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====== bullet碰撞检测 ======

===== 底层原理 =====
==== 粗碰撞阶段 ====
	btVector3 aabbMin,aabbMax;
	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
	btSingleContactCallback	contactCB(colObj,this,resultCallback);
	
	m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);//底层是层次包围盒
==== 精确碰撞阶段 ====
	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
		if (collisionObject == m_collisionObject)
			return true;
    
		//only perform raycast if filterMask matches
		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
		{
			btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
			btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);//获取形状
    
			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1,0, BT_CLOSEST_POINT_ALGORITHMS);//查找针对这两个形状的精确碰撞接口
			if (algorithm)
			{
				btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
				//discrete collision detection query
				
				algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);//调用接口
    
				algorithm->~btCollisionAlgorithm();
				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
			}
		}
		return true;
	}

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