12 Dec 2007

changelog.log

@@ -27,8 +27,9 @@ scroll = visible_offset
 
 // замеченные баги
 1. не выводится текущее значение переменной в консоль		OK
-2. imglib не выводит сообщения в консоль
+2. imglib не выводит сообщения в консоль			OK
 3. SC_ParseToken вылетает при парсинге сейв-файла
+4. где-то бьется буффер при -dev 6
 
 Имплементация roqlib
 1. Вернуть read\save codebook			OK
@@ -46,9 +47,14 @@ scroll = visible_offset
 
 1. протестить Gimpact library
 
+1. перевести утилиты в консольный режим		OK
+
 //==================================================
 //		то, что уже готово
 //==================================================
++исправлены баги в parselib.c
++доделан кастомный парсинг исходников для qcclib
++утилиты вновь стали консольными
 -удалена горячая клавиша space для выхода из системной консоли
 +имплементирован Sys_Break для остановки движка
 +добавлены hardcoded binds для системных клавиш (выставляются при отсутствии keys.rc)

common/imglib.c

@@ -14,7 +14,7 @@ bool ConvertImagePixels ( byte *mempool, const char *name, byte parms )
 
 	if(!image || !image->buffer) return false;
 
-	strncpy( savename,name,sizeof(savename)-1);
+	com.strncpy( savename, name, sizeof(savename)-1);
 	FS_StripExtension( savename ); // remove extension if needed
 	FS_DefaultExtension( savename, ".tga" );// set new extension
 	w = image->width, h = image->height; 
@@ -22,9 +22,9 @@ bool ConvertImagePixels ( byte *mempool, const char *name, byte parms )
 	if(FS_CheckParm("-resample"))
 		Image_Processing( name, &image );
 
+	Msg("%s\n", name );
 	FS_SaveImage( savename, image );// save as TGA
 	FS_FreeImage( image );
-	Msg("\n");
 
 	return true;
 }

common/platform.c

@@ -108,7 +108,6 @@ void RunPlatform ( void )
 	case IMGLIB:
 		CompileMod = ConvertImagePixels; 
 		strcpy(typemod, "images" );
-		strcpy(searchmask[0], "*.tga" );	// quake2 menu images
 		strcpy(searchmask[1], "*.pcx" );	// quake2 menu images
 		strcpy(searchmask[2], "*.wal" );	// quake2 textures
 		strcpy(searchmask[3], "*.lmp" );	// quake1 menu images
@@ -139,7 +138,7 @@ void RunPlatform ( void )
 		strcpy(searchmask[0], "*.*" );
 		break;
 	}
-	if(!CompileMod) goto elapced_time;//back to shutdown
+	if(!CompileMod) goto elapced_time; // jump to shutdown
 
 	zonepool = Mem_AllocPool("compiler");
 	if(!FS_GetParmFromCmdLine("-file", filename ))
@@ -160,8 +159,12 @@ void RunPlatform ( void )
 		}
 		if(numCompiledMods == 0) 
 		{
-			for(j = 0; j < 8; j++) strcat(errorstring, searchmask[j]);
-			Sys_Break("no %s found in this folder!\n", errorstring );
+			for(j = 0; j < 8; j++) 
+			{
+				if(!strlen(searchmask[j])) continue;
+				strcat(errorstring, va("%s ", searchmask[j]));
+			}
+			Sys_Break("no %sfound in this folder!\n", errorstring );
 		}
 	}
 	else CompileMod( zonepool, filename, parms );

common/qcclib/pr_comp.c

@@ -6651,7 +6651,7 @@ bool PR_ContinueCompile( void )
 			progs_src = saved_progs_src;
 			PR_SetDefaultProperties();
 			autoprototype = false;
-			PR_Message("Compiling...\n");
+			PR_Message("\nCompiling...\n");
 			return true;
 		}
 		return false; // end of compile
@@ -6714,9 +6714,11 @@ void PR_BeginCompilation ( void )
 	strcpy(progsoutname, com_token);
 
 	// this progs.src was written by qcclib without sorting
-	if(!stricmp(progsoutname, "unknown.dat" ))
+	if(!com.stricmp(progsoutname, "unknown.dat" ))
+	{
+		// ready to compile any version
 		autoprototype = true;
-
+	}
 	FS_StripExtension( com_token );
 
 	if (FS_CheckParm("-asm")) asmfile = FS_Open(va("%s.asm", com_token), "wb" );

common/qcclib/pr_lex.c

@@ -5,6 +5,7 @@
 
 #include "qcclib.h"
 #include "time.h"
+#include "mathlib.h"
 
 char	*compilingfile;
 int	pr_source_line;
@@ -548,7 +549,7 @@ bool PR_Precompiler(void)
 				if ((*pr_file_p == ' ' || *pr_file_p == '\t'|| *pr_file_p == '(') && !*com_token)
 				{
 					msg[a] = '\0';
-					strcpy(com_token, msg);
+					com.strcpy(com_token, msg);
 					a=0;
 					continue;
 				}
@@ -564,7 +565,7 @@ bool PR_Precompiler(void)
 
 			if (!*com_token)
 			{
-				strcpy(com_token, msg);
+				com.strcpy(com_token, msg);
 				msg[0] = '\0';
 			}
 
@@ -596,14 +597,18 @@ bool PR_Precompiler(void)
 			{
 				ForcedCRC = atoi(msg);
 			}
-			else if (!stricmp(com_token, "TARGET"))
+			else if (!stricmp(com_token, "target"))
 			{
 				if (!stricmp(msg, "STANDARD")) target_version = QPROGS_VERSION;
-				else if (!stricmp(msg, "ID")) target_version = QPROGS_VERSION;
-				else if (!stricmp(msg, "FTE")) target_version = FPROGS_VERSION;
-				else if (!stricmp(msg, "VPROGS"))target_version = VPROGS_VERSION;
+				else if (!com.stricmp(msg, "ID")) target_version = QPROGS_VERSION;
+				else if (!com.stricmp(msg, "FTE")) target_version = FPROGS_VERSION;
+				else if (!com.stricmp(msg, "VPROGS"))target_version = VPROGS_VERSION;
 				else PR_ParseWarning(WARN_BADTARGET, "Unknown target \'%s\'. Ignored.", msg);
 			}
+			else if (!stricmp(com_token, "version"))
+			{
+				target_version = bound(QPROGS_VERSION, atoi(msg), VPROGS_VERSION);
+			}
 			else if (!stricmp(com_token, "warning"))
 			{
 				int st;

common/qcclib/pr_main.c

@@ -61,6 +61,7 @@ void PR_SetDefaultProperties (void)
 	// reset all optimizarions
 	for (i = 0; pr_optimisations[i].enabled; i++) 
 		*pr_optimisations[i].enabled = false;
+
 	target_version = QPROGS_VERSION;
 	PR_DefineName("_QCLIB"); // compiler type
 
@@ -76,7 +77,7 @@ void PR_SetDefaultProperties (void)
 
 	for (i = 1; i < com_argc; i++)
 	{
-		if( !strnicmp(com_argv[i], "/D", 2))
+		if( !com.strnicmp(com_argv[i], "/D", 2))
 		{
 			// #define
 			name = com_argv[i+1];
@@ -92,7 +93,7 @@ void PR_SetDefaultProperties (void)
 				cnst->value[sizeof(cnst->value)-1] = '\0';
 			}
 		}
-		else if ( !strnicmp(com_argv[i], "/V", 2))
+		else if ( !com.strnicmp(com_argv[i], "/V", 2))
 		{
 			// target version
 			if (com_argv[i][2] == '6') target_version = QPROGS_VERSION;
@@ -100,7 +101,7 @@ void PR_SetDefaultProperties (void)
 			else if (com_argv[i][2] == '8') target_version = VPROGS_VERSION;
 			else PR_Warning(0, NULL, WARN_BADPARAMS, "Unrecognised version parametr (%s)", com_argv[i]);
 		}
-		else if( !strnicmp(com_argv[i], "/O", 2))
+		else if( !com.strnicmp(com_argv[i], "/O", 2))
 		{
 			int currentlevel = 0; // optimization level
 			if(com_argv[i][2] == 'd') currentlevel = MASK_DEBUG; // disable optimizations
@@ -148,9 +149,9 @@ void PR_Init( const char *name )
 	static temp_t	ret_temp;
 	int		i;
 
-	strncat(v_copyright, "This file was created with Xash3D QuakeC compiler,\n", sizeof(v_copyright));
-	strncat(v_copyright, "who based on original code of ForeThought's QuakeC compiler.\n", sizeof(v_copyright));
-	strncat(v_copyright, "Thanks to ID Software at all.", sizeof(v_copyright));
+	com.strncat(v_copyright, "This file was created with Xash3D QuakeC compiler,\n", sizeof(v_copyright));
+	com.strncat(v_copyright, "who based on original code of ForeThought's QuakeC compiler.\n", sizeof(v_copyright));
+	com.strncat(v_copyright, "Thanks to ID Software at all.", sizeof(v_copyright));
 
 	// tune limits
 	MAX_REGS		= 65536;
@@ -206,7 +207,7 @@ void PR_Init( const char *name )
 	memset(pr_immediate_string, 0, sizeof(pr_immediate_string));
 
 	if (opt_locals_marshalling) MsgWarn("Locals marshalling might be buggy. Use with caution\n");
-	strncpy( sourcefilename, name, sizeof(sourcefilename));
+	com.strncpy( sourcefilename, name, sizeof(sourcefilename));
 
 	// default parms
 	def_ret.ofs = OFS_RETURN;

common/qcclib/pr_utils.c

@@ -1060,13 +1060,22 @@ void PR_WriteBlock(file_t *f, fs_offset_t pos, const void *data, size_t blocksiz
 
 byte *PR_CreateProgsSRC( void )
 {
-	search_t		*qc = FS_Search( "*.qc", true );
+	search_t		*qc = FS_Search( "*", true );
 	const char	*datname = "unknown.dat\n";	// outname will be set by PR_WriteProgdefs
 	byte		*newprogs_src = NULL;
 	char		headers[2][MAX_QPATH];	// contains filename with struct description
-	int		i, j = 0, found = 0;
+	char		searchmask[8][16];
+	int		i, k, j = 0;
+	bool		have_entvars = 0;
+	bool		have_globals = 0;
 
-	if(!qc) 
+	// hard-coded table! don't change!
+	strcpy(searchmask[0], "qh" );	// quakec header
+	strcpy(searchmask[1], "h" );	// c-style header
+	strcpy(searchmask[2], "qc" );	// quakec sources
+	strcpy(searchmask[3], "c" );	// c-style sources
+
+	if(!qc)
 	{
 		PR_ParseError(ERR_INTERNAL, "Couldn't open file progs.src" );
 		return NULL;
@@ -1075,27 +1084,40 @@ byte *PR_CreateProgsSRC( void )
 
 	for(i = 0; i < qc->numfilenames; i++)
 	{
-		if(Com_LoadScript( qc->filenames[i], NULL, 0 ))
+		// search by mask		
+		for( k = 0; k < 8; k++)
 		{
-			while ( 1 )
+			// skip blank mask
+			if(!strlen(searchmask[k])) continue;
+			if(!com.stricmp(searchmask[k], FS_FileExtension(qc->filenames[i]))) // validate ext
 			{
-				// parse all sources for "end_sys_globals"
-				if (!Com_GetToken( true )) break; //EOF
-				if(Com_MatchToken( "end_sys_globals" ))
+				if(Com_LoadScript( qc->filenames[i], NULL, 0 ))
 				{
-					strncpy(headers[0], qc->filenames[i], MAX_QPATH );
-					found++;
+					while ( 1 )
+					{
+						// parse all sources for "end_sys_globals"
+						if(!Com_GetToken( true )) break; //EOF
+						if(Com_MatchToken( "end_sys_globals" ))
+						{
+							com.strncpy(headers[0], qc->filenames[i], MAX_QPATH );
+							have_globals = true;
+						}
+						else if(Com_MatchToken( "end_sys_fields" ))
+						{
+							com.strncpy(headers[1], qc->filenames[i], MAX_QPATH );
+							have_entvars = true;
+						}
+						if(have_globals && have_entvars)
+							goto buildnewlist; // end of parsing
+					}
 				}
-				else if(Com_MatchToken( "end_sys_fields" ))
-				{
-					strncpy(headers[1], qc->filenames[i], MAX_QPATH );
-					found++;
-				}
-				if(found > 1) goto buildnewlist; // end of parsing
-			}
+			}	
 		}
-	}	
+	}
 
+	// globals and locals not declared
+	PR_ParseError(ERR_INTERNAL, "Couldn't open file progs.src" );
+	return NULL;
 buildnewlist:
 
 	newprogs_src = Qrealloc(newprogs_src, j + strlen(datname) + 1); // outfile name
@@ -1114,16 +1136,42 @@ buildnewlist:
 		strncat(newprogs_src, va("%s\n", headers[1]), strlen(headers[1]) + 1);
 		j += strlen(headers[1]) + 2; //null term
 	}
+
+	// add headers
+	for(i = 0; i < qc->numfilenames; i++)
+	{
+		for( k = 0; k < 2; k++)
+		{
+			// skip blank mask
+			if(!strlen(searchmask[k])) continue;
+			if(!com.stricmp(searchmask[k], FS_FileExtension(qc->filenames[i]))) // validate ext
+			{
+				if(!strcmp(qc->filenames[i], headers[0]) || !strcmp(qc->filenames[i], headers[1]))
+					break; //we already have it, just skip
+				newprogs_src = Qrealloc( newprogs_src, j + strlen(qc->filenames[i]) + 2);
+				strncat(newprogs_src, va("%s\n", qc->filenames[i]), strlen(qc->filenames[i]) + 1);
+				j += strlen(qc->filenames[i]) + 2;
+			}
+		}
+	}
+	
 	// add other sources
 	for(i = 0; i < qc->numfilenames; i++)
 	{
-		if(!strcmp(qc->filenames[i], headers[0]) || !strcmp(qc->filenames[i], headers[1]))
-			continue; //we already have it, just skip
-		newprogs_src = Qrealloc( newprogs_src, j + strlen(qc->filenames[i]) + 2);
-		strncat(newprogs_src, va("%s\n", qc->filenames[i]), strlen(qc->filenames[i]) + 1);
-		j += strlen(qc->filenames[i]) + 2;
+		for( k = 2; k < 8; k++)
+		{
+			// skip blank mask
+			if(!strlen(searchmask[k])) continue;
+			if(!com.stricmp(searchmask[k], FS_FileExtension(qc->filenames[i]))) // validate ext
+			{
+				if(!strcmp(qc->filenames[i], headers[0]) || !strcmp(qc->filenames[i], headers[1]))
+					break; //we already have it, just skip
+				newprogs_src = Qrealloc( newprogs_src, j + strlen(qc->filenames[i]) + 2);
+				strncat(newprogs_src, va("%s\n", qc->filenames[i]), strlen(qc->filenames[i]) + 1);
+				j += strlen(qc->filenames[i]) + 2;
+			}
+		}
 	}
-	autoprototype = true;
 	Free( qc ); // free search
 	FS_WriteFile("progs.src", newprogs_src, j );
 

common/studio.c

@@ -567,7 +567,7 @@ void WriteModel( void )
 			}
 			numCmdBytes = BuildTris( model[i]->pmesh[j]->triangle, model[i]->pmesh[j], &pCmdSrc );
 
-			pmesh[j].triindex	= (pData - pStart);
+			pmesh[j].triindex = (pData - pStart);
 			memcpy( pData, pCmdSrc, numCmdBytes );
 			pData += numCmdBytes;
 			

debug.bat

@@ -68,5 +68,5 @@ if exist compile.log del /f /q compile.log
 echo 	     Build succeeded!
 echo Please wait. Xash is now loading
 cd D:\Xash3D\
-xash.exe +map qctest -log -debug -dev 3
+xash.exe +map qctest -log -debug -dev 5
 :done

engine/client/cl_main.c

@@ -1560,7 +1560,8 @@ void CL_Frame( float time )
 	static float	extratime;
 	static float  	lasttimecalled;
 
-	if (dedicated->value) return;
+	if (dedicated->value)
+		return;
 
 	extratime += time;
 

engine/host.c

@@ -109,11 +109,6 @@ void Host_FreeCommon( void )
 	Mem_FreePool( &zonepool );
 }
 
-void Host_DrawLine( vec3_t color, vec3_t from, vec3_t to )
-{
-	if( re ) re->DrawLine( color, from, to);
-}
-
 void Host_InitPhysic( void )
 {
 	static physic_imp_t		pi;
@@ -122,8 +117,6 @@ void Host_InitPhysic( void )
 	// phys callback
 	pi.api_size = sizeof(physic_imp_t);
 	pi.Transform = SV_Transform;
-	pi.GetModelVerts = SV_GetModelVerts;
-	pi.DrawLine = Host_DrawLine;
 
 	Sys_LoadLibrary( &physic_dll );
 
@@ -152,7 +145,7 @@ void Host_InitRender( void )
 
           // studio callbacks
 	ri.StudioEvent = CL_StudioEvent;
-	ri.DrawCollision = pe->DrawCollision;
+	ri.ShowCollision = pe->DrawCollision;
           
 	Sys_LoadLibrary( &render_dll );
 	

engine/server/sv_main.c

@@ -750,7 +750,8 @@ SV_Frame
 void SV_Frame (float time)
 {
 	// if server is not active, do nothing
-	if (!svs.initialized) return;
+	if (!svs.initialized) 
+		return;
 
 	svs.realtime += time;
 
@@ -947,7 +948,7 @@ Only called at xash.exe startup, not for each game
 */
 void SV_Init (void)
 {
-	SV_InitOperatorCommands	();
+	SV_InitOperatorCommands();
 
 	rcon_password = Cvar_Get ("rcon_password", "", 0);
 	Cvar_Get ("skill", "1", 0);

engine/server/sv_save.c

@@ -282,7 +282,7 @@ void Sav_LoadLocals( lump_t *l )
 				SV_LinkEdict( ent );
 				if(ent->progs.sv->movetype == MOVETYPE_PHYSIC)
 				{
-					pe->CreateBody( ent->priv.sv, SV_GetModelPtr(ent), ent->progs.sv->origin, ent->progs.sv->angles );
+					pe->CreateBody( ent->priv.sv, SV_GetModelPtr(ent), ent->progs.sv->origin, ent->progs.sv->angles, ent->progs.sv->solid );
 				}
 			}
 		}

engine/server/sv_spawn.c

@@ -453,7 +453,6 @@ void SV_RunFrame( void )
 
 	// build the playerstate_t structures for all players
 	ClientEndServerFrames ();
-	pe->Update();
 
 	prog->globals.sv->pev = PRVM_EDICT_TO_PROG(prog->edicts);
 	prog->globals.sv->other = PRVM_EDICT_TO_PROG(prog->edicts);

engine/server/sv_utils.c

@@ -113,7 +113,7 @@ void SV_SetModel (edict_t *ent, const char *name)
 
 	if(ent->progs.sv->movetype == MOVETYPE_PHYSIC)
 	{
-		ent->priv.sv->physbody = pe->CreateBody( ent->priv.sv, SV_GetModelPtr(ent), ent->progs.sv->origin, ent->progs.sv->angles );
+		ent->priv.sv->physbody = pe->CreateBody( ent->priv.sv, SV_GetModelPtr(ent), ent->progs.sv->origin, ent->progs.sv->angles, ent->progs.sv->solid );
 	}
 }
 

launch/bsplib/bsplib.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( bsplib );
+Run( bsplib );

launch/bsplib/makefile.nmake

@@ -14,7 +14,7 @@ RES       = $(MAINTARGET).rc
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj bsplib.res
-	$(link) $(OBJS) bsplib.res /out:"bsplib.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) bsplib.res /out:"bsplib.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp $(MAINTARGET).res > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/common/console.c

@@ -369,15 +369,12 @@ void Con_DestroyConsole( void )
 	if(Sys.crash) MsgDev(D_NOTE, "Sys_FreeLibrary: Hold launch.dll for debugging\n" );
 	else MsgDev(D_NOTE, "Sys_FreeLibrary: Unloading launch.dll\n");
 
-	if(Sys.hooked_out) 
-	{
-		Sys_CloseLog();
-		return;
-	}
+	Sys_CloseLog();
+
+	if(Sys.hooked_out) return;
 
 	if ( s_wcd.hWnd )
 	{
-
 		DeleteObject(s_wcd.hbrEditBackground);
 		DeleteObject( s_wcd.hbrErrorBackground);
                     DeleteObject( s_wcd.hfBufferFont );
@@ -386,9 +383,7 @@ void Con_DestroyConsole( void )
 		DestroyWindow( s_wcd.hWnd );
 		s_wcd.hWnd = 0;
 	}
-
 	UnregisterClass (SYSCONSOLE, Sys.hInstance);
-	Sys_CloseLog();
 }
 
 /*

launch/common/launcher.c

@@ -10,10 +10,11 @@
 Base Entry Point
 =================
 */
-DLLEXPORT int CreateAPI( char *funcname )
+DLLEXPORT int CreateAPI( char *funcname, bool console )
 {
 	// memeber name
 	com_strncpy( Sys.progname, funcname, sizeof(Sys.progname));
+	Sys.hooked_out = console; // set mode
 
 	Sys_Init();
 	Sys.Main();

launch/common/parselib.c

@@ -12,6 +12,7 @@ typedef struct
 	byte	*script_p;
 	byte	*end_p;
 	int	line;
+	bool	can_unload;
 } script_t;
 
 // max included scripts
@@ -61,6 +62,9 @@ bool SC_LoadScript( const char *filename, char *buf, int size )
 	script = scriptstack;
 	result = SC_AddScriptToStack( filename, buf, size);
 
+	if(!buf || size <= 0) script->can_unload = true;
+	else script->can_unload = false;
+
 	endofscript = false;
 	tokenready = false;
 	return result;
@@ -68,9 +72,17 @@ bool SC_LoadScript( const char *filename, char *buf, int size )
 
 bool SC_AddScript( const char *filename, char *buf, int size )
 {
+	int result;
+
 	if(!buf || size <= 0)
 		buf = FS_LoadFile (filename, &size );
-	return SC_AddScriptToStack(filename, buf, size);
+
+	result = SC_AddScriptToStack(filename, buf, size);
+
+	if(!buf || size <= 0) script->can_unload = true;
+	else script->can_unload = false;
+
+	return result;
 }
 
 void SC_ResetScript( void )
@@ -117,20 +129,24 @@ skip_whitespace:	// skip whitespace
 	if (script->script_p >= script->end_p)
 		return SC_EndOfScript (newline);
 
-	// ; # // comments
-	if (*script->script_p == ';' || *script->script_p == '#' || ( script->script_p[0] == '/' && script->script_p[1] == '/') )
+	// ; // comments
+	if (*script->script_p == ';' || ( script->script_p[0] == '/' && script->script_p[1] == '/') )
 	{
 		if (!newline) goto line_incomplete;
 
 		// ets++
 		if (*script->script_p == '/') script->script_p++;
-		if (script->script_p[1] == 'T' && script->script_p[2] == 'X')
-			GI.TXcommand = script->script_p[3];//TX#"-style comment (get rid of this)
+		if(*script->script_p == '#' && script->script_p[1] == 'T' && script->script_p[2] == 'X')
+		{
+			GI.TXcommand = script->script_p[3]; // TX#"-style comment
+			Msg("Quark TX command %s\n", GI.TXcommand );
+		}
 		while (*script->script_p++ != '\n')
 		{
 			if (script->script_p >= script->end_p)
 				return SC_EndOfScript (newline);
 		}
+		scriptline = script->line++;
 		goto skip_whitespace;
 	}
 
@@ -207,7 +223,7 @@ skip_whitespace:	// skip whitespace
 	// quake style include & default MSVC style
 	if (!com_strcmp(token, "$include") || !com_strcmp(token, "#include"))
 	{
-		SC_ReadToken (false);
+		SC_ReadToken( false );
 		SC_AddScript(token, NULL, 0 );
 		return SC_ReadToken (newline);
 	}
@@ -231,12 +247,14 @@ bool SC_EndOfScript (bool newline)
 		Sys_Error("%s: line %i is incomplete\n", script->filename, scriptline);
 	}
 
-	if(!com_strcmp (script->filename, "script buffer"))
+	if(!script->can_unload)
 	{
 		endofscript = true;
 		return false;
 	}
 
+	// release script
+	Mem_Free (script->buffer);
 	if(script == scriptstack + 1)
 	{
 		endofscript = true;
@@ -244,10 +262,11 @@ bool SC_EndOfScript (bool newline)
 	}
 
 	script--;
+	token[0] = 0; // clear last token
 	scriptline = script->line;
 	endofscript = true;
 
-	return false;
+	return true;
 }
 
 /*

launch/common/system.c

@@ -827,7 +827,6 @@ long _stdcall Sys_Crash( PEXCEPTION_POINTERS pInfo )
 
 void Sys_Init( void )
 {
-	HANDLE		hStdout;
 	MEMORYSTATUS	lpBuffer;
 	char		dev_level[4];
 
@@ -836,7 +835,6 @@ void Sys_Init( void )
 	GlobalMemoryStatus (&lpBuffer);
 
 	Sys.hInstance = (HINSTANCE)GetModuleHandle( NULL ); // get current hInstance first
-	hStdout = GetStdHandle (STD_OUTPUT_HANDLE); // check for hooked out
 
 	Sys_GetStdAPI();
 	Sys.Init = NullInit;
@@ -849,10 +847,6 @@ void Sys_Init( void )
 	if(FS_CheckParm ("-debug")) Sys.debug = true;
 	if(FS_CheckParm ("-log")) Sys.log_active = true;
 	if(FS_GetParmFromCmdLine("-dev", dev_level )) Sys.developer = com_atoi(dev_level);
-
-	// ugly hack to get pipeline state, but it works
-	if(abs((short)hStdout) < 100) Sys.hooked_out = false;
-	else Sys.hooked_out = true;
 	FS_UpdateEnvironmentVariables(); // set working directory
 	SetErrorMode( SEM_FAILCRITICALERRORS );	// no abort/retry/fail errors
 

launch/imglib/imglib.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( imglib );
+Run( imglib );

launch/imglib/makefile.nmake

@@ -13,7 +13,7 @@ OBJS       = $(MAINTARGET).obj
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj 
-	$(link) $(OBJS) /out:"imglib.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) /out:"imglib.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/paklib/makefile.nmake

@@ -13,7 +13,7 @@ OBJS       = $(MAINTARGET).obj
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj 
-	$(link) $(OBJS) /out:"paklib.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) /out:"paklib.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/paklib/paklib.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( paklib );
+Run( paklib );

launch/qcclib/makefile.nmake

@@ -14,7 +14,7 @@ RES       = $(MAINTARGET).rc
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj qcclib.res
-	$(link) $(OBJS) qcclib.res /out:"qcclib.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) qcclib.res /out:"qcclib.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp $(MAINTARGET).res > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/qcclib/qcclib.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( qcclib );
+Run( qcclib );

launch/roqlib/makefile.nmake

@@ -13,7 +13,7 @@ OBJS       = $(MAINTARGET).obj
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj 
-	$(link) $(OBJS) /out:"roqlib.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) /out:"roqlib.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/roqlib/roqlib.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( roqlib );
+Run( roqlib );

launch/rundll.h

@@ -18,11 +18,14 @@
 #pragma comment(linker,"/MERGE:.rdata=.text")
 #pragma comment(linker,"/FILEALIGN:512 /SECTION:.text, EWRX /IGNORE:4078")
 
+#define Run( prog ) int main(int argc, char **argv)\
+{ return CreateMain32()( #prog, TRUE ); }
+
 #define Run32( prog ) int WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow)\
-{ return CreateMain32()( #prog ); }
+{ return CreateMain32()( #prog, FALSE ); }
 
 // engine entry point format
-typedef int (*winmain_t)( char *funcname );
+typedef int (*winmain_t)( char *funcname, int console );
 char szSearch[ 5 ][ 1024 ];
 char szFsPath[ 4096 ];
 HINSTANCE	hmain;

launch/sprite/makefile.nmake

@@ -13,7 +13,7 @@ OBJS       = $(MAINTARGET).obj
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj 
-	$(link) $(OBJS) /out:"spritegen.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) /out:"spritegen.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/sprite/spritegen.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( sprite );
+Run( sprite );

launch/studio/makefile.nmake

@@ -13,7 +13,7 @@ OBJS       = $(MAINTARGET).obj
 default: $(MAINTARGET).exe
 
 $(MAINTARGET).exe: $(MAINTARGET).obj 
-	$(link) $(OBJS) /out:"studiomdl.exe" /subsystem:windows /opt:nowin98 /nodefaultlib:"libc.lib"
+	$(link) $(OBJS) /out:"studiomdl.exe" /subsystem:console /opt:nowin98 /nodefaultlib:"libc.lib"
 	@del $(MAINTARGET).obj $(MAINTARGET).lib $(MAINTARGET).exp > nul
 	@copy $(MAINTARGET).exe D:\Xash3D\bin\$(MAINTARGET).exe
 	@del $(MAINTARGET).exe

launch/studio/studiomdl.c

@@ -4,4 +4,4 @@
 
 #include "../rundll.h"
 
-Run32( studio );
+Run( studio );

physic/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -1,38 +0,0 @@
-
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-
-//
-// btAxisSweep3
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// 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 "btAxisSweep3.h"
-
-#include <assert.h>
-
-btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
-:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
-{
-	// 1 handle is reserved as sentinel
-	btAssert(maxHandles > 1 && maxHandles < 32767);
-
-}
-
-
-bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
-:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
-{
-	// 1 handle is reserved as sentinel
-	btAssert(maxHandles > 1 && maxHandles < 2147483647);
-}

physic/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -1,858 +0,0 @@
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// btAxisSweep3.h
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// 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 AXIS_SWEEP_3_H
-#define AXIS_SWEEP_3_H
-
-#include "LinearMath/btPoint3.h"
-#include "LinearMath/btVector3.h"
-#include "btOverlappingPairCache.h"
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-
-
-//#define DEBUG_BROADPHASE 1
-
-/// btAxisSweep3Internal is an internal template class that implements sweep and prune.
-/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.
-template <typename BP_FP_INT_TYPE>
-class btAxisSweep3Internal : public btBroadphaseInterface
-{
-protected:
-
-	BP_FP_INT_TYPE	m_bpHandleMask;
-	BP_FP_INT_TYPE	m_handleSentinel;
-
-public:
-	
-
-	class Edge
-	{
-	public:
-		BP_FP_INT_TYPE m_pos;			// low bit is min/max
-		BP_FP_INT_TYPE m_handle;
-
-		BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
-	};
-
-public:
-	ATTRIBUTE_ALIGNED16(class) Handle : public btBroadphaseProxy
-	{
-	public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-		// indexes into the edge arrays
-		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
-//		BP_FP_INT_TYPE m_uniqueId;
-		BP_FP_INT_TYPE m_pad;
-		
-		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
-	
-		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
-		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
-	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
-
-	
-protected:
-	btPoint3 m_worldAabbMin;						// overall system bounds
-	btPoint3 m_worldAabbMax;						// overall system bounds
-
-	btVector3 m_quantize;						// scaling factor for quantization
-
-	BP_FP_INT_TYPE m_numHandles;						// number of active handles
-	BP_FP_INT_TYPE m_maxHandles;						// max number of handles
-	Handle* m_pHandles;						// handles pool
-	BP_FP_INT_TYPE m_firstFreeHandle;		// free handles list
-
-	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
-
-	btOverlappingPairCache* m_pairCache;
-	bool	m_ownsPairCache;
-
-	int	m_invalidPair;
-
-	// allocation/deallocation
-	BP_FP_INT_TYPE allocHandle();
-	void freeHandle(BP_FP_INT_TYPE handle);
-	
-
-	bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
-
-#ifdef DEBUG_BROADPHASE
-	void debugPrintAxis(int axis,bool checkCardinality=true);
-#endif //DEBUG_BROADPHASE
-
-	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
-	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
-
-	void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
-
-	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
-
-public:
-
-	btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
-
-	virtual	~btAxisSweep3Internal();
-
-
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-	
-	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
-	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
-	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
-
-	void	processAllOverlappingPairs(btOverlapCallback* callback);
-
-	//Broadphase Interface
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	btOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_pairCache;
-	}
-	const btOverlappingPairCache*	getOverlappingPairCache() const
-	{
-		return m_pairCache;
-	}
-
-
-};
-
-////////////////////////////////////////////////////////////////////
-
-
-
-
-#ifdef DEBUG_BROADPHASE
-#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality)
-{
-	int numEdges = m_pHandles[0].m_maxEdges[axis];
-	printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
-
-	int i;
-	for (i=0;i<numEdges+1;i++)
-	{
-		Edge* pEdge = m_pEdges[axis] + i;
-		Handle* pHandlePrev = getHandle(pEdge->m_handle);
-		int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
-		char beginOrEnd;
-		beginOrEnd=pEdge->IsMax()?'E':'B';
-		printf("	[%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
-	}
-
-	if (checkCardinality)
-		assert(numEdges == m_numHandles*2+1);
-}
-#endif //DEBUG_BROADPHASE
-
-template <typename BP_FP_INT_TYPE>
-btBroadphaseProxy*	btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
-{
-		(void)shapeType;
-		BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher);
-		
-		Handle* handle = getHandle(handleId);
-				
-		return handle;
-}
-
-
-
-template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	removeHandle(handle->m_uniqueId,dispatcher);
-}
-
-template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	updateHandle(handle->m_uniqueId,aabbMin,aabbMax,dispatcher);
-
-}
-
-
-
-
-
-template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE maxHandles, btOverlappingPairCache* pairCache )
-:m_bpHandleMask(handleMask),
-m_handleSentinel(handleSentinel),
-m_pairCache(pairCache),
-m_ownsPairCache(false),
-m_invalidPair(0)
-{
-	if (!m_pairCache)
-	{
-		void* ptr = btAlignedAlloc(sizeof(btOverlappingPairCache),16);
-		m_pairCache = new(ptr) btOverlappingPairCache();
-		m_ownsPairCache = true;
-	}
-
-	//assert(bounds.HasVolume());
-
-	// init bounds
-	m_worldAabbMin = worldAabbMin;
-	m_worldAabbMax = worldAabbMax;
-
-	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
-
-	BP_FP_INT_TYPE	maxInt = m_handleSentinel;
-
-	m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
-
-	// allocate handles buffer and put all handles on free list
-	void* ptr = btAlignedAlloc(sizeof(Handle)*maxHandles,16);
-	m_pHandles = new(ptr) Handle[maxHandles];
-	m_maxHandles = maxHandles;
-	m_numHandles = 0;
-
-	// handle 0 is reserved as the null index, and is also used as the sentinel
-	m_firstFreeHandle = 1;
-	{
-		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
-			m_pHandles[i].SetNextFree(i + 1);
-		m_pHandles[maxHandles - 1].SetNextFree(0);
-	}
-
-	{
-		// allocate edge buffers
-		for (int i = 0; i < 3; i++)
-		{
-			void* ptr = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16);
-			m_pEdges[i] = new(ptr) Edge[maxHandles * 2];
-		}
-	}
-	//removed overlap management
-
-	// make boundary sentinels
-	
-	m_pHandles[0].m_clientObject = 0;
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_minEdges[axis] = 0;
-		m_pHandles[0].m_maxEdges[axis] = 1;
-
-		m_pEdges[axis][0].m_pos = 0;
-		m_pEdges[axis][0].m_handle = 0;
-		m_pEdges[axis][1].m_pos = m_handleSentinel;
-		m_pEdges[axis][1].m_handle = 0;
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
-	}
-
-}
-
-template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
-{
-	
-	for (int i = 2; i >= 0; i--)
-	{
-		btAlignedFree(m_pEdges[i]);
-	}
-	btAlignedFree(m_pHandles);
-
-	if (m_ownsPairCache)
-	{
-		btAlignedFree(m_pairCache);
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
-{
-	btPoint3 clampedPoint(point);
-	
-
-
-	clampedPoint.setMax(m_worldAabbMin);
-	clampedPoint.setMin(m_worldAabbMax);
-
-	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
-	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
-	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
-	
-}
-
-
-template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
-{
-	assert(m_firstFreeHandle);
-
-	BP_FP_INT_TYPE handle = m_firstFreeHandle;
-	m_firstFreeHandle = getHandle(handle)->GetNextFree();
-	m_numHandles++;
-
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
-{
-	assert(handle > 0 && handle < m_maxHandles);
-
-	getHandle(handle)->SetNextFree(m_firstFreeHandle);
-	m_firstFreeHandle = handle;
-
-	m_numHandles--;
-}
-
-
-template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
-{
-	// quantize the bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// allocate a handle
-	BP_FP_INT_TYPE handle = allocHandle();
-	
-
-	Handle* pHandle = getHandle(handle);
-	
-	pHandle->m_uniqueId = handle;
-	//pHandle->m_pOverlaps = 0;
-	pHandle->m_clientObject = pOwner;
-	pHandle->m_collisionFilterGroup = collisionFilterGroup;
-	pHandle->m_collisionFilterMask = collisionFilterMask;
-
-	// compute current limit of edge arrays
-	BP_FP_INT_TYPE limit = m_numHandles * 2;
-
-	
-	// insert new edges just inside the max boundary edge
-	for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
-	{
-
-		m_pHandles[0].m_maxEdges[axis] += 2;
-
-		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
-
-		m_pEdges[axis][limit - 1].m_pos = min[axis];
-		m_pEdges[axis][limit - 1].m_handle = handle;
-
-		m_pEdges[axis][limit].m_pos = max[axis];
-		m_pEdges[axis][limit].m_handle = handle;
-
-		pHandle->m_minEdges[axis] = limit - 1;
-		pHandle->m_maxEdges[axis] = limit;
-	}
-
-	// now sort the new edges to their correct position
-	sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false);
-	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false);
-	sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false);
-	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false);
-	sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true);
-	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true);
-
-
-	return handle;
-}
-
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher)
-{
-
-	Handle* pHandle = getHandle(handle);
-
-	//explicitly remove the pairs containing the proxy
-	//we could do it also in the sortMinUp (passing true)
-	//todo: compare performance
-	m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
-
-
-	// compute current limit of edge arrays
-	int limit = m_numHandles * 2;
-	
-	int axis;
-
-	for (axis = 0;axis<3;axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] -= 2;
-	}
-
-	// remove the edges by sorting them up to the end of the list
-	for ( axis = 0; axis < 3; axis++)
-	{
-		Edge* pEdges = m_pEdges[axis];
-		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = m_handleSentinel;
-
-		sortMaxUp(axis,max,dispatcher,false);
-
-
-		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
-		pEdges[i].m_pos = m_handleSentinel;
-
-
-		sortMinUp(axis,i,dispatcher,false);
-
-		pEdges[limit-1].m_handle = 0;
-		pEdges[limit-1].m_pos = m_handleSentinel;
-		
-#ifdef DEBUG_BROADPHASE
-			debugPrintAxis(axis,false);
-#endif //DEBUG_BROADPHASE
-
-
-	}
-
-
-	// free the handle
-	freeHandle(handle);
-
-	
-}
-
-extern int gOverlappingPairs;
-#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-#ifdef USE_LAZY_REMOVAL
-
-	if (m_ownsPairCache)
-	{
-	
-		btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-
-		
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
-		{
-		
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;//callback->processOverlap(pair);
-				} else
-				{
-					needsRemoval = true;
-				}
-			} else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-			
-			if (needsRemoval)
-			{
-				m_pairCache->cleanOverlappingPair(pair,dispatcher);
-
-		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-		//		m_overlappingPairArray.pop_back();
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				m_invalidPair++;
-				gOverlappingPairs--;
-			} 
-			
-		}
-
-	///if you don't like to skip the invalid pairs in the array, execute following code:
-	#define CLEAN_INVALID_PAIRS 1
-	#ifdef CLEAN_INVALID_PAIRS
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-	#endif//CLEAN_INVALID_PAIRS
-		
-		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
-	}
-#endif //USE_LAZY_REMOVAL
-
-
-	
-
-}
-
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-{
-	const Handle* pHandleA = static_cast<Handle*>(proxy0);
-	const Handle* pHandleB = static_cast<Handle*>(proxy1);
-	
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	for (int axis = 0; axis < 3; axis++)
-	{ 
-		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
-			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
-		{ 
-			return false; 
-		} 
-	} 
-	return true;
-}
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
-{
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	for (int axis = 0; axis < 3; axis++)
-	{ 
-		if (axis != ignoreAxis)
-		{
-			if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
-				pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
-			{ 
-				return false; 
-			} 
-		}
-	} 
-
-	//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
-
-	/*for (int axis = 0; axis < 3; axis++)
-	{
-		if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
-			m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
-		{
-			return false;
-		}
-	}
-	*/
-
-	return true;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
-{
-//	assert(bounds.IsFinite());
-	//assert(bounds.HasVolume());
-
-	Handle* pHandle = getHandle(handle);
-
-	// quantize the new bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// update changed edges
-	for (int axis = 0; axis < 3; axis++)
-	{
-		BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
-		BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
-
-		int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
-		int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
-
-		m_pEdges[axis][emin].m_pos = min[axis];
-		m_pEdges[axis][emax].m_pos = max[axis];
-
-		// expand (only adds overlaps)
-		if (dmin < 0)
-			sortMinDown(axis, emin,dispatcher,true);
-
-		if (dmax > 0)
-			sortMaxUp(axis, emax,dispatcher,true);
-
-		// shrink (only removes overlaps)
-		if (dmin > 0)
-			sortMinUp(axis, emin,dispatcher,true);
-
-		if (dmax < 0)
-			sortMaxDown(axis, emax,dispatcher,true);
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-	}
-
-	
-}
-
-
-
-
-// sorting a min edge downwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (pPrev->IsMax())
-		{
-			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
-			{
-				m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
-
-				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_maxEdges[axis]++;
-		}
-		else
-			pHandlePrev->m_minEdges[axis]++;
-
-		pHandleEdge->m_minEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
-}
-
-// sorting a min edge upwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (pNext->IsMax())
-		{
-#ifndef USE_LAZY_REMOVAL
-			// if next edge is maximum remove any overlap between the two handles
-			if (updateOverlaps)
-			{
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pNext->m_handle);
-
-				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);	
-			}
-#endif //USE_LAZY_REMOVAL
-
-			// update edge reference in other handle
-			pHandleNext->m_maxEdges[axis]--;
-		}
-		else
-			pHandleNext->m_minEdges[axis]--;
-
-		pHandleEdge->m_minEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-
-
-}
-
-// sorting a max edge downwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (!pPrev->IsMax())
-		{
-			// if previous edge was a minimum remove any overlap between the two handles
-			if (updateOverlaps)
-			{
-				//this is done during the overlappingpairarray iteration/narrowphase collision
-#ifndef USE_LAZY_REMOVAL
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pPrev->m_handle);
-				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);
-			
-#endif //USE_LAZY_REMOVAL		
-
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;;
-		}
-		else
-			pHandlePrev->m_maxEdges[axis]++;
-
-		pHandleEdge->m_maxEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-	
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-
-}
-
-// sorting a max edge upwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (!pNext->IsMax())
-		{
-			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext))
-			{
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pNext->m_handle);
-				m_pairCache->addOverlappingPair(handle0,handle1);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_minEdges[axis]--;
-		}
-		else
-			pHandleNext->m_maxEdges[axis]--;
-
-		pHandleEdge->m_maxEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-	
-}
-
-
-
-////////////////////////////////////////////////////////////////////
-
-
-/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
-/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
-/// For large worlds and many objects, use bt32BitAxisSweep3 instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
-class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
-{
-public:
-
-	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
-
-};
-
-/// bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
-/// This comes at the cost of more memory per handle, and a bit slower performance.
-/// It uses arrays rather then lists for storage of the 3 axis.
-class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
-{
-public:
-
-	bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
-
-};
-
-#endif
-

physic/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h

@@ -1,46 +0,0 @@
-/*
-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.
-*/
-
-#ifndef		BROADPHASE_INTERFACE_H
-#define 	BROADPHASE_INTERFACE_H
-
-
-
-struct btDispatcherInfo;
-class btDispatcher;
-#include "btBroadphaseProxy.h"
-class btOverlappingPairCache;
-
-#include "LinearMath/btVector3.h"
-
-///BroadphaseInterface for aabb-overlapping object pairs
-class btBroadphaseInterface
-{
-public:
-	virtual ~btBroadphaseInterface() {}
-
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher) =0;
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
-	
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
-
-	virtual	btOverlappingPairCache*	getOverlappingPairCache()=0;
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const =0;
-
-};
-
-#endif //BROADPHASE_INTERFACE_H

physic/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp

@@ -1,17 +0,0 @@
-/*
-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 "btBroadphaseProxy.h"
-

physic/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -1,233 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BROADPHASE_PROXY_H
-#define BROADPHASE_PROXY_H
-
-#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
-#include "LinearMath/btAlignedAllocator.h"
-
-
-/// btDispatcher uses these types
-/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
-/// to facilitate type checking
-enum BroadphaseNativeTypes
-{
-// polyhedral convex shapes
-	BOX_SHAPE_PROXYTYPE,
-	TRIANGLE_SHAPE_PROXYTYPE,
-	TETRAHEDRAL_SHAPE_PROXYTYPE,
-	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
-	CONVEX_HULL_SHAPE_PROXYTYPE,
-//implicit convex shapes
-IMPLICIT_CONVEX_SHAPES_START_HERE,
-	SPHERE_SHAPE_PROXYTYPE,
-	MULTI_SPHERE_SHAPE_PROXYTYPE,
-	CAPSULE_SHAPE_PROXYTYPE,
-	CONE_SHAPE_PROXYTYPE,
-	CONVEX_SHAPE_PROXYTYPE,
-	CYLINDER_SHAPE_PROXYTYPE,
-	UNIFORM_SCALING_SHAPE_PROXYTYPE,
-	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
-	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
-//concave shapes
-CONCAVE_SHAPES_START_HERE,
-	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
-	TRIANGLE_MESH_SHAPE_PROXYTYPE,
-	///used for demo integration FAST/Swift collision library and Bullet
-	FAST_CONCAVE_MESH_PROXYTYPE,
-	//terrain
-	TERRAIN_SHAPE_PROXYTYPE,
-///Used for GIMPACT Trimesh integration
-	GIMPACT_SHAPE_PROXYTYPE,
-	
-	EMPTY_SHAPE_PROXYTYPE,
-	STATIC_PLANE_PROXYTYPE,
-CONCAVE_SHAPES_END_HERE,
-
-	COMPOUND_SHAPE_PROXYTYPE,
-
-	MAX_BROADPHASE_COLLISION_TYPES
-};
-
-
-///btBroadphaseProxy
-//ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
-struct btBroadphaseProxy
-{
-
-BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	///optional filtering to cull potential collisions
-	enum CollisionFilterGroups
-	{
-	        DefaultFilter = 1,
-	        StaticFilter = 2,
-	        KinematicFilter = 4,
-	        DebrisFilter = 8,
-			SensorTrigger = 16,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
-	};
-
-	//Usually the client btCollisionObject or Rigidbody class
-	void*	m_clientObject;
-
-	///in the case of btMultiSapBroadphase, we store the collifionFilterGroup/Mask in the m_multiSapParentProxy
-	union
-	{
-		struct
-		{
-			short int m_collisionFilterGroup;
-			short int m_collisionFilterMask;
-		};
-
-		void*	m_multiSapParentProxy;
-
-	};
-
-	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
-	int m_unusedPadding; //making the structure 16 bytes, better for alignment etc.
-
-	SIMD_FORCE_INLINE int getUid()
-	{
-		return m_uniqueId;//(int)this;
-	}
-
-	//used for memory pools
-	btBroadphaseProxy() :m_clientObject(0){}
-
-	btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
-		:m_clientObject(userPtr),
-		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask)
-	{
-	}
-
-	
-
-	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
-	{
-		return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
-	}
-
-	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
-	{
-		return (proxyType < CONCAVE_SHAPES_START_HERE);
-	}
-
-	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
-	{
-		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
-			(proxyType < CONCAVE_SHAPES_END_HERE));
-	}
-	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
-	{
-		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
-	}
-	static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
-	{
-		return (proxyType == STATIC_PLANE_PROXYTYPE);
-	}
-	
-}
-;
-
-class btCollisionAlgorithm;
-
-struct btBroadphaseProxy;
-
-
-
-/// contains a pair of aabb-overlapping objects
-ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
-{
-	btBroadphasePair ()
-		:
-	m_pProxy0(0),
-		m_pProxy1(0),
-		m_algorithm(0),
-		m_userInfo(0)
-	{
-	}
-
-BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btBroadphasePair(const btBroadphasePair& other)
-		:		m_pProxy0(other.m_pProxy0),
-				m_pProxy1(other.m_pProxy1),
-				m_algorithm(other.m_algorithm),
-				m_userInfo(other.m_userInfo)
-	{
-	}
-	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
-	{
-
-		//keep them sorted, so the std::set operations work
-		if (&proxy0 < &proxy1)
-        { 
-            m_pProxy0 = &proxy0; 
-            m_pProxy1 = &proxy1; 
-        }
-        else 
-        { 
-			m_pProxy0 = &proxy1; 
-            m_pProxy1 = &proxy0; 
-        }
-
-		m_algorithm = 0;
-		m_userInfo = 0;
-
-	}
-	
-	btBroadphaseProxy* m_pProxy0;
-	btBroadphaseProxy* m_pProxy1;
-	
-	mutable btCollisionAlgorithm* m_algorithm;
-	mutable void* m_userInfo;
-
-};
-
-/*
-//comparison for set operation, see Solid DT_Encounter
-SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
-{ 
-    return a.m_pProxy0 < b.m_pProxy0 || 
-        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
-}
-*/
-
-
-
-class btBroadphasePairSortPredicate
-{
-	public:
-
-		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
-		{
-			 return a.m_pProxy0 > b.m_pProxy0 || 
-				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
-				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
-		}
-};
-
-
-SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
-{
-	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
-}
-
-
-#endif //BROADPHASE_PROXY_H
-

physic/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp

@@ -1,23 +0,0 @@
-/*
-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 "btCollisionAlgorithm.h"
-#include "btDispatcher.h"
-
-btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-{
-	m_dispatcher = ci.m_dispatcher1;
-}
-

physic/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h

@@ -1,77 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION_ALGORITHM_H
-#define COLLISION_ALGORITHM_H
-
-#include "LinearMath/btScalar.h"
-
-struct btBroadphaseProxy;
-class btDispatcher;
-class btManifoldResult;
-class btCollisionObject;
-struct btDispatcherInfo;
-class	btPersistentManifold;
-
-
-struct btCollisionAlgorithmConstructionInfo
-{
-	btCollisionAlgorithmConstructionInfo()
-		:m_dispatcher1(0),
-		m_manifold(0)
-	{
-	}
-	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
-		:m_dispatcher1(dispatcher)
-	{
-		(void)temp;
-	}
-
-	btDispatcher*	m_dispatcher1;
-	btPersistentManifold*	m_manifold;
-
-	int	getDispatcherId();
-
-};
-
-
-///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
-///It is persistent over frames
-class btCollisionAlgorithm
-{
-
-protected:
-
-	btDispatcher*	m_dispatcher;
-
-protected:
-	int	getDispatcherId();
-	
-public:
-
-	btCollisionAlgorithm() {};
-
-	btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	virtual ~btCollisionAlgorithm() {};
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
-
-};
-
-
-#endif //COLLISION_ALGORITHM_H

physic/BulletCollision/BroadphaseCollision/btDispatcher.cpp

@@ -1,22 +0,0 @@
-/*
-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 "btDispatcher.h"
-
-btDispatcher::~btDispatcher()
-{
-
-}
-

physic/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -1,99 +0,0 @@
-/*
-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.
-*/
-
-#ifndef _DISPATCHER_H
-#define _DISPATCHER_H
-
-#include "LinearMath/btScalar.h"
-
-class btCollisionAlgorithm;
-struct btBroadphaseProxy;
-class btRigidBody;
-class	btCollisionObject;
-class btOverlappingPairCache;
-
-
-class btPersistentManifold;
-class btStackAlloc;
-
-struct btDispatcherInfo
-{
-	enum DispatchFunc
-	{
-		DISPATCH_DISCRETE = 1,
-		DISPATCH_CONTINUOUS
-	};
-	btDispatcherInfo()
-		:m_timeStep(btScalar(0.)),
-		m_stepCount(0),
-		m_dispatchFunc(DISPATCH_DISCRETE),
-		m_timeOfImpact(btScalar(1.)),
-		m_useContinuous(false),
-		m_debugDraw(0),
-		m_enableSatConvex(false),
-		m_enableSPU(false),
-		m_stackAllocator(0)
-	{
-
-	}
-	btScalar	m_timeStep;
-	int		m_stepCount;
-	int		m_dispatchFunc;
-	btScalar	m_timeOfImpact;
-	bool	m_useContinuous;
-	class btIDebugDraw*	m_debugDraw;
-	bool	m_enableSatConvex;
-	bool	m_enableSPU;
-	btStackAlloc*	m_stackAllocator;
-	
-};
-
-/// btDispatcher can be used in combination with broadphase to dispatch overlapping pairs.
-/// For example for pairwise collision detection or user callbacks (game logic).
-class btDispatcher
-{
-
-
-public:
-	virtual ~btDispatcher() ;
-
-	virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
-
-	virtual btPersistentManifold*	getNewManifold(void* body0,void* body1)=0;
-
-	virtual void releaseManifold(btPersistentManifold* manifold)=0;
-
-	virtual void clearManifold(btPersistentManifold* manifold)=0;
-
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
-
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
-
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)=0;
-
-	virtual int getNumManifolds() const = 0;
-
-	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
-
-	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
-
-	virtual	void* allocateCollisionAlgorithm(int size) = 0;
-
-	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
-
-};
-
-
-#endif //_DISPATCHER_H

physic/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp

@@ -1,201 +0,0 @@
-/*
-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 "btMultiSapBroadphase.h"
-
-#include "btSimpleBroadphase.h"
-#include "LinearMath/btAabbUtil2.h"
-
-///	btSapBroadphaseArray	m_sapBroadphases;
-
-///	btOverlappingPairCache*	m_overlappingPairs;
-extern int gOverlappingPairs;
-
-btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
-:m_overlappingPairs(pairCache),
-m_ownsPairCache(false),
-m_invalidPair(0)
-{
-	if (!m_overlappingPairs)
-	{
-		m_ownsPairCache = true;
-		void* mem = btAlignedAlloc(sizeof(btOverlappingPairCache),16);
-		m_overlappingPairs = new (mem)btOverlappingPairCache();
-	}
-
-	struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
-	{
-		virtual ~btMultiSapOverlapFilterCallback()
-		{}
-		// return true when pairs need collision
-		virtual bool	needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
-		{
-			btMultiSapBroadphase::btMultiSapProxy* multiSapProxy0 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
-			btMultiSapBroadphase::btMultiSapProxy* multiSapProxy1 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
-			
-			bool collides = (multiSapProxy0->m_collisionFilterGroup & multiSapProxy1->m_collisionFilterMask) != 0;
-			collides = collides && (multiSapProxy1->m_collisionFilterGroup & multiSapProxy0->m_collisionFilterMask);
-	
-			return collides;
-		}
-	};
-
-	m_filterCallback = new btMultiSapOverlapFilterCallback();
-
-	m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
-
-	m_simpleBroadphase = new  btSimpleBroadphase(maxProxies,m_overlappingPairs);
-}
-
-btMultiSapBroadphase::~btMultiSapBroadphase()
-{
-	if (m_ownsPairCache)
-	{
-		btAlignedFree(m_overlappingPairs);
-	}
-}
-
-btBroadphaseProxy*	btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
-{
-	btMultiSapProxy* proxy = new btMultiSapProxy(aabbMin,  aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
-	m_multiSapProxies.push_back(proxy);
-
-	///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
-	///this is needed to be able to calculate the aabb overlap
-	btBroadphaseProxy* simpleProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask, dispatcher);
-	simpleProxy->m_multiSapParentProxy = proxy;
-
-	btChildProxy* childProxyRef = new btChildProxy();
-	childProxyRef->m_proxy = simpleProxy;
-	childProxyRef->m_childBroadphase = m_simpleBroadphase;
-	proxy->m_childProxies.push_back(childProxyRef);
-
-	///this should deal with inserting/removal into child broadphases
-	setAabb(proxy,aabbMin,aabbMax,dispatcher);
-	return proxy;
-}
-
-void	btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
-{
-	///not yet
-	btAssert(0);
-
-}
-void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
-{
-	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
-	multiProxy->m_aabbMin = aabbMin;
-	multiProxy->m_aabbMax = aabbMax;
-
-	for (int i=0;i<multiProxy->m_childProxies.size();i++)
-	{
-		btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
-		childProxyRef->m_childBroadphase->setAabb(childProxyRef->m_proxy,aabbMin,aabbMax,dispatcher);
-	}
-
-}
-	
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-void	btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
-
-#ifndef USE_HASH_PAIRCACHE
-
-	btBroadphasePairArray&	overlappingPairArray = m_overlappingPairs->getOverlappingPairArray();
-	
-	//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-	overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-	overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-	m_invalidPair = 0;
-
-
-	btBroadphasePair previousPair;
-	previousPair.m_pProxy0 = 0;
-	previousPair.m_pProxy1 = 0;
-	previousPair.m_algorithm = 0;
-	
-	int i;
-
-	for (i=0;i<overlappingPairArray.size();i++)
-	{
-	
-		btBroadphasePair& pair = overlappingPairArray[i];
-
-		bool isDuplicate = (pair == previousPair);
-
-		previousPair = pair;
-
-		bool needsRemoval = false;
-
-		if (!isDuplicate)
-		{
-			bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
-
-			if (hasOverlap)
-			{
-				needsRemoval = false;//callback->processOverlap(pair);
-			} else
-			{
-				needsRemoval = true;
-			}
-		} else
-		{
-			//remove duplicate
-			needsRemoval = true;
-			//should have no algorithm
-			btAssert(!pair.m_algorithm);
-		}
-		
-		if (needsRemoval)
-		{
-			m_overlappingPairs->cleanOverlappingPair(pair,dispatcher);
-
-	//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-	//		m_overlappingPairArray.pop_back();
-			pair.m_pProxy0 = 0;
-			pair.m_pProxy1 = 0;
-			m_invalidPair++;
-			gOverlappingPairs--;
-		} 
-		
-	}
-
-///if you don't like to skip the invalid pairs in the array, execute following code:
-#define CLEAN_INVALID_PAIRS 1
-#ifdef CLEAN_INVALID_PAIRS
-
-	//perform a sort, to sort 'invalid' pairs to the end
-	overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-	overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-	m_invalidPair = 0;
-#endif//CLEAN_INVALID_PAIRS
-
-#endif //USE_HASH_PAIRCACHE
-
-}
-
-
-bool	btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
-{
-		btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
-		btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
-
-		return	TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
-			multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
-		
-}

physic/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h

@@ -1,119 +0,0 @@
-/*
-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.
-*/
-#ifndef BT_MULTI_SAP_BROADPHASE
-#define BT_MULTI_SAP_BROADPHASE
-
-#include "btBroadphaseInterface.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btOverlappingPairCache.h"
-
-class btAxisSweep3;
-class btSimpleBroadphase;
-
-
-typedef btAlignedObjectArray<btAxisSweep3*> btSapBroadphaseArray;
-
-///multi SAP broadphase
-///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
-///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
-class btMultiSapBroadphase :public btBroadphaseInterface
-{
-	btSapBroadphaseArray	m_sapBroadphases;
-	
-	btSimpleBroadphase*		m_simpleBroadphase;
-
-	btOverlappingPairCache*	m_overlappingPairs;
-
-	bool					m_ownsPairCache;
-	
-	btOverlapFilterCallback*	m_filterCallback;
-
-	int			m_invalidPair;
-
-	struct	btChildProxy
-	{
-		btBroadphaseProxy*		m_proxy;
-		btBroadphaseInterface*	m_childBroadphase;
-	};
-
-public:
-
-	struct	btMultiSapProxy	: public btBroadphaseProxy
-	{
-
-		///array with all the entries that this proxy belongs to
-		btAlignedObjectArray<btChildProxy*> m_childProxies;
-		btVector3	m_aabbMin;
-		btVector3	m_aabbMax;
-
-		int	m_shapeType;
-		void*	m_userPtr;
-		short int	m_collisionFilterGroup;
-		short int	m_collisionFilterMask;
-
-		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
-			:m_aabbMin(aabbMin),
-			m_aabbMax(aabbMax),
-			m_shapeType(shapeType),
-			m_userPtr(userPtr),
-			m_collisionFilterGroup(collisionFilterGroup),
-			m_collisionFilterMask(collisionFilterMask)
-		{
-
-		}
-
-		
-	};
-
-protected:
-
-	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
-
-public:
-
-	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
-
-	btSapBroadphaseArray	getBroadphaseArray()
-	{
-		return m_sapBroadphases;
-	}
-
-	const btSapBroadphaseArray	getBroadphaseArray() const
-	{
-		return m_sapBroadphases;
-	}
-
-	virtual ~btMultiSapBroadphase();
-
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher);
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	virtual	btOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_overlappingPairs;
-	}
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
-	{
-		return m_overlappingPairs;
-	}
-};
-
-#endif //BT_MULTI_SAP_BROADPHASE

physic/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -1,474 +0,0 @@
-
-/*
-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 "btOverlappingPairCache.h"
-
-#include "btDispatcher.h"
-#include "btCollisionAlgorithm.h"
-
-int	gOverlappingPairs = 0;
-
-int gRemovePairs =0;
-int gAddedPairs =0;
-int gFindPairs =0;
-
-btOverlappingPairCache::btOverlappingPairCache():
-	m_overlapFilterCallback(0),
-	m_blockedForChanges(false)
-{
-	int initialAllocatedSize= 2;
-	m_overlappingPairArray.reserve(initialAllocatedSize);
-#ifdef USE_HASH_PAIRCACHE
-	growTables();
-#endif //USE_HASH_PAIRCACHE
-}
-
-
-btOverlappingPairCache::~btOverlappingPairCache()
-{
-	//todo/test: show we erase/delete data, or is it automatic
-}
-
-void	btOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
-{
-	if (pair.m_algorithm)
-	{
-		{
-			pair.m_algorithm->~btCollisionAlgorithm();
-			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm=0;
-		}
-	}
-}
-
-
-void	btOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
-{
-
-	class	CleanPairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache*	m_pairCache;
-		btDispatcher* m_dispatcher;
-
-	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
-			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache),
-			m_dispatcher(dispatcher)
-		{
-		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
-		{
-			if ((pair.m_pProxy0 == m_cleanProxy) ||
-				(pair.m_pProxy1 == m_cleanProxy))
-			{
-				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
-			}
-			return false;
-		}
-		
-	};
-
-	CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
-	processAllOverlappingPairs(&cleanPairs,dispatcher);
-
-}
-
-void	btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
-{
-
-	class	RemovePairCallback : public btOverlapCallback
-	{
-		btBroadphaseProxy* m_obsoleteProxy;
-
-	public:
-		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			:m_obsoleteProxy(obsoleteProxy)
-		{
-		}
-		virtual	bool	processOverlap(btBroadphasePair& pair)
-		{
-			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-				(pair.m_pProxy1 == m_obsoleteProxy));
-		}
-		
-	};
-
-
-	RemovePairCallback removeCallback(proxy);
-
-	processAllOverlappingPairs(&removeCallback,dispatcher);
-}
-
-
-#ifdef USE_HASH_PAIRCACHE
-
-
-
-
-
-
-
-btBroadphasePair* btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	gFindPairs++;
-
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	if (proxyId1 > proxyId2) 
-		btSwap(proxyId1, proxyId2);
-
-	int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
-
-	int index = m_hashTable[hash];
-	while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-	{
-		index = m_next[index];
-	}
-
-	if (index == BT_NULL_PAIR)
-	{
-		return NULL;
-	}
-
-	btAssert(index < m_overlappingPairArray.size());
-
-	return &m_overlappingPairArray[index];
-}
-
-#include <stdio.h>
-
-void	btOverlappingPairCache::growTables()
-{
-
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (m_hashTable.size() < newCapacity)
-	{
-		//grow hashtable and next table
-		int curHashtableSize = m_hashTable.size();
-
-		m_hashTable.resize(newCapacity);
-		m_next.resize(newCapacity);
-
-
-		int i;
-
-		for (i= 0; i < newCapacity; ++i)
-		{
-			m_hashTable[i] = BT_NULL_PAIR;
-		}
-		for (i = 0; i < newCapacity; ++i)
-		{
-			m_next[i] = BT_NULL_PAIR;
-		}
-
-		for(i=0;i<curHashtableSize;i++)
-		{
-	
-			const btBroadphasePair& pair = m_overlappingPairArray[i];
-			int proxyId1 = pair.m_pProxy0->getUid();
-			int proxyId2 = pair.m_pProxy1->getUid();
-			if (proxyId1 > proxyId2) 
-				btSwap(proxyId1, proxyId2);
-			int	hashValue = getHash(proxyId1,proxyId2) & (m_overlappingPairArray.capacity()-1);	// New hash value with new mask
-			m_next[i] = m_hashTable[hashValue];
-			m_hashTable[hashValue] = i;
-		}
-
-
-	}
-}
-
-btBroadphasePair* btOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	if (proxyId1 > proxyId2) 
-		btSwap(proxyId1, proxyId2);
-
-	int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
-
-	
-
-	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair != NULL)
-	{
-		return pair;
-	}
-
-	int count = m_overlappingPairArray.size();
-	int oldCapacity = m_overlappingPairArray.capacity();
-	void* mem = &m_overlappingPairArray.expand();
-	int newCapacity = m_overlappingPairArray.capacity();
-
-	if (oldCapacity < newCapacity)
-	{
-		growTables();
-		//hash with new capacity
-		hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
-	}
-	
-	pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-//	pair->m_pProxy0 = proxy0;
-//	pair->m_pProxy1 = proxy1;
-	pair->m_algorithm = 0;
-	pair->m_userInfo = 0;
-	
-
-	m_next[count] = m_hashTable[hash];
-	m_hashTable[hash] = count;
-
-	return pair;
-}
-
-
-
-void* btOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
-{
-	gRemovePairs++;
-
-	int proxyId1 = proxy0->getUid();
-	int proxyId2 = proxy1->getUid();
-
-	if (proxyId1 > proxyId2) 
-		btSwap(proxyId1, proxyId2);
-
-	int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
-
-	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
-	if (pair == NULL)
-	{
-		return 0;
-	}
-
-	cleanOverlappingPair(*pair,dispatcher);
-
-	void* userData = pair->m_userInfo;
-
-	btAssert(pair->m_pProxy0->getUid() == proxyId1);
-	btAssert(pair->m_pProxy1->getUid() == proxyId2);
-
-	int pairIndex = int(pair - &m_overlappingPairArray[0]);
-	btAssert(pairIndex < m_overlappingPairArray.size());
-
-	// Remove the pair from the hash table.
-	int index = m_hashTable[hash];
-	btAssert(index != BT_NULL_PAIR);
-
-	int previous = BT_NULL_PAIR;
-	while (index != pairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == pairIndex);
-		m_next[previous] = m_next[pairIndex];
-	}
-	else
-	{
-		m_hashTable[hash] = m_next[pairIndex];
-	}
-
-	// We now move the last pair into spot of the
-	// pair being removed. We need to fix the hash
-	// table indices to support the move.
-
-	int lastPairIndex = m_overlappingPairArray.size() - 1;
-
-	// If the removed pair is the last pair, we are done.
-	if (lastPairIndex == pairIndex)
-	{
-		m_overlappingPairArray.pop_back();
-		return userData;
-	}
-
-	// Remove the last pair from the hash table.
-	const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-	int lastHash = getHash(last->m_pProxy0->getUid(), last->m_pProxy1->getUid()) & (m_overlappingPairArray.capacity()-1);
-
-	index = m_hashTable[lastHash];
-	btAssert(index != BT_NULL_PAIR);
-
-	previous = BT_NULL_PAIR;
-	while (index != lastPairIndex)
-	{
-		previous = index;
-		index = m_next[index];
-	}
-
-	if (previous != BT_NULL_PAIR)
-	{
-		btAssert(m_next[previous] == lastPairIndex);
-		m_next[previous] = m_next[lastPairIndex];
-	}
-	else
-	{
-		m_hashTable[lastHash] = m_next[lastPairIndex];
-	}
-
-	// Copy the last pair into the remove pair's spot.
-	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
-
-	// Insert the last pair into the hash table
-	m_next[pairIndex] = m_hashTable[lastHash];
-	m_hashTable[lastHash] = pairIndex;
-
-	m_overlappingPairArray.pop_back();
-
-	return userData;
-}
-#include <stdio.h>
-
-void	btOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
-{
-
-	int i;
-
-//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i=0;i<m_overlappingPairArray.size();)
-	{
-	
-		btBroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
-
-			gOverlappingPairs--;
-		} else
-		{
-			i++;
-		}
-	}
-}
-
-#else
-
-
-
-
-void*	btOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
-{
-#ifndef USE_LAZY_REMOVAL
-
-	btBroadphasePair findPair(*proxy0,*proxy1);
-
-	int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
-	if (findIndex < m_overlappingPairArray.size())
-	{
-		gOverlappingPairs--;
-		btBroadphasePair& pair = m_overlappingPairArray[findIndex];
-		void* userData = pair.m_userInfo;
-		cleanOverlappingPair(pair,dispatcher);
-		
-		m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
-		m_overlappingPairArray.pop_back();
-		return userData;
-	}
-#endif //USE_LAZY_REMOVAL
-
-	return 0;
-}
-
-
-
-
-
-
-
-
-btBroadphasePair*	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-{
-	//don't add overlap with own
-	assert(proxy0 != proxy1);
-
-	if (!needsBroadphaseCollision(proxy0,proxy1))
-		return 0;
-	
-	void* mem = &m_overlappingPairArray.expand();
-	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-	gOverlappingPairs++;
-	return pair;
-	
-}
-
-///this findPair becomes really slow. Either sort the list to speedup the query, or
-///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
-///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
-///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
- btBroadphasePair*	btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-{
-	if (!needsBroadphaseCollision(proxy0,proxy1))
-		return 0;
-
-	btBroadphasePair tmpPair(*proxy0,*proxy1);
-	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
-
-	if (findIndex < m_overlappingPairArray.size())
-	{
-		//assert(it != m_overlappingPairSet.end());
-		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
-		return pair;
-	}
-	return 0;
-}
-
-
-
-
-
-
-
-
-
-
-#include <stdio.h>
-
-void	btOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
-{
-
-	int i;
-
-	for (i=0;i<m_overlappingPairArray.size();)
-	{
-	
-		btBroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			cleanOverlappingPair(*pair,dispatcher);
-
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1);
-			m_overlappingPairArray.pop_back();
-			gOverlappingPairs--;
-		} else
-		{
-			i++;
-		}
-	}
-}
-
-
-
-#endif //USE_HASH_PAIRCACHE

physic/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -1,323 +0,0 @@
-
-/*
-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.
-*/
-
-#ifndef OVERLAPPING_PAIR_CACHE_H
-#define OVERLAPPING_PAIR_CACHE_H
-
-
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-#include "LinearMath/btPoint3.h"
-#include "LinearMath/btAlignedObjectArray.h"
-class btDispatcher;
-
-///disable the USE_HASH_PAIRCACHE define to use a pair manager that sorts the pairs to find duplicates/non-overlap
-#define USE_HASH_PAIRCACHE 1
-
-
-struct	btOverlapCallback
-{
-	virtual ~btOverlapCallback()
-	{}
-	//return true for deletion of the pair
-	virtual bool	processOverlap(btBroadphasePair& pair) = 0;
-};
-
-struct btOverlapFilterCallback
-{
-	virtual ~btOverlapFilterCallback()
-	{}
-	// return true when pairs need collision
-	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
-};
-
-typedef btAlignedObjectArray<btBroadphasePair>	btBroadphasePairArray;
-
-#ifdef USE_HASH_PAIRCACHE
-
-
-/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
-
-extern int gRemovePairs;
-extern int gAddedPairs;
-extern int gFindPairs;
-
-const int BT_NULL_PAIR=0xffffffff;
-
-class btOverlappingPairCache
-{
-	btBroadphasePairArray	m_overlappingPairArray;
-	btOverlapFilterCallback* m_overlapFilterCallback;
-	bool		m_blockedForChanges;
-
-
-public:
-	btOverlappingPairCache();
-	virtual ~btOverlappingPairCache();
-
-	
-	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-	void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
-	
-	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
-
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-		
-		return collides;
-	}
-
-	// Add a pair and return the new pair. If the pair already exists,
-	// no new pair is created and the old one is returned.
-	SIMD_FORCE_INLINE	btBroadphasePair* 	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-	{
-		gAddedPairs++;
-
-		if (!needsBroadphaseCollision(proxy0,proxy1))
-			return 0;
-
-		return internalAddPair(proxy0,proxy1);
-	}
-
-	
-
-	void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-	
-	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
-
-	btBroadphasePair*	getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	const btBroadphasePair*	getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
-
-	btBroadphasePairArray&	getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
-
-	const btBroadphasePairArray&	getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
-
-	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-
-
-
-	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
-	int GetCount() const { return m_overlappingPairArray.size(); }
-//	btBroadphasePair* GetPairs() { return m_pairs; }
-
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
-
-	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
-
-	int	getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
-private:
-	
-	btBroadphasePair* 	internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	void	growTables();
-
-	SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
-	{	
-		return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
-	}
-
-	/*
-	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
-	// This assumes proxyId1 and proxyId2 are 16-bit.
-	SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
-	{
-		int key = (proxyId2 << 16) | proxyId1;
-		key = ~key + (key << 15);
-		key = key ^ (key >> 12);
-		key = key + (key << 2);
-		key = key ^ (key >> 4);
-		key = key * 2057;
-		key = key ^ (key >> 16);
-		return key;
-	}
-	*/
-
-
-	
-	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
-	{
-		int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId1) <<16);
-		// Thomas Wang's hash
-
-		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
-		key += ~(key << 11);
-		key ^=  (key >> 16);
-		return key;
-	}
-	
-
-
-
-
-	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
-	{
-		int proxyId1 = proxy0->getUid();
-		int proxyId2 = proxy1->getUid();
-		if (proxyId1 > proxyId2) 
-			btSwap(proxyId1, proxyId2);
-
-		int index = m_hashTable[hash];
-		
-		while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
-		{
-			index = m_next[index];
-		}
-
-		if ( index == BT_NULL_PAIR )
-		{
-			return NULL;
-		}
-
-		btAssert(index < m_overlappingPairArray.size());
-
-		return &m_overlappingPairArray[index];
-	}
-
-
-public:
-	
-	btAlignedObjectArray<int>	m_hashTable;
-	btAlignedObjectArray<int>	m_next;
-	
-};
-
-
-
-#else//USE_HASH_PAIRCACHE
-
-#define USE_LAZY_REMOVAL 1
-
-///btOverlappingPairCache maintains the objects with overlapping AABB
-///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class	btOverlappingPairCache
-{
-	protected:
-		//avoid brute-force finding all the time
-		btBroadphasePairArray	m_overlappingPairArray;
-
-		//during the dispatch, check that user doesn't destroy/create proxy
-		bool		m_blockedForChanges;
-		
-		//if set, use the callback instead of the built in filter in needBroadphaseCollision
-		btOverlapFilterCallback* m_overlapFilterCallback;
-
-	public:
-			
-		btOverlappingPairCache();	
-		virtual ~btOverlappingPairCache();
-
-		virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
-
-		void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
-
-		void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-		
-		btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-			
-		
-		void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-
-		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-		{
-			if (m_overlapFilterCallback)
-				return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
-
-			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-			
-			return collides;
-		}
-		
-		btBroadphasePairArray&	getOverlappingPairArray()
-		{
-			return m_overlappingPairArray;
-		}
-
-		const btBroadphasePairArray&	getOverlappingPairArray() const
-		{
-			return m_overlappingPairArray;
-		}
-
-		
-
-
-		btBroadphasePair*	getOverlappingPairArrayPtr()
-		{
-			return &m_overlappingPairArray[0];
-		}
-
-		const btBroadphasePair*	getOverlappingPairArrayPtr() const
-		{
-			return &m_overlappingPairArray[0];
-		}
-
-		int	getNumOverlappingPairs() const
-		{
-			return m_overlappingPairArray.size();
-		}
-		
-		btOverlapFilterCallback* getOverlapFilterCallback()
-		{
-			return m_overlapFilterCallback;
-		}
-
-		void setOverlapFilterCallback(btOverlapFilterCallback* callback)
-		{
-			m_overlapFilterCallback = callback;
-		}
-
-};
-#endif //USE_HASH_PAIRCACHE
-
-#endif //OVERLAPPING_PAIR_CACHE_H
-
-

physic/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -1,311 +0,0 @@
-/*
-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 "btSimpleBroadphase.h"
-#include <BulletCollision/BroadphaseCollision/btDispatcher.h>
-#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include <new>
-
-extern int gOverlappingPairs;
-
-void	btSimpleBroadphase::validate()
-{
-	for (int i=0;i<m_numHandles;i++)
-	{
-		for (int j=i+1;j<m_numHandles;j++)
-		{
-			btAssert(&m_pHandles[i] != &m_pHandles[j]);
-		}
-	}
-	
-}
-
-btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
-	:m_pairCache(overlappingPairCache),
-	m_ownsPairCache(false),
-	m_invalidPair(0)
-{
-
-	if (!overlappingPairCache)
-	{
-		void* mem = btAlignedAlloc(sizeof(btOverlappingPairCache),16);
-		m_pairCache = new (mem)btOverlappingPairCache();
-		m_ownsPairCache = true;
-	}
-
-	// allocate handles buffer and put all handles on free list
-	void* ptr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
-	m_pHandles = new(ptr) btSimpleBroadphaseProxy[maxProxies];
-	m_maxHandles = maxProxies;
-	m_numHandles = 0;
-	m_firstFreeHandle = 0;
-	m_firstAllocatedHandle = -1;
-
-	{
-		for (int i = m_firstFreeHandle; i < maxProxies; i++)
-		{
-			m_pHandles[i].SetNextFree(i + 1);
-			m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
-			m_pHandles[i].SetNextAllocated(-1);
-		}
-		m_pHandles[maxProxies - 1].SetNextFree(0);
-		m_pHandles[maxProxies - 1].SetNextAllocated(-1);
-	
-	}
-
-}
-
-btSimpleBroadphase::~btSimpleBroadphase()
-{
-	btAlignedFree(m_pHandles);
-
-	if (m_ownsPairCache)
-	{
-		btAlignedFree(m_pairCache);
-	}
-}
-
-
-btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
-{
-	if (m_numHandles >= m_maxHandles)
-	{
-		btAssert(0);
-		return 0; //should never happen, but don't let the game crash ;-)
-	}
-	assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
-
-	int newHandleIndex = allocHandle();
-	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
-
-	return proxy;
-}
-
-class	RemovingOverlapCallback : public btOverlapCallback
-{
-protected:
-	virtual bool	processOverlap(btBroadphasePair& pair)
-	{
-		(void)pair;
-		btAssert(0);
-		return false;
-	}
-};
-
-class RemovePairContainingProxy
-{
-
-	btBroadphaseProxy*	m_targetProxy;
-	public:
-	virtual ~RemovePairContainingProxy()
-	{
-	}
-protected:
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
-		btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
-
-		return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
-	};
-};
-
-void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
-{
-		
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
-		freeHandle(proxy0);
-
-		m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
-
-		//validate();
-		
-}
-
-void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
-{
-	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	sbp->m_min = aabbMin;
-	sbp->m_max = aabbMax;
-}
-
-
-
-
-
-	
-
-
-
-bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
-{
-	return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
-		   proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
-		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
-
-}
-
-
-
-//then remove non-overlapping ones
-class CheckOverlapCallback : public btOverlapCallback
-{
-public:
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
-	}
-};
-
-void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	//first check for new overlapping pairs
-	int i,j;
-
-	if (m_firstAllocatedHandle >= 0)
-	{
-
-		btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
-
-		for (i=0;i<m_numHandles;i++)
-		{
-			btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
-
-			for (j=0;j<m_numHandles;j++)
-			{
-				
-				if (proxy0 != proxy1)
-				{
-					btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
-					btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-
-					if (aabbOverlap(p0,p1))
-					{
-						if ( !m_pairCache->findPair(proxy0,proxy1))
-						{
-							m_pairCache->addOverlappingPair(proxy0,proxy1);
-						}
-					} else
-					{
-		#ifdef USE_HASH_PAIRCACHE
-						if ( m_pairCache->findPair(proxy0,proxy1))
-						{
-							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
-						}
-		#endif //USE_HASH_PAIRCACHE
-
-					}
-				}
-				proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
-
-			}
-			proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
-
-		}
-
-	#ifndef USE_HASH_PAIRCACHE
-
-		if (m_ownsPairCache)
-		{
-			
-			btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
-
-			//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-			overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-			m_invalidPair = 0;
-
-
-			btBroadphasePair previousPair;
-			previousPair.m_pProxy0 = 0;
-			previousPair.m_pProxy1 = 0;
-			previousPair.m_algorithm = 0;
-			
-			
-			for (i=0;i<overlappingPairArray.size();i++)
-			{
-			
-				btBroadphasePair& pair = overlappingPairArray[i];
-
-				bool isDuplicate = (pair == previousPair);
-
-				previousPair = pair;
-
-				bool needsRemoval = false;
-
-				if (!isDuplicate)
-				{
-					bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
-
-					if (hasOverlap)
-					{
-						needsRemoval = false;//callback->processOverlap(pair);
-					} else
-					{
-						needsRemoval = true;
-					}
-				} else
-				{
-					//remove duplicate
-					needsRemoval = true;
-					//should have no algorithm
-					btAssert(!pair.m_algorithm);
-				}
-				
-				if (needsRemoval)
-				{
-					m_pairCache->cleanOverlappingPair(pair,dispatcher);
-
-			//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-			//		m_overlappingPairArray.pop_back();
-					pair.m_pProxy0 = 0;
-					pair.m_pProxy1 = 0;
-					m_invalidPair++;
-					gOverlappingPairs--;
-				} 
-				
-			}
-
-		///if you don't like to skip the invalid pairs in the array, execute following code:
-		#define CLEAN_INVALID_PAIRS 1
-		#ifdef CLEAN_INVALID_PAIRS
-
-			//perform a sort, to sort 'invalid' pairs to the end
-			overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
-
-			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-			m_invalidPair = 0;
-		#endif//CLEAN_INVALID_PAIRS
-
-		}
-	#endif //USE_HASH_PAIRCACHE
-	}
-}
-
-
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-{
-	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
-	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-	return aabbOverlap(p0,p1);
-}
-
-
-

physic/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -1,145 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SIMPLE_BROADPHASE_H
-#define SIMPLE_BROADPHASE_H
-
-
-#include "btOverlappingPairCache.h"
-
-
-struct btSimpleBroadphaseProxy : public btBroadphaseProxy
-{
-	btVector3	m_min;
-	btVector3	m_max;
-	int			m_nextFree;
-	int			m_nextAllocated;
-//	int			m_handleId;
-
-	
-	btSimpleBroadphaseProxy() {};
-
-	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
-	m_min(minpt),m_max(maxpt)		
-	{
-		(void)shapeType;
-	}
-	
-	
-	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
-	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
-
-	SIMD_FORCE_INLINE void SetNextAllocated(int next) {m_nextAllocated = next;}
-	SIMD_FORCE_INLINE int GetNextAllocated() const {return m_nextAllocated;}
-
-
-};
-
-///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class btSimpleBroadphase : public btBroadphaseInterface
-{
-
-protected:
-
-	int		m_numHandles;						// number of active handles
-	int		m_maxHandles;						// max number of handles
-	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
-	int		m_firstFreeHandle;		// free handles list
-	int		m_firstAllocatedHandle;
-
-	int allocHandle()
-	{
-
-		int freeHandle = m_firstFreeHandle;
-		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
-		
-		m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
-		m_firstAllocatedHandle = freeHandle;
-		
-		m_numHandles++;
-
-		return freeHandle;
-	}
-
-	void freeHandle(btSimpleBroadphaseProxy* proxy)
-	{
-		int handle = int(proxy-m_pHandles);
-		btAssert(handle > 0 && handle < m_maxHandles);
-
-		proxy->SetNextFree(m_firstFreeHandle);
-		m_firstFreeHandle = handle;
-
-		m_firstAllocatedHandle = proxy->GetNextAllocated();
-		proxy->SetNextAllocated(-1);
-
-		m_numHandles--;
-	}
-
-
-	btOverlappingPairCache*	m_pairCache;
-	bool	m_ownsPairCache;
-
-	int	m_invalidPair;
-
-	
-	
-	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
-	{
-		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
-		return proxy0;
-	}
-
-
-	void	validate();
-
-protected:
-
-
-	
-
-public:
-	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
-	virtual ~btSimpleBroadphase();
-
-
-		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
-
-
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher);
-
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-		
-	btOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_pairCache;
-	}
-	const btOverlappingPairCache*	getOverlappingPairCache() const
-	{
-		return m_pairCache;
-	}
-
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-
-};
-
-
-
-#endif //SIMPLE_BROADPHASE_H
-

physic/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -1,200 +0,0 @@
-/*
-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 "LinearMath/btScalar.h"
-#include "SphereTriangleDetector.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
-:m_sphere(sphere),
-m_triangle(triangle)
-{
-
-}
-
-void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
-{
-
-	(void)debugDraw;
-	const btTransform& transformA = input.m_transformA;
-	const btTransform& transformB = input.m_transformB;
-
-	btVector3 point,normal;
-	btScalar timeOfImpact = btScalar(1.);
-	btScalar depth = btScalar(0.);
-//	output.m_distance = btScalar(1e30);
-	//move sphere into triangle space
-	btTransform	sphereInTr = transformB.inverseTimes(transformA);
-
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
-	{
-		output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
-	}
-
-}
-
-#define MAX_OVERLAP btScalar(0.)
-
-
-
-// See also geometrictools.com
-// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
-	btVector3 diff = p - from;
-	btVector3 v = to - from;
-	btScalar t = v.dot(diff);
-	
-	if (t > 0) {
-		btScalar dotVV = v.dot(v);
-		if (t < dotVV) {
-			t /= dotVV;
-			diff -= t*v;
-		} else {
-			t = 1;
-			diff -= v;
-		}
-	} else
-		t = 0;
-
-	nearest = from + t*v;
-	return diff.dot(diff);	
-}
-
-bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
-	btVector3 lp(p);
-	btVector3 lnormal(normal);
-	
-	return pointInTriangle(vertices, lnormal, &lp);
-}
-
-///combined discrete/continuous sphere-triangle
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
-{
-
-	const btVector3* vertices = &m_triangle->getVertexPtr(0);
-	const btVector3& c = sphereCenter;
-	btScalar r = m_sphere->getRadius();
-
-	btVector3 delta (0,0,0);
-
-	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
-	normal.normalize();
-	btVector3 p1ToCentre = c - vertices[0];
-	btScalar distanceFromPlane = p1ToCentre.dot(normal);
-
-	if (distanceFromPlane < btScalar(0.))
-	{
-		//triangle facing the other way
-	
-		distanceFromPlane *= btScalar(-1.);
-		normal *= btScalar(-1.);
-	}
-
-	///todo: move this gContactBreakingThreshold into a proper structure
-	extern btScalar gContactBreakingThreshold;
-
-	btScalar contactMargin = gContactBreakingThreshold;
-	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
-	bool isInsideShellPlane = distanceFromPlane < r;
-	
-	btScalar deltaDotNormal = delta.dot(normal);
-	if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
-		return false;
-
-	// Check for contact / intersection
-	bool hasContact = false;
-	btVector3 contactPoint;
-	if (isInsideContactPlane) {
-		if (facecontains(c,vertices,normal)) {
-			// Inside the contact wedge - touches a point on the shell plane
-			hasContact = true;
-			contactPoint = c - normal*distanceFromPlane;
-		} else {
-			// Could be inside one of the contact capsules
-			btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
-			btVector3 nearestOnEdge;
-			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
-				
-				btPoint3 pa;
-				btPoint3 pb;
-				
-				m_triangle->getEdge(i,pa,pb);
-
-				btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
-				if (distanceSqr < contactCapsuleRadiusSqr) {
-					// Yep, we're inside a capsule
-					hasContact = true;
-					contactPoint = nearestOnEdge;
-				}
-				
-			}
-		}
-	}
-
-	if (hasContact) {
-		btVector3 contactToCentre = c - contactPoint;
-		btScalar distanceSqr = contactToCentre.length2();
-		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
-			btScalar distance = btSqrt(distanceSqr);
-			resultNormal = contactToCentre;
-			resultNormal.normalize();
-			point = contactPoint;
-			depth = -(r-distance);
-			return true;
-		}
-
-		if (delta.dot(contactToCentre) >= btScalar(0.0)) 
-			return false;
-		
-		// Moving towards the contact point -> collision
-		point = contactPoint;
-		timeOfImpact = btScalar(0.0);
-		return true;
-	}
-	
-	return false;
-}
-
-
-bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
-{
-	const btVector3* p1 = &vertices[0];
-	const btVector3* p2 = &vertices[1];
-	const btVector3* p3 = &vertices[2];
-
-	btVector3 edge1( *p2 - *p1 );
-	btVector3 edge2( *p3 - *p2 );
-	btVector3 edge3( *p1 - *p3 );
-
-	btVector3 p1_to_p( *p - *p1 );
-	btVector3 p2_to_p( *p - *p2 );
-	btVector3 p3_to_p( *p - *p3 );
-
-	btVector3 edge1_normal( edge1.cross(normal));
-	btVector3 edge2_normal( edge2.cross(normal));
-	btVector3 edge3_normal( edge3.cross(normal));
-	
-	btScalar r1, r2, r3;
-	r1 = edge1_normal.dot( p1_to_p );
-	r2 = edge2_normal.dot( p2_to_p );
-	r3 = edge3_normal.dot( p3_to_p );
-	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
-	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
-		return true;
-	return false;
-
-}

physic/BulletCollision/CollisionDispatch/SphereTriangleDetector.h

@@ -1,49 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SPHERE_TRIANGLE_DETECTOR_H
-#define SPHERE_TRIANGLE_DETECTOR_H
-
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "LinearMath/btPoint3.h"
-
-
-class btSphereShape;
-class btTriangleShape;
-
-
-
-/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
-struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
-{
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
-
-	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
-
-	virtual ~SphereTriangleDetector() {};
-
-private:
-
-	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
-	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
-	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
-
-	btSphereShape* m_sphere;
-	btTriangleShape* m_triangle;
-
-	
-};
-#endif //SPHERE_TRIANGLE_DETECTOR_H
-

physic/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -1,46 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BT_COLLISION_CONFIGURATION
-#define BT_COLLISION_CONFIGURATION
-struct btCollisionAlgorithmCreateFunc;
-
-///btCollisionConfiguration allows to configure Bullet collision detection
-///stack allocator size, default collision algorithms and persistent manifold pool size
-///todo: describe the meaning
-class	btCollisionConfiguration
-{
-
-public:
-
-	virtual ~btCollisionConfiguration()
-	{
-	}
-
-	///pool size for the persistent contact manifold
-	virtual int	getPersistentManifoldPoolSize() = 0;
-
-	virtual int	getStackAllocatorSize() = 0;
-
-	virtual int	getCollisionAlgorithmPoolSize() = 0;
-
-	virtual int	getCollisionAlgorithmMaxElementSize() = 0;
-
-	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
-
-};
-
-#endif //BT_COLLISION_CONFIGURATION
-

physic/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h

@@ -1,46 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION_CREATE_FUNC
-#define COLLISION_CREATE_FUNC
-
-#include "LinearMath/btAlignedObjectArray.h"
-typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
-class btCollisionAlgorithm;
-class btCollisionObject;
-
-struct btCollisionAlgorithmConstructionInfo;
-
-///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
-struct btCollisionAlgorithmCreateFunc
-{
-	bool m_swapped;
-	
-	btCollisionAlgorithmCreateFunc()
-		:m_swapped(false)
-	{
-	}
-	virtual ~btCollisionAlgorithmCreateFunc(){};
-
-	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
-	{
-		
-		(void)body0;
-		(void)body1;
-		return 0;
-	}
-};
-#endif //COLLISION_CREATE_FUNC
-

physic/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -1,262 +0,0 @@
-/*
-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 "btCollisionDispatcher.h"
-
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btPoolAllocator.h"
-#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
-
-int gNumManifold = 0;
-
-#include <stdio.h>
-
-
-
-btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
-	m_count(0),
-	m_useIslands(true),
-	m_collisionConfiguration(collisionConfiguration)
-{
-	int i;
-
-	setNearCallback(defaultNearCallback);
-	
-	m_collisionAlgorithmPoolAllocator = new btPoolAllocator(m_collisionConfiguration->getCollisionAlgorithmMaxElementSize(),m_collisionConfiguration->getCollisionAlgorithmPoolSize());
-
-	m_persistentManifoldPoolAllocator = new btPoolAllocator(sizeof(btPersistentManifold),m_collisionConfiguration->getPersistentManifoldPoolSize());
-
-	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
-	{
-		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
-		{
-			m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-			assert(m_doubleDispatch[i][j]);
-		}
-	}
-	
-	
-};
-
-
-void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
-{
-	m_doubleDispatch[proxyType0][proxyType1] = createFunc;
-}
-
-btCollisionDispatcher::~btCollisionDispatcher()
-{
-	delete m_collisionAlgorithmPoolAllocator;
-	delete m_persistentManifoldPoolAllocator;
-}
-
-btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1) 
-{ 
-	gNumManifold++;
-	
-	//btAssert(gNumManifold < 65535);
-	
-
-	btCollisionObject* body0 = (btCollisionObject*)b0;
-	btCollisionObject* body1 = (btCollisionObject*)b1;
-	
-	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
-	manifold->m_index1a = m_manifoldsPtr.size();
-	m_manifoldsPtr.push_back(manifold);
-
-	return manifold;
-}
-
-void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
-{
-	manifold->clearManifold();
-}
-
-	
-void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
-{
-	
-	gNumManifold--;
-
-	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
-	clearManifold(manifold);
-
-	int findIndex = manifold->m_index1a;
-	btAssert(findIndex < m_manifoldsPtr.size());
-	m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
-	m_manifoldsPtr[findIndex]->m_index1a = findIndex;
-	m_manifoldsPtr.pop_back();
-
-	manifold->~btPersistentManifold();
-	m_persistentManifoldPoolAllocator->free(manifold);
-	
-}
-
-	
-
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
-{
-	
-	btCollisionAlgorithmConstructionInfo ci;
-
-	ci.m_dispatcher1 = this;
-	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
-
-	return algo;
-}
-
-
-
-
-
-bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
-{
-	//here you can do filtering
-	bool hasResponse = 
-		(body0->hasContactResponse() && body1->hasContactResponse());
-	//no response between two static/kinematic bodies:
-	hasResponse = hasResponse &&
-		((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
-	return hasResponse;
-}
-
-bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
-{
-	assert(body0);
-	assert(body1);
-
-	bool needsCollision = true;
-
-	//broadphase filtering already deals with this
-	if ((body0->isStaticObject() || body0->isKinematicObject()) &&
-		(body1->isStaticObject() || body1->isKinematicObject()))
-	{
-		printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
-	}
-		
-	if ((!body0->isActive()) && (!body1->isActive()))
-		needsCollision = false;
-	else if (!body0->checkCollideWith(body1))
-		needsCollision = false;
-	
-	return needsCollision ;
-
-}
-
-
-
-///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
-///this is useful for the collision dispatcher.
-class btCollisionPairCallback : public btOverlapCallback
-{
-	btDispatcherInfo& m_dispatchInfo;
-	btCollisionDispatcher*	m_dispatcher;
-
-public:
-
-	btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher*	dispatcher)
-	:m_dispatchInfo(dispatchInfo),
-	m_dispatcher(dispatcher)
-	{
-	}
-
-	btCollisionPairCallback& operator=(btCollisionPairCallback& other)
-	{
-		m_dispatchInfo = other.m_dispatchInfo;
-		m_dispatcher = other.m_dispatcher;
-		return *this;
-	}
-
-	virtual ~btCollisionPairCallback() {}
-
-
-	virtual bool	processOverlap(btBroadphasePair& pair)
-	{
-		(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
-
-		return false;
-	}
-};
-
-
-void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)
-{
-	//m_blockedForChanges = true;
-
-	btCollisionPairCallback	collisionCallback(dispatchInfo,this);
-
-	pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
-
-	//m_blockedForChanges = false;
-
-}
-
-
-
-
-//by default, Bullet will use this near callback
-void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
-{
-		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
-
-		if (dispatcher.needsCollision(colObj0,colObj1))
-		{
-			//dispatcher will keep algorithms persistent in the collision pair
-			if (!collisionPair.m_algorithm)
-			{
-				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
-			}
-
-			if (collisionPair.m_algorithm)
-			{
-				btManifoldResult contactPointResult(colObj0,colObj1);
-				
-				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
-				{
-					//discrete collision detection query
-					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
-				} else
-				{
-					//continuous collision detection query, time of impact (toi)
-					btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-
-				}
-			}
-		}
-
-}
-
-
-void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
-{
-	return m_collisionAlgorithmPoolAllocator->allocate(size);
-}
-
-void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
-{
-	m_collisionAlgorithmPoolAllocator->free(ptr);
-}

physic/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -1,131 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION__DISPATCHER_H
-#define COLLISION__DISPATCHER_H
-
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-class btIDebugDraw;
-class btOverlappingPairCache;
-class btPoolAllocator;
-class btCollisionConfiguration;
-
-#include "btCollisionCreateFunc.h"
-
-#define USE_DISPATCH_REGISTRY_ARRAY 1
-
-class btCollisionDispatcher;
-///user can override this nearcallback for collision filtering and more finegrained control over collision detection
-typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
-
-
-///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
-///Time of Impact, Closest Points and Penetration Depth.
-class btCollisionDispatcher : public btDispatcher
-{
-	int m_count;
-	
-	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
-
-	bool m_useIslands;
-	
-	btManifoldResult	m_defaultManifoldResult;
-
-	btNearCallback		m_nearCallback;
-	
-	btPoolAllocator*	m_collisionAlgorithmPoolAllocator;
-
-	btPoolAllocator*	m_persistentManifoldPoolAllocator;
-
-	btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-	
-
-	btCollisionConfiguration*	m_collisionConfiguration;
-
-
-public:
-
-	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
-	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
-
-	int	getNumManifolds() const
-	{ 
-		return int( m_manifoldsPtr.size());
-	}
-
-	btPersistentManifold**	getInternalManifoldPointer()
-	{
-		return &m_manifoldsPtr[0];
-	}
-
-	 btPersistentManifold* getManifoldByIndexInternal(int index)
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	 const btPersistentManifold* getManifoldByIndexInternal(int index) const
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btCollisionDispatcher();
-
-	virtual btPersistentManifold*	getNewManifold(void* b0,void* b1);
-	
-	virtual void releaseManifold(btPersistentManifold* manifold);
-
-
-	virtual void clearManifold(btPersistentManifold* manifold);
-
-			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
-		
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
-	
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1);
-	
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher);
-
-	void	setNearCallback(btNearCallback	nearCallback)
-	{
-		m_nearCallback = nearCallback; 
-	}
-
-	btNearCallback	getNearCallback() const
-	{
-		return m_nearCallback;
-	}
-
-	//by default, Bullet will use this near callback
-	static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
-
-	virtual	void* allocateCollisionAlgorithm(int size);
-
-	virtual	void freeCollisionAlgorithm(void* ptr);
-
-
-};
-
-#endif //COLLISION__DISPATCHER_H
-

physic/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -1,62 +0,0 @@
-/*
-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 "btCollisionObject.h"
-
-btCollisionObject::btCollisionObject()
-	:	m_broadphaseHandle(0),
-		m_collisionShape(0),
-		m_collisionFlags(0),
-		m_islandTag1(-1),
-		m_companionId(-1),
-		m_activationState1(1),
-		m_deactivationTime(btScalar(0.)),
-		m_userObjectPointer(0),
-		m_internalOwner(0),
-		m_hitFraction(btScalar(1.)),
-		m_ccdSweptSphereRadius(btScalar(0.)),
-		m_ccdSquareMotionThreshold(btScalar(0.)),
-		m_checkCollideWith(false)
-{
-	
-}
-
-btCollisionObject::~btCollisionObject()
-{
-}
-
-void btCollisionObject::setActivationState(int newState) 
-{ 
-	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
-		m_activationState1 = newState;
-}
-
-void btCollisionObject::forceActivationState(int newState)
-{
-	m_activationState1 = newState;
-}
-
-void btCollisionObject::activate(bool forceActivation)
-{
-	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
-	{
-		setActivationState(ACTIVE_TAG);
-		m_deactivationTime = btScalar(0.);
-	}
-}
-
-
-

physic/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -1,349 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION_OBJECT_H
-#define COLLISION_OBJECT_H
-
-#include "LinearMath/btTransform.h"
-
-//island management, m_activationState1
-#define ACTIVE_TAG 1
-#define ISLAND_SLEEPING 2
-#define WANTS_DEACTIVATION 3
-#define DISABLE_DEACTIVATION 4
-#define DISABLE_SIMULATION 5
-
-struct	btBroadphaseProxy;
-class	btCollisionShape;
-#include "LinearMath/btMotionState.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-
-
-/// btCollisionObject can be used to manage collision detection objects. 
-/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
-/// They can be added to the btCollisionWorld.
-ATTRIBUTE_ALIGNED16(class)	btCollisionObject
-{
-
-protected:
-
-	btTransform	m_worldTransform;
-
-	///m_interpolationWorldTransform is used for CCD and interpolation
-	///it can be either previous or future (predicted) transform
-	btTransform	m_interpolationWorldTransform;
-	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
-	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
-	btVector3	m_interpolationLinearVelocity;
-	btVector3	m_interpolationAngularVelocity;
-	btBroadphaseProxy*		m_broadphaseHandle;
-	btCollisionShape*		m_collisionShape;
-
-	int				m_collisionFlags;
-
-	int				m_islandTag1;
-	int				m_companionId;
-
-	int				m_activationState1;
-	btScalar			m_deactivationTime;
-
-	btScalar		m_friction;
-	btScalar		m_restitution;
-
-	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
-	void*			m_userObjectPointer;
-
-	///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
-	void*			m_internalOwner;
-
-	///time of impact calculation
-	btScalar		m_hitFraction; 
-	
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar		m_ccdSweptSphereRadius;
-
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
-	btScalar		m_ccdSquareMotionThreshold;
-	
-	/// If some object should have elaborate collision filtering by sub-classes
-	bool			m_checkCollideWith;
-
-	char	m_pad[7];
-
-	virtual bool	checkCollideWithOverride(btCollisionObject* co)
-	{
-		return true;
-	}
-
-public:
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	enum CollisionFlags
-	{
-		CF_STATIC_OBJECT= 1,
-		CF_KINEMATIC_OBJECT= 2,
-		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
-	};
-
-
-	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
-	{
-		///static objects, kinematic and object without contact response don't merge islands
-		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
-	}
-
-
-	SIMD_FORCE_INLINE bool		isStaticObject() const {
-		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool		isKinematicObject() const
-	{
-		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool		isStaticOrKinematicObject() const
-	{
-		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
-	}
-
-	SIMD_FORCE_INLINE bool		hasContactResponse() const {
-		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
-	}
-
-	
-	btCollisionObject();
-
-	virtual ~btCollisionObject();
-
-	void	setCollisionShape(btCollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-	}
-
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const
-	{
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape()
-	{
-		return m_collisionShape;
-	}
-
-	
-
-
-	int	getActivationState() const { return m_activationState1;}
-	
-	void setActivationState(int newState);
-
-	void	setDeactivationTime(btScalar time)
-	{
-		m_deactivationTime = time;
-	}
-	btScalar	getDeactivationTime() const
-	{
-		return m_deactivationTime;
-	}
-
-	void forceActivationState(int newState);
-
-	void	activate(bool forceActivation = false);
-
-	inline bool isActive() const
-	{
-		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
-	}
-
-	void	setRestitution(btScalar rest)
-	{
-		m_restitution = rest;
-	}
-	btScalar	getRestitution() const
-	{
-		return m_restitution;
-	}
-	void	setFriction(btScalar frict)
-	{
-		m_friction = frict;
-	}
-	btScalar	getFriction() const
-	{
-		return m_friction;
-	}
-
-	///reserved for Bullet internal usage
-	void*	getInternalOwner()
-	{
-		return m_internalOwner;
-	}
-
-	const void*	getInternalOwner() const
-	{
-		return m_internalOwner;
-	}
-
-	btTransform&	getWorldTransform()
-	{
-		return m_worldTransform;
-	}
-
-	const btTransform&	getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-
-	void	setWorldTransform(const btTransform& worldTrans)
-	{
-		m_worldTransform = worldTrans;
-	}
-
-
-	btBroadphaseProxy*	getBroadphaseHandle()
-	{
-		return m_broadphaseHandle;
-	}
-
-	const btBroadphaseProxy*	getBroadphaseHandle() const
-	{
-		return m_broadphaseHandle;
-	}
-
-	void	setBroadphaseHandle(btBroadphaseProxy* handle)
-	{
-		m_broadphaseHandle = handle;
-	}
-
-
-	const btTransform&	getInterpolationWorldTransform() const
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	btTransform&	getInterpolationWorldTransform()
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	void	setInterpolationWorldTransform(const btTransform&	trans)
-	{
-		m_interpolationWorldTransform = trans;
-	}
-
-
-	const btVector3&	getInterpolationLinearVelocity() const
-	{
-		return m_interpolationLinearVelocity;
-	}
-
-	const btVector3&	getInterpolationAngularVelocity() const
-	{
-		return m_interpolationAngularVelocity;
-	}
-
-	const int getIslandTag() const
-	{
-		return	m_islandTag1;
-	}
-
-	void	setIslandTag(int tag)
-	{
-		m_islandTag1 = tag;
-	}
-
-	const int getCompanionId() const
-	{
-		return	m_companionId;
-	}
-
-	void	setCompanionId(int id)
-	{
-		m_companionId = id;
-	}
-
-	const btScalar			getHitFraction() const
-	{
-		return m_hitFraction; 
-	}
-
-	void	setHitFraction(btScalar hitFraction)
-	{
-		m_hitFraction = hitFraction;
-	}
-
-	
-	const int	getCollisionFlags() const
-	{
-		return m_collisionFlags;
-	}
-
-	void	setCollisionFlags(int flags)
-	{
-		m_collisionFlags = flags;
-	}
-	
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar			getCcdSweptSphereRadius() const
-	{
-		return m_ccdSweptSphereRadius;
-	}
-
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	void	setCcdSweptSphereRadius(btScalar radius)
-	{
-		m_ccdSweptSphereRadius = radius;
-	}
-
-	btScalar 	getCcdSquareMotionThreshold() const
-	{
-		return m_ccdSquareMotionThreshold;
-	}
-
-
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
-	void	setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold)
-	{
-		m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void*	getUserPointer() const
-	{
-		return m_userObjectPointer;
-	}
-	
-	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserPointer(void* userPointer)
-	{
-		m_userObjectPointer = userPointer;
-	}
-
-	inline bool checkCollideWith(btCollisionObject* co)
-	{
-		if (m_checkCollideWith)
-			return checkCollideWithOverride(co);
-
-		return true;
-	}
-
-
-}
-;
-
-#endif //COLLISION_OBJECT_H

physic/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1,378 +0,0 @@
-/*
-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/CollisionShapes/btSphereShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.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/btBroadphaseInterface.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btStackAlloc.h"
-
-//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"
-
-
-
-btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, int stackSize)
-:m_dispatcher1(dispatcher),
-m_broadphasePairCache(pairCache),
-m_ownsDispatcher(false),
-m_ownsBroadphasePairCache(false)
-{
-	m_stackAlloc = new btStackAlloc(stackSize);
-	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
-}
-
-
-btCollisionWorld::~btCollisionWorld()
-{
-	m_stackAlloc->destroy();
-	delete m_stackAlloc;
-
-	//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);
-		}
-	}
-
-	if (m_ownsDispatcher)
-		delete m_dispatcher1;
-	if (m_ownsBroadphasePairCache)
-		delete m_broadphasePairCache;
-
-}
-
-
-
-
-
-
-
-
-
-
-void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
-{
-
-	//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
-			))	;
-
-		
-
-
-
-}
-
-
-
-
-void	btCollisionWorld::performDiscreteCollisionDetection()
-{
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	BEGIN_PROFILE("perform Broadphase Collision Detection");
-
-
-	//update aabb (of all moved objects)
-
-	btVector3 aabbMin,aabbMax;
-	for (int i=0;i<m_collisionObjects.size();i++)
-	{
-		m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
-		m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax,m_dispatcher1);
-	}
-
-	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	
-	END_PROFILE("perform Broadphase Collision Detection");
-
-	BEGIN_PROFILE("performDiscreteCollisionDetection");
-
-	btDispatcher* dispatcher = getDispatcher();
-	if (dispatcher)
-		dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
-
-	END_PROFILE("performDiscreteCollisionDetection");
-
-}
-
-
-
-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,short int collisionFilterMask)
-{
-	
-	btSphereShape pointShape(btScalar(0.0));
-	pointShape.setMargin(0.f);
-
-	objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
-					  collisionObject,
-					  collisionShape,
-					  colObjWorldTransform,
-					  resultCallback,collisionFilterMask);
-}
-
-void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback,short int collisionFilterMask)
-{
-	
-
-	if (collisionShape->isConvex())
-			{
-				btConvexCast::CastResult castResult;
-				castResult.m_fraction = btScalar(1.);//??
-
-				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())
-					{
-
-						btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)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;
-
-							BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-								btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
-								btTriangleRaycastCallback(from,to),
-									m_resultCallback(resultCallback),
-									m_collisionObject(collisionObject),
-									m_triangleMesh(triangleMesh)
-								{
-								}
-
-
-							virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
-							{
-								btCollisionWorld::LocalShapeInfo	shapeInfo;
-								shapeInfo.m_shapePart = partId;
-								shapeInfo.m_triangleIndex = triangleIndex;
-								
-								btCollisionWorld::LocalRayResult rayResult
-								(m_collisionObject, 
-									&shapeInfo,
-									hitNormalLocal,
-									hitFraction);
-								
-								bool	normalInWorldSpace = false;
-								return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
-								
-								
-							}
-	
-						};
-
-
-						BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
-						rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-
-						btVector3 rayAabbMinLocal = rayFromLocal;
-						rayAabbMinLocal.setMin(rayToLocal);
-						btVector3 rayAabbMaxLocal = rayFromLocal;
-						rayAabbMaxLocal.setMax(rayToLocal);
-
-						triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
-											
-					} else
-					{
-						//todo: use AABB tree or other BVH acceleration structure!
-						if (collisionShape->isCompound())
-						{
-							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;
-								objectQuerySingle(castShape, rayFromTrans,rayToTrans,
-									collisionObject,
-									childCollisionShape,
-									childWorldTrans,
-									resultCallback, collisionFilterMask);
-
-							}
-
-
-						}
-					}
-			}
-}
-
-void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
-{
-
-	
-	btTransform	rayFromTrans,rayToTrans;
-	rayFromTrans.setIdentity();
-	rayFromTrans.setOrigin(rayFromWorld);
-	rayToTrans.setIdentity();
-	
-	rayToTrans.setOrigin(rayToWorld);
-
-	/// go over all objects, and if the ray intersects their 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(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { 
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-
-			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
-			btVector3 hitNormal;
-			if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
-			{
-				rayTestSingle(rayFromTrans,rayToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						resultCallback);
-			}	
-		}
-	}
-
-}

physic/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -1,262 +0,0 @@
-/*
-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.
-*/
-
-
-/**
- * @mainpage Bullet Documentation
- *
- * @section intro_sec Introduction
- * Bullet Collision Detection & Physics SDK
- *
- * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
- *
- * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
- * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
- *
- * @section install_sec Installation
- *
- * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
- * @subsection step2 Step 2: Building
- * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
- * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
- * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
- * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * So if you are not using MSVC, you can run configure and jam .
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
- * 
- * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with CcdPhysicsDemo executable as a starting point.
- * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
- * The Dependencies can be seen in this documentation under Directories
- * 
- * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
- * Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
- * PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
- * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
- * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
- * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
- * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
- *
- * @section copyright Copyright
- * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
- * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
- * 
- */
- 
- 
-
-#ifndef COLLISION_WORLD_H
-#define COLLISION_WORLD_H
-
-class btStackAlloc;
-class btCollisionShape;
-class btConvexShape;
-class btBroadphaseInterface;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "btCollisionObject.h"
-#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-///CollisionWorld is interface and container for the collision detection
-class btCollisionWorld
-{
-
-	
-protected:
-
-	btAlignedObjectArray<btCollisionObject*>	m_collisionObjects;
-	
-	btDispatcher*	m_dispatcher1;
-
-	btDispatcherInfo	m_dispatchInfo;
-
-	btStackAlloc*	m_stackAlloc;
-
-	btBroadphaseInterface*	m_broadphasePairCache;
-	
-	bool	m_ownsDispatcher;
-	bool	m_ownsBroadphasePairCache;
-
-public:
-
-	//this constructor doesn't own the dispatcher and paircache/broadphase
-	btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, int stackSize = 2*1024*1024);
-
-	virtual ~btCollisionWorld();
-
-
-	btBroadphaseInterface*	getBroadphase()
-	{
-		return m_broadphasePairCache;
-	}
-
-	btOverlappingPairCache*	getPairCache()
-	{
-		return m_broadphasePairCache->getOverlappingPairCache();
-	}
-
-
-	btDispatcher*	getDispatcher()
-	{
-		return m_dispatcher1;
-	}
-
-	///LocalShapeInfo gives extra information for complex shapes
-	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
-	struct	LocalShapeInfo
-	{
-		int	m_shapePart;
-		int	m_triangleIndex;
-		
-		//const btCollisionShape*	m_shapeTemp;
-		//const btTransform*	m_shapeLocalTransform;
-	};
-
-	struct	LocalRayResult
-	{
-		LocalRayResult(btCollisionObject*	collisionObject, 
-			LocalShapeInfo*	localShapeInfo,
-			const btVector3&		hitNormalLocal,
-			btScalar hitFraction)
-		:m_collisionObject(collisionObject),
-		m_localShapeInfo(localShapeInfo),
-		m_hitNormalLocal(hitNormalLocal),
-		m_hitFraction(hitFraction)
-		{
-		}
-
-		btCollisionObject*		m_collisionObject;
-		LocalShapeInfo*			m_localShapeInfo;
-		btVector3				m_hitNormalLocal;
-		btScalar				m_hitFraction;
-
-	};
-
-	///RayResultCallback is used to report new raycast results
-	struct	RayResultCallback
-	{
-		virtual ~RayResultCallback()
-		{
-		}
-		btScalar	m_closestHitFraction;
-		bool	HasHit()
-		{
-			return (m_closestHitFraction < btScalar(1.));
-		}
-
-		RayResultCallback()
-			:m_closestHitFraction(btScalar(1.))
-		{
-		}
-		virtual	btScalar	AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
-	};
-
-	struct	ClosestRayResultCallback : public RayResultCallback
-	{
-		ClosestRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
-		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld),
-		m_collisionObject(0)
-		{
-		}
-
-		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
-		btVector3	m_rayToWorld;
-
-		btVector3	m_hitNormalWorld;
-		btVector3	m_hitPointWorld;
-		btCollisionObject*	m_collisionObject;
-		
-		virtual	btScalar	AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
-		{
-
-//caller already does the filter on the m_closestHitFraction
-			assert(rayResult.m_hitFraction <= m_closestHitFraction);
-			
-			m_closestHitFraction = rayResult.m_hitFraction;
-			m_collisionObject = rayResult.m_collisionObject;
-			if (normalInWorldSpace)
-			{
-				m_hitNormalWorld = rayResult.m_hitNormalLocal;
-			} else
-			{
-				///need to transform normal into worldspace
-				m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
-			}
-			m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
-			return rayResult.m_hitFraction;
-		}
-	};
-
-
-	
-
-	int	getNumCollisionObjects() const
-	{
-		return int(m_collisionObjects.size());
-	}
-
-	/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
-	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
-	void	rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
-
-	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
-	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
-	/// This allows more customization.
-	static void	rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback, short int collisionFilterMask=-1);
-
-	/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
-	static void	objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback, short int collisionFilterMask=-1);
-
-	void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
-
-	btCollisionObjectArray& getCollisionObjectArray()
-	{
-		return m_collisionObjects;
-	}
-
-	const btCollisionObjectArray& getCollisionObjectArray() const
-	{
-		return m_collisionObjects;
-	}
-
-
-	void	removeCollisionObject(btCollisionObject* collisionObject);
-
-	virtual void	performDiscreteCollisionDetection();
-
-	btDispatcherInfo& getDispatchInfo()
-	{
-		return m_dispatchInfo;
-	}
-
-};
-
-
-#endif //COLLISION_WORLD_H

physic/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -1,142 +0,0 @@
-/*
-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 "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-
-
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-:btCollisionAlgorithm(ci),
-m_isSwapped(isSwapped)
-{
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	assert (colObj->getCollisionShape()->isCompound());
-	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-	int numChildren = compoundShape->getNumChildShapes();
-	int i;
-	
-	m_childCollisionAlgorithms.resize(numChildren);
-	for (i=0;i<numChildren;i++)
-	{
-		btCollisionShape* childShape = compoundShape->getChildShape(i);
-		btCollisionShape* orgShape = colObj->getCollisionShape();
-		colObj->setCollisionShape( childShape );
-		m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
-		colObj->setCollisionShape( orgShape );
-	}
-}
-
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
-{
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
-		m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
-	}
-}
-
-void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-
-	assert (colObj->getCollisionShape()->isCompound());
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
-	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
-	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		//temporarily exchange parent btCollisionShape with childShape, and recurse
-		btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-		//backup
-		btTransform	orgTrans = colObj->getWorldTransform();
-		btCollisionShape* orgShape = colObj->getCollisionShape();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(i);
-		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->setWorldTransform( orgTrans*childTrans );
-		//the contactpoint is still projected back using the original inverted worldtrans
-		colObj->setCollisionShape( childShape );
-		m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
-		//revert back
-		colObj->setCollisionShape( orgShape);
-		colObj->setWorldTransform(  orgTrans );
-	}
-}
-
-btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-
-	assert (colObj->getCollisionShape()->isCompound());
-	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
-	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
-	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-	btScalar hitFraction = btScalar(1.);
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		//temporarily exchange parent btCollisionShape with childShape, and recurse
-		btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-		//backup
-		btTransform	orgTrans = colObj->getWorldTransform();
-		btCollisionShape* orgShape = colObj->getCollisionShape();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(i);
-		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->setWorldTransform( orgTrans*childTrans );
-
-		colObj->setCollisionShape( childShape );
-		btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
-		if (frac<hitFraction)
-		{
-			hitFraction = frac;
-		}
-		//revert back
-		colObj->setCollisionShape( orgShape);
-		colObj->setWorldTransform( orgTrans);
-	}
-	return hitFraction;
-
-}
-
-

physic/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h

@@ -1,67 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COMPOUND_COLLISION_ALGORITHM_H
-#define COMPOUND_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "btCollisionCreateFunc.h"
-#include "LinearMath/btAlignedObjectArray.h"
-class btDispatcher;
-
-/// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-/// Place holder, not fully implemented yet
-class btCompoundCollisionAlgorithm  : public btCollisionAlgorithm
-{
-	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
-	bool m_isSwapped;
-	
-public:
-
-	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
-
-	virtual ~btCompoundCollisionAlgorithm();
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
-		}
-	};
-
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
-		}
-	};
-
-};
-
-#endif //COMPOUND_COLLISION_ALGORITHM_H

physic/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -1,314 +0,0 @@
-/*
-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 "btConvexConcaveCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-
-btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-: btCollisionAlgorithm(ci),
-m_isSwapped(isSwapped),
-m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
-{
-}
-
-btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
-{
-}
-
-
-
-btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
-	  m_dispatcher(dispatcher),
-	m_dispatchInfoPtr(0)
-{
-	m_convexBody = isSwapped? body1:body0;
-	m_triBody = isSwapped? body0:body1;
-	
-	  //
-	  // create the manifold from the dispatcher 'manifold pool'
-	  //
-	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
-
-  	  clearCache();
-}
-
-btConvexTriangleCallback::~btConvexTriangleCallback()
-{
-	clearCache();
-	m_dispatcher->releaseManifold( m_manifoldPtr );
-  
-}
-  
-
-void	btConvexTriangleCallback::clearCache()
-{
-	m_dispatcher->clearManifold(m_manifoldPtr);
-};
-
-
-
-void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
-{
- 
-	//just for debugging purposes
-	//printf("triangle %d",m_triangleCount++);
-
-
-	//aabb filter is already applied!	
-
-	btCollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher1 = m_dispatcher;
-
-	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
-
-
-	
-	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
-	{
-		btVector3 color(255,255,0);
-		btTransform& tr = ob->getWorldTransform();
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
-
-		//btVector3 center = triangle[0] + triangle[1]+triangle[2];
-		//center *= btScalar(0.333333);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
-
-	}
-
-
-	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
-	
-	if (m_convexBody->getCollisionShape()->isConvex())
-	{
-		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
-		tm.setMargin(m_collisionMarginTriangle);
-	
-		
-		btCollisionShape* tmpShape = ob->getCollisionShape();
-		ob->setCollisionShape( &tm );
-		
-
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
-		///this should use the btDispatcher, so the actual registered algorithm is used
-		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
-
-		m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
-	//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
-		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		ob->setCollisionShape( tmpShape );
-
-	}
-
-	
-
-}
-
-
-
-void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle;
-	m_resultOut = resultOut;
-
-	//recalc aabbs
-	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
-	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
-	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
-	convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
-	btScalar extraMargin = collisionMarginTriangle;
-	btVector3 extra(extraMargin,extraMargin,extraMargin);
-
-	m_aabbMax += extra;
-	m_aabbMin -= extra;
-	
-}
-
-void btConvexConcaveCollisionAlgorithm::clearCache()
-{
-	m_btConvexTriangleCallback.clearCache();
-
-}
-
-void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	
-	
-	btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-
-
-		btCollisionObject*	triOb = triBody;
-		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
-		
-		if (convexBody->getCollisionShape()->isConvex())
-		{
-			btScalar collisionMarginTriangle = concaveShape->getMargin();
-					
-			resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
-
-			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
-			//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-
-			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
-
-			concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
-			
-			resultOut->refreshContactPoints();
-	
-		}
-	
-	}
-
-}
-
-
-btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
-
-	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
-
-	//only perform CCD above a certain threshold, this prevents blocking on the long run
-	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
-	btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
-	if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
-	{
-		return btScalar(1.);
-	}
-
-	//const btVector3& from = convexbody->m_worldTransform.getOrigin();
-	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
-	//todo: only do if the motion exceeds the 'radius'
-
-	btTransform triInv = triBody->getWorldTransform().inverse();
-	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
-	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
-
-	struct LocalTriangleSphereCastCallback	: public btTriangleCallback
-	{
-		btTransform m_ccdSphereFromTrans;
-		btTransform m_ccdSphereToTrans;
-		btTransform	m_meshTransform;
-
-		btScalar	m_ccdSphereRadius;
-		btScalar	m_hitFraction;
-	
-
-		LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
-			:m_ccdSphereFromTrans(from),
-			m_ccdSphereToTrans(to),
-			m_ccdSphereRadius(ccdSphereRadius),
-			m_hitFraction(hitFraction)
-		{			
-		}
-		
-		
-		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)partId;
-			(void)triangleIndex;
-			//do a swept sphere for now
-			btTransform ident;
-			ident.setIdentity();
-			btConvexCast::CastResult castResult;
-			castResult.m_fraction = m_hitFraction;
-			btSphereShape	pointShape(m_ccdSphereRadius);
-			btTriangleShape	triShape(triangle[0],triangle[1],triangle[2]);
-			btVoronoiSimplexSolver	simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
-			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-			//local space?
-
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
-				ident,ident,castResult))
-			{
-				if (m_hitFraction > castResult.m_fraction)
-					m_hitFraction = castResult.m_fraction;
-			}
-
-		}
-
-	};
-
-
-	
-
-	
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		btVector3 rayAabbMin = convexFromLocal.getOrigin();
-		rayAabbMin.setMin(convexToLocal.getOrigin());
-		btVector3 rayAabbMax = convexFromLocal.getOrigin();
-		rayAabbMax.setMax(convexToLocal.getOrigin());
-		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
-
-		btScalar curHitFraction = btScalar(1.); //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
-			convexbody->getCcdSweptSphereRadius(),curHitFraction);
-
-		raycastCallback.m_hitFraction = convexbody->getHitFraction();
-
-		btCollisionObject* concavebody = triBody;
-
-		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
-		
-		if (triangleMesh)
-		{
-			triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
-		}
-	
-
-
-		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
-		{
-			convexbody->setHitFraction( raycastCallback.m_hitFraction);
-			return raycastCallback.m_hitFraction;
-		}
-	}
-
-	return btScalar(1.);
-
-}

physic/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h

@@ -1,113 +0,0 @@
-/*
-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.
-*/
-
-#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btDispatcher;
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "btCollisionCreateFunc.h"
-
-///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
-class btConvexTriangleCallback : public btTriangleCallback
-{
-	btCollisionObject* m_convexBody;
-	btCollisionObject* m_triBody;
-
-	btVector3	m_aabbMin;
-	btVector3	m_aabbMax ;
-
-	btManifoldResult* m_resultOut;
-
-	btDispatcher*	m_dispatcher;
-	const btDispatcherInfo* m_dispatchInfoPtr;
-	btScalar m_collisionMarginTriangle;
-	
-public:
-int	m_triangleCount;
-	
-	btPersistentManifold*	m_manifoldPtr;
-
-	btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
-
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual ~btConvexTriangleCallback();
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-	
-	void clearCache();
-
-	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
-	{
-		return m_aabbMin;
-	}
-	SIMD_FORCE_INLINE const btVector3& getAabbMax() const
-	{
-		return m_aabbMax;
-	}
-
-};
-
-
-
-
-/// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-class btConvexConcaveCollisionAlgorithm  : public btCollisionAlgorithm
-{
-
-	bool	m_isSwapped;
-
-	btConvexTriangleCallback m_btConvexTriangleCallback;
-
-
-public:
-
-	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
-
-	virtual ~btConvexConcaveCollisionAlgorithm();
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	void	clearCache();
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
-		}
-	};
-
-	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
-		}
-	};
-
-};
-
-#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H

physic/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -1,259 +0,0 @@
-/*
-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 "btConvexConvexAlgorithm.h"
-
-#include <stdio.h>
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-
-
-
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-
-
-
-
-
-
-
-btConvexConvexAlgorithm::CreateFunc::CreateFunc()
-{
-	m_ownsSolvers = true;
-	m_simplexSolver = new btVoronoiSimplexSolver();
-	m_pdSolver = new btGjkEpaPenetrationDepthSolver;
-}
-
-btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-{
-	m_ownsSolvers = false;
-	m_simplexSolver = simplexSolver;
-	m_pdSolver = pdSolver;
-}
-
-btConvexConvexAlgorithm::CreateFunc::~CreateFunc() 
-{ 
-   if (m_ownsSolvers){ 
-      delete m_simplexSolver; 
-      delete m_pdSolver; 
-   } 
-}
-
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-: btCollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,simplexSolver,pdSolver),
-m_ownManifold (false),
-m_manifoldPtr(mf),
-m_lowLevelOfDetail(false)
-{
-	(void)body0;
-	(void)body1;
-
-
-}
-
-
-
-
-btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void	btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
-{
-	m_lowLevelOfDetail = useLowLevel;
-}
-
-
-
-
-
-//
-// Convex-Convex collision algorithm
-//
-void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-
-	if (!m_manifoldPtr)
-	{
-		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
-		m_ownManifold = true;
-	}
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-#ifdef USE_BT_GJKEPA
-	btConvexShape*				shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
-	btConvexShape*				shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
-	const btScalar				radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	shape0,body0->getWorldTransform(),
-								shape1,body1->getWorldTransform(),
-								radialmargin,results))
-		{
-		dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		}
-#else
-
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
-	
-	btGjkPairDetector::ClosestPointInput input;
-
-	//TODO: if (dispatchInfo.m_useContinuous)
-	m_gjkPairDetector.setMinkowskiA(min0);
-	m_gjkPairDetector.setMinkowskiB(min1);
-	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
-	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-
-//	input.m_maximumDistanceSquared = btScalar(1e30);
-	
-	input.m_transformA = body0->getWorldTransform();
-	input.m_transformB = body1->getWorldTransform();
-	
-	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-#endif
-
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-
-}
-
-
-
-bool disableCcd = false;
-btScalar	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
-    
-	///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
-	///col0->m_worldTransform,
-	btScalar resultFraction = btScalar(1.);
-
-
-	btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
-	btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
-    
-	if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
-		squareMot1 < col1->getCcdSquareMotionThreshold())
-		return resultFraction;
-
-	if (disableCcd)
-		return btScalar(1.);
-
-
-	//An adhoc way of testing the Continuous Collision Detection algorithms
-	//One object is approximated as a sphere, to simplify things
-	//Starting in penetration should report no time of impact
-	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
-	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
-		
-	/// Convex0 against sphere for Convex1
-	{
-		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
-
-		btSphereShape	sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
-		{
-		
-			//store result.m_fraction in both bodies
-		
-			if (col0->getHitFraction()> result.m_fraction)
-				col0->setHitFraction( result.m_fraction );
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-
-		}
-		
-		
-
-
-	}
-
-	/// Sphere (for convex0) against Convex1
-	{
-		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
-
-		btSphereShape	sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
-		btConvexCast::CastResult result;
-		btVoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
-		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
-			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
-		{
-		
-			//store result.m_fraction in both bodies
-		
-			if (col0->getHitFraction()	> result.m_fraction)
-				col0->setHitFraction( result.m_fraction);
-
-			if (col1->getHitFraction() > result.m_fraction)
-				col1->setHitFraction( result.m_fraction);
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-
-		}
-	}
-	
-	return resultFraction;
-
-}
-

physic/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -1,78 +0,0 @@
-/*
-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.
-*/
-
-#ifndef CONVEX_CONVEX_ALGORITHM_H
-#define CONVEX_CONVEX_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-
-class btConvexPenetrationDepthSolver;
-
-///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
-class btConvexConvexAlgorithm : public btCollisionAlgorithm
-{
-	btGjkPairDetector m_gjkPairDetector;
-public:
-
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool			m_lowLevelOfDetail;
-	
-
-public:
-
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
-
-	virtual ~btConvexConvexAlgorithm();
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	void	setLowLevelOfDetail(bool useLowLevel);
-
-
-	const btPersistentManifold*	getManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		btConvexPenetrationDepthSolver*		m_pdSolver;
-		btSimplexSolverInterface*			m_simplexSolver;
-		bool	m_ownsSolvers;
-		
-		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
-		CreateFunc();
-		virtual ~CreateFunc();
-
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
-		}
-	};
-
-
-};
-
-#endif //CONVEX_CONVEX_ALGORITHM_H

physic/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -1,165 +0,0 @@
-
-/*
-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 "btDefaultCollisionConfiguration.h"
-
-#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
-
-#define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
-#define DEFAULT_STACK_ALLOCATOR_SIZE	(5*1024*1024)
-
-
-btDefaultCollisionConfiguration::btDefaultCollisionConfiguration()
-:m_persistentManifoldPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
-m_stackAllocatorSize(DEFAULT_STACK_ALLOCATOR_SIZE),
-m_collisionAlgorithmPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
-m_collisionAlgorithmMaxElementSize(0)
-{
-
-	//default CreationFunctions, filling the m_doubleDispatch table
-	m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc;
-	m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::CreateFunc;
-	m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
-	m_compoundCreateFunc = new btCompoundCollisionAlgorithm::CreateFunc;
-	m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm::SwappedCreateFunc;
-	m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc;
-	m_sphereSphereCF = new btSphereSphereCollisionAlgorithm::CreateFunc;
-	m_sphereBoxCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
-	m_boxSphereCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
-	m_boxSphereCF->m_swapped = true;
-	
-	m_sphereTriangleCF = new btSphereTriangleCollisionAlgorithm::CreateFunc;
-	m_triangleSphereCF = new btSphereTriangleCollisionAlgorithm::CreateFunc;
-	m_triangleSphereCF->m_swapped = true;
-
-
-	///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
-	int maxSize = sizeof(btConvexConvexAlgorithm);
-	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
-	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int maxSize4 = sizeof(btEmptyAlgorithm);
-	
-	m_collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
-	m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize3);
-	m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize4);
-
-}
-
-btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
-{
-	delete m_convexConvexCreateFunc;
-	delete m_convexConcaveCreateFunc;
-	delete m_swappedConvexConcaveCreateFunc;
-	delete m_compoundCreateFunc;
-	delete m_swappedCompoundCreateFunc;
-	delete m_emptyCreateFunc;
-	delete m_sphereSphereCF;
-	delete m_sphereBoxCF;
-	delete m_boxSphereCF;
-	delete m_sphereTriangleCF;
-	delete m_triangleSphereCF;
-
-
-}
-
-	///pool size for the persistent contact manifold
-int	btDefaultCollisionConfiguration::getPersistentManifoldPoolSize()
-{
-	return m_persistentManifoldPoolSize;
-}
-
-int	btDefaultCollisionConfiguration::getStackAllocatorSize()
-{
-	return m_stackAllocatorSize;
-}
-
-int	btDefaultCollisionConfiguration::getCollisionAlgorithmPoolSize()
-{
-	return m_collisionAlgorithmPoolSize;
-}
-
-int	btDefaultCollisionConfiguration::getCollisionAlgorithmMaxElementSize()
-{
-	return m_collisionAlgorithmMaxElementSize;
-
-}
-
-
-btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
-{
-	
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
-	{
-		return	m_sphereSphereCF;
-	}
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
-	{
-		return	m_sphereBoxCF;
-	}
-
-	if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
-	{
-		return	m_boxSphereCF;
-	}
-
-	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
-	{
-		return	m_sphereTriangleCF;
-	}
-
-	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE  ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
-	{
-		return	m_triangleSphereCF;
-	}
-	
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
-	{
-		return m_convexConvexCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
-	{
-		return m_convexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
-	{
-		return m_swappedConvexConcaveCreateFunc;
-	}
-
-	if (btBroadphaseProxy::isCompound(proxyType0))
-	{
-		return m_compoundCreateFunc;
-	} else
-	{
-		if (btBroadphaseProxy::isCompound(proxyType1))
-		{
-			return m_swappedCompoundCreateFunc;
-		}
-	}
-
-	//failed to find an algorithm
-	return m_emptyCreateFunc;
-}

physic/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -1,82 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BT_DEFAULT_COLLISION_CONFIGURATION
-#define BT_DEFAULT_COLLISION_CONFIGURATION
-
-#include "btCollisionConfiguration.h"
-
-///btCollisionConfiguration allows to configure Bullet collision detection
-///stack allocator size, default collision algorithms and persistent manifold pool size
-///todo: describe the meaning
-class	btDefaultCollisionConfiguration : public btCollisionConfiguration
-{
-
-	int	m_persistentManifoldPoolSize;
-	
-	int	m_stackAllocatorSize;
-
-	int m_collisionAlgorithmPoolSize;
-
-	int m_collisionAlgorithmMaxElementSize;
-
-	//default CreationFunctions, filling the m_doubleDispatch table
-	btCollisionAlgorithmCreateFunc*	m_convexConvexCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_convexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_swappedConvexConcaveCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_compoundCreateFunc;
-	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
-	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
-	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
-	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
-	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
-	btCollisionAlgorithmCreateFunc*	m_triangleSphereCF;
-
-public:
-
-	btDefaultCollisionConfiguration();
-
-	virtual ~btDefaultCollisionConfiguration();
-
-	///pool size for the persistent contact manifold
-	virtual int	getPersistentManifoldPoolSize();
-
-	virtual int	getStackAllocatorSize();
-
-	virtual int	getCollisionAlgorithmPoolSize();
-
-	virtual int	getCollisionAlgorithmMaxElementSize();
-
-	btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
-
-	void	setStackAllocatorSize(int size)
-	{
-		m_stackAllocatorSize = size;
-	}
-
-	void	setPersistentManifoldPoolSize(int size)
-	{
-		m_persistentManifoldPoolSize = size;
-	}
-
-	void	setCollisionAlgorithmPoolSize(int size)
-	{
-		m_collisionAlgorithmPoolSize = size;
-	}
-};
-
-#endif //BT_DEFAULT_COLLISION_CONFIGURATION
-

physic/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp

@@ -1,34 +0,0 @@
-/*
-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 "btEmptyCollisionAlgorithm.h"
-
-
-
-btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-	: btCollisionAlgorithm(ci)
-{
-}
-
-void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
-{
-}
-
-btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
-{
-	return btScalar(1.);
-}
-
-

physic/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h

@@ -1,50 +0,0 @@
-/*
-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.
-*/
-
-#ifndef EMPTY_ALGORITH
-#define EMPTY_ALGORITH
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-
-#define ATTRIBUTE_ALIGNED(a)
-
-///EmptyAlgorithm is a stub for unsupported collision pairs.
-///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame.
-class btEmptyAlgorithm : public btCollisionAlgorithm
-{
-
-public:
-	
-	btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			(void)body0;
-			(void)body1;
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
-			return new(mem) btEmptyAlgorithm(ci);
-		}
-	};
-
-} ATTRIBUTE_ALIGNED(16);
-
-#endif //EMPTY_ALGORITH

physic/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -1,114 +0,0 @@
-/*
-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 "btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-
-///This is to allow MaterialCombiner/Custom Friction/Restitution values
-ContactAddedCallback		gContactAddedCallback=0;
-
-///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-inline btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
-{
-	btScalar friction = body0->getFriction() * body1->getFriction();
-
-	const btScalar MAX_FRICTION  = btScalar(10.);
-	if (friction < -MAX_FRICTION)
-		friction = -MAX_FRICTION;
-	if (friction > MAX_FRICTION)
-		friction = MAX_FRICTION;
-	return friction;
-
-}
-
-inline btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
-{
-	return body0->getRestitution() * body1->getRestitution();
-}
-
-
-
-btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
-		:m_manifoldPtr(0),
-		m_body0(body0),
-		m_body1(body1)
-{
-	m_rootTransA = body0->getWorldTransform();
-	m_rootTransB = body1->getWorldTransform();
-}
-
-
-void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
-{
-	assert(m_manifoldPtr);
-	//order in manifold needs to match
-	
-	if (depth > m_manifoldPtr->getContactBreakingThreshold())
-		return;
-
-	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;
-	
-	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
-
-	newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
-	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
-
-	
-	///todo, check this for any side effects
-	if (insertIndex >= 0)
-	{
-		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
-		m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
-	} else
-	{
-		m_manifoldPtr->AddManifoldPoint(newPt);
-	}
-
-	//User can override friction and/or restitution
-	if (gContactAddedCallback &&
-		//and if either of the two bodies requires custom material
-		 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
-	{
-		//experimental feature info, for per-triangle material etc.
-		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
-		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-		(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
-	}
-
-}
-

physic/BulletCollision/CollisionDispatch/btManifoldResult.h

@@ -1,93 +0,0 @@
-/*
-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.
-*/
-
-
-#ifndef MANIFOLD_RESULT_H
-#define MANIFOLD_RESULT_H
-
-class btCollisionObject;
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-class btManifoldPoint;
-
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-
-#include "LinearMath/btTransform.h"
-
-typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
-extern ContactAddedCallback		gContactAddedCallback;
-
-
-
-///btManifoldResult is a helper class to manage  contact results.
-class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
-{
-	btPersistentManifold* m_manifoldPtr;
-
-	//we need this for compounds
-	btTransform	m_rootTransA;
-	btTransform	m_rootTransB;
-
-	btCollisionObject* m_body0;
-	btCollisionObject* m_body1;
-	int	m_partId0;
-	int m_partId1;
-	int m_index0;
-	int m_index1;
-public:
-
-	btManifoldResult()
-	{
-	}
-
-	btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
-
-	virtual ~btManifoldResult() {};
-
-	void	setPersistentManifold(btPersistentManifold* manifoldPtr)
-	{
-		m_manifoldPtr = manifoldPtr;
-	}
-
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-			m_partId0=partId0;
-			m_partId1=partId1;
-			m_index0=index0;
-			m_index1=index1;		
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
-
-	SIMD_FORCE_INLINE	void refreshContactPoints()
-	{
-		btAssert(m_manifoldPtr);
-		if (!m_manifoldPtr->getNumContacts())
-			return;
-
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
-
-		if (isSwapped)
-		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
-		} else
-		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
-		}
-	}
-
-
-};
-
-#endif //MANIFOLD_RESULT_H

physic/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -1,357 +0,0 @@
-
-
-#include "LinearMath/btScalar.h"
-#include "btSimulationIslandManager.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-
-#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-
-btSimulationIslandManager::btSimulationIslandManager()
-{
-}
-
-btSimulationIslandManager::~btSimulationIslandManager()
-{
-}
-
-
-void btSimulationIslandManager::initUnionFind(int n)
-{
-		m_unionFind.reset(n);
-}
-		
-
-void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
-{
-	
-	{
-		for (int i=0;i<dispatcher->getNumManifolds();i++)
-		{
-			const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-			//static objects (invmass btScalar(0.)) don't merge !
-
-			 const  btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
-			 const  btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-
-			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-				((colObj1) && ((colObj1)->mergesSimulationIslands())))
-			{
-
-				m_unionFind.unite((colObj0)->getIslandTag(),
-					(colObj1)->getIslandTag());
-			}
-		}
-	}
-}
-
-
-void	btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
-{
-	
-	initUnionFind( int (colWorld->getCollisionObjectArray().size()));
-	
-	// put the index into m_controllers into m_tag	
-	{
-		
-		int index = 0;
-		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
-		{
-			btCollisionObject*	collisionObject= colWorld->getCollisionObjectArray()[i];
-			collisionObject->setIslandTag(index);
-			collisionObject->setCompanionId(-1);
-			collisionObject->setHitFraction(btScalar(1.));
-			index++;
-			
-		}
-	}
-	// do the union find
-	
-	findUnions(dispatcher);
-	
-
-	
-}
-
-
-
-
-void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
-{
-	// put the islandId ('find' value) into m_tag	
-	{
-		
-		
-		int index = 0;
-		int i;
-		for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
-		{
-			btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
-			if (collisionObject->mergesSimulationIslands())
-			{
-				collisionObject->setIslandTag( m_unionFind.find(index) );
-				collisionObject->setCompanionId(-1);
-			} else
-			{
-				collisionObject->setIslandTag(-1);
-				collisionObject->setCompanionId(-2);
-			}
-			index++;
-		}
-	}
-}
-
-inline	int	getIslandId(const btPersistentManifold* lhs)
-{
-	int islandId;
-	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
-	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
-	return islandId;
-
-}
-
-
-
-/// function object that routes calls to operator<
-class btPersistentManifoldSortPredicate
-{
-	public:
-
-		SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
-		{
-			return getIslandId(lhs) < getIslandId(rhs);
-		}
-};
-
-
-
-
-
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
-{
-
-	BEGIN_PROFILE("islandUnionFindAndHeapSort");
-	
-	//we are going to sort the unionfind array, and store the element id in the size
-	//afterwards, we clean unionfind, to make sure no-one uses it anymore
-	
-	getUnionFind().sortIslands();
-	int numElem = getUnionFind().getNumElements();
-
-	int endIslandIndex=1;
-	int startIslandIndex;
-
-
-	//update the sleeping state for bodies, if all are sleeping
-	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-		{
-		}
-
-		//int numSleeping = 0;
-
-		bool allSleeping = true;
-
-		int idx;
-		for (idx=startIslandIndex;idx<endIslandIndex;idx++)
-		{
-			int i = getUnionFind().getElement(idx).m_sz;
-
-			btCollisionObject* colObj0 = collisionObjects[i];
-			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-			{
-				printf("error in island management\n");
-			}
-
-			assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-			if (colObj0->getIslandTag() == islandId)
-			{
-				if (colObj0->getActivationState()== ACTIVE_TAG)
-				{
-					allSleeping = false;
-				}
-				if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
-				{
-					allSleeping = false;
-				}
-			}
-		}
-			
-
-		if (allSleeping)
-		{
-			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					printf("error in island management\n");
-				}
-
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					colObj0->setActivationState( ISLAND_SLEEPING );
-				}
-			}
-		} else
-		{
-
-			int idx;
-			for (idx=startIslandIndex;idx<endIslandIndex;idx++)
-			{
-				int i = getUnionFind().getElement(idx).m_sz;
-
-				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
-				{
-					printf("error in island management\n");
-				}
-
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-				if (colObj0->getIslandTag() == islandId)
-				{
-					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
-					{
-						colObj0->setActivationState( WANTS_DEACTIVATION);
-					}
-				}
-			}
-		}
-	}
-
-	
-	int i;
-	int maxNumManifolds = dispatcher->getNumManifolds();
-
-#define SPLIT_ISLANDS 1
-#ifdef SPLIT_ISLANDS
-
-	btAlignedObjectArray<btPersistentManifold*>  islandmanifold;
-	islandmanifold.reserve(maxNumManifolds);
-#endif //SPLIT_ISLANDS
-
-	
-	for (i=0;i<maxNumManifolds ;i++)
-	{
-		 btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-		 
-		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
-		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
-		
-		 //todo: check sleeping conditions!
-		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
-			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
-		{
-		
-			//kinematic objects don't merge islands, but wake up all connected objects
-			if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
-			{
-				colObj1->activate();
-			}
-			if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
-			{
-				colObj0->activate();
-			}
-#ifdef SPLIT_ISLANDS
-	//		//filtering for response
-			if (dispatcher->needsResponse(colObj0,colObj1))
-				islandmanifold.push_back(manifold);
-#endif //SPLIT_ISLANDS
-		}
-	}
-
-#ifndef SPLIT_ISLANDS
-	btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-	
-	callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
-#else
-	// Sort manifolds, based on islands
-	// Sort the vector using predicate and std::sort
-	//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
-
-	int numManifolds = int (islandmanifold.size());
-
-	//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
-	islandmanifold.heapSort(btPersistentManifoldSortPredicate());
-
-	//now process all active islands (sets of manifolds for now)
-
-	int startManifoldIndex = 0;
-	int endManifoldIndex = 1;
-
-	//int islandId;
-
-	END_PROFILE("islandUnionFindAndHeapSort");
-
-	btAlignedObjectArray<btCollisionObject*>	islandBodies;
-
-
-	//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-
-	       bool islandSleeping = false;
-                
-                for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-                {
-                        int i = getUnionFind().getElement(endIslandIndex).m_sz;
-                        btCollisionObject* colObj0 = collisionObjects[i];
-						islandBodies.push_back(colObj0);
-                        if (!colObj0->isActive())
-                                islandSleeping = true;
-                }
-                
-
-		//find the accompanying contact manifold for this islandId
-		int numIslandManifolds = 0;
-		btPersistentManifold** startManifold = 0;
-
-		if (startManifoldIndex<numManifolds)
-		{
-			int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
-			if (curIslandId == islandId)
-			{
-				startManifold = &islandmanifold[startManifoldIndex];
-			
-				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
-				{
-
-				}
-				/// Process the actual simulation, only if not sleeping/deactivated
-				numIslandManifolds = endManifoldIndex-startManifoldIndex;
-			}
-
-		}
-
-		if (!islandSleeping)
-		{
-			callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
-		}
-		
-		if (numIslandManifolds)
-		{
-			startManifoldIndex = endManifoldIndex;
-		}
-
-		islandBodies.resize(0);
-	}
-#endif //SPLIT_ISLANDS
-	
-}

physic/BulletCollision/CollisionDispatch/btSimulationIslandManager.h

@@ -1,61 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SIMULATION_ISLAND_MANAGER_H
-#define SIMULATION_ISLAND_MANAGER_H
-
-#include "BulletCollision/CollisionDispatch/btUnionFind.h"
-#include "btCollisionCreateFunc.h"
-
-class btCollisionObject;
-class btCollisionWorld;
-class btDispatcher;
-
-///SimulationIslandManager creates and handles simulation islands, using btUnionFind
-class btSimulationIslandManager
-{
-	btUnionFind m_unionFind;
-
-public:
-	btSimulationIslandManager();
-	virtual ~btSimulationIslandManager();
-
-
-	void initUnionFind(int n);	
-	
-		
-	btUnionFind& getUnionFind() { return m_unionFind;}
-
-	virtual	void	updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
-	virtual	void	storeIslandActivationState(btCollisionWorld* world);
-
-
-	void	findUnions(btDispatcher* dispatcher);
-
-	
-
-	struct	IslandCallback
-	{
-		virtual ~IslandCallback() {};
-
-		virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
-	};
-
-	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
-
-};
-
-#endif //SIMULATION_ISLAND_MANAGER_H
-

physic/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp

@@ -1,260 +0,0 @@
-/*
-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 "btSphereBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-//#include <stdio.h>
-
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btCollisionAlgorithm(ci),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
-{
-	btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
-	btCollisionObject* boxObj = m_isSwapped? col0 : col1;
-	
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
-		m_ownManifold = true;
-	}
-}
-
-
-btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-
-
-void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-	(void)resultOut;
-	if (!m_manifoldPtr)
-		return;
-
-	btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
-	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
-
-
-	btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
-
-	btVector3 normalOnSurfaceB;
-	btVector3 pOnBox,pOnSphere;
-	btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
-	btScalar radius = sphere0->getRadius();
-	
-	btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	if (dist < SIMD_EPSILON)
-	{
-		btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
-
-		/// report a contact. internally this will be kept persistent, and contact reduction is done
-
-		resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
-		
-	}
-
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr->getNumContacts())
-		{
-			resultOut->refreshContactPoints();
-		}
-	}
-
-}
-
-btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
-
-
-btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius ) 
-{
-
-	btScalar margins;
-	btVector3 bounds[2];
-	btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
-	
-	bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
-	bounds[1] = boxShape->getHalfExtentsWithoutMargin();
-
-	margins = boxShape->getMargin();//also add sphereShape margin?
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	btVector3	boundsVec[2];
-	btScalar	fPenetration;
-
-	boundsVec[0] = bounds[0];
-	boundsVec[1] = bounds[1];
-
-	btVector3	marginsVec( margins, margins, margins );
-
-	// add margins
-	bounds[0] += marginsVec;
-	bounds[1] -= marginsVec;
-
-	/////////////////////////////////////////////////
-
-	btVector3	tmp, prel, n[6], normal, v3P;
-	btScalar   fSep = btScalar(10000000.0), fSepThis;
-
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-	
-	bool	bFound = false;
-
-	v3P = prel;
-
-	for (int i=0;i<6;i++)
-	{
-		int j = i<3? 0:1;
-		if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
-		{
-			v3P = v3P - n[i]*fSepThis;		
-			bFound = true;
-		}
-	}
-	
-	//
-
-	if ( bFound )
-	{
-		bounds[0] = boundsVec[0];
-		bounds[1] = boundsVec[1];
-
-		normal = (prel - v3P).normalize();
-		pointOnBox = v3P + normal*margins;
-		v3PointOnSphere = prel - normal*fRadius;
-
-		if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
-		{
-			return btScalar(1.0);
-		}
-
-		// transform back in world space
-		tmp = m44T( pointOnBox);
-		pointOnBox    = tmp;
-		tmp  = m44T( v3PointOnSphere);		
-		v3PointOnSphere = tmp;
-		btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
-		
-		//if this fails, fallback into deeper penetration case, below
-		if (fSeps2 > SIMD_EPSILON)
-		{
-			fSep = - btSqrt(fSeps2);
-			normal = (pointOnBox-v3PointOnSphere);
-			normal *= btScalar(1.)/fSep;
-		}
-
-		return fSep;
-	}
-
-	//////////////////////////////////////////////////
-	// Deep penetration case
-
-	fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
-
-	bounds[0] = boundsVec[0];
-	bounds[1] = boundsVec[1];
-
-	if ( fPenetration <= btScalar(0.0) )
-		return (fPenetration-margins);
-	else
-		return btScalar(1.0);
-}
-
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) 
-{
-
-	btVector3 bounds[2];
-
-	bounds[0] = aabbMin;
-	bounds[1] = aabbMax;
-
-	btVector3	p0, tmp, prel, n[6], normal;
-	btScalar   fSep = btScalar(-10000000.0), fSepThis;
-
-	// set p0 and normal to a default value to shup up GCC
-	p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-
-	///////////
-
-	for (int i=0;i<6;i++)
-	{
-		int j = i<3 ? 0:1;
-		if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) )	return btScalar(1.0);
-		if ( fSepThis > fSep )
-		{
-			p0 = bounds[j];	normal = (btVector3&)n[i];
-			fSep = fSepThis;
-		}
-	}
-
-	pointOnBox = prel - normal*(normal.dot((prel-p0)));
-	v3PointOnSphere = pointOnBox + normal*fSep;
-
-	// transform back in world space
-	tmp  = m44T( pointOnBox);		
-	pointOnBox    = tmp;
-	tmp  = m44T( v3PointOnSphere);		v3PointOnSphere = tmp;
-	normal = (pointOnBox-v3PointOnSphere).normalize();
-
-	return fSep;
-
-}
-

physic/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h

@@ -1,67 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
-#define SPHERE_BOX_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "btCollisionDispatcher.h"
-
-#include "LinearMath/btVector3.h"
-
-/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool	m_isSwapped;
-	
-public:
-
-	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
-
-	virtual ~btSphereBoxCollisionAlgorithm();
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
-
-	btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
-	
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
-			if (!m_swapped)
-			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
-			} else
-			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
-			}
-		}
-	};
-
-};
-
-#endif //SPHERE_BOX_COLLISION_ALGORITHM_H
-

physic/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp

@@ -1,93 +0,0 @@
-/*
-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 "btSphereSphereCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
-: btCollisionAlgorithm(ci),
-m_ownManifold(false),
-m_manifoldPtr(mf)
-{
-	if (!m_manifoldPtr)
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
-		m_ownManifold = true;
-	}
-}
-
-btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-
-	if (!m_manifoldPtr)
-		return;
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
-	btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
-
-	btVector3 diff = col0->getWorldTransform().getOrigin()-  col1->getWorldTransform().getOrigin();
-	btScalar len = diff.length();
-	btScalar radius0 = sphere0->getRadius();
-	btScalar radius1 = sphere1->getRadius();
-
-	m_manifoldPtr->clearManifold();
-
-	///iff distance positive, don't generate a new contact
-	if ( len > (radius0+radius1))
-	{
-		return;
-	}
-	///distance (negative means penetration)
-	btScalar dist = len - (radius0+radius1);
-
-	btVector3 normalOnSurfaceB = diff / len;
-	///point on A (worldspace)
-	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
-	///point on B (worldspace)
-	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
-
-	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	
-	
-	resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
-
-	//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new)
-
-}
-
-btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)col0;
-	(void)col1;
-	(void)dispatchInfo;
-	(void)resultOut;
-
-	//not yet
-	return btScalar(1.);
-}

physic/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h

@@ -1,59 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
-#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-#include "btCollisionDispatcher.h"
-
-class btPersistentManifold;
-
-/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-/// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	
-public:
-	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
-
-	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	
-	virtual ~btSphereSphereCollisionAlgorithm();
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
-			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
-		}
-	};
-
-};
-
-#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
-

physic/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp

@@ -1,82 +0,0 @@
-/*
-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 "btSphereTriangleCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "SphereTriangleDetector.h"
-
-
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
-: btCollisionAlgorithm(ci),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_swapped(swapped)
-{
-	if (!m_manifoldPtr)
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
-		m_ownManifold = true;
-	}
-}
-
-btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-		return;
-
-	btCollisionObject* sphereObj = m_swapped? col1 : col0;
-	btCollisionObject* triObj = m_swapped? col0 : col1;
-
-	btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
-	btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
-	
-	/// report a contact. internally this will be kept persistent, and contact reduction is done
-	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle);
-	
-	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
-	input.m_transformA = col0->getWorldTransform();
-	input.m_transformB = col1->getWorldTransform();
-
-	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-
-	if (m_ownManifold)
-		resultOut->refreshContactPoints();
-	
-}
-
-btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}

physic/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h

@@ -1,62 +0,0 @@
-/*
-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.
-*/
-
-#ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "btCollisionDispatcher.h"
-
-/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
-/// Other features are frame-coherency (persistent data) and collision response.
-/// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
-{
-	bool	m_ownManifold;
-	btPersistentManifold*	m_manifoldPtr;
-	bool	m_swapped;
-	
-public:
-	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
-
-	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	
-	virtual ~btSphereTriangleCollisionAlgorithm();
-
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
-
-			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
-		}
-	};
-
-};
-
-#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-

physic/BulletCollision/CollisionDispatch/btUnionFind.cpp

@@ -1,84 +0,0 @@
-/*
-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 "btUnionFind.h"
-#include <assert.h>
-
-
-
-
-btUnionFind::~btUnionFind()
-{
-	Free();
-
-}
-
-btUnionFind::btUnionFind()
-{ 
-
-}
-
-void	btUnionFind::allocate(int N)
-{
-	m_elements.resize(N);
-}
-void	btUnionFind::Free()
-{
-	m_elements.clear();
-}
-
-
-void	btUnionFind::reset(int N)
-{
-	allocate(N);
-
-	for (int i = 0; i < N; i++) 
-	{ 
-		m_elements[i].m_id = i; m_elements[i].m_sz = 1; 
-	} 
-}
-
-
-class btUnionFindElementSortPredicate
-{
-	public:
-
-		bool operator() ( const btElement& lhs, const btElement& rhs )
-		{
-			return lhs.m_id < rhs.m_id;
-		}
-};
-
-///this is a special operation, destroying the content of btUnionFind.
-///it sorts the elements, based on island id, in order to make it easy to iterate over islands
-void	btUnionFind::sortIslands()
-{
-
-	//first store the original body index, and islandId
-	int numElements = m_elements.size();
-	
-	for (int i=0;i<numElements;i++)
-	{
-		m_elements[i].m_id = find(i);
-		m_elements[i].m_sz = i;
-	}
-	
-	 // Sort the vector using predicate and std::sort
-	  //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
-	//perhaps use radix sort?
-	  m_elements.heapSort(btUnionFindElementSortPredicate());
-
-}
-

physic/BulletCollision/CollisionDispatch/btUnionFind.h

@@ -1,124 +0,0 @@
-/*
-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.
-*/
-
-#ifndef UNION_FIND_H
-#define UNION_FIND_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-	#define USE_PATH_COMPRESSION 1
-
-struct	btElement
-{
-	int	m_id;
-	int	m_sz;
-};
-
-///UnionFind calculates connected subsets
-// Implements weighted Quick Union with path compression
-// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
-class btUnionFind
-  {
-    private:
-		btAlignedObjectArray<btElement>	m_elements;
-
-    public:
-	  
-		btUnionFind();
-		~btUnionFind();
-
-	
-		//this is a special operation, destroying the content of btUnionFind.
-		//it sorts the elements, based on island id, in order to make it easy to iterate over islands
-		void	sortIslands();
-
-	  void	reset(int N);
-
-	  SIMD_FORCE_INLINE int	getNumElements() const
-	  {
-		  return int(m_elements.size());
-	  }
-	  SIMD_FORCE_INLINE bool  isRoot(int x) const
-	  {
-		  return (x == m_elements[x].m_id);
-	  }
-
-	  btElement&	getElement(int index)
-	  {
-		  return m_elements[index];
-	  }
-	  const btElement& getElement(int index) const
-	  {
-		  return m_elements[index];
-	  }
-   
-	  void	allocate(int N);
-	  void	Free();
-
-
-
-
-	  int find(int p, int q)
-		{ 
-			return (find(p) == find(q)); 
-		}
-
-		void unite(int p, int q)
-		{
-			int i = find(p), j = find(q);
-			if (i == j) 
-				return;
-
-#ifndef USE_PATH_COMPRESSION
-			//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
-			if (m_elements[i].m_sz < m_elements[j].m_sz)
-			{ 
-				m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; 
-			}
-			else 
-			{ 
-				m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz; 
-			}
-#else
-			m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; 
-#endif //USE_PATH_COMPRESSION
-		}
-
-		int find(int x)
-		{ 
-			//assert(x < m_N);
-			//assert(x >= 0);
-
-			while (x != m_elements[x].m_id) 
-			{
-		//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
-	
-		#ifdef USE_PATH_COMPRESSION
-				//
-				m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
-		#endif //
-				x = m_elements[x].m_id;
-				//assert(x < m_N);
-				//assert(x >= 0);
-
-			}
-			return x; 
-		}
-
-
-  };
-
-
-#endif //UNION_FIND_H

physic/BulletCollision/CollisionShapes/btBoxShape.cpp

@@ -1,54 +0,0 @@
-/*
-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 "btBoxShape.h"
-
-
-//{ 
-
-
-void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-{
-	const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
-	btMatrix3x3 abs_b = t.getBasis().absolute();  
-	btPoint3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
-		   abs_b[1].dot(halfExtents),
-		  abs_b[2].dot(halfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-
-
-}
-
-
-void	btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
-{
-	//btScalar margin = btScalar(0.);
-	btVector3 halfExtents = getHalfExtentsWithMargin();
-
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
-					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
-
-}
-

physic/BulletCollision/CollisionShapes/btBoxShape.h

@@ -1,323 +0,0 @@
-/*
-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.
-*/
-
-#ifndef OBB_BOX_MINKOWSKI_H
-#define OBB_BOX_MINKOWSKI_H
-
-#include "btPolyhedralConvexShape.h"
-#include "btCollisionMargin.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btPoint3.h"
-#include "LinearMath/btSimdMinMax.h"
-
-///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
-class btBoxShape: public btPolyhedralConvexShape
-{
-
-	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
-
-public:
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-	
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
-	}
-	
-
-	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-	
-		for (int i=0;i<numVectors;i++)
-		{
-			const btVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
-		}
-
-	}
-
-
-	btBoxShape( const btVector3& boxHalfExtents)
-	{
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
-	};
-
-	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	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 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
-	{
-		//this plane might not be aligned...
-		btVector4 plane ;
-		getPlaneEquation(plane,i);
-		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
-		planeSupport = localGetSupportingVertex(-planeNormal);
-	}
-
-	
-	virtual int getNumPlanes() const
-	{
-		return 6;
-	}	
-	
-	virtual int	getNumVertices() const 
-	{
-		return 8;
-	}
-
-	virtual int getNumEdges() const
-	{
-		return 12;
-	}
-
-
-	virtual void getVertex(int i,btVector3& vtx) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		vtx = btVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
-	}
-	
-
-	virtual void	getPlaneEquation(btVector4& plane,int i) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		switch (i)
-		{
-		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			plane[3] = -halfExtents.x();
-			break;
-		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			plane[3] = -halfExtents.x();
-			break;
-		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			plane[3] = -halfExtents.y();
-			break;
-		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			plane[3] = -halfExtents.y();
-			break;
-		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			plane[3] = -halfExtents.z();
-			break;
-		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			plane[3] = -halfExtents.z();
-			break;
-		default:
-			assert(0);
-		}
-	}
-
-	
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
-	//virtual void getEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-		case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-			break;
-		case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			btAssert(0);
-
-		}
-
-		getVertex(edgeVert0,pa );
-		getVertex(edgeVert1,pb );
-	}
-
-
-
-
-	
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		//btScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
-		return result;
-	}
-
-
-	//debugging
-	virtual const char*	getName()const
-	{
-		return "Box";
-	}
-
-	virtual int		getNumPreferredPenetrationDirections() const
-	{
-		return 6;
-	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		switch (index)
-		{
-		case 0:
-			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			break;
-		case 1:
-			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			break;
-		case 2:
-			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			break;
-		case 3:
-			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			break;
-		case 4:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			break;
-		case 5:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			break;
-		default:
-			assert(0);
-		}
-	}
-
-};
-
-#endif //OBB_BOX_MINKOWSKI_H
-
-

physic/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -1,190 +0,0 @@
-/*
-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.
-*/
-
-//#define DISABLE_BVH
-
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
-
-
-///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
-///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
-:btTriangleMeshShape(meshInterface),
-m_bvh(0),
-m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-m_ownsBvh(false)
-{
-	//construct bvh from meshInterface
-#ifndef DISABLE_BVH
-
-	btVector3 bvhAabbMin,bvhAabbMax;
-	meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax);
-	
-	if (buildBvh)
-	{
-		m_bvh = new btOptimizedBvh();
-		m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
-		m_ownsBvh = true;
-	}
-
-#endif //DISABLE_BVH
-
-}
-
-btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
-:btTriangleMeshShape(meshInterface),
-m_bvh(0),
-m_useQuantizedAabbCompression(useQuantizedAabbCompression),
-m_ownsBvh(false)
-{
-	//construct bvh from meshInterface
-#ifndef DISABLE_BVH
-
-	if (buildBvh)
-	{
-		m_bvh = new btOptimizedBvh();
-		m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
-		m_ownsBvh = true;
-	}
-
-#endif //DISABLE_BVH
-
-}
-
-void	btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
-	
-	m_localAabbMin.setMin(aabbMin);
-	m_localAabbMax.setMax(aabbMax);
-}
-
-
-void	btBvhTriangleMeshShape::refitTree()
-{
-	m_bvh->refit( m_meshInterface );
-	
-	recalcLocalAabb();
-}
-
-btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
-{
-	if (m_ownsBvh)
-		delete m_bvh;
-}
-
-//perform bvh tree traversal and report overlapping triangles to 'callback'
-void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
-{
-
-#ifdef DISABLE_BVH
-	//brute force traverse all triangles
-	btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
-#else
-
-	//first get all the nodes
-
-	
-	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
-	{
-		btStridingMeshInterface*	m_meshInterface;
-		btTriangleCallback*		m_callback;
-		btVector3				m_triangle[3];
-
-
-		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
-			:m_meshInterface(meshInterface),
-			m_callback(callback)
-		{
-		}
-				
-		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
-		{
-			const unsigned char *vertexbase;
-			int numverts;
-			PHY_ScalarType type;
-			int stride;
-			const unsigned char *indexbase;
-			int indexstride;
-			int numfaces;
-			PHY_ScalarType indicestype;
-			
-
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				nodeSubPart);
-
-			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
-	
-			const btVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j=2;j>=0;j--)
-			{
-				
-				int graphicsindex = gfxbase[j];
-
-
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("%d ,",graphicsindex);
-#endif //DEBUG_TRIANGLE_MESH
-				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-
-				m_triangle[j] = btVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
-#endif //DEBUG_TRIANGLE_MESH
-			}
-
-			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
-			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
-		}
-
-	};
-
-	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
-
-	m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-
-
-#endif//DISABLE_BVH
-
-
-}
-
-
-void	btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
-	{
-		btTriangleMeshShape::setLocalScaling(scaling);
-		if (m_ownsBvh)
-			delete m_bvh;
-		///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
-		m_bvh = new btOptimizedBvh();
-		//rebuild the bvh...
-		m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
-
-	}
-}

physic/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -1,90 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BVH_TRIANGLE_MESH_SHAPE_H
-#define BVH_TRIANGLE_MESH_SHAPE_H
-
-#include "btTriangleMeshShape.h"
-#include "btOptimizedBvh.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
-///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
-{
-
-	btOptimizedBvh*	m_bvh;
-	bool m_useQuantizedAabbCompression;
-	bool	m_ownsBvh;
-	bool m_pad[11];////need padding due to alignment
-
-public:
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
-	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();
-
-	
-	/*
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
-	*/
-
-
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
-	void	refitTree();
-
-	///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)
-	{
-		btAssert(!m_bvh);
-		btAssert(!m_ownsBvh);
-
-		m_bvh = bvh;
-		m_ownsBvh = false;
-	}
-
-	bool	usesQuantizedAabbCompression() const
-	{
-		return	m_useQuantizedAabbCompression;
-	}
-}
-;
-
-#endif //BVH_TRIANGLE_MESH_SHAPE_H

physic/BulletCollision/CollisionShapes/btCapsuleShape.cpp

@@ -1,146 +0,0 @@
-/*
-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 "btCapsuleShape.h"
-
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-#include "LinearMath/btQuaternion.h"
-
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
-{
-	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
-}
-
- 
- btVector3	btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
-{
-
-	btVector3 supVec(0,0,0);
-
-	btScalar maxDot(btScalar(-1e30));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-	btVector3 vtx;
-	btScalar newDot;
-	
-	btScalar radius = getRadius();
-
-
-	{
-		btVector3 pos(0,getHalfHeight(),0);
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	{
-		btVector3 pos(0,-getHalfHeight(),0);
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
-	return supVec;
-
-}
-
- void	btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
-
-	
-	btScalar radius = getRadius();
-
-	for (int j=0;j<numVectors;j++)
-	{
-		btScalar maxDot(btScalar(-1e30));
-		const btVector3& vec = vectors[j];
-
-		btVector3 vtx;
-		btScalar newDot;
-		{
-			btVector3 pos(0,getHalfHeight(),0);
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
-		{
-			btVector3 pos(0,-getHalfHeight(),0);
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
-		
-	}
-}
-
-
-void	btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
-{
-	//as an approximation, take the inertia of the box that bounds the spheres
-
-	btTransform ident;
-	ident.setIdentity();
-
-	
-	btScalar radius = getRadius();
-
-	btVector3 halfExtents(radius,radius+getHalfHeight(),radius);
-
-	btScalar margin = CONVEX_DISTANCE_MARGIN;
-
-	btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
-	btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
-	btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
-	const btScalar x2 = lx*lx;
-	const btScalar y2 = ly*ly;
-	const btScalar z2 = lz*lz;
-	const btScalar scaledmass = mass * btScalar(.08333333);
-
-	inertia[0] = scaledmass * (y2+z2);
-	inertia[1] = scaledmass * (x2+z2);
-	inertia[2] = scaledmass * (x2+y2);
-
-}
-
-
-
-
-

physic/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -1,60 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BT_CAPSULE_SHAPE_H
-#define BT_CAPSULE_SHAPE_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
-
-///btCapsuleShape represents a capsule around the Y axis
-///A more general solution that can represent capsules is the btMultiSphereShape
-class btCapsuleShape : public btConvexInternalShape
-{
-
-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 int	getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
-
-	virtual const char*	getName()const 
-	{
-		return "CapsuleShape";
-	}
-
-	btScalar	getRadius() const
-	{
-		return m_implicitShapeDimensions.getX();
-	}
-
-	btScalar	getHalfHeight() const
-	{
-		return m_implicitShapeDimensions.getY();
-	}
-
-};
-
-
-
-#endif //BT_CAPSULE_SHAPE_H

physic/BulletCollision/CollisionShapes/btCollisionMargin.h

@@ -1,26 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
-
-//used by Gjk and some other algorithms
-
-#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
-
-
-
-#endif //COLLISION_MARGIN_H
-

physic/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -1,85 +0,0 @@
-/*
-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 "BulletCollision/CollisionShapes/btCollisionShape.h"
-
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C" void btBulletCollisionProbe () {}
-
-
-
-void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
-{
-	btTransform tr;
-	tr.setIdentity();
-	btVector3 aabbMin,aabbMax;
-
-	getAabb(tr,aabbMin,aabbMax);
-
-	radius = (aabbMax-aabbMin).length()*btScalar(0.5);
-	center = (aabbMin+aabbMax)*btScalar(0.5);
-}
-
-btScalar	btCollisionShape::getAngularMotionDisc() const
-{
-	btVector3	center;
-	btScalar disc;
-	getBoundingSphere(center,disc);
-	disc += (center).length();
-	return disc;
-}
-
-void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax)
-{
-	//start with static aabb
-	getAabb(curTrans,temporalAabbMin,temporalAabbMax);
-
-	btScalar temporalAabbMaxx = temporalAabbMax.getX();
-	btScalar temporalAabbMaxy = temporalAabbMax.getY();
-	btScalar temporalAabbMaxz = temporalAabbMax.getZ();
-	btScalar temporalAabbMinx = temporalAabbMin.getX();
-	btScalar temporalAabbMiny = temporalAabbMin.getY();
-	btScalar temporalAabbMinz = temporalAabbMin.getZ();
-
-	// add linear motion
-	btVector3 linMotion = linvel*timeStep;
-	//todo: simd would have a vector max/min operation, instead of per-element access
-	if (linMotion.x() > btScalar(0.))
-		temporalAabbMaxx += linMotion.x(); 
-	else
-		temporalAabbMinx += linMotion.x();
-	if (linMotion.y() > btScalar(0.))
-		temporalAabbMaxy += linMotion.y(); 
-	else
-		temporalAabbMiny += linMotion.y();
-	if (linMotion.z() > btScalar(0.))
-		temporalAabbMaxz += linMotion.z(); 
-	else
-		temporalAabbMinz += linMotion.z();
-
-	//add conservative angular motion
-	btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
-	btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
-	temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
-	temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
-
-	temporalAabbMin -= angularMotion3d;
-	temporalAabbMax += angularMotion3d;
-}

physic/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -1,94 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COLLISION_SHAPE_H
-#define COLLISION_SHAPE_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btPoint3.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
-
-///btCollisionShape provides interface for collision shapes that can be shared among btCollisionObjects.
-class btCollisionShape
-{
-public:
-
-	btCollisionShape() 
-	{
-	}
-	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;
-
-
-	///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);
-
-#ifndef __SPU__
-
-	SIMD_FORCE_INLINE bool	isPolyhedral() const
-	{
-		return btBroadphaseProxy::isPolyhedral(getShapeType());
-	}
-
-	SIMD_FORCE_INLINE bool	isConvex() const
-	{
-		return btBroadphaseProxy::isConvex(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool	isConcave() const
-	{
-		return btBroadphaseProxy::isConcave(getShapeType());
-	}
-	SIMD_FORCE_INLINE bool	isCompound() const
-	{
-		return btBroadphaseProxy::isCompound(getShapeType());
-	}
-
-	///isInfinite is used to catch simulation error (aabb check)
-	SIMD_FORCE_INLINE bool isInfinite() const
-	{
-		return btBroadphaseProxy::isInfinite(getShapeType());
-	}
-
-	virtual int		getShapeType() const=0;
-	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__
-
-	
-
-	virtual void	setMargin(btScalar margin) = 0;
-	virtual btScalar	getMargin() const = 0;
-
-};	
-
-#endif //COLLISION_SHAPE_H
-

physic/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -1,107 +0,0 @@
-/*
-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 "btCompoundShape.h"
-
-
-#include "btCollisionShape.h"
-
-
-btCompoundShape::btCompoundShape()
-:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
-m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
-m_aabbTree(0),
-m_collisionMargin(btScalar(0.)),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
-{
-}
-
-
-btCompoundShape::~btCompoundShape()
-{
-}
-
-void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
-{
-	//m_childTransforms.push_back(localTransform);
-	//m_childShapes.push_back(shape);
-	btCompoundShapeChild child;
-	child.m_transform = localTransform;
-	child.m_childShape = shape;
-	child.m_childShapeType = shape->getShapeType();
-	child.m_childMargin = shape->getMargin();
-
-	m_children.push_back(child);
-
-	//extend the local aabbMin/aabbMax
-	btVector3 localAabbMin,localAabbMax;
-	shape->getAabb(localTransform,localAabbMin,localAabbMax);
-	for (int i=0;i<3;i++)
-	{
-		if (m_localAabbMin[i] > localAabbMin[i])
-		{
-			m_localAabbMin[i] = localAabbMin[i];
-		}
-		if (m_localAabbMax[i] < localAabbMax[i])
-		{
-			m_localAabbMax[i] = localAabbMax[i];
-		}
-
-	}
-}
-
-
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
-{
-	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-	
-	btMatrix3x3 abs_b = trans.getBasis().absolute();  
-
-	btPoint3 center = trans(localCenter);
-
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
-{
-	//approximation: take the inertia from the aabb for now
-	btTransform ident;
-	ident.setIdentity();
-	btVector3 aabbMin,aabbMax;
-	getAabb(ident,aabbMin,aabbMax);
-	
-	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
-	
-	btScalar lx=btScalar(2.)*(halfExtents.x());
-	btScalar ly=btScalar(2.)*(halfExtents.y());
-	btScalar lz=btScalar(2.)*(halfExtents.z());
-
-	inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
-	inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
-	inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
-
-}
-
-	
-	

physic/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -1,136 +0,0 @@
-/*
-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.
-*/
-
-#ifndef COMPOUND_SHAPE_H
-#define 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;
-
-ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btTransform			m_transform;
-	btCollisionShape*	m_childShape;
-	int					m_childShapeType;
-	btScalar			m_childMargin;
-};
-	
-/// btCompoundShape allows to store multiple other btCollisionShapes
-/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
-ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
-{
-	//btAlignedObjectArray<btTransform>		m_childTransforms;
-	//btAlignedObjectArray<btCollisionShape*>	m_childShapes;
-	btAlignedObjectArray<btCompoundShapeChild> m_children;
-	btVector3						m_localAabbMin;
-	btVector3						m_localAabbMax;
-
-	btOptimizedBvh*					m_aabbTree;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btCompoundShape();
-
-	virtual ~btCompoundShape();
-
-	void	addChildShape(const btTransform& localTransform,btCollisionShape* shape);
-
-	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;
-	}
-
-
-	btCompoundShapeChild* getChildList()
-	{
-		return &m_children[0];
-	}
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const btVector3& scaling)
-	{
-		m_localScaling = scaling;
-	}
-	virtual const btVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-	
-	virtual int	getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
-
-	virtual void	setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual btScalar	getMargin() const
-	{
-		return m_collisionMargin;
-	}
-	virtual const char*	getName()const
-	{
-		return "Compound";
-	}
-
-	//this is optional, but should make collision queries faster, by culling non-overlapping nodes
-	void	createAabbTreeFromChildren();
-
-	const btOptimizedBvh*					getAabbTree() const
-	{
-		return m_aabbTree;
-	}
-
-private:
-	btScalar	m_collisionMargin;
-protected:
-	btVector3	m_localScaling;
-
-};
-
-
-
-#endif //COMPOUND_SHAPE_H

physic/BulletCollision/CollisionShapes/btConcaveShape.cpp

@@ -1,28 +0,0 @@
-
-/*
-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 "btConcaveShape.h"
-
-btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
-{
-
-}
-
-btConcaveShape::~btConcaveShape()
-{
-
-}

physic/BulletCollision/CollisionShapes/btConcaveShape.h

@@ -1,50 +0,0 @@
-/*
-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.
-*/
-
-#ifndef CONCAVE_SHAPE_H
-#define CONCAVE_SHAPE_H
-
-#include "btCollisionShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-#include "btTriangleCallback.h"
-
-
-///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
-///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
-class btConcaveShape : public btCollisionShape
-{
-protected:
-	btScalar m_collisionMargin;
-
-public:
-	btConcaveShape();
-
-	virtual ~btConcaveShape();
-
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
-
-	virtual btScalar getMargin() const {
-		return m_collisionMargin;
-	}
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		m_collisionMargin = collisionMargin;
-	}
-
-
-
-};
-
-#endif //CONCAVE_SHAPE_H

physic/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -1,133 +0,0 @@
-/*
-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 "btConeShape.h"
-#include "LinearMath/btPoint3.h"
-
-
-
-btConeShape::btConeShape (btScalar radius,btScalar height):
-m_radius (radius),
-m_height(height)
-{
-	setConeUpIndex(1);
-	btVector3 halfExtents;
-	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
-}
-
-btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
-btConeShape(radius,height)
-{
-	setConeUpIndex(2);
-}
-
-btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
-btConeShape(radius,height)
-{
-	setConeUpIndex(0);
-}
-
-///choose upAxis index
-void	btConeShape::setConeUpIndex(int upIndex)
-{
-	switch (upIndex)
-	{
-	case 0:
-			m_coneIndices[0] = 1;
-			m_coneIndices[1] = 0;
-			m_coneIndices[2] = 2;
-		break;
-	case 1:
-			m_coneIndices[0] = 0;
-			m_coneIndices[1] = 1;
-			m_coneIndices[2] = 2;
-		break;
-	case 2:
-			m_coneIndices[0] = 0;
-			m_coneIndices[1] = 2;
-			m_coneIndices[2] = 1;
-		break;
-	default:
-		assert(0);
-	};
-}
-
-btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
-{
-	
-	btScalar halfHeight = m_height * btScalar(0.5);
-
- if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
- {
-	btVector3 tmp;
-
-	tmp[m_coneIndices[0]] = btScalar(0.);
-	tmp[m_coneIndices[1]] = halfHeight;
-	tmp[m_coneIndices[2]] = btScalar(0.);
-	return tmp;
- }
-  else {
-    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
-    if (s > SIMD_EPSILON) {
-      btScalar d = m_radius / s;
-	  btVector3 tmp;
-	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
-	  tmp[m_coneIndices[1]] = -halfHeight;
-	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
-	  return tmp;
-    }
-    else  {
-		btVector3 tmp;
-		tmp[m_coneIndices[0]] = btScalar(0.);
-		tmp[m_coneIndices[1]] = -halfHeight;
-		tmp[m_coneIndices[2]] = btScalar(0.);
-		return tmp;
-	}
-  }
-
-}
-
-btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-		return coneLocalSupport(vec);
-}
-
-void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		const btVector3& vec = vectors[i];
-		supportVerticesOut[i] = coneLocalSupport(vec);
-	}
-}
-
-
-btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
-{
-	btVector3 supVertex = coneLocalSupport(vec);
-	if ( getMargin()!=btScalar(0.) )
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
-		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-

physic/BulletCollision/CollisionShapes/btConeShape.h

@@ -1,103 +0,0 @@
-/*
-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.
-*/
-
-#ifndef CONE_MINKOWSKI_H
-#define CONE_MINKOWSKI_H
-
-#include "btConvexInternalShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
-///btConeShape implements a Cone shape, around the Y axis
-class btConeShape : public btConvexInternalShape
-
-{
-
-	btScalar m_sinAngle;
-	btScalar m_radius;
-	btScalar m_height;
-	int		m_coneIndices[3];
-	btVector3 coneLocalSupport(const btVector3& v) const;
-
-
-public:
-	btConeShape (btScalar radius,btScalar height);
-	
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-
-	btScalar getRadius() const { return m_radius;}
-	btScalar getHeight() const { return m_height;}
-
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
-	{
-		btTransform identity;
-		identity.setIdentity();
-		btVector3 aabbMin,aabbMax;
-		getAabb(identity,aabbMin,aabbMax);
-
-		btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
-
-		btScalar margin = getMargin();
-
-		btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
-		btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
-		btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
-		const btScalar x2 = lx*lx;
-		const btScalar y2 = ly*ly;
-		const btScalar z2 = lz*lz;
-		const btScalar scaledmass = mass * btScalar(0.08333333);
-
-		inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-
-//		inertia.x() = scaledmass * (y2+z2);
-//		inertia.y() = scaledmass * (x2+z2);
-//		inertia.z() = scaledmass * (x2+y2);
-	}
-
-
-
-		virtual int	getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
-
-		virtual const char*	getName()const 
-		{
-			return "Cone";
-		}
-		
-		///choose upAxis index
-		void	setConeUpIndex(int upIndex);
-		
-		int	getConeUpIndex() const
-		{
-			return m_coneIndices[1];
-		}
-};
-
-///btConeShape implements a Cone shape, around the X axis
-class btConeShapeX : public btConeShape
-{
-	public:
-		btConeShapeX(btScalar radius,btScalar height);
-};
-
-///btConeShapeZ implements a Cone shape, around the Z axis
-class btConeShapeZ : public btConeShape
-{
-	public:
-		btConeShapeZ(btScalar radius,btScalar height);
-};
-#endif //CONE_MINKOWSKI_H
-

physic/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -1,179 +0,0 @@
-/*
-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 "btConvexHullShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-
-
-
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
-{
-	m_points.resize(numPoints);
-
-	unsigned char* pointsBaseAddress = (unsigned char*)points;
-
-	for (int i=0;i<numPoints;i++)
-	{
-		btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
-		m_points[i] = point[0];
-	}
-
-	recalcLocalAabb();
-
-}
-
-
-void btConvexHullShape::addPoint(const btPoint3& point)
-{
-	m_points.push_back(point);
-	recalcLocalAabb();
-
-}
-
-btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
-{
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-1e30);
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-
-	for (int i=0;i<m_points.size();i++)
-	{
-		btPoint3 vtx = m_points[i] * m_localScaling;
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return supVec;
-}
-
-void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-1e30);
-		}
-	}
-	for (int i=0;i<m_points.size();i++)
-	{
-		btPoint3 vtx = m_points[i] * m_localScaling;
-
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& vec = vectors[j];
-			
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
-
-
-
-}
-	
-
-
-btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if ( getMargin()!=btScalar(0.) )
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
-		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-
-
-
-
-
-
-
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int	btConvexHullShape::getNumVertices() const
-{
-	return m_points.size();
-}
-
-int btConvexHullShape::getNumEdges() const
-{
-	return m_points.size();
-}
-
-void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
-{
-
-	int index0 = i%m_points.size();
-	int index1 = (i+1)%m_points.size();
-	pa = m_points[index0]*m_localScaling;
-	pb = m_points[index1]*m_localScaling;
-}
-
-void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
-{
-	vtx = m_points[i]*m_localScaling;
-}
-
-int	btConvexHullShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
-{
-
-	btAssert(0);
-}
-
-//not yet
-bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
-{
-	assert(0);
-	return false;
-}
-

physic/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -1,77 +0,0 @@
-/*
-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.
-*/
-
-#ifndef CONVEX_HULL_SHAPE_H
-#define CONVEX_HULL_SHAPE_H
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-#include "LinearMath/btAlignedObjectArray.h"
-
-///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
-///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
-///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
-///(memory is much slower then the cpu)
-ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
-{
-	btAlignedObjectArray<btPoint3>	m_points;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	
-	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
-	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
-	///btConvexHullShape make an internal copy of the points.
-	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
-
-	void addPoint(const btPoint3& point);
-
-	btPoint3* getPoints()
-	{
-		return &m_points[0];
-	}
-
-	int getNumPoints()
-	{
-		return m_points.size();
-	}
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	
-
-	virtual int	getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
-
-	//debugging
-	virtual const char*	getName()const {return "Convex";}
-
-	
-	virtual int	getNumVertices() const;
-	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
-	virtual void getVertex(int i,btPoint3& vtx) const;
-	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
-
-
-
-};
-
-
-#endif //CONVEX_HULL_SHAPE_H
-

physic/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

@@ -1,78 +0,0 @@
-/*
-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 "btConvexInternalShape.h"
-
-
-btConvexInternalShape::btConvexInternalShape()
-: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_collisionMargin(CONVEX_DISTANCE_MARGIN)
-{
-}
-
-
-void	btConvexInternalShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-
-
-
-void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
-{
-
-	btScalar margin = getMargin();
-	for (int i=0;i<3;i++)
-	{
-		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
-		vec[i] = btScalar(1.);
-
-		btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
-
-		btVector3 tmp = trans(sv);
-		maxAabb[i] = tmp[i]+margin;
-		vec[i] = btScalar(-1.);
-		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
-		minAabb[i] = tmp[i]-margin;
-	}
-};
-
-
-btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
-{
-#ifndef __SPU__
-
-	 btVector3	supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if ( getMargin()!=btScalar(0.) )
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
-		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
-	}
-	return supVertex;
-
-#else
-	return btVector3(0,0,0);
-#endif //__SPU__
-
- }
-
-

physic/BulletCollision/CollisionShapes/btConvexInternalShape.h

@@ -1,99 +0,0 @@
-
-#ifndef BT_CONVEX_INTERNAL_SHAPE_H
-#define BT_CONVEX_INTERNAL_SHAPE_H
-
-#include "btConvexShape.h"
-
-///btConvexInternalShape carries some additional data, shared by most implementations
-class btConvexInternalShape : public btConvexShape
-{
-
-	protected:
-
-	//local scaling. collisionMargin is not scaled !
-	btVector3	m_localScaling;
-
-	btVector3	m_implicitShapeDimensions;
-	
-	btScalar	m_collisionMargin;
-
-	btScalar	m_padding[2];
-
-
-
-
-public:
-
-	btConvexInternalShape();
-
-	virtual ~btConvexInternalShape()
-	{
-
-	}
-
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
-	
-	//notice that the vectors should be unit length
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
-#endif //#ifndef __SPU__
-
-	const btVector3& getImplicitShapeDimensions() const
-	{
-		return m_implicitShapeDimensions;
-	}
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-	{
-		getAabbSlow(t,aabbMin,aabbMax);
-	}
-
-
-	
-	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const btVector3& scaling);
-	virtual const btVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-	const btVector3& getLocalScalingNV() const 
-	{
-		return m_localScaling;
-	}
-
-	virtual void	setMargin(btScalar margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual btScalar	getMargin() const
-	{
-		return m_collisionMargin;
-	}
-
-	btScalar	getMarginNV() const
-	{
-		return m_collisionMargin;
-	}
-
-	virtual int		getNumPreferredPenetrationDirections() const
-	{
-		return 0;
-	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		(void)penetrationVector;
-		(void)index;
-		btAssert(0);
-	}
-
-};
-
-
-#endif //BT_CONVEX_INTERNAL_SHAPE_H