Make getShapeType() a non virtual function.

Add localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, getAabbNonVirtual and getMarginNonVirtual methods to convex shape classes

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -25,12 +25,13 @@ subject to the following restrictions:
 /// to facilitate type checking
 enum BroadphaseNativeTypes
 {
-// polyhedral convex shapes
+	// polyhedral convex shapes
 	BOX_SHAPE_PROXYTYPE,
 	TRIANGLE_SHAPE_PROXYTYPE,
 	TETRAHEDRAL_SHAPE_PROXYTYPE,
 	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
 	CONVEX_HULL_SHAPE_PROXYTYPE,
+	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
 //implicit convex shapes
 IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
@@ -64,7 +65,10 @@ CONCAVE_SHAPES_END_HERE,
 
 	SOFTBODY_SHAPE_PROXYTYPE,
 
+	INVALID_SHAPE_PROXYTYPE,
+
 	MAX_BROADPHASE_COLLISION_TYPES
+	
 };
 
 

src/BulletCollision/CollisionShapes/btBoxShape.h

@@ -45,8 +45,6 @@ public:
 	}
 	
 
-	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
-
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -83,7 +81,9 @@ public:
 
 
 	btBoxShape( const btVector3& boxHalfExtents) 
+		: btPolyhedralConvexShape()
 	{
+		m_shapeType = BOX_SHAPE_PROXYTYPE;
 		btVector3 margin(getMargin(),getMargin(),getMargin());
 		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 	};

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -26,6 +26,7 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 
@@ -57,6 +58,7 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -37,7 +37,7 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
+	btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
 	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
 	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
@@ -50,10 +50,7 @@ public:
 		return m_ownsBvh;
 	}
 
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
+
 	
 	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
 	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);

src/BulletCollision/CollisionShapes/btCapsuleShape.cpp

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 #include "LinearMath/btQuaternion.h"
 
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
+btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
 {
 	m_upAxis = 1;
 	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);

src/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -30,7 +30,7 @@ protected:
 
 protected:
 	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() {};
+	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
 
 public:
 	btCapsuleShape(btScalar radius,btScalar height);
@@ -43,8 +43,6 @@ public:
 
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
-	virtual int	getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
-
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -25,14 +25,16 @@ subject to the following restrictions:
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
 class btCollisionShape
 {
-
+protected:
+	int m_shapeType;
 	void* m_userPointer;
 
 public:
 
-	btCollisionShape() : m_userPointer(0)
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
 	{
 	}
+
 	virtual ~btCollisionShape()
 	{
 	}
@@ -76,7 +78,7 @@ public:
 		return btBroadphaseProxy::isInfinite(getShapeType());
 	}
 
-	virtual int		getShapeType() const=0;
+	
 	virtual void	setLocalScaling(const btVector3& scaling) =0;
 	virtual const btVector3& getLocalScaling() const =0;
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
@@ -87,7 +89,7 @@ public:
 #endif //__SPU__
 
 	
-
+	int		getShapeType() const { return m_shapeType; }
 	virtual void	setMargin(btScalar margin) = 0;
 	virtual btScalar	getMargin() const = 0;
 

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -18,7 +18,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 
 btCompoundShape::btCompoundShape()
-:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
+: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
 m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
 m_collisionMargin(btScalar(0.)),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),

src/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -121,8 +121,6 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual int	getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
-
 	virtual void	setMargin(btScalar margin)
 	{
 		m_collisionMargin = margin;

src/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -18,10 +18,11 @@ subject to the following restrictions:
 
 
 
-btConeShape::btConeShape (btScalar radius,btScalar height):
+btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
 m_radius (radius),
 m_height(height)
 {
+	m_shapeType = CONE_SHAPE_PROXYTYPE;
 	setConeUpIndex(1);
 	btVector3 halfExtents;
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));

src/BulletCollision/CollisionShapes/btConeShape.h

@@ -69,9 +69,6 @@ public:
 	}
 
 
-
-		virtual int	getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
-
 		virtual const char*	getName()const 
 		{
 			return "Cone";

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -19,8 +19,9 @@ subject to the following restrictions:
 
 
 
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
 {
+	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
 	m_points.resize(numPoints);
 
 	unsigned char* pointsBaseAddress = (unsigned char*)points;

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -57,7 +57,6 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
 
-	virtual int	getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
 
 	//debugging
 	virtual const char*	getName()const {return "Convex";}

src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 
 btConvexInternalShape::btConvexInternalShape()
-: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
+: btConvexShape (), m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
 {
 }

src/BulletCollision/CollisionShapes/btConvexInternalShape.h

@@ -19,9 +19,11 @@ class btConvexInternalShape : public btConvexShape
 
 	btScalar	m_padding;
 
+	btConvexInternalShape();
+
 public:
 
-	btConvexInternalShape();
+	
 
 	virtual ~btConvexInternalShape()
 	{

src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

@@ -0,0 +1,173 @@
+/*
+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 "btConvexPointCloudShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+
+btConvexPointCloudShape::btConvexPointCloudShape (btVector3* points,int numPoints) : btPolyhedralConvexShape ()
+{
+	m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
+	m_points = points;
+	m_numPoints = numPoints;
+
+	recalcLocalAabb();
+}
+
+void btConvexPointCloudShape::setPoints (btVector3* points, int numPoints)
+{
+	m_points = points;
+	m_numPoints = numPoints;
+
+	recalcLocalAabb();
+}
+
+
+void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+	recalcLocalAabb();
+}
+
+btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar newDot,maxDot = btScalar(-1e30);
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (int i=0;i<m_numPoints;i++)
+	{
+		btPoint3 vtx = m_points[i] * m_localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return supVec;
+}
+
+void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	btScalar newDot;
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = btScalar(-1e30);
+		}
+	}
+	for (int i=0;i<m_numPoints;i++)
+	{
+		btPoint3 vtx = m_points[i] * m_localScaling;
+
+		for (int j=0;j<numVectors;j++)
+		{
+			const btVector3& vec = vectors[j];
+			
+			newDot = vec.dot(vtx);
+			if (newDot > supportVerticesOut[j][3])
+			{
+				//WARNING: don't swap next lines, the w component would get overwritten!
+				supportVerticesOut[j] = vtx;
+				supportVerticesOut[j][3] = newDot;
+			}
+		}
+	}
+
+
+
+}
+	
+
+
+btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
+int	btConvexPointCloudShape::getNumVertices() const
+{
+	return m_numPoints;
+}
+
+int btConvexPointCloudShape::getNumEdges() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
+{
+	btAssert (0);
+}
+
+void btConvexPointCloudShape::getVertex(int i,btPoint3& vtx) const
+{
+	vtx = m_points[i]*m_localScaling;
+}
+
+int	btConvexPointCloudShape::getNumPlanes() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getPlane(btVector3& ,btPoint3& ,int ) const
+{
+
+	btAssert(0);
+}
+
+//not yet
+bool btConvexPointCloudShape::isInside(const btPoint3& ,btScalar ) const
+{
+	assert(0);
+	return false;
+}
+

src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h

@@ -0,0 +1,72 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
+#define BT_CONVEX_POINT_CLOUD_SHAPE_H
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+
+///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
+ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
+{
+	btVector3* m_points;
+	int m_numPoints;
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btConvexPointCloudShape(btVector3* points,int numPoints);
+
+	void setPoints (btVector3* points, int numPoints);
+
+	btPoint3* getPoints()
+	{
+		return m_points;
+	}
+
+	const btPoint3* getPoints() const
+	{
+		return m_points;
+	}
+
+	int getNumPoints() const 
+	{
+		return m_numPoints;
+	}
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+
+	//debugging
+	virtual const char*	getName()const {return "ConvexPointCloud";}
+
+	virtual int	getNumVertices() const;
+	virtual int getNumEdges() const;
+	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
+	virtual void getVertex(int i,btPoint3& vtx) const;
+	virtual int	getNumPlanes() const;
+	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
+	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
+
+	///in case we receive negative scaling
+	virtual void	setLocalScaling(const btVector3& scaling);
+};
+
+
+#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
+

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -14,5 +14,534 @@ subject to the following restrictions:
 */
 
 #include "btConvexShape.h"
+#include "btConvexInternalShape.h"
+#include "btTriangleShape.h"
+#include "btSphereShape.h"
+#include "btCylinderShape.h"
+#include "btCapsuleShape.h"
+#include "btConvexHullShape.h"
+#include "btConvexPointCloudShape.h"
+
+static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints)
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar newDot,maxDot = btScalar(-1e30);
+
+	btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else {
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
 
 
+	for (int i=0;i<numPoints;i++)
+	{
+		btPoint3 vtx = points[i];// * m_localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
+}
+
+btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		return btVector3(0,0,0);
+    }
+	break;
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
+
+		return btVector3(localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
+						localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
+						localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
+	}
+	break;
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
+		btVector3* vertices = &triangleShape->m_vertices1[0];
+		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
+		btVector3 sup = vertices[dots.maxAxis()];
+		return btVector3(sup.getX(),sup.getY(),sup.getZ());
+	}
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
+
+		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
+		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
+		int cylinderUpAxis = cylShape->getUpAxis();
+		int XX(1),YY(0),ZZ(2);
+
+		switch (cylinderUpAxis)
+		{
+		case 0:
+		{
+			XX = 1;
+			YY = 0;
+			ZZ = 2;
+		}
+		break;
+		case 1:
+		{
+			XX = 0;
+			YY = 1;
+			ZZ = 2;	
+		}
+		break;
+		case 2:
+		{
+			XX = 0;
+			YY = 2;
+			ZZ = 1;
+			
+		}
+		break;
+		default:
+			btAssert(0);
+		break;
+		};
+
+		btScalar radius = halfExtents[XX];
+		btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+		btVector3 tmp;
+		btScalar d ;
+
+		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+		if (s != btScalar(0.0))
+		{
+			d = radius / s;  
+			tmp[XX] = v[XX] * d;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = v[ZZ] * d;
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		} else {
+			tmp[XX] = radius;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = btScalar(0.0);
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		}
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
+		btScalar halfHeight = capsuleShape->getHalfHeight();
+		int capsuleUpAxis = capsuleShape->getUpAxis();
+
+		btScalar radius = capsuleShape->getRadius();
+		btVector3 supVec(0,0,0);
+
+		btScalar maxDot(btScalar(-1e30));
+
+		btVector3 vec = vec0;
+		btScalar lenSqr = vec.length2();
+		if (lenSqr < btScalar(0.0001))
+		{
+			vec.setValue(1,0,0);
+		} else
+		{
+			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+			vec *= rlen;
+		}
+		btVector3 vtx;
+		btScalar newDot;
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = halfHeight;
+
+			vtx = pos +vec*(radius);
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = -halfHeight;
+
+			vtx = pos +vec*(radius);
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());	
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	{
+		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
+		btVector3* points = convexPointCloudShape->getPoints ();
+		int numPoints = convexPointCloudShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints);
+	}
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
+		btPoint3* points = convexHullShape->getPoints ();
+		int numPoints = convexHullShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints);
+	}
+	break;
+    default:
+#ifndef __SPU__
+		return this->localGetSupportingVertexWithoutMargin (localDir);
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btPoint3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
+}
+
+btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
+{
+	btVector3 localDirNorm = localDir;
+	if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+	}
+	localDirNorm.normalize ();
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		return btVector3(0,0,0) + getMarginNonVirtual() * localDirNorm;
+    }
+	break;
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
+
+		return btVector3(localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
+						localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
+						localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z()) + getMarginNonVirtual() * localDirNorm;
+	}
+	break;
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
+		btVector3* vertices = &triangleShape->m_vertices1[0];
+		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
+		btVector3 sup = vertices[dots.maxAxis()];
+		return btVector3(sup.getX(),sup.getY(),sup.getZ()) + getMarginNonVirtual() * localDirNorm;
+	}
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
+
+		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
+		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
+		int cylinderUpAxis = cylShape->getUpAxis();
+		int XX(1),YY(0),ZZ(2);
+
+		switch (cylinderUpAxis)
+		{
+		case 0:
+		{
+			XX = 1;
+			YY = 0;
+			ZZ = 2;
+		}
+		break;
+		case 1:
+		{
+			XX = 0;
+			YY = 1;
+			ZZ = 2;	
+		}
+		break;
+		case 2:
+		{
+			XX = 0;
+			YY = 2;
+			ZZ = 1;
+			
+		}
+		break;
+		default:
+			btAssert(0);
+		break;
+		};
+
+		btScalar radius = halfExtents[XX];
+		btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+		btVector3 tmp;
+		btScalar d ;
+
+		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+		if (s != btScalar(0.0))
+		{
+			d = radius / s;  
+			tmp[XX] = v[XX] * d;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = v[ZZ] * d;
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
+		} else {
+			tmp[XX] = radius;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = btScalar(0.0);
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
+		}
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
+		btScalar halfHeight = capsuleShape->getHalfHeight();
+		int capsuleUpAxis = capsuleShape->getUpAxis();
+
+		btScalar radius = capsuleShape->getRadius();
+		btVector3 supVec(0,0,0);
+
+		btScalar maxDot(btScalar(-1e30));
+
+		btVector3 vec = vec0;
+		btScalar lenSqr = vec.length2();
+		if (lenSqr < btScalar(0.0001))
+		{
+			vec.setValue(1,0,0);
+		} else
+		{
+			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+			vec *= rlen;
+		}
+		btVector3 vtx;
+		btScalar newDot;
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = halfHeight;
+
+			vtx = pos +vec*(radius);
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = -halfHeight;
+
+			vtx = pos +vec*(radius);
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()) + getMarginNonVirtual() * localDirNorm;
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	{
+		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
+		btVector3* points = convexPointCloudShape->getPoints ();
+		int numPoints = convexPointCloudShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
+	}
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
+		btPoint3* points = convexHullShape->getPoints ();
+		int numPoints = convexHullShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
+	}
+	break;
+    default:
+#ifndef __SPU__
+		return this->localGetSupportingVertex (localDir);
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btPoint3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
+}
+
+/* TODO: This should be bumped up to btCollisionShape () */
+btScalar btConvexShape::getMarginNonVirtual () const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		return sphereShape->getRadius ();
+	}
+	break;
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		return convexShape->getMarginNV ();
+	}
+	break;
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		return triangleShape->getMarginNV ();
+	}
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		return cylShape->getMarginNV();
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		return capsuleShape->getMarginNV();
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	/* fall through */
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+		return convexHullShape->getMarginNV();
+	}
+	break;
+    default:
+#ifndef __SPU__
+		return this->getMargin ();
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btScalar(0.0f);
+}
+
+void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		float radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+		float margin = radius + sphereShape->getMarginNonVirtual();
+		const btVector3& center = t.getOrigin();
+		btVector3 extent(margin,margin,margin);
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+    }
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	/* fall through */
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
+		float margin=convexShape->getMarginNonVirtual();
+		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+		halfExtents += btVector3(margin,margin,margin);
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btPoint3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
+		
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	break;
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btScalar margin = triangleShape->getMarginNonVirtual();
+		for (int i=0;i<3;i++)
+		{
+			btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+			vec[i] = btScalar(1.);
+
+			btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
+
+			btVector3 tmp = t(sv);
+			aabbMax[i] = tmp[i]+margin;
+			vec[i] = btScalar(-1.);
+			tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
+			aabbMin[i] = tmp[i]-margin;
+		}	
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
+		int m_upAxis = capsuleShape->getUpAxis();
+		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
+		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btPoint3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  	
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+		btScalar margin = convexHullShape->getMarginNonVirtual();
+		convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
+	}
+	break;
+    default:
+#ifndef __SPU__
+		this->getAabb (t, aabbMin, aabbMax);
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+}

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -38,6 +38,10 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
+	btConvexShape ()
+	{
+	}
+
 	virtual ~btConvexShape()
 	{
 
@@ -52,6 +56,10 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
 #endif //#ifndef __SPU__
 
+	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
+	btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
+	btScalar getMarginNonVirtual () const;
+	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp

@@ -20,8 +20,9 @@ subject to the following restrictions:
 
 
 btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-:m_stridingMesh(meshInterface)
+: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
 {
+	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
 	if ( calcAabb )
 		recalcLocalAabb();
 }

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h

@@ -29,8 +29,6 @@ public:
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
-	virtual int	getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
-
 	//debugging
 	virtual const char*	getName()const {return "ConvexTrimesh";}
 	

src/BulletCollision/CollisionShapes/btCylinderShape.cpp

@@ -19,6 +19,7 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents)
 :btBoxShape(halfExtents),
 m_upAxis(1)
 {
+	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
 	recalcLocalAabb();
 }
 

src/BulletCollision/CollisionShapes/btCylinderShape.h

@@ -62,10 +62,6 @@ public:
 	//use box inertia
 	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual int	getShapeType() const
-	{
-		return CYLINDER_SHAPE_PROXYTYPE;
-	}
 
 	int	getUpAxis() const
 	{

src/BulletCollision/CollisionShapes/btEmptyShape.cpp

@@ -19,8 +19,9 @@ subject to the following restrictions:
 #include "btCollisionShape.h"
 
 
-btEmptyShape::btEmptyShape()
+btEmptyShape::btEmptyShape() : btConcaveShape ()
 {
+	m_shapeType = EMPTY_SHAPE_PROXYTYPE;
 }
 
 

src/BulletCollision/CollisionShapes/btEmptyShape.h

@@ -51,9 +51,6 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 	
-	virtual int	getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
-
-	
 	virtual const char*	getName()const
 	{
 		return "Empty";

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -19,7 +19,7 @@ subject to the following restrictions:
 
 
 btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
-: m_heightStickWidth(heightStickWidth),
+: btConcaveShape (), m_heightStickWidth(heightStickWidth),
 m_heightStickLength(heightStickLength),
 m_maxHeight(maxHeight),
 m_width((btScalar)heightStickWidth-1),
@@ -31,7 +31,7 @@ m_useDiamondSubdivision(false),
 m_upAxis(upAxis),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
 {
-
+	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
 
 	btScalar	quantizationMargin = 1.f;
 

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -68,10 +68,6 @@ public:
 
 	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
 
-	virtual int	getShapeType() const
-	{
-		return TERRAIN_SHAPE_PROXYTYPE;
-	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 

src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp

@@ -17,9 +17,11 @@ subject to the following restrictions:
 
 
 btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
-:m_shapeA(shapeA),
+: btConvexInternalShape (),
+m_shapeA(shapeA),
 m_shapeB(shapeB)
 {
+	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
 	m_transA.setIdentity();
 	m_transB.setIdentity();
 }

src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h

@@ -46,8 +46,6 @@ public:
 	const btTransform& GetTransformB()const  { return m_transB;}
 
 
-	virtual int	getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
-
 	virtual btScalar	getMargin() const;
 
 	const btConvexShape*	getShapeA() const { return m_shapeA;}

src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp

@@ -18,8 +18,9 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 
 btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
-:m_inertiaHalfExtents(inertiaHalfExtents)
+:btConvexInternalShape (), m_inertiaHalfExtents(inertiaHalfExtents)
 {
+	m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
 	btScalar startMargin = btScalar(1e30);
 
 	m_numSpheres = numSpheres;

src/BulletCollision/CollisionShapes/btMultiSphereShape.h

@@ -62,7 +62,6 @@ public:
 		return m_radi[index];
 	}
 
-	virtual int	getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
 
 	virtual const char*	getName()const 
 	{

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -16,7 +16,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 
 btPolyhedralConvexShape::btPolyhedralConvexShape()
-:m_localAabbMin(1,1,1),
+:btConvexInternalShape(),
+m_localAabbMin(1,1,1),
 m_localAabbMax(-1,-1,-1),
 m_isLocalAabbValid(false),
 m_optionalHull(0)

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -31,9 +31,10 @@ protected:
 	btVector3	m_localAabbMax;
 	bool		m_isLocalAabbValid;
 
+	btPolyhedralConvexShape();
 public:
 
-	btPolyhedralConvexShape();
+	
 
 	//brute force implementations
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

@@ -16,10 +16,9 @@ subject to the following restrictions:
 #include "btScaledBvhTriangleMeshShape.h"
 
 btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling)
-:m_bvhTriMeshShape(childShape),
-m_localScaling(localScaling)
+:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
 {
-
+	m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 }
 
 btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()

src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h

@@ -36,11 +36,6 @@ public:
 
 	virtual ~btScaledBvhTriangleMeshShape();
 
-	virtual int	getShapeType() const
-	{
-		//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
-		return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 	virtual void	setLocalScaling(const btVector3& scaling);

src/BulletCollision/CollisionShapes/btSphereShape.cpp

@@ -19,9 +19,11 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 
 
-btSphereShape ::btSphereShape (btScalar radius)
+btSphereShape ::btSphereShape (btScalar radius) : btConvexInternalShape ()
 {
+	m_shapeType = SPHERE_SHAPE_PROXYTYPE;
 	m_implicitShapeDimensions.setX(radius);
+	m_collisionMargin = radius;
 }
 
 btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const

src/BulletCollision/CollisionShapes/btSphereShape.h

@@ -40,7 +40,6 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
-	virtual int	getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
 	btScalar	getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
 

src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp

@@ -19,10 +19,11 @@ subject to the following restrictions:
 
 
 btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
-:m_planeNormal(planeNormal.normalized()),
+: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
 m_planeConstant(planeConstant),
 m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
 {
+	m_shapeType = STATIC_PLANE_PROXYTYPE;
 	//	btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
 }
 

src/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -36,11 +36,6 @@ public:
 	virtual ~btStaticPlaneShape();
 
 
-	virtual int	getShapeType() const
-	{
-		return STATIC_PLANE_PROXYTYPE;
-	}
-
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;

src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp

@@ -16,35 +16,40 @@ subject to the following restrictions:
 #include "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4()
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 	addVertex(pt2);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 	addVertex(pt2);

src/BulletCollision/CollisionShapes/btTetrahedronShape.h

@@ -44,7 +44,6 @@ public:
 	}
 	
 
-	virtual int	getShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
 
 	void addVertex(const btPoint3& pt);
 

src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

@@ -22,8 +22,9 @@ subject to the following restrictions:
 
 
 btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
-: m_meshInterface(meshInterface)
+: btConcaveShape (), m_meshInterface(meshInterface)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	if(meshInterface->hasPremadeAabb())
 	{
 		meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);

src/BulletCollision/CollisionShapes/btTriangleShape.h

@@ -40,10 +40,6 @@ public:
 	{
 		vert = m_vertices1[index];
 	}
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_SHAPE_PROXYTYPE;
-	}
 
 	virtual int getNumEdges() const
 	{
@@ -83,8 +79,9 @@ public:
 
 
 
-    btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
+	btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
     {
+		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
         m_vertices1[0] = p0;
         m_vertices1[1] = p1;
         m_vertices1[2] = p2;

src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp

@@ -16,9 +16,10 @@ subject to the following restrictions:
 #include "btUniformScalingShape.h"
 
 btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
-m_childConvexShape(convexChildShape),
+btConvexShape (), m_childConvexShape(convexChildShape),
 m_uniformScalingFactor(uniformScalingFactor)
 {
+	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
 }
 	
 btUniformScalingShape::~btUniformScalingShape()

src/BulletCollision/CollisionShapes/btUniformScalingShape.h

@@ -61,7 +61,6 @@ class btUniformScalingShape : public btConvexShape
 		return "UniformScalingShape";
 	}
 	
-	virtual int	getShapeType() const { return UNIFORM_SCALING_SHAPE_PROXYTYPE; }
 
 
 	///////////////////////////

src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp

@@ -72,9 +72,9 @@ struct	MinkowskiDiff
 	void					EnableMargin(bool enable)
 		{
 		if(enable)
-			Ls=&btConvexShape::localGetSupportingVertex;
+			Ls=&btConvexShape::localGetSupportVertexNonVirtual;
 			else
-			Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
+			Ls=&btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
 		}	
 	inline btVector3		Support0(const btVector3& d) const
 		{

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -17,7 +17,15 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "btGjkEpaPenetrationDepthSolver.h"
+
+#ifndef __SPU__
+//#define USE_ORIGINAL_GJK 1
+#endif
+
+#ifdef USE_ORIGINAL_GJK
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#endif
+
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -23,6 +23,7 @@ subject to the following restrictions:
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
+//#define DEBUG_SPU_COLLISION_DETECTION 1
 #endif //__SPU__
 #endif
 
@@ -58,16 +59,22 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 	localTransA.getOrigin() -= positionOffset;
 	localTransB.getOrigin() -= positionOffset;
 
-	btScalar marginA = m_minkowskiA->getMargin();
-	btScalar marginB = m_minkowskiB->getMargin();
+	btScalar marginA = m_minkowskiA->getMarginNonVirtual();
+	btScalar marginB = m_minkowskiB->getMarginNonVirtual();
 
 	gNumGjkChecks++;
 
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+	spu_printf("inside gjk\n");
+#endif
 	//for CCD we don't use margins
 	if (m_ignoreMargin)
 	{
 		marginA = btScalar(0.);
 		marginB = btScalar(0.);
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("ignoring margin\n");
+#endif
 	}
 
 	m_curIter = 0;
@@ -98,11 +105,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
 			btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
 
-			btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
-			btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
+			btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+			btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 			btPoint3  pWorld = localTransA(pInA);	
 			btPoint3  qWorld = localTransB(qInB);
 
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("got local supporting vertices\n");
+#endif
+
 			btVector3 w	= pWorld - qWorld;
 			delta = m_cachedSeparatingAxis.dot(w);
 
@@ -133,9 +144,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				checkSimplex = true;
 				break;
 			}
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("addVertex 1\n");
+#endif
 			//add current vertex to simplex
 			m_simplexSolver->addVertex(w, pWorld, qWorld);
-
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("addVertex 2\n");
+#endif
 			//calculate the closest point to the origin (update vector v)
 			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
 			{
@@ -167,7 +184,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
               if (m_curIter++ > gGjkMaxIter)   
               {   
-                      #if defined(DEBUG) || defined (_DEBUG)   
+                      #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
 
                               printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
                               printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
@@ -290,10 +307,17 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 #endif //__CELLOS_LV2__
 
 
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("output 1\n");
+#endif
 		output.addContactPoint(
 			normalInB,
 			pointOnB+positionOffset,
 			distance);
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("output 2\n");
+#endif
 		//printf("gjk add:%f",distance);
 	}
 

src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp

@@ -19,9 +19,6 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
-
-
-
 #define NUM_UNITSPHERE_POINTS 42
 static btVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
 {
@@ -117,7 +114,9 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	btVector3 seperatingAxisInA,seperatingAxisInB;
 	btVector3 pInA,qInB,pWorld,qWorld,w;
 
+#ifndef __SPU__
 #define USE_BATCHED_SUPPORT 1
+#endif
 #ifdef USE_BATCHED_SUPPORT
 
 	btVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
@@ -200,6 +199,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	int numSampleDirections = NUM_UNITSPHERE_POINTS;
 
+#ifndef __SPU__
 	{
 		int numPDA = convexA->getNumPreferredPenetrationDirections();
 		if (numPDA)
@@ -229,14 +229,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 			}
 		}
 	}
+#endif // __SPU__
 
 	for (int i=0;i<numSampleDirections;i++)
 	{
 		const btVector3& norm = sPenetrationDirections[i];
 		seperatingAxisInA = (-norm)* transA.getBasis();
 		seperatingAxisInB = norm* transB.getBasis();
-		pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
-		qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
+		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 		pWorld = transA(pInA);	
 		qWorld = transB(qInB);
 		w	= qWorld - pWorld;
@@ -254,13 +255,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	//add the margins
 
-	minA += minNorm*convexA->getMargin();
-	minB -= minNorm*convexB->getMargin();
+	minA += minNorm*convexA->getMarginNonVirtual();
+	minB -= minNorm*convexB->getMarginNonVirtual();
 	//no penetration
 	if (minProj < btScalar(0.))
 		return false;
 
-	minProj += (convexA->getMargin() + convexB->getMargin());
+	minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
 
 
 

src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h

@@ -30,7 +30,6 @@ public:
 			btVector3& v, btPoint3& pa, btPoint3& pb,
 			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 			);
-
 };
 
 #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H