bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

1 files changed, 0 insertions, 838 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
deleted file mode 100644
index 6cba442ca5..0000000000
--- a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ /dev/null
@@ -1,838 +0,0 @@
-#include "btInternalEdgeUtility.h"
-
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//#define DEBUG_INTERNAL_EDGE
-
-#ifdef DEBUG_INTERNAL_EDGE
-#include <stdio.h>
-#endif //DEBUG_INTERNAL_EDGE
-
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-static btIDebugDraw* gDebugDrawer = 0;
-
-void	btSetDebugDrawer(btIDebugDraw* debugDrawer)
-{
-	gDebugDrawer = debugDrawer;
-}
-
-static void    btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
-{
-	if (gDebugDrawer)
-		gDebugDrawer->drawLine(from,to,color);
-}
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
-static int	btGetHash(int partId, int triangleIndex)
-{
-	int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
-	return hash;
-}
-
-
-
-static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
-{
-	const btVector3 refAxis0  = edgeA;
-	const btVector3 refAxis1  = normalA;
-	const btVector3 swingAxis = normalB;
-	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	return  angle;
-}
-
-
-struct btConnectivityProcessor : public btTriangleCallback
-{
-	int				m_partIdA;
-	int				m_triangleIndexA;
-	btVector3*		m_triangleVerticesA;
-	btTriangleInfoMap*	m_triangleInfoMap;
-
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		//skip self-collisions
-		if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
-			return;
-
-		//skip duplicates (disabled for now)
-		//if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
-		//	return;
-
-		//search for shared vertices and edges
-		int numshared = 0;
-		int sharedVertsA[3]={-1,-1,-1};
-		int sharedVertsB[3]={-1,-1,-1};
-
-		///skip degenerate triangles
-		btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
-		if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
-			return;
-
-
-		btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
-		///skip degenerate triangles
-		if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
-			return;
-
-#if 0
-		printf("triangle A[0]	=	(%f,%f,%f)\ntriangle A[1]	=	(%f,%f,%f)\ntriangle A[2]	=	(%f,%f,%f)\n",
-			m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
-			m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
-			m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
-
-		printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
-		printf("triangle B[0]	=	(%f,%f,%f)\ntriangle B[1]	=	(%f,%f,%f)\ntriangle B[2]	=	(%f,%f,%f)\n",
-			triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
-			triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
-			triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
-#endif
-
-		for (int i=0;i<3;i++)
-		{
-			for (int j=0;j<3;j++)
-			{
-				if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
-				{
-					sharedVertsA[numshared] = i;
-					sharedVertsB[numshared] = j;
-					numshared++;
-					///degenerate case
-					if(numshared >= 3)
-						return;
-				}
-			}
-			///degenerate case
-			if(numshared >= 3)
-				return;
-		}
-		switch (numshared)
-		{
-		case 0:
-			{
-				break;
-			}
-		case 1:
-			{
-				//shared vertex
-				break;
-			}
-		case 2:
-			{
-				//shared edge
-				//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
-				if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
-				{
-					sharedVertsA[0] = 2;
-					sharedVertsA[1] = 0;
-					int tmp = sharedVertsB[1];
-					sharedVertsB[1] = sharedVertsB[0];
-					sharedVertsB[0] = tmp;
-				}
-
-				int hash = btGetHash(m_partIdA,m_triangleIndexA);
-
-				btTriangleInfo* info = m_triangleInfoMap->find(hash);
-				if (!info)
-				{
-					btTriangleInfo tmp;
-					m_triangleInfoMap->insert(hash,tmp);
-					info = m_triangleInfoMap->find(hash);
-				}
-
-				int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
-				int otherIndexA = 3-sumvertsA;
-
-				
-				btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
-
-				btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
-				int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
-
-				btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
-				//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
-
-				btVector3 normalA;
-				btVector3 normalB;
-				tA.calcNormal(normalA);
-				tB.calcNormal(normalB);
-				edge.normalize();
-				btVector3 edgeCrossA = edge.cross(normalA).normalize();
-
-				{
-					btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
-					if (edgeCrossA.dot(tmp) < 0)
-					{
-						edgeCrossA*=-1;
-					}
-				}
-
-				btVector3 edgeCrossB = edge.cross(normalB).normalize();
-
-				{
-					btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
-					if (edgeCrossB.dot(tmp) < 0)
-					{
-						edgeCrossB*=-1;
-					}
-				}
-
-				btScalar	angle2 = 0;
-				btScalar	ang4 = 0.f;
-
-
-				btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
-				btScalar len2 = calculatedEdge.length2();
-
-				btScalar correctedAngle(0);
-				//btVector3 calculatedNormalB = normalA;
-				bool isConvex = false;
-
-				if (len2<m_triangleInfoMap->m_planarEpsilon)
-				{
-					angle2 = 0.f;
-					ang4 = 0.f;
-				} else
-				{
-
-					calculatedEdge.normalize();
-					btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
-					calculatedNormalA.normalize();
-					angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
-					ang4 = SIMD_PI-angle2;
-					btScalar dotA = normalA.dot(edgeCrossB);
-					///@todo: check if we need some epsilon, due to floating point imprecision
-					isConvex = (dotA<0.);
-
-					correctedAngle = isConvex ? ang4 : -ang4;
-				}
-
-				
-
-				
-							
-				//alternatively use 
-				//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
-
-
-				switch (sumvertsA)
-				{
-				case 1:
-					{
-						btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
-						btScalar bla = computedNormalB.dot(normalB);
-						if (bla<0)
-						{
-							computedNormalB*=-1;
-							info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
-						}
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif//DEBUG_INTERNAL_EDGE
-
-						info->m_edgeV0V1Angle = -correctedAngle;
-
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V0V1_CONVEX;
-						break;
-					}
-				case 2:
-					{
-						btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
-						if (computedNormalB.dot(normalB)<0)
-						{
-							computedNormalB*=-1;
-							info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
-						}
-
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif //DEBUG_INTERNAL_EDGE
-						info->m_edgeV2V0Angle = -correctedAngle;
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V2V0_CONVEX;
-						break;	
-					}
-				case 3:
-					{
-						btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
-						btQuaternion orn(edge,-correctedAngle);
-						btVector3 computedNormalB = quatRotate(orn,normalA);
-						if (computedNormalB.dot(normalB)<0)
-						{
-							info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
-							computedNormalB*=-1;
-						}
-#ifdef DEBUG_INTERNAL_EDGE
-						if ((computedNormalB-normalB).length()>0.0001)
-						{
-							printf("warning: normals not identical\n");
-						}
-#endif //DEBUG_INTERNAL_EDGE
-						info->m_edgeV1V2Angle = -correctedAngle;
-
-						if (isConvex)
-							info->m_flags |= TRI_INFO_V1V2_CONVEX;
-						break;
-					}
-				}
-
-				break;
-			}
-		default:
-			{
-				//				printf("warning: duplicate triangle\n");
-			}
-
-		}
-	}
-};
-/////////////////////////////////////////////////////////
-/////////////////////////////////////////////////////////
-
-void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
-{
-	//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
-	if (trimeshShape->getTriangleInfoMap())
-		return;
-
-	trimeshShape->setTriangleInfoMap(triangleInfoMap);
-
-	btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
-	const btVector3& meshScaling = meshInterface->getScaling();
-
-	for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
-	{
-		const unsigned char *vertexbase = 0;
-		int numverts = 0;
-		PHY_ScalarType type = PHY_INTEGER;
-		int stride = 0;
-		const unsigned char *indexbase = 0;
-		int indexstride = 0;
-		int numfaces = 0;
-		PHY_ScalarType indicestype = PHY_INTEGER;
-		//PHY_ScalarType indexType=0;
-
-		btVector3 triangleVerts[3];
-		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
-		btVector3 aabbMin,aabbMax;
-
-		for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
-		{
-			unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
-
-			for (int j=2;j>=0;j--)
-			{
-
-				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-					triangleVerts[j] = btVector3(
-						graphicsbase[0]*meshScaling.getX(),
-						graphicsbase[1]*meshScaling.getY(),
-						graphicsbase[2]*meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
-				}
-			}
-			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
-			aabbMin.setMin(triangleVerts[0]);
-			aabbMax.setMax(triangleVerts[0]);
-			aabbMin.setMin(triangleVerts[1]);
-			aabbMax.setMax(triangleVerts[1]);
-			aabbMin.setMin(triangleVerts[2]);
-			aabbMax.setMax(triangleVerts[2]);
-
-			btConnectivityProcessor connectivityProcessor;
-			connectivityProcessor.m_partIdA = partId;
-			connectivityProcessor.m_triangleIndexA = triangleIndex;
-			connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
-			connectivityProcessor.m_triangleInfoMap  = triangleInfoMap;
-
-			trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
-		}
-
-	}
-
-}
-
-
-
-
-// Given a point and a line segment (defined by two points), compute the closest point
-// in the line.  Cap the point at the endpoints of the line segment.
-void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
-{
-	btVector3 lineDelta     = line1 - line0;
-
-	// Handle degenerate lines
-	if ( lineDelta.fuzzyZero())
-	{
-		nearestPoint = line0;
-	}
-	else
-	{
-		btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
-
-		// Clamp the point to conform to the segment's endpoints
-		if ( delta < 0 )
-			delta = 0;
-		else if ( delta > 1 )
-			delta = 1;
-
-		nearestPoint = line0 + lineDelta*delta;
-	}
-}
-
-
-
-
-bool	btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
-{
-	btVector3 tri_normal = tri_normal_org;
-	//we only have a local triangle normal, not a local contact normal -> only normal in world space...
-	//either compute the current angle all in local space, or all in world space
-
-	btVector3 edgeCross = edge.cross(tri_normal).normalize();
-	btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
-
-	if (correctedEdgeAngle<0)
-	{
-		if (curAngle < correctedEdgeAngle)
-		{
-			btScalar diffAngle = correctedEdgeAngle-curAngle;
-			btQuaternion rotation(edge,diffAngle );
-			clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
-			return true;
-		}
-	}
-
-	if (correctedEdgeAngle>=0)
-	{
-		if (curAngle > correctedEdgeAngle)
-		{
-			btScalar diffAngle = correctedEdgeAngle-curAngle;
-			btQuaternion rotation(edge,diffAngle );
-			clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
-			return true;
-		}
-	}
-	return false;
-}
-
-
-
-/// Changes a btManifoldPoint collision normal to the normal from the mesh.
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
-{
-	//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
-	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
-		return;
-
-	btBvhTriangleMeshShape* trimesh = 0;
-	
-	if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
-	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
-   else	   
-	   trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
-	   
-   	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
-	if (!triangleInfoMapPtr)
-		return;
-
-	int hash = btGetHash(partId0,index0);
-
-
-	btTriangleInfo* info = triangleInfoMapPtr->find(hash);
-	if (!info)
-		return;
-
-	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
-	
-	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
-	btVector3 v0,v1,v2;
-	tri_shape->getVertex(0,v0);
-	tri_shape->getVertex(1,v1);
-	tri_shape->getVertex(2,v2);
-
-	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
-
-	btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
-	btVector3 tri_normal;
-	tri_shape->calcNormal(tri_normal);
-
-	//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
-	btVector3 nearest;
-	btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
-
-	btVector3 contact = cp.m_localPointB;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	const btTransform& tr = colObj0->getWorldTransform();
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
-
-	bool isNearEdge = false;
-
-	int numConcaveEdgeHits = 0;
-	int numConvexEdgeHits = 0;
-
-	btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-	localContactNormalOnB.normalize();//is this necessary?
-	
-	// Get closest edge
-	int      bestedge=-1;
-	btScalar    disttobestedge=BT_LARGE_FLOAT;
-	//
-	// Edge 0 -> 1
-	if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=0;
-	      disttobestedge=len;
-      }	      
-   }	   
-	// Edge 1 -> 2
-	if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=1;
-	      disttobestedge=len;
-      }	      
-   }	   
-	// Edge 2 -> 0
-	if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{	
-	   btVector3 nearest;
-	   btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
-	   btScalar     len=(contact-nearest).length();
-	   //
-	   if( len < disttobestedge )
-	   {
-	      bestedge=2;
-	      disttobestedge=len;
-      }	      
-   }   	      	
-	
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
-   btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
-#endif   
-	if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
-#endif
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==0 )
-		{
-			btVector3 edge(v0-v1);
-			isNearEdge = true;
-
-			if (info->m_edgeV0V1Angle==btScalar(0))
-			{
-				numConcaveEdgeHits++;
-			} else
-			{
-
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 nA = swapFactor * tri_normal;
-
-				btQuaternion orn(edge,info->m_edgeV0V1Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
-
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
-
-#ifdef DEBUG_INTERNAL_EDGE
-				{
-					
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
-
-
-				if (backFacingNormal)
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					numConvexEdgeHits++;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
-					if (isClamped)
-					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
-						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal. (what about cp.m_distance1?)
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-							
-						}
-					}
-				}
-			}
-		}
-	}
-
-	btNearestPointInLineSegment(contact,v1,v2,nearest);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
-#endif   
-
-	if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-
-
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==1 )
-		{
-			isNearEdge = true;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-			btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-			btVector3 edge(v1-v2);
-
-			isNearEdge = true;
-
-			if (info->m_edgeV1V2Angle == btScalar(0))
-			{
-				numConcaveEdgeHits++;
-			} else
-			{
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 nA = swapFactor * tri_normal;
-				
-				btQuaternion orn(edge,info->m_edgeV1V2Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-				{
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
-
-
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
-
-				if (backFacingNormal)
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					numConvexEdgeHits++;
-					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
-					if (isClamped)
-					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
-						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal.
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-						}
-					}
-				}
-			}
-		}
-	}
-
-	btNearestPointInLineSegment(contact,v2,v0,nearest);
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-	btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-   btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
-#endif   
-
-	if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
-	{
-
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-		btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-		btScalar len = (contact-nearest).length();
-		if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
-		if( bestedge==2 )
-		{
-			isNearEdge = true;
-#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-			btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
-#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-			btVector3 edge(v2-v0);
-
-			if (info->m_edgeV2V0Angle==btScalar(0))
-			{
-				numConcaveEdgeHits++;
-			} else
-			{
-
-				bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
-				btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
-	#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
-				btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
-	#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-				btVector3 nA = swapFactor * tri_normal;
-				btQuaternion orn(edge,info->m_edgeV2V0Angle);
-				btVector3 computedNormalB = quatRotate(orn,tri_normal);
-				if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
-					computedNormalB*=-1;
-				btVector3 nB = swapFactor*computedNormalB;
-
-#ifdef DEBUG_INTERNAL_EDGE
-				{
-					btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
-				}
-#endif //DEBUG_INTERNAL_EDGE
-
-				btScalar	NdotA = localContactNormalOnB.dot(nA);
-				btScalar	NdotB = localContactNormalOnB.dot(nB);
-				bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
-
-				if (backFacingNormal)
-				{
-					numConcaveEdgeHits++;
-				}
-				else
-				{
-					numConvexEdgeHits++;
-					//				printf("hitting convex edge\n");
-
-
-					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
-					btVector3 clampedLocalNormal;
-					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
-					if (isClamped)
-					{
-						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
-						{
-							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
-							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
-							cp.m_normalWorldOnB = newNormal;
-							// Reproject collision point along normal.
-							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-						}
-					}
-				} 
-			}
-			
-
-		}
-	}
-
-#ifdef DEBUG_INTERNAL_EDGE
-	{
-		btVector3 color(0,1,1);
-		btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
-	}
-#endif //DEBUG_INTERNAL_EDGE
-
-	if (isNearEdge)
-	{
-
-		if (numConcaveEdgeHits>0)
-		{
-			if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
-			{
-				//fix tri_normal so it pointing the same direction as the current local contact normal
-				if (tri_normal.dot(localContactNormalOnB) < 0)
-				{
-					tri_normal *= -1;
-				}
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
-			} else
-			{
-				btVector3 newNormal = tri_normal *frontFacing;
-				//if the tri_normal is pointing opposite direction as the current local contact normal, skip it
-				btScalar d = newNormal.dot(localContactNormalOnB) ;
-				if (d< 0)
-				{
-					return;
-				}
-				//modify the normal to be the triangle normal (or backfacing normal)
-				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
-			}
-						
-			// Reproject collision point along normal.
-			cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-			cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
-		}
-	}
-}