ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -0,0 +1,1518 @@
+/*
+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"
+
+//#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::performDiscreteCollisionDetection()
+{
+	BT_PROFILE("performDiscreteCollisionDetection");
+
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
+	updateAabbs();
+
+	{
+		BT_PROFILE("calculateOverlappingPairs");
+		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
+	}
+
+
+	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)
+{
+	btSphereShape pointShape(btScalar(0.0));
+	pointShape.setMargin(0.f);
+	const btConvexShape* castShape = &pointShape;
+
+	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
+						(
+						collisionObject,
+						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;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
+
+					btTransform m_colObjWorldTransform;
+
+					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
+						btCollisionWorld::RayResultCallback* resultCallback, 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,collisionObject,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;
+					btCollisionObject*	m_collisionObject;
+					btConcaveShape*	m_triangleMesh;
+
+					btTransform m_colObjWorldTransform;
+
+					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
+						btCollisionWorld::RayResultCallback* resultCallback, 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,collisionObject,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;
+					}
+					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
+				{
+					btCollisionObject* m_collisionObject;
+					const btCompoundShape* m_compoundShape;
+					const btTransform& m_colObjWorldTransform;
+					const btTransform& m_rayFromTrans;
+					const btTransform& m_rayToTrans;
+					RayResultCallback& m_resultCallback;
+					
+					RayTester(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 Process(int i)
+					{
+						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
+						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
+						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
+						
+						// replace collision shape so that callback can determine the triangle
+						btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
+						m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+
+						LocalInfoAdder2 my_cb(i, &m_resultCallback);
+
+						rayTestSingle(
+							m_rayFromTrans,
+							m_rayToTrans,
+							m_collisionObject,
+							childCollisionShape,
+							childWorldTrans,
+							my_cb);
+						
+						// restore
+						m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
+					}
+					
+					void Process(const btDbvtNode* leaf)
+					{
+						Process(leaf->dataAsInt);
+					}
+				};
+				
+				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
+				const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
+
+
+				RayTester rayCB(
+					collisionObject,
+					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.Process(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)
+{
+	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
+						(
+						collisionObject,
+						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;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
+
+					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
+						btCollisionWorld::ConvexResultCallback* resultCallback, 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,collisionObject,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
+									(
+									collisionObject,
+									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;
+						btCollisionObject*	m_collisionObject;
+						btConcaveShape*	m_triangleMesh;
+
+						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
+							btCollisionWorld::ConvexResultCallback* resultCallback, 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,collisionObject,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;
+					// replace collision shape so that callback can determine the triangle
+					btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
+					collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+                    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);
+					
+
+					objectQuerySingle(castShape, convexFromTrans,convexToTrans,
+						collisionObject,
+						childCollisionShape,
+						childWorldTrans,
+						my_cb, allowedPenetration);
+					// restore
+					collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
+				}
+			}
+		}
+	}
+}
+
+
+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, 1.0, linVel, angVel);
+		btVector3 zeroLinVel;
+		zeroLinVel.setValue(0,0,0);
+		btTransform R;
+		R.setIdentity ();
+		R.setRotation (convexFromTrans.getRotation());
+		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, 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( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
+		:btManifoldResult(obj0,obj1),
+		m_resultCallback(resultCallback)
+	{
+	}
+
+	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+	{
+		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
+		btVector3 localA;
+		btVector3 localB;
+		if (isSwapped)
+		{
+			localA = m_rootTransB.invXform(pointA );
+			localB = m_rootTransA.invXform(pointInWorld);
+		} else
+		{
+			localA = m_rootTransA.invXform(pointA );
+			localB = m_rootTransB.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.
+		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
+		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
+		m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,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())) 
+		{
+			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
+			if (algorithm)
+			{
+				btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
+				//discrete collision detection query
+				algorithm->processCollision(m_collisionObject,collisionObject, 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)
+{
+	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
+	if (algorithm)
+	{
+		btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
+		//discrete collision detection query
+		algorithm->processCollision(colObjA,colObjB, 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
+	{
+
+		/// 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];
+							centroid+=poly->m_vertices[curVert];
+							getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
+							lastV = curVert;
+						}
+					}
+					centroid*= btScalar(1.f)/btScalar(numVerts);
+                    if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+                    {
+					  btVector3 normalColor(1,1,0);
+					  btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
+					  getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+                    }
+					
+				}
+
+				
+			} else
+			{
+				for (i=0;i<polyshape->getNumEdges();i++)
+				{
+					btVector3 a,b;
+					polyshape->getEdge(i,a,b);
+					btVector3 wa = worldTransform * a;
+					btVector3 wb = worldTransform * b;
+					getDebugDrawer()->drawLine(wa,wb,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:
+				{
+
+					if (shape->isConcave())
+					{
+						btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+						///@todo pass camera, for some culling? no -> we are not a graphics lib
+						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+						concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+					}
+
+					if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+					{
+						btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+						//todo: pass camera for some culling			
+						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+						//DebugDrawcallback drawCallback;
+						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+						convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+					}
+
+
+					
+				}
+			}
+		}
+	}
+}
+
+
+void	btCollisionWorld::debugDrawWorld()
+{
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
+	{
+		int numManifolds = getDispatcher()->getNumManifolds();
+		btVector3 color(1,0.65,0);
+		for (int i=0;i<numManifolds;i++)
+		{
+			btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
+			//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
+			//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
+
+			int numContacts = contactManifold->getNumContacts();
+			for (int j=0;j<numContacts;j++)
+			{
+				btManifoldPoint& cp = contactManifold->getContactPoint(j);
+				getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
+			}
+		}
+	}
+
+	if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
+	{
+		int i;
+
+		for (  i=0;i<m_collisionObjects.size();i++)
+		{
+			btCollisionObject* colObj = m_collisionObjects[i];
+			if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
+			{
+				if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
+				{
+					btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
+					switch(colObj->getActivationState())
+					{
+					case  ACTIVE_TAG:
+						color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
+					case ISLAND_SLEEPING:
+						color =  btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
+					case WANTS_DEACTIVATION:
+						color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
+					case DISABLE_DEACTIVATION:
+						color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
+					case DISABLE_SIMULATION:
+						color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
+					default:
+						{
+							color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
+						}
+					};
+
+					debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
+				}
+				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+				{
+					btVector3 minAabb,maxAabb;
+					btVector3 colorvec(1,0,0);
+					colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+					btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+					minAabb -= contactThreshold;
+					maxAabb += contactThreshold;
+
+					btVector3 minAabb2,maxAabb2;
+
+					if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
+					{
+						colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
+						minAabb2 -= contactThreshold;
+						maxAabb2 += contactThreshold;
+						minAabb.setMin(minAabb2);
+						maxAabb.setMax(maxAabb2);
+					}
+
+					m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
+				}
+			}
+
+		}
+	}
+}
+
+
+void	btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
+{
+	int i;
+	//serialize all collision objects
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
+		{
+			colObj->serializeSingleObject(serializer);
+		}
+	}
+
+	///keep track of shapes already serialized
+	btHashMap<btHashPtr,btCollisionShape*>	serializedShapes;
+
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btCollisionShape* shape = colObj->getCollisionShape();
+
+		if (!serializedShapes.find(shape))
+		{
+			serializedShapes.insert(shape,shape);
+			shape->serializeSingleShape(serializer);
+		}
+	}
+
+}
+
+
+void	btCollisionWorld::serialize(btSerializer* serializer)
+{
+
+	serializer->startSerialization();
+	
+	serializeCollisionObjects(serializer);
+	
+	serializer->finishSerialization();
+}
+