path: root/tests/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp

/*
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.
*/
///btDbvt implementation by Nathanael Presson

#include "btDbvt.h"

//
typedef btAlignedObjectArray<btDbvtNode*>			tNodeArray;
typedef btAlignedObjectArray<const btDbvtNode*>	tConstNodeArray;

//
struct btDbvtNodeEnumerator : btDbvt::ICollide
{
	tConstNodeArray	nodes;
	void Process(const btDbvtNode* n) { nodes.push_back(n); }
};

//
static DBVT_INLINE int			indexof(const btDbvtNode* node)
{
	return(node->parent->childs[1]==node);
}

//
static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
									  const btDbvtVolume& b)
{
#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
	btDbvtVolume&	res=*(btDbvtVolume*)locals;
#else
		btDbvtVolume	res;
#endif
	Merge(a,b,res);
	return(res);
}

// volume+edge lengths
static DBVT_INLINE btScalar		size(const btDbvtVolume& a)
{
	const btVector3	edges=a.Lengths();
	return(	edges.x()*edges.y()*edges.z()+
		edges.x()+edges.y()+edges.z());
}

//
static void						getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
{
	if(node->isinternal())
	{
		getmaxdepth(node->childs[0],depth+1,maxdepth);
		getmaxdepth(node->childs[1],depth+1,maxdepth);
	} else maxdepth=btMax(maxdepth,depth);
}

//
static DBVT_INLINE void			deletenode(	btDbvt* pdbvt,
										   btDbvtNode* node)
{
	btAlignedFree(pdbvt->m_free);
	pdbvt->m_free=node;
}

//
static void						recursedeletenode(	btDbvt* pdbvt,
												  btDbvtNode* node)
{
	if(!node->isleaf())
	{
		recursedeletenode(pdbvt,node->childs[0]);
		recursedeletenode(pdbvt,node->childs[1]);
	}
	if(node==pdbvt->m_root) pdbvt->m_root