Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.
For OSX: cd build ./premake_osx xcode4 for iOS: cd build ./ios_build.sh ./ios_run.sh Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection. As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
This commit is contained in:
erwin.coumans
@@ -34,6 +34,7 @@ subject to the following restrictions:
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#include "LinearMath/btStackAlloc.h"
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#include "LinearMath/btSerializer.h"
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#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
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@@ -260,16 +261,25 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
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}
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void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback)
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{
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btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform);
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btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
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}
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void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
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const btCollisionObjectWrapper* collisionObjectWrap,
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RayResultCallback& resultCallback)
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{
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btSphereShape pointShape(btScalar(0.0));
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pointShape.setMargin(0.f);
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const btConvexShape* castShape = &pointShape;
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const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
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const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
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if (collisionShape->isConvex())
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{
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@@ -302,7 +312,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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castResult.m_normal.normalize();
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btCollisionWorld::LocalRayResult localRayResult
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(
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collisionObject,
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collisionObjectWrap->getCollisionObject(),
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0,
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castResult.m_normal,
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castResult.m_fraction
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@@ -330,13 +340,13 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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const btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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btTransform m_colObjWorldTransform;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
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btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
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//@BP Mod
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btTriangleRaycastCallback(from,to, resultCallback->m_flags),
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m_resultCallback(resultCallback),
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@@ -367,7 +377,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
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} else
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@@ -385,13 +395,13 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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const btCollisionObject* m_collisionObject;
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btConcaveShape* m_triangleMesh;
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btTransform m_colObjWorldTransform;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
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btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
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//@BP Mod
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btTriangleRaycastCallback(from,to, resultCallback->m_flags),
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m_resultCallback(resultCallback),
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@@ -423,7 +433,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 rayAabbMinLocal = rayFromLocal;
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@@ -468,14 +478,14 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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struct RayTester : btDbvt::ICollide
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{
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btCollisionObject* m_collisionObject;
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const btCollisionObject* m_collisionObject;
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const btCompoundShape* m_compoundShape;
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const btTransform& m_colObjWorldTransform;
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const btTransform& m_rayFromTrans;
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const btTransform& m_rayToTrans;
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RayResultCallback& m_resultCallback;
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RayTester(btCollisionObject* collisionObject,
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RayTester(const btCollisionObject* collisionObject,
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const btCompoundShape* compoundShape,
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const btTransform& colObjWorldTransform,
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const btTransform& rayFromTrans,
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@@ -497,22 +507,19 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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const btTransform& childTrans = m_compoundShape->getChildTransform(i);
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btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
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btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans);
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// replace collision shape so that callback can determine the triangle
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btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
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m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
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LocalInfoAdder2 my_cb(i, &m_resultCallback);
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rayTestSingle(
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rayTestSingleInternal(
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m_rayFromTrans,
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m_rayToTrans,
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m_collisionObject,
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childCollisionShape,
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childWorldTrans,
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&tmpOb,
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my_cb);
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// restore
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m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
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}
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void Process(const btDbvtNode* leaf)
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@@ -526,7 +533,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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RayTester rayCB(
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collisionObject,
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collisionObjectWrap->getCollisionObject(),
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compoundShape,
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colObjWorldTransform,
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rayFromTrans,
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@@ -558,6 +565,17 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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const btTransform& colObjWorldTransform,
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ConvexResultCallback& resultCallback, btScalar allowedPenetration)
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{
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btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform);
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btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
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}
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void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
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const btCollisionObjectWrapper* colObjWrap,
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ConvexResultCallback& resultCallback, btScalar allowedPenetration)
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{
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const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
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const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
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if (collisionShape->isConvex())
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{
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//BT_PROFILE("convexSweepConvex");
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@@ -587,7 +605,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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castResult.m_normal.normalize();
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btCollisionWorld::LocalConvexResult localConvexResult
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(
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collisionObject,
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colObjWrap->getCollisionObject(),
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0,
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castResult.m_normal,
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castResult.m_hitPoint,
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@@ -617,11 +635,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
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{
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btCollisionWorld::ConvexResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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const btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
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btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
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btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
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btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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@@ -655,7 +673,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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};
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
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tccb.m_hitFraction = resultCallback.m_closestHitFraction;
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tccb.m_allowedPenetration = allowedPenetration;
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btVector3 boxMinLocal, boxMaxLocal;
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@@ -682,7 +700,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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castResult.m_normal.normalize();
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btCollisionWorld::LocalConvexResult localConvexResult
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(
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collisionObject,
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colObjWrap->getCollisionObject(),
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0,
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castResult.m_normal,
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castResult.m_hitPoint,
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@@ -709,11 +727,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
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{
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btCollisionWorld::ConvexResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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const btCollisionObject* m_collisionObject;
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btConcaveShape* m_triangleMesh;
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BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
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btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
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btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
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btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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@@ -746,7 +764,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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};
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
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tccb.m_hitFraction = resultCallback.m_closestHitFraction;
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tccb.m_allowedPenetration = allowedPenetration;
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btVector3 boxMinLocal, boxMaxLocal;
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@@ -773,9 +791,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
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btTransform childWorldTrans = colObjWorldTransform * childTrans;
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// replace collision shape so that callback can determine the triangle
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btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
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collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
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struct LocalInfoAdder : public ConvexResultCallback {
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ConvexResultCallback* m_userCallback;
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int m_i;
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@@ -805,14 +821,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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LocalInfoAdder my_cb(i, &resultCallback);
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btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans);
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objectQuerySingle(castShape, convexFromTrans,convexToTrans,
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collisionObject,
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childCollisionShape,
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childWorldTrans,
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my_cb, allowedPenetration);
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// restore
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collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
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objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
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&tmpObj,my_cb, allowedPenetration);
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}
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}
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}
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@@ -993,13 +1006,13 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
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/* Compute AABB that encompasses angular movement */
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{
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btVector3 linVel, angVel;
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btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
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btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
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btVector3 zeroLinVel;
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zeroLinVel.setValue(0,0,0);
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btTransform R;
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R.setIdentity ();
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R.setRotation (convexFromTrans.getRotation());
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castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
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castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
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}
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#ifndef USE_BRUTEFORCE_RAYBROADPHASE
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@@ -1044,26 +1057,26 @@ struct btBridgedManifoldResult : public btManifoldResult
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btCollisionWorld::ContactResultCallback& m_resultCallback;
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btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
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:btManifoldResult(obj0,obj1),
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btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
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:btManifoldResult(obj0Wrap,obj1Wrap),
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m_resultCallback(resultCallback)
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{
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}
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virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
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{
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bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
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bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
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btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
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btVector3 localA;
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btVector3 localB;
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if (isSwapped)
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{
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localA = m_rootTransB.invXform(pointA );
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localB = m_rootTransA.invXform(pointInWorld);
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localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
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localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
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} else
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{
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localA = m_rootTransA.invXform(pointA );
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localB = m_rootTransB.invXform(pointInWorld);
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localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
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localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
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}
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btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
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@@ -1086,9 +1099,9 @@ struct btBridgedManifoldResult : public btManifoldResult
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}
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//experimental feature info, for per-triangle material etc.
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btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
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btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
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m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
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const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
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const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
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m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
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}
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@@ -1120,12 +1133,16 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
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//only perform raycast if filterMask matches
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if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
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{
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btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
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btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform());
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btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform());
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btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
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if (algorithm)
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{
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btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
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btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
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//discrete collision detection query
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algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
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algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);
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algorithm->~btCollisionAlgorithm();
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m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
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@@ -1152,12 +1169,15 @@ void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
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///it reports one or more contact points (including the one with deepest penetration)
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void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
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{
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btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
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btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform());
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btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform());
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btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
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if (algorithm)
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{
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btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
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btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
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//discrete collision detection query
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algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
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algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);
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algorithm->~btCollisionAlgorithm();
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getDispatcher()->freeCollisionAlgorithm(algorithm);
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