source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @ 8369

/*
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 "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"

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

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


///for debug drawing

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



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


btCollisionWorld::~btCollisionWorld()
{

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

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


}










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

        btAssert(collisionObject);

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

        m_collisionObjects.push_back(collisionObject);

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

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

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





}



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

        btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;

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

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

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

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

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



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

        btDispatcherInfo& dispatchInfo = getDispatchInfo();

        updateAabbs();

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


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

}



void    btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
{


        //bool removeFromBroadphase = false;

        {

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


        //swapremove
        m_collisionObjects.remove(collisionObject);

}



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

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

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

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

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

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

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

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

                                        btTransform m_colObjWorldTransform;

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


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

                                                btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

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

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

                                };

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

                                btTransform worldTocollisionObject = colObjWorldTransform.inverse();

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

                                //ConvexCast::CastResult

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

                                        btTransform m_colObjWorldTransform;

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


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

                                                btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

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

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

                                };


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

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

                                concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
                        }
                } else {
                        //                      BT_PROFILE("rayTestCompound");
                        ///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
                        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;
                                        // replace collision shape so that callback can determine the triangle
                                        btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
                                        collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
                    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 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;
                            }
                    };

                    LocalInfoAdder2 my_cb(i, &resultCallback);

                                        rayTestSingle(rayFromTrans,rayToTrans,
                                                collisionObject,
                                                childCollisionShape,
                                                childWorldTrans,
                                                my_cb);
                                        // restore
                                        collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
                                }
                        }
                }
        }
}

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;
                                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;
                                btVector3 boxMinLocal, boxMaxLocal;
                                castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);

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

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

                    LocalInfoAdder my_cb(i, &resultCallback);
                                        

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


struct btSingleRayCallback : public btBroadphaseRayCallback
{

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

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

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

                btVector3 rayDir = (rayToWorld-rayFromWorld);

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

                m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);

        }



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

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

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

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

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

}


struct btSingleSweepCallback : public btBroadphaseRayCallback
{

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


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

                m_lambda_max = rayDir.dot(unnormalizedRayDir);

        }

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

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

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

                return true;
        }
};



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

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



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

#ifndef USE_BRUTEFORCE_RAYBROADPHASE

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

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

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



struct btBridgedManifoldResult : public btManifoldResult
{

        btCollisionWorld::ContactResultCallback&        m_resultCallback;

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

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

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

        }
        
};



struct btSingleContactCallback : public btBroadphaseAabbCallback
{

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

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

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

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


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


///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
///it reports one or more contact points (including the one with deepest penetration)
void    btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
{
        btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
        if (algorithm)
        {
                btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
                //discrete collision detection query
                algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);

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

}




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

public:

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

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

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

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

                  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();


                                btVector3 capStart(0.f,0.f,0.f);
                                capStart[upAxis] = -halfHeight;

                                btVector3 capEnd(0.f,0.f,0.f);
                                capEnd[upAxis] = halfHeight;

                                // Draw the ends
                                {

                                        btTransform childTransform = worldTransform;
                                        childTransform.getOrigin() = worldTransform * capStart;
                                        getDebugDrawer()->drawSphere(radius, childTransform, color);
                                }

                                {
                                        btTransform childTransform = worldTransform;
                                        childTransform.getOrigin() = worldTransform * capEnd;
                                        getDebugDrawer()->drawSphere(radius, childTransform, color);
                                }

                                // Draw some additional lines
                                btVector3 start = worldTransform.getOrigin();


                                capStart[(upAxis+1)%3] = radius;
                                capEnd[(upAxis+1)%3] = radius;
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
                                capStart[(upAxis+1)%3] = -radius;
                                capEnd[(upAxis+1)%3] = -radius;
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);

                                capStart[(upAxis+1)%3] = 0.f;
                                capEnd[(upAxis+1)%3] = 0.f;

                                capStart[(upAxis+2)%3] = radius;
                                capEnd[(upAxis+2)%3] = radius;
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
                                capStart[(upAxis+2)%3] = -radius;
                                capEnd[(upAxis+2)%3] = -radius;
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, 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();
                                btVector3 start = worldTransform.getOrigin();

                                int upAxis= coneShape->getConeUpIndex();


                                btVector3       offsetHeight(0,0,0);
                                offsetHeight[upAxis] = height * btScalar(0.5);
                                btVector3       offsetRadius(0,0,0);
                                offsetRadius[(upAxis+1)%3] = radius;
                                btVector3       offset2Radius(0,0,0);
                                offset2Radius[(upAxis+2)%3] = radius;

                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color);

                                // Drawing the base of the cone
                                btVector3 yaxis(0,0,0);
                                yaxis[upAxis] = btScalar(1.0);
                                btVector3 xaxis(0,0,0);
                                xaxis[(upAxis+1)%3] = btScalar(1.0);
                                getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
                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];
                                btVector3 start = worldTransform.getOrigin();
                                btVector3       offsetHeight(0,0,0);
                                offsetHeight[upAxis] = halfHeight;
                                btVector3       offsetRadius(0,0,0);
                                offsetRadius[(upAxis+1)%3] = radius;
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
                                getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);

                                // Drawing top and bottom caps of the cylinder
                                btVector3 yaxis(0,0,0);
                                yaxis[upAxis] = btScalar(1.0);
                                btVector3 xaxis(0,0,0);
                                xaxis[(upAxis+1)%3] = btScalar(1.0);
                                getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
                                getDebugDrawer()->drawArc(start+worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
                                break;
                        }

                case STATIC_PLANE_PROXYTYPE:
                        {
                                const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
                                btScalar planeConst = staticPlaneShape->getPlaneConstant();
                                const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
                                btVector3 planeOrigin = planeNormal * planeConst;
                                btVector3 vec0,vec1;
                                btPlaneSpace1(planeNormal,vec0,vec1);
                                btScalar vecLen = 100.f;
                                btVector3 pt0 = planeOrigin + vec0*vecLen;
                                btVector3 pt1 = planeOrigin - vec0*vecLen;
                                btVector3 pt2 = planeOrigin + vec1*vecLen;
                                btVector3 pt3 = planeOrigin - vec1*vecLen;
                                getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color);
                                getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color);
                                break;

                        }
                default:
                        {

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

                                        ///@todo pass camera, for some culling? no -> we are not a graphics lib
                                        btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
                                        btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));

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

                                }

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


                                /// for polyhedral shapes
                                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);
                                        m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
                                }
                        }

                }
        }
}


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

        ///keep track of shapes already serialized
        btHashMap<btHashPtr,btCollisionShape*>  serializedShapes;

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

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

}


void    btCollisionWorld::serialize(btSerializer* serializer)
{

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