1 files changed, 0 insertions, 996 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
deleted file mode 100644
index 2bbccb291c..0000000000
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ /dev/null
@@ -1,996 +0,0 @@
-/*
-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 <stdio.h>
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btGhostObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "LinearMath/btDefaultMotionState.h"
-#include "btKinematicCharacterController.h"
-
-// static helper method
-static btVector3
-getNormalizedVector(const btVector3& v)
-{
-	btVector3 n(0, 0, 0);
-
-	if (v.length() > SIMD_EPSILON)
-	{
-		n = v.normalized();
-	}
-	return n;
-}
-
-///@todo Interact with dynamic objects,
-///Ride kinematicly animated platforms properly
-///More realistic (or maybe just a config option) falling
-/// -> Should integrate falling velocity manually and use that in stepDown()
-///Support jumping
-///Support ducking
-class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
-{
-public:
-	btKinematicClosestNotMeRayResultCallback(btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-	{
-		m_me = me;
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
-	{
-		if (rayResult.m_collisionObject == m_me)
-			return 1.0;
-
-		return ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
-	}
-
-protected:
-	btCollisionObject* m_me;
-};
-
-class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
-{
-public:
-	btKinematicClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
-		: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)), m_me(me), m_up(up), m_minSlopeDot(minSlopeDot)
-	{
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
-	{
-		if (convexResult.m_hitCollisionObject == m_me)
-			return btScalar(1.0);
-
-		if (!convexResult.m_hitCollisionObject->hasContactResponse())
-			return btScalar(1.0);
-
-		btVector3 hitNormalWorld;
-		if (normalInWorldSpace)
-		{
-			hitNormalWorld = convexResult.m_hitNormalLocal;
-		}
-		else
-		{
-			///need to transform normal into worldspace
-			hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
-		}
-
-		btScalar dotUp = m_up.dot(hitNormalWorld);
-		if (dotUp < m_minSlopeDot)
-		{
-			return btScalar(1.0);
-		}
-
-		return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-	}
-
-protected:
-	btCollisionObject* m_me;
-	const btVector3 m_up;
-	btScalar m_minSlopeDot;
-};
-
-/*
- * Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
- *
- * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
- */
-btVector3 btKinematicCharacterController::computeReflectionDirection(const btVector3& direction, const btVector3& normal)
-{
-	return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
-}
-
-/*
- * Returns the portion of 'direction' that is parallel to 'normal'
- */
-btVector3 btKinematicCharacterController::parallelComponent(const btVector3& direction, const btVector3& normal)
-{
-	btScalar magnitude = direction.dot(normal);
-	return normal * magnitude;
-}
-
-/*
- * Returns the portion of 'direction' that is perpindicular to 'normal'
- */
-btVector3 btKinematicCharacterController::perpindicularComponent(const btVector3& direction, const btVector3& normal)
-{
-	return direction - parallelComponent(direction, normal);
-}
-
-btKinematicCharacterController::btKinematicCharacterController(btPairCachingGhostObject* ghostObject, btConvexShape* convexShape, btScalar stepHeight, const btVector3& up)
-{
-	m_ghostObject = ghostObject;
-	m_up.setValue(0.0f, 0.0f, 1.0f);
-	m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
-	m_addedMargin = 0.02;
-	m_walkDirection.setValue(0.0, 0.0, 0.0);
-	m_AngVel.setValue(0.0, 0.0, 0.0);
-	m_useGhostObjectSweepTest = true;
-	m_turnAngle = btScalar(0.0);
-	m_convexShape = convexShape;
-	m_useWalkDirection = true;  // use walk direction by default, legacy behavior
-	m_velocityTimeInterval = 0.0;
-	m_verticalVelocity = 0.0;
-	m_verticalOffset = 0.0;
-	m_gravity = 9.8 * 3.0;  // 3G acceleration.
-	m_fallSpeed = 55.0;     // Terminal velocity of a sky diver in m/s.
-	m_jumpSpeed = 10.0;     // ?
-	m_SetjumpSpeed = m_jumpSpeed;
-	m_wasOnGround = false;
-	m_wasJumping = false;
-	m_interpolateUp = true;
-	m_currentStepOffset = 0.0;
-	m_maxPenetrationDepth = 0.2;
-	full_drop = false;
-	bounce_fix = false;
-	m_linearDamping = btScalar(0.0);
-	m_angularDamping = btScalar(0.0);
-
-	setUp(up);
-	setStepHeight(stepHeight);
-	setMaxSlope(btRadians(45.0));
-}
-
-btKinematicCharacterController::~btKinematicCharacterController()
-{
-}
-
-btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
-{
-	return m_ghostObject;
-}
-
-bool btKinematicCharacterController::recoverFromPenetration(btCollisionWorld* collisionWorld)
-{
-	// Here we must refresh the overlapping paircache as the penetrating movement itself or the
-	// previous recovery iteration might have used setWorldTransform and pushed us into an object
-	// that is not in the previous cache contents from the last timestep, as will happen if we
-	// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
-	//
-	// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
-	// paircache and the ghostobject's internal paircache at the same time.    /BW
-
-	btVector3 minAabb, maxAabb;
-	m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb, maxAabb);
-	collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),
-											 minAabb,
-											 maxAabb,
-											 collisionWorld->getDispatcher());
-
-	bool penetration = false;
-
-	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
-
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-
-	//	btScalar maxPen = btScalar(0.0);
-	for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
-	{
-		m_manifoldArray.resize(0);
-
-		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
-
-		btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
-		btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
-
-		if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
-			continue;
-
-		if (!needsCollision(obj0, obj1))
-			continue;
-
-		if (collisionPair->m_algorithm)
-			collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
-
-		for (int j = 0; j < m_manifoldArray.size(); j++)
-		{
-			btPersistentManifold* manifold = m_manifoldArray[j];
-			btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
-			for (int p = 0; p < manifold->getNumContacts(); p++)
-			{
-				const btManifoldPoint& pt = manifold->getContactPoint(p);
-
-				btScalar dist = pt.getDistance();
-
-				if (dist < -m_maxPenetrationDepth)
-				{
-					// TODO: cause problems on slopes, not sure if it is needed
-					//if (dist < maxPen)
-					//{
-					//	maxPen = dist;
-					//	m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
-
-					//}
-					m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
-					penetration = true;
-				}
-				else
-				{
-					//printf("touching %f\n", dist);
-				}
-			}
-
-			//manifold->clearManifold();
-		}
-	}
-	btTransform newTrans = m_ghostObject->getWorldTransform();
-	newTrans.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(newTrans);
-	//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
-	return penetration;
-}
-
-void btKinematicCharacterController::stepUp(btCollisionWorld* world)
-{
-	btScalar stepHeight = 0.0f;
-	if (m_verticalVelocity < 0.0)
-		stepHeight = m_stepHeight;
-
-	// phase 1: up
-	btTransform start, end;
-
-	start.setIdentity();
-	end.setIdentity();
-
-	/* FIXME: Handle penetration properly */
-	start.setOrigin(m_currentPosition);
-
-	m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f));
-	m_currentPosition = m_targetPosition;
-
-	end.setOrigin(m_targetPosition);
-
-	start.setRotation(m_currentOrientation);
-	end.setRotation(m_targetOrientation);
-
-	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	if (m_useGhostObjectSweepTest)
-	{
-		m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
-	}
-	else
-	{
-		world->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
-	}
-
-	if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
-	{
-		// Only modify the position if the hit was a slope and not a wall or ceiling.
-		if (callback.m_hitNormalWorld.dot(m_up) > 0.0)
-		{
-			// we moved up only a fraction of the step height
-			m_currentStepOffset = stepHeight * callback.m_closestHitFraction;
-			if (m_interpolateUp == true)
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-			else
-				m_currentPosition = m_targetPosition;
-		}
-
-		btTransform& xform = m_ghostObject->getWorldTransform();
-		xform.setOrigin(m_currentPosition);
-		m_ghostObject->setWorldTransform(xform);
-
-		// fix penetration if we hit a ceiling for example
-		int numPenetrationLoops = 0;
-		m_touchingContact = false;
-		while (recoverFromPenetration(world))
-		{
-			numPenetrationLoops++;
-			m_touchingContact = true;
-			if (numPenetrationLoops > 4)
-			{
-				//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-				break;
-			}
-		}
-		m_targetPosition = m_ghostObject->getWorldTransform().getOrigin();
-		m_currentPosition = m_targetPosition;
-
-		if (m_verticalOffset > 0)
-		{
-			m_verticalOffset = 0.0;
-			m_verticalVelocity = 0.0;
-			m_currentStepOffset = m_stepHeight;
-		}
-	}
-	else
-	{
-		m_currentStepOffset = stepHeight;
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-bool btKinematicCharacterController::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	bool collides = (body0->getBroadphaseHandle()->m_collisionFilterGroup & body1->getBroadphaseHandle()->m_collisionFilterMask) != 0;
-	collides = collides && (body1->getBroadphaseHandle()->m_collisionFilterGroup & body0->getBroadphaseHandle()->m_collisionFilterMask);
-	return collides;
-}
-
-void btKinematicCharacterController::updateTargetPositionBasedOnCollision(const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
-{
-	btVector3 movementDirection = m_targetPosition - m_currentPosition;
-	btScalar movementLength = movementDirection.length();
-	if (movementLength > SIMD_EPSILON)
-	{
-		movementDirection.normalize();
-
-		btVector3 reflectDir = computeReflectionDirection(movementDirection, hitNormal);
-		reflectDir.normalize();
-
-		btVector3 parallelDir, perpindicularDir;
-
-		parallelDir = parallelComponent(reflectDir, hitNormal);
-		perpindicularDir = perpindicularComponent(reflectDir, hitNormal);
-
-		m_targetPosition = m_currentPosition;
-		if (0)  //tangentMag != 0.0)
-		{
-			btVector3 parComponent = parallelDir * btScalar(tangentMag * movementLength);
-			//			printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
-			m_targetPosition += parComponent;
-		}
-
-		if (normalMag != 0.0)
-		{
-			btVector3 perpComponent = perpindicularDir * btScalar(normalMag * movementLength);
-			//			printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
-			m_targetPosition += perpComponent;
-		}
-	}
-	else
-	{
-		//		printf("movementLength don't normalize a zero vector\n");
-	}
-}
-
-void btKinematicCharacterController::stepForwardAndStrafe(btCollisionWorld* collisionWorld, const btVector3& walkMove)
-{
-	// printf("m_normalizedDirection=%f,%f,%f\n",
-	// 	m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
-	// phase 2: forward and strafe
-	btTransform start, end;
-
-	m_targetPosition = m_currentPosition + walkMove;
-
-	start.setIdentity();
-	end.setIdentity();
-
-	btScalar fraction = 1.0;
-	btScalar distance2 = (m_currentPosition - m_targetPosition).length2();
-	//	printf("distance2=%f\n",distance2);
-
-	int maxIter = 10;
-
-	while (fraction > btScalar(0.01) && maxIter-- > 0)
-	{
-		start.setOrigin(m_currentPosition);
-		end.setOrigin(m_targetPosition);
-		btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
-
-		start.setRotation(m_currentOrientation);
-		end.setRotation(m_targetOrientation);
-
-		btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, sweepDirNegative, btScalar(0.0));
-		callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-		callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-		btScalar margin = m_convexShape->getMargin();
-		m_convexShape->setMargin(margin + m_addedMargin);
-
-		if (!(start == end))
-		{
-			if (m_useGhostObjectSweepTest)
-			{
-				m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-			else
-			{
-				collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-		m_convexShape->setMargin(margin);
-
-		fraction -= callback.m_closestHitFraction;
-
-		if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
-		{
-			// we moved only a fraction
-			//btScalar hitDistance;
-			//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
-
-			//			m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-
-			updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld);
-			btVector3 currentDir = m_targetPosition - m_currentPosition;
-			distance2 = currentDir.length2();
-			if (distance2 > SIMD_EPSILON)
-			{
-				currentDir.normalize();
-				/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
-				if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
-				{
-					break;
-				}
-			}
-			else
-			{
-				//				printf("currentDir: don't normalize a zero vector\n");
-				break;
-			}
-		}
-		else
-		{
-			m_currentPosition = m_targetPosition;
-		}
-	}
-}
-
-void btKinematicCharacterController::stepDown(btCollisionWorld* collisionWorld, btScalar dt)
-{
-	btTransform start, end, end_double;
-	bool runonce = false;
-
-	// phase 3: down
-	/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
-	btVector3 step_drop = m_up * (m_currentStepOffset + additionalDownStep);
-	btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
-	btVector3 gravity_drop = m_up * downVelocity; 
-	m_targetPosition -= (step_drop + gravity_drop);*/
-
-	btVector3 orig_position = m_targetPosition;
-
-	btScalar downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-
-	if (m_verticalVelocity > 0.0)
-		return;
-
-	if (downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
-		downVelocity = m_fallSpeed;
-
-	btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity);
-	m_targetPosition -= step_drop;
-
-	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, m_up, m_maxSlopeCosine);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	btKinematicClosestNotMeConvexResultCallback callback2(m_ghostObject, m_up, m_maxSlopeCosine);
-	callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-	while (1)
-	{
-		start.setIdentity();
-		end.setIdentity();
-
-		end_double.setIdentity();
-
-		start.setOrigin(m_currentPosition);
-		end.setOrigin(m_targetPosition);
-
-		start.setRotation(m_currentOrientation);
-		end.setRotation(m_targetOrientation);
-
-		//set double test for 2x the step drop, to check for a large drop vs small drop
-		end_double.setOrigin(m_targetPosition - step_drop);
-
-		if (m_useGhostObjectSweepTest)
-		{
-			m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
-			{
-				//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
-				m_ghostObject->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-		else
-		{
-			collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-
-			if (!callback.hasHit() && m_ghostObject->hasContactResponse())
-			{
-				//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
-				collisionWorld->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-			}
-		}
-
-		btScalar downVelocity2 = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-		bool has_hit;
-		if (bounce_fix == true)
-			has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject);
-		else
-			has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback2.m_hitCollisionObject);
-
-		btScalar stepHeight = 0.0f;
-		if (m_verticalVelocity < 0.0)
-			stepHeight = m_stepHeight;
-
-		if (downVelocity2 > 0.0 && downVelocity2 < stepHeight && has_hit == true && runonce == false && (m_wasOnGround || !m_wasJumping))
-		{
-			//redo the velocity calculation when falling a small amount, for fast stairs motion
-			//for larger falls, use the smoother/slower interpolated movement by not touching the target position
-
-			m_targetPosition = orig_position;
-			downVelocity = stepHeight;
-
-			step_drop = m_up * (m_currentStepOffset + downVelocity);
-			m_targetPosition -= step_drop;
-			runonce = true;
-			continue;  //re-run previous tests
-		}
-		break;
-	}
-
-	if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || runonce == true)
-	{
-		// we dropped a fraction of the height -> hit floor
-		btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
-
-		//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
-
-		if (bounce_fix == true)
-		{
-			if (full_drop == true)
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-			else
-				//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
-				m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, fraction);
-		}
-		else
-			m_currentPosition.setInterpolate3(m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-
-		full_drop = false;
-
-		m_verticalVelocity = 0.0;
-		m_verticalOffset = 0.0;
-		m_wasJumping = false;
-	}
-	else
-	{
-		// we dropped the full height
-
-		full_drop = true;
-
-		if (bounce_fix == true)
-		{
-			downVelocity = (m_verticalVelocity < 0.f ? -m_verticalVelocity : 0.f) * dt;
-			if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
-			{
-				m_targetPosition += step_drop;  //undo previous target change
-				downVelocity = m_fallSpeed;
-				step_drop = m_up * (m_currentStepOffset + downVelocity);
-				m_targetPosition -= step_drop;
-			}
-		}
-		//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
-
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-void btKinematicCharacterController::setWalkDirection(
-	const btVector3& walkDirection)
-{
-	m_useWalkDirection = true;
-	m_walkDirection = walkDirection;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-}
-
-void btKinematicCharacterController::setVelocityForTimeInterval(
-	const btVector3& velocity,
-	btScalar timeInterval)
-{
-	//	printf("setVelocity!\n");
-	//	printf("  interval: %f\n", timeInterval);
-	//	printf("  velocity: (%f, %f, %f)\n",
-	//		 velocity.x(), velocity.y(), velocity.z());
-
-	m_useWalkDirection = false;
-	m_walkDirection = velocity;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-	m_velocityTimeInterval += timeInterval;
-}
-
-void btKinematicCharacterController::setAngularVelocity(const btVector3& velocity)
-{
-	m_AngVel = velocity;
-}
-
-const btVector3& btKinematicCharacterController::getAngularVelocity() const
-{
-	return m_AngVel;
-}
-
-void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity)
-{
-	m_walkDirection = velocity;
-
-	// HACK: if we are moving in the direction of the up, treat it as a jump :(
-	if (m_walkDirection.length2() > 0)
-	{
-		btVector3 w = velocity.normalized();
-		btScalar c = w.dot(m_up);
-		if (c != 0)
-		{
-			//there is a component in walkdirection for vertical velocity
-			btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length());
-			m_walkDirection -= upComponent;
-			m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length();
-
-			if (c > 0.0f)
-			{
-				m_wasJumping = true;
-				m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
-			}
-		}
-	}
-	else
-		m_verticalVelocity = 0.0f;
-}
-
-btVector3 btKinematicCharacterController::getLinearVelocity() const
-{
-	return m_walkDirection + (m_verticalVelocity * m_up);
-}
-
-void btKinematicCharacterController::reset(btCollisionWorld* collisionWorld)
-{
-	m_verticalVelocity = 0.0;
-	m_verticalOffset = 0.0;
-	m_wasOnGround = false;
-	m_wasJumping = false;
-	m_walkDirection.setValue(0, 0, 0);
-	m_velocityTimeInterval = 0.0;
-
-	//clear pair cache
-	btHashedOverlappingPairCache* cache = m_ghostObject->getOverlappingPairCache();
-	while (cache->getOverlappingPairArray().size() > 0)
-	{
-		cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
-	}
-}
-
-void btKinematicCharacterController::warp(const btVector3& origin)
-{
-	btTransform xform;
-	xform.setIdentity();
-	xform.setOrigin(origin);
-	m_ghostObject->setWorldTransform(xform);
-}
-
-void btKinematicCharacterController::preStep(btCollisionWorld* collisionWorld)
-{
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-	m_targetPosition = m_currentPosition;
-
-	m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
-	m_targetOrientation = m_currentOrientation;
-	//	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
-}
-
-void btKinematicCharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar dt)
-{
-	//	printf("playerStep(): ");
-	//	printf("  dt = %f", dt);
-
-	if (m_AngVel.length2() > 0.0f)
-	{
-		m_AngVel *= btPow(btScalar(1) - m_angularDamping, dt);
-	}
-
-	// integrate for angular velocity
-	if (m_AngVel.length2() > 0.0f)
-	{
-		btTransform xform;
-		xform = m_ghostObject->getWorldTransform();
-
-		btQuaternion rot(m_AngVel.normalized(), m_AngVel.length() * dt);
-
-		btQuaternion orn = rot * xform.getRotation();
-
-		xform.setRotation(orn);
-		m_ghostObject->setWorldTransform(xform);
-
-		m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-		m_targetPosition = m_currentPosition;
-		m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
-		m_targetOrientation = m_currentOrientation;
-	}
-
-	// quick check...
-	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero())) 
-	{
-		//		printf("\n");
-		return;  // no motion
-	}
-
-	m_wasOnGround = onGround();
-
-	//btVector3 lvel = m_walkDirection;
-	//btScalar c = 0.0f;
-
-	if (m_walkDirection.length2() > 0)
-	{
-		// apply damping
-		m_walkDirection *= btPow(btScalar(1) - m_linearDamping, dt);
-	}
-
-	m_verticalVelocity *= btPow(btScalar(1) - m_linearDamping, dt);
-
-	// Update fall velocity.
-	m_verticalVelocity -= m_gravity * dt;
-	if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
-	{
-		m_verticalVelocity = m_jumpSpeed;
-	}
-	if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
-	{
-		m_verticalVelocity = -btFabs(m_fallSpeed);
-	}
-	m_verticalOffset = m_verticalVelocity * dt;
-
-	btTransform xform;
-	xform = m_ghostObject->getWorldTransform();
-
-	//	printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
-	//	printf("walkSpeed=%f\n",walkSpeed);
-
-	stepUp(collisionWorld);
-	//todo: Experimenting with behavior of controller when it hits a ceiling..
-	//bool hitUp = stepUp (collisionWorld);
-	//if (hitUp)
-	//{
-	//	m_verticalVelocity -= m_gravity * dt;
-	//	if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
-	//	{
-	//		m_verticalVelocity = m_jumpSpeed;
-	//	}
-	//	if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
-	//	{
-	//		m_verticalVelocity = -btFabs(m_fallSpeed);
-	//	}
-	//	m_verticalOffset = m_verticalVelocity * dt;
-
-	//	xform = m_ghostObject->getWorldTransform();
-	//}
-
-	if (m_useWalkDirection)
-	{
-		stepForwardAndStrafe(collisionWorld, m_walkDirection);
-	}
-	else
-	{
-		//printf("  time: %f", m_velocityTimeInterval);
-		// still have some time left for moving!
-		btScalar dtMoving =
-			(dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
-		m_velocityTimeInterval -= dt;
-
-		// how far will we move while we are moving?
-		btVector3 move = m_walkDirection * dtMoving;
-
-		//printf("  dtMoving: %f", dtMoving);
-
-		// okay, step
-		stepForwardAndStrafe(collisionWorld, move);
-	}
-	stepDown(collisionWorld, dt);
-
-	//todo: Experimenting with max jump height
-	//if (m_wasJumping)
-	//{
-	//	btScalar ds = m_currentPosition[m_upAxis] - m_jumpPosition[m_upAxis];
-	//	if (ds > m_maxJumpHeight)
-	//	{
-	//		// substract the overshoot
-	//		m_currentPosition[m_upAxis] -= ds - m_maxJumpHeight;
-
-	//		// max height was reached, so potential energy is at max
-	//		// and kinematic energy is 0, thus velocity is 0.
-	//		if (m_verticalVelocity > 0.0)
-	//			m_verticalVelocity = 0.0;
-	//	}
-	//}
-	// printf("\n");
-
-	xform.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(xform);
-
-	int numPenetrationLoops = 0;
-	m_touchingContact = false;
-	while (recoverFromPenetration(collisionWorld))
-	{
-		numPenetrationLoops++;
-		m_touchingContact = true;
-		if (numPenetrationLoops > 4)
-		{
-			//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-			break;
-		}
-	}
-}
-
-void btKinematicCharacterController::setFallSpeed(btScalar fallSpeed)
-{
-	m_fallSpeed = fallSpeed;
-}
-
-void btKinematicCharacterController::setJumpSpeed(btScalar jumpSpeed)
-{
-	m_jumpSpeed = jumpSpeed;
-	m_SetjumpSpeed = m_jumpSpeed;
-}
-
-void btKinematicCharacterController::setMaxJumpHeight(btScalar maxJumpHeight)
-{
-	m_maxJumpHeight = maxJumpHeight;
-}
-
-bool btKinematicCharacterController::canJump() const
-{
-	return onGround();
-}
-
-void btKinematicCharacterController::jump(const btVector3& v)
-{
-	m_jumpSpeed = v.length2() == 0 ? m_SetjumpSpeed : v.length();
-	m_verticalVelocity = m_jumpSpeed;
-	m_wasJumping = true;
-
-	m_jumpAxis = v.length2() == 0 ? m_up : v.normalized();
-
-	m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
-
-#if 0
-	currently no jumping.
-	btTransform xform;
-	m_rigidBody->getMotionState()->getWorldTransform (xform);
-	btVector3 up = xform.getBasis()[1];
-	up.normalize ();
-	btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
-	m_rigidBody->applyCentralImpulse (up * magnitude);
-#endif
-}
-
-void btKinematicCharacterController::setGravity(const btVector3& gravity)
-{
-	if (gravity.length2() > 0) setUpVector(-gravity);
-
-	m_gravity = gravity.length();
-}
-
-btVector3 btKinematicCharacterController::getGravity() const
-{
-	return -m_gravity * m_up;
-}
-
-void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
-{
-	m_maxSlopeRadians = slopeRadians;
-	m_maxSlopeCosine = btCos(slopeRadians);
-}
-
-btScalar btKinematicCharacterController::getMaxSlope() const
-{
-	return m_maxSlopeRadians;
-}
-
-void btKinematicCharacterController::setMaxPenetrationDepth(btScalar d)
-{
-	m_maxPenetrationDepth = d;
-}
-
-btScalar btKinematicCharacterController::getMaxPenetrationDepth() const
-{
-	return m_maxPenetrationDepth;
-}
-
-bool btKinematicCharacterController::onGround() const
-{
-	return (fabs(m_verticalVelocity) < SIMD_EPSILON) && (fabs(m_verticalOffset) < SIMD_EPSILON);
-}
-
-void btKinematicCharacterController::setStepHeight(btScalar h)
-{
-	m_stepHeight = h;
-}
-
-btVector3* btKinematicCharacterController::getUpAxisDirections()
-{
-	static btVector3 sUpAxisDirection[3] = {btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f)};
-
-	return sUpAxisDirection;
-}
-
-void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
-{
-}
-
-void btKinematicCharacterController::setUpInterpolate(bool value)
-{
-	m_interpolateUp = value;
-}
-
-void btKinematicCharacterController::setUp(const btVector3& up)
-{
-	if (up.length2() > 0 && m_gravity > 0.0f)
-	{
-		setGravity(-m_gravity * up.normalized());
-		return;
-	}
-
-	setUpVector(up);
-}
-
-void btKinematicCharacterController::setUpVector(const btVector3& up)
-{
-	if (m_up == up)
-		return;
-
-	btVector3 u = m_up;
-
-	if (up.length2() > 0)
-		m_up = up.normalized();
-	else
-		m_up = btVector3(0.0, 0.0, 0.0);
-
-	if (!m_ghostObject) return;
-	btQuaternion rot = getRotation(m_up, u);
-
-	//set orientation with new up
-	btTransform xform;
-	xform = m_ghostObject->getWorldTransform();
-	btQuaternion orn = rot.inverse() * xform.getRotation();
-	xform.setRotation(orn);
-	m_ghostObject->setWorldTransform(xform);
-}
-
-btQuaternion btKinematicCharacterController::getRotation(btVector3& v0, btVector3& v1) const
-{
-	if (v0.length2() == 0.0f || v1.length2() == 0.0f)
-	{
-		btQuaternion q;
-		return q;
-	}
-
-	return shortestArcQuatNormalize2(v0, v1);
-}