CcdPhysicsEnvironment.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 "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "CcdGraphicController.h"

#include <algorithm>
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"

//profiling/timings
#include "LinearMath/btQuickprof.h"


#include "PHY_IMotionState.h"
#include "KX_GameObject.h"
#include "RAS_MeshObject.h"
#include "RAS_Polygon.h"
#include "RAS_TexVert.h"

#define CCD_CONSTRAINT_DISABLE_LINKED_COLLISION 0x80

bool useIslands = true;

#ifdef NEW_BULLET_VEHICLE_SUPPORT
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include "PHY_IVehicle.h"
btRaycastVehicle::btVehicleTuning   gTuning;

#endif //NEW_BULLET_VEHICLE_SUPPORT
#include "LinearMath/btAabbUtil2.h"
#include "MT_Matrix4x4.h"
#include "MT_Vector3.h"
#include "GL/glew.h"

#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
#endif


#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"


#include <stdio.h>
#include <string.h>     // for memset

#ifdef NEW_BULLET_VEHICLE_SUPPORT
class WrapperVehicle : public PHY_IVehicle
{

    btRaycastVehicle*   m_vehicle;
    PHY_IPhysicsController* m_chassis;

public:

    WrapperVehicle(btRaycastVehicle* vehicle,PHY_IPhysicsController* chassis)
        :m_vehicle(vehicle),
        m_chassis(chassis)
    {
    }

    btRaycastVehicle*   GetVehicle()
    {
        return m_vehicle;
    }

    PHY_IPhysicsController* GetChassis()
    {
        return m_chassis;
    }

    virtual void    AddWheel(
        PHY_IMotionState*   motionState,
        PHY__Vector3    connectionPoint,
        PHY__Vector3    downDirection,
        PHY__Vector3    axleDirection,
        float   suspensionRestLength,
        float wheelRadius,
        bool hasSteering
        )
    {
        btVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
        btVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
        btVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);


        btWheelInfo& info = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
            suspensionRestLength,wheelRadius,gTuning,hasSteering);
        info.m_clientInfo = motionState;

    }

    void    SyncWheels()
    {
        int numWheels = GetNumWheels();
        int i;
        for (i=0;i<numWheels;i++)
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(i);
            PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
    //      m_vehicle->updateWheelTransformsWS(info,false);
            m_vehicle->updateWheelTransform(i,false);
            btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform;
            btQuaternion orn = trans.getRotation();
            const btVector3& pos = trans.getOrigin();
            motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
            motionState->setWorldPosition(pos.x(),pos.y(),pos.z());

        }
    }

    virtual int     GetNumWheels() const
    {
        return m_vehicle->getNumWheels();
    }

    virtual void    GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
    {
        btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
        posX = trans.getOrigin().x();
        posY = trans.getOrigin().y();
        posZ = trans.getOrigin().z();
    }
    virtual void    GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
    {
        btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
        btQuaternion quat = trans.getRotation();
        btMatrix3x3 orn2(quat);

        quatX = trans.getRotation().x();
        quatY = trans.getRotation().y();
        quatZ = trans.getRotation().z();
        quatW = trans.getRotation()[3];


        //printf("test");


    }

    virtual float   GetWheelRotation(int wheelIndex) const
    {
        float rotation = 0.f;

        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            rotation = info.m_rotation;
        }
        return rotation;

    }



    virtual int GetUserConstraintId() const
    {
        return m_vehicle->getUserConstraintId();
    }

    virtual int GetUserConstraintType() const
    {
        return m_vehicle->getUserConstraintType();
    }

    virtual void    SetSteeringValue(float steering,int wheelIndex)
    {
        m_vehicle->setSteeringValue(steering,wheelIndex);
    }

    virtual void    ApplyEngineForce(float force,int wheelIndex)
    {
        m_vehicle->applyEngineForce(force,wheelIndex);
    }

    virtual void    ApplyBraking(float braking,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_brake = braking;
        }
    }

    virtual void    SetWheelFriction(float friction,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_frictionSlip = friction;
        }

    }

    virtual void    SetSuspensionStiffness(float suspensionStiffness,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_suspensionStiffness = suspensionStiffness;

        }
    }

    virtual void    SetSuspensionDamping(float suspensionDamping,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_wheelsDampingRelaxation = suspensionDamping;
        }
    }

    virtual void    SetSuspensionCompression(float suspensionCompression,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_wheelsDampingCompression = suspensionCompression;
        }
    }



    virtual void    SetRollInfluence(float rollInfluence,int wheelIndex)
    {
        if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
        {
            btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
            info.m_rollInfluence = rollInfluence;
        }
    }

    virtual void    SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
    {
        m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
    }



};
#endif //NEW_BULLET_VEHICLE_SUPPORT

class CcdOverlapFilterCallBack : public btOverlapFilterCallback
{
private:
    class CcdPhysicsEnvironment* m_physEnv;
public:
    CcdOverlapFilterCallBack(CcdPhysicsEnvironment* env) : 
        m_physEnv(env)
    {
    }
    virtual ~CcdOverlapFilterCallBack()
    {
    }
    // return true when pairs need collision
    virtual bool    needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const;
};


void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
{
    if (debugDrawer && m_dynamicsWorld)
        m_dynamicsWorld->setDebugDrawer(debugDrawer);
    m_debugDrawer = debugDrawer;
}

#if 0
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
    btVector3 halfExtents = (to-from)* 0.5f;
    btVector3 center = (to+from) *0.5f;
    int i,j;

    btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
    for (i=0;i<4;i++)
    {
        for (j=0;j<3;j++)
        {
            pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],        
                edgecoord[2]*halfExtents[2]);
            pa+=center;

            int othercoord = j%3;
            edgecoord[othercoord]*=-1.f;
            pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],    
                edgecoord[2]*halfExtents[2]);
            pb+=center;

            debugDrawer->drawLine(pa,pb,color);
        }
        edgecoord = btVector3(-1.f,-1.f,-1.f);
        if (i<3)
            edgecoord[i]*=-1.f;
    }
}
#endif





CcdPhysicsEnvironment::CcdPhysicsEnvironment(bool useDbvtCulling,btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
:m_cullingCache(NULL),
m_cullingTree(NULL),
m_numIterations(10),
m_numTimeSubSteps(1),
m_ccdMode(0),
m_solverType(-1),
m_profileTimings(0),
m_enableSatCollisionDetection(false),
m_solver(NULL),
m_ownPairCache(NULL),
m_filterCallback(NULL),
m_ownDispatcher(NULL),
m_scalingPropagated(false)
{

    for (int i=0;i<PHY_NUM_RESPONSE;i++)
    {
        m_triggerCallbacks[i] = 0;
    }

//  m_collisionConfiguration = new btDefaultCollisionConfiguration();
    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
    //m_collisionConfiguration->setConvexConvexMultipointIterations();

    if (!dispatcher)
    {
        btCollisionDispatcher* disp = new btCollisionDispatcher(m_collisionConfiguration);
        dispatcher = disp;
        btGImpactCollisionAlgorithm::registerAlgorithm(disp);
        m_ownDispatcher = dispatcher;
    }

    //m_broadphase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000));
    //m_broadphase = new btSimpleBroadphase();
    m_broadphase = new btDbvtBroadphase();
    // avoid any collision in the culling tree
    if (useDbvtCulling) {
        m_cullingCache = new btNullPairCache();
        m_cullingTree = new btDbvtBroadphase(m_cullingCache);
    }

    m_filterCallback = new CcdOverlapFilterCallBack(this);
    m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback);

    setSolverType(1);//issues with quickstep and memory allocations
//  m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
    m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
    //m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.01f;
    //m_dynamicsWorld->getSolverInfo().m_solverMode=    SOLVER_USE_WARMSTARTING +   SOLVER_USE_2_FRICTION_DIRECTIONS +  SOLVER_RANDMIZE_ORDER + SOLVER_USE_FRICTION_WARMSTARTING;

    m_debugDrawer = 0;
    setGravity(0.f,0.f,-9.81f);
}

void    CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
{
    btRigidBody* body = ctrl->GetRigidBody();
    btCollisionObject* obj = ctrl->GetCollisionObject();

    //this m_userPointer is just used for triggers, see CallbackTriggers
    obj->setUserPointer(ctrl);
    if (body)
        body->setGravity( m_gravity );

    m_controllers.insert(ctrl);

    if (body)
    {
        //use explicit group/filter for finer control over collision in bullet => near/radar sensor
        m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
    } else
    {
        if (ctrl->GetSoftBody())
        {
            btSoftBody* softBody = ctrl->GetSoftBody();
            m_dynamicsWorld->addSoftBody(softBody);
        } else
        {
            if (obj->getCollisionShape())
            {
                m_dynamicsWorld->addCollisionObject(obj,ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
            }
        }
    }
    if (obj->isStaticOrKinematicObject())
    {
        obj->setActivationState(ISLAND_SLEEPING);
    }

    assert(obj->getBroadphaseHandle());
}

        

bool    CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
{
    //also remove constraint
    btRigidBody* body = ctrl->GetRigidBody();
    if (body)
    {
        for (int i=body->getNumConstraintRefs()-1;i>=0;i--)
        {
            btTypedConstraint* con = body->getConstraintRef(i);
            m_dynamicsWorld->removeConstraint(con);
            body->removeConstraintRef(con);
            //delete con; //might be kept by python KX_ConstraintWrapper
        }
        m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
    } else
    {
        //if a softbody
        if (ctrl->GetSoftBody())
        {
            m_dynamicsWorld->removeSoftBody(ctrl->GetSoftBody());
        } else
        {
            m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject());
        }
    }
    if (ctrl->m_registerCount != 0)
        printf("Warning: removing controller with non-zero m_registerCount: %d\n", ctrl->m_registerCount);

    //remove it from the triggers
    m_triggerControllers.erase(ctrl);

    return (m_controllers.erase(ctrl) != 0);
}

void    CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
{
    // this function is used when the collisionning group of a controller is changed
    // remove and add the collistioning object
    btRigidBody* body = ctrl->GetRigidBody();
    btCollisionObject* obj = ctrl->GetCollisionObject();
    if (obj)
    {
        btVector3 inertia(0.0,0.0,0.0);
        m_dynamicsWorld->removeCollisionObject(obj);
        obj->setCollisionFlags(newCollisionFlags);
        if (body)
        {
            if (newMass)
                body->getCollisionShape()->calculateLocalInertia(newMass, inertia);
            body->setMassProps(newMass, inertia);
            m_dynamicsWorld->addRigidBody(body, newCollisionGroup, newCollisionMask);
        }   
        else
        {
            m_dynamicsWorld->addCollisionObject(obj, newCollisionGroup, newCollisionMask);
        }
    }
    // to avoid nasty interaction, we must update the property of the controller as well
    ctrl->m_cci.m_mass = newMass;
    ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup;
    ctrl->m_cci.m_collisionFilterMask = newCollisionMask;
    ctrl->m_cci.m_collisionFlags = newCollisionFlags;
}

void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl)
{
    if (m_controllers.insert(ctrl).second)
    {
        btCollisionObject* obj = ctrl->GetCollisionObject();
        obj->setUserPointer(ctrl);
        // update the position of the object from the user
        if (ctrl->GetMotionState()) 
        {
            btTransform xform = CcdPhysicsController::GetTransformFromMotionState(ctrl->GetMotionState());
            ctrl->SetCenterOfMassTransform(xform);
        }
        m_dynamicsWorld->addCollisionObject(obj, 
            ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
    }
}

void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl)
{
    if (m_controllers.erase(ctrl))
    {
        btRigidBody* body = ctrl->GetRigidBody();
        if (body)
        {
            m_dynamicsWorld->removeRigidBody(body);
        } else
        {
            if (ctrl->GetSoftBody())
            {
            } else
            {
                m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject());
            }
        }
    }
}

void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ctrl)
{
    btCollisionObject* obj = ctrl->GetCollisionObject();
    if (obj)
    {
        btBroadphaseProxy* proxy = obj->getBroadphaseHandle();
        if (proxy)
        {
            m_dynamicsWorld->getPairCache()->cleanProxyFromPairs(proxy,m_dynamicsWorld->getDispatcher());
        }
    }
}

void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl)
{
    if (m_cullingTree && !ctrl->getBroadphaseHandle())
    {
        btVector3   minAabb;
        btVector3   maxAabb;
        ctrl->getAabb(minAabb, maxAabb);

        ctrl->setBroadphaseHandle(m_cullingTree->createProxy(
                minAabb,
                maxAabb,
                INVALID_SHAPE_PROXYTYPE,    // this parameter is not used
                ctrl,
                0,                          // this object does not collision with anything
                0,
                NULL,                       // dispatcher => this parameter is not used
                0));

        assert(ctrl->getBroadphaseHandle());
    }
}

void CcdPhysicsEnvironment::removeCcdGraphicController(CcdGraphicController* ctrl)
{
    if (m_cullingTree)
    {
        btBroadphaseProxy* bp = ctrl->getBroadphaseHandle();
        if (bp)
        {
            m_cullingTree->destroyProxy(bp,NULL);
            ctrl->setBroadphaseHandle(0);
        }
    }
}

void    CcdPhysicsEnvironment::beginFrame()
{

}

void CcdPhysicsEnvironment::debugDrawWorld()
{
    if (m_dynamicsWorld->getDebugDrawer() &&  m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0)
            m_dynamicsWorld->debugDrawWorld();
}

bool    CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval)
{
    std::set<CcdPhysicsController*>::iterator it;
    int i;

    for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
    {
        (*it)->SynchronizeMotionStates(timeStep);
    }

    float subStep = timeStep / float(m_numTimeSubSteps);
    i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
//uncomment next line to see where Bullet spend its time (printf in console)    
//CProfileManager::dumpAll();

    processFhSprings(curTime,i*subStep);

    for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
    {
        (*it)->SynchronizeMotionStates(timeStep);
    }

    //for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
    //{
    //  (*it)->SynchronizeMotionStates(timeStep);
    //}

    for (i=0;i<m_wrapperVehicles.size();i++)
    {
        WrapperVehicle* veh = m_wrapperVehicles[i];
        veh->SyncWheels();
    }


    CallbackTriggers();

    return true;
}

class ClosestRayResultCallbackNotMe : public btCollisionWorld::ClosestRayResultCallback
{
    btCollisionObject* m_owner;
    btCollisionObject* m_parent;

public:
    ClosestRayResultCallbackNotMe(const btVector3& rayFromWorld,const btVector3& rayToWorld,btCollisionObject* owner,btCollisionObject* parent)
        :btCollisionWorld::ClosestRayResultCallback(rayFromWorld,rayToWorld),
        m_owner(owner),
        m_parent(parent)
    {
        
    }

    virtual bool needsCollision(btBroadphaseProxy* proxy0) const
    {
        //don't collide with self
        if (proxy0->m_clientObject == m_owner)
            return false;

        if (proxy0->m_clientObject == m_parent)
            return false;

        return btCollisionWorld::ClosestRayResultCallback::needsCollision(proxy0);
    }

};

void    CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
{
    std::set<CcdPhysicsController*>::iterator it;
    // dynamic of Fh spring is based on a timestep of 1/60
    int numIter = (int)(interval*60.0001f);
    
    for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
    {
        CcdPhysicsController* ctrl = (*it);
        btRigidBody* body = ctrl->GetRigidBody();

        if (body && (ctrl->getConstructionInfo().m_do_fh || ctrl->getConstructionInfo().m_do_rot_fh))
        {
            //printf("has Fh or RotFh\n");
            //re-implement SM_FhObject.cpp using btCollisionWorld::rayTest and info from ctrl->getConstructionInfo()
            //send a ray from {0.0, 0.0, 0.0} towards {0.0, 0.0, -10.0}, in local coordinates
            CcdPhysicsController* parentCtrl = ctrl->getParentCtrl();
            btRigidBody* parentBody = parentCtrl?parentCtrl->GetRigidBody() : 0;
            btRigidBody* cl_object = parentBody ? parentBody : body;

            if (body->isStaticOrKinematicObject())
                continue;

            btVector3 rayDirLocal(0,0,-10);

            //m_dynamicsWorld
            //ctrl->GetRigidBody();
            btVector3 rayFromWorld = body->getCenterOfMassPosition();
            //btVector3 rayToWorld = rayFromWorld + body->getCenterOfMassTransform().getBasis() * rayDirLocal;
            //ray always points down the z axis in world space...
            btVector3   rayToWorld = rayFromWorld + rayDirLocal;
            
            ClosestRayResultCallbackNotMe   resultCallback(rayFromWorld,rayToWorld,body,parentBody);

            m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,resultCallback);
            if (resultCallback.hasHit())
            {
                //we hit this one: resultCallback.m_collisionObject;
                CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(resultCallback.m_collisionObject->getUserPointer());

                if (controller)
                {
                    if (controller->getConstructionInfo().m_fh_distance < SIMD_EPSILON)
                        continue;

                    btRigidBody* hit_object = controller->GetRigidBody();
                    if (!hit_object)
                        continue;

                    CcdConstructionInfo& hitObjShapeProps = controller->getConstructionInfo();

                    float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->getConstructionInfo().m_radius;
                    if (distance >= hitObjShapeProps.m_fh_distance)
                        continue;
                    
                    

                    //btVector3 ray_dir = cl_object->getCenterOfMassTransform().getBasis()* rayDirLocal.normalized();
                    btVector3 ray_dir = rayDirLocal.normalized();
                    btVector3 normal = resultCallback.m_hitNormalWorld;
                    normal.normalize();

                    for (int i=0; i<numIter; i++)
                    {
                        if (ctrl->getConstructionInfo().m_do_fh) 
                        {
                            btVector3 lspot = cl_object->getCenterOfMassPosition()
                                + rayDirLocal * resultCallback.m_closestHitFraction;


                                

                            lspot -= hit_object->getCenterOfMassPosition();
                            btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot);
                            btScalar rel_vel_ray = ray_dir.dot(rel_vel);
                            btScalar spring_extent = 1.0 - distance / hitObjShapeProps.m_fh_distance; 
                            
                            btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring;
                            btScalar i_damp =   rel_vel_ray * hitObjShapeProps.m_fh_damping;
                            
                            cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); 
                            if (hitObjShapeProps.m_fh_normal) 
                            {
                                cl_object->setLinearVelocity(cl_object->getLinearVelocity()+(i_spring + i_damp) *(normal - normal.dot(ray_dir) * ray_dir));
                            }
                            
                            btVector3 lateral = rel_vel - rel_vel_ray * ray_dir;
                            
                            
                            if (ctrl->getConstructionInfo().m_do_anisotropic) {
                                //Bullet basis contains no scaling/shear etc.
                                const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis();
                                btVector3 loc_lateral = lateral * lcs;
                                const btVector3& friction_scaling = cl_object->getAnisotropicFriction();
                                loc_lateral *= friction_scaling;
                                lateral = lcs * loc_lateral;
                            }

                            btScalar rel_vel_lateral = lateral.length();
                            
                            if (rel_vel_lateral > SIMD_EPSILON) {
                                btScalar friction_factor = hit_object->getFriction();//cl_object->getFriction();

                                btScalar max_friction = friction_factor * btMax(btScalar(0.0), i_spring);
                                
                                btScalar rel_mom_lateral = rel_vel_lateral / cl_object->getInvMass();
                                
                                btVector3 friction = (rel_mom_lateral > max_friction) ?
                                    -lateral * (max_friction / rel_vel_lateral) :
                                    -lateral;
                                
                                    cl_object->applyCentralImpulse(friction);
                            }
                        }

                        
                        if (ctrl->getConstructionInfo().m_do_rot_fh) {
                            btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2);

                            btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring;
                            btVector3 ang_vel = cl_object->getAngularVelocity();
                            
                            // only rotations that tilt relative to the normal are damped
                            ang_vel -= ang_vel.dot(normal) * normal;
                            
                            btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping;  
                            
                            cl_object->setAngularVelocity(cl_object->getAngularVelocity() + (t_spring - t_damp));
                        }
                    }
                }
            }
        }
    }
}

void        CcdPhysicsEnvironment::setDebugMode(int debugMode)
{
    if (m_debugDrawer){
        m_debugDrawer->setDebugMode(debugMode);
    }
}

void        CcdPhysicsEnvironment::setNumIterations(int numIter)
{
    m_numIterations = numIter;
}
void        CcdPhysicsEnvironment::setDeactivationTime(float dTime)
{
    gDeactivationTime = dTime;
}
void        CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
{
    gLinearSleepingTreshold = linTresh;
}
void        CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
{
    gAngularSleepingTreshold = angTresh;
}

void        CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
{
    gContactBreakingThreshold = contactBreakingTreshold;

}


void        CcdPhysicsEnvironment::setCcdMode(int ccdMode)
{
    m_ccdMode = ccdMode;
}


void        CcdPhysicsEnvironment::setSolverSorConstant(float sor)
{
    m_solverInfo.m_sor = sor;
}

void        CcdPhysicsEnvironment::setSolverTau(float tau)
{
    m_solverInfo.m_tau = tau;
}
void        CcdPhysicsEnvironment::setSolverDamping(float damping)
{
    m_solverInfo.m_damping = damping;
}


void        CcdPhysicsEnvironment::setLinearAirDamping(float damping)
{
    //gLinearAirDamping = damping;
}

void        CcdPhysicsEnvironment::setUseEpa(bool epa)
{
    //gUseEpa = epa;
}

void        CcdPhysicsEnvironment::setSolverType(int solverType)
{

    switch (solverType)
    {
    case 1:
        {
            if (m_solverType != solverType)
            {

                m_solver = new btSequentialImpulseConstraintSolver();
                
                
                break;
            }
        }

    case 0:
    default:
        if (m_solverType != solverType)
        {
//          m_solver = new OdeConstraintSolver();

            break;
        }

    };

    m_solverType = solverType ;
}



void        CcdPhysicsEnvironment::getGravity(PHY__Vector3& grav)
{
        const btVector3& gravity = m_dynamicsWorld->getGravity();
        grav[0] = gravity.getX();
        grav[1] = gravity.getY();
        grav[2] = gravity.getZ();
}


void        CcdPhysicsEnvironment::setGravity(float x,float y,float z)
{
    m_gravity = btVector3(x,y,z);
    m_dynamicsWorld->setGravity(m_gravity);
    m_dynamicsWorld->getWorldInfo().m_gravity.setValue(x,y,z);
}




static int gConstraintUid = 1;

//Following the COLLADA physics specification for constraints
int         CcdPhysicsEnvironment::createUniversalD6Constraint(
                        class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
                        btTransform& frameInA,
                        btTransform& frameInB,
                        const btVector3& linearMinLimits,
                        const btVector3& linearMaxLimits,
                        const btVector3& angularMinLimits,
                        const btVector3& angularMaxLimits,int flags
)
{

    bool disableCollisionBetweenLinkedBodies = (0!=(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION));

    //we could either add some logic to recognize ball-socket and hinge, or let that up to the user
    //perhaps some warning or hint that hinge/ball-socket is more efficient?
    
    
    btGeneric6DofConstraint* genericConstraint = 0;
    CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef;
    CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther;
    
    btRigidBody* rb0 = ctrl0->GetRigidBody();
    btRigidBody* rb1 = ctrl1->GetRigidBody();

    if (rb1)
    {
        

        bool useReferenceFrameA = true;
        genericConstraint = new btGeneric6DofSpringConstraint(
            *rb0,*rb1,
            frameInA,frameInB,useReferenceFrameA);
        genericConstraint->setLinearLowerLimit(linearMinLimits);
        genericConstraint->setLinearUpperLimit(linearMaxLimits);
        genericConstraint->setAngularLowerLimit(angularMinLimits);
        genericConstraint->setAngularUpperLimit(angularMaxLimits);
    } else
    {
        // TODO: Implement single body case...
        //No, we can use a fixed rigidbody in above code, rather than unnecessary duplation of code

    }
    
    if (genericConstraint)
    {
    //  m_constraints.push_back(genericConstraint);
        m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies);

        genericConstraint->setUserConstraintId(gConstraintUid++);
        genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT);
        //64 bit systems can't cast pointer to int. could use size_t instead.
        return genericConstraint->getUserConstraintId();
    }
    return 0;
}



void        CcdPhysicsEnvironment::removeConstraint(int constraintId)
{
    
    int i;
    int numConstraints = m_dynamicsWorld->getNumConstraints();
    for (i=0;i<numConstraints;i++)
    {
        btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
        if (constraint->getUserConstraintId() == constraintId)
        {
            constraint->getRigidBodyA().activate();
            constraint->getRigidBodyB().activate();
            m_dynamicsWorld->removeConstraint(constraint);
            break;
        }
    }
}


struct  FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
    PHY_IRayCastFilterCallback& m_phyRayFilter;
    const btCollisionShape*     m_hitTriangleShape;
    int                         m_hitTriangleIndex;


    FilterClosestRayResultCallback (PHY_IRayCastFilterCallback& phyRayFilter,const btVector3& rayFrom,const btVector3& rayTo)
        : btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo),
        m_phyRayFilter(phyRayFilter),
        m_hitTriangleShape(NULL),
        m_hitTriangleIndex(0)
    {
    }

    virtual ~FilterClosestRayResultCallback()
    {
    }

    virtual bool needsCollision(btBroadphaseProxy* proxy0) const
    {
        if (!(proxy0->m_collisionFilterGroup & m_collisionFilterMask))
            return false;
        if (!(m_collisionFilterGroup & proxy0->m_collisionFilterMask))
            return false;
        btCollisionObject* object = (btCollisionObject*)proxy0->m_clientObject;
        CcdPhysicsController* phyCtrl = static_cast<CcdPhysicsController*>(object->getUserPointer());
        if (phyCtrl == m_phyRayFilter.m_ignoreController)
            return false;
        return m_phyRayFilter.needBroadphaseRayCast(phyCtrl);
    }

    virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
    {
        //CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer());
        // save shape information as ClosestRayResultCallback::AddSingleResult() does not do it
        if (rayResult.m_localShapeInfo)
        {
            m_hitTriangleShape = rayResult.m_collisionObject->getCollisionShape();
            m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex;
        } else 
        {
            m_hitTriangleShape = NULL;
            m_hitTriangleIndex = 0;
        }
        return ClosestRayResultCallback::addSingleResult(rayResult,normalInWorldSpace);
    }

};

static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* shapeInfo, int hitTriangleIndex, btVector3 triangle[])
{
    // this code is copied from Bullet 
    const unsigned char *vertexbase;
    int numverts;
    PHY_ScalarType type;
    int stride;
    const unsigned char *indexbase;
    int indexstride;
    int numfaces;
    PHY_ScalarType indicestype;
    btStridingMeshInterface* meshInterface = NULL;
    btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape();

    if (triangleShape)
        meshInterface = triangleShape->getMeshInterface();
    else
    {
        // other possibility is gImpact
        if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
            meshInterface = (static_cast<btGImpactMeshShape*>(shape))->getMeshInterface();
    }
    if (!meshInterface)
        return false;

    meshInterface->getLockedReadOnlyVertexIndexBase(
        &vertexbase,
        numverts,
        type,
        stride,
        &indexbase,
        indexstride,
        numfaces,
        indicestype,
        0);

    unsigned int* gfxbase = (unsigned int*)(indexbase+hitTriangleIndex*indexstride);
    const btVector3& meshScaling = shape->getLocalScaling();
    for (int j=2;j>=0;j--)
    {
        int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];

        btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);

        triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());      
    }
    meshInterface->unLockReadOnlyVertexBase(0);
    return true;
}

PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
{
    btVector3 rayFrom(fromX,fromY,fromZ);
    btVector3 rayTo(toX,toY,toZ);

    btVector3   hitPointWorld,normalWorld;

    //Either Ray Cast with or without filtering

    //btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
    FilterClosestRayResultCallback   rayCallback(filterCallback,rayFrom,rayTo);


    PHY_RayCastResult result;
    memset(&result, 0, sizeof(result));

    // don't collision with sensor object
    rayCallback.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
    //, ,filterCallback.m_faceNormal);

    m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
    if (rayCallback.hasHit())
    {
        CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer());
        result.m_controller = controller;
        result.m_hitPoint[0] = rayCallback.m_hitPointWorld.getX();
        result.m_hitPoint[1] = rayCallback.m_hitPointWorld.getY();
        result.m_hitPoint[2] = rayCallback.m_hitPointWorld.getZ();

        if (rayCallback.m_hitTriangleShape != NULL)
        {
            // identify the mesh polygon
            CcdShapeConstructionInfo* shapeInfo = controller->m_shapeInfo;
            if (shapeInfo)
            {
                btCollisionShape* shape = controller->GetCollisionObject()->getCollisionShape();
                if (shape->isCompound())
                {
                    btCompoundShape* compoundShape = (btCompoundShape*)shape;
                    CcdShapeConstructionInfo* compoundShapeInfo = shapeInfo;
                    // need to search which sub-shape has been hit
                    for (int i=0; i<compoundShape->getNumChildShapes(); i++)
                    {
                        shapeInfo = compoundShapeInfo->GetChildShape(i);
                        shape=compoundShape->getChildShape(i);
                        if (shape == rayCallback.m_hitTriangleShape)
                            break;
                    }
                }
                if (shape == rayCallback.m_hitTriangleShape && 
                    rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size())
                {
                    // save original collision shape triangle for soft body
                    int hitTriangleIndex = rayCallback.m_hitTriangleIndex;

                    result.m_meshObject = shapeInfo->GetMesh();
                    if (shape->isSoftBody())
                    {
                        // soft body using different face numbering because of randomization
                        // hopefully we have stored the original face number in m_tag
                        btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
                        if (softBody->m_faces[hitTriangleIndex].m_tag != 0)
                        {
                            rayCallback.m_hitTriangleIndex = (int)((uintptr_t)(softBody->m_faces[hitTriangleIndex].m_tag)-1);
                        }
                    }
                    // retrieve the original mesh polygon (in case of quad->tri conversion)
                    result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex);
                    // hit triangle in world coordinate, for face normal and UV coordinate
                    btVector3 triangle[3];
                    bool triangleOK = false;
                    if (filterCallback.m_faceUV && (3*rayCallback.m_hitTriangleIndex) < shapeInfo->m_triFaceUVcoArray.size())
                    {
                        // interpolate the UV coordinate of the hit point
                        CcdShapeConstructionInfo::UVco* uvCo = &shapeInfo->m_triFaceUVcoArray[3*rayCallback.m_hitTriangleIndex];
                        // 1. get the 3 coordinate of the triangle in world space
                        btVector3 v1, v2, v3;
                        if (shape->isSoftBody())
                        {
                            // soft body give points directly in world coordinate
                            btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
                            v1 = softBody->m_faces[hitTriangleIndex].m_n[0]->m_x;
                            v2 = softBody->m_faces[hitTriangleIndex].m_n[1]->m_x;
                            v3 = softBody->m_faces[hitTriangleIndex].m_n[2]->m_x;
                        } else 
                        {
                            // for rigid body we must apply the world transform
                            triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle);
                            if (!triangleOK)
                                // if we cannot get the triangle, no use to continue
                                goto SKIP_UV_NORMAL;
                            v1 = rayCallback.m_collisionObject->getWorldTransform()(triangle[0]);
                            v2 = rayCallback.m_collisionObject->getWorldTransform()(triangle[1]);
                            v3 = rayCallback.m_collisionObject->getWorldTransform()(triangle[2]);
                        }
                        // 2. compute barycentric coordinate of the hit point
                        btVector3 v = v2-v1;
                        btVector3 w = v3-v1;
                        btVector3 u = v.cross(w);
                        btScalar A = u.length();

                        v = v2-rayCallback.m_hitPointWorld;
                        w = v3-rayCallback.m_hitPointWorld;
                        u = v.cross(w);
                        btScalar A1 = u.length();

                        v = rayCallback.m_hitPointWorld-v1;
                        w = v3-v1;
                        u = v.cross(w);
                        btScalar A2 = u.length();

                        btVector3 baryCo;
                        baryCo.setX(A1/A);
                        baryCo.setY(A2/A);
                        baryCo.setZ(1.0f-baryCo.getX()-baryCo.getY());
                        // 3. compute UV coordinate
                        result.m_hitUV[0] = baryCo.getX()*uvCo[0].uv[0] + baryCo.getY()*uvCo[1].uv[0] + baryCo.getZ()*uvCo[2].uv[0];
                        result.m_hitUV[1] = baryCo.getX()*uvCo[0].uv[1] + baryCo.getY()*uvCo[1].uv[1] + baryCo.getZ()*uvCo[2].uv[1];
                        result.m_hitUVOK = 1;
                    }
                        
                    // Bullet returns the normal from "outside".
                    // If the user requests the real normal, compute it now
                    if (filterCallback.m_faceNormal)
                    {
                        if (shape->isSoftBody()) 
                        {
                            // we can get the real normal directly from the body
                            btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
                            rayCallback.m_hitNormalWorld = softBody->m_faces[hitTriangleIndex].m_normal;
                        } else
                        {
                            if (!triangleOK)
                                triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle);
                            if (triangleOK)
                            {
                                btVector3 triangleNormal; 
                                triangleNormal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
                                rayCallback.m_hitNormalWorld = rayCallback.m_collisionObject->getWorldTransform().getBasis()*triangleNormal;
                            }
                        }
                    }
                SKIP_UV_NORMAL:
                    ;
                }
            }
        }
        if (rayCallback.m_hitNormalWorld.length2() > (SIMD_EPSILON*SIMD_EPSILON))
        {
            rayCallback.m_hitNormalWorld.normalize();
        } else
        {
            rayCallback.m_hitNormalWorld.setValue(1,0,0);
        }
        result.m_hitNormal[0] = rayCallback.m_hitNormalWorld.getX();
        result.m_hitNormal[1] = rayCallback.m_hitNormalWorld.getY();
        result.m_hitNormal[2] = rayCallback.m_hitNormalWorld.getZ();
        filterCallback.reportHit(&result);
    }   


    return result.m_controller;
}

// Handles occlusion culling. 
// The implementation is based on the CDTestFramework
struct OcclusionBuffer
{
    struct WriteOCL
    {
        static inline bool Process(btScalar& q,btScalar v) { if(q<v) q=v;return(false); }
        static inline void Occlusion(bool& flag) { flag = true; }
    };
    struct QueryOCL
    {
        static inline bool Process(btScalar& q,btScalar v) { return(q<=v); }
        static inline void Occlusion(bool& flag) { }
    };
    btScalar*                       m_buffer;
    size_t                          m_bufferSize;
    bool                            m_initialized;
    bool                            m_occlusion;
    int                             m_sizes[2];
    btScalar                        m_scales[2];
    btScalar                        m_offsets[2];
    btScalar                        m_wtc[16];      // world to clip transform
    btScalar                        m_mtc[16];      // model to clip transform
    // constructor: size=largest dimension of the buffer. 
    // Buffer size depends on aspect ratio
    OcclusionBuffer()
    {
        m_initialized=false;
        m_occlusion = false;
        m_buffer = NULL;
        m_bufferSize = 0;
    }
    // multiplication of column major matrices: m=m1*m2
    template<typename T1, typename T2>
    void        CMmat4mul(btScalar* m, const T1* m1, const T2* m2)
    {
        m[ 0] = btScalar(m1[ 0]*m2[ 0]+m1[ 4]*m2[ 1]+m1[ 8]*m2[ 2]+m1[12]*m2[ 3]);
        m[ 1] = btScalar(m1[ 1]*m2[ 0]+m1[ 5]*m2[ 1]+m1[ 9]*m2[ 2]+m1[13]*m2[ 3]);
        m[ 2] = btScalar(m1[ 2]*m2[ 0]+m1[ 6]*m2[ 1]+m1[10]*m2[ 2]+m1[14]*m2[ 3]);
        m[ 3] = btScalar(m1[ 3]*m2[ 0]+m1[ 7]*m2[ 1]+m1[11]*m2[ 2]+m1[15]*m2[ 3]);

        m[ 4] = btScalar(m1[ 0]*m2[ 4]+m1[ 4]*m2[ 5]+m1[ 8]*m2[ 6]+m1[12]*m2[ 7]);
        m[ 5] = btScalar(m1[ 1]*m2[ 4]+m1[ 5]*m2[ 5]+m1[ 9]*m2[ 6]+m1[13]*m2[ 7]);
        m[ 6] = btScalar(m1[ 2]*m2[ 4]+m1[ 6]*m2[ 5]+m1[10]*m2[ 6]+m1[14]*m2[ 7]);
        m[ 7] = btScalar(m1[ 3]*m2[ 4]+m1[ 7]*m2[ 5]+m1[11]*m2[ 6]+m1[15]*m2[ 7]);

        m[ 8] = btScalar(m1[ 0]*m2[ 8]+m1[ 4]*m2[ 9]+m1[ 8]*m2[10]+m1[12]*m2[11]);
        m[ 9] = btScalar(m1[ 1]*m2[ 8]+m1[ 5]*m2[ 9]+m1[ 9]*m2[10]+m1[13]*m2[11]);
        m[10] = btScalar(m1[ 2]*m2[ 8]+m1[ 6]*m2[ 9]+m1[10]*m2[10]+m1[14]*m2[11]);
        m[11] = btScalar(m1[ 3]*m2[ 8]+m1[ 7]*m2[ 9]+m1[11]*m2[10]+m1[15]*m2[11]);

        m[12] = btScalar(m1[ 0]*m2[12]+m1[ 4]*m2[13]+m1[ 8]*m2[14]+m1[12]*m2[15]);
        m[13] = btScalar(m1[ 1]*m2[12]+m1[ 5]*m2[13]+m1[ 9]*m2[14]+m1[13]*m2[15]);
        m[14] = btScalar(m1[ 2]*m2[12]+m1[ 6]*m2[13]+m1[10]*m2[14]+m1[14]*m2[15]);
        m[15] = btScalar(m1[ 3]*m2[12]+m1[ 7]*m2[13]+m1[11]*m2[14]+m1[15]*m2[15]);
    }
    void        setup(int size)
    {
        m_initialized=false;
        m_occlusion=false;
        // compute the size of the buffer
        GLint       v[4];
        GLdouble    m[16],p[16];
        int         maxsize;
        double      ratio;
        glGetIntegerv(GL_VIEWPORT,v);
        maxsize = (v[2] > v[3]) ? v[2] : v[3];
        assert(maxsize > 0);
        ratio = 1.0/(2*maxsize);
        // ensure even number
        m_sizes[0] = 2*((int)(size*v[2]*ratio+0.5));
        m_sizes[1] = 2*((int)(size*v[3]*ratio+0.5));
        m_scales[0]=btScalar(m_sizes[0]/2);
        m_scales[1]=btScalar(m_sizes[1]/2);
        m_offsets[0]=m_scales[0]+0.5f;
        m_offsets[1]=m_scales[1]+0.5f;
        // prepare matrix
        // at this time of the rendering, the modelview matrix is the 
        // world to camera transformation and the projection matrix is
        // camera to clip transformation. combine both so that 
        glGetDoublev(GL_MODELVIEW_MATRIX,m);
        glGetDoublev(GL_PROJECTION_MATRIX,p);
        CMmat4mul(m_wtc,p,m);
    }
    void        initialize()
    {
        size_t newsize = (m_sizes[0]*m_sizes[1])*sizeof(btScalar);
        if (m_buffer)
        {
            // see if we can reuse
            if (newsize > m_bufferSize)
            {
                free(m_buffer);
                m_buffer = NULL;
                m_bufferSize = 0;
            }
        }
        if (!m_buffer)
        {
            m_buffer = (btScalar*)calloc(1, newsize);
            m_bufferSize = newsize;
        } else
        {
            // buffer exists already, just clears it
            memset(m_buffer, 0, newsize);
        }
        // memory allocate must succeed
        assert(m_buffer != NULL);
        m_initialized = true;
        m_occlusion = false;
    }
    void        SetModelMatrix(double *fl)
    {
        CMmat4mul(m_mtc,m_wtc,fl);
        if (!m_initialized)
            initialize();
    }

    // transform a segment in world coordinate to clip coordinate
    void        transformW(const btVector3& x, btVector4& t)
    {
        t[0]    =   x[0]*m_wtc[0]+x[1]*m_wtc[4]+x[2]*m_wtc[8]+m_wtc[12];
        t[1]    =   x[0]*m_wtc[1]+x[1]*m_wtc[5]+x[2]*m_wtc[9]+m_wtc[13];
        t[2]    =   x[0]*m_wtc[2]+x[1]*m_wtc[6]+x[2]*m_wtc[10]+m_wtc[14];
        t[3]    =   x[0]*m_wtc[3]+x[1]*m_wtc[7]+x[2]*m_wtc[11]+m_wtc[15];
    }
    void        transformM(const float* x, btVector4& t)
    {
        t[0]    =   x[0]*m_mtc[0]+x[1]*m_mtc[4]+x[2]*m_mtc[8]+m_mtc[12];
        t[1]    =   x[0]*m_mtc[1]+x[1]*m_mtc[5]+x[2]*m_mtc[9]+m_mtc[13];
        t[2]    =   x[0]*m_mtc[2]+x[1]*m_mtc[6]+x[2]*m_mtc[10]+m_mtc[14];
        t[3]    =   x[0]*m_mtc[3]+x[1]*m_mtc[7]+x[2]*m_mtc[11]+m_mtc[15];
    }
    // convert polygon to device coordinates
    static bool project(btVector4* p,int n)
    {
        for(int i=0;i<n;++i)
        {           
            p[i][2]=1/p[i][3];
            p[i][0]*=p[i][2];
            p[i][1]*=p[i][2];
        }
        return(true);
    }
    // pi: closed polygon in clip coordinate, NP = number of segments
    // po: same polygon with clipped segments removed
    template <const int NP>
    static int  clip(const btVector4* pi,btVector4* po)
    {
        btScalar    s[2*NP];
        btVector4   pn[2*NP];
        int         i, j, m, n, ni;
        // deal with near clipping
        for(i=0, m=0;i<NP;++i)
        {
            s[i]=pi[i][2]+pi[i][3];
            if(s[i]<0) m+=1<<i;
        }
        if(m==((1<<NP)-1)) 
            return(0);
        if(m!=0)
        {
            for(i=NP-1,j=0,n=0;j<NP;i=j++)
            {
                const btVector4&    a=pi[i];
                const btVector4&    b=pi[j];
                const btScalar      t=s[i]/(a[3]+a[2]-b[3]-b[2]);
                if((t>0)&&(t<1))
                {
                    pn[n][0]    =   a[0]+(b[0]-a[0])*t;
                    pn[n][1]    =   a[1]+(b[1]-a[1])*t;
                    pn[n][2]    =   a[2]+(b[2]-a[2])*t;
                    pn[n][3]    =   a[3]+(b[3]-a[3])*t;
                    ++n;
                }
                if(s[j]>0) pn[n++]=b;
            }
            // ready to test far clipping, start from the modified polygon
            pi = pn;
            ni = n;
        } else
        {
            // no clipping on the near plane, keep same vector
            ni = NP;
        }
        // now deal with far clipping
        for(i=0, m=0;i<ni;++i)
        {
            s[i]=pi[i][2]-pi[i][3];
            if(s[i]>0) m+=1<<i;
        }
        if(m==((1<<ni)-1)) 
            return(0);
        if(m!=0)
        {
            for(i=ni-1,j=0,n=0;j<ni;i=j++)
            {
                const btVector4&    a=pi[i];
                const btVector4&    b=pi[j];
                const btScalar      t=s[i]/(a[2]-a[3]-b[2]+b[3]);
                if((t>0)&&(t<1))
                {
                    po[n][0]    =   a[0]+(b[0]-a[0])*t;
                    po[n][1]    =   a[1]+(b[1]-a[1])*t;
                    po[n][2]    =   a[2]+(b[2]-a[2])*t;
                    po[n][3]    =   a[3]+(b[3]-a[3])*t;
                    ++n;
                }
                if(s[j]<0) po[n++]=b;
            }
            return(n);
        }
        for(int i=0;i<ni;++i) po[i]=pi[i];
        return(ni);
    }
    // write or check a triangle to buffer. a,b,c in device coordinates (-1,+1)
    template <typename POLICY>
    inline bool draw(   const btVector4& a,
                        const btVector4& b,
                        const btVector4& c,
                        const float face,
                        const btScalar minarea)
    {
        const btScalar      a2=btCross(b-a,c-a)[2];
        if((face*a2)<0.f || btFabs(a2)<minarea)
            return false;
        // further down we are normally going to write to the Zbuffer, mark it so
        POLICY::Occlusion(m_occlusion);

        int x[3], y[3], ib=1, ic=2;
        btScalar z[3];
        x[0]=(int)(a.x()*m_scales[0]+m_offsets[0]);
        y[0]=(int)(a.y()*m_scales[1]+m_offsets[1]);
        z[0]=a.z();
        if (a2 < 0.f)
        {
            // negative aire is possible with double face => must
            // change the order of b and c otherwise the algorithm doesn't work
            ib=2;
            ic=1;
        }
        x[ib]=(int)(b.x()*m_scales[0]+m_offsets[0]);
        x[ic]=(int)(c.x()*m_scales[0]+m_offsets[0]);
        y[ib]=(int)(b.y()*m_scales[1]+m_offsets[1]);
        y[ic]=(int)(c.y()*m_scales[1]+m_offsets[1]);
        z[ib]=b.z();
        z[ic]=c.z();
        const int       mix=btMax(0,btMin(x[0],btMin(x[1],x[2])));
        const int       mxx=btMin(m_sizes[0],1+btMax(x[0],btMax(x[1],x[2])));
        const int       miy=btMax(0,btMin(y[0],btMin(y[1],y[2])));
        const int       mxy=btMin(m_sizes[1],1+btMax(y[0],btMax(y[1],y[2])));
        const int       width=mxx-mix;
        const int       height=mxy-miy;
        if ((width*height) <= 1)
        {
            // degenerated in at most one single pixel
            btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
            // use for loop to detect the case where width or height == 0
            for(int iy=miy;iy<mxy;++iy)
            {
                for(int ix=mix;ix<mxx;++ix)
                {
                    if(POLICY::Process(*scan,z[0])) 
                        return(true);
                    if(POLICY::Process(*scan,z[1])) 
                        return(true);
                    if(POLICY::Process(*scan,z[2])) 
                        return(true);
                }
            }
        } else if (width == 1) 
        {
            // Degenerated in at least 2 vertical lines
            // The algorithm below doesn't work when face has a single pixel width
            // We cannot use general formulas because the plane is degenerated. 
            // We have to interpolate along the 3 edges that overlaps and process each pixel.
            // sort the y coord to make formula simpler
            int ytmp;
            btScalar ztmp;
            if (y[0] > y[1]) { ytmp=y[1];y[1]=y[0];y[0]=ytmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
            if (y[0] > y[2]) { ytmp=y[2];y[2]=y[0];y[0]=ytmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
            if (y[1] > y[2]) { ytmp=y[2];y[2]=y[1];y[1]=ytmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
            int dy[]={  y[0]-y[1],
                        y[1]-y[2],
                        y[2]-y[0]};
            btScalar dzy[3];
            dzy[0] = (dy[0]) ? (z[0]-z[1])/dy[0] : btScalar(0.f);
            dzy[1] = (dy[1]) ? (z[1]-z[2])/dy[1] : btScalar(0.f);
            dzy[2] = (dy[2]) ? (z[2]-z[0])/dy[2] : btScalar(0.f);
            btScalar v[3] = {   dzy[0]*(miy-y[0])+z[0],
                                dzy[1]*(miy-y[1])+z[1],
                                dzy[2]*(miy-y[2])+z[2] };
            dy[0] = y[1]-y[0];
            dy[1] = y[0]-y[1];
            dy[2] = y[2]-y[0];
            btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
            for(int iy=miy;iy<mxy;++iy)
            {
                if(dy[0] >= 0 && POLICY::Process(*scan,v[0])) 
                    return(true);
                if(dy[1] >= 0 && POLICY::Process(*scan,v[1])) 
                    return(true);
                if(dy[2] >= 0 && POLICY::Process(*scan,v[2])) 
                    return(true);
                scan+=m_sizes[0];
                v[0] += dzy[0]; v[1] += dzy[1]; v[2] += dzy[2];
                dy[0]--; dy[1]++, dy[2]--;
            }
        } else if (height == 1)
        {
            // Degenerated in at least 2 horizontal lines
            // The algorithm below doesn't work when face has a single pixel width
            // We cannot use general formulas because the plane is degenerated. 
            // We have to interpolate along the 3 edges that overlaps and process each pixel.
            int xtmp;
            btScalar ztmp;
            if (x[0] > x[1]) { xtmp=x[1];x[1]=x[0];x[0]=xtmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
            if (x[0] > x[2]) { xtmp=x[2];x[2]=x[0];x[0]=xtmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
            if (x[1] > x[2]) { xtmp=x[2];x[2]=x[1];x[1]=xtmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
            int dx[]={  x[0]-x[1],
                        x[1]-x[2],
                        x[2]-x[0]};
            btScalar dzx[3];
            dzx[0] = (dx[0]) ? (z[0]-z[1])/dx[0] : btScalar(0.f);
            dzx[1] = (dx[1]) ? (z[1]-z[2])/dx[1] : btScalar(0.f);
            dzx[2] = (dx[2]) ? (z[2]-z[0])/dx[2] : btScalar(0.f);
            btScalar v[3] = { dzx[0]*(mix-x[0])+z[0],
                              dzx[1]*(mix-x[1])+z[1],
                              dzx[2]*(mix-x[2])+z[2] };
            dx[0] = x[1]-x[0];
            dx[1] = x[0]-x[1];
            dx[2] = x[2]-x[0];
            btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
            for(int ix=mix;ix<mxx;++ix)
            {
                if(dx[0] >= 0 && POLICY::Process(*scan,v[0])) 
                    return(true);
                if(dx[1] >= 0 && POLICY::Process(*scan,v[1])) 
                    return(true);
                if(dx[2] >= 0 && POLICY::Process(*scan,v[2])) 
                    return(true);
                scan++;
                v[0] += dzx[0]; v[1] += dzx[1]; v[2] += dzx[2];
                dx[0]--; dx[1]++, dx[2]--;
            }
        } else
        {
            // general case
            const int       dx[]={  y[0]-y[1],
                                    y[1]-y[2],
                                    y[2]-y[0]};
            const int       dy[]={  x[1]-x[0]-dx[0]*width,
                                    x[2]-x[1]-dx[1]*width,
                                    x[0]-x[2]-dx[2]*width};
            const int       a=x[2]*y[0]+x[0]*y[1]-x[2]*y[1]-x[0]*y[2]+x[1]*y[2]-x[1]*y[0];
            const btScalar  ia=1/(btScalar)a;
            const btScalar  dzx=ia*(y[2]*(z[1]-z[0])+y[1]*(z[0]-z[2])+y[0]*(z[2]-z[1]));
            const btScalar  dzy=ia*(x[2]*(z[0]-z[1])+x[0]*(z[1]-z[2])+x[1]*(z[2]-z[0]))-(dzx*width);        
            int             c[]={   miy*x[1]+mix*y[0]-x[1]*y[0]-mix*y[1]+x[0]*y[1]-miy*x[0],
                                    miy*x[2]+mix*y[1]-x[2]*y[1]-mix*y[2]+x[1]*y[2]-miy*x[1],
                                    miy*x[0]+mix*y[2]-x[0]*y[2]-mix*y[0]+x[2]*y[0]-miy*x[2]};
            btScalar        v=ia*((z[2]*c[0])+(z[0]*c[1])+(z[1]*c[2]));
            btScalar*       scan=&m_buffer[miy*m_sizes[0]];
            for(int iy=miy;iy<mxy;++iy)
            {
                for(int ix=mix;ix<mxx;++ix)
                {
                    if((c[0]>=0)&&(c[1]>=0)&&(c[2]>=0))
                    {
                        if(POLICY::Process(scan[ix],v)) 
                            return(true);
                    }
                    c[0]+=dx[0];c[1]+=dx[1];c[2]+=dx[2];v+=dzx;
                }
                c[0]+=dy[0];c[1]+=dy[1];c[2]+=dy[2];v+=dzy;
                scan+=m_sizes[0];
            }
        }
        return(false);
    }
    // clip than write or check a polygon 
    template <const int NP,typename POLICY>
    inline bool clipDraw(   const btVector4* p,
                            const float face,
                            btScalar minarea)
    {
        btVector4   o[NP*2];
        int         n=clip<NP>(p,o);
        bool        earlyexit=false;
        if (n)
        {
            project(o,n);
            for(int i=2;i<n && !earlyexit;++i)
            {
                earlyexit|=draw<POLICY>(o[0],o[i-1],o[i],face,minarea);
            }
        }
        return(earlyexit);
    }
    // add a triangle (in model coordinate)
    // face =  0.f if face is double side, 
    //      =  1.f if face is single sided and scale is positive
    //      = -1.f if face is single sided and scale is negative
    void        appendOccluderM(const float* a,
                                const float* b,
                                const float* c,
                                const float face)
    {
        btVector4   p[3];
        transformM(a,p[0]);
        transformM(b,p[1]);
        transformM(c,p[2]);
        clipDraw<3,WriteOCL>(p,face,btScalar(0.f));
    }
    // add a quad (in model coordinate)
    void        appendOccluderM(const float* a,
                                const float* b,
                                const float* c,
                                const float* d,
                                const float face)
    {   
        btVector4   p[4];
        transformM(a,p[0]);
        transformM(b,p[1]);
        transformM(c,p[2]);
        transformM(d,p[3]);
        clipDraw<4,WriteOCL>(p,face,btScalar(0.f));
    }
    // query occluder for a box (c=center, e=extend) in world coordinate
    inline bool queryOccluderW( const btVector3& c,
                                const btVector3& e)
    {
        if (!m_occlusion)
            // no occlusion yet, no need to check
            return true;
        btVector4   x[8];
        transformW(btVector3(c[0]-e[0],c[1]-e[1],c[2]-e[2]),x[0]);
        transformW(btVector3(c[0]+e[0],c[1]-e[1],c[2]-e[2]),x[1]);
        transformW(btVector3(c[0]+e[0],c[1]+e[1],c[2]-e[2]),x[2]);
        transformW(btVector3(c[0]-e[0],c[1]+e[1],c[2]-e[2]),x[3]);
        transformW(btVector3(c[0]-e[0],c[1]-e[1],c[2]+e[2]),x[4]);
        transformW(btVector3(c[0]+e[0],c[1]-e[1],c[2]+e[2]),x[5]);
        transformW(btVector3(c[0]+e[0],c[1]+e[1],c[2]+e[2]),x[6]);
        transformW(btVector3(c[0]-e[0],c[1]+e[1],c[2]+e[2]),x[7]);
        for(int i=0;i<8;++i)
        {
            // the box is clipped, it's probably a large box, don't waste our time to check
            if((x[i][2]+x[i][3])<=0) return(true);
        }
        static const int    d[]={   1,0,3,2,
                                    4,5,6,7,
                                    4,7,3,0,
                                    6,5,1,2,
                                    7,6,2,3,
                                    5,4,0,1};
        for(unsigned int i=0;i<(sizeof(d)/sizeof(d[0]));)
        {
            const btVector4 p[]={   x[d[i++]],
                                    x[d[i++]],
                                    x[d[i++]],
                                    x[d[i++]]};
            if(clipDraw<4,QueryOCL>(p,1.f,0.f)) 
                return(true);
        }
        return(false);
    }
};


struct  DbvtCullingCallback : btDbvt::ICollide
{
    PHY_CullingCallback m_clientCallback;
    void* m_userData;
    OcclusionBuffer *m_ocb;

    DbvtCullingCallback(PHY_CullingCallback clientCallback, void* userData)
    {
        m_clientCallback = clientCallback;
        m_userData = userData;
        m_ocb = NULL;
    }
    bool Descent(const btDbvtNode* node)
    {
        return(m_ocb->queryOccluderW(node->volume.Center(),node->volume.Extents()));
    }
    void Process(const btDbvtNode* node,btScalar depth)
    {
        Process(node);
    }
    void Process(const btDbvtNode* leaf)
    {   
        btBroadphaseProxy*  proxy=(btBroadphaseProxy*)leaf->data;
        // the client object is a graphic controller
        CcdGraphicController* ctrl = static_cast<CcdGraphicController*>(proxy->m_clientObject);
        KX_ClientObjectInfo* info = (KX_ClientObjectInfo*)ctrl->getNewClientInfo();
        if (m_ocb)
        {
            // means we are doing occlusion culling. Check if this object is an occluders
            KX_GameObject* gameobj = KX_GameObject::GetClientObject(info);
            if (gameobj && gameobj->GetOccluder())
            {
                double* fl = gameobj->GetOpenGLMatrixPtr()->getPointer();
                // this will create the occlusion buffer if not already done
                // and compute the transformation from model local space to clip space
                m_ocb->SetModelMatrix(fl);
                float face = (gameobj->IsNegativeScaling()) ? -1.0f : 1.0f;
                // walk through the meshes and for each add to buffer
                for (int i=0; i<gameobj->GetMeshCount(); i++)
                {
                    RAS_MeshObject* meshobj = gameobj->GetMesh(i);
                    const float *v1, *v2, *v3, *v4;

                    int polycount = meshobj->NumPolygons();
                    for (int j=0; j<polycount; j++)
                    {
                        RAS_Polygon* poly = meshobj->GetPolygon(j);
                        switch (poly->VertexCount())
                        {
                        case 3:
                            v1 = poly->GetVertex(0)->getXYZ();
                            v2 = poly->GetVertex(1)->getXYZ();
                            v3 = poly->GetVertex(2)->getXYZ();
                            m_ocb->appendOccluderM(v1,v2,v3,((poly->IsTwoside())?0.f:face));
                            break;
                        case 4:
                            v1 = poly->GetVertex(0)->getXYZ();
                            v2 = poly->GetVertex(1)->getXYZ();
                            v3 = poly->GetVertex(2)->getXYZ();
                            v4 = poly->GetVertex(3)->getXYZ();
                            m_ocb->appendOccluderM(v1,v2,v3,v4,((poly->IsTwoside())?0.f:face));
                            break;
                        }
                    }
                }
            }
        }
        if (info)
            (*m_clientCallback)(info, m_userData);
    }
};

static OcclusionBuffer gOcb;
bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* userData, PHY__Vector4 *planes, int nplanes, int occlusionRes)
{
    if (!m_cullingTree)
        return false;
    DbvtCullingCallback dispatcher(callback, userData);
    btVector3 planes_n[6];
    btScalar planes_o[6];
    if (nplanes > 6)
        nplanes = 6;
    for (int i=0; i<nplanes; i++)
    {
        planes_n[i].setValue(planes[i][0], planes[i][1], planes[i][2]);
        planes_o[i] = planes[i][3];
    }
    // if occlusionRes != 0 => occlusion culling
    if (occlusionRes)
    {
        gOcb.setup(occlusionRes);
        dispatcher.m_ocb = &gOcb;
        // occlusion culling, the direction of the view is taken from the first plan which MUST be the near plane
        btDbvt::collideOCL(m_cullingTree->m_sets[1].m_root,planes_n,planes_o,planes_n[0],nplanes,dispatcher);
        btDbvt::collideOCL(m_cullingTree->m_sets[0].m_root,planes_n,planes_o,planes_n[0],nplanes,dispatcher);       
    }else 
    {
        btDbvt::collideKDOP(m_cullingTree->m_sets[1].m_root,planes_n,planes_o,nplanes,dispatcher);
        btDbvt::collideKDOP(m_cullingTree->m_sets[0].m_root,planes_n,planes_o,nplanes,dispatcher);      
    }
    return true;
}

int CcdPhysicsEnvironment::getNumContactPoints()
{
    return 0;
}

void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
{

}




btBroadphaseInterface*  CcdPhysicsEnvironment::getBroadphase()
{ 
    return m_dynamicsWorld->getBroadphase(); 
}

btDispatcher*   CcdPhysicsEnvironment::getDispatcher()
{ 
    return m_dynamicsWorld->getDispatcher();
}

void CcdPhysicsEnvironment::MergeEnvironment(CcdPhysicsEnvironment *other)
{
    std::set<CcdPhysicsController*>::iterator it;

    while (other->m_controllers.begin() != other->m_controllers.end())
    {
        it= other->m_controllers.begin();
        CcdPhysicsController* ctrl= (*it);

        other->removeCcdPhysicsController(ctrl);
        this->addCcdPhysicsController(ctrl);
    }
}

CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
{

#ifdef NEW_BULLET_VEHICLE_SUPPORT
    m_wrapperVehicles.clear();
#endif //NEW_BULLET_VEHICLE_SUPPORT

    //m_broadphase->DestroyScene();
    //delete broadphase ? release reference on broadphase ?

    //first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
    //delete m_dispatcher;
    delete m_dynamicsWorld;
    

    if (NULL != m_ownPairCache)
        delete m_ownPairCache;

    if (NULL != m_ownDispatcher)
        delete m_ownDispatcher;

    if (NULL != m_solver)
        delete m_solver;

    if (NULL != m_debugDrawer)
        delete m_debugDrawer;

    if (NULL != m_filterCallback)
        delete m_filterCallback;

    if (NULL != m_collisionConfiguration)
        delete m_collisionConfiguration;

    if (NULL != m_broadphase)
        delete m_broadphase;

    if (NULL != m_cullingTree)
        delete m_cullingTree;

    if (NULL != m_cullingCache)
        delete m_cullingCache;

}


float   CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
{
    btTypedConstraint* typedConstraint = getConstraintById(constraintId);
    switch (typedConstraint->getUserConstraintType())
    {
    case PHY_GENERIC_6DOF_CONSTRAINT:
        {
            
            switch (param)
            {
            case 0: case 1: case 2: 
                {
                    //param = 0..2 are linear constraint values
                    btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
                    genCons->calculateTransforms();
                    return genCons->getRelativePivotPosition(param);
                    break;
                }
                case 3: case 4: case 5:
                {
                    //param = 3..5 are relative constraint (Euler) angles
                    btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
                    genCons->calculateTransforms();
                    return genCons->getAngle(param-3);
                    break;
                }
            default:
                {
                }
            }
            break;
        };
    default:
        {
        };
    };
    return 0.f;
}

void    CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
{
    btTypedConstraint* typedConstraint = getConstraintById(constraintId);
    switch (typedConstraint->getUserConstraintType())
    {
    case PHY_GENERIC_6DOF_CONSTRAINT:
        {
            
            switch (param)
            {
            case 0: case 1: case 2: case 3: case 4: case 5:
                {
                    //param = 0..5 are constraint limits, with low/high limit value
                    btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
                    genCons->setLimit(param,value0,value1);
                    break;
                }
            case 6: case 7: case 8:
                {
                    //param = 6,7,8 are translational motors, with value0=target velocity, value1 = max motor force
                    btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
                    int transMotorIndex = param-6;
                    btTranslationalLimitMotor* transMotor = genCons->getTranslationalLimitMotor();
                    transMotor->m_targetVelocity[transMotorIndex]= value0;
                    transMotor->m_maxMotorForce[transMotorIndex]=value1;
                    transMotor->m_enableMotor[transMotorIndex] = (value1>0.f);
                    break;
                }
            case 9: case 10: case 11:
                {
                    //param = 9,10,11 are rotational motors, with value0=target velocity, value1 = max motor force
                    btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
                    int angMotorIndex = param-9;
                    btRotationalLimitMotor* rotMotor = genCons->getRotationalLimitMotor(angMotorIndex);
                    rotMotor->m_enableMotor = (value1 > 0.f);
                    rotMotor->m_targetVelocity = value0;
                    rotMotor->m_maxMotorForce = value1;
                    break;
                }

            case 12: case 13: case 14: case 15: case 16: case 17:
            {
                //param 13-17 are for motorized springs on each of the degrees of freedom
                    btGeneric6DofSpringConstraint* genCons = (btGeneric6DofSpringConstraint*)typedConstraint;
                    int springIndex = param-12;
                    if (value0!=0.f)
                    {
                        bool springEnabled = true;
                        genCons->setStiffness(springIndex,value0);
                        genCons->setDamping(springIndex,value1);
                        genCons->enableSpring(springIndex,springEnabled);
                        genCons->setEquilibriumPoint(springIndex);
                    } else
                    {
                        bool springEnabled = false;
                        genCons->enableSpring(springIndex,springEnabled);
                    }
                    break;
            }

            default:
                {
                }
            };
            break;
        };
    case PHY_CONE_TWIST_CONSTRAINT:
        {
            switch (param)
            {
            case 3: case 4: case 5:
                {
                    //param = 3,4,5 are constraint limits, high limit values
                    btConeTwistConstraint* coneTwist = (btConeTwistConstraint*)typedConstraint;
                    if(value1<0.0f)
                        coneTwist->setLimit(param,btScalar(BT_LARGE_FLOAT));
                    else
                        coneTwist->setLimit(param,value1);
                    break;
                }
            default:
                {
                }
            };
            break;
        };
    case PHY_ANGULAR_CONSTRAINT:
    case PHY_LINEHINGE_CONSTRAINT:
        {
            switch (param)
            {
            case 3:
                {
                    //param = 3 is a constraint limit, with low/high limit value
                    btHingeConstraint* hingeCons = (btHingeConstraint*)typedConstraint;
                    hingeCons->setLimit(value0,value1);
                    break;
                }
            default:
                {
                }
            }
            break;
        };
    default:
        {
        };
    };
}

btTypedConstraint*  CcdPhysicsEnvironment::getConstraintById(int constraintId)
{

    int numConstraints = m_dynamicsWorld->getNumConstraints();
    int i;
    for (i=0;i<numConstraints;i++)
    {
        btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
        if (constraint->getUserConstraintId()==constraintId)
        {
            return constraint;
        }
    }
    return 0;
}


void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
{

    CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
    // addSensor() is a "light" function for bullet because it is used
    // dynamically when the sensor is activated. Use enableCcdPhysicsController() instead 
    //if (m_controllers.insert(ctrl1).second)
    //{
    //  addCcdPhysicsController(ctrl1);
    //}
    enableCcdPhysicsController(ctrl1);
}

bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
{
    CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
    if (!ccdCtrl->Unregister())
        return false;
    m_triggerControllers.erase(ccdCtrl);
    return true;
}


void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
{
    disableCcdPhysicsController((CcdPhysicsController*)ctrl);
}

void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
{
    /*  printf("addTouchCallback\n(response class = %i)\n",response_class);

    //map PHY_ convention into SM_ convention
    switch (response_class)
    {
    case    PHY_FH_RESPONSE:
    printf("PHY_FH_RESPONSE\n");
    break;
    case PHY_SENSOR_RESPONSE:
    printf("PHY_SENSOR_RESPONSE\n");
    break;
    case PHY_CAMERA_RESPONSE:
    printf("PHY_CAMERA_RESPONSE\n");
    break;
    case PHY_OBJECT_RESPONSE:
    printf("PHY_OBJECT_RESPONSE\n");
    break;
    case PHY_STATIC_RESPONSE:
    printf("PHY_STATIC_RESPONSE\n");
    break;
    default:
    assert(0);
    return;
    }
    */

    m_triggerCallbacks[response_class] = callback;
    m_triggerCallbacksUserPtrs[response_class] = user;

}
bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
{
    CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);

    if (!ccdCtrl->Register())
        return false;
    m_triggerControllers.insert(ccdCtrl);
    return true;
}

void    CcdPhysicsEnvironment::CallbackTriggers()
{
    if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
    {
        //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
        btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher();
        int numManifolds = dispatcher->getNumManifolds();
        for (int i=0;i<numManifolds;i++)
        {
            btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
            int numContacts = manifold->getNumContacts();
            if (numContacts)
            {
                btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0());
                btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1());
                if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
                {
                    for (int j=0;j<numContacts;j++)
                    {
                        btVector3 color(1,0,0);
                        const btManifoldPoint& cp = manifold->getContactPoint(j);
                        if (m_debugDrawer)
                            m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
                    }
                }
                btRigidBody* obj0 = rb0;
                btRigidBody* obj1 = rb1;

                //m_internalOwner is set in 'addPhysicsController'
                CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
                CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer());

                std::set<CcdPhysicsController*>::const_iterator i = m_triggerControllers.find(ctrl0);
                if (i == m_triggerControllers.end())
                {
                    i = m_triggerControllers.find(ctrl1);
                }

                if (!(i == m_triggerControllers.end()))
                {
                    m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
                        ctrl0,ctrl1,0);
                }
                // Bullet does not refresh the manifold contact point for object without contact response
                // may need to remove this when a newer Bullet version is integrated
                if (!dispatcher->needsResponse(rb0, rb1))
                {
                    // Refresh algorithm fails sometimes when there is penetration 
                    // (usuall the case with ghost and sensor objects)
                    // Let's just clear the manifold, in any case, it is recomputed on each frame.
                    manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
                }
            }
        }



    }


}

// This call back is called before a pair is added in the cache
// Handy to remove objects that must be ignored by sensors
bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
    btCollisionObject *colObj0, *colObj1;
    CcdPhysicsController *sensorCtrl, *objCtrl;
    bool collides;
    // first check the filters
    collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
    collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
    if (!collides)
        return false;

    // additional check for sensor object
    if (proxy0->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
    {
        // this is a sensor object, the other one can't be a sensor object because 
        // they exclude each other in the above test
        assert(!(proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger));
        colObj0 = (btCollisionObject*)proxy0->m_clientObject;
        colObj1 = (btCollisionObject*)proxy1->m_clientObject;
    }
    else if (proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
    {
        colObj0 = (btCollisionObject*)proxy1->m_clientObject;
        colObj1 = (btCollisionObject*)proxy0->m_clientObject;
    }
    else
    {
        return true;
    }
    if (!colObj0 || !colObj1)
        return false;
    sensorCtrl = static_cast<CcdPhysicsController*>(colObj0->getUserPointer());
    objCtrl = static_cast<CcdPhysicsController*>(colObj1->getUserPointer());
    if (m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE])
    {
        return m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE](m_physEnv->m_triggerCallbacksUserPtrs[PHY_BROADPH_RESPONSE], sensorCtrl, objCtrl, 0);
    }
    return true;
}


#ifdef NEW_BULLET_VEHICLE_SUPPORT

//complex constraint for vehicles
PHY_IVehicle*   CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
{
    int i;

    int numVehicles = m_wrapperVehicles.size();
    for (i=0;i<numVehicles;i++)
    {
        WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
        if (wrapperVehicle->GetVehicle()->getUserConstraintId() == constraintId)
            return wrapperVehicle;
    }

    return 0;
}

#endif //NEW_BULLET_VEHICLE_SUPPORT


int currentController = 0;
int numController = 0;




PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
{
    
    CcdConstructionInfo cinfo;
    memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */
    cinfo.m_collisionShape = new btSphereShape(radius); // memory leak! The shape is not deleted by Bullet and we cannot add it to the KX_Scene.m_shapes list
    cinfo.m_MotionState = 0;
    cinfo.m_physicsEnv = this;
    // declare this object as Dyamic rather than static!!
    // The reason as it is designed to detect all type of object, including static object
    // It would cause static-static message to be printed on the console otherwise
    cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
    DefaultMotionState* motionState = new DefaultMotionState();
    cinfo.m_MotionState = motionState;
    // we will add later the possibility to select the filter from option
    cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
    cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
    cinfo.m_bSensor = true;
    motionState->m_worldTransform.setIdentity();
    motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));

    CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
    
    return sphereController;
}

int findClosestNode(btSoftBody* sb,const btVector3& worldPoint);
int findClosestNode(btSoftBody* sb,const btVector3& worldPoint)
{
    int node = -1;

    btSoftBody::tNodeArray&   nodes(sb->m_nodes);
    float maxDistSqr = 1e30f;

    for (int n=0;n<nodes.size();n++)
    {
        btScalar distSqr = (nodes[n].m_x - worldPoint).length2();
        if (distSqr<maxDistSqr)
        {
            maxDistSqr = distSqr;
            node = n;
        }
    }
    return node;
}

int         CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
                                                    float pivotX,float pivotY,float pivotZ,
                                                    float axisX,float axisY,float axisZ,
                                                    float axis1X,float axis1Y,float axis1Z,
                                                    float axis2X,float axis2Y,float axis2Z,int flags
                                                    )
{

    bool disableCollisionBetweenLinkedBodies = (0!=(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION));



    CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
    CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;

    btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
    btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;

    


    bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true;
    bool rb1static = rb1 ? rb1->isStaticOrKinematicObject() : true;

    btCollisionObject* colObj0 = c0->GetCollisionObject();
    if (!colObj0)
    {
        return 0;
    }

    btVector3 pivotInA(pivotX,pivotY,pivotZ);

    

    //it might be a soft body, let's try
    btSoftBody* sb0 = c0 ? c0->GetSoftBody() : 0;
    btSoftBody* sb1 = c1 ? c1->GetSoftBody() : 0;
    if (sb0 && sb1)
    {
        //not between two soft bodies?
        return 0;
    }

    if (sb0)
    {
        //either cluster or node attach, let's find closest node first
        //the soft body doesn't have a 'real' world transform, so get its initial world transform for now
        btVector3 pivotPointSoftWorld = sb0->m_initialWorldTransform(pivotInA);
        int node=findClosestNode(sb0,pivotPointSoftWorld);
        if (node >=0)
        {
            bool clusterconstaint = false;
/*
            switch (type)
            {
            case PHY_LINEHINGE_CONSTRAINT:
                {
                    if (sb0->clusterCount() && rb1)
                    {
                        btSoftBody::LJoint::Specs   ls;
                        ls.erp=0.5f;
                        ls.position=sb0->clusterCom(0);
                        sb0->appendLinearJoint(ls,rb1);
                        clusterconstaint = true;
                        break;
                    }
                }
            case PHY_GENERIC_6DOF_CONSTRAINT:
                {
                    if (sb0->clusterCount() && rb1)
                    {
                        btSoftBody::AJoint::Specs as;
                        as.erp = 1;
                        as.cfm = 1;
                        as.axis.setValue(axisX,axisY,axisZ);
                        sb0->appendAngularJoint(as,rb1);
                        clusterconstaint = true;
                        break;
                    }

                    break;
                }
            default:
                {
                
                }
            };
            */

            if (!clusterconstaint)
            {
                if (rb1)
                {
                    sb0->appendAnchor(node,rb1,disableCollisionBetweenLinkedBodies);
                } else
                {
                    sb0->setMass(node,0.f);
                }
            }

            
        }
        return 0;//can't remove soft body anchors yet
    }

    if (sb1)
    {
        btVector3 pivotPointAWorld = colObj0->getWorldTransform()(pivotInA);
        int node=findClosestNode(sb1,pivotPointAWorld);
        if (node >=0)
        {
            bool clusterconstaint = false;

            /*
            switch (type)
            {
            case PHY_LINEHINGE_CONSTRAINT:
                {
                    if (sb1->clusterCount() && rb0)
                    {
                        btSoftBody::LJoint::Specs   ls;
                        ls.erp=0.5f;
                        ls.position=sb1->clusterCom(0);
                        sb1->appendLinearJoint(ls,rb0);
                        clusterconstaint = true;
                        break;
                    }
                }
            case PHY_GENERIC_6DOF_CONSTRAINT:
                {
                    if (sb1->clusterCount() && rb0)
                    {
                        btSoftBody::AJoint::Specs as;
                        as.erp = 1;
                        as.cfm = 1;
                        as.axis.setValue(axisX,axisY,axisZ);
                        sb1->appendAngularJoint(as,rb0);
                        clusterconstaint = true;
                        break;
                    }

                    break;
                }
            default:
                {
                    

                }
            };*/


            if (!clusterconstaint)
            {
                if (rb0)
                {
                    sb1->appendAnchor(node,rb0,disableCollisionBetweenLinkedBodies);
                } else
                {
                    sb1->setMass(node,0.f);
                }
            }
            

        }
        return 0;//can't remove soft body anchors yet
    }

    if (rb0static && rb1static)
    {
        
        return 0;
    }
    

    if (!rb0)
        return 0;

    
    btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : 
        rb0->getCenterOfMassTransform() * pivotInA;
    btVector3 axisInA(axisX,axisY,axisZ);


    bool angularOnly = false;

    switch (type)
    {
    case PHY_POINT2POINT_CONSTRAINT:
        {

            btPoint2PointConstraint* p2p = 0;

            if (rb1)
            {
                p2p = new btPoint2PointConstraint(*rb0,
                    *rb1,pivotInA,pivotInB);
            } else
            {
                p2p = new btPoint2PointConstraint(*rb0,
                    pivotInA);
            }

            m_dynamicsWorld->addConstraint(p2p,disableCollisionBetweenLinkedBodies);
//          m_constraints.push_back(p2p);

            p2p->setUserConstraintId(gConstraintUid++);
            p2p->setUserConstraintType(type);
            //64 bit systems can't cast pointer to int. could use size_t instead.
            return p2p->getUserConstraintId();

            break;
        }

    case PHY_GENERIC_6DOF_CONSTRAINT:
        {
            btGeneric6DofConstraint* genericConstraint = 0;

            if (rb1)
            {
                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
                if (axis1.length() == 0.0)
                {
                    btPlaneSpace1( axisInA, axis1, axis2 );
                }
                
                frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
                                              axisInA.y(), axis1.y(), axis2.y(),
                                              axisInA.z(), axis1.z(), axis2.z() );
                frameInA.setOrigin( pivotInA );

                btTransform inv = rb1->getCenterOfMassTransform().inverse();

                btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
                
                frameInB = inv  * globalFrameA;
                bool useReferenceFrameA = true;

                genericConstraint = new btGeneric6DofSpringConstraint(
                    *rb0,*rb1,
                    frameInA,frameInB,useReferenceFrameA);


            } else
            {
                static btRigidBody s_fixedObject2( 0,0,0);
                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1, axis2;
                btPlaneSpace1( axisInA, axis1, axis2 );

                frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
                                              axisInA.y(), axis1.y(), axis2.y(),
                                              axisInA.z(), axis1.z(), axis2.z() );

                frameInA.setOrigin( pivotInA );

                frameInB = rb0->getCenterOfMassTransform() * frameInA;

                bool useReferenceFrameA = true;
                genericConstraint = new btGeneric6DofSpringConstraint(
                    *rb0,s_fixedObject2,
                    frameInA,frameInB,useReferenceFrameA);
            }
            
            if (genericConstraint)
            {
                //m_constraints.push_back(genericConstraint);
                m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies);
                genericConstraint->setUserConstraintId(gConstraintUid++);
                genericConstraint->setUserConstraintType(type);
                //64 bit systems can't cast pointer to int. could use size_t instead.
                return genericConstraint->getUserConstraintId();
            } 

            break;
        }
    case PHY_CONE_TWIST_CONSTRAINT:
        {
            btConeTwistConstraint* coneTwistContraint = 0;

            
            if (rb1)
            {
                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
                if (axis1.length() == 0.0)
                {
                    btPlaneSpace1( axisInA, axis1, axis2 );
                }
                
                frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
                                              axisInA.y(), axis1.y(), axis2.y(),
                                              axisInA.z(), axis1.z(), axis2.z() );
                frameInA.setOrigin( pivotInA );

                btTransform inv = rb1->getCenterOfMassTransform().inverse();

                btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
                
                frameInB = inv  * globalFrameA;
                
                coneTwistContraint = new btConeTwistConstraint( *rb0,*rb1,
                    frameInA,frameInB);


            } else
            {
                static btRigidBody s_fixedObject2( 0,0,0);
                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1, axis2;
                btPlaneSpace1( axisInA, axis1, axis2 );

                frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
                                              axisInA.y(), axis1.y(), axis2.y(),
                                              axisInA.z(), axis1.z(), axis2.z() );

                frameInA.setOrigin( pivotInA );

                frameInB = rb0->getCenterOfMassTransform() * frameInA;

                coneTwistContraint = new btConeTwistConstraint(
                    *rb0,s_fixedObject2,
                    frameInA,frameInB);
            }
            
            if (coneTwistContraint)
            {
                //m_constraints.push_back(genericConstraint);
                m_dynamicsWorld->addConstraint(coneTwistContraint,disableCollisionBetweenLinkedBodies);
                coneTwistContraint->setUserConstraintId(gConstraintUid++);
                coneTwistContraint->setUserConstraintType(type);
                //64 bit systems can't cast pointer to int. could use size_t instead.
                return coneTwistContraint->getUserConstraintId();
            } 



            break;
        }
    case PHY_ANGULAR_CONSTRAINT:
        angularOnly = true;


    case PHY_LINEHINGE_CONSTRAINT:
        {
            btHingeConstraint* hinge = 0;

            if (rb1)
            {
                // We know the orientations so we should use them instead of
                // having btHingeConstraint fill in the blanks any way it wants to.
                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
                if (axis1.length() == 0.0)
                {
                    btPlaneSpace1( axisInA, axis1, axis2 );
                }
                
                // Internally btHingeConstraint's hinge-axis is z
                frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
                                            axis1.y(), axis2.y(), axisInA.y(),
                                            axis1.z(), axis2.z(), axisInA.z() );
                                            
                frameInA.setOrigin( pivotInA );

                btTransform inv = rb1->getCenterOfMassTransform().inverse();

                btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
                
                frameInB = inv  * globalFrameA;
                
                hinge = new btHingeConstraint(*rb0,*rb1,frameInA,frameInB);


            } else
            {
                static btRigidBody s_fixedObject2( 0,0,0);

                btTransform frameInA;
                btTransform frameInB;
                
                btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
                if (axis1.length() == 0.0)
                {
                    btPlaneSpace1( axisInA, axis1, axis2 );
                }

                // Internally btHingeConstraint's hinge-axis is z
                frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
                                            axis1.y(), axis2.y(), axisInA.y(),
                                            axis1.z(), axis2.z(), axisInA.z() );
                frameInA.setOrigin( pivotInA );
                frameInB = rb0->getCenterOfMassTransform() * frameInA;

                hinge = new btHingeConstraint(*rb0, s_fixedObject2, frameInA, frameInB);
            }
            hinge->setAngularOnly(angularOnly);

            //m_constraints.push_back(hinge);
            m_dynamicsWorld->addConstraint(hinge,disableCollisionBetweenLinkedBodies);
            hinge->setUserConstraintId(gConstraintUid++);
            hinge->setUserConstraintType(type);
            //64 bit systems can't cast pointer to int. could use size_t instead.
            return hinge->getUserConstraintId();
            break;
        }
#ifdef NEW_BULLET_VEHICLE_SUPPORT

    case PHY_VEHICLE_CONSTRAINT:
        {
            btRaycastVehicle::btVehicleTuning* tuning = new btRaycastVehicle::btVehicleTuning();
            btRigidBody* chassis = rb0;
            btDefaultVehicleRaycaster* raycaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
            btRaycastVehicle* vehicle = new btRaycastVehicle(*tuning,chassis,raycaster);
            WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
            m_wrapperVehicles.push_back(wrapperVehicle);
            m_dynamicsWorld->addVehicle(vehicle);
            vehicle->setUserConstraintId(gConstraintUid++);
            vehicle->setUserConstraintType(type);
            return vehicle->getUserConstraintId();

            break;
        };
#endif //NEW_BULLET_VEHICLE_SUPPORT

    default:
        {
        }
    };

    //btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB

    return 0;

}



PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
{
    CcdConstructionInfo cinfo;
//don't memset cinfo: this is C++ and values should be set in the constructor!

    // we don't need a CcdShapeConstructionInfo for this shape:
    // it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica)
    cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
    cinfo.m_MotionState = 0;
    cinfo.m_physicsEnv = this;
    cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
    DefaultMotionState* motionState = new DefaultMotionState();
    cinfo.m_MotionState = motionState;
    
    // we will add later the possibility to select the filter from option
    cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
    cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
    cinfo.m_bSensor = true;
    motionState->m_worldTransform.setIdentity();
//  motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));

    CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);


    return sphereController;
}
    
float       CcdPhysicsEnvironment::getAppliedImpulse(int    constraintid)
{
    int i;
    int numConstraints = m_dynamicsWorld->getNumConstraints();
    for (i=0;i<numConstraints;i++)
    {
        btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
        if (constraint->getUserConstraintId() == constraintid)
        {
            return constraint->getAppliedImpulse();
        }
    }

    return 0.f;
}

void    CcdPhysicsEnvironment::exportFile(const char* filename)
{
    btDefaultSerializer*    serializer = new btDefaultSerializer();
    
        
    for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
    {

        btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];

        CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(colObj->getUserPointer());
        if (controller)
        {
            const char* name = controller->getName();
            if (name)
            {
                serializer->registerNameForPointer(colObj,name);
            }
        }
    }

    m_dynamicsWorld->serialize(serializer);

    FILE* file = fopen(filename,"wb");
    if (file)
    {
        fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
        fclose(file);
    }
}