Added refactored Bullet 2.x library. Important: these files are not part of the Blender build yet. First, the integration will be updated to make use of the new Bullet version. Then all build systems needs to be updated.

The refactoring didn't leave a single file the same, all filenames and classes have bt prefix, methodnames start with lowercase, a single headerfile can be included, and also a single include path.
Plan is to make use of this Bullet 2.x version in extern/bullet2 within the coming weeks, then extern/bullet can be discarded/ignored/content removed.

1 files changed, 746 insertions, 0 deletions

diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
new file mode 100644
index 00000000000..feb1d2823f1
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -0,0 +1,746 @@
+/*
+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 "btDiscreteDynamicsWorld.h"
+
+
+//collision detection
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
+#include <LinearMath/btTransformUtil.h>
+
+//rigidbody & constraints
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+
+//for debug rendering
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "LinearMath/btIDebugDraw.h"
+
+
+
+//vehicle
+#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
+#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
+#include "BulletDynamics/Vehicle/btWheelInfo.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btMotionState.h"
+
+
+
+#include <algorithm>
+
+btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
+:btDynamicsWorld(),
+m_constraintSolver(new btSequentialImpulseConstraintSolver),
+m_debugDrawer(0),
+m_gravity(0,-10,0),
+m_localTime(1.f/60.f),
+m_profileTimings(0)
+{
+	m_islandManager = new btSimulationIslandManager();
+	m_ownsIslandManager = true;
+	m_ownsConstraintSolver = true;
+
+}
+
+btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
+:btDynamicsWorld(dispatcher,pairCache),
+m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
+m_debugDrawer(0),
+m_gravity(0,-10,0),
+m_localTime(1.f/60.f),
+m_profileTimings(0)
+{
+	m_islandManager = new btSimulationIslandManager();
+	m_ownsIslandManager = true;
+	m_ownsConstraintSolver = (constraintSolver==0);
+}
+
+
+btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
+{
+	//only delete it when we created it
+	if (m_ownsIslandManager)
+		delete m_islandManager;
+	if (m_ownsConstraintSolver)
+		 delete m_constraintSolver;
+}
+
+void	btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
+{
+
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+				btTransform predictedTrans;
+				if (body->GetActivationState() != ISLAND_SLEEPING)
+				{
+					if (body->isKinematicObject())
+					{
+						//to calculate velocities next frame
+						body->saveKinematicState(timeStep);
+					}
+				}
+		}
+	}
+}
+
+void	btDiscreteDynamicsWorld::synchronizeMotionStates()
+{
+	//todo: iterate over awake simulation islands!
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+		{
+			btVector3 color(255.f,255.f,255.f);
+			switch(colObj->GetActivationState())
+			{
+			case  ACTIVE_TAG:
+				color = btVector3(255.f,255.f,255.f);
+			case ISLAND_SLEEPING:
+				color =  btVector3(0.f,255.f,0.f);
+			case WANTS_DEACTIVATION:
+				color = btVector3(0.f,255.f,255.f);
+			case DISABLE_DEACTIVATION:
+				color = btVector3(255.f,0.f,0.f);
+			case DISABLE_SIMULATION:
+				color = btVector3(255.f,255.f,0.f);
+			default:
+				{
+					color = btVector3(255.f,0.f,0.f);
+				}
+			};
+
+			debugDrawObject(colObj->m_worldTransform,colObj->m_collisionShape,color);
+		}
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
+		{
+			if (body->GetActivationState() != ISLAND_SLEEPING)
+			{
+				btTransform interpolatedTransform;
+				btTransformUtil::integrateTransform(body->m_interpolationWorldTransform,body->getLinearVelocity(),body->getAngularVelocity(),m_localTime,interpolatedTransform);
+				body->getMotionState()->setWorldTransform(interpolatedTransform);
+			}
+		}
+	}
+
+}
+
+
+int	btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
+{
+	int numSimulationSubSteps = 0;
+
+	if (maxSubSteps)
+	{
+		//fixed timestep with interpolation
+		m_localTime += timeStep;
+		if (m_localTime >= fixedTimeStep)
+		{
+			numSimulationSubSteps = int( m_localTime / fixedTimeStep);
+			m_localTime -= numSimulationSubSteps * fixedTimeStep;
+		}
+	} else
+	{
+		//variable timestep
+		fixedTimeStep = timeStep;
+		m_localTime = timeStep;
+		numSimulationSubSteps = 1;
+		maxSubSteps = 1;
+	}
+
+	//process some debugging flags
+	if (getDebugDrawer())
+	{
+		gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
+	}
+	if (!btFuzzyZero(timeStep) && numSimulationSubSteps)
+	{
+
+		saveKinematicState(fixedTimeStep);
+
+		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
+		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
+
+		for (int i=0;i<clampedSimulationSteps;i++)
+		{
+			internalSingleStepSimulation(fixedTimeStep);
+		}
+
+	} 
+
+	synchronizeMotionStates();
+
+	return numSimulationSubSteps;
+}
+
+void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
+{
+	
+	startProfiling(timeStep);
+
+	///update aabbs information
+	updateAabbs();
+
+	///apply gravity, predict motion
+	predictUnconstraintMotion(timeStep);
+
+	///perform collision detection
+	performDiscreteCollisionDetection();
+
+	calculateSimulationIslands();
+
+	btContactSolverInfo infoGlobal;
+	infoGlobal.m_timeStep = timeStep;
+	
+	///solve non-contact constraints
+	solveNoncontactConstraints(infoGlobal);
+	
+	///solve contact constraints
+	solveContactConstraints(infoGlobal);
+
+	///update vehicle simulation
+	updateVehicles(timeStep);
+	
+	///CallbackTriggers();
+
+	///integrate transforms
+	integrateTransforms(timeStep);
+		
+	updateActivationState( timeStep );
+
+	
+
+}
+
+void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	m_gravity = gravity;
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->setGravity(gravity);
+		}
+	}
+}
+
+
+void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	removeCollisionObject(body);
+}
+
+void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
+{
+	body->setGravity(m_gravity);
+	bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
+	short collisionFilterGroup = isDynamic? btBroadphaseProxy::DefaultFilter : btBroadphaseProxy::StaticFilter;
+	short collisionFilterMask = isDynamic? 	btBroadphaseProxy::AllFilter : 	btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
+
+	addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
+}
+
+
+void	btDiscreteDynamicsWorld::updateVehicles(float timeStep)
+{
+	BEGIN_PROFILE("updateVehicles");
+
+	for (unsigned int i=0;i<m_vehicles.size();i++)
+	{
+		btRaycastVehicle* vehicle = m_vehicles[i];
+		vehicle->updateVehicle( timeStep);
+	}
+	END_PROFILE("updateVehicles");
+}
+
+void	btDiscreteDynamicsWorld::updateActivationState(float timeStep)
+{
+	BEGIN_PROFILE("updateActivationState");
+
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->updateDeactivation(timeStep);
+
+			if (body->wantsSleeping())
+			{
+				if (body->GetActivationState() == ACTIVE_TAG)
+					body->SetActivationState( WANTS_DEACTIVATION );
+			} else
+			{
+				if (body->GetActivationState() != DISABLE_DEACTIVATION)
+					body->SetActivationState( ACTIVE_TAG );
+			}
+		}
+	}
+	END_PROFILE("updateActivationState");
+}
+
+void	btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint)
+{
+	m_constraints.push_back(constraint);
+}
+
+void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
+{
+	std::vector<btTypedConstraint*>::iterator cit = std::find(m_constraints.begin(),m_constraints.end(),constraint);
+	if (!(cit==m_constraints.end()))
+	{
+		m_constraints.erase(cit);
+	}
+}
+
+void	btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
+{
+	m_vehicles.push_back(vehicle);
+}
+
+void	btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
+{
+	std::vector<btRaycastVehicle*>::iterator vit = std::find(m_vehicles.begin(),m_vehicles.end(),vehicle);
+	if (!(vit==m_vehicles.end()))
+	{
+		m_vehicles.erase(vit);
+	}
+}
+
+
+void	btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solverInfo)
+{
+	
+	BEGIN_PROFILE("solveContactConstraints");
+
+	struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
+	{
+
+		btContactSolverInfo& m_solverInfo;
+		btConstraintSolver*	m_solver;
+		btIDebugDraw*	m_debugDrawer;
+
+		InplaceSolverIslandCallback(
+			btContactSolverInfo& solverInfo,
+			btConstraintSolver*	solver,
+			btIDebugDraw*	debugDrawer)
+			:m_solverInfo(solverInfo),
+			m_solver(solver),
+			m_debugDrawer(debugDrawer)
+		{
+
+		}
+
+		virtual	void	ProcessIsland(btPersistentManifold**	manifolds,int numManifolds)
+		{
+			m_solver->solveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
+		}
+
+	};
+
+	
+	InplaceSolverIslandCallback	solverCallback(	solverInfo,	m_constraintSolver,	m_debugDrawer);
+
+	
+	/// solve all the contact points and contact friction
+	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
+
+	END_PROFILE("solveContactConstraints");
+
+}
+
+
+void	btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& solverInfo)
+{
+	BEGIN_PROFILE("solveNoncontactConstraints");
+
+	int i;
+	int numConstraints = m_constraints.size();
+
+	///constraint preparation: building jacobians
+	for (i=0;i< numConstraints ; i++ )
+	{
+		btTypedConstraint* constraint = m_constraints[i];
+		constraint->buildJacobian();
+	}
+
+	//solve the regular non-contact constraints (point 2 point, hinge, generic d6)
+	for (int g=0;g<solverInfo.m_numIterations;g++)
+	{
+		//
+		// constraint solving
+		//
+		for (i=0;i< numConstraints ; i++ )
+		{
+			btTypedConstraint* constraint = m_constraints[i];
+			constraint->solveConstraint( solverInfo.m_timeStep );
+		}
+	}
+
+	END_PROFILE("solveNoncontactConstraints");
+
+}
+
+void	btDiscreteDynamicsWorld::calculateSimulationIslands()
+{
+	BEGIN_PROFILE("calculateSimulationIslands");
+
+	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
+
+	{
+		int i;
+		int numConstraints = m_constraints.size();
+		for (i=0;i< numConstraints ; i++ )
+		{
+			btTypedConstraint* constraint = m_constraints[i];
+
+			const btRigidBody* colObj0 = &constraint->getRigidBodyA();
+			const btRigidBody* colObj1 = &constraint->getRigidBodyB();
+
+			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
+				((colObj1) && ((colObj1)->mergesSimulationIslands())))
+			{
+				if (colObj0->IsActive() || colObj1->IsActive())
+				{
+
+					getSimulationIslandManager()->getUnionFind().unite((colObj0)->m_islandTag1,
+						(colObj1)->m_islandTag1);
+				}
+			}
+		}
+	}
+
+	//Store the island id in each body
+	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
+
+	END_PROFILE("calculateSimulationIslands");
+
+}
+
+static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
+{
+
+	btVector3 halfExtents = (to-from)* 0.5f;
+	btVector3 center = (to+from) *0.5f;
+	int i,j;
+
+	btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
+	for (i=0;i<4;i++)
+	{
+		for (j=0;j<3;j++)
+		{
+			pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
+				edgecoord[2]*halfExtents[2]);
+			pa+=center;
+
+			int othercoord = j%3;
+			edgecoord[othercoord]*=-1.f;
+			pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
+				edgecoord[2]*halfExtents[2]);
+			pb+=center;
+
+			debugDrawer->drawLine(pa,pb,color);
+		}
+		edgecoord = btVector3(-1.f,-1.f,-1.f);
+		if (i<3)
+			edgecoord[i]*=-1.f;
+	}
+
+
+}
+
+void	btDiscreteDynamicsWorld::updateAabbs()
+{
+	BEGIN_PROFILE("updateAabbs");
+	
+	btVector3 colorvec(1,0,0);
+	btTransform predictedTrans;
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+		//	if (body->IsActive() && (!body->IsStatic()))
+			{
+				btPoint3 minAabb,maxAabb;
+				colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
+				btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
+				bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
+				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+				{
+					DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec);
+				}
+			}
+		}
+	}
+	
+	END_PROFILE("updateAabbs");
+}
+
+void	btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
+{
+	BEGIN_PROFILE("integrateTransforms");
+	btTransform predictedTrans;
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			if (body->IsActive() && (!body->isStaticOrKinematicObject()))
+			{
+				body->predictIntegratedTransform(timeStep, predictedTrans);
+				body->proceedToTransform( predictedTrans);
+			}
+		}
+	}
+	END_PROFILE("integrateTransforms");
+}
+
+
+
+void	btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
+{
+	BEGIN_PROFILE("predictUnconstraintMotion");
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			if (!body->isStaticOrKinematicObject())
+			{
+				if (body->IsActive())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
+			}
+		}
+	}
+	END_PROFILE("predictUnconstraintMotion");
+}
+
+
+void	btDiscreteDynamicsWorld::startProfiling(float timeStep)
+{
+	#ifdef USE_QUICKPROF
+
+
+	//toggle btProfiler
+	if ( m_debugDrawer && m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
+	{
+		if (!m_profileTimings)
+		{
+			m_profileTimings = 1;
+			// To disable profiling, simply comment out the following line.
+			static int counter = 0;
+
+			char filename[128];
+			sprintf(filename,"quickprof_bullet_timings%i.csv",counter++);
+			btProfiler::init(filename, btProfiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS
+		} else
+		{
+			btProfiler::endProfilingCycle();
+		}
+
+	} else
+	{
+		if (m_profileTimings)
+		{
+			btProfiler::endProfilingCycle();
+
+			m_profileTimings = 0;
+			btProfiler::destroy();
+		}
+	}
+#endif //USE_QUICKPROF
+}
+
+
+
+
+	
+
+class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
+{
+	btIDebugDraw*	m_debugDrawer;
+	btVector3	m_color;
+	btTransform	m_worldTrans;
+
+public:
+
+	DebugDrawcallback(btIDebugDraw*	debugDrawer,const btTransform& worldTrans,const btVector3& color)
+		: m_debugDrawer(debugDrawer),
+		m_worldTrans(worldTrans),
+		m_color(color)
+	{
+	}
+
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		processTriangle(triangle,partId,triangleIndex);
+	}
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+		btVector3 wv0,wv1,wv2;
+		wv0 = m_worldTrans*triangle[0];
+		wv1 = m_worldTrans*triangle[1];
+		wv2 = m_worldTrans*triangle[2];
+		m_debugDrawer->drawLine(wv0,wv1,m_color);
+		m_debugDrawer->drawLine(wv1,wv2,m_color);
+		m_debugDrawer->drawLine(wv2,wv0,m_color);
+	}
+};
+
+
+
+void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
+{
+
+	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			debugDrawObject(worldTransform*childTrans,colShape,color);
+		}
+
+	} else
+	{
+		switch (shape->getShapeType())
+		{
+
+		case SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+				float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+				btVector3 start = worldTransform.getOrigin();
+				getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color);
+				getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color);
+				getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,0,radius),color);
+				//drawSphere					
+				break;
+			}
+		case MULTI_SPHERE_SHAPE_PROXYTYPE:
+		case CONE_SHAPE_PROXYTYPE:
+			{
+				const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+				float radius = coneShape->getRadius();//+coneShape->getMargin();
+				float height = coneShape->getHeight();//+coneShape->getMargin();
+				btVector3 start = worldTransform.getOrigin();
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(radius,0,-0.5*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(-radius,0,-0.5*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,radius,-0.5*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,-radius,-0.5*height),color);
+				break;
+
+			}
+		case CYLINDER_SHAPE_PROXYTYPE:
+			{
+				const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+				int upAxis = cylinder->getUpAxis();
+				float radius = cylinder->getRadius();
+				float halfHeight = cylinder->getHalfExtents()[upAxis];
+				btVector3 start = worldTransform.getOrigin();
+				btVector3	offsetHeight(0,0,0);
+				offsetHeight[upAxis] = halfHeight;
+				btVector3	offsetRadius(0,0,0);
+				offsetRadius[(upAxis+1)%3] = radius;
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
+				break;
+			}
+		default:
+			{
+
+				if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+				{
+					btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
+					//btVector3 aabbMax(1e30f,1e30f,1e30f);
+					//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
+
+					//todo pass camera, for some culling
+					btVector3 aabbMax(1e30f,1e30f,1e30f);
+					btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
+
+					DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+					concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+				}
+
+				if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+				{
+					btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+					//todo: pass camera for some culling			
+					btVector3 aabbMax(1e30f,1e30f,1e30f);
+					btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
+					//DebugDrawcallback drawCallback;
+					DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+					convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+				}
+
+
+				/// for polyhedral shapes
+				if (shape->isPolyhedral())
+				{
+					btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+
+					int i;
+					for (i=0;i<polyshape->getNumEdges();i++)
+					{
+						btPoint3 a,b;
+						polyshape->getEdge(i,a,b);
+						btVector3 wa = worldTransform * a;
+						btVector3 wb = worldTransform * b;
+						getDebugDrawer()->drawLine(wa,wb,color);
+
+					}
+
+					
+				}
+			}
+		}
+	}
+}