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free memory for btShapeHulls, keep track of it in GL_ShapeDrawer.

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move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)
This commit is contained in:
ejcoumans
2008-02-13 07:14:19 +00:00
parent 98006e5607
commit eeb78b8d45
31 changed files with 188 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -182,20 +182,16 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point) const
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint );// * m_quantization;
// SMJ - Add 0.5 in the correct direction before doing the int conversion.
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xffffffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xffffffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xffffffe) | isMax);
}
@@ -214,8 +210,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
quantizeWithClamp(quantizedAabbMin, localAabbMin);
quantizeWithClamp(quantizedAabbMax, localAabbMax);
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);

2
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -47,7 +47,7 @@ protected:
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point) const;
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const

24
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -132,8 +132,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -221,8 +221,8 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax);
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin,0);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
@@ -328,8 +328,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
@@ -613,8 +613,8 @@ void btOptimizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
///quantize query AABB
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
switch (m_traversalMode)
{
@@ -783,8 +783,8 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax);
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
while (curIndex < endNodeIndex)
{
@@ -833,11 +833,11 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
}
#endif
#ifdef RAYAABB2
///disable this check: need to check division by zero (above) and fix the unQuantize method
///careful with this check: need to check division by zero (above) and fix the unQuantize method
///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
rayBoxOverlap = true;//btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
#else
rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif

18
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
View File

@@ -191,7 +191,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin);
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
@@ -202,7 +202,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax);
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
@@ -251,8 +251,8 @@ protected:
{
unsigned short int quantizedAabbMin[3];
unsigned short int quantizedAabbMax[3];
quantizeWithClamp(quantizedAabbMin,newAabbMin);
quantizeWithClamp(quantizedAabbMax,newAabbMax);
quantizeWithClamp(quantizedAabbMin,newAabbMin,0);
quantizeWithClamp(quantizedAabbMax,newAabbMax,1);
for (int i=0;i<3;i++)
{
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
@@ -333,7 +333,7 @@ public:
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point) const
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point,int isMax) const
{
btAssert(m_useQuantization);
@@ -341,13 +341,11 @@ public:
btVector3 clampedPoint(point);
clampedPoint.setMax(m_bvhAabbMin);
clampedPoint.setMin(m_bvhAabbMax);
btVector3 v = (clampedPoint - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(v.getX()+0.5f);
out[1] = (unsigned short)(v.getY()+0.5f);
out[2] = (unsigned short)(v.getZ()+0.5f);
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xfffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xfffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xfffe) | isMax);
}
SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
{

161
src/BulletCollision/CollisionShapes/btShapeHull.cpp
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@@ -1,161 +0,0 @@
/*
btbtShapeHull implemented by John McCutchan.
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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 "btShapeHull.h"
#include "LinearMath/btConvexHull.h"
#define NUM_UNITSPHERE_POINTS 42
static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
btShapeHull::btShapeHull (const btConvexShape* shape)
{
m_shape = shape;
m_vertices.clear ();
m_indices = NULL;
m_numIndices = 0;
}
btShapeHull::~btShapeHull ()
{
if (m_indices)
delete [] m_indices;
m_vertices.clear ();
}
bool
btShapeHull::buildHull (btScalar margin)
{
int numSampleDirections = NUM_UNITSPHERE_POINTS;
{
int numPDA = m_shape->getNumPreferredPenetrationDirections();
if (numPDA)
{
for (int i=0;i<numPDA;i++)
{
btVector3 norm;
m_shape->getPreferredPenetrationDirection(i,norm);
btUnitSpherePoints[numSampleDirections] = norm;
numSampleDirections++;
}
}
}
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
int i;
for (i = 0; i < numSampleDirections; i++)
{
supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]);
}
HullDesc hd;
hd.mFlags = QF_TRIANGLES;
hd.mVcount = numSampleDirections;
#ifdef BT_USE_DOUBLE_PRECISION
hd.mVertices = &supportPoints[0];
hd.mVertexStride = sizeof(btVector3);
#else
hd.mVertices = &supportPoints[0];
hd.mVertexStride = sizeof (btVector3);
#endif
HullLibrary hl;
HullResult hr;
if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
{
return false;
}
m_vertices.resize (hr.mNumOutputVertices);
for (i = 0; i < hr.mNumOutputVertices; i++)
{
m_vertices[i] = hr.mOutputVertices[i];
}
m_numIndices = hr.mNumIndices;
m_indices = new unsigned int [m_numIndices];
for (i = 0; i < m_numIndices; i++)
{
m_indices[i] = hr.mIndices[i];
}
return true;
}
int
btShapeHull::numTriangles () const
{
return m_numIndices / 3;
}
int
btShapeHull::numVertices () const
{
return m_vertices.size ();
}
int
btShapeHull::numIndices () const
{
return m_numIndices;
}

54
src/BulletCollision/CollisionShapes/btShapeHull.h
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@@ -1,54 +0,0 @@
/*
btShapeHull implemented by John McCutchan.
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 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 _SHAPE_HULL_H
#define _SHAPE_HULL_H
#include "LinearMath/btAlignedObjectArray.h"
#include "btConvexShape.h"
///btShapeHull takes a btConvexShape, builds the convex hull using btConvexHull and provides triangle indices and vertices.
class btShapeHull
{
public:
btShapeHull (const btConvexShape* shape);
~btShapeHull ();
bool buildHull (btScalar margin);
int numTriangles () const;
int numVertices () const;
int numIndices () const;
const btVector3* getVertexPointer() const
{
return &m_vertices[0];
}
const unsigned int* getIndexPointer() const
{
return m_indices;
}
protected:
btAlignedObjectArray<btVector3> m_vertices;
unsigned int* m_indices;
unsigned int m_numIndices;
const btConvexShape* m_shape;
};
#endif //_SHAPE_HULL_H

1760
src/LinearMath/btConvexHull.cpp
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File diff suppressed because it is too large Load Diff

138
src/LinearMath/btConvexHull.h
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@@ -1,138 +0,0 @@
/*
Stan Melax Convex Hull Computation
Copyright (c) 2008 Stan Melax http://www.melax.com/
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.
*/
///includes modifications/improvements by John Ratcliff, see BringOutYourDead below.
#ifndef CD_HULL_H
#define CD_HULL_H
#include "LinearMath/btVector3.h"
class HullResult
{
public:
HullResult(void)
{
mPolygons = true;
mNumOutputVertices = 0;
mOutputVertices = 0;
mNumFaces = 0;
mNumIndices = 0;
mIndices = 0;
}
bool mPolygons; // true if indices represents polygons, false indices are triangles
unsigned int mNumOutputVertices; // number of vertices in the output hull
btVector3 *mOutputVertices; // array of vertices
unsigned int mNumFaces; // the number of faces produced
unsigned int mNumIndices; // the total number of indices
unsigned int *mIndices; // pointer to indices.
// If triangles, then indices are array indexes into the vertex list.
// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
};
enum HullFlag
{
QF_TRIANGLES = (1<<0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices.
QF_DEFAULT = QF_TRIANGLES
};
class HullDesc
{
public:
HullDesc(void)
{
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = sizeof(btVector3);
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
};
HullDesc(HullFlag flag,
unsigned int vcount,
const btVector3 *vertices,
unsigned int stride = sizeof(btVector3))
{
mFlags = flag;
mVcount = vcount;
mVertices = vertices;
mVertexStride = stride;
mNormalEpsilon = btScalar(0.001);
mMaxVertices = 4096;
}
bool HasHullFlag(HullFlag flag) const
{
if ( mFlags & flag ) return true;
return false;
}
void SetHullFlag(HullFlag flag)
{
mFlags|=flag;
}
void ClearHullFlag(HullFlag flag)
{
mFlags&=~flag;
}
unsigned int mFlags; // flags to use when generating the convex hull.
unsigned int mVcount; // number of vertices in the input point cloud
const btVector3 *mVertices; // the array of vertices.
unsigned int mVertexStride; // the stride of each vertex, in bytes.
btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull!
unsigned int mMaxFaces;
};
enum HullError
{
QE_OK, // success!
QE_FAIL // failed.
};
class HullLibrary
{
public:
HullError CreateConvexHull(const HullDesc& desc, // describes the input request
HullResult& result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
private:
//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'.
//After the hull is generated it give you back a set of polygon faces which index the *original* point cloud.
//The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull.
//The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation.
void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount);
bool CleanupVertices(unsigned int svcount,
const btVector3* svertices,
unsigned int stride,
unsigned int &vcount, // output number of vertices
btVector3* vertices, // location to store the results.
btScalar normalepsilon,
btVector3& scale);
};
#endif