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

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 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

#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H

#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"

//
// Compile time configuration
//


// Implementation profiles
#define DBVT_IMPL_GENERIC		0	// Generic implementation	
#define DBVT_IMPL_SSE			1	// SSE

// Template implementation of ICollide
#ifdef _WIN32
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define	DBVT_USE_TEMPLATE		1
#else
#define	DBVT_USE_TEMPLATE		0
#endif
#else
#define	DBVT_USE_TEMPLATE		0
#endif

// Use only intrinsics instead of inline asm
#define DBVT_USE_INTRINSIC_SSE	1

// Using memmov for collideOCL
#define DBVT_USE_MEMMOVE		1

// Enable benchmarking code
#define	DBVT_ENABLE_BENCHMARK	0

// Inlining
#define DBVT_INLINE				SIMD_FORCE_INLINE

// Specific methods implementation

//SSE gives errors on a MSVC 7.1
#if defined (BT_USE_SSE) && defined (_WIN32)
#define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
#define DBVT_INT0_IMPL			DBVT_IMPL_SSE
#else
#define DBVT_SELECT_IMPL		DBVT_IMPL_GENERIC
#define DBVT_MERGE_IMPL			DBVT_IMPL_GENERIC
#define DBVT_INT0_IMPL			DBVT_IMPL_GENERIC
#endif

#if	(DBVT_SELECT_IMPL==DBVT_IMPL_SSE)||	\
	(DBVT_MERGE_IMPL==DBVT_IMPL_SSE)||	\
	(DBVT_INT0_IMPL==DBVT_IMPL_SSE)
#include <emmintrin.h>
#endif

//
// Auto config and checks
//

#if DBVT_USE_TEMPLATE
#define	DBVT_VIRTUAL
#define DBVT_VIRTUAL_DTOR(a)
#define DBVT_PREFIX					template <typename T>
#define DBVT_IPOLICY				T& policy
#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)1;(void)typechecker;
#else
#define	DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
#define DBVT_VIRTUAL				virtual
#define DBVT_PREFIX
#define DBVT_IPOLICY				ICollide& policy
#define DBVT_CHECKTYPE
#endif

#if DBVT_USE_MEMMOVE
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
#endif

#ifndef DBVT_USE_TEMPLATE
#error "DBVT_USE_TEMPLATE undefined"
#endif

#ifndef DBVT_USE_MEMMOVE
#error "DBVT_USE_MEMMOVE undefined"
#endif

#ifndef DBVT_ENABLE_BENCHMARK
#error "DBVT_ENABLE_BENCHMARK undefined"
#endif

#ifndef DBVT_SELECT_IMPL
#error "DBVT_SELECT_IMPL undefined"
#endif

#ifndef DBVT_MERGE_IMPL
#error "DBVT_MERGE_IMPL undefined"
#endif

#ifndef DBVT_INT0_IMPL
#error "DBVT_INT0_IMPL undefined"
#endif

//
// Defaults volumes
//

/* btDbvtAabbMm			*/ 
struct	btDbvtAabbMm
{
	DBVT_INLINE btVector3			Center() const	{ return((mi+mx)/2); }
	DBVT_INLINE btVector3			Lengths() const	{ return(mx-mi); }
	DBVT_INLINE btVector3			Extents() const	{ return((mx-mi)/2); }
	DBVT_INLINE const btVector3&	Mins() const	{ return(mi); }
	DBVT_INLINE const btVector3&	Maxs() const	{ return(mx); }
	static inline btDbvtAabbMm		FromCE(const btVector3& c,const btVector3& e);
	static inline btDbvtAabbMm		FromCR(const btVector3& c,btScalar r);
	static inline btDbvtAabbMm		FromMM(const btVector3& mi,const btVector3& mx);
	static inline btDbvtAabbMm		FromPoints(const btVector3* pts,int n);
	static inline btDbvtAabbMm		FromPoints(const btVector3** ppts,int n);
	DBVT_INLINE void				Expand(const btVector3& e);
	DBVT_INLINE void				SignedExpand(const btVector3& e);
	DBVT_INLINE bool				Contain(const btDbvtAabbMm& a) const;
	DBVT_INLINE int