ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -1,139 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
-#define BT_BVH_TRIANGLE_MESH_SHAPE_H
-
-#include "btTriangleMeshShape.h"
-#include "btOptimizedBvh.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "btTriangleInfoMap.h"
-
-///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage.
-///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
-///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
-///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
-ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
-{
-
-	btOptimizedBvh*	m_bvh;
-	btTriangleInfoMap*	m_triangleInfoMap;
-
-	bool m_useQuantizedAabbCompression;
-	bool m_ownsBvh;
-	bool m_pad[11];////need padding due to alignment
-
-public:
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	
-	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
-
-	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
-	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true);
-	
-	virtual ~btBvhTriangleMeshShape();
-
-	bool getOwnsBvh () const
-	{
-		return m_ownsBvh;
-	}
-
-
-	
-	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
-	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
-	void	refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
-
-	///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
-	void	partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
-
-	//debugging
-	virtual const char*	getName()const {return "BVHTRIANGLEMESH";}
-
-
-	virtual void	setLocalScaling(const btVector3& scaling);
-	
-	btOptimizedBvh*	getOptimizedBvh()
-	{
-		return m_bvh;
-	}
-
-	void	setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
-
-	void    buildOptimizedBvh();
-
-	bool	usesQuantizedAabbCompression() const
-	{
-		return	m_useQuantizedAabbCompression;
-	}
-
-	void	setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap)
-	{
-		m_triangleInfoMap = triangleInfoMap;
-	}
-
-	const btTriangleInfoMap*	getTriangleInfoMap() const
-	{
-		return m_triangleInfoMap;
-	}
-	
-	btTriangleInfoMap*	getTriangleInfoMap()
-	{
-		return m_triangleInfoMap;
-	}
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void	serializeSingleBvh(btSerializer* serializer) const;
-
-	virtual void	serializeSingleTriangleInfoMap(btSerializer* serializer) const;
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btTriangleMeshShapeData
-{
-	btCollisionShapeData	m_collisionShapeData;
-
-	btStridingMeshInterfaceData m_meshInterface;
-
-	btQuantizedBvhFloatData		*m_quantizedFloatBvh;
-	btQuantizedBvhDoubleData	*m_quantizedDoubleBvh;
-
-	btTriangleInfoMapData	*m_triangleInfoMap;
-	
-	float	m_collisionMargin;
-
-	char m_pad3[4];
-	
-};
-
-
-SIMD_FORCE_INLINE	int	btBvhTriangleMeshShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btTriangleMeshShapeData);
-}
-
-
-
-#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H

data/deps/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -1,173 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#ifndef BT_CAPSULE_SHAPE_H
-#define BT_CAPSULE_SHAPE_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
-
-///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
-///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
-class btCapsuleShape : public btConvexInternalShape
-{
-protected:
-	int	m_upAxis;
-
-protected:
-	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
-
-public:
-	btCapsuleShape(btScalar radius,btScalar height);
-
-	///CollisionShape Interface
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	/// btConvexShape Interface
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
-	}
-
-	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-	{
-			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
-			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
-			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
-			btMatrix3x3 abs_b = t.getBasis().absolute();  
-			btVector3 center = t.getOrigin();
-			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
-			
-			aabbMin = center - extent;
-			aabbMax = center + extent;
-	}
-
-	virtual const char*	getName()const 
-	{
-		return "CapsuleShape";
-	}
-
-	int	getUpAxis() const
-	{
-		return m_upAxis;
-	}
-
-	btScalar	getRadius() const
-	{
-		int radiusAxis = (m_upAxis+2)%3;
-		return m_implicitShapeDimensions[radiusAxis];
-	}
-
-	btScalar	getHalfHeight() const
-	{
-		return m_implicitShapeDimensions[m_upAxis];
-	}
-
-	virtual void	setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
-	}
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-///btCapsuleShapeX represents a capsule around the Z axis
-///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-class btCapsuleShapeX : public btCapsuleShape
-{
-public:
-
-	btCapsuleShapeX(btScalar radius,btScalar height);
-		
-	//debugging
-	virtual const char*	getName()const
-	{
-		return "CapsuleX";
-	}
-
-	
-
-};
-
-///btCapsuleShapeZ represents a capsule around the Z axis
-///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
-class btCapsuleShapeZ : public btCapsuleShape
-{
-public:
-	btCapsuleShapeZ(btScalar radius,btScalar height);
-
-		//debugging
-	virtual const char*	getName()const
-	{
-		return "CapsuleZ";
-	}
-
-	
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCapsuleShapeData
-{
-	btConvexInternalShapeData	m_convexInternalShapeData;
-
-	int	m_upAxis;
-
-	char	m_padding[4];
-};
-
-SIMD_FORCE_INLINE	int	btCapsuleShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCapsuleShapeData);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
-	
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
-
-	shapeData->m_upAxis = m_upAxis;
-	
-	return "btCapsuleShapeData";
-}
-
-#endif //BT_CAPSULE_SHAPE_H

data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h

@@ -1,27 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#ifndef BT_COLLISION_MARGIN_H
-#define BT_COLLISION_MARGIN_H
-
-///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
-///This collision margin is used by Gjk and some other algorithms
-///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
-#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
-
-
-
-#endif //BT_COLLISION_MARGIN_H
-

data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -1,150 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#ifndef BT_COLLISION_SHAPE_H
-#define BT_COLLISION_SHAPE_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
-class btSerializer;
-
-
-///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
-class btCollisionShape
-{
-protected:
-	int m_shapeType;
-	void* m_userPointer;
-
-public:
-
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
-	{
-	}
-
-	virtual ~btCollisionShape()
-	{
-	}
-
-	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
-
-	virtual void	getBoundingSphere(btVector3& center,btScalar& radius) const;
-
-	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
-	virtual btScalar	getAngularMotionDisc() const;
-
-	virtual btScalar	getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
-
-
-	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
-	///result is conservative
-	void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
-
-
-
-	SIMD_FORCE_INLINE bool	isPolyhedral() const
-	{
-		return btBroadphaseProxy::isPolyhedral(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool	isConvex2d() const
-	{
-		return btBroadphaseProxy::isConvex2d(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool	isConvex() const
-	{
-		return btBroadphaseProxy::isConvex(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool	isNonMoving() const
-	{
-		return btBroadphaseProxy::isNonMoving(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool	isConcave() const
-	{
-		return btBroadphaseProxy::isConcave(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool	isCompound() const
-	{
-		return btBroadphaseProxy::isCompound(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool	isSoftBody() const
-	{
-		return btBroadphaseProxy::isSoftBody(getShapeType());
-	}
-
-	///isInfinite is used to catch simulation error (aabb check)
-	SIMD_FORCE_INLINE bool isInfinite() const
-	{
-		return btBroadphaseProxy::isInfinite(getShapeType());
-	}
-
-#ifndef __SPU__
-	virtual void	setLocalScaling(const btVector3& scaling) =0;
-	virtual const btVector3& getLocalScaling() const =0;
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
-
-
-//debugging support
-	virtual const char*	getName()const =0 ;
-#endif //__SPU__
-
-	
-	int		getShapeType() const { return m_shapeType; }
-	virtual void	setMargin(btScalar margin) = 0;
-	virtual btScalar	getMargin() const = 0;
-
-	
-	///optional user data pointer
-	void	setUserPointer(void*  userPtr)
-	{
-		m_userPointer = userPtr;
-	}
-
-	void*	getUserPointer() const
-	{
-		return m_userPointer;
-	}
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	virtual void	serializeSingleShape(btSerializer* serializer) const;
-
-};	
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionShapeData
-{
-	char	*m_name;
-	int		m_shapeType;
-	char	m_padding[4];
-};
-
-SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCollisionShapeData);
-}
-
-
-
-#endif //BT_COLLISION_SHAPE_H
-

data/deps/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -1,212 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#ifndef BT_COMPOUND_SHAPE_H
-#define BT_COMPOUND_SHAPE_H
-
-#include "btCollisionShape.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btCollisionMargin.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-//class btOptimizedBvh;
-struct btDbvt;
-
-ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btTransform			m_transform;
-	btCollisionShape*	m_childShape;
-	int					m_childShapeType;
-	btScalar			m_childMargin;
-	struct btDbvtNode*	m_node;
-};
-
-SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
-{
-	return  ( c1.m_transform      == c2.m_transform &&
-		c1.m_childShape     == c2.m_childShape &&
-		c1.m_childShapeType == c2.m_childShapeType &&
-		c1.m_childMargin    == c2.m_childMargin );
-}
-
-/// The btCompoundShape allows to store multiple other btCollisionShapes
-/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
-/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
-/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
-/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
-ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
-{
-	btAlignedObjectArray<btCompoundShapeChild> m_children;
-	btVector3						m_localAabbMin;
-	btVector3						m_localAabbMax;
-
-	btDbvt*							m_dynamicAabbTree;
-
-	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
-	int								m_updateRevision;
-
-	btScalar	m_collisionMargin;
-
-protected:
-	btVector3	m_localScaling;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCompoundShape(bool enableDynamicAabbTree = true);
-
-	virtual ~btCompoundShape();
-
-	void	addChildShape(const btTransform& localTransform,btCollisionShape* shape);
-
-	/// Remove all children shapes that contain the specified shape
-	virtual void removeChildShape(btCollisionShape* shape);
-
-	void removeChildShapeByIndex(int childShapeindex);
-
-
-	int		getNumChildShapes() const
-	{
-		return int (m_children.size());
-	}
-
-	btCollisionShape* getChildShape(int index)
-	{
-		return m_children[index].m_childShape;
-	}
-	const btCollisionShape* getChildShape(int index) const
-	{
-		return m_children[index].m_childShape;
-	}
-
-	btTransform&	getChildTransform(int index)
-	{
-		return m_children[index].m_transform;
-	}
-	const btTransform&	getChildTransform(int index) const
-	{
-		return m_children[index].m_transform;
-	}
-
-	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
-	void	updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
-
-
-	btCompoundShapeChild* getChildList()
-	{
-		return &m_children[0];
-	}
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	virtual	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	/** Re-calculate the local Aabb. Is called at the end of removeChildShapes. 
-	Use this yourself if you modify the children or their transforms. */
-	virtual void recalculateLocalAabb(); 
-
-	virtual void	setLocalScaling(const btVector3& scaling);
-
-	virtual const btVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	virtual void	setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual btScalar	getMargin() const
-	{
-		return m_collisionMargin;
-	}
-	virtual const char*	getName()const
-	{
-		return "Compound";
-	}
-
-	const btDbvt*	getDynamicAabbTree() const
-	{
-		return m_dynamicAabbTree;
-	}
-	
-	btDbvt*	getDynamicAabbTree()
-	{
-		return m_dynamicAabbTree;
-	}
-
-	void createAabbTreeFromChildren();
-
-	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
-	///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
-	///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
-	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
-	///of the collision object by the principal transform.
-	void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
-
-	int	getUpdateRevision() const
-	{
-		return m_updateRevision;
-	}
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btCompoundShapeChildData
-{
-	btTransformFloatData	m_transform;
-	btCollisionShapeData	*m_childShape;
-	int						m_childShapeType;
-	float					m_childMargin;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCompoundShapeData
-{
-	btCollisionShapeData		m_collisionShapeData;
-
-	btCompoundShapeChildData	*m_childShapePtr;
-
-	int							m_numChildShapes;
-
-	float	m_collisionMargin;
-
-};
-
-
-SIMD_FORCE_INLINE	int	btCompoundShape::calculateSerializeBufferSize() const
-{
-	return sizeof(btCompoundShapeData);
-}
-
-
-
-
-
-
-
-#endif //BT_COMPOUND_SHAPE_H