultCallback* m_resultCallback;
					const btCollisionObject*	m_collisionObject;
					btTriangleMeshShape*	m_triangleMesh;

					btTransform m_colObjWorldTransform;

					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
					//@BP Mod
					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
						m_resultCallback(resultCallback),
						m_collisionObject(collisionObject),
						m_triangleMesh(triangleMesh),
						m_colObjWorldTransform(colObjWorldTransform)
					{
					}


					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
					{
						btCollisionWorld::LocalShapeInfo	shapeInfo;
						shapeInfo.m_shapePart = partId;
						shapeInfo.m_triangleIndex = triangleIndex;

						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

						btCollisionWorld::LocalRayResult rayResult
							(m_collisionObject,
							&shapeInfo,
							hitNormalWorld,
							hitFraction);

						bool	normalInWorldSpace = true;
						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
					}

				};

				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
			} else
			{
				//generic (slower) case
				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;

				btTransform worldTocollisionObject = colObjWorldTransform.inverse();

				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();

				//ConvexCast::CastResult

				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
				{
					btCollisionWorld::RayResultCallback* m_resultCallback;
					const btCollisionObject*	m_collisionObject;
					btConcaveShape*	m_triangleMesh;

					btTransform m_colObjWorldTransform;

					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
					//@BP Mod
					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
						m_resultCallback(resultCallback),
						m_collisionObject(collisionObject),
						m_triangleMesh(triangleMesh),
						m_colObjWorldTransform(colObjWorldTransform)
					{
					}


					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
					{
						btCollisionWorld::LocalShapeInfo	shapeInfo;
						shapeInfo.m_shapePart = partId;
						shapeInfo.m_triangleIndex = triangleIndex;

						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

						btCollisionWorld::LocalRayResult rayResult
							(m_collisionObject,
							&shapeInfo,
							hitNormalWorld,
							hitFraction);

						bool	normalInWorldSpace = true;
						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
					}

				};


				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
				rcb.m_hitFraction = resultCallback.m_closestHitFraction;

				btVector3 rayAabbMinLocal = rayFromLocal;
				rayAabbMinLocal.setMin(rayToLocal);
				btVector3 rayAabbMaxLocal = rayFromLocal;
				rayAabbMaxLocal.setMax(rayToLocal);

				concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
			}
		} else {
			//			BT_PROFILE("rayTestCompound");
			if (collisionShape->isCompound())
			{
				struct LocalInfoAdder2 : public RayResultCallback
				{
					RayResultCallback* m_userCallback;
					int m_i;
					
					LocalInfoAdder2 (int i, RayResultCallback *user)
						: m_userCallback(user), m_i(i)
					{ 
						m_closestHitFraction = m_userCallback->m_closestHitFraction;
						m_flags = m_userCallback->m_flags;
					}
					virtual bool needsCollision(btBroadphaseProxy* p) const
					{
						return m_userCallback->needsCollision(p);
					}

					virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)
					{
						btCollisionWorld::LocalShapeInfo shapeInfo;
						shapeInfo.m_shapePart = -1;
						shapeInfo.m_triangleIndex = m_i;
						if (r.m_localShapeInfo == NULL)
							r.m_localShapeInfo = &shapeInfo;

						const btScalar result = m_userCallback->addSingleResult(r, b);
						m_closestHitFraction = m_userCallback->m_closestHitFraction;
						return result;
					}
				};
				
				struct RayTester : btDbvt::ICollide
				{
					const btCollisionObject* m_collisionObject;
					const btCompoundShape* m_compoundShape;
					const btTransform& m_colObjWorldTransform;
					const btTransform& m_rayFromTrans;
					const btTransform& m_rayToTrans;
					RayResultCallback& m_resultCallback;
					
					RayTester(const btCollisionObject* collisionObject,
							const btCompoundShape* compoundShape,
							const btTransform& colObjWorldTransform,
							const btTransform& rayFromTrans,
							const btTransform& rayToTrans,
							RayResultCallback& resultCallback):
						m_collisionObject(collisionObject),
						m_compoundShape(compoundShape),
						m_colObjWorldTransform(colObjWorldTransform),
						m_rayFromTrans(rayFromTrans),
						m_rayToTrans(rayToTrans),
						m_resultCallback(resultCallback)
					{
						
					}
					
					void ProcessLeaf(int i)
					{
						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
						
						btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans);
						// replace collision shape so that callback can determine the triangle

						

						LocalInfoAdder2 my_cb(i, &m_resultCallback);

						rayTestSingleInternal(
							m_rayFromTrans,
							m_rayToTrans,
							&tmpOb,
							my_cb);
						
					}
				
					void Process(const btDbvtNode* leaf)
					{
						ProcessLeaf(leaf->dataAsInt);
					}
				};
				
				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
				const btDbvt* dbvt = compoundShape->getDynamicAabbTree();


				RayTester rayCB(
					collisionObjectWrap->getCollisionObject(),
					compoundShape,
					colObjWorldTransform,
					rayFromTrans,
					rayToTrans,
					resultCallback);
#ifndef	DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
				if (dbvt)
				{
					btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
					btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
					btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB);
				}
				else
#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
				{
					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
					{
						rayCB.ProcessLeaf(i);
					}	
				}
			}
		}
	}
}

void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
											btCollisionObject* collisionObject,
											const btCollisionShape* collisionShape,
											const btTransform& colObjWorldTransform,
											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
	btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform);
	btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
}

void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
											const btCollisionObjectWrapper* colObjWrap,
											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
	const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
	const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();

	if (collisionShape->isConvex())
	{
		//BT_PROFILE("convexSweepConvex");
		btConvexCast::CastResult castResult;
		castResult.m_allowedPenetration = allowedPenetration;
		castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??

		btConvexShape* convexShape = (btConvexShape*) collisionShape;
		btVoronoiSimplexSolver	simplexSolver;
		btGjkEpaPenetrationDepthSolver	gjkEpaPenetrationSolver;

		btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
		//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
		//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);

		btConvexCast* castPtr = &convexCaster1;



		if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
		{
			//add hit
			if (castResult.m_normal.length2() > btScalar(0.0001))
			{
				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
				{
					castResult.m_normal.normalize();
					btCollisionWorld::LocalConvexResult localConvexResult
						(
						colObjWrap->getCollisionObject(),
						0,
						castResult.m_normal,
						castResult.m_hitPoint,
						castResult.m_fraction
						);

					bool normalInWorldSpace = true;
					resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);

				}
			}
		}
	} else {
		if (collisionShape->isConcave())
		{
			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
			{
				//BT_PROFILE("convexSweepbtBvhTriangleMesh");
				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
				// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
				btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());

				//ConvexCast::CastResult
				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
				{
					btCollisionWorld::ConvexResultCallback* m_resultCallback;
					const btCollisionObject*	m_collisionObject;
					btTriangleMeshShape*	m_triangleMesh;

					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
						btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
					btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
						m_resultCallback(resultCallback),
						m_collisionObject(collisionObject),
						m_triangleMesh(triangleMesh)
					{
					}


					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
					{
						btCollisionWorld::LocalShapeInfo	shapeInfo;
						shapeInfo.m_shapePart = partId;
						shapeInfo.m_triangleIndex = triangleIndex;
						if (hitFraction <= m_resultCallback->m_closestHitFraction)
						{

							btCollisionWorld::LocalConvexResult convexResult
								(m_collisionObject,
								&shapeInfo,
								hitNormalLocal,
								hitPointLocal,
								hitFraction);

							bool	normalInWorldSpace = true;


							return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
						}
						return hitFraction;
					}

				};

				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
				tccb.m_allowedPenetration = allowedPenetration;
				btVector3 boxMinLocal, boxMaxLocal;
				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
			} else
			{
				if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
				{
					btConvexCast::CastResult castResult;
					castResult.m_allowedPenetration = allowedPenetration;
					castResult.m_fraction = resultCallback.m_closestHitFraction;
					btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
					btContinuousConvexCollision convexCaster1(castShape,planeShape);
					btConvexCast* castPtr = &convexCaster1;

					if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
					{
						//add hit
						if (castResult.m_normal.length2() > btScalar(0.0001))
						{
							if (castResult.m_fraction < resultCallback.m_closestHitFraction)
							{
								castResult.m_normal.normalize();
								btCollisionWorld::LocalConvexResult localConvexResult
									(
									colObjWrap->getCollisionObject(),
									0,
									castResult.m_normal,
									castResult.m_hitPoint,
									castResult.m_fraction
									);

								bool normalInWorldSpace = true;
								resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
							}
						}
					}

				} else
				{
					//BT_PROFILE("convexSweepConcave");
					btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
					btTransform worldTocollisionObject = colObjWorldTransform.inverse();
					btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
					btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
					// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
					btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());

					//ConvexCast::CastResult
					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
					{
						btCollisionWorld::ConvexResultCallback* m_resultCallback;
						const btCollisionObject*	m_collisionObject;
						btConcaveShape*	m_triangleMesh;

						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
							btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
							m_resultCallback(resultCallback),
							m_collisionObject(collisionObject),
							m_triangleMesh(triangleMesh)
						{
						}


						virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
						{
							btCollisionWorld::LocalShapeInfo	shapeInfo;
							shapeInfo.m_shapePart = partId;
							shapeInfo.m_triangleIndex = triangleIndex;
							if (hitFraction <= m_resultCallback->m_closestHitFraction)
							{

								btCollisionWorld::LocalConvexResult convexResult
									(m_collisionObject,
									&shapeInfo,
									hitNormalLocal,
									hitPointLocal,
									hitFraction);

								bool	normalInWorldSpace = false;

								return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
							}
							return hitFraction;
						}

					};

					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
					tccb.m_hitFraction = resultCallback.m_closestHitFraction;
					tccb.m_allowedPenetration = allowedPenetration;
					btVector3 boxMinLocal, boxMaxLocal;
					castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);

					btVector3 rayAabbMinLocal = convexFromLocal;
					rayAabbMinLocal.setMin(convexToLocal);
					btVector3 rayAabbMaxLocal = convexFromLocal;
					rayAabbMaxLocal.setMax(convexToLocal);
					rayAabbMinLocal += boxMinLocal;
					rayAabbMaxLocal += boxMaxLocal;
					concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
				}
			}
		} else {
			///@todo : use AABB tree or other BVH acceleration structure!
			if (collisionShape->isCompound())
			{
				BT_PROFILE("convexSweepCompound");
				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
				int i=0;
				for (i=0;i<compoundShape->getNumChildShapes();i++)
				{
					btTransform childTrans = compoundShape->getChildTransform(i);
					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
					btTransform childWorldTrans = colObjWorldTransform * childTrans;
					
                    struct	LocalInfoAdder : public ConvexResultCallback {
                            ConvexResultCallback* m_userCallback;
							int m_i;

                            LocalInfoAdder (int i, ConvexResultCallback *user)
								: m_userCallback(user), m_i(i)
							{
								m_closestHitFraction = m_userCallback->m_closestHitFraction;
							}
							virtual bool needsCollision(btBroadphaseProxy* p) const
							{
								return m_userCallback->needsCollision(p);
							}
                            virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult&	r,	bool b)
                            {
                                    btCollisionWorld::LocalShapeInfo	shapeInfo;
                                    shapeInfo.m_shapePart = -1;
                                    shapeInfo.m_triangleIndex = m_i;
                                    if (r.m_localShapeInfo == NULL)
                                        r.m_localShapeInfo = &shapeInfo;
									const btScalar result = m_userCallback->addSingleResult(r, b);
									m_closestHitFraction = m_userCallback->m_closestHitFraction;
									return result;
                                    
                            }
                    };

                    LocalInfoAdder my_cb(i, &resultCallback);
					
					btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans);

					objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
						&tmpObj,my_cb, allowedPenetration);
					
				}
			}
		}
	}
}


struct btSingleRayCallback : public btBroadphaseRayCallback
{

	btVector3	m_rayFromWorld;
	btVector3	m_rayToWorld;
	btTransform	m_rayFromTrans;
	btTransform	m_rayToTrans;
	btVector3	m_hitNormal;

	const btCollisionWorld*	m_world;
	btCollisionWorld::RayResultCallback&	m_resultCallback;

	btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
		:m_rayFromWorld(rayFromWorld),
		m_rayToWorld(rayToWorld),
		m_world(world),
		m_resultCallback(resultCallback)
	{
		m_rayFromTrans.setIdentity();
		m_rayFromTrans.setOrigin(m_rayFromWorld);
		m_rayToTrans.setIdentity();
		m_rayToTrans.setOrigin(m_rayToWorld);

		btVector3 rayDir = (rayToWorld-rayFromWorld);

		rayDir.normalize ();
		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
		m_signs[2] = m_rayDirectionInverse[2] < 0.0;

		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);

	}



	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		///terminate further ray tests, once the closestHitFraction reached zero
		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
			return false;

		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;

		//only perform raycast if filterMask matches
		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
		{
			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
#if 0
#ifdef RECALCULATE_AABB
			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
#endif
#endif
			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
			//culling already done by broadphase
			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
			{
				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
					collisionObject,
					collisionObject->getCollisionShape(),
					collisionObject->getWorldTransform(),
					m_resultCallback);
			}
		}
		return true;
	}
};

void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
	//BT_PROFILE("rayTest");
	/// use the broadphase to accelerate the search for objects, based on their aabb
	/// and for each object with ray-aabb overlap, perform an exact ray test
	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);

#ifndef USE_BRUTEFORCE_RAYBROADPHASE
	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
#else
	for (int i=0;i<this->getNumCollisionObjects();i++)
	{
		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
	}	
#endif //USE_BRUTEFORCE_RAYBROADPHASE

}


struct btSingleSweepCallback : public btBroadphaseRayCallback
{

	btTransform	m_convexFromTrans;
	btTransform	m_convexToTrans;
	btVector3	m_hitNormal;
	const btCollisionWorld*	m_world;
	btCollisionWorld::ConvexResultCallback&	m_resultCallback;
	btScalar	m_allowedCcdPenetration;
	const btConvexShape* m_castShape;


	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration)
		:m_convexFromTrans(convexFromTrans),
		m_convexToTrans(convexToTrans),
		m_world(world),
		m_resultCallback(resultCallback),
		m_allowedCcdPenetration(allowedPenetration),
		m_castShape(castShape)
	{
		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
		btVector3 rayDir = unnormalizedRayDir.normalized();
		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
		m_signs[2] = m_rayDirectionInverse[2] < 0.0;

		m_lambda_max = rayDir.dot(unnormalizedRayDir);

	}

	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		///terminate further convex sweep tests, once the closestHitFraction reached zero
		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
			return false;

		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;

		//only perform raycast if filterMask matches
		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
			m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,
				collisionObject,
				collisionObject->getCollisionShape(),
				collisionObject->getWorldTransform(),
				m_resultCallback,
				m_allowedCcdPenetration);
		}

		return true;
	}
};



void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
{

	BT_PROFILE("convexSweepTest");
	/// use the broadphase to accelerate the search for objects, based on their aabb
	/// and for each object with ray-aabb overlap, perform an exact ray test
	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical



	btTransform	convexFromTrans,convexToTrans;
	convexFromTrans = convexFromWorld;
	convexToTrans = convexToWorld;
	btVector3 castShapeAabbMin, castShapeAabbMax;
	/* Compute AABB that encompasses angular movement */
	{
		btVector3 linVel, angVel;
		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
		btVector3 zeroLinVel;
		zeroLinVel.setValue(0,0,0);
		btTransform R;
		R.setIdentity ();
		R.setRotation (convexFromTrans.getRotation());
		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
	}

#ifndef USE_BRUTEFORCE_RAYBROADPHASE

	btSingleSweepCallback	convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);

	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);

#else
	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
	// do a ray-shape query using convexCaster (CCD)
	int i;
	for (i=0;i<m_collisionObjects.size();i++)
	{
		btCollisionObject*	collisionObject= m_collisionObjects[i];
		//only perform raycast if filterMask matches
		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
			btVector3 hitNormal;
			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
			{
				objectQuerySingle(castShape, convexFromTrans,convexToTrans,
					collisionObject,
					collisionObject->getCollisionShape(),
					collisionObject->getWorldTransform(),
					resultCallback,
					allowedCcdPenetration);
			}
		}
	}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}



struct btBridgedManifoldResult : public btManifoldResult
{

	btCollisionWorld::ContactResultCallback&	m_resultCallback;

	btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
		:btManifoldResult(obj0Wrap,obj1Wrap),
		m_resultCallback(resultCallback)
	{
	}

	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
	{
		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
		btVector3 localA;
		btVector3 localB;
		if (isSwapped)
		{
			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
			localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
		} else
		{
			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
		}
		
		btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
		newPt.m_positionWorldOnA = pointA;
		newPt.m_positionWorldOnB = pointInWorld;
		
	   //BP mod, store contact triangles.
		if (isSwapped)
		{
			newPt.m_partId0 = m_partId1;
			newPt.m_partId1 = m_partId0;
			newPt.m_index0  = m_index1;
			newPt.m_index1  = m_index0;
		} else
		{
			newPt.m_partId0 = m_partId0;
			newPt.m_partId1 = m_partId1;
			newPt.m_index0  = m_index0;
			newPt.m_index1  = m_index1;
		}

		//experimental feature info, for per-triangle material etc.
		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
		m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);

	}
	
};



struct btSingleContactCallback : public btBroadphaseAabbCallback
{

	btCollisionObject* m_collisionObject;
	btCollisionWorld*	m_world;
	btCollisionWorld::ContactResultCallback&	m_resultCallback;
	
	
	btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback)
		:m_collisionObject(collisionObject),
		m_world(world),
		m_resultCallback(resultCallback)
	{
	}

	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
		if (collisionObject == m_collisionObject)
			return true;

		//only perform raycast if filterMask matches
		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
		{
			btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform());
			btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform());

			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
			if (algorithm)
			{
				btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
				//discrete collision detection query
				
				algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);

				algorithm->~btCollisionAlgorithm();
				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
			}
		}
		return true;
	}
};


///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void	btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)
{
	btVector3 aabbMin,aabbMax;
	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
	btSingleContactCallback	contactCB(colObj,this,resultCallback);
	
	m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);
}


///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
///it reports one or more contact points (including the one with deepest penetration)
void	btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
{
	btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform());
	btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform());

	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
	if (algorithm)
	{
		btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
		//discrete collision detection query
		algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);

		algorithm->~btCollisionAlgorithm();
		getDispatcher()->freeCollisionAlgorithm(algorithm);
	}

}




class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
{
	btIDebugDraw*	m_debugDrawer;
	btVector3	m_color;
	btTransform	m_worldTrans;

public:

	DebugDrawcallback(btIDebugDraw*	debugDrawer,const btTransform& worldTrans,const btVector3& color) :
	  m_debugDrawer(debugDrawer),
		  m_color(color),
		  m_worldTrans(worldTrans)
	  {
	  }

	  virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
	  {
		  processTriangle(triangle,partId,triangleIndex);
	  }

	  virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
	  {
		  (void)partId;
		  (void)triangleIndex;

		  btVector3 wv0,wv1,wv2;
		  wv0 = m_worldTrans*triangle[0];
		  wv1 = m_worldTrans*triangle[1];
		  wv2 = m_worldTrans*triangle[2];
		  btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
          
          if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
          {
		    btVector3 normal = (wv1-wv0).cross(wv2-wv0);
		    normal.normalize();
		    btVector3 normalColor(1,1,0);
		    m_debugDrawer->drawLine(center,center+normal,normalColor);
          }
		  m_debugDrawer->drawLine(wv0,wv1,m_color);
		  m_debugDrawer->drawLine(wv1,wv2,m_color);
		  m_debugDrawer->drawLine(wv2,wv0,m_color);
	  }
};


void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
	// Draw a small simplex at the center of the object
	getDebugDrawer()->drawTransform(worldTransform,1);

	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
	{
		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
		{
			btTransform childTrans = compoundShape->getChildTransform(i);
			const btCollisionShape* colShape = compoundShape->getChildShape(i);
			debugDrawObject(worldTransform*childTrans,colShape,color);
		}

	} else
	{

        switch (shape->getShapeType())
        {

        case BOX_SHAPE_PROXYTYPE:
            {
                const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
                btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
                getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
                break;
            }

        case SPHERE_SHAPE_PROXYTYPE:
            {
                const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
                btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin

                getDebugDrawer()->drawSphere(radius, worldTransform, color);
                break;
            }
        case MULTI_SPHERE_SHAPE_PROXYTYPE:
            {
                const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);

                btTransform childTransform;
                childTransform.setIdentity();

                for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
                {
                    childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
                    getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
                }

                break;
            }
        case CAPSULE_SHAPE_PROXYTYPE:
            {
                const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);

                btScalar radius = capsuleShape->getRadius();
                btScalar halfHeight = capsuleShape->getHalfHeight();

                int upAxis = capsuleShape->getUpAxis();
                getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
                break;
            }
        case CONE_SHAPE_PROXYTYPE:
            {
                const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
                btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
                btScalar height = coneShape->getHeight();//+coneShape->getMargin();

                int upAxis= coneShape->getConeUpIndex();
                getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
                break;

            }
        case CYLINDER_SHAPE_PROXYTYPE:
            {
                const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
                int upAxis = cylinder->getUpAxis();
                btScalar radius = cylinder->getRadius();
                btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
                getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
                break;
            }

        case STATIC_PLANE_PROXYTYPE:
            {
                const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
                btScalar planeConst = staticPlaneShape->getPlaneConstant();
                const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
                getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
                break;

            }
        default:
            {

                /// for polyhedral shapes
                if (shape->isPolyhedral())
                {
                    btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
                    
                    int i;
                    if (polyshape->getConvexPolyhedron())
                    {
                        const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
                        for (i=0;i<poly->m_faces.size();i++)
                        {
                            btVector3 centroid(0,0,0);
                            int numVerts = poly->m_faces[i].m_indices.size();
                            if (numVerts)
                            {
                                int lastV = poly->m_faces[i].m_indices[numVerts-1];
                                for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
                                {
                                    int curVert = poly->m_faces[i].m_indices[v];