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3rdparty: bullet3: rename m_floats[4] to 'x, y, z, w' in btVector3 an…
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…d btQuaternion

Part-of: #259
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@dbartolini
dbartolini committed Jan 31, 2025
1 parent 0dd8f04 commit d8d1b65
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Showing 72 changed files with 1,054 additions and 1,012 deletions.
14 changes: 7 additions & 7 deletions 3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -180,8 +180,8 @@ class btAxisSweep3Internal : public btBroadphaseInterface
{
/* printf("btAxisSweep3.h\n");
printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.m_floats[0],m_worldAabbMin.m_floats[1],m_worldAabbMin.m_floats[2],
m_worldAabbMax.m_floats[0],m_worldAabbMax.m_floats[1],m_worldAabbMax.m_floats[2]);
printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.x,m_worldAabbMin.y,m_worldAabbMin.z,
m_worldAabbMax.x,m_worldAabbMax.y,m_worldAabbMax.z);
*/
}
};
Expand Down Expand Up @@ -320,10 +320,10 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,
vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos;
vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos + 1;

aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.m_floats[0]), (btScalar)(vecInMin[1]) / (m_quantize.m_floats[1]), (btScalar)(vecInMin[2]) / (m_quantize.m_floats[2]));
aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.x), (btScalar)(vecInMin[1]) / (m_quantize.y), (btScalar)(vecInMin[2]) / (m_quantize.z));
aabbMin += m_worldAabbMin;

aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.m_floats[0]), (btScalar)(vecInMax[1]) / (m_quantize.m_floats[1]), (btScalar)(vecInMax[2]) / (m_quantize.m_floats[2]));
aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.x), (btScalar)(vecInMax[1]) / (m_quantize.y), (btScalar)(vecInMax[2]) / (m_quantize.z));
aabbMax += m_worldAabbMin;
}

Expand Down Expand Up @@ -442,9 +442,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const b
clampedPoint.setMax(m_worldAabbMin);
clampedPoint.setMin(m_worldAabbMax);
btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.m_floats[0] & m_bpHandleMask) | isMax);
out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.m_floats[1] & m_bpHandleMask) | isMax);
out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.m_floats[2] & m_bpHandleMask) | isMax);
out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.x & m_bpHandleMask) | isMax);
out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.y & m_bpHandleMask) | isMax);
out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.z & m_bpHandleMask) | isMax);
#else
btVector3 v = (point - m_worldAabbMin) * m_quantize;
out[0] = (v[0] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[0] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0] & m_bpHandleMask) | isMax);
Expand Down
4 changes: 2 additions & 2 deletions 3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a,
static DBVT_INLINE btScalar size(const btDbvtVolume& a)
{
const btVector3 edges = a.Lengths();
return (edges.m_floats[0] * edges.m_floats[1] * edges.m_floats[2] +
edges.m_floats[0] + edges.m_floats[1] + edges.m_floats[2]);
return (edges.x * edges.y * edges.z +
edges.x + edges.y + edges.z);
}

//
Expand Down
118 changes: 59 additions & 59 deletions 3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btDbvt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -520,29 +520,29 @@ DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
//
DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e)
{
if (e.m_floats[0] > 0)
mx.m_floats[0] = (mx.m_floats[0] + e[0]);
if (e.x > 0)
mx.x = (mx.x + e[0]);
else
mi.m_floats[0] = (mi.m_floats[0] + e[0]);
if (e.m_floats[1] > 0)
mx.m_floats[1] = (mx.m_floats[1] + e[1]);
mi.x = (mi.x + e[0]);
if (e.y > 0)
mx.y = (mx.y + e[1]);
else
mi.m_floats[1] = (mi.m_floats[1] + e[1]);
if (e.m_floats[2] > 0)
mx.m_floats[2] = (mx.m_floats[2] + e[2]);
mi.y = (mi.y + e[1]);
if (e.z > 0)
mx.z = (mx.z + e[2]);
else
mi.m_floats[2] = (mi.m_floats[2] + e[2]);
mi.z = (mi.z + e[2]);
}

//
DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
{
return ((mi.m_floats[0] <= a.mi.m_floats[0]) &&
(mi.m_floats[1] <= a.mi.m_floats[1]) &&
(mi.m_floats[2] <= a.mi.m_floats[2]) &&
(mx.m_floats[0] >= a.mx.m_floats[0]) &&
(mx.m_floats[1] >= a.mx.m_floats[1]) &&
(mx.m_floats[2] >= a.mx.m_floats[2]));
return ((mi.x <= a.mi.x) &&
(mi.y <= a.mi.y) &&
(mi.z <= a.mi.z) &&
(mx.x >= a.mx.x) &&
(mx.y >= a.mx.y) &&
(mx.z >= a.mx.z));
}

//
Expand All @@ -552,36 +552,36 @@ DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) co
switch (s)
{
case (0 + 0 + 0):
px = btVector3(mi.m_floats[0], mi.m_floats[1], mi.m_floats[2]);
pi = btVector3(mx.m_floats[0], mx.m_floats[1], mx.m_floats[2]);
px = btVector3(mi.x, mi.y, mi.z);
pi = btVector3(mx.x, mx.y, mx.z);
break;
case (1 + 0 + 0):
px = btVector3(mx.m_floats[0], mi.m_floats[1], mi.m_floats[2]);
pi = btVector3(mi.m_floats[0], mx.m_floats[1], mx.m_floats[2]);
px = btVector3(mx.x, mi.y, mi.z);
pi = btVector3(mi.x, mx.y, mx.z);
break;
case (0 + 2 + 0):
px = btVector3(mi.m_floats[0], mx.m_floats[1], mi.m_floats[2]);
pi = btVector3(mx.m_floats[0], mi.m_floats[1], mx.m_floats[2]);
px = btVector3(mi.x, mx.y, mi.z);
pi = btVector3(mx.x, mi.y, mx.z);
break;
case (1 + 2 + 0):
px = btVector3(mx.m_floats[0], mx.m_floats[1], mi.m_floats[2]);
pi = btVector3(mi.m_floats[0], mi.m_floats[1], mx.m_floats[2]);
px = btVector3(mx.x, mx.y, mi.z);
pi = btVector3(mi.x, mi.y, mx.z);
break;
case (0 + 0 + 4):
px = btVector3(mi.m_floats[0], mi.m_floats[1], mx.m_floats[2]);
pi = btVector3(mx.m_floats[0], mx.m_floats[1], mi.m_floats[2]);
px = btVector3(mi.x, mi.y, mx.z);
pi = btVector3(mx.x, mx.y, mi.z);
break;
case (1 + 0 + 4):
px = btVector3(mx.m_floats[0], mi.m_floats[1], mx.m_floats[2]);
pi = btVector3(mi.m_floats[0], mx.m_floats[1], mi.m_floats[2]);
px = btVector3(mx.x, mi.y, mx.z);
pi = btVector3(mi.x, mx.y, mi.z);
break;
case (0 + 2 + 4):
px = btVector3(mi.m_floats[0], mx.m_floats[1], mx.m_floats[2]);
pi = btVector3(mx.m_floats[0], mi.m_floats[1], mi.m_floats[2]);
px = btVector3(mi.x, mx.y, mx.z);
pi = btVector3(mx.x, mi.y, mi.z);
break;
case (1 + 2 + 4):
px = btVector3(mx.m_floats[0], mx.m_floats[1], mx.m_floats[2]);
pi = btVector3(mi.m_floats[0], mi.m_floats[1], mi.m_floats[2]);
px = btVector3(mx.x, mx.y, mx.z);
pi = btVector3(mi.x, mi.y, mi.z);
break;
}
if ((btDot(n, px) + o) < 0) return (-1);
Expand All @@ -593,9 +593,9 @@ DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) co
DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v, unsigned signs) const
{
const btVector3* b[] = {&mx, &mi};
const btVector3 p(b[(signs >> 0) & 1]->m_floats[0],
b[(signs >> 1) & 1]->m_floats[1],
b[(signs >> 2) & 1]->m_floats[2]);
const btVector3 p(b[(signs >> 0) & 1]->x,
b[(signs >> 1) & 1]->y,
b[(signs >> 2) & 1]->z);
return (btDot(p, v));
}

Expand Down Expand Up @@ -631,25 +631,25 @@ DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
#endif
return ((pu[0] | pu[1] | pu[2]) == 0);
#else
return ((a.mi.m_floats[0] <= b.mx.m_floats[0]) &&
(a.mx.m_floats[0] >= b.mi.m_floats[0]) &&
(a.mi.m_floats[1] <= b.mx.m_floats[1]) &&
(a.mx.m_floats[1] >= b.mi.m_floats[1]) &&
(a.mi.m_floats[2] <= b.mx.m_floats[2]) &&
(a.mx.m_floats[2] >= b.mi.m_floats[2]));
return ((a.mi.x <= b.mx.x) &&
(a.mx.x >= b.mi.x) &&
(a.mi.y <= b.mx.y) &&
(a.mx.y >= b.mi.y) &&
(a.mi.z <= b.mx.z) &&
(a.mx.z >= b.mi.z));
#endif
}

//
DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
const btVector3& b)
{
return ((b.m_floats[0] >= a.mi.m_floats[0]) &&
(b.m_floats[1] >= a.mi.m_floats[1]) &&
(b.m_floats[2] >= a.mi.m_floats[2]) &&
(b.m_floats[0] <= a.mx.m_floats[0]) &&
(b.m_floats[1] <= a.mx.m_floats[1]) &&
(b.m_floats[2] <= a.mx.m_floats[2]));
return ((b.x >= a.mi.x) &&
(b.y >= a.mi.y) &&
(b.z >= a.mi.z) &&
(b.x <= a.mx.x) &&
(b.y <= a.mx.y) &&
(b.z <= a.mx.z));
}

//////////////////////////////////////
Expand All @@ -659,7 +659,7 @@ DBVT_INLINE btScalar Proximity(const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
const btVector3 d = (a.mi + a.mx) - (b.mi + b.mx);
return (btFabs(d.m_floats[0]) + btFabs(d.m_floats[1]) + btFabs(d.m_floats[2]));
return (btFabs(d.x) + btFabs(d.y) + btFabs(d.z));
}

//
Expand Down Expand Up @@ -774,12 +774,12 @@ DBVT_INLINE void Merge(const btDbvtAabbMm& a,
DBVT_INLINE bool NotEqual(const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
return ((a.mi.m_floats[0] != b.mi.m_floats[0]) ||
(a.mi.m_floats[1] != b.mi.m_floats[1]) ||
(a.mi.m_floats[2] != b.mi.m_floats[2]) ||
(a.mx.m_floats[0] != b.mx.m_floats[0]) ||
(a.mx.m_floats[1] != b.mx.m_floats[1]) ||
(a.mx.m_floats[2] != b.mx.m_floats[2]));
return ((a.mi.x != b.mi.x) ||
(a.mi.y != b.mi.y) ||
(a.mi.z != b.mi.z) ||
(a.mx.x != b.mx.x) ||
(a.mx.y != b.mx.y) ||
(a.mx.z != b.mx.z));
}

//
Expand Down Expand Up @@ -1362,9 +1362,9 @@ inline void btDbvt::collideKDOP(const btDbvtNode* root,
btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
for (int i = 0; i < count; ++i)
{
signs[i] = ((normals[i].m_floats[0] >= 0) ? 1 : 0) +
((normals[i].m_floats[1] >= 0) ? 2 : 0) +
((normals[i].m_floats[2] >= 0) ? 4 : 0);
signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
((normals[i].y >= 0) ? 2 : 0) +
((normals[i].z >= 0) ? 4 : 0);
}
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(sStkNP(root, 0));
Expand Down Expand Up @@ -1429,9 +1429,9 @@ inline void btDbvt::collideOCL(const btDbvtNode* root,
btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
for (int i = 0; i < count; ++i)
{
signs[i] = ((normals[i].m_floats[0] >= 0) ? 1 : 0) +
((normals[i].m_floats[1] >= 0) ? 2 : 0) +
((normals[i].m_floats[2] >= 0) ? 4 : 0);
signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
((normals[i].y >= 0) ? 2 : 0) +
((normals[i].z >= 0) ? 4 : 0);
}
stock.reserve(SIMPLE_STACKSIZE);
stack.reserve(SIMPLE_STACKSIZE);
Expand Down
54 changes: 27 additions & 27 deletions 3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -329,61 +329,61 @@ btQuantizedBvh
{
btAssert(m_useQuantization);

btAssert(point.m_floats[0] <= m_bvhAabbMax.m_floats[0]);
btAssert(point.m_floats[1] <= m_bvhAabbMax.m_floats[1]);
btAssert(point.m_floats[2] <= m_bvhAabbMax.m_floats[2]);
btAssert(point.x <= m_bvhAabbMax.x);
btAssert(point.y <= m_bvhAabbMax.y);
btAssert(point.z <= m_bvhAabbMax.z);

btAssert(point.m_floats[0] >= m_bvhAabbMin.m_floats[0]);
btAssert(point.m_floats[1] >= m_bvhAabbMin.m_floats[1]);
btAssert(point.m_floats[2] >= m_bvhAabbMin.m_floats[2]);
btAssert(point.x >= m_bvhAabbMin.x);
btAssert(point.y >= m_bvhAabbMin.y);
btAssert(point.z >= m_bvhAabbMin.z);

btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
///@todo: double-check this
if (isMax)
{
out[0] = (unsigned short)(((unsigned short)(v.m_floats[0] + btScalar(1.)) | 1));
out[1] = (unsigned short)(((unsigned short)(v.m_floats[1] + btScalar(1.)) | 1));
out[2] = (unsigned short)(((unsigned short)(v.m_floats[2] + btScalar(1.)) | 1));
out[0] = (unsigned short)(((unsigned short)(v.x + btScalar(1.)) | 1));
out[1] = (unsigned short)(((unsigned short)(v.y + btScalar(1.)) | 1));
out[2] = (unsigned short)(((unsigned short)(v.z + btScalar(1.)) | 1));
}
else
{
out[0] = (unsigned short)(((unsigned short)(v.m_floats[0]) & 0xfffe));
out[1] = (unsigned short)(((unsigned short)(v.m_floats[1]) & 0xfffe));
out[2] = (unsigned short)(((unsigned short)(v.m_floats[2]) & 0xfffe));
out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
}

#ifdef DEBUG_CHECK_DEQUANTIZATION
btVector3 newPoint = unQuantize(out);
if (isMax)
{
if (newPoint.m_floats[0] < point.m_floats[0])
if (newPoint.x < point.x)
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.m_floats[0] - point.m_floats[0], newPoint.m_floats[0], point.m_floats[0]);
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.x - point.x, newPoint.x, point.x);
}
if (newPoint.m_floats[1] < point.m_floats[1])
if (newPoint.y < point.y)
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.m_floats[1] - point.m_floats[1], newPoint.m_floats[1], point.m_floats[1]);
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.y - point.y, newPoint.y, point.y);
}
if (newPoint.m_floats[2] < point.m_floats[2])
if (newPoint.z < point.z)
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.m_floats[2] - point.m_floats[2], newPoint.m_floats[2], point.m_floats[2]);
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.z - point.z, newPoint.z, point.z);
}
}
else
{
if (newPoint.m_floats[0] > point.m_floats[0])
if (newPoint.x > point.x)
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.m_floats[0] - point.m_floats[0], newPoint.m_floats[0], point.m_floats[0]);
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.x - point.x, newPoint.x, point.x);
}
if (newPoint.m_floats[1] > point.m_floats[1])
if (newPoint.y > point.y)
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.m_floats[1] - point.m_floats[1], newPoint.m_floats[1], point.m_floats[1]);
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.y - point.y, newPoint.y, point.y);
}
if (newPoint.m_floats[2] > point.m_floats[2])
if (newPoint.z > point.z)
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.m_floats[2] - point.m_floats[2], newPoint.m_floats[2], point.m_floats[2]);
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.z - point.z, newPoint.z, point.z);
}
}
#endif //DEBUG_CHECK_DEQUANTIZATION
Expand All @@ -404,9 +404,9 @@ btQuantizedBvh
{
btVector3 vecOut;
vecOut.setValue(
(btScalar)(vecIn[0]) / (m_bvhQuantization.m_floats[0]),
(btScalar)(vecIn[1]) / (m_bvhQuantization.m_floats[1]),
(btScalar)(vecIn[2]) / (m_bvhQuantization.m_floats[2]));
(btScalar)(vecIn[0]) / (m_bvhQuantization.x),
(btScalar)(vecIn[1]) / (m_bvhQuantization.y),
(btScalar)(vecIn[2]) / (m_bvhQuantization.z));
vecOut += m_bvhAabbMin;
return vecOut;
}
Expand Down
2 changes: 1 addition & 1 deletion 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ struct ClipVertex
#define b2Mul(a, b) (a) * (b)
#define b2MulT(a, b) (a).transpose() * (b)
#define b2Cross(a, b) (a).cross(b)
#define btCrossS(a, s) btVector3(s* a.m_floats[1], -s* a.m_floats[0], 0.f)
#define btCrossS(a, s) btVector3(s* a.y, -s* a.x, 0.f)

int b2_maxManifoldPoints = 2;

Expand Down
12 changes: 6 additions & 6 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -740,14 +740,14 @@ void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input, Result&

for (int j = 0; j < 3; j++)
{
R1[0 + 4 * j] = transformA.m_basis[j].m_floats[0];
R2[0 + 4 * j] = transformB.m_basis[j].m_floats[0];
R1[0 + 4 * j] = transformA.m_basis[j].x;
R2[0 + 4 * j] = transformB.m_basis[j].x;

R1[1 + 4 * j] = transformA.m_basis[j].m_floats[1];
R2[1 + 4 * j] = transformB.m_basis[j].m_floats[1];
R1[1 + 4 * j] = transformA.m_basis[j].y;
R2[1 + 4 * j] = transformB.m_basis[j].y;

R1[2 + 4 * j] = transformA.m_basis[j].m_floats[2];
R2[2 + 4 * j] = transformB.m_basis[j].m_floats[2];
R1[2 + 4 * j] = transformA.m_basis[j].z;
R2[2 + 4 * j] = transformB.m_basis[j].z;
}

btVector3 normal;
Expand Down
4 changes: 2 additions & 2 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -520,7 +520,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.m_floats[0],sepNormalWorldSpace.m_floats[1],sepNormalWorldSpace.m_floats[2]);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z);

worldVertsB1.resize(0);
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
Expand Down Expand Up @@ -638,7 +638,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
body0Wrap->m_worldTransform,
body1Wrap->m_worldTransform,
sepNormalWorldSpace, *resultOut);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.m_floats[0],sepNormalWorldSpace.m_floats[1],sepNormalWorldSpace.m_floats[2]);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.x,sepNormalWorldSpace.y,sepNormalWorldSpace.z);
}
else
{
Expand Down
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