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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 "btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"

#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "btPointCollector.h"
#include "LinearMath/btTransformUtil.h"

btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)

///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
00038 bool  btSubsimplexConvexCast::calcTimeOfImpact(
            const btTransform& fromA,
            const btTransform& toA,
            const btTransform& fromB,
            const btTransform& toB,
            CastResult& result)


      btVector3 linVelA,linVelB;
      linVelA = toA.getOrigin()-fromA.getOrigin();
      linVelB = toB.getOrigin()-fromB.getOrigin();

      btScalar lambda = btScalar(0.);

      btTransform interpolatedTransA = fromA;
      btTransform interpolatedTransB = fromB;

      ///take relative motion
      btVector3 r = (linVelA-linVelB);
      btVector3 v;
      btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis()));
      btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis()));
      v = supVertexA-supVertexB;
      int maxIter = MAX_ITERATIONS;

      btVector3 n;
      bool hasResult = false;
      btVector3 c;

      btScalar lastLambda = lambda;

      btScalar dist2 = v.length2();
      btScalar epsilon = btScalar(0.0001);
      btScalar epsilon = btScalar(0.0001);
      btVector3   w,p;
      btScalar VdotR;
      while ( (dist2 > epsilon) && maxIter--)
            supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis()));
            supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis()));
            w = supVertexA-supVertexB;

            btScalar VdotW = v.dot(w);

            if (lambda > btScalar(1.0))
                  return false;

            if ( VdotW > btScalar(0.))
                  VdotR = v.dot(r);

                  if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
                        return false;
                        lambda = lambda - VdotW / VdotR;
                        //interpolate to next lambda
                        //    x = s + lambda * r;
                        //check next line
                         w = supVertexA-supVertexB;
                        lastLambda = lambda;
                        n = v;
                        hasResult = true;
            m_simplexSolver->addVertex( w, supVertexA , supVertexB);
            if (m_simplexSolver->closest(v))
                  dist2 = v.length2();
                  hasResult = true;
                  //todo: check this normal for validity
                  //printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
                  //printf("numverts = %i\n",m_simplexSolver->numVertices());
            } else
                  dist2 = btScalar(0.);

      //int numiter = MAX_ITERATIONS - maxIter;
//    printf("number of iterations: %d", numiter);
      //don't report a time of impact when moving 'away' from the hitnormal

      result.m_fraction = lambda;
      if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON))
            result.m_normal = n.normalized();
            result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));

      //don't report time of impact for motion away from the contact normal (or causes minor penetration)
      if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
            return false;

      btVector3 hitA,hitB;
      return true;

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