diff options
Diffstat (limited to 'tests/bullet/src/LinearMath')
32 files changed, 12419 insertions, 0 deletions
diff --git a/tests/bullet/src/LinearMath/CMakeLists.txt b/tests/bullet/src/LinearMath/CMakeLists.txt new file mode 100644 index 00000000..54ec735c --- /dev/null +++ b/tests/bullet/src/LinearMath/CMakeLists.txt @@ -0,0 +1,65 @@ + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src +) + +SET(LinearMath_SRCS + btAlignedAllocator.cpp + btConvexHull.cpp + btConvexHullComputer.cpp + btGeometryUtil.cpp + btQuickprof.cpp + btSerializer.cpp +) + +SET(LinearMath_HDRS + btAabbUtil2.h + btAlignedAllocator.h + btAlignedObjectArray.h + btConvexHull.h + btConvexHullComputer.h + btDefaultMotionState.h + btGeometryUtil.h + btHashMap.h + btIDebugDraw.h + btList.h + btMatrix3x3.h + btMinMax.h + btMotionState.h + btPoolAllocator.h + btQuadWord.h + btQuaternion.h + btQuickprof.h + btRandom.h + btScalar.h + btSerializer.h + btStackAlloc.h + btTransform.h + btTransformUtil.h + btVector3.h +) + +ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION}) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #FILES_MATCHING requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/tests/bullet/src/LinearMath/btAabbUtil2.h b/tests/bullet/src/LinearMath/btAabbUtil2.h new file mode 100644 index 00000000..42b721de --- /dev/null +++ b/tests/bullet/src/LinearMath/btAabbUtil2.h @@ -0,0 +1,236 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#ifndef BT_AABB_UTIL2 +#define BT_AABB_UTIL2 + +#include "btTransform.h" +#include "btVector3.h" +#include "btMinMax.h" + + + +SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, + btVector3& aabbMax, + const btVector3& expansionMin, + const btVector3& expansionMax) +{ + aabbMin = aabbMin + expansionMin; + aabbMax = aabbMax + expansionMax; +} + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &point) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap; + return overlap; +} + + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &aabbMin2, const btVector3 &aabbMax2) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; + return overlap; +} + +/// conservative test for overlap between triangle and aabb +SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices, + const btVector3 &aabbMin, const btVector3 &aabbMax) +{ + const btVector3 &p1 = vertices[0]; + const btVector3 &p2 = vertices[1]; + const btVector3 &p3 = vertices[2]; + + if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false; + if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false; + + if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false; + if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false; + + if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false; + if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false; + return true; +} + + +SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent) +{ + return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) | + (p.getX() > halfExtent.getX() ? 0x08 : 0x0) | + (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) | + (p.getY() > halfExtent.getY() ? 0x10 : 0x0) | + (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) | + (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); +} + + + +SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, + const btVector3& rayInvDirection, + const unsigned int raySign[3], + const btVector3 bounds[2], + btScalar& tmin, + btScalar lambda_min, + btScalar lambda_max) +{ + btScalar tmax, tymin, tymax, tzmin, tzmax; + tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + + if ( (tmin > tymax) || (tymin > tmax) ) + return false; + + if (tymin > tmin) + tmin = tymin; + + if (tymax < tmax) + tmax = tymax; + + tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + + if ( (tmin > tzmax) || (tzmin > tmax) ) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ( (tmin < lambda_max) && (tmax > lambda_min) ); +} + +SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& aabbMin, + const btVector3& aabbMax, + btScalar& param, btVector3& normal) +{ + btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5); + btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5); + btVector3 source = rayFrom - aabbCenter; + btVector3 target = rayTo - aabbCenter; + int sourceOutcode = btOutcode(source,aabbHalfExtent); + int targetOutcode = btOutcode(target,aabbHalfExtent); + if ((sourceOutcode & targetOutcode) == 0x0) + { + btScalar lambda_enter = btScalar(0.0); + btScalar lambda_exit = param; + btVector3 r = target - source; + int i; + btScalar normSign = 1; + btVector3 hitNormal(0,0,0); + int bit=1; + + for (int j=0;j<2;j++) + { + for (i = 0; i != 3; ++i) + { + if (sourceOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + if (lambda_enter <= lambda) + { + lambda_enter = lambda; + hitNormal.setValue(0,0,0); + hitNormal[i] = normSign; + } + } + else if (targetOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + btSetMin(lambda_exit, lambda); + } + bit<<=1; + } + normSign = btScalar(-1.); + } + if (lambda_enter <= lambda_exit) + { + param = lambda_enter; + normal = hitNormal; + return true; + } + } + return false; +} + + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin), + abs_b[1].dot(halfExtentsWithMargin), + abs_b[2].dot(halfExtentsWithMargin)); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + +#define USE_BANCHLESS 1 +#ifdef USE_BANCHLESS + //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360) + SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0)); + } +#else + SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + bool overlap = true; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; + return overlap; + } +#endif //USE_BANCHLESS + +#endif //BT_AABB_UTIL2 + + diff --git a/tests/bullet/src/LinearMath/btAlignedAllocator.cpp b/tests/bullet/src/LinearMath/btAlignedAllocator.cpp new file mode 100644 index 00000000..189b759d --- /dev/null +++ b/tests/bullet/src/LinearMath/btAlignedAllocator.cpp @@ -0,0 +1,182 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btAlignedAllocator.h" + +int gNumAlignedAllocs = 0; +int gNumAlignedFree = 0; +int gTotalBytesAlignedAllocs = 0;//detect memory leaks + +static void *btAllocDefault(size_t size) +{ + return malloc(size); +} + +static void btFreeDefault(void *ptr) +{ + free(ptr); +} + +static btAllocFunc *sAllocFunc = btAllocDefault; +static btFreeFunc *sFreeFunc = btFreeDefault; + + + +#if defined (BT_HAS_ALIGNED_ALLOCATOR) +#include <malloc.h> +static void *btAlignedAllocDefault(size_t size, int alignment) +{ + return _aligned_malloc(size, (size_t)alignment); +} + +static void btAlignedFreeDefault(void *ptr) +{ + _aligned_free(ptr); +} +#elif defined(__CELLOS_LV2__) +#include <stdlib.h> + +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + return memalign(alignment, size); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + free(ptr); +} +#else +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + void *ret; + char *real; + unsigned long offset; + + real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1)); + if (real) { + offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1); + ret = (void *)((real + sizeof(void *)) + offset); + *((void **)(ret)-1) = (void *)(real); + } else { + ret = (void *)(real); + } + return (ret); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + void* real; + + if (ptr) { + real = *((void **)(ptr)-1); + sFreeFunc(real); + } +} +#endif + + +static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault; +static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault; + +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) +{ + sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; + sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; +} + +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) +{ + sAllocFunc = allocFunc ? allocFunc : btAllocDefault; + sFreeFunc = freeFunc ? freeFunc : btFreeDefault; +} + +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS +//this generic allocator provides the total allocated number of bytes +#include <stdio.h> + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename) +{ + void *ret; + char *real; + unsigned long offset; + + gTotalBytesAlignedAllocs += size; + gNumAlignedAllocs++; + + + real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1)); + if (real) { + offset = (alignment - (unsigned long)(real + 2*sizeof(void *))) & +(alignment-1); + ret = (void *)((real + 2*sizeof(void *)) + offset); + *((void **)(ret)-1) = (void *)(real); + *((int*)(ret)-2) = size; + + } else { + ret = (void *)(real);//?? + } + + printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size); + + int* ptr = (int*)ret; + *ptr = 12; + return (ret); +} + +void btAlignedFreeInternal (void* ptr,int line,char* filename) +{ + + void* real; + gNumAlignedFree++; + + if (ptr) { + real = *((void **)(ptr)-1); + int size = *((int*)(ptr)-2); + gTotalBytesAlignedAllocs -= size; + + printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size); + + sFreeFunc(real); + } else + { + printf("NULL ptr\n"); + } +} + +#else //BT_DEBUG_MEMORY_ALLOCATIONS + +void* btAlignedAllocInternal (size_t size, int alignment) +{ + gNumAlignedAllocs++; + void* ptr; + ptr = sAlignedAllocFunc(size, alignment); +// printf("btAlignedAllocInternal %d, %x\n",size,ptr); + return ptr; +} + +void btAlignedFreeInternal (void* ptr) +{ + if (!ptr) + { + return; + } + + gNumAlignedFree++; +// printf("btAlignedFreeInternal %x\n",ptr); + sAlignedFreeFunc(ptr); +} + +#endif //BT_DEBUG_MEMORY_ALLOCATIONS + diff --git a/tests/bullet/src/LinearMath/btAlignedAllocator.h b/tests/bullet/src/LinearMath/btAlignedAllocator.h new file mode 100644 index 00000000..f168f3c6 --- /dev/null +++ b/tests/bullet/src/LinearMath/btAlignedAllocator.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_ALIGNED_ALLOCATOR +#define BT_ALIGNED_ALLOCATOR + +///we probably replace this with our own aligned memory allocator +///so we replace _aligned_malloc and _aligned_free with our own +///that is better portable and more predictable + +#include "btScalar.h" +//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS + +#define btAlignedAlloc(a,b) \ + btAlignedAllocInternal(a,b,__LINE__,__FILE__) + +#define btAlignedFree(ptr) \ + btAlignedFreeInternal(ptr,__LINE__,__FILE__) + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename); + +void btAlignedFreeInternal (void* ptr,int line,char* filename); + +#else + void* btAlignedAllocInternal (size_t size, int alignment); + void btAlignedFreeInternal (void* ptr); + + #define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment) + #define btAlignedFree(ptr) btAlignedFreeInternal(ptr) + +#endif +typedef int size_type; + +typedef void *(btAlignedAllocFunc)(size_t size, int alignment); +typedef void (btAlignedFreeFunc)(void *memblock); +typedef void *(btAllocFunc)(size_t size); +typedef void (btFreeFunc)(void *memblock); + +///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc); +///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it. +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc); + + +///The btAlignedAllocator is a portable class for aligned memory allocations. +///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned. +template < typename T , unsigned Alignment > +class btAlignedAllocator { + + typedef btAlignedAllocator< T , Alignment > self_type; + +public: + + //just going down a list: + btAlignedAllocator() {} + /* + btAlignedAllocator( const self_type & ) {} + */ + + template < typename Other > + btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {} + + typedef const T* const_pointer; + typedef const T& const_reference; + typedef T* pointer; + typedef T& reference; + typedef T value_type; + + pointer address ( reference ref ) const { return &ref; } + const_pointer address ( const_reference ref ) const { return &ref; } + pointer allocate ( size_type n , const_pointer * hint = 0 ) { + (void)hint; + return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment )); + } + void construct ( pointer ptr , const value_type & value ) { new (ptr) value_type( value ); } + void deallocate( pointer ptr ) { + btAlignedFree( reinterpret_cast< void * >( ptr ) ); + } + void destroy ( pointer ptr ) { ptr->~value_type(); } + + + template < typename O > struct rebind { + typedef btAlignedAllocator< O , Alignment > other; + }; + template < typename O > + self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; } + + friend bool operator==( const self_type & , const self_type & ) { return true; } +}; + + + +#endif //BT_ALIGNED_ALLOCATOR + diff --git a/tests/bullet/src/LinearMath/btAlignedObjectArray.h b/tests/bullet/src/LinearMath/btAlignedObjectArray.h new file mode 100644 index 00000000..955bb128 --- /dev/null +++ b/tests/bullet/src/LinearMath/btAlignedObjectArray.h @@ -0,0 +1,471 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#ifndef BT_OBJECT_ARRAY__ +#define BT_OBJECT_ARRAY__ + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btAlignedAllocator.h" + +///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW +///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors +///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= +///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and +///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240 + +#define BT_USE_PLACEMENT_NEW 1 +//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise... + +#ifdef BT_USE_MEMCPY +#include <memory.h> +#include <string.h> +#endif //BT_USE_MEMCPY + +#ifdef BT_USE_PLACEMENT_NEW +#include <new> //for placement new +#endif //BT_USE_PLACEMENT_NEW + + +///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods +///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data +template <typename T> +//template <class T> +class btAlignedObjectArray +{ + btAlignedAllocator<T , 16> m_allocator; + + int m_size; + int m_capacity; + T* m_data; + //PCK: added this line + bool m_ownsMemory; + + protected: + SIMD_FORCE_INLINE int allocSize(int size) + { + return (size ? size*2 : 1); + } + SIMD_FORCE_INLINE void copy(int start,int end, T* dest) const + { + int i; + for (i=start;i<end;++i) +#ifdef BT_USE_PLACEMENT_NEW + new (&dest[i]) T(m_data[i]); +#else + dest[i] = m_data[i]; +#endif //BT_USE_PLACEMENT_NEW + } + + SIMD_FORCE_INLINE void init() + { + //PCK: added this line + m_ownsMemory = true; + m_data = 0; + m_size = 0; + m_capacity = 0; + } + SIMD_FORCE_INLINE void destroy(int first,int last) + { + int i; + for (i=first; i<last;i++) + { + m_data[i].~T(); + } + } + + SIMD_FORCE_INLINE void* allocate(int size) + { + if (size) + return m_allocator.allocate(size); + return 0; + } + + SIMD_FORCE_INLINE void deallocate() + { + if(m_data) { + //PCK: enclosed the deallocation in this block + if (m_ownsMemory) + { + m_allocator.deallocate(m_data); + } + m_data = 0; + } + } + + + + + public: + + btAlignedObjectArray() + { + init(); + } + + ~btAlignedObjectArray() + { + clear(); + } + + ///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead. + btAlignedObjectArray(const btAlignedObjectArray& otherArray) + { + init(); + + int otherSize = otherArray.size(); + resize (otherSize); + otherArray.copy(0, otherSize, m_data); + } + + + + /// return the number of elements in the array + SIMD_FORCE_INLINE int size() const + { + return m_size; + } + + SIMD_FORCE_INLINE const T& at(int n) const + { + return m_data[n]; + } + + SIMD_FORCE_INLINE T& at(int n) + { + return m_data[n]; + } + + SIMD_FORCE_INLINE const T& operator[](int n) const + { + return m_data[n]; + } + + SIMD_FORCE_INLINE T& operator[](int n) + { + return m_data[n]; + } + + + ///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void clear() + { + destroy(0,size()); + + deallocate(); + + init(); + } + + SIMD_FORCE_INLINE void pop_back() + { + m_size--; + m_data[m_size].~T(); + } + + ///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument. + ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) + { + int curSize = size(); + + if (newsize < curSize) + { + for(int i = newsize; i < curSize; i++) + { + m_data[i].~T(); |