btCollisionWorld.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

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

//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION


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

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



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



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


btCollisionWorld::~btCollisionWorld()
{

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

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


}










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

    btAssert(collisionObject);

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

    m_collisionObjects.push_back(collisionObject);

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

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

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





}



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

    if(getDispatchInfo().m_convexMaxDistanceUseCPT)
    {
        btVector3 minAabb2,maxAabb2;
        colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
        minAabb2 -= contactThreshold;
        maxAabb2 += contactThreshold;
        minAabb.setMin(minAabb2);
        maxAabb.setMax(maxAabb2);
    }

    btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;

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

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

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

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

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



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

    btDispatcherInfo& dispatchInfo = getDispatchInfo();

    updateAabbs();

    {
        BT_PROFILE("calculateOverlappingPairs");
        m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
    }


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

}



void    btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
{


    //bool removeFromBroadphase = false;

    {

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


    //swapremove
    m_collisionObjects.remove(collisionObject);

}



void    btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
                                        btCollisionObject* collisionObject,
                                        const btCollisionShape* collisionShape,
                                        const btTransform& colObjWorldTransform,
                                        RayResultCallback& resultCallback)
{
    btSphereShape pointShape(btScalar(0.0));
    pointShape.setMargin(0.f);
    const btConvexShape* castShape = &pointShape;

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

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

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

                    castResult.m_normal.normalize();
                    btCollisionWorld::LocalRayResult localRayResult
                        (
                        collisionObject,
                        0,
                        castResult.m_normal,
                        castResult.m_fraction
                        );

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

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

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

                    btTransform m_colObjWorldTransform;

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


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

                        btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

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

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

                };

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

                btTransform worldTocollisionObject = colObjWorldTransform.inverse();

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

                //ConvexCast::CastResult

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

                    btTransform m_colObjWorldTransform;

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


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

                        btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

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

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

                };


                BridgeTriangleRaycastCallback   rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
                rcb.m_hitFraction = resultCallback.m_closestHitFraction;

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

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

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

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

                        LocalInfoAdder2 my_cb(i, &m_resultCallback);

                        rayTestSingle(
                            m_rayFromTrans,
                            m_rayToTrans,
                            m_collisionObject,
                            childCollisionShape,
                            childWorldTrans,
                            my_cb);
                        
                        // restore
                        m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
                    }
                    
                    void Process(const btDbvtNode* leaf)
                    {
                        Process(leaf->dataAsInt);
                    }
                };
                
                const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
                const btDbvt* dbvt = compoundShape->getDynamicAabbTree();


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

void    btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
                                            btCollisionObject* collisionObject,
                                            const btCollisionShape* collisionShape,
                                            const btTransform& colObjWorldTransform,
                                            ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
    if (collisionShape->isConvex())
    {
        //BT_PROFILE("convexSweepConvex");
        btConvexCast::CastResult castResult;
        castResult.m_allowedPenetration = allowedPenetration;
        castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??

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

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

        btConvexCast* castPtr = &convexCaster1;



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

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

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

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

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


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

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

                            bool    normalInWorldSpace = true;


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

                };

                BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
                tccb.m_hitFraction = resultCallback.m_closestHitFraction;
                tccb.m_allowedPenetration = allowedPenetration;
                btVector3 boxMinLocal, boxMaxLocal;
                castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
                triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
            } else
            {
                //BT_PROFILE("convexSweepConcave");
                btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
                btTransform worldTocollisionObject = colObjWorldTransform.inverse();
                btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
                btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
                // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
                btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());

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

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


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

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

                            bool    normalInWorldSpace = false;

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

                };

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

                btVector3 rayAabbMinLocal = convexFromLocal;
                rayAabbMinLocal.setMin(convexToLocal);
                btVector3 rayAabbMaxLocal = convexFromLocal;
                rayAabbMaxLocal.setMax(convexToLocal);
                rayAabbMinLocal += boxMinLocal;
                rayAabbMaxLocal += boxMaxLocal;
                concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
            }
        } else {
            if (collisionShape->isCompound())
            {
                BT_PROFILE("convexSweepCompound");
                const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
                int i=0;
                for (i=0;i<compoundShape->getNumChildShapes();i++)
                {
                    btTransform childTrans = compoundShape->getChildTransform(i);
                    const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
                    btTransform childWorldTrans = colObjWorldTransform * childTrans;
                    // replace collision shape so that callback can determine the triangle
                    btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
                    collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
                    struct  LocalInfoAdder : public ConvexResultCallback {
                            ConvexResultCallback* m_userCallback;
                            int m_i;

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

                    LocalInfoAdder my_cb(i, &resultCallback);
                    

                    objectQuerySingle(castShape, convexFromTrans,convexToTrans,
                        collisionObject,
                        childCollisionShape,
                        childWorldTrans,
                        my_cb, allowedPenetration);
                    // restore
                    collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
                }
            }
        }
    }
}


struct btSingleRayCallback : public btBroadphaseRayCallback
{

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

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

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

        btVector3 rayDir = (rayToWorld-rayFromWorld);

        rayDir.normalize ();
        m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
        m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
        m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
        m_signs[0] = m_rayDirectionInverse[0] < 0.0;
        m_signs[1] = m_rayDirectionInverse[1] < 0.0;
        m_signs[2] = m_rayDirectionInverse[2] < 0.0;

        m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);

    }



    virtual bool    process(const btBroadphaseProxy* proxy)
    {
        if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
            return false;

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

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

void    btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
    //BT_PROFILE("rayTest");
    btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);

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

}


struct btSingleSweepCallback : public btBroadphaseRayCallback
{

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


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

        m_lambda_max = rayDir.dot(unnormalizedRayDir);

    }

    virtual bool    process(const btBroadphaseProxy* proxy)
    {
        if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
            return false;

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

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

        return true;
    }
};



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

    BT_PROFILE("convexSweepTest");



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

#ifndef USE_BRUTEFORCE_RAYBROADPHASE

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

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

#else

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



struct btBridgedManifoldResult : public btManifoldResult
{

    btCollisionWorld::ContactResultCallback&    m_resultCallback;

    btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
        :btManifoldResult(obj0,obj1),
        m_resultCallback(resultCallback)
    {
    }

    virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
    {
        bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
        btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
        btVector3 localA;
        btVector3 localB;
        if (isSwapped)
        {
            localA = m_rootTransB.invXform(pointA );
            localB = m_rootTransA.invXform(pointInWorld);
        } else
        {
            localA = m_rootTransA.invXform(pointA );
            localB = m_rootTransB.invXform(pointInWorld);
        }
        
        btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
        newPt.m_positionWorldOnA = pointA;
        newPt.m_positionWorldOnB = pointInWorld;
        
       //BP mod, store contact triangles.
        if (isSwapped)
        {
            newPt.m_partId0 = m_partId1;
            newPt.m_partId1 = m_partId0;
            newPt.m_index0  = m_index1;
            newPt.m_index1  = m_index0;
        } else
        {
            newPt.m_partId0 = m_partId0;
            newPt.m_partId1 = m_partId1;
            newPt.m_index0  = m_index0;
            newPt.m_index1  = m_index1;
        }

        //experimental feature info, for per-triangle material etc.
        btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
        btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
        m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);

    }
    
};



struct btSingleContactCallback : public btBroadphaseAabbCallback
{

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

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

        //only perform raycast if filterMask matches
        if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
        {
            btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
            if (algorithm)
            {
                btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
                //discrete collision detection query
                algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);

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


void    btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)
{
    btVector3 aabbMin,aabbMax;
    colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
    btSingleContactCallback contactCB(colObj,this,resultCallback);
    
    m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);
}


void    btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
{
    btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
    if (algorithm)
    {
        btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
        //discrete collision detection query
        algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);

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

}




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

public:

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

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

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

          btVector3 wv0,wv1,wv2;
          wv0 = m_worldTrans*triangle[0];
          wv1 = m_worldTrans*triangle[1];
          wv2 = m_worldTrans*triangle[2];
          btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);

          btVector3 normal = (wv1-wv0).cross(wv2-wv0);
          normal.normalize();
          btVector3 normalColor(1,1,0);
          m_debugDrawer->drawLine(center,center+normal,normalColor);



         
          m_debugDrawer->drawLine(wv0,wv1,m_color);
          m_debugDrawer->drawLine(wv1,wv2,m_color);
          m_debugDrawer->drawLine(wv2,wv0,m_color);
      }
};


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

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

    } else
    {
        switch (shape->getShapeType())
        {

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

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

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

                btTransform childTransform;
                childTransform.setIdentity();

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

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

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

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

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

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

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

            }
        default:
            {

                if (shape->isConcave())
                {
                    btConcaveShape* concaveMesh = (btConcaveShape*) shape;

                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));

                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
                    concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);

                }

                if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
                {
                    btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
                    //todo: pass camera for some culling            
                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
                    //DebugDrawcallback drawCallback;
                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
                    convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
                }


                if (shape->isPolyhedral())
                {
                    btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;

                    int i;
                    for (i=0;i<polyshape->getNumEdges();i++)
                    {
                        btVector3 a,b;
                        polyshape->getEdge(i,a,b);
                        btVector3 wa = worldTransform * a;
                        btVector3 wb = worldTransform * b;
                        getDebugDrawer()->drawLine(wa,wb,color);

                    }


                }
            }
        }
    }
}


void    btCollisionWorld::debugDrawWorld()
{
    if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
    {
        int numManifolds = getDispatcher()->getNumManifolds();
        btVector3 color(0,0,0);
        for (int i=0;i<numManifolds;i++)
        {
            btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
            //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
            //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());

            int numContacts = contactManifold->getNumContacts();
            for (int j=0;j<numContacts;j++)
            {
                btManifoldPoint& cp = contactManifold->getContactPoint(j);
                getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
            }
        }
    }

    if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
    {
        int i;

        for (  i=0;i<m_collisionObjects.size();i++)
        {
            btCollisionObject* colObj = m_collisionObjects[i];
            if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
            {
                if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
                {
                    btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
                    switch(colObj->getActivationState())
                    {
                    case  ACTIVE_TAG:
                        color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
                    case ISLAND_SLEEPING:
                        color =  btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
                    case WANTS_DEACTIVATION:
                        color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
                    case DISABLE_DEACTIVATION:
                        color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
                    case DISABLE_SIMULATION:
                        color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
                    default:
                        {
                            color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
                        }
                    };

                    debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
                }
                if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
                {
                    btVector3 minAabb,maxAabb;
                    btVector3 colorvec(1,0,0);
                    colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
                    btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
                    minAabb -= contactThreshold;
                    maxAabb += contactThreshold;

                    btVector3 minAabb2,maxAabb2;

                    colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
                    minAabb2 -= contactThreshold;
                    maxAabb2 += contactThreshold;

                    minAabb.setMin(minAabb2);
                    maxAabb.setMax(maxAabb2);

                    m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
                }
            }

        }
    }
}


void    btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
{
    int i;
    //serialize all collision objects
    for (i=0;i<m_collisionObjects.size();i++)
    {
        btCollisionObject* colObj = m_collisionObjects[i];
        if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
        {
            colObj->serializeSingleObject(serializer);
        }
    }

    btHashMap<btHashPtr,btCollisionShape*>  serializedShapes;

    for (i=0;i<m_collisionObjects.size();i++)
    {
        btCollisionObject* colObj = m_collisionObjects[i];
        btCollisionShape* shape = colObj->getCollisionShape();

        if (!serializedShapes.find(shape))
        {
            serializedShapes.insert(shape,shape);
            shape->serializeSingleShape(serializer);
        }
    }

}


void    btCollisionWorld::serialize(btSerializer* serializer)
{

    serializer->startSerialization();
    
    serializeCollisionObjects(serializer);
    
    serializer->finishSerialization();
}