0032583: Visualization, AIS - add Bullet Physics wrapper

Added new package Dynamics and optional dependency CSF_BULLET.

adm/UDLIST

@@ -216,6 +216,7 @@ n SelectMgr
 n StdPrs
 n StdSelect
 n V3d
+n Dynamics
 n Wasm
 n WNT
 n Xw

adm/genconf.tcl

@@ -238,6 +238,15 @@ proc wokdep:gui:UpdateList {} {
     set aDummy {}
     wokdep:SearchStandardLibrary  anIncErrs anLib32Errs anLib64Errs aDummy aDummy "draco" "draco/compression/decode.h" "draco" {"draco"}
   }
+  if { "$::HAVE_BULLET" == "true" } {
+    set aDummy {}
+    wokdep:SearchStandardLibrary  anIncErrs anLib32Errs anLib64Errs aDummy aDummy "bullet" "bullet/btBulletDynamicsCommon.h" "BulletDynamics" {"bullet"}
+    set aHeaderPath1 [wokdep:SearchHeader "btBulletDynamicsCommon.h"]
+    set aHeaderPath2 [wokdep:SearchHeader "bullet/btBulletDynamicsCommon.h"]
+    if { "$aHeaderPath1" == "" && "$aHeaderPath2" != "" } {
+      lappend ::CSF_OPT_INC [file dirname "$aHeaderPath2"]
+    }
+  }
 
   if {"$::BUILD_Inspector" == "true" } {
     set ::CHECK_QT "true"
@@ -465,6 +474,8 @@ checkbutton   .myFrame.myChecks.myXLibCheck     -offvalue "false" -onvalue "true
 ttk::label    .myFrame.myChecks.myXLibLbl       -text "Use X11 for windows drawing"
 ttk::label    .myFrame.myChecks.myVtkLbl        -text "Use VTK"
 checkbutton   .myFrame.myChecks.myVtkCheck      -offvalue "false" -onvalue "true" -variable HAVE_VTK       -command wokdep:gui:UpdateList
+ttk::label    .myFrame.myChecks.myBulletLbl     -text "Use Bullet"
+checkbutton   .myFrame.myChecks.myBulletCheck   -offvalue "false" -onvalue "true" -variable HAVE_BULLET    -command wokdep:gui:UpdateList
 
 checkbutton   .myFrame.myChecks.myZLibCheck     -offvalue "false" -onvalue "true" -variable HAVE_ZLIB      -command wokdep:gui:UpdateList
 ttk::label    .myFrame.myChecks.myZLibLbl       -text "Use zlib"
@@ -655,8 +666,8 @@ grid .myFrame.myChecks.myJDKLbl        -row $aCheckRowIter -column 13 -sticky w
 incr aCheckRowIter
 grid .myFrame.myChecks.myFFmpegCheck   -row $aCheckRowIter -column 0 -sticky e
 grid .myFrame.myChecks.myFFmpegLbl     -row $aCheckRowIter -column 1 -sticky w
-grid .myFrame.myChecks.myVtkCheck      -row $aCheckRowIter -column 2 -sticky e
+grid .myFrame.myChecks.myBulletCheck   -row $aCheckRowIter -column 2 -sticky e
-grid .myFrame.myChecks.myVtkLbl        -row $aCheckRowIter -column 3 -sticky w
+grid .myFrame.myChecks.myBulletLbl     -row $aCheckRowIter -column 3 -sticky w
 grid .myFrame.myChecks.myOpenVrCheck   -row $aCheckRowIter -column 4 -sticky e
 grid .myFrame.myChecks.myOpenVrLbl     -row $aCheckRowIter -column 5 -sticky w
 grid .myFrame.myChecks.myE57Check      -row $aCheckRowIter -column 6 -sticky e
@@ -669,6 +680,8 @@ if { "$::tcl_platform(platform)" == "windows" } {
 
 incr aCheckRowIter
 
+grid .myFrame.myChecks.myVtkCheck      -row $aCheckRowIter -column 2  -sticky e
+grid .myFrame.myChecks.myVtkLbl        -row $aCheckRowIter -column 3  -sticky w
 grid .myFrame.myChecks.myTbbCheck      -row $aCheckRowIter -column 12 -sticky e
 grid .myFrame.myChecks.myTbbLbl        -row $aCheckRowIter -column 13 -sticky w
 

adm/genconfdeps.tcl

@@ -73,7 +73,7 @@ if { [info exists ::env(SHORTCUT_HEADERS)] } {
 
 # fetch environment variables (e.g. set by custom.sh or custom.bat) and set them as tcl variables with the same name
 set THE_ENV_VARIABLES { HAVE_TK HAVE_FREETYPE HAVE_FREEIMAGE HAVE_FFMPEG HAVE_TBB HAVE_GLES2 HAVE_D3D HAVE_VTK \
-  HAVE_ZLIB HAVE_LIBLZMA HAVE_E57 HAVE_RAPIDJSON HAVE_DRACO HAVE_OPENVR HAVE_OPENCL \
+  HAVE_ZLIB HAVE_LIBLZMA HAVE_E57 HAVE_RAPIDJSON HAVE_DRACO HAVE_OPENVR HAVE_BULLET HAVE_OPENCL \
   CHECK_QT4 CHECK_JDK HAVE_XLIB \
   HAVE_RelWithDebInfo BUILD_Inspector }
 foreach anEnvIter $THE_ENV_VARIABLES { set ${anEnvIter} "false" }

adm/genproj.tcl

@@ -1415,6 +1415,9 @@ proc osutils:csfList { theOS theCsfLibsMap theCsfFrmsMap theRelease} {
   if { "$::HAVE_FREETYPE" == "true" } {
     set aLibsMap(CSF_FREETYPE) "freetype"
   }
+  if { "$::HAVE_BULLET" == "true" && "$theOS" != "wnt" } {
+    set aLibsMap(CSF_BULLET) "BulletDynamics BulletCollision LinearMath"
+  }
   set aLibsMap(CSF_TclLibs)   "tcl8.6"
   if { "$::HAVE_TK" == "true" } {
     set aLibsMap(CSF_TclTkLibs) "tk8.6"

adm/templates/env.bat

@@ -29,6 +29,7 @@ set "HAVE_LIBLZMA=false"
 set "HAVE_RAPIDJSON=false"
 set "HAVE_DRACO=false"
 set "HAVE_OPENVR=false"
+set "HAVE_BULLET=false"
 set "HAVE_E57=false"
 set "CSF_OPT_INC="
 set "CSF_OPT_LIB32="
@@ -205,6 +206,7 @@ if ["%HAVE_LIBLZMA%"]   == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DH
 if ["%HAVE_RAPIDJSON%"] == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DHAVE_RAPIDJSON" & set "CSF_DEFINES=HAVE_RAPIDJSON;%CSF_DEFINES%"
 if ["%HAVE_DRACO%"]     == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DHAVE_DRACO"     & set "CSF_DEFINES=HAVE_DRACO;%CSF_DEFINES%"
 if ["%HAVE_OPENVR%"]    == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DHAVE_OPENVR"    & set "CSF_DEFINES=HAVE_OPENVR;%CSF_DEFINES%"
+if ["%HAVE_BULLET%"]    == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DHAVE_BULLET"    & set "CSF_DEFINES=HAVE_BULLET;%CSF_DEFINES%"
 if ["%HAVE_E57%"]       == ["true"] set "PRODUCTS_DEFINES=%PRODUCTS_DEFINES% -DHAVE_E57"       & set "CSF_DEFINES=HAVE_E57;%CSF_DEFINES%"
 
 rem Eliminate VS warning

adm/templates/env.sh

@@ -22,6 +22,7 @@ export HAVE_LIBLZMA="false";
 export HAVE_RAPIDJSON="false";
 export HAVE_DRACO="false";
 export HAVE_OPENVR="false";
+export HAVE_BULLET="false";
 export HAVE_E57="false";
 export HAVE_XLIB="true";
 if [ "$aSystem" == "Darwin" ]; then
@@ -104,7 +105,7 @@ fi
 
 export CSF_OPT_CMPL=""
 
-# Optiona 3rd-parties should be enabled by HAVE macros
+# Optional 3rd-parties should be enabled by HAVE macros
 if [ "$HAVE_TBB"       == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_TBB"; fi
 if [ "$HAVE_OPENCL"    == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_OPENCL"; fi
 if [ "$HAVE_TK"        == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_TK"; fi
@@ -118,6 +119,7 @@ if [ "$HAVE_LIBLZMA"   == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -D
 if [ "$HAVE_RAPIDJSON" == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_RAPIDJSON"; fi
 if [ "$HAVE_DRACO"     == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_DRACO"; fi
 if [ "$HAVE_OPENVR"    == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_OPENVR"; fi
+if [ "$HAVE_BULLET"    == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_BULLET"; fi
 if [ "$HAVE_E57"       == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_E57"; fi
 if [ "$HAVE_XLIB"      == "true" ]; then export CSF_OPT_CMPL="${CSF_OPT_CMPL} -DHAVE_XLIB"; fi
 

samples/webgl/WasmOcctView.cpp

@@ -185,12 +185,16 @@ void WasmOcctView::initWindow()
   emscripten_set_resize_callback     (EMSCRIPTEN_EVENT_TARGET_WINDOW, this, toUseCapture, onResizeCallback);
 
   emscripten_set_mousedown_callback  (aTargetId, this, toUseCapture, onMouseCallback);
-  emscripten_set_mouseup_callback    (aTargetId, this, toUseCapture, onMouseCallback);
+  // bind these events to window to track mouse movements outside of canvas
-  emscripten_set_mousemove_callback  (aTargetId, this, toUseCapture, onMouseCallback);
+  //emscripten_set_mouseup_callback    (aTargetId, this, toUseCapture, onMouseCallback);
+  //emscripten_set_mousemove_callback  (aTargetId, this, toUseCapture, onMouseCallback);
+  //emscripten_set_mouseleave_callback (aTargetId, this, toUseCapture, onMouseCallback);
+  emscripten_set_mouseup_callback    (EMSCRIPTEN_EVENT_TARGET_WINDOW, this, toUseCapture, onMouseCallback);
+  emscripten_set_mousemove_callback  (EMSCRIPTEN_EVENT_TARGET_WINDOW, this, toUseCapture, onMouseCallback);
+
   emscripten_set_dblclick_callback   (aTargetId, this, toUseCapture, onMouseCallback);
   emscripten_set_click_callback      (aTargetId, this, toUseCapture, onMouseCallback);
   emscripten_set_mouseenter_callback (aTargetId, this, toUseCapture, onMouseCallback);
-  emscripten_set_mouseleave_callback (aTargetId, this, toUseCapture, onMouseCallback);
   emscripten_set_wheel_callback      (aTargetId, this, toUseCapture, onWheelCallback);
 
   emscripten_set_touchstart_callback (aTargetId, this, toUseCapture, onTouchCallback);
@@ -474,6 +478,21 @@ EM_BOOL WasmOcctView::onResizeEvent (int theEventType, const EmscriptenUiEvent*
   return EM_TRUE;
 }
 
+//! Update canvas bounding rectangle.
+EM_JS(void, jsUpdateBoundingClientRect, (), {
+  Module._myCanvasRect = Module.canvas.getBoundingClientRect();
+});
+
+//! Get canvas bounding top.
+EM_JS(int, jsGetBoundingClientTop, (), {
+  return Math.round(Module._myCanvasRect.top);
+});
+
+//! Get canvas bounding left.
+EM_JS(int, jsGetBoundingClientLeft, (), {
+  return Math.round(Module._myCanvasRect.left);
+});
+
 // ================================================================
 // Function : onMouseEvent
 // Purpose  :
@@ -486,6 +505,17 @@ EM_BOOL WasmOcctView::onMouseEvent (int theEventType, const EmscriptenMouseEvent
   }
 
   Handle(Wasm_Window) aWindow = Handle(Wasm_Window)::DownCast (myView->Window());
+  if (theEventType == EMSCRIPTEN_EVENT_MOUSEMOVE
+   || theEventType == EMSCRIPTEN_EVENT_MOUSEUP)
+  {
+    // these events are bound to EMSCRIPTEN_EVENT_TARGET_WINDOW, and coordinates should be converted
+    jsUpdateBoundingClientRect();
+    EmscriptenMouseEvent anEvent = *theEvent;
+    anEvent.targetX -= jsGetBoundingClientLeft();
+    anEvent.targetY -= jsGetBoundingClientTop();
+    return aWindow->ProcessMouseEvent (*this, theEventType, &anEvent) ? EM_TRUE : EM_FALSE;
+  }
+
   return aWindow->ProcessMouseEvent (*this, theEventType, theEvent) ? EM_TRUE : EM_FALSE;
 }
 

src/DRAWEXE/EXTERNLIB_STATIC

@@ -60,6 +60,7 @@ CSF_OpenGlesLibs
 CSF_FFmpeg
 CSF_FreeImagePlus
 CSF_FREETYPE
+CSF_BULLET
 CSF_Draco
 CSF_user32
 CSF_advapi32

src/Draw/Draw_BasicCommands.cxx

@@ -394,6 +394,11 @@ static Standard_Integer dversion(Draw_Interpretor& di, Standard_Integer, const c
 #else
   di << "Draco disabled\n";
 #endif
+#ifdef HAVE_BULLET
+  di << "Bullet Physics enabled (HAVE_BULLET)\n";
+#else
+  di << "Bullet Physics disabled\n";
+#endif
 #ifdef HAVE_VTK
   di << "VTK enabled (HAVE_VTK)\n";
 #else

src/Dynamics/Dynamics_Character.cxx

@@ -0,0 +1,389 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_Character.hxx>
+
+#include <Dynamics_CollisionShape.hxx>
+#include <Dynamics_Internal.hxx>
+#include <Dynamics_World.hxx>
+
+#include <Bnd_Box.hxx>
+#include <gp_Vec.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_Character, Dynamics_CollisionBody)
+
+namespace
+{
+  static const double   THE_GRAVITY_G = 9.8;
+
+#ifdef HAVE_BULLET
+  static const btScalar THE_TIME_PRECISION = 0.001f;
+  static const double   THE_DIST_PRECISION = 0.0001;
+
+  //! Character controller.
+  ATTRIBUTE_ALIGNED16(class) Dynamics_CharacterController : public btKinematicCharacterController
+  {
+  public:
+
+    enum StableState
+    {
+      StableState_Reset,
+      StableState_Stable,
+      StableState_Stuck,
+    };
+
+  public:
+
+    //! Main constructor.
+    Dynamics_CharacterController (btPairCachingGhostObject* theGhostObject,
+                                     btConvexShape* theConvexShape,
+                                     btScalar theStepHeight,
+                                     const btVector3& theUp)
+    : btKinematicCharacterController (theGhostObject, theConvexShape, theStepHeight, theUp),
+      myOldDirection (0.0f, 0.0f, 0.0f),
+      myStableState (StableState_Reset)
+    {
+      //
+    }
+
+    //! Setup distance tolerance.
+    void setDistancePrecision (btScalar theDistancePrec)
+    {
+      myDistancePrec = theDistancePrec;
+    }
+
+    //! Action interface.
+    virtual void updateAction (btCollisionWorld* theCollisionWorld,
+                               btScalar theDeltaTimeStep) Standard_OVERRIDE
+    {
+      const bool isUpdateNeeded = !m_useWalkDirection && m_velocityTimeInterval > THE_TIME_PRECISION && m_walkDirection.length() > myDistancePrec;
+      if (myStableState != StableState_Reset)
+      {
+        return;
+      }
+
+      const btVector3 aLocBefore = m_ghostObject->getWorldTransform().getOrigin();
+      btKinematicCharacterController::updateAction (theCollisionWorld, theDeltaTimeStep);
+
+      const btVector3 aLocAfter = m_ghostObject->getWorldTransform().getOrigin();
+      const btVector3 aDelta    = aLocAfter - aLocBefore;
+      if (theDeltaTimeStep > THE_TIME_PRECISION)
+      {
+        if (aDelta.length() < myDistancePrec)
+        {
+          myStableState = isUpdateNeeded ? StableState_Stuck : StableState_Stable;
+        }
+      }
+    }
+
+    //! Setup walking.
+    virtual void setVelocityForTimeInterval (const btVector3& theVelocity, btScalar theTimeInterval) Standard_OVERRIDE
+    {
+      if (theVelocity.length() > myDistancePrec)
+      {
+        const btVector3 aNewDirection = theVelocity.normalized();
+        const btScalar  aDelta = (myOldDirection - aNewDirection).length();
+        myOldDirection = aNewDirection;
+        if (aDelta > myDistancePrec
+         || myStableState == StableState_Stable)
+        {
+          myStableState = StableState_Reset;
+        }
+      }
+
+      btKinematicCharacterController::setVelocityForTimeInterval (btVector3 (0.0f, 0.0f, 0.0f), 0.0f);
+      btKinematicCharacterController::setVelocityForTimeInterval (theVelocity, theTimeInterval);
+    }
+
+    //! Reset stable state.
+    void ResetStable()
+    {
+      myStableState = StableState_Reset;
+      btKinematicCharacterController::setVelocityForTimeInterval (btVector3 (0.0f, 0.0f, 0.0f), 0.0f);
+    }
+
+  private:
+
+    btVector3   myOldDirection;
+    btScalar    myDistancePrec;
+    StableState myStableState;
+
+  };
+#endif
+}
+
+// =======================================================================
+// function : Dynamics_Character
+// purpose  :
+// =======================================================================
+Dynamics_Character::Dynamics_Character (double theHumanHeight)
+: myDefFallSpeed(0.0),
+  myFallSpeed  (0.0),
+  myHumanHeight(1.0),
+  myHumanWidth (1.0),
+  myStepHeight (1.0),
+  myRunRatio   (3.0),
+  myCrouchRatio(0.5),
+  myCapsHalfHeight(1.0),
+  myCapsMaxPenetr (0.1), // 0.2 is default
+  myState (Dynamics_CharacterState_Stand)
+{
+  Init (theHumanHeight);
+}
+
+// =======================================================================
+// function : ~Dynamics_Character
+// purpose  :
+// =======================================================================
+Dynamics_Character::~Dynamics_Character()
+{
+  //
+}
+
+// =======================================================================
+// function : Init
+// purpose  :
+// =======================================================================
+void Dynamics_Character::Init (double theHumanHeight,
+                                  double theHumanWidth,
+                                  double theStepHeight)
+{
+  myHumanHeight = theHumanHeight;
+  myHumanWidth  = theHumanWidth;
+  myStepHeight  = theStepHeight;
+  init();
+}
+
+// =======================================================================
+// function : init
+// purpose  :
+// =======================================================================
+void Dynamics_Character::init()
+{
+  Dynamics_World* aWorld = myWorld;
+  const double aLenScale = aWorld != nullptr ? aWorld->LengthUnitScale() : 1.0;
+
+  myVelocity.SetCoord (0.0, 0.0, 0.0);
+  myGravity = myDefGravity = gp_Vec (0.0, 0.0, -THE_GRAVITY_G * 3.0 * aLenScale); // 3G acceleration
+  myFallSpeed = myDefFallSpeed = 55.0 * aLenScale;
+#ifdef HAVE_BULLET
+  double aHumanHeight = myHumanHeight;
+  double aHumanWidth  = myHumanWidth;
+  double aStepHeight  = myStepHeight;
+  if (myState == Dynamics_CharacterState_Crouch)
+  {
+    aHumanHeight = myHumanHeight * 0.5;
+    aStepHeight  = myStepHeight  * 0.5;
+  }
+  myCapsHalfHeight = aHumanHeight * 0.5;
+
+  btTransform aWorldLoc;
+  aWorldLoc.setIdentity();
+  if (myBody.get() != NULL)
+  {
+    aWorldLoc = myBody->getWorldTransform();
+  }
+
+  myCapsMaxPenetr = 0.1 * aLenScale;
+  if (aWorld != NULL)
+  {
+    removeFromWorld();
+  }
+
+  if (!myCustomShape.IsNull())
+  {
+    const btConvexShape* aConvexShape = dynamic_cast<btConvexShape*> (myCustomShape->CollisionShape());
+    if (aConvexShape == NULL)
+    {
+      throw Standard_ProgramError ("Dynamics_Character::init() - non-convex shape is set");
+    }
+    myShape = myCustomShape;
+  }
+  else
+  {
+    const double aCapsuleRadius = aHumanWidth * 0.5;
+    const double aCapsuleHeight = aHumanHeight - 2.0 * aCapsuleRadius;
+
+    btCapsuleShapeZ* aCapsule = new btCapsuleShapeZ (btScalar(aCapsuleRadius), btScalar(aCapsuleHeight));
+    myShape = new Dynamics_CollisionShape (aCapsule);
+  }
+
+  btPairCachingGhostObject* aGhostObject = new btPairCachingGhostObject();
+  aGhostObject->setWorldTransform (aWorldLoc);
+  aGhostObject->setCollisionShape (myShape->CollisionShape());
+  aGhostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);
+  myBody.reset (aGhostObject);
+  btConvexShape* aConvexShape = dynamic_cast<btConvexShape*> (myShape->CollisionShape());
+  Dynamics_CharacterController* aCharacter = new Dynamics_CharacterController (aGhostObject, aConvexShape, btScalar (aStepHeight), btVector3 (0.0f, 0.0f, 1.0f));
+  aCharacter->setDistancePrecision (btScalar(THE_DIST_PRECISION * aLenScale));
+  aCharacter->setMaxPenetrationDepth (btScalar(myCapsMaxPenetr));
+  aCharacter->setFallSpeed (btScalar(55.0 * aLenScale)); // terminal velocity of a sky diver in m/s
+  aCharacter->setJumpSpeed (btScalar(10.0 * aLenScale));
+  myAction.reset (aCharacter);
+  SetGravity (myDefGravity);
+  SetFallSpeed (myDefFallSpeed);
+  if (aWorld != NULL)
+  {
+    addToWorld (aWorld);
+  }
+#endif
+}
+
+// =======================================================================
+// function : addToWorld
+// purpose  :
+// =======================================================================
+void Dynamics_Character::SetCustomConvexShape (const Handle(Dynamics_CollisionShape)& theShape)
+{
+  myCustomShape = theShape;
+  if (!myCustomShape.IsNull())
+  {
+  #ifdef HAVE_BULLET
+    const btConvexShape* aConvexShape = dynamic_cast<const btConvexShape*> (myCustomShape->CollisionShape());
+    if (aConvexShape == NULL)
+    {
+      throw Standard_ProgramError ("Dynamics_Character::SetCustomConvexShape() - non-convex shape is set");
+    }
+  #endif
+  }
+  init();
+}
+
+// =======================================================================
+// function : addToWorld
+// purpose  :
+// =======================================================================
+void Dynamics_Character::addToWorld (Dynamics_World* theWorld)
+{
+  removeFromWorld();
+#ifdef HAVE_BULLET
+  myWorld = theWorld;
+  if (myWorld != NULL && myBody.get() != NULL)
+  {
+    btDiscreteDynamicsWorld* aWorld = myWorld->myDynamicsWorld.get();
+    aWorld->addCollisionObject (myBody.get(), btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter);
+    aWorld->addAction (myAction.get());
+  }
+#else
+  (void )theWorld;
+#endif
+}
+
+// =======================================================================
+// function : SetEyePosition
+// purpose  :
+// =======================================================================
+void Dynamics_Character::SetEyePosition (const gp_Pnt&  theEyePosition,
+                                            const Bnd_Box& theSceneBndBox)
+{
+  myVelocity.SetCoord (0.0, 0.0, 0.0);
+  const double aShift = myCapsHalfHeight + myCapsMaxPenetr * 0.5 - myHumanHeight * ProportionalHumanEyeShift();
+  gp_XYZ aPos (theEyePosition.XYZ());
+  aPos.SetZ (theEyePosition.Z() - aShift);
+  if (!theSceneBndBox.IsVoid())
+  {
+    aPos.SetZ (Max (aPos.Z(), theSceneBndBox.CornerMin().Z()));
+  }
+  SetWorldPosition (aPos);
+}
+
+// =======================================================================
+// function : SetWorldPosition
+// purpose  :
+// =======================================================================
+void Dynamics_Character::SetWorldPosition (const gp_Pnt& thePosition)
+{
+  myVelocity.SetCoord (0.0, 0.0, 0.0);
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->ResetStable();
+
+  btPairCachingGhostObject* aGhostObject = dynamic_cast<btPairCachingGhostObject* >(myBody.get());
+  btTransform aStartTrsf;
+  aStartTrsf.setIdentity();
+  aStartTrsf.setOrigin (btVector3 (btScalar (thePosition.X()), btScalar(thePosition.Y()), btScalar(thePosition.Z())));
+  aGhostObject->setWorldTransform (aStartTrsf);
+#else
+  (void )thePosition;
+#endif
+}
+
+// =======================================================================
+// function : SetGravity
+// purpose  :
+// =======================================================================
+void Dynamics_Character::SetGravity (const gp_Vec& theGravity)
+{
+  myGravity = theGravity;
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->setGravity (btVector3 (btScalar(theGravity.X()), btScalar(theGravity.Y()), btScalar(theGravity.Z())));
+#endif
+}
+
+// =======================================================================
+// function : SetFallSpeed
+// purpose  :
+// =======================================================================
+void Dynamics_Character::SetFallSpeed (double theSpeed)
+{
+  myFallSpeed = theSpeed;
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->setFallSpeed (btScalar(theSpeed));
+#endif
+}
+
+// =======================================================================
+// function : Walk
+// purpose  :
+// =======================================================================
+void Dynamics_Character::Walk (const gp_Vec& theMoveVec)
+{
+  myVelocity.SetCoord (0.0, 0.0, 0.0);
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->setWalkDirection (btVector3 (btScalar(theMoveVec.X()), btScalar(theMoveVec.Y()), btScalar(theMoveVec.Z())));
+#else
+  (void )theMoveVec;
+#endif
+}
+
+// =======================================================================
+// function : Walk
+// purpose  :
+// =======================================================================
+void Dynamics_Character::Walk (const gp_Vec& theSpeedVec,
+                                  const double  theDurationSec)
+{
+  myVelocity = theSpeedVec;
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->setVelocityForTimeInterval (btVector3 (btScalar(theSpeedVec.X()), btScalar(theSpeedVec.Y()), btScalar(theSpeedVec.Z())), btScalar(theDurationSec));
+#else
+  (void )theDurationSec;
+#endif
+}
+
+// =======================================================================
+// function : Jump
+// purpose  :
+// =======================================================================
+void Dynamics_Character::Jump()
+{
+#ifdef HAVE_BULLET
+  Dynamics_CharacterController* aCharacter = dynamic_cast<Dynamics_CharacterController* >(myAction.get());
+  aCharacter->ResetStable();
+  aCharacter->jump (btVector3 (0, 0, 0));
+#endif
+}

src/Dynamics/Dynamics_Character.hxx

@@ -0,0 +1,218 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_Character_HeaderFile
+#define _Dynamics_Character_HeaderFile
+
+#include <Dynamics_CollisionBody.hxx>
+#include <Dynamics_CharacterState.hxx>
+
+class Bnd_Box;
+class gp_Vec;
+
+//! Class defining character object.
+class Dynamics_Character : public Dynamics_CollisionBody
+{
+  friend class Dynamics_World;
+  DEFINE_STANDARD_RTTIEXT(Dynamics_Character, Dynamics_CollisionBody)
+public:
+
+  //! Return the average human height.
+  static double AverageHumanHeight() { return 1.75; }
+
+  //! Compute human width from the human height using average proportions.
+  static double ProportionalHumanWidth (double theHumanHeight) { return theHumanHeight * 0.265; }
+
+  //! Compute human step height from the human height using average proportions.
+  static double ProportionalHumanStepHeight (double theHumanHeight) { return theHumanHeight * 0.2; }
+
+  //! Return the average human eye level shift (EyeLevel = Height - EyeShift), ~1/16.
+  static double ProportionalHumanEyeShift() { return 0.0625; }
+
+public:
+
+  //! Main constructor.
+  Standard_EXPORT Dynamics_Character (double theHumanHeight = 1.75);
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_Character();
+
+  //! Initialize the character using average proportions for specified human height.
+  void Init (double theHumanHeight)
+  {
+    Init (theHumanHeight, ProportionalHumanWidth (theHumanHeight), ProportionalHumanStepHeight (theHumanHeight));
+  }
+
+  //! Initialize the character.
+  Standard_EXPORT void Init (double theHumanHeight,
+                             double theHumanWidth,
+                             double theStepHeight);
+
+  //! Setup custom convex shape instead of capsule.
+  Standard_EXPORT void SetCustomConvexShape (const Handle(Dynamics_CollisionShape)& theShape);
+
+  //! Wrap to specified position.
+  Standard_EXPORT void SetEyePosition (const gp_Pnt&  theEyePosition,
+                                       const Bnd_Box& theSceneBndBox);
+
+  //! Return the eye location.
+  gp_Pnt EyePosition() const
+  {
+    const double aShift = myCapsHalfHeight + myCapsMaxPenetr * 0.5 - myHumanHeight * ProportionalHumanEyeShift();
+    const gp_Pnt aPos = WorldPosition();
+    return gp_Pnt (aPos.X(), aPos.Y(), aPos.Z() + aShift);
+  }
+
+  //! Wrap to specified position.
+  Standard_EXPORT void SetWorldPosition (const gp_Pnt& thePosition);
+
+  //! Return the ground location.
+  gp_Pnt GroundPosition() const
+  {
+    const double aShift = -myCapsHalfHeight + myCapsMaxPenetr * 0.5;
+    const gp_Pnt aPos = WorldPosition();
+    return gp_Pnt (aPos.X(), aPos.Y(), aPos.Z() + aShift);
+  }
+
+  //! Return the default gravity vector.
+  const gp_Vec& DefaultGravity() const { return myDefGravity; }
+
+  //! Return the gravity vector.
+  const gp_Vec& Gravity() const { return myGravity; }
+
+  //! Setup new gravity.
+  Standard_EXPORT void SetGravity (const gp_Vec& theGravity);
+
+  //! Return the default fall speed limit.
+  double DefaultFallSpeed() const { return myDefFallSpeed; }
+
+  //! Return the fall speed limit.
+  double FallSpeed() const { return myFallSpeed; }
+
+  //! Setup fall speed limit.
+  Standard_EXPORT void SetFallSpeed (double theSpeed);
+
+  //! Walk in specified direction and delta.
+  Standard_EXPORT void Walk (const gp_Vec& theMoveVec);
+
+  //! Walk in specified direction and delta.
+  Standard_EXPORT void Walk (const gp_Vec& theSpeedVec,
+                             const double  theDurationSec);
+
+  //! Jump impulse.
+  Standard_EXPORT void Jump();
+
+  //! Return current state.
+  Dynamics_CharacterState State() const { return myState; }
+
+  //! Return current state.
+  void SetState (Dynamics_CharacterState theState)
+  {
+    if (myState == theState)
+    {
+      return;
+    }
+    myState = theState;
+    init();
+  }
+
+  //! Return character height.
+  double EyeLevel() const
+  {
+    double aHumanHeight = myHumanHeight;
+    if (myState == Dynamics_CharacterState_Crouch)
+    {
+      aHumanHeight = myHumanHeight * 0.5;
+    }
+    return aHumanHeight - myHumanHeight * ProportionalHumanEyeShift();
+  }
+
+  //! Return character height.
+  double Height()     const { return myHumanHeight; }
+
+  //! Return character width.
+  double Width()      const { return myHumanWidth;  }
+
+  //! Return character step height.
+  double StepHeight() const { return myStepHeight; }
+
+  //! Running speed ratio (relative to normal walk), 3 by default.
+  double RunRatio() const { return myRunRatio; }
+
+  //! Setup running speed ratio.
+  void SetRunRatio (double theRatio) { myRunRatio = theRatio; }
+
+  //! Crouching speed ratio (relative to normal walk), 0.5 by default.
+  double CrouchRatio() const { return myCrouchRatio; }
+
+  //! Crouching running speed ratio.
+  void SetCrouchRatio (double theRatio) { myCrouchRatio = theRatio; }
+
+  //! Return walking velocity.
+  const gp_Vec& Velocity() const { return myVelocity; }
+
+  //! Return capsule half height (offset from the local CS).
+  double CapsuleHalfHeight() const { return myCapsHalfHeight; }
+
+  //! Return allowed penetration.
+  double CapsuleMaxPenetration() const { return myCapsMaxPenetr; }
+
+  //! Return TRUE if character is added to the World.
+  bool IsActive() const { return myWorld != nullptr; }
+
+  //! Add/remove character to/from the World.
+  void SetActive (Dynamics_World* theWorld)
+  {
+    if (myWorld == theWorld)
+    {
+      return;
+    }
+    if (theWorld != nullptr)
+    {
+      addToWorld (theWorld);
+      init();
+    }
+    else
+    {
+      removeFromWorld();
+    }
+  }
+
+protected:
+
+  //! Add body to the world.
+  Standard_EXPORT virtual void addToWorld (Dynamics_World* theWorld) Standard_OVERRIDE;
+
+  //! Initialize the character.
+  Standard_EXPORT void init();
+
+protected:
+
+  Handle(Dynamics_CollisionShape) myCustomShape;
+  gp_Vec         myVelocity;
+  gp_Vec         myDefGravity;     //!< default gravity
+  gp_Vec         myGravity;        //!< current gravity
+  Standard_Real  myDefFallSpeed;   //!< default maximum fall speed
+  Standard_Real  myFallSpeed;      //!< maximum fall speed
+  Standard_Real  myHumanHeight;    //!< character height
+  Standard_Real  myHumanWidth;     //!< character width
+  Standard_Real  myStepHeight;     //!< step height
+  Standard_Real  myRunRatio;       //!< running   speed ratio (relative to normal walk)
+  Standard_Real  myCrouchRatio;    //!< crouching speed ratio (relative to normal walk)
+  Standard_Real  myCapsHalfHeight; //!< capsule half height (offset from the local CS)
+  Standard_Real  myCapsMaxPenetr;  //!< allowed penetration
+  Dynamics_CharacterState myState; //!< current character state
+
+};
+
+#endif // _Dynamics_Character_HeaderFile

src/Dynamics/Dynamics_CharacterState.hxx

@@ -0,0 +1,24 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CharacterState_HeaderFile
+#define _Dynamics_CharacterState_HeaderFile
+
+//! Character state.
+enum Dynamics_CharacterState
+{
+  Dynamics_CharacterState_Stand,
+  Dynamics_CharacterState_Crouch,
+};
+
+#endif // _Dynamics_CharacterState_HeaderFile

src/Dynamics/Dynamics_CollisionBRepFlags.hxx

@@ -0,0 +1,30 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionBRepFlags_HeaderFile
+#define _Dynamics_CollisionBRepFlags_HeaderFile
+
+//! Dynamics_CollisionBRepShape initialization parameters.
+enum Dynamics_CollisionBRepFlags
+{
+  Dynamics_CollisionBRepFlags_NONE       = 0x00,
+  Dynamics_CollisionBRepFlags_Convex     = 0x02,
+  Dynamics_CollisionBRepFlags_Single     = 0x04,
+  Dynamics_CollisionBRepFlags_Compressed = 0x08,
+  Dynamics_CollisionBRepFlags_BuildBVH   = 0x10,
+
+  Dynamics_CollisionBRepFlags_DEFAULTS   = Dynamics_CollisionBRepFlags_Compressed | Dynamics_CollisionBRepFlags_BuildBVH,
+  Dynamics_CollisionBRepFlags_CONVEX_DEFAULTS = Dynamics_CollisionBRepFlags_DEFAULTS | Dynamics_CollisionBRepFlags_Single | Dynamics_CollisionBRepFlags_Convex,
+};
+
+#endif // _Dynamics_CollisionBRepFlags_HeaderFile

src/Dynamics/Dynamics_CollisionBRepShape.cxx

@@ -0,0 +1,237 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionBRepShape.hxx>
+
+#include <Dynamics_CollisionBRepShapeConvex.hxx>
+#include <Dynamics_CollisionBody.hxx>
+
+#ifdef HAVE_BULLET
+  #include <Dynamics_Graphic3dTriangulation.hxx>
+  #include <Dynamics_PolyTriangulation.hxx>
+  #include <Dynamics_MotionState.hxx>
+#endif
+
+#include <BRep_Tool.hxx>
+#include <Message.hxx>
+#include <TopoDS.hxx>
+#include <TopoDS_Face.hxx>
+#include <TopExp_Explorer.hxx>
+#include <TopLoc_Location.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionBRepShape,       Dynamics_CollisionShape)
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionBRepShapeConvex, Dynamics_CollisionBRepShape)
+
+namespace
+{
+#ifdef HAVE_BULLET
+  //! Wrapper over btCompoundShape with destructor deleting child shapes.
+  ATTRIBUTE_ALIGNED16(class) Dynamics_CompoundShape : public btCompoundShape
+  {
+  public:
+    //! Constructor.
+    Dynamics_CompoundShape (bool theToEnableDynamicAabbTree = true, const int theInitialChildCapacity = 0)
+    : btCompoundShape (theToEnableDynamicAabbTree, theInitialChildCapacity) {}
+
+    //! Destructor.
+    virtual ~Dynamics_CompoundShape()
+    {
+      for (int aChildIter = 0; aChildIter < getNumChildShapes(); ++aChildIter)
+      {
+        btCollisionShape* aShape = getChildShape (aChildIter);
+        delete aShape;
+      }
+    }
+  };
+
+  //! Wrapper over btBvhTriangleMeshShape with destructor deleting Mesh Interface.
+  ATTRIBUTE_ALIGNED16(class) Dynamics_BvhTriangleMeshShape : public btBvhTriangleMeshShape
+  {
+  public:
+    //! Constructor.
+    Dynamics_BvhTriangleMeshShape (btStridingMeshInterface* theMeshInterface,
+                                   bool theToUseQuantizedAabbCompression,
+                                   bool theToBuildBvh = true)
+    : btBvhTriangleMeshShape (theMeshInterface, theToUseQuantizedAabbCompression, theToBuildBvh) {}
+
+    //! Destructor.
+    virtual ~Dynamics_BvhTriangleMeshShape()
+    {
+      delete m_meshInterface;
+      m_meshInterface = NULL;
+    }
+  };
+
+  //! Wrapper over btConvexTriangleMeshShape with destructor deleting Mesh Interface.
+  ATTRIBUTE_ALIGNED16(class) Dynamics_ConvexTriangleMeshShape : public btConvexTriangleMeshShape
+  {
+  public:
+    //! Constructor.
+    Dynamics_ConvexTriangleMeshShape (btStridingMeshInterface* theMeshInterface,
+                                      bool theToBuildBvh = true)
+    : btConvexTriangleMeshShape (theMeshInterface, theToBuildBvh) {}
+
+    //! Destructor.
+    virtual ~Dynamics_ConvexTriangleMeshShape()
+    {
+      btStridingMeshInterface* aMeshInterface = getMeshInterface();
+      delete aMeshInterface;
+    }
+  };
+
+  //! Wrap triangulation into mesh interface.
+  btStridingMeshInterface* wrapTriangulation (const Handle(Poly_Triangulation)& thePolyTri)
+  {
+    if (!thePolyTri.IsNull())
+    {
+      return new Dynamics_PolyTriangulation (thePolyTri);
+    }
+    return NULL;
+  }
+#endif
+}
+
+// =======================================================================
+// function : Init
+// purpose  :
+// =======================================================================
+bool Dynamics_CollisionBRepShape::Init (const TopoDS_Shape& theShape,
+                                        Dynamics_CollisionBRepFlags theFlags)
+{
+  releaseShape();
+  if (theShape.IsNull())
+  {
+    return false;
+  }
+
+#ifdef HAVE_BULLET
+  const bool toUseCompression = (theFlags & Dynamics_CollisionBRepFlags_Compressed) != 0;
+  const bool toBuildBvh       = (theFlags & Dynamics_CollisionBRepFlags_BuildBVH) != 0;
+  const bool isConvex         = (theFlags & Dynamics_CollisionBRepFlags_Convex) != 0;
+
+  TopLoc_Location aLoc;
+  btTransform aTrsfBtLocal;
+  aTrsfBtLocal.setIdentity();
+  if ((theFlags & Dynamics_CollisionBRepFlags_Single) != 0)
+  {
+    int aNbNodes = 0, aNbTris = 0;
+    for (TopExp_Explorer aFaceIter (theShape, TopAbs_FACE); aFaceIter.More(); aFaceIter.Next())
+    {
+      const TopoDS_Face& aFace = TopoDS::Face (aFaceIter.Current());
+      const Handle(Poly_Triangulation)& aPolyTri = BRep_Tool::Triangulation (aFace, aLoc);
+      if (!aPolyTri.IsNull())
+      {
+        aNbNodes += aPolyTri->NbNodes();
+        aNbTris  += aPolyTri->NbTriangles();
+      }
+    }
+    if (aNbNodes < 3
+     || aNbTris < 1)
+    {
+      return false;
+    }
+
+    btConvexHullShape aConvexHullShape;
+    aConvexHullShape.setMargin (0); // this is to compensate for a bug in bullet
+
+    Handle(Graphic3d_ArrayOfTriangles) aTriangles;
+    if (!isConvex)
+    {
+      aTriangles = new Graphic3d_ArrayOfTriangles (aNbNodes, aNbTris * 3, false, false, false);
+    }
+    for (TopExp_Explorer aFaceIter (theShape, TopAbs_FACE); aFaceIter.More(); aFaceIter.Next())
+    {
+      const TopoDS_Face& aFace = TopoDS::Face (aFaceIter.Current());
+      const Handle(Poly_Triangulation)& aPolyTri = BRep_Tool::Triangulation (aFace, aLoc);
+      const gp_Trsf aTrsf = aLoc;
+      if (!aPolyTri.IsNull())
+      {
+        const int aFirstNode = !aTriangles.IsNull() ? aTriangles->VertexNumber() : 0;
+        for (int aNodeIter = 1; aNodeIter <= aPolyTri->NbNodes(); ++aNodeIter)
+        {
+          gp_Pnt aNode = aPolyTri->Node (aNodeIter);
+          aNode.Transform (aTrsf);
+          if (!aTriangles.IsNull())
+          {
+            aTriangles->AddVertex (aNode);
+          }
+          else
+          {
+            aConvexHullShape.addPoint (btVector3 (btScalar (aNode.X()), btScalar (aNode.Y()), btScalar (aNode.Z())), false);
+          }
+        }
+        if (!aTriangles.IsNull())
+        {
+          Graphic3d_Vec4i anElem (-1, -1, -1, -1);
+          for (int aTriIter = 1; aTriIter <= aPolyTri->NbTriangles(); ++aTriIter)
+          {
+            aPolyTri->Triangle (aTriIter).Get (anElem[0], anElem[1], anElem[2]);
+            aTriangles->AddEdges (aFirstNode + anElem[0], aFirstNode + anElem[1], aFirstNode + anElem[2]);
+          }
+        }
+      }
+    }
+
+    if (isConvex)
+    {
+      // create a hull approximation
+      //btConvexHullShape aConvexHullShape ((const btScalar* )aTriangles->Attributes()->Data(), aNbNodes, aTriangles->Attributes()->Stride);
+      aConvexHullShape.recalcLocalAabb();
+
+      btShapeHull aHull (&aConvexHullShape);
+      aHull.buildHull (0);
+      if (aHull.numVertices() == 0)
+      {
+        Message::SendTrace ("Dynamics_CollisionBRepShape, btShapeHull returned an empty result");
+        return false;
+      }
+      myShape = new btConvexHullShape ((const btScalar* )aHull.getVertexPointer(), aHull.numVertices(), sizeof(btVector3));
+    }
+    else
+    {
+      btStridingMeshInterface* aMeshInterface = new Dynamics_Graphic3dTriangulation (aTriangles);
+      myShape = new Dynamics_BvhTriangleMeshShape (aMeshInterface, toUseCompression, toBuildBvh);
+    }
+    return true;
+  }
+
+  Dynamics_CompoundShape* aCompShape = new Dynamics_CompoundShape();
+  myShape = aCompShape;
+  for (TopExp_Explorer aFaceIter (theShape, TopAbs_FACE); aFaceIter.More(); aFaceIter.Next())
+  {
+    const TopoDS_Face& aFace = TopoDS::Face (aFaceIter.Current());
+    const Handle(Poly_Triangulation)& aPolyTri = BRep_Tool::Triangulation (aFace, aLoc);
+    if (btStridingMeshInterface* aChild = wrapTriangulation (aPolyTri))
+    {
+      Dynamics_MotionState::TrsfBtFromGp (aTrsfBtLocal, aLoc.Transformation());
+      if (isConvex)
+      {
+        aCompShape->addChildShape (aTrsfBtLocal, new Dynamics_ConvexTriangleMeshShape (aChild, toBuildBvh));
+      }
+      else
+      {
+        aCompShape->addChildShape (aTrsfBtLocal, new Dynamics_BvhTriangleMeshShape (aChild, toUseCompression, toBuildBvh));
+      }
+    }
+  }
+  if (aCompShape->getNumChildShapes() == 0)
+  {
+    releaseShape();
+    return false;
+  }
+  return true;
+#else
+  (void )theFlags;
+  return false;
+#endif
+}

src/Dynamics/Dynamics_CollisionBRepShape.hxx

@@ -0,0 +1,41 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionBRepShape_HeaderFile
+#define _Dynamics_CollisionBRepShape_HeaderFile
+
+#include <Dynamics_CollisionShape.hxx>
+#include <Dynamics_CollisionBRepFlags.hxx>
+
+class TopoDS_Shape;
+
+//! Define the collision body from triangulation data.
+class Dynamics_CollisionBRepShape : public Dynamics_CollisionShape
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionBRepShape, Dynamics_CollisionShape)
+public:
+
+  //! Constructor.
+  Dynamics_CollisionBRepShape (const TopoDS_Shape& theShape,
+                               Dynamics_CollisionBRepFlags theFlags = Dynamics_CollisionBRepFlags_DEFAULTS)
+  {
+    Init (theShape, theFlags);
+  }
+
+  //! Initialize from triangulation.
+  Standard_EXPORT bool Init (const TopoDS_Shape& theShape,
+                             Dynamics_CollisionBRepFlags theFlags);
+
+};
+
+#endif // _Dynamics_CollisionBRepShape_HeaderFile

src/Dynamics/Dynamics_CollisionBRepShapeConvex.hxx

@@ -0,0 +1,38 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionBRepShapeConvex_HeaderFile
+#define _Dynamics_CollisionBRepShapeConvex_HeaderFile
+
+#include <Dynamics_CollisionBRepShape.hxx>
+
+//! Define the collision body from triangulation data (convex).
+class Dynamics_CollisionBRepShapeConvex : public Dynamics_CollisionBRepShape
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionBRepShapeConvex, Dynamics_CollisionBRepShape)
+public:
+
+  //! Main constructor.
+  Dynamics_CollisionBRepShapeConvex (const TopoDS_Shape& theShape,
+                                     const gp_Trsf& theTrsf,
+                                     Dynamics_CollisionBRepFlags theFlags = Dynamics_CollisionBRepFlags_CONVEX_DEFAULTS)
+  : Dynamics_CollisionBRepShape (theShape, theFlags), myLocation (theTrsf) {}
+
+  //! Return location.
+  virtual const gp_Trsf& Location() const Standard_OVERRIDE { return myLocation; }
+
+protected:
+  gp_Trsf myLocation;
+};
+
+#endif // _Dynamics_CollisionBRepShapeConvex_HeaderFile

src/Dynamics/Dynamics_CollisionBody.cxx

@@ -0,0 +1,453 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionBody.hxx>
+
+#include <Dynamics_Internal.hxx>
+#include <Dynamics_CollisionShape.hxx>
+#include <Dynamics_Constraint.hxx>
+#include <Dynamics_MotionState.hxx>
+#include <Dynamics_World.hxx>
+
+namespace
+{
+#ifdef HAVE_BULLET
+  static btVector3 gpXyz2Vec3Bt (const gp_XYZ& theXYZ)
+  {
+    return btVector3 (btScalar(theXYZ.X()), btScalar(theXYZ.Y()), btScalar(theXYZ.Z()));
+  }
+#endif
+}
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionBody, Standard_Transient)
+
+// =======================================================================
+// function : Dynamics_CollisionBody
+// purpose  :
+// =======================================================================
+Dynamics_CollisionBody::Dynamics_CollisionBody()
+: myWorld (NULL)
+{
+  //
+}
+
+// =======================================================================
+// function : Dynamics_CollisionBody
+// purpose  :
+// =======================================================================
+Dynamics_CollisionBody::Dynamics_CollisionBody (const Handle(Dynamics_CollisionShape)& theShape)
+: myWorld(NULL)
+{
+  SetShape (theShape);
+}
+
+// =======================================================================
+// function : ~Dynamics_CollisionBody
+// purpose  :
+// =======================================================================
+Dynamics_CollisionBody::~Dynamics_CollisionBody()
+{
+  clearMain();
+}
+
+// =======================================================================
+// function : SetShape
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::SetShape (const Handle(Dynamics_CollisionShape)& theShape,
+                                          const gp_Trsf& theTrsf)
+{
+  myShape = theShape;
+  myMotionState.Nullify();
+#ifdef HAVE_BULLET
+
+  // btCollisionObject cannot hold NULL collision shape (no NULL check in Bullet),
+  // so remove object from the world, by keep reference for another ::SetShape() call
+  bool toRemoveOld = myShape.IsNull(), toAdd = false;
+  if (btRigidBody* aRigidBody = myBody.get() != NULL ? btRigidBody::upcast (myBody.get()) : NULL)
+  {
+    (void )aRigidBody;
+    toRemoveOld = true;
+  }
+  if (toRemoveOld)
+  {
+    if (!myConstraint.IsNull())
+    {
+      if (myConstraint->DynamicsWorld() != nullptr)
+      {
+        myConstraint->DynamicsWorld()->RemoveConstraint (myConstraint);
+      }
+      myConstraint.Nullify();
+    }
+
+    Dynamics_World* aWorld = myWorld;
+    removeFromWorld();
+    myWorld = aWorld;
+    myBody.reset();
+  }
+  if (myShape.IsNull())
+  {
+    return;
+  }
+
+  if (myBody.get() == NULL)
+  {
+    toAdd = true;
+    myBody.reset (new btCollisionObject());
+    myBody->setCollisionFlags (myBody->getCollisionFlags() | btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT);
+  }
+
+  btTransform aTrsfBt;
+  Dynamics_MotionState::TrsfBtFromGp (aTrsfBt, theTrsf);
+
+  myBody->setCollisionShape (myShape->CollisionShape());
+  myBody->setWorldTransform (aTrsfBt);
+  if (toAdd && myWorld != NULL)
+  {
+    addToWorld (myWorld);
+  }
+#else
+  (void )theTrsf;
+#endif
+}
+
+// =======================================================================
+// function : SetShape
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::SetShape (const Handle(Dynamics_CollisionShape)& theShape,
+                                          const Handle(Dynamics_MotionState)& theMotionState,
+                                          const float theMass)
+{
+  myShape = theShape;
+  myMotionState = theMotionState;
+#ifdef HAVE_BULLET
+  bool toAdd = false, toRemoveOld = true;
+  if (toRemoveOld)
+  {
+    if (!myConstraint.IsNull())
+    {
+      if (myConstraint->DynamicsWorld() != nullptr)
+      {
+        myConstraint->DynamicsWorld()->RemoveConstraint (myConstraint);
+      }
+      myConstraint.Nullify();
+    }
+
+    Dynamics_World* aWorld = myWorld;
+    removeFromWorld();
+    myWorld = aWorld;
+    myBody.reset();
+  }
+
+  if (myBody.get() == NULL)
+  {
+    toAdd = true;
+    btVector3 aLocalInertia (0.0f, 0.0f, 0.0f);
+    myShape->CollisionShape()->calculateLocalInertia (theMass, aLocalInertia);
+
+    btRigidBody::btRigidBodyConstructionInfo aBodyInfo (theMass, myMotionState->MotionState(), myShape->CollisionShape(), aLocalInertia);
+    myBody.reset (new btRigidBody (aBodyInfo));
+
+
+    myBody->setFriction (1.0f);
+    myBody->setRollingFriction (0.1f);
+    myBody->setSpinningFriction (0.1f);
+    myBody->setAnisotropicFriction (myShape->CollisionShape()->getAnisotropicRollingFrictionDirection(),
+                                    btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+  }
+
+  if (toAdd && myWorld != NULL)
+  {
+    addToWorld (myWorld);
+  }
+#else
+  (void )theMass;
+#endif
+}
+
+// =======================================================================
+// function : addToWorld
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::addToWorld (Dynamics_World* theWorld)
+{
+  removeFromWorld();
+#ifdef HAVE_BULLET
+  myWorld = theWorld;
+  if (myBody.get() == NULL || myWorld == NULL || myShape.IsNull())
+  {
+    return;
+  }
+
+  btDiscreteDynamicsWorld* aWorld = myWorld->myDynamicsWorld.get();
+  if (btRigidBody* aRigidBody = btRigidBody::upcast (myBody.get()))
+  {
+    ++myWorld->myNbRigidBodies;
+    aWorld->addRigidBody (aRigidBody);
+  }
+  else
+  {
+    aWorld->addCollisionObject (myBody.get());
+  }
+  if (myAction.get() != NULL)
+  {
+    aWorld->addAction (myAction.get());
+  }
+#else
+  (void )theWorld;
+#endif
+}
+
+// =======================================================================
+// function : removeFromWorld
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::removeFromWorld()
+{
+#ifdef HAVE_BULLET
+  if (myWorld != NULL && myBody.get() != NULL)
+  {
+    btDiscreteDynamicsWorld* aWorld = myWorld->myDynamicsWorld.get();
+    if (myAction.get() != NULL)
+    {
+      aWorld->removeAction (myAction.get());
+    }
+    if (btRigidBody* aRigidBody = btRigidBody::upcast (myBody.get()))
+    {
+      aWorld->removeRigidBody (aRigidBody);
+      --myWorld->myNbRigidBodies;
+    }
+    else
+    {
+      aWorld->removeCollisionObject (myBody.get());
+    }
+  }
+  myWorld = NULL;
+#endif
+}
+
+// =======================================================================
+// function : clearMain
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::clearMain()
+{
+  removeFromWorld();
+#ifdef HAVE_BULLET
+  myAction.reset();
+  myBody.reset();
+  myMotionState.Nullify();
+#endif
+}
+
+// =======================================================================
+// function : WorldPosition
+// purpose  :
+// =======================================================================
+gp_Pnt Dynamics_CollisionBody::WorldPosition() const
+{
+#ifdef HAVE_BULLET
+  if (myBody.get() == NULL)
+  {
+    return gp_Pnt (0.0, 0.0, 0.0);
+  }
+
+  const btTransform aTrsfBt = myBody->getWorldTransform();
+  return gp_Pnt (aTrsfBt.getOrigin().x(), aTrsfBt.getOrigin().y(), aTrsfBt.getOrigin().z());
+#else
+  return gp_Pnt (0.0, 0.0, 0.0);
+#endif
+}
+
+// =======================================================================
+// function : WorldLocation
+// purpose  :
+// =======================================================================
+gp_Trsf Dynamics_CollisionBody::WorldLocation() const
+{
+  gp_Trsf aTrsf;
+#ifdef HAVE_BULLET
+  if (myBody.get() == NULL)
+  {
+    return aTrsf;
+  }
+
+  const btTransform  aTrsfBt  = myBody->getWorldTransform();
+  Dynamics_MotionState::TrsfGpFromBt (aTrsf, aTrsfBt);
+#endif
+  return aTrsf;
+}
+
+// =======================================================================
+// function : SetWorldLocation
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::SetWorldLocation (const gp_Trsf& theLoc)
+{
+#ifdef HAVE_BULLET
+  if (myBody.get() != NULL)
+  {
+    btTransform aTrsfBt;
+    Dynamics_MotionState::TrsfBtFromGp (aTrsfBt, theLoc);
+    myBody->setWorldTransform (aTrsfBt);
+  }
+#else
+  (void )theLoc;
+#endif
+}
+
+// =======================================================================
+// function : WorldMotionLocation
+// purpose  :
+// =======================================================================
+gp_Trsf Dynamics_CollisionBody::WorldMotionLocation() const
+{
+  gp_Trsf aTrsf;
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return WorldLocation();
+  }
+
+  btTransform aTrsfBt;
+  aBody->getMotionState()->getWorldTransform (aTrsfBt);
+  Dynamics_MotionState::TrsfGpFromBt (aTrsf, aTrsfBt);
+#endif
+  return aTrsf;
+}
+
+// =======================================================================
+// function : ApplyCentralForce
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyCentralForce (const gp_XYZ& theForce)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyCentralForce (gpXyz2Vec3Bt (theForce));
+#else
+  (void )theForce;
+#endif
+}
+
+// =======================================================================
+// function : ApplyCentralImpulse
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyCentralImpulse (const gp_XYZ& theImpulse)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyCentralImpulse (gpXyz2Vec3Bt (theImpulse));
+#else
+  (void )theImpulse;
+#endif
+}
+
+// =======================================================================
+// function : ApplyTorque
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyTorque (const gp_XYZ& theTorque)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyTorque (gpXyz2Vec3Bt (theTorque));
+#else
+  (void )theTorque;
+#endif
+}
+
+// =======================================================================
+// function : ApplyForce
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyForce (const gp_XYZ& theForce,
+                                            const gp_Pnt& theRelPos)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyForce (gpXyz2Vec3Bt (theForce), gpXyz2Vec3Bt (theRelPos.XYZ()));
+#else
+  (void )theForce;
+  (void )theRelPos;
+#endif
+}
+
+// =======================================================================
+// function : ApplyImpulse
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyImpulse (const gp_XYZ& theImpulse,
+                                              const gp_Pnt& theRelPos)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyImpulse (gpXyz2Vec3Bt (theImpulse), gpXyz2Vec3Bt (theRelPos.XYZ()));
+#else
+  (void )theImpulse;
+  (void )theRelPos;
+#endif
+}
+
+// =======================================================================
+// function : ApplyTorqueImpulse
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionBody::ApplyTorqueImpulse (const gp_XYZ& theTorque)
+{
+#ifdef HAVE_BULLET
+  btRigidBody* aBody = btRigidBody::upcast (myBody.get());
+  if (aBody == NULL || aBody->getMotionState() == NULL)
+  {
+    return;
+  }
+
+  aBody->activate (true);
+  aBody->applyTorqueImpulse (gpXyz2Vec3Bt (theTorque));
+#else
+  (void )theTorque;
+#endif
+}

src/Dynamics/Dynamics_CollisionBody.hxx

@@ -0,0 +1,128 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionBody_HeaderFile
+#define _Dynamics_CollisionBody_HeaderFile
+
+#include <gp_Trsf.hxx>
+#include <NCollection_Vector.hxx>
+#include <Standard_Transient.hxx>
+
+#include <memory>
+
+class Dynamics_CollisionShape;
+class Dynamics_Constraint;
+class Dynamics_MotionState;
+class Dynamics_World;
+
+class btActionInterface;
+class btCollisionObject;
+class btCollisionShape;
+class btTransform;
+
+//! Class defining collision body.
+class Dynamics_CollisionBody : public Standard_Transient
+{
+  friend class Dynamics_Constraint;
+  friend class Dynamics_World;
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionBody, Standard_Transient)
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_CollisionBody();
+
+  //! Constructor.
+  Standard_EXPORT Dynamics_CollisionBody (const Handle(Dynamics_CollisionShape)& theShape);
+
+  //! Destructor, automatically removes the body from the world.
+  Standard_EXPORT virtual ~Dynamics_CollisionBody();
+
+  //! Return the world.
+  Dynamics_World* DynamicsWorld() { return myWorld; }
+
+  //! Return the shape.
+  const Handle(Dynamics_CollisionShape)& Shape() const { return myShape; }
+
+  //! Assign new shape.
+  Standard_EXPORT void SetShape (const Handle(Dynamics_CollisionShape)& theShape,
+                                 const gp_Trsf& theTrsf = gp_Trsf());
+
+  //! Assign new shape.
+  Standard_EXPORT void SetShape (const Handle(Dynamics_CollisionShape)& theShape,
+                                 const Handle(Dynamics_MotionState)& theMotionState,
+                                 const float theMass);
+
+  //! Return motion state.
+  const Handle(Dynamics_MotionState)& MotionState() const { return myMotionState; }
+
+  //! Return constraint.
+  const Handle(Dynamics_Constraint)& Constraint() const { return myConstraint; }
+
+  //! Return the position (origin) in the world.
+  Standard_EXPORT gp_Pnt WorldPosition() const;
+
+  //! Return the location in the world.
+  Standard_EXPORT gp_Trsf WorldLocation() const;
+
+  //! Return the location in the world.
+  Standard_EXPORT void SetWorldLocation (const gp_Trsf& theLoc);
+
+  //! Return the location in the world.
+  Standard_EXPORT gp_Trsf WorldMotionLocation() const;
+
+  //! Alias for btRigidBody::applyCentralImpulse().
+  Standard_EXPORT void ApplyCentralForce  (const gp_XYZ& theForce);
+
+  //! Alias for btRigidBody::applyCentralImpulse().
+  Standard_EXPORT void ApplyCentralImpulse(const gp_XYZ& theImpulse);
+
+  //! Alias for btRigidBody::applyForce().
+  Standard_EXPORT void ApplyForce  (const gp_XYZ& theForce, const gp_Pnt& theRelPos);
+
+  //! Alias for btRigidBody::applyTorque().
+  Standard_EXPORT void ApplyTorque (const gp_XYZ& theTorque);
+
+  //! Alias for btRigidBody::applyImpulse().
+  Standard_EXPORT void ApplyImpulse(const gp_XYZ& theImpulse, const gp_Pnt& theRelPos);
+
+  //! Alias for btRigidBody::applyTorqueImpulse().
+  Standard_EXPORT void ApplyTorqueImpulse (const gp_XYZ& theTorque);
+
+public:
+
+  //! Return collision body.
+  btCollisionObject* collisionBody() { return myBody.get(); }
+
+protected:
+
+  //! Add body to the world.
+  Standard_EXPORT virtual void addToWorld (Dynamics_World* theWorld);
+
+  //! Remove body from the world.
+  Standard_EXPORT virtual void removeFromWorld();
+
+  //! Release the memory.
+  Standard_EXPORT void clearMain();
+
+protected:
+
+  Handle(Dynamics_CollisionShape)    myShape;
+  Handle(Dynamics_MotionState)       myMotionState;
+  Handle(Dynamics_Constraint)        myConstraint;
+  std::shared_ptr<btActionInterface> myAction;
+  std::shared_ptr<btCollisionObject> myBody;
+  Dynamics_World*                    myWorld;
+
+};
+
+#endif // _Dynamics_CollisionBody_HeaderFile

src/Dynamics/Dynamics_CollisionBoxShape.cxx

@@ -0,0 +1,51 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionBoxShape.hxx>
+
+#include <Dynamics_Internal.hxx>
+
+#include <gp_Ax3.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionBoxShape, Dynamics_CollisionShape)
+
+// =======================================================================
+// function : Dynamics_CollisionBoxShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionBoxShape::Dynamics_CollisionBoxShape (const Bnd_OBB& theOBB)
+{
+  if (!theOBB.IsVoid())
+  {
+  #ifdef HAVE_BULLET
+    myShape = new btBoxShape (btVector3 (btScalar(theOBB.XHSize()), btScalar(theOBB.YHSize()), btScalar(theOBB.ZHSize())));
+    myLocation.SetTransformation (gp_Ax3 (theOBB.Center(), theOBB.ZDirection(), theOBB.XDirection()), gp::XOY());
+  #endif
+  }
+}
+
+// =======================================================================
+// function : Dynamics_CollisionBoxShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionBoxShape::Dynamics_CollisionBoxShape (const Bnd_Box& theAABB)
+{
+  if (!theAABB.IsVoid())
+  {
+  #ifdef HAVE_BULLET
+    const gp_XYZ aSize = theAABB.CornerMax().XYZ() - theAABB.CornerMin().XYZ();
+    myShape = new btBoxShape (btVector3 (btScalar(aSize.X() * 0.5), btScalar(aSize.Y() * 0.5), btScalar(aSize.Z() * 0.5)));
+    myLocation.SetTranslation ((theAABB.CornerMin().XYZ() + theAABB.CornerMax().XYZ()) * 0.5);
+  #endif
+  }
+}

src/Dynamics/Dynamics_CollisionBoxShape.hxx

@@ -0,0 +1,40 @@
+// Copyright (c) 2018-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionBoxShape_HeaderFile
+#define _Dynamics_CollisionBoxShape_HeaderFile
+
+#include <Dynamics_CollisionShape.hxx>
+
+#include <Bnd_OBB.hxx>
+
+//! Define the collision shape as OBB.
+class Dynamics_CollisionBoxShape : public Dynamics_CollisionShape
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionBoxShape, Dynamics_CollisionShape)
+public:
+
+  //! Constructor from OBB.
+  Standard_EXPORT Dynamics_CollisionBoxShape (const Bnd_OBB& theOBB);
+
+  //! Constructor from AABB.
+  Standard_EXPORT Dynamics_CollisionBoxShape (const Bnd_Box& theAABB);
+
+  //! Return shape location.
+  virtual const gp_Trsf& Location() const Standard_OVERRIDE { return myLocation; }
+
+protected:
+  gp_Trsf myLocation;
+};
+
+#endif // _Dynamics_CollisionBoxShape_HeaderFile

src/Dynamics/Dynamics_CollisionCompoundShape.cxx

@@ -0,0 +1,77 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionCompoundShape.hxx>
+
+#include <Dynamics_Internal.hxx>
+#include <Dynamics_MotionState.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionCompoundShape, Dynamics_CollisionShape)
+
+// =======================================================================
+// function : Dynamics_CollisionCompoundShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionCompoundShape::Dynamics_CollisionCompoundShape()
+{
+  //
+}
+
+// =======================================================================
+// function : ~Dynamics_CollisionCompoundShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionCompoundShape::~Dynamics_CollisionCompoundShape()
+{
+  //
+}
+
+// =======================================================================
+// function : Init
+// purpose  :
+// =======================================================================
+bool Dynamics_CollisionCompoundShape::Init()
+{
+  releaseShape();
+  if (mySubShapes.IsEmpty())
+  {
+    return false;
+  }
+
+#ifdef HAVE_BULLET
+  btTransform aTrsfBt;
+  aTrsfBt.setIdentity();
+
+  btCompoundShape* aCompShape = new btCompoundShape();
+  myShape = aCompShape;
+  for (int aChildIter = mySubShapes.Lower(); aChildIter <= mySubShapes.Upper(); ++aChildIter)
+  {
+    const Handle(Dynamics_CollisionShape)& aShape = mySubShapes.Value (aChildIter);
+    if (!aShape.IsNull()
+      && aShape->IsValid())
+    {
+      const gp_Trsf& aTrsf = aShape->Location();
+      Dynamics_MotionState::TrsfBtFromGp (aTrsfBt, aTrsf);
+      aCompShape->addChildShape (aTrsfBt, aShape->myShape);
+    }
+  }
+  if (aCompShape->getNumChildShapes() == 0)
+  {
+    releaseShape();
+    return false;
+  }
+  return true;
+#else
+  return false;
+#endif
+}

src/Dynamics/Dynamics_CollisionCompoundShape.hxx

@@ -0,0 +1,45 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionCompoundShape_HeaderFile
+#define _Dynamics_CollisionCompoundShape_HeaderFile
+
+#include <NCollection_Array1.hxx>
+
+#include <Dynamics_CollisionShape.hxx>
+
+//! Define the collision body from triangulation data.
+class Dynamics_CollisionCompoundShape : public Dynamics_CollisionShape
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionCompoundShape, Dynamics_CollisionShape)
+public:
+
+  //! Constructor.
+  Standard_EXPORT Dynamics_CollisionCompoundShape();
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_CollisionCompoundShape();
+
+  //! Modify sub-shapes.
+  NCollection_Array1<Handle(Dynamics_CollisionShape)>& ChangeSubShapes() { return mySubShapes; }
+
+  //! Initialize the collision shape after modification of sub-shape
+  Standard_EXPORT bool Init();
+
+protected:
+
+  NCollection_Array1<Handle(Dynamics_CollisionShape)> mySubShapes;
+
+};
+
+#endif // _Dynamics_CollisionCompoundShape_HeaderFile

src/Dynamics/Dynamics_CollisionPlane.cxx

@@ -0,0 +1,41 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionPlane.hxx>
+
+#include <Dynamics_Internal.hxx>
+
+#include <gp_Pln.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionPlane, Dynamics_CollisionShape)
+
+// =======================================================================
+// function : InitPlane
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionPlane::InitPlane (const gp_Pln& thePlane)
+{
+  releaseShape();
+#ifdef HAVE_BULLET
+  // ABCD does not work as expected for unknown reason
+  //NCollection_Vec4<double> aCoef;
+  //thePlane.Coefficients (aCoef.x(), aCoef.y(), aCoef.z(), aCoef.w());
+  //myShape = new btStaticPlaneShape (btVector3 (btScalar(aCoef.x()), btScalar(aCoef.y()), btScalar(aCoef.z())), btScalar(aCoef.w()));
+  myShape = new btStaticPlaneShape (btVector3 (btScalar(thePlane.Axis().Direction().X()),
+                                               btScalar(thePlane.Axis().Direction().Y()),
+                                               btScalar(thePlane.Axis().Direction().Z())),
+                                    btScalar(0.0));
+#else
+  (void )thePlane;
+#endif
+}

src/Dynamics/Dynamics_CollisionPlane.hxx

@@ -0,0 +1,38 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionPlane_HeaderFile
+#define _Dynamics_CollisionPlane_HeaderFile
+
+#include <Dynamics_CollisionShape.hxx>
+
+class gp_Pln;
+
+//! Infinite collision plane.
+class Dynamics_CollisionPlane : public Dynamics_CollisionShape
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionPlane, Dynamics_CollisionShape)
+public:
+
+  //! Main constructor.
+  Dynamics_CollisionPlane (const gp_Pln& thePlane)
+  {
+    InitPlane (thePlane);
+  }
+
+  //! Initialize the collision plane.
+  Standard_EXPORT void InitPlane (const gp_Pln& thePlane);
+
+};
+
+#endif // _Dynamics_CollisionPlane_HeaderFile

src/Dynamics/Dynamics_CollisionShape.cxx

@@ -0,0 +1,59 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_CollisionShape.hxx>
+
+#include <Dynamics_Internal.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_CollisionShape, Standard_Transient)
+
+// =======================================================================
+// function : Dynamics_CollisionShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionShape::Dynamics_CollisionShape()
+: myShape (NULL)
+{
+  //
+}
+
+// =======================================================================
+// function : Dynamics_CollisionShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionShape::Dynamics_CollisionShape (btCollisionShape* theShape)
+: myShape (theShape)
+{
+  //
+}
+
+// =======================================================================
+// function : ~Dynamics_CollisionShape
+// purpose  :
+// =======================================================================
+Dynamics_CollisionShape::~Dynamics_CollisionShape()
+{
+  releaseShape();
+}
+
+// =======================================================================
+// function : releaseShape
+// purpose  :
+// =======================================================================
+void Dynamics_CollisionShape::releaseShape()
+{
+#ifdef HAVE_BULLET
+  delete myShape;
+#endif
+  myShape = NULL;
+}

src/Dynamics/Dynamics_CollisionShape.hxx

@@ -0,0 +1,65 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_CollisionShape_HeaderFile
+#define _Dynamics_CollisionShape_HeaderFile
+
+#include <gp_Trsf.hxx>
+#include <Standard_Transient.hxx>
+#include <Standard_Type.hxx>
+
+class btCollisionShape;
+
+//! Define the collision shape.
+class Dynamics_CollisionShape : public Standard_Transient
+{
+  friend class Dynamics_CollisionBody;
+  friend class Dynamics_CollisionCompoundShape;
+  DEFINE_STANDARD_RTTIEXT(Dynamics_CollisionShape, Standard_Transient)
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_CollisionShape();
+
+  //! Constructor.
+  Standard_EXPORT Dynamics_CollisionShape (btCollisionShape* theShape);
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_CollisionShape();
+
+  //! Return true if shape object is defined.
+  bool IsValid() const { return myShape != NULL; }
+
+  //! Return collision shape pointer.
+  btCollisionShape* CollisionShape() const { return myShape; }
+
+  //! Return shape location.
+  //! Default implementation always returns an identity location,
+  //! because it is expected that location is put into Motion State instead.
+  //! This method can be overridden for storing an initial location.
+  virtual const gp_Trsf& Location() const
+  {
+    static const gp_Trsf THE_IDENT_LOC;
+    return THE_IDENT_LOC;
+  }
+
+protected:
+
+  //! Release memory.
+  Standard_EXPORT void releaseShape();
+
+protected:
+  btCollisionShape* myShape;
+};
+
+#endif // _Dynamics_CollisionShape_HeaderFile

src/Dynamics/Dynamics_Constraint.cxx

@@ -0,0 +1,221 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_Constraint.hxx>
+
+#include <Dynamics_Internal.hxx>
+#include <Dynamics_CollisionBody.hxx>
+#include <Dynamics_World.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_Constraint, Standard_Transient)
+
+// =======================================================================
+// function : Dynamics_Constraint
+// purpose  :
+// =======================================================================
+Dynamics_Constraint::Dynamics_Constraint()
+: myConstraint (nullptr)
+{
+  //
+}
+
+// =======================================================================
+// function : ~Dynamics_Constraint
+// purpose  :
+// =======================================================================
+Dynamics_Constraint::~Dynamics_Constraint()
+{
+  releaseConstraint();
+}
+
+// =======================================================================
+// function : releaseConstraint
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::releaseConstraint()
+{
+  removeFromWorld();
+#ifdef HAVE_BULLET
+  delete myConstraint;
+#endif
+  myConstraint = nullptr;
+}
+
+// =======================================================================
+// function : addToWorld
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::addToWorld (Dynamics_World* theWorld)
+{
+  removeFromWorld();
+#ifdef HAVE_BULLET
+  myWorld = theWorld;
+  if (myConstraint == nullptr || theWorld == nullptr)
+  {
+    return;
+  }
+
+  btDiscreteDynamicsWorld* aWorld = theWorld->myDynamicsWorld.get();
+  aWorld->addConstraint (myConstraint);
+#else
+  (void )theWorld;
+#endif
+}
+
+// =======================================================================
+// function : removeFromWorld
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::removeFromWorld()
+{
+#ifdef HAVE_BULLET
+  if (myWorld != nullptr && myConstraint != nullptr)
+  {
+    btDiscreteDynamicsWorld* aWorld = myWorld->myDynamicsWorld.get();
+    aWorld->removeConstraint (myConstraint);
+  }
+  myWorld = nullptr;
+#endif
+}
+
+// =======================================================================
+// function : CreateGeneric6Dof
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::CreateGeneric6Dof (const Handle(Dynamics_CollisionBody)& theBody,
+                                             const gp_XYZ& theLinearLower,
+                                             const gp_XYZ& theLinearUpper,
+                                             const gp_XYZ& theAngularLower,
+                                             const gp_XYZ& theAngularUpper)
+{
+  Dynamics_World* aWorld = myWorld;
+  releaseConstraint();
+  if (theBody.IsNull())
+  {
+    throw Standard_ProgramError ("Dynamics_Constraint, Internal Error - NULL Rigid Body");
+  }
+
+#ifdef HAVE_BULLET
+  btRigidBody* aRigidBody = btRigidBody::upcast (theBody->collisionBody());
+  if (aRigidBody == nullptr)
+  {
+    throw Standard_ProgramError ("Dynamics_Constraint, Internal Error - no Rigid Body");
+  }
+
+  const btTransform aFrameInBody = btTransform::getIdentity();
+  myConstraint = new btGeneric6DofConstraint (*aRigidBody, aFrameInBody, false);
+  myConstraint->setDbgDrawSize (5.0f);
+  SetLinearLimits (theLinearLower,  theLinearUpper);
+  SetAngularLimits(theAngularLower, theAngularUpper);
+  theBody->myConstraint = this;
+  if (aWorld != nullptr)
+  {
+    addToWorld (aWorld);
+  }
+  else if (theBody->myWorld != nullptr)
+  {
+    theBody->myWorld->AddConstraint (this);
+    //addToWorld (theBody->myWorld);
+  }
+#else
+  (void )aWorld;
+  (void )theLinearLower;
+  (void )theLinearUpper;
+  (void )theAngularLower;
+  (void )theAngularUpper;
+#endif
+}
+
+// =======================================================================
+// function : LinearLimits
+// purpose  :
+// =======================================================================
+bool Dynamics_Constraint::LinearLimits (gp_XYZ& theLower, gp_XYZ& theUpper) const
+{
+#ifdef HAVE_BULLET
+  if (const btGeneric6DofConstraint* aConstr = dynamic_cast<const btGeneric6DofConstraint*>(myConstraint))
+  {
+    btVector3 aLower, anUpper;
+    aConstr->getLinearLowerLimit (aLower);
+    aConstr->getLinearUpperLimit (anUpper);
+    theLower.SetCoord (aLower.x(),  aLower.y(),  aLower.z());
+    theUpper.SetCoord (anUpper.x(), anUpper.y(), anUpper.z());
+    return true;
+  }
+#endif
+  theLower.SetCoord ( 1.0,  1.0,  1.0);
+  theUpper.SetCoord (-1.0, -1.0, -1.0);
+  return false;
+}
+
+// =======================================================================
+// function : SetLinearLimits
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::SetLinearLimits (const gp_XYZ& theLower, const gp_XYZ& theUpper)
+{
+#ifdef HAVE_BULLET
+  if (btGeneric6DofConstraint* aConstr = dynamic_cast<btGeneric6DofConstraint*>(myConstraint))
+  {
+    aConstr->setLinearLowerLimit (btVector3 ((btScalar )theLower.X(),  (btScalar )theLower.Y(),  (btScalar )theLower.Z()));
+    aConstr->setLinearUpperLimit (btVector3 ((btScalar )theUpper.X(),  (btScalar )theUpper.Y(),  (btScalar )theUpper.Z()));
+    return;
+  }
+#else
+  (void )theLower;
+  (void )theUpper;
+#endif
+  throw Standard_ProgramError ("Dynamics_Constraint::SetLinearLimits(), invalid constraint type");
+}
+
+// =======================================================================
+// function : AngularLimits
+// purpose  :
+// =======================================================================
+bool Dynamics_Constraint::AngularLimits (gp_XYZ& theLower, gp_XYZ& theUpper) const
+{
+#ifdef HAVE_BULLET
+  if (const btGeneric6DofConstraint* aConstr = dynamic_cast<const btGeneric6DofConstraint*>(myConstraint))
+  {
+    btVector3 aLower, anUpper;
+    aConstr->getAngularLowerLimit (aLower);
+    aConstr->getAngularUpperLimit (anUpper);
+    theLower.SetCoord (aLower.x(),  aLower.y(),  aLower.z());
+    theUpper.SetCoord (anUpper.x(), anUpper.y(), anUpper.z());
+    return true;
+  }
+#endif
+  theLower.SetCoord ( 1.0,  1.0,  1.0);
+  theUpper.SetCoord (-1.0, -1.0, -1.0);
+  return false;
+}
+
+// =======================================================================
+// function : SetAngularLimits
+// purpose  :
+// =======================================================================
+void Dynamics_Constraint::SetAngularLimits (const gp_XYZ& theLower, const gp_XYZ& theUpper)
+{
+#ifdef HAVE_BULLET
+  if (btGeneric6DofConstraint* aConstr = dynamic_cast<btGeneric6DofConstraint*>(myConstraint))
+  {
+    aConstr->setAngularLowerLimit (btVector3 ((btScalar )theLower.X(),  (btScalar )theLower.Y(),  (btScalar )theLower.Z()));
+    aConstr->setAngularUpperLimit (btVector3 ((btScalar )theUpper.X(),  (btScalar )theUpper.Y(),  (btScalar )theUpper.Z()));
+    return;
+  }
+#else
+  (void )theLower;
+  (void )theUpper;
+#endif
+  throw Standard_ProgramError ("Dynamics_Constraint::SetAngularLimits(), invalid constraint type");
+}

src/Dynamics/Dynamics_Constraint.hxx

@@ -0,0 +1,85 @@
+// Copyright (c) 2018-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_Constraint_HeaderFile
+#define _Dynamics_Constraint_HeaderFile
+
+#include <gp_Trsf.hxx>
+#include <Standard_Transient.hxx>
+#include <Standard_Type.hxx>
+
+class btTypedConstraint;
+class Dynamics_CollisionBody;
+class Dynamics_World;
+
+//! Define the motion state.
+class Dynamics_Constraint : public Standard_Transient
+{
+  friend class Dynamics_World;
+  DEFINE_STANDARD_RTTIEXT(Dynamics_Constraint, Standard_Transient)
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_Constraint();
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_Constraint();
+
+  //! Return true if Constraint is defined.
+  bool IsValid() const { return myConstraint != NULL; }
+
+  //! Return Constraint pointer.
+  btTypedConstraint* TypedConstraint() const { return myConstraint; }
+
+  Standard_EXPORT void CreateGeneric6Dof (const Handle(Dynamics_CollisionBody)& theBody,
+                                          const gp_XYZ& theLinearLower,
+                                          const gp_XYZ& theLinearUpper,
+                                          const gp_XYZ& theAngularLower,
+                                          const gp_XYZ& theAngularUpper);
+
+  //! Return the world.
+  Dynamics_World* DynamicsWorld() { return myWorld; }
+
+  //! Return linear limits per axis.
+  //! Upper value below Lower means that there is NO limit.
+  Standard_EXPORT bool LinearLimits (gp_XYZ& theLower, gp_XYZ& theUpper) const;
+
+  //! Set linear limits per axis (in radians).
+  Standard_EXPORT void SetLinearLimits (const gp_XYZ& theLower, const gp_XYZ& theUpper);
+
+  //! Return angular limits per axis (in radians).
+  //! Upper value below Lower means that there is NO limit.
+  Standard_EXPORT bool AngularLimits(gp_XYZ& theLower, gp_XYZ& theUpper) const;
+
+  //! Set angular limits per axis (in radians).
+  Standard_EXPORT void SetAngularLimits (const gp_XYZ& theLower, const gp_XYZ& theUpper);
+
+protected:
+
+  //! Release memory.
+  Standard_EXPORT void releaseConstraint();
+
+  //! Add body to the world.
+  Standard_EXPORT void addToWorld (Dynamics_World* theWorld);
+
+  //! Remove body from the world.
+  Standard_EXPORT void removeFromWorld();
+
+protected:
+
+  Dynamics_World* myWorld;
+  btTypedConstraint* myConstraint;
+
+};
+
+#endif // _Dynamics_Constraint_HeaderFile

src/Dynamics/Dynamics_DebugDrawer.cxx

@@ -0,0 +1,345 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifdef HAVE_BULLET
+
+#include <Dynamics_DebugDrawer.hxx>
+
+#include <AIS_TextLabel.hxx>
+#include <Message.hxx>
+#include <Message_Messenger.hxx>
+#include <Prs3d_LineAspect.hxx>
+#include <Prs3d_PointAspect.hxx>
+#include <V3d_Viewer.hxx>
+#include <V3d_View.hxx>
+
+namespace
+{
+  //! Convert vec3 into vec4ub color.
+  Graphic3d_Vec4ub colorBt2vec4ub (const btVector3& theColor)
+  {
+    return Graphic3d_Vec4ub ((unsigned char)(int)(theColor.x() * 255.0f),
+                             (unsigned char)(int)(theColor.y() * 255.0f),
+                             (unsigned char)(int)(theColor.z() * 255.0f),
+                             255);
+  }
+}
+
+//! Auxiliary presentation of line segments and points.
+class Dynamics_DebugDrawer::Dynamics_DebugPrs : public AIS_InteractiveObject
+{
+  DEFINE_STANDARD_RTTI_INLINE(Dynamics_DebugPrs, AIS_InteractiveObject)
+public:
+  //! Empty constructor.
+  Dynamics_DebugPrs()
+  {
+    SetMutable (true);
+    SetInfiniteState (true);
+    mySegments = new ColoredNodeBuffer();
+    myPoints   = new ColoredNodeBuffer();
+    myDrawer->SetLineAspect (new Prs3d_LineAspect (Quantity_NOC_RED, Aspect_TOL_SOLID, 1.0f));
+    myDrawer->SetPointAspect(new Prs3d_PointAspect(Aspect_TOM_PLUS,  Quantity_NOC_RED, 1.0f));
+  }
+
+  //! Colored node.
+  struct ColoredNode
+  {
+    Graphic3d_Vec3   Position;
+    Graphic3d_Vec4ub Color;
+  };
+
+  //! Return vector of colored segments.
+  std::vector<ColoredNode>& ChangeSegments() { return mySegments->Nodes; }
+
+  //! Return vector of colored points.
+  std::vector<ColoredNode>& ChangePoints() { return myPoints->Nodes; }
+
+  //! Clear previous data.
+  void Clear()
+  {
+    if (!mySegments->Nodes.empty()
+     || !myPoints->Nodes.empty())
+    {
+      mySegments->Nodes.clear();
+      myPoints  ->Nodes.clear();
+      //SetToUpdate();
+    }
+  }
+
+  //! Setup view bounding box to be used instead of min/max range of points in this presentation.
+  //! This would allow avoiding issues with infinite presentations passed from Bullet (e.g. for btStaticPlaneShape).
+  void SetViewBox (const Bnd_Box& theBox) { myViewBox = theBox; }
+
+protected:
+
+  //! Return TRUE for supported display modes.
+  virtual Standard_Boolean AcceptDisplayMode (const Standard_Integer theMode) const Standard_OVERRIDE { return theMode == 0; }
+
+  //! Compute presentation.
+  virtual void Compute (const Handle(PrsMgr_PresentationManager)& ,
+                        const Handle(Prs3d_Presentation)& thePrs,
+                        const Standard_Integer theMode) Standard_OVERRIDE
+  {
+    thePrs->SetInfiniteState (true);
+    if (theMode != 0)
+    {
+      return;
+    }
+
+    Graphic3d_Vec3d aMinMax[2];
+    bool toCalcMinMax = myViewBox.IsVoid();
+    if (!toCalcMinMax)
+    {
+      aMinMax[0].SetValues (myViewBox.CornerMin().X(), myViewBox.CornerMin().Y(), myViewBox.CornerMin().Z());
+      aMinMax[1].SetValues (myViewBox.CornerMax().X(), myViewBox.CornerMax().Y(), myViewBox.CornerMax().Z());
+    }
+
+    if (mySegments->Init())
+    {
+      const Handle(Graphic3d_Group)& aGroup = thePrs->NewGroup();
+      aGroup->SetGroupPrimitivesAspect (myDrawer->LineAspect()->Aspect());
+      aGroup->AddPrimitiveArray (Graphic3d_TOPA_SEGMENTS, Handle(Graphic3d_IndexBuffer)(), mySegments, Handle(Graphic3d_BoundBuffer)(), toCalcMinMax);
+      if (!toCalcMinMax)
+      {
+        aGroup->SetMinMaxValues (aMinMax[0].x(), aMinMax[0].y(), aMinMax[0].z(),
+                                 aMinMax[1].x(), aMinMax[1].y(), aMinMax[1].z());
+      }
+    }
+    if (myPoints->Init())
+    {
+      const Handle(Graphic3d_Group)& aGroup = thePrs->NewGroup();
+      aGroup->SetGroupPrimitivesAspect (myDrawer->PointAspect()->Aspect());
+      aGroup->AddPrimitiveArray (Graphic3d_TOPA_POINTS, Handle(Graphic3d_IndexBuffer)(), myPoints, Handle(Graphic3d_BoundBuffer)(), toCalcMinMax);
+      if (!toCalcMinMax)
+      {
+        aGroup->SetMinMaxValues (aMinMax[0].x(), aMinMax[0].y(), aMinMax[0].z(),
+                                 aMinMax[1].x(), aMinMax[1].y(), aMinMax[1].z());
+      }
+    }
+  }
+
+  //! Empty selection builder.
+  virtual void ComputeSelection (const Handle(SelectMgr_Selection)& theSel, const Standard_Integer theMode) Standard_OVERRIDE
+  {
+    (void )theSel;
+    (void )theMode;
+  }
+
+protected:
+
+  //! Buffer holding colored nodes.
+  //! This implementation wraps std::vector array, so that NCollection_Buffer wraps external memory and initialized with NULL allocator.
+  class ColoredNodeBuffer : public Graphic3d_Buffer
+  {
+  public:
+    //! Data array.
+    std::vector<ColoredNode> Nodes;
+
+    //! Empty constructor; passes a NULL allocator.
+    ColoredNodeBuffer() : Graphic3d_Buffer (Handle(NCollection_BaseAllocator)()) {}
+
+    //! Wraps buffer from std::vector.
+    bool Init()
+    {
+      release();
+      if (Nodes.empty())
+      {
+        return false;
+      }
+
+      // Graphic3d_Buffer defines attributes definition at the end of memory buffer,
+      // so that we are extending std::vector capacity to cover this memory block.
+      const size_t aReserve = (sizeof(Nodes[0]) + sizeof(Graphic3d_Attribute) - 1) / sizeof(Graphic3d_Attribute);
+      Nodes.reserve (Nodes.size() + aReserve);
+
+      static const Graphic3d_Attribute anAttribs[2] =
+      {
+        { Graphic3d_TOA_POS,   Graphic3d_TOD_VEC3 },
+        { Graphic3d_TOA_COLOR, Graphic3d_TOD_VEC4UB }
+      };
+
+      NbAttributes = 2;
+      Stride       = anAttribs[0].Stride() + anAttribs[1].Stride();
+      NbElements   = (int )Nodes.size();
+      myData       = (Standard_Byte* )&Nodes[0];
+      mySize       = size_t(Stride) * size_t(NbElements);
+      ChangeAttribute (0) = anAttribs[0];
+      ChangeAttribute (1) = anAttribs[1];
+      return true;
+    }
+  };
+
+private:
+
+  Handle(ColoredNodeBuffer) mySegments;
+  Handle(ColoredNodeBuffer) myPoints;
+  Bnd_Box myViewBox;
+
+};
+
+// =======================================================================
+// function : Dynamics_DebugDrawer
+// purpose  :
+// =======================================================================
+Dynamics_DebugDrawer::Dynamics_DebugDrawer()
+: myZLayer (Graphic3d_ZLayerId_Topmost),
+  myDebugMode (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawContactPoints | btIDebugDraw::DBG_DrawText | btIDebugDraw::DBG_DrawFeaturesText)
+{
+  //myDebugMode = -1;
+}
+
+// =======================================================================
+// function : ~Dynamics_DebugDrawer
+// purpose  :
+// =======================================================================
+Dynamics_DebugDrawer::~Dynamics_DebugDrawer()
+{
+  FrameClear (nullptr);
+}
+
+// =======================================================================
+// function : FrameClear
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::FrameClear (AIS_InteractiveContext* theCtx)
+{
+  for (NCollection_Sequence<Handle(AIS_InteractiveObject)>::Iterator aPrsIter (myTmpPrsList); aPrsIter.More(); aPrsIter.Next())
+  {
+    if (aPrsIter.Value()->HasInteractiveContext())
+    {
+      if (theCtx == nullptr)
+      {
+        throw Standard_ProgramError ("Internal Error: Dynamics_DebugDrawer::FrameClear() is called with NULL context");
+      }
+      theCtx->Remove (aPrsIter.Value(), false);
+    }
+  }
+  myTmpPrsList.Clear();
+  if (!myTmpPrs.IsNull())
+  {
+    myTmpPrs->Clear();
+  }
+}
+
+// =======================================================================
+// function : FrameBegin
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::FrameBegin (const Handle(AIS_InteractiveContext)& theCtx)
+{
+  FrameClear (theCtx.get());
+  if (myTmpPrs.IsNull())
+  {
+    myTmpPrs = new Dynamics_DebugPrs();
+    myTmpPrs->SetZLayer (myZLayer);
+  }
+  {
+    Handle(V3d_View) aView = theCtx->CurrentViewer()->ActiveViewIterator().Value();
+    const Bnd_Box aViewBox = aView->View()->MinMaxValues();
+    myTmpPrs->SetViewBox (aViewBox);
+  }
+  myTmpPrsList.Append (myTmpPrs);
+}
+
+// =======================================================================
+// function : FrameEnd
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::FrameEnd (const Handle(AIS_InteractiveContext)& theCtx)
+{
+  theCtx->RecomputePrsOnly (myTmpPrs, false);
+  for (NCollection_Sequence<Handle(AIS_InteractiveObject)>::Iterator aPrsIter (myTmpPrsList); aPrsIter.More(); aPrsIter.Next())
+  {
+    theCtx->Display (aPrsIter.Value(), 0, -1, false);
+  }
+}
+
+// =======================================================================
+// function : drawLine
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::drawLine (const btVector3& theFrom,
+                                        const btVector3& theTo,
+                                        const btVector3& theColor)
+{
+  Dynamics_DebugPrs::ColoredNode aNode;
+  aNode.Color = colorBt2vec4ub (theColor);
+  aNode.Position.SetValues (theFrom.x(), theFrom.y(), theFrom.z());
+  myTmpPrs->ChangeSegments().push_back (aNode);
+  aNode.Position.SetValues (theTo.x(), theTo.y(), theTo.z());
+  myTmpPrs->ChangeSegments().push_back (aNode);
+}
+
+// =======================================================================
+// function : drawLine
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::drawLine (const btVector3& theFrom,
+                                        const btVector3& theTo,
+                                        const btVector3& theFromColor,
+                                        const btVector3& theToColor)
+{
+  Dynamics_DebugPrs::ColoredNode aNode;
+  aNode.Color = colorBt2vec4ub (theFromColor);
+  aNode.Position.SetValues (theFrom.x(), theFrom.y(), theFrom.z());
+  myTmpPrs->ChangeSegments().push_back (aNode);
+  aNode.Color = colorBt2vec4ub (theToColor);
+  aNode.Position.SetValues (theTo.x(), theTo.y(), theTo.z());
+  myTmpPrs->ChangeSegments().push_back (aNode);
+}
+
+// =======================================================================
+// function : drawContactPoint
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::drawContactPoint (const btVector3& thePointOnB,
+                                                const btVector3& theNormalOnB,
+                                                btScalar theDistance,
+                                                int theLifeTime,
+                                                const btVector3& theColor)
+{
+  Dynamics_DebugPrs::ColoredNode aNode;
+  aNode.Color = colorBt2vec4ub (theColor);
+  aNode.Position.SetValues (thePointOnB.x(), thePointOnB.y(), thePointOnB.z());
+  myTmpPrs->ChangePoints().push_back (aNode);
+  (void )theNormalOnB;
+  (void )theDistance;
+  (void )theLifeTime;
+}
+
+// =======================================================================
+// function : reportErrorWarning
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::reportErrorWarning (const char* theWarningString)
+{
+  Message::SendWarning (theWarningString);
+}
+
+// =======================================================================
+// function : draw3dText
+// purpose  :
+// =======================================================================
+void Dynamics_DebugDrawer::draw3dText (const btVector3& theLocation,
+                                          const char* theTextString)
+{
+  Handle(AIS_TextLabel) aLabel = new AIS_TextLabel();
+  aLabel->SetMutable(true);
+  aLabel->SetZLayer (myZLayer);
+  aLabel->SetInfiniteState (true);
+  aLabel->SetText (theTextString);
+  aLabel->SetPosition (gp_Pnt (theLocation.x(), theLocation.y(), theLocation.z()));
+  myTmpPrsList.Append (aLabel);
+}
+
+#endif

src/Dynamics/Dynamics_DebugDrawer.hxx

@@ -0,0 +1,90 @@
+// Copyright (c) 2018-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_DebugDrawer_HeaderFile
+#define _Dynamics_DebugDrawer_HeaderFile
+
+#include <AIS_InteractiveContext.hxx>
+
+#include <Dynamics_Internal.hxx>
+
+//! Define the debugging drawer.
+class Dynamics_DebugDrawer : public btIDebugDraw
+{
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_DebugDrawer();
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_DebugDrawer();
+
+  //! Return TRUE if temporary presentations have been displayed (and not cleared) in Interactive Context.
+  bool IsEmpty() const { return myTmpPrsList.IsEmpty(); }
+
+  //! Remove temporary presentations from context.
+  Standard_EXPORT void FrameClear (AIS_InteractiveContext* theCtx);
+
+  //! Begin frame rendering.
+  Standard_EXPORT void FrameBegin (const Handle(AIS_InteractiveContext)& theCtx);
+
+  //! End frame rendering.
+  Standard_EXPORT void FrameEnd   (const Handle(AIS_InteractiveContext)& theCtx);
+
+public:
+
+  //! Draw the line segment.
+  Standard_EXPORT virtual void drawLine (const btVector3& theFrom,
+                                         const btVector3& theTo,
+                                         const btVector3& theColor) Standard_OVERRIDE;
+
+  //! Draw the line segment.
+  Standard_EXPORT virtual void drawLine (const btVector3& theFrom,
+                                         const btVector3& theTo,
+                                         const btVector3& theFromColor,
+                                         const btVector3& theToColor) Standard_OVERRIDE;
+
+  //! Draw contact point.
+  Standard_EXPORT virtual void drawContactPoint (const btVector3& thePointOnB,
+                                                 const btVector3& theNormalOnB,
+                                                 btScalar theDistance,
+                                                 int theLifeTime,
+                                                 const btVector3& theColor) Standard_OVERRIDE;
+
+  //! Print message.
+  Standard_EXPORT virtual void reportErrorWarning (const char* theWarningString) Standard_OVERRIDE;
+
+  //! Draw text.
+  Standard_EXPORT virtual void draw3dText (const btVector3& theLocation,
+                                           const char* theTextString) Standard_OVERRIDE;
+
+  //! Return debug mode.
+  virtual int getDebugMode() const Standard_OVERRIDE { return myDebugMode; }
+
+  //! Set debug mode.
+  virtual void setDebugMode (int theDebugMode) Standard_OVERRIDE { myDebugMode = theDebugMode; }
+
+private:
+
+  class Dynamics_DebugPrs;
+
+private:
+
+  Handle(Dynamics_DebugPrs) myTmpPrs;
+  NCollection_Sequence<Handle(AIS_InteractiveObject)> myTmpPrsList;
+  Graphic3d_ZLayerId myZLayer;
+  Standard_Integer   myDebugMode;
+
+};
+
+#endif // _Dynamics_DebugDrawer_HeaderFile

src/Dynamics/Dynamics_Graphic3dTriangulation.cxx

@@ -0,0 +1,131 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_Graphic3dTriangulation.hxx>
+
+#ifdef HAVE_BULLET
+
+// =======================================================================
+// function : Dynamics_Graphic3dTriangulation
+// purpose  :
+// =======================================================================
+Dynamics_Graphic3dTriangulation::Dynamics_Graphic3dTriangulation (const Handle(Graphic3d_ArrayOfTriangles)& theTris)
+: myPosOffset (0)
+{
+  if (!theTris.IsNull())
+  {
+    myVerts   = theTris->Attributes();
+    myIndices = theTris->Indices();
+  }
+
+  if (myVerts.IsNull()
+   || myIndices.IsNull()
+   || !(myIndices->Stride == 2 || myIndices->Stride == 4))
+  {
+    throw Standard_ProgramError ("Dynamics_Graphic3dTriangulation constructor called with NULL object!");
+  }
+
+  bool hasPos = false;
+  myPosOffset = 0;
+  for (Standard_Integer anAttribIter = 0; anAttribIter < myVerts->NbAttributes; ++anAttribIter)
+  {
+    const Graphic3d_Attribute& anAttrib = myVerts->Attribute (anAttribIter);
+    if (anAttrib.Id == Graphic3d_TOA_POS)
+    {
+      if (anAttrib.DataType != Graphic3d_TOD_VEC3
+       && anAttrib.DataType != Graphic3d_TOD_VEC4)
+      {
+        throw Standard_ProgramError ("Dynamics_Graphic3dTriangulation constructor called with unsupported data!");
+      }
+      hasPos = true;
+      break;
+    }
+
+    myPosOffset += Graphic3d_Attribute::Stride (anAttrib.DataType);
+  }
+  if (!hasPos)
+  {
+    throw Standard_ProgramError ("Dynamics_Graphic3dTriangulation constructor called with NULL object!");
+  }
+}
+
+// =======================================================================
+// function : ~Dynamics_Graphic3dTriangulation
+// purpose  :
+// =======================================================================
+Dynamics_Graphic3dTriangulation::~Dynamics_Graphic3dTriangulation()
+{
+  //
+}
+
+// =======================================================================
+// function : getLockedVertexIndexBase
+// purpose  :
+// =======================================================================
+void Dynamics_Graphic3dTriangulation::getLockedVertexIndexBase (unsigned char** theVertexBase,
+                                                                int& theNbVerts,
+                                                                PHY_ScalarType& theType,
+                                                                int& theStride,
+                                                                unsigned char** theIndexBase,
+                                                                int& theIndexStride,
+                                                                int& theNbFaces,
+                                                                PHY_ScalarType& theIndicesType,
+                                                                int theSubPart)
+{
+  if (theSubPart != 0)
+  {
+    return;
+  }
+
+  theType        = PHY_FLOAT;
+  theNbVerts     = myVerts->NbElements;
+  theStride      = myVerts->Stride;
+  *theVertexBase = myVerts->changeValue (0) + myPosOffset;
+
+  theIndicesType = myIndices->Stride == 2 ? PHY_SHORT : PHY_INTEGER;
+  *theIndexBase  = myIndices->changeValue (0);
+  theNbFaces     = myIndices->NbElements / 3;
+  theIndexStride = myIndices->Stride * 3;
+}
+
+// =======================================================================
+// function : getLockedReadOnlyVertexIndexBase
+// purpose  :
+// =======================================================================
+void Dynamics_Graphic3dTriangulation::getLockedReadOnlyVertexIndexBase (const unsigned char** theVertexBase,
+                                                                        int& theNbVerts,
+                                                                        PHY_ScalarType& theType,
+                                                                        int& theStride,
+                                                                        const unsigned char** theIndexBase,
+                                                                        int& theIndexStride,
+                                                                        int& theNbFaces,
+                                                                        PHY_ScalarType& theIndicesType,
+                                                                        int theSubPart) const
+{
+  if (theSubPart != 0)
+  {
+    return;
+  }
+
+  theType        = PHY_FLOAT;
+  theNbVerts     = myVerts->NbElements;
+  theStride      = myVerts->Stride;
+  *theVertexBase = myVerts->value (0) + myPosOffset;
+
+  theIndicesType = myIndices->Stride == 2 ? PHY_SHORT : PHY_INTEGER;
+  *theIndexBase  = myIndices->value (0);
+  theNbFaces     = myIndices->NbElements / 3;
+  theIndexStride = myIndices->Stride * 3;
+}
+
+#endif // HAVE_BULLET

src/Dynamics/Dynamics_Graphic3dTriangulation.hxx

@@ -0,0 +1,82 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_Graphic3dTriangulation_HeaderFile
+#define _Dynamics_Graphic3dTriangulation_HeaderFile
+
+#include <Dynamics_Internal.hxx>
+
+#include <Graphic3d_ArrayOfTriangles.hxx>
+
+#ifdef HAVE_BULLET
+
+//! Interface for Graphic3d_ArrayOfTriangles defining continuous triangulation data.
+ATTRIBUTE_ALIGNED16(class) Dynamics_Graphic3dTriangulation : public btStridingMeshInterface
+{
+public:
+  BT_DECLARE_ALIGNED_ALLOCATOR()
+
+  //! Constructor.
+  Standard_EXPORT Dynamics_Graphic3dTriangulation (const Handle(Graphic3d_ArrayOfTriangles)& theTris);
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_Graphic3dTriangulation();
+
+  //! Get read/write access to a subpart of a triangle mesh.
+  Standard_EXPORT virtual void getLockedVertexIndexBase (unsigned char** theVertexBase,
+                                                         int& theNbVerts,
+                                                         PHY_ScalarType& theType,
+                                                         int& theStride,
+                                                         unsigned char** theIndexBase,
+                                                         int& theIndexStride,
+                                                         int& theNbFaces,
+                                                         PHY_ScalarType& theIndicesType,
+                                                         int theSubPart) Standard_OVERRIDE;
+
+  //! Get read access to a subpart of a triangle mesh.
+  Standard_EXPORT virtual void getLockedReadOnlyVertexIndexBase (const unsigned char** theVertexBase,
+                                                                 int& theNbVerts,
+                                                                 PHY_ScalarType& theType,
+                                                                 int& theStride,
+                                                                 const unsigned char** theIndexBase,
+                                                                 int& theIndexStride,
+                                                                 int& theNbFaces,
+                                                                 PHY_ScalarType& theIndicesType,
+                                                                 int theSubPart) const Standard_OVERRIDE;
+
+  //! Finishes the access to a subpart of the triangle mesh.
+  virtual void unLockVertexBase         (int theSubPart)       Standard_OVERRIDE { (void )theSubPart; }
+  virtual void unLockReadOnlyVertexBase (int theSubPart) const Standard_OVERRIDE { (void )theSubPart; }
+
+  //! Returns the number of seperate subparts; each subpart has a continuous array of vertices and indices.
+  virtual int getNumSubParts() const Standard_OVERRIDE { return 1; }
+
+  virtual void preallocateVertices (int theNbVerts)   Standard_OVERRIDE { (void )theNbVerts; }
+  virtual void preallocateIndices  (int theNbIndices) Standard_OVERRIDE { (void )theNbIndices; }
+
+  //virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+  //virtual bool hasPremadeAabb() const Standard_OVERRIDE { return false; }
+  //virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const Standard_OVERRIDE;
+  //virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const Standard_OVERRIDE
+
+protected:
+
+  Handle(Graphic3d_Buffer)      myVerts;
+  Handle(Graphic3d_IndexBuffer) myIndices;
+  size_t                        myPosOffset;
+
+};
+
+#endif // HAVE_BULLET
+
+#endif // _Dynamics_Graphic3dTriangulation_HeaderFile

src/Dynamics/Dynamics_Internal.hxx

@@ -0,0 +1,31 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_Internal_HeaderFile
+#define _Dynamics_Internal_HeaderFile
+
+#ifdef HAVE_BULLET
+  #include <Standard_WarningsDisable.hxx>
+
+  #include <btBulletDynamicsCommon.h>
+  //#include <BulletCollision/Gimpact/btGImpactShape.h>
+  #include <BulletCollision/CollisionDispatch/btGhostObject.h>
+  #include <BulletCollision/CollisionShapes/btShapeHull.h>
+  #include <BulletDynamics/Character/btKinematicCharacterController.h>
+
+  #include <Standard_WarningsRestore.hxx>
+#else
+class btTransform {};
+#endif
+
+#endif // _Dynamics_Internal_HeaderFile

src/Dynamics/Dynamics_MotionState.cxx

@@ -0,0 +1,169 @@
+// Copyright (c) 2018-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_MotionState.hxx>
+
+#include <Dynamics_Internal.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_MotionState, Standard_Transient)
+
+#ifdef HAVE_BULLET
+ATTRIBUTE_ALIGNED16(struct) Dynamics_MotionState::Dynamics_MotionStateProxy : public btDefaultMotionState
+{
+  Dynamics_MotionStateProxy (Dynamics_MotionState* theHolder,
+                             const btTransform& theStartTrans = btTransform::getIdentity(),
+                             const btTransform& theCenterOfMassOffset = btTransform::getIdentity(),
+                             const gp_Trsf& thePrsOffset = gp_Trsf())
+  : btDefaultMotionState (theStartTrans, theCenterOfMassOffset),
+    myHolder (theHolder),
+    myPrsOffset (thePrsOffset) {}
+
+  virtual void setWorldTransform (const btTransform& theCenterOfMassWorldTrans) Standard_OVERRIDE
+  {
+    btDefaultMotionState::setWorldTransform (theCenterOfMassWorldTrans);
+
+    btTransform aTrsfBt;
+    getWorldTransform (aTrsfBt);
+
+    gp_Trsf aTrsf;
+    Dynamics_MotionState::TrsfGpFromBt (aTrsf, aTrsfBt);
+    aTrsf *= myPrsOffset;
+    myHolder->setWorldTransform (aTrsf);
+  }
+private:
+  Dynamics_MotionState* myHolder;
+  gp_Trsf myPrsOffset;
+};
+#endif
+
+// =======================================================================
+// function : Dynamics_MotionState
+// purpose  :
+// =======================================================================
+Dynamics_MotionState::Dynamics_MotionState()
+: myMotionState (NULL),
+  myToDisplaceCenterOfMass (false)
+{
+  //
+}
+
+// =======================================================================
+// function : ~Dynamics_MotionState
+// purpose  :
+// =======================================================================
+Dynamics_MotionState::~Dynamics_MotionState()
+{
+  releaseMotionState();
+}
+
+// =======================================================================
+// function : InitProxy
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::InitProxy (const gp_Trsf& theStartTrans,
+                                      const gp_Trsf& theCenterOfMassOffset,
+                                      const gp_Trsf& thePrsOffset)
+{
+  releaseMotionState();
+#ifdef HAVE_BULLET
+  btTransform aTrsfBt, aMassOffsetBt;
+  Dynamics_MotionState::TrsfBtFromGp (aTrsfBt, theStartTrans);
+  Dynamics_MotionState::TrsfBtFromGp (aMassOffsetBt, theCenterOfMassOffset);
+  myMotionState = new Dynamics_MotionStateProxy (this, aTrsfBt, aMassOffsetBt, thePrsOffset);
+#else
+  (void )theStartTrans;
+  (void )theCenterOfMassOffset;
+  (void )thePrsOffset;
+#endif
+}
+
+// =======================================================================
+// function : InitDefault
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::InitDefault (const btTransform& theStartTrans,
+                                        const btTransform& theCenterOfMassOffset)
+{
+  releaseMotionState();
+#ifdef HAVE_BULLET
+  myMotionState = new btDefaultMotionState (theStartTrans, theCenterOfMassOffset);
+#else
+  (void )theStartTrans;
+  (void )theCenterOfMassOffset;
+#endif
+}
+
+// =======================================================================
+// function : setWorldTransform
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::setWorldTransform (const gp_Trsf& theTrsf)
+{
+  (void )theTrsf;
+}
+
+// =======================================================================
+// function : releaseMotionState
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::releaseMotionState()
+{
+#ifdef HAVE_BULLET
+  delete myMotionState;
+#endif
+  myMotionState = NULL;
+}
+
+// =======================================================================
+// function : TrsfGpFromBt
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::TrsfGpFromBt (gp_Trsf& theLoc, const btTransform& theTrsf)
+{
+#ifdef HAVE_BULLET
+  const btVector3&   anOrigin = theTrsf.getOrigin();
+  const btMatrix3x3& aMat3bt  = theTrsf.getBasis();
+  theLoc.SetValues (aMat3bt.getRow (0).x(), aMat3bt.getRow (0).y(), aMat3bt.getRow (0).z(), anOrigin.x(),
+                    aMat3bt.getRow (1).x(), aMat3bt.getRow (1).y(), aMat3bt.getRow (1).z(), anOrigin.y(),
+                    aMat3bt.getRow (2).x(), aMat3bt.getRow (2).y(), aMat3bt.getRow (2).z(), anOrigin.z());
+#else
+  (void )theTrsf;
+  (void )theLoc;
+#endif
+}
+
+// =======================================================================
+// function : TrsfBtFromGp
+// purpose  :
+// =======================================================================
+void Dynamics_MotionState::TrsfBtFromGp (btTransform& theTrsf, const gp_Trsf& theLoc)
+{
+#ifdef HAVE_BULLET
+  theTrsf.setIdentity();
+  if (theLoc.Form() == gp_Identity)
+  {
+    return;
+  }
+
+  const gp_Mat aMat3 = theLoc.VectorialPart();
+  btVector3   anOrigin (btScalar (theLoc.TranslationPart().X()), btScalar (theLoc.TranslationPart().Y()), btScalar (theLoc.TranslationPart().Z()));
+  btMatrix3x3 aMat3bt  (btScalar (aMat3.Value (1, 1)), btScalar (aMat3.Value (1, 2)), btScalar (aMat3.Value (1, 3)),
+                        btScalar (aMat3.Value (2, 1)), btScalar (aMat3.Value (2, 2)), btScalar (aMat3.Value (2, 3)),
+                        btScalar (aMat3.Value (3, 1)), btScalar (aMat3.Value (3, 2)), btScalar (aMat3.Value (3, 3)));
+  theTrsf.setOrigin(anOrigin);
+  theTrsf.setBasis (aMat3bt);
+#else
+  (void )theTrsf;
+  (void )theLoc;
+#endif
+}

src/Dynamics/Dynamics_MotionState.hxx

@@ -0,0 +1,86 @@
+// Copyright (c) 2018-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_MotionState_HeaderFile
+#define _Dynamics_MotionState_HeaderFile
+
+#include <gp_Trsf.hxx>
+#include <Standard_Transient.hxx>
+#include <Standard_Type.hxx>
+
+class btMotionState;
+class btTransform;
+
+//! Define the motion state.
+class Dynamics_MotionState : public Standard_Transient
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_MotionState, Standard_Transient)
+public:
+
+  //! Convert transformation definition from OCCT to Bullet structure.
+  Standard_EXPORT static void TrsfBtFromGp (btTransform& theTrsf, const gp_Trsf& theLoc);
+
+  //! Convert transformation definition from Bullet to OCCT structure.
+  Standard_EXPORT static void TrsfGpFromBt (gp_Trsf& theLoc, const btTransform& theTrsf);
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_MotionState();
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_MotionState();
+
+  //! Create a proxy motion state.
+  //! @param theStartTrans initial transformation
+  //! @param theCenterOfMassOffset offset to the center of mass
+  //! @param thePrsOffset optional transformation from collision shape to presentation shape
+  Standard_EXPORT void InitProxy (const gp_Trsf& theStartTrans,
+                                  const gp_Trsf& theCenterOfMassOffset,
+                                  const gp_Trsf& thePrsOffset = gp_Trsf());
+
+  //! Create a default motion state.
+  Standard_EXPORT void InitDefault (const btTransform& theStartTrans,
+                                    const btTransform& theCenterOfMassOffset);
+
+  //! Return true if motion state is defined.
+  bool IsValid() const { return myMotionState != NULL; }
+
+  //! Return motion state pointer.
+  btMotionState* MotionState() const { return myMotionState; }
+
+  //! Option displaying center of mass; FALSE by default.
+  bool ToDisplaceCenterOfMass() const { return myToDisplaceCenterOfMass; }
+
+  //! Set option displaying center of mass.
+  void SetDisplaceCenterOfMass (bool theToDisplace) { myToDisplaceCenterOfMass = theToDisplace; }
+
+protected:
+
+  //! Virtual callback.
+  Standard_EXPORT virtual void setWorldTransform (const gp_Trsf& theTrsf);
+
+  //! Release memory.
+  Standard_EXPORT void releaseMotionState();
+
+protected:
+  //! Proxy btMotionState implementation.
+  struct Dynamics_MotionStateProxy;
+
+protected:
+
+  btMotionState* myMotionState;
+  bool           myToDisplaceCenterOfMass;
+
+};
+
+#endif // _Dynamics_MotionState_HeaderFile

src/Dynamics/Dynamics_Parameters.cxx

@@ -0,0 +1,31 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_Parameters.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_Parameters, Standard_Transient)
+
+// =======================================================================
+// function : Dynamics_Parameters
+// purpose  :
+// =======================================================================
+Dynamics_Parameters::Dynamics_Parameters()
+: myRigidBodyYaw   (-1),
+  myRigidBodyPitch (15),
+  myRigidBodyRoll  (15),
+  myFirstPersonHeight (1.75f),
+  myFirstPersonWidth  (0.46f),
+  myFirstPersonStepHeight (0.35f)
+{
+  //
+}

src/Dynamics/Dynamics_Parameters.hxx

@@ -0,0 +1,78 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_Parameters_HeaderFile
+#define _Dynamics_Parameters_HeaderFile
+
+#include <Standard_Type.hxx>
+
+//! Class defining global dynamics parameters.
+class Dynamics_Parameters : public Standard_Transient
+{
+  DEFINE_STANDARD_RTTIEXT(Dynamics_Parameters, Standard_Transient)
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Dynamics_Parameters();
+
+  //! Return rigid body yaw constraint in degrees; -1 by default.
+  //! -1 means no constraint.
+  int RigidBodyYawConstraint() const { return myRigidBodyYaw; }
+
+  //! Set rigid body yaw constraint in degrees.
+  void SetRigidBodyYawConstraint (int theAngle) { myRigidBodyYaw = theAngle; }
+
+  //! Return rigid body pitch constraint in degrees; 15 degrees by default.
+  //! -1 means no constraint.
+  int RigidBodyPitchConstraint() const { return myRigidBodyPitch; }
+
+  //! Set rigid body pitch constraint in degrees.
+  void SetRigidBodyPitchConstraint (int theAngle) { myRigidBodyPitch = theAngle; }
+
+  //! Return rigid body roll constraint in degrees; 15 degrees by default.
+  //! -1 means no constraint.
+  int RigidBodyRollConstraint() const { return myRigidBodyRoll; }
+
+  //! Set rigid body roll constraint in degrees.
+  void SetRigidBodyRollConstraint (int theAngle) { myRigidBodyRoll = theAngle; }
+
+  //! Return height of first person capsule, in meters; 1.75 by default.
+  float FirstPersonHeight() const { return myFirstPersonHeight; }
+
+  //! Set height of first person capsule.
+  void SetFirstPersonHeight (float theHeight) { myFirstPersonHeight = theHeight; }
+
+  //! Return width (diameter) of first person capsule, in meters; 0.46 by default.
+  float FirstPersonWidth() const { return myFirstPersonWidth; }
+
+  //! Set width of first person capsule.
+  void SetFirstPersonWidth (float theWidth) { myFirstPersonWidth = theWidth; }
+
+  //! Return step height of first person, in meters; 0.35 by default.
+  float FirstPersonStepHeight() const { return myFirstPersonStepHeight; }
+
+  //! Set step height of first person.
+  void SetFirstPersonStepHeight (float theStepHeight) { myFirstPersonStepHeight = theStepHeight; }
+
+protected:
+
+  int   myRigidBodyYaw;          //!< rigid body yaw   constraint
+  int   myRigidBodyPitch;        //!< rigid body pitch constraint
+  int   myRigidBodyRoll;         //!< rigid body roll  constraint
+  float myFirstPersonHeight;     //!< height of first person capsule, in meters
+  float myFirstPersonWidth;      //!< width (diameter) of first person capsule, in meters
+  float myFirstPersonStepHeight; //!< step height of first person, in meters
+
+};
+
+#endif // _Dynamics_Parameters_HeaderFile

src/Dynamics/Dynamics_PolyTriangulation.cxx

@@ -0,0 +1,102 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_PolyTriangulation.hxx>
+
+#ifdef HAVE_BULLET
+
+// =======================================================================
+// function : Dynamics_PolyTriangulation
+// purpose  :
+// =======================================================================
+Dynamics_PolyTriangulation::Dynamics_PolyTriangulation (const Handle(Poly_Triangulation)& thePolyTri)
+: myPolyTri (thePolyTri)
+{
+  if (myPolyTri.IsNull())
+  {
+    throw Standard_ProgramError ("Dynamics_PolyTriangulation constructor called with NULL object!");
+  }
+}
+
+// =======================================================================
+// function : ~Dynamics_PolyTriangulation
+// purpose  :
+// =======================================================================
+Dynamics_PolyTriangulation::~Dynamics_PolyTriangulation()
+{
+  //
+}
+
+// =======================================================================
+// function : getLockedVertexIndexBase
+// purpose  :
+// =======================================================================
+void Dynamics_PolyTriangulation::getLockedVertexIndexBase (unsigned char** theVertexBase,
+                                                           int& theNbVerts,
+                                                           PHY_ScalarType& theType,
+                                                           int& theStride,
+                                                           unsigned char** theIndexBase,
+                                                           int& theIndexStride,
+                                                           int& theNbFaces,
+                                                           PHY_ScalarType& theIndicesType,
+                                                           int theSubPart)
+{
+  if (theSubPart != 0)
+  {
+    return;
+  }
+
+  theType        = myPolyTri->InternalNodes().IsDoublePrecision() ? PHY_DOUBLE : PHY_FLOAT;
+  theNbVerts     = myPolyTri->NbNodes();
+  theStride      = myPolyTri->InternalNodes().Stride();
+  *theVertexBase = reinterpret_cast<unsigned char* >(myPolyTri->InternalNodes().changeValue (0))
+                 - theStride; // step back since indexation starts with 1 in Poly_Triangulation
+
+  theIndicesType = PHY_INTEGER;
+  *theIndexBase  = reinterpret_cast<unsigned char* >(&myPolyTri->InternalTriangles().ChangeFirst());
+  theNbFaces     = myPolyTri->NbTriangles();
+  theIndexStride = sizeof(Poly_Triangle);
+}
+
+// =======================================================================
+// function : getLockedReadOnlyVertexIndexBase
+// purpose  :
+// =======================================================================
+void Dynamics_PolyTriangulation::getLockedReadOnlyVertexIndexBase (const unsigned char** theVertexBase,
+                                                                   int& theNbVerts,
+                                                                   PHY_ScalarType& theType,
+                                                                   int& theStride,
+                                                                   const unsigned char** theIndexBase,
+                                                                   int& theIndexStride,
+                                                                   int& theNbFaces,
+                                                                   PHY_ScalarType& theIndicesType,
+                                                                   int theSubPart) const
+{
+  if (theSubPart != 0)
+  {
+    return;
+  }
+
+  theType        = myPolyTri->InternalNodes().IsDoublePrecision() ? PHY_DOUBLE : PHY_FLOAT;
+  theNbVerts     = myPolyTri->NbNodes();
+  theStride      = myPolyTri->InternalNodes().Stride();
+  *theVertexBase = reinterpret_cast<const unsigned char* >(myPolyTri->InternalNodes().changeValue (0))
+                 - theStride; // step back since indexation starts with 1 in Poly_Triangulation
+
+  theIndicesType = PHY_INTEGER;
+  *theIndexBase  = reinterpret_cast<const unsigned char* >(&myPolyTri->InternalTriangles().First());
+  theNbFaces     = myPolyTri->NbTriangles();
+  theIndexStride = sizeof(Poly_Triangle);
+}
+
+#endif // HAVE_BULLET

src/Dynamics/Dynamics_PolyTriangulation.hxx

@@ -0,0 +1,80 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_PolyTriangulation_HeaderFile
+#define _Dynamics_PolyTriangulation_HeaderFile
+
+#include <Poly_Triangulation.hxx>
+
+#ifdef HAVE_BULLET
+
+#include <Dynamics_Internal.hxx>
+
+//! Interface for Poly_Triangulation defining continuous triangulation data.
+ATTRIBUTE_ALIGNED16(class) Dynamics_PolyTriangulation : public btStridingMeshInterface
+{
+public:
+  BT_DECLARE_ALIGNED_ALLOCATOR()
+
+  //! Constructor.
+  Standard_EXPORT Dynamics_PolyTriangulation (const Handle(Poly_Triangulation)& thePolyTri);
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_PolyTriangulation();
+
+  //! Get read/write access to a subpart of a triangle mesh.
+  Standard_EXPORT virtual void getLockedVertexIndexBase (unsigned char** theVertexBase,
+                                                         int& theNbVerts,
+                                                         PHY_ScalarType& theType,
+                                                         int& theStride,
+                                                         unsigned char** theIndexBase,
+                                                         int& theIndexStride,
+                                                         int& theNbFaces,
+                                                         PHY_ScalarType& theIndicesType,
+                                                         int theSubPart) Standard_OVERRIDE;
+
+  //! Get read access to a subpart of a triangle mesh.
+  Standard_EXPORT virtual void getLockedReadOnlyVertexIndexBase (const unsigned char** theVertexBase,
+                                                                 int& theNbVerts,
+                                                                 PHY_ScalarType& theType,
+                                                                 int& theStride,
+                                                                 const unsigned char** theIndexBase,
+                                                                 int& theIndexStride,
+                                                                 int& theNbFaces,
+                                                                 PHY_ScalarType& theIndicesType,
+                                                                 int theSubPart) const Standard_OVERRIDE;
+
+  //! Finishes the access to a subpart of the triangle mesh.
+  virtual void unLockVertexBase         (int theSubPart)       Standard_OVERRIDE { (void )theSubPart; }
+  virtual void unLockReadOnlyVertexBase (int theSubPart) const Standard_OVERRIDE { (void )theSubPart; }
+
+  //! Returns the number of separate subparts; each subpart has a continuous array of vertices and indices.
+  virtual int getNumSubParts() const Standard_OVERRIDE { return 1; }
+
+  virtual void preallocateVertices (int theNbVerts)   Standard_OVERRIDE { (void )theNbVerts; }
+  virtual void preallocateIndices  (int theNbIndices) Standard_OVERRIDE { (void )theNbIndices; }
+
+  //virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+  //virtual bool hasPremadeAabb() const Standard_OVERRIDE { return false; }
+  //virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const Standard_OVERRIDE;
+  //virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const Standard_OVERRIDE
+
+protected:
+
+  Handle(Poly_Triangulation) myPolyTri;
+
+};
+
+#endif // HAVE_BULLET
+
+#endif // _Dynamics_PolyTriangulation_HeaderFile

src/Dynamics/Dynamics_World.cxx

@@ -0,0 +1,312 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#include <Dynamics_World.hxx>
+
+#include <Dynamics_Internal.hxx>
+#include <Dynamics_CollisionPlane.hxx>
+#include <Dynamics_Constraint.hxx>
+#include <Dynamics_Parameters.hxx>
+
+#include <gp_Pln.hxx>
+
+#ifdef HAVE_BULLET
+  #include <Dynamics_DebugDrawer.hxx>
+
+  #ifdef _MSC_VER
+  #ifdef NDEBUG
+    #pragma comment(lib, "BulletDynamics.lib")
+    #pragma comment(lib, "BulletCollision.lib")
+    #pragma comment(lib, "LinearMath.lib")
+  #else
+    #pragma comment(lib, "BulletDynamics_Debug.lib")
+    #pragma comment(lib, "BulletCollision_Debug.lib")
+    #pragma comment(lib, "LinearMath_Debug.lib")
+  #endif
+  #endif
+#endif
+
+IMPLEMENT_STANDARD_RTTIEXT(Dynamics_World, Standard_Transient)
+
+// =======================================================================
+// function : Dynamics_World
+// purpose  :
+// =======================================================================
+Dynamics_World::Dynamics_World (const Handle(Dynamics_Parameters)& theDefaultStyle) :
+#ifdef HAVE_BULLET
+  myGhostPairCallback (new btGhostPairCallback()),
+  myCollisionConfiguration (new btDefaultCollisionConfiguration()),
+  myOverlappingPairCache (new btDbvtBroadphase()),
+  mySolver (new btSequentialImpulseConstraintSolver()),
+  myCharacter (new Dynamics_Character()),
+  myGround (new Dynamics_CollisionBody()),
+#endif
+  myLengthUnitScale (1.0),
+  myLastWorldTick (0.0),
+  myFixedTimeStep (1.0 / 120.0),
+  myNbMaxSubTicks (20),
+  myNbRigidBodies (0)
+{
+  myDefaultDrawer = theDefaultStyle;
+  if (theDefaultStyle.IsNull())
+  {
+    myDefaultDrawer = new Dynamics_Parameters();
+  }
+#ifdef HAVE_BULLET
+  myCharacter->Init (theDefaultStyle->FirstPersonHeight(), theDefaultStyle->FirstPersonWidth(), theDefaultStyle->FirstPersonStepHeight());
+  myOverlappingPairCache->getOverlappingPairCache()->setInternalGhostPairCallback (myGhostPairCallback.get());
+  myDispatcher.reset (new btCollisionDispatcher (myCollisionConfiguration.get()));
+  myDynamicsWorld.reset (new btDiscreteDynamicsWorld (myDispatcher.get(), myOverlappingPairCache.get(), mySolver.get(), myCollisionConfiguration.get()));
+  myDynamicsWorld->setGravity (btVector3 (0.0f, 0.0f, btScalar(-9.8 * myLengthUnitScale)));
+
+  myGround->addToWorld (this);
+#endif
+}
+
+// =======================================================================
+// function : ~Dynamics_World
+// purpose  :
+// =======================================================================
+Dynamics_World::~Dynamics_World()
+{
+  for (NCollection_IndexedMap<Handle(Dynamics_Constraint)>::Iterator aConstrIter (myConstraints); aConstrIter.More(); aConstrIter.Next())
+  {
+    aConstrIter.Value()->removeFromWorld();
+  }
+  for (NCollection_IndexedMap<Handle(Dynamics_CollisionBody)>::Iterator aBodyIter (myCollisionBodies); aBodyIter.More(); aBodyIter.Next())
+  {
+    aBodyIter.Value()->removeFromWorld();
+  }
+  if (!myCharacter.IsNull())
+  {
+    myCharacter->removeFromWorld();
+  }
+  if (!myGround.IsNull())
+  {
+    myGround->removeFromWorld();
+  }
+  myConstraints.Clear();
+  myCollisionBodies.Clear();
+  myCharacter.Nullify();
+
+#ifdef HAVE_BULLET
+  myDynamicsWorld.reset();
+  mySolver.reset();
+  myOverlappingPairCache.reset();
+  myDispatcher.reset();
+  myCollisionConfiguration.reset();
+  myGhostPairCallback.reset();
+#endif
+}
+
+// =======================================================================
+// function : UpdateFirstPersonSize
+// purpose  :
+// =======================================================================
+void Dynamics_World::UpdateFirstPersonSize()
+{
+  if (!myCharacter.IsNull())
+  {
+    myCharacter->Init (myLengthUnitScale * myDefaultDrawer->FirstPersonHeight(), myLengthUnitScale * myDefaultDrawer->FirstPersonWidth(), myLengthUnitScale * myDefaultDrawer->FirstPersonStepHeight());
+  }
+}
+
+// =======================================================================
+// function : SetLengthUnitScale
+// purpose  :
+// =======================================================================
+void Dynamics_World::SetLengthUnitScale (double theScale)
+{
+  myLengthUnitScale = theScale;
+#ifdef HAVE_BULLET
+  myDynamicsWorld->setGravity (btVector3 (0.0f, 0.0f, btScalar(-9.8 * myLengthUnitScale)));
+#endif
+  UpdateFirstPersonSize();
+}
+
+// =======================================================================
+// function : SetSceneBoundaries
+// purpose  :
+// =======================================================================
+void Dynamics_World::SetSceneBoundaries (const Bnd_Box& theBndBox)
+{
+  mySceneBox = theBndBox;
+  if (mySceneBox.IsVoid())
+  {
+    return;
+  }
+
+#ifdef HAVE_BULLET
+  const gp_XYZ aMin = mySceneBox.CornerMin().XYZ();
+  const gp_XYZ aMax = mySceneBox.CornerMax().XYZ();
+  gp_XYZ aCenter = (aMin + aMax) * 0.5;
+  aCenter.SetZ (aMin.Z());
+
+  gp_Pln aPlane (gp_Pnt (0.0, 0.0, 0.0), gp_Dir (0.0, 0.0, 1.0));
+  Handle(Dynamics_CollisionPlane) aPlaneShape = new Dynamics_CollisionPlane (aPlane);
+
+  gp_Trsf aTrsf;
+  aTrsf.SetTranslation (gp_Vec (aCenter));
+  myGround->SetShape (aPlaneShape, aTrsf);
+#endif
+}
+
+// =======================================================================
+// function : AddCollisionBody
+// purpose  :
+// =======================================================================
+void Dynamics_World::AddCollisionBody (const Handle(Dynamics_CollisionBody)& theBody)
+{
+  const int anExtendOld = myCollisionBodies.Extent();
+  if (myCollisionBodies.Add (theBody) > anExtendOld)
+  {
+  #ifdef HAVE_BULLET
+    theBody->addToWorld (this);
+  #endif
+  }
+}
+
+// =======================================================================
+// function : RemoveCollisionBody
+// purpose  :
+// =======================================================================
+void Dynamics_World::RemoveCollisionBody (const Handle(Dynamics_CollisionBody)& theBody)
+{
+  Handle(Dynamics_CollisionBody) aTmpCopy = theBody;
+  if (myCollisionBodies.RemoveKey (theBody))
+  {
+  #ifdef HAVE_BULLET
+    theBody->removeFromWorld();
+  #endif
+  }
+}
+
+// =======================================================================
+// function : AddConstraint
+// purpose  :
+// =======================================================================
+void Dynamics_World::AddConstraint (const Handle(Dynamics_Constraint)& theConstraint)
+{
+  const int anExtendOld = myConstraints.Extent();
+  if (myConstraints.Add (theConstraint) > anExtendOld)
+  {
+  #ifdef HAVE_BULLET
+    theConstraint->addToWorld (this);
+  #endif
+  }
+}
+
+// =======================================================================
+// function : RemoveConstraint
+// purpose  :
+// =======================================================================
+void Dynamics_World::RemoveConstraint (const Handle(Dynamics_Constraint)& theConstraint)
+{
+  Handle(Dynamics_Constraint) aTmpCopy = theConstraint;
+  if (myConstraints.RemoveKey (theConstraint))
+  {
+  #ifdef HAVE_BULLET
+    theConstraint->removeFromWorld();
+  #endif
+  }
+}
+
+// =======================================================================
+// function : SetPaused
+// purpose  :
+// =======================================================================
+void Dynamics_World::SetPaused (bool theToPause)
+{
+  if (IsPaused() == theToPause)
+  {
+    return;
+  }
+
+  if (theToPause)
+  {
+    myWorldTimer.Stop();
+  }
+  else
+  {
+    myWorldTimer.Start();
+  }
+}
+
+// =======================================================================
+// function : SetEnableDebugDrawer
+// purpose  :
+// =======================================================================
+bool Dynamics_World::SetEnableDebugDrawer (bool theToDebug,
+                                           AIS_InteractiveContext* theCtx)
+{
+#ifdef HAVE_BULLET
+  if (theToDebug)
+  {
+    if (myDebugDrawer.get() == nullptr)
+    {
+      myDebugDrawer.reset (new Dynamics_DebugDrawer());
+      myDynamicsWorld->setDebugDrawer (myDebugDrawer.get());
+      return true;
+    }
+  }
+  else if (myDebugDrawer.get() != nullptr)
+  {
+    const bool toUpdate = !myDebugDrawer->IsEmpty();
+    myDynamicsWorld->setDebugDrawer (nullptr);
+    myDebugDrawer->FrameClear (theCtx);
+    myDebugDrawer.reset();
+    return toUpdate;
+  }
+#else
+  (void )theToDebug;
+  (void )theCtx;
+#endif
+  return false;
+}
+
+// =======================================================================
+// function : StepSimulation
+// purpose  :
+// =======================================================================
+bool Dynamics_World::StepSimulation (const Handle(AIS_InteractiveContext)& theCtx)
+{
+  const double aTime     = myWorldTimer.ElapsedTime();
+  const double aTimeDiff = aTime - myLastWorldTick;
+  SetPaused (false);
+  if (Abs (aTimeDiff - myLastWorldTick) < gp::Resolution())
+  {
+    return false;
+  }
+
+  myLastWorldTick = aTime;
+#ifdef HAVE_BULLET
+  if (myDynamicsWorld->stepSimulation (btScalar(aTimeDiff), myNbMaxSubTicks, btScalar(myFixedTimeStep)) <= 0)
+  {
+    return false;
+  }
+
+  if (Dynamics_DebugDrawer* aDebugDraw = myDebugDrawer.get())
+  {
+    if (!theCtx.IsNull())
+    {
+      aDebugDraw->FrameBegin (theCtx);
+      myDynamicsWorld->debugDrawWorld();
+      aDebugDraw->FrameEnd (theCtx);
+    }
+  }
+  return true;
+#else
+  (void )theCtx;
+  return false;
+#endif
+}

src/Dynamics/Dynamics_World.hxx

@@ -0,0 +1,143 @@
+// Copyright (c) 2017-2021 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _Dynamics_World_HeaderFile
+#define _Dynamics_World_HeaderFile
+
+#include <Dynamics_CollisionBody.hxx>
+#include <Dynamics_Character.hxx>
+
+#include <Bnd_Box.hxx>
+#include <NCollection_IndexedMap.hxx>
+#include <OSD_Timer.hxx>
+
+class btBroadphaseInterface;
+class btCollisionDispatcher;
+class btDefaultCollisionConfiguration;
+class btDiscreteDynamicsWorld;
+class btGhostPairCallback;
+class btSequentialImpulseConstraintSolver;
+
+class Dynamics_DebugDrawer;
+class Dynamics_Parameters;
+class AIS_InteractiveContext;
+
+//! Physics engine - world holder.
+class Dynamics_World : public Standard_Transient
+{
+  friend class Dynamics_CollisionBody;
+  friend class Dynamics_Constraint;
+  friend class Dynamics_Character;
+  DEFINE_STANDARD_RTTIEXT(Dynamics_World, Standard_Transient)
+public:
+
+  //! Main constructor.
+  Standard_EXPORT Dynamics_World (const Handle(Dynamics_Parameters)& theDefaultStyle = Handle(Dynamics_Parameters)());
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Dynamics_World();
+
+  //! Add collision body to the world.
+  Standard_EXPORT void AddCollisionBody (const Handle(Dynamics_CollisionBody)& theBody);
+
+  //! Remove collision body from the world.
+  Standard_EXPORT void RemoveCollisionBody (const Handle(Dynamics_CollisionBody)& theBody);
+
+  //! Add constraint to the world.
+  Standard_EXPORT void AddConstraint (const Handle(Dynamics_Constraint)& theConstraint);
+
+  //! Remove constraint from the world.
+  Standard_EXPORT void RemoveConstraint (const Handle(Dynamics_Constraint)& theConstraint);
+
+  //! Return the character object.
+  const Handle(Dynamics_Character)& Character() const { return myCharacter; }
+
+  //! Return scene boundaries.
+  const Bnd_Box& SceneBoundaries() const { return mySceneBox; }
+
+  //! Define scene boundaries.
+  Standard_EXPORT void SetSceneBoundaries (const Bnd_Box& theBndBox);
+
+  //! Return length unit scale factor (as scale factor for meters); 1.0 by default.
+  double LengthUnitScale() const { return myLengthUnitScale; }
+
+  //! Set length unit scale factor.
+  Standard_EXPORT void SetLengthUnitScale (double theScale);
+
+  //! Update first-person capsule size basing on Drawer parameters.
+  Standard_EXPORT void UpdateFirstPersonSize();
+
+  //! Return time step in seconds for computing dynamics within discrete math; 1/120 by default.
+  double FixedTimeStep() const { return myFixedTimeStep; }
+
+  //! Setup time step in seconds.
+  void SetFixedTimeStep (double theStepSeconds) { myFixedTimeStep = theStepSeconds; }
+
+  //! Return maximum number of sub steps in case if time increment is greater than fixed time step.
+  //! 20 by default, which means that within default 1/120 fixed time step
+  //! the playback should not be lower than 6 FPS for proper computations.
+  int MaximumSubSteps() const { return myNbMaxSubTicks; }
+
+  //! Setup maximum number of sub steps in case if time increment is greater than fixed time step.
+  void SetMaximumSubSteps (int theNbMaxSubTicks) { myNbMaxSubTicks = theNbMaxSubTicks; }
+
+  //! Return TRUE if world timer is in paused state; TRUE by default.
+  bool IsPaused() const { return !myWorldTimer.IsStarted(); }
+
+  //! Start/pause world timer.
+  //! Note that StepSimulation() will automatically resume timer!
+  Standard_EXPORT void SetPaused (bool theToPause);
+
+  //! Proceed the simulation over Time step units.
+  //! Note that if world timer was in paused state, it will be automatically resumed!
+  //! @param theMaxSubSteps maximum number of sub-steps in case if time increment is greater then fixed time step
+  //! @param theCtx interactive context for drawing debug information
+  //! @return TRUE if simulation was updated
+  Standard_EXPORT bool StepSimulation (const Handle(AIS_InteractiveContext)& theCtx);
+
+  //! Return TRUE if debug drawer is enabled.
+  bool ToEnableDebugDrawer() const { return myDebugDrawer.get() != NULL; }
+
+  //! Set if debug drawer should be enabled/disabled.
+  Standard_EXPORT bool SetEnableDebugDrawer (bool theToDebug,
+                                             AIS_InteractiveContext* theCtx);
+
+  //! Return the number of registered rigid bodies.
+  int NbRigidBodies() const { return myNbRigidBodies; }
+
+protected:
+
+  std::shared_ptr<btGhostPairCallback>                   myGhostPairCallback;
+  std::shared_ptr<btDefaultCollisionConfiguration>       myCollisionConfiguration;
+  std::shared_ptr<btCollisionDispatcher>                 myDispatcher;
+  std::shared_ptr<btBroadphaseInterface>                 myOverlappingPairCache;
+  std::shared_ptr<btSequentialImpulseConstraintSolver>   mySolver;
+  std::shared_ptr<Dynamics_DebugDrawer>                  myDebugDrawer;
+  std::shared_ptr<btDiscreteDynamicsWorld>               myDynamicsWorld;
+
+  Handle(Dynamics_Parameters)                            myDefaultDrawer;     //!< default attributes
+  Handle(Dynamics_Character)                             myCharacter;
+  Handle(Dynamics_CollisionBody)                         myGround;
+  NCollection_IndexedMap<Handle(Dynamics_CollisionBody)> myCollisionBodies;
+  NCollection_IndexedMap<Handle(Dynamics_Constraint)>    myConstraints;
+  Bnd_Box                                                mySceneBox;
+  OSD_Timer                                              myWorldTimer;
+  Standard_Real                                          myLengthUnitScale;
+  Standard_Real                                          myLastWorldTick;
+  Standard_Real                                          myFixedTimeStep;
+  Standard_Integer                                       myNbMaxSubTicks;
+  Standard_Integer                                       myNbRigidBodies;
+
+};
+
+#endif // _Dynamics_World_HeaderFile

src/Dynamics/FILES

@@ -0,0 +1,32 @@
+Dynamics_Character.cxx
+Dynamics_Character.hxx
+Dynamics_CharacterState.hxx
+Dynamics_CollisionBody.cxx
+Dynamics_CollisionBody.hxx
+Dynamics_CollisionBoxShape.cxx
+Dynamics_CollisionBoxShape.hxx
+Dynamics_CollisionBRepFlags.hxx
+Dynamics_CollisionBRepShape.cxx
+Dynamics_CollisionBRepShape.hxx
+Dynamics_CollisionBRepShapeConvex.hxx
+Dynamics_CollisionCompoundShape.cxx
+Dynamics_CollisionCompoundShape.hxx
+Dynamics_CollisionPlane.cxx
+Dynamics_CollisionPlane.hxx
+Dynamics_CollisionShape.cxx
+Dynamics_CollisionShape.hxx
+Dynamics_Constraint.cxx
+Dynamics_Constraint.hxx
+Dynamics_DebugDrawer.cxx
+Dynamics_DebugDrawer.hxx
+Dynamics_Graphic3dTriangulation.cxx
+Dynamics_Graphic3dTriangulation.hxx
+Dynamics_Internal.hxx
+Dynamics_MotionState.cxx
+Dynamics_MotionState.hxx
+Dynamics_Parameters.cxx
+Dynamics_Parameters.hxx
+Dynamics_PolyTriangulation.cxx
+Dynamics_PolyTriangulation.hxx
+Dynamics_World.cxx
+Dynamics_World.hxx

src/TKV3d/EXTERNLIB

@@ -15,4 +15,5 @@ CSF_gdi32
 CSF_OpenGlLibs
 CSF_XwLibs
 CSF_FREETYPE
+CSF_BULLET
 CSF_TBB

src/TKV3d/PACKAGES

@@ -9,3 +9,4 @@ AIS
 StdSelect
 DsgPrs
 PrsDim
+Dynamics

src/ViewerTest/ViewerTest_EventManager.cxx

@@ -624,6 +624,21 @@ static EM_BOOL onResizeCallback (int theEventType, const EmscriptenUiEvent* theE
   return EM_FALSE;
 }
 
+//! Update canvas bounding rectangle.
+EM_JS(void, occJSUpdateBoundingClientRect, (), {
+  Module._myCanvasRect = Module.canvas.getBoundingClientRect();
+});
+
+//! Get canvas bounding top.
+EM_JS(int, occJSGetBoundingClientTop, (), {
+  return Math.round(Module._myCanvasRect.top);
+});
+
+//! Get canvas bounding left.
+EM_JS(int, occJSGetBoundingClientLeft, (), {
+  return Math.round(Module._myCanvasRect.left);
+});
+
 //! Handle mouse input event.
 static EM_BOOL onWasmMouseCallback (int theEventType, const EmscriptenMouseEvent* theEvent, void* )
 {
@@ -632,6 +647,17 @@ static EM_BOOL onWasmMouseCallback (int theEventType, const EmscriptenMouseEvent
    && !ViewerTest::CurrentView().IsNull())
   {
     Handle(Wasm_Window) aWindow = Handle(Wasm_Window)::DownCast (ViewerTest::CurrentView()->Window());
+    if (theEventType == EMSCRIPTEN_EVENT_MOUSEMOVE
+     || theEventType == EMSCRIPTEN_EVENT_MOUSEUP)
+    {
+      // these events are bound to EMSCRIPTEN_EVENT_TARGET_WINDOW, and coordinates should be converted
+      occJSUpdateBoundingClientRect();
+      EmscriptenMouseEvent anEvent = *theEvent;
+      anEvent.targetX -= occJSGetBoundingClientLeft();
+      anEvent.targetY -= occJSGetBoundingClientTop();
+      return aWindow->ProcessMouseEvent (*aViewCtrl, theEventType, &anEvent) ? EM_TRUE : EM_FALSE;
+    }
+
     return aWindow->ProcessMouseEvent (*aViewCtrl, theEventType, theEvent) ? EM_TRUE : EM_FALSE;
   }
   return EM_FALSE;
@@ -730,13 +756,17 @@ void ViewerTest_EventManager::SetupWindowCallbacks (const Handle(Aspect_Window)&
   // so that if web application changes canvas size by other means it should use another way to tell OCCT about resize
   emscripten_set_resize_callback     (EMSCRIPTEN_EVENT_TARGET_WINDOW, anOpaque, toUseCapture, onResizeCallback);
 
+  // bind these events to window to track mouse movements outside of canvas
+  //emscripten_set_mouseup_callback    (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
+  //emscripten_set_mousemove_callback  (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
+  //emscripten_set_mouseleave_callback (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
+  emscripten_set_mouseup_callback    (EMSCRIPTEN_EVENT_TARGET_WINDOW, anOpaque, toUseCapture, onWasmMouseCallback);
+  emscripten_set_mousemove_callback  (EMSCRIPTEN_EVENT_TARGET_WINDOW, anOpaque, toUseCapture, onWasmMouseCallback);
+
   emscripten_set_mousedown_callback  (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
-  emscripten_set_mouseup_callback    (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
-  emscripten_set_mousemove_callback  (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
   emscripten_set_dblclick_callback   (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
   emscripten_set_click_callback      (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
   emscripten_set_mouseenter_callback (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
-  emscripten_set_mouseleave_callback (aTargetId, anOpaque, toUseCapture, onWasmMouseCallback);
   emscripten_set_wheel_callback      (aTargetId, anOpaque, toUseCapture, onWasmWheelCallback);
 
   emscripten_set_touchstart_callback (aTargetId, anOpaque, toUseCapture, onWasmTouchCallback);

src/Wasm/Wasm_Window.cxx

@@ -290,10 +290,13 @@ bool Wasm_Window::ProcessMouseEvent (Aspect_WindowInputListener& theListener,
     case EMSCRIPTEN_EVENT_MOUSEDOWN:
     case EMSCRIPTEN_EVENT_MOUSEUP:
     {
-      if (aNewPos2i.x() < 0 || aNewPos2i.x() > mySize.x()
+      if (theEventType == EMSCRIPTEN_EVENT_MOUSEDOWN)
-       || aNewPos2i.y() < 0 || aNewPos2i.y() > mySize.y())
       {
-        return false;
+        if (aNewPos2i.x() < 0 || aNewPos2i.x() > mySize.x()
+         || aNewPos2i.y() < 0 || aNewPos2i.y() > mySize.y())
+        {
+          return false;
+        }
       }
       if (theListener.UpdateMouseButtons (aNewPos2i, aButtons, aFlags, isEmulated))
       {