diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btAlignedObjectArray.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btAlignedObjectArray.h | 633 |
1 files changed, 314 insertions, 319 deletions
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h index 6193ef7f427..b3d5d64b58b 100644 --- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h +++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h @@ -13,11 +13,10 @@ subject to the following restrictions: 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 "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 @@ -28,394 +27,371 @@ subject to the following restrictions: #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... -#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful +#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful #ifdef BT_USE_MEMCPY #include <memory.h> #include <string.h> -#endif //BT_USE_MEMCPY +#endif //BT_USE_MEMCPY #ifdef BT_USE_PLACEMENT_NEW -#include <new> //for placement new -#endif //BT_USE_PLACEMENT_NEW - -// The register keyword is deprecated in C++11 so don't use it. -#if __cplusplus > 199711L -#define BT_REGISTER -#else -#define BT_REGISTER register -#endif +#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> +template <typename T> +//template <class T> class btAlignedObjectArray { - btAlignedAllocator<T , 16> m_allocator; + btAlignedAllocator<T, 16> m_allocator; - int m_size; - int m_capacity; - T* m_data; + int m_size; + int m_capacity; + T* m_data; //PCK: added this line - bool m_ownsMemory; + bool m_ownsMemory; #ifdef BT_ALLOW_ARRAY_COPY_OPERATOR public: - SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other) + SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other) { copyFromArray(other); return *this; } -#else//BT_ALLOW_ARRAY_COPY_OPERATOR +#else //BT_ALLOW_ARRAY_COPY_OPERATOR private: - SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other); -#endif//BT_ALLOW_ARRAY_COPY_OPERATOR + SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T>& other); +#endif //BT_ALLOW_ARRAY_COPY_OPERATOR 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) + 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]); + new (&dest[i]) T(m_data[i]); #else - dest[i] = m_data[i]; -#endif //BT_USE_PLACEMENT_NEW - } + dest[i] = m_data[i]; +#endif //BT_USE_PLACEMENT_NEW + } - SIMD_FORCE_INLINE void init() + 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++) { - //PCK: added this line - m_ownsMemory = true; - m_data = 0; - m_size = 0; - m_capacity = 0; + m_data[i].~T(); } - SIMD_FORCE_INLINE void destroy(int first,int last) + } + + SIMD_FORCE_INLINE void* allocate(int size) + { + if (size) + return m_allocator.allocate(size); + return 0; + } + + SIMD_FORCE_INLINE void deallocate() + { + if (m_data) { - int i; - for (i=first; i<last;i++) + //PCK: enclosed the deallocation in this block + if (m_ownsMemory) { - m_data[i].~T(); + m_allocator.deallocate(m_data); } + m_data = 0; } + } - SIMD_FORCE_INLINE void* allocate(int size) - { - if (size) - return m_allocator.allocate(size); - return 0; - } +public: + btAlignedObjectArray() + { + init(); + } - 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; - } - } + ~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); + } - public: - - btAlignedObjectArray() - { - init(); - } + /// return the number of elements in the array + SIMD_FORCE_INLINE int size() const + { + return m_size; + } - ~btAlignedObjectArray() - { - clear(); - } + SIMD_FORCE_INLINE const T& at(int n) const + { + btAssert(n >= 0); + btAssert(n < size()); + return m_data[n]; + } - ///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(); + SIMD_FORCE_INLINE T& at(int n) + { + btAssert(n >= 0); + btAssert(n < size()); + return m_data[n]; + } - int otherSize = otherArray.size(); - resize (otherSize); - otherArray.copy(0, otherSize, m_data); - } + SIMD_FORCE_INLINE const T& operator[](int n) const + { + btAssert(n >= 0); + btAssert(n < size()); + return m_data[n]; + } - - - /// 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 - { - btAssert(n>=0); - btAssert(n<size()); - return m_data[n]; - } + SIMD_FORCE_INLINE T& operator[](int n) + { + btAssert(n >= 0); + btAssert(n < size()); + return m_data[n]; + } - SIMD_FORCE_INLINE T& at(int n) - { - btAssert(n>=0); - btAssert(n<size()); - 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()); - SIMD_FORCE_INLINE const T& operator[](int n) const - { - btAssert(n>=0); - btAssert(n<size()); - return m_data[n]; - } + deallocate(); - SIMD_FORCE_INLINE T& operator[](int n) - { - btAssert(n>=0); - btAssert(n<size()); - return m_data[n]; - } - + init(); + } - ///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() + { + btAssert(m_size > 0); + m_size--; + m_data[m_size].~T(); + } - SIMD_FORCE_INLINE void pop_back() + ///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 resizeNoInitialize(int newsize) + { + if (newsize > size()) { - btAssert(m_size>0); - m_size--; - m_data[m_size].~T(); + reserve(newsize); } + m_size = newsize; + } + SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T()) + { + const int curSize = size(); - ///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 resizeNoInitialize(int newsize) + if (newsize < curSize) { - if (newsize > size()) + for (int i = newsize; i < curSize; i++) { - reserve(newsize); + m_data[i].~T(); } - m_size = newsize; } - - SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) + else { - const BT_REGISTER int curSize = size(); - - if (newsize < curSize) - { - for(int i = newsize; i < curSize; i++) - { - m_data[i].~T(); - } - } else + if (newsize > curSize) { - if (newsize > curSize) - { - reserve(newsize); - } -#ifdef BT_USE_PLACEMENT_NEW - for (int i=curSize;i<newsize;i++) - { - new ( &m_data[i]) T(fillData); - } -#endif //BT_USE_PLACEMENT_NEW - + reserve(newsize); } - - m_size = newsize; - } - SIMD_FORCE_INLINE T& expandNonInitializing( ) - { - const BT_REGISTER int sz = size(); - if( sz == capacity() ) +#ifdef BT_USE_PLACEMENT_NEW + for (int i = curSize; i < newsize; i++) { - reserve( allocSize(size()) ); + new (&m_data[i]) T(fillData); } - m_size++; +#endif //BT_USE_PLACEMENT_NEW + } - return m_data[sz]; + m_size = newsize; + } + SIMD_FORCE_INLINE T& expandNonInitializing() + { + const int sz = size(); + if (sz == capacity()) + { + reserve(allocSize(size())); } + m_size++; + return m_data[sz]; + } - SIMD_FORCE_INLINE T& expand( const T& fillValue=T()) - { - const BT_REGISTER int sz = size(); - if( sz == capacity() ) - { - reserve( allocSize(size()) ); - } - m_size++; + SIMD_FORCE_INLINE T& expand(const T& fillValue = T()) + { + const int sz = size(); + if (sz == capacity()) + { + reserve(allocSize(size())); + } + m_size++; #ifdef BT_USE_PLACEMENT_NEW - new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory) + new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory) #endif - return m_data[sz]; - } + return m_data[sz]; + } + SIMD_FORCE_INLINE void push_back(const T& _Val) + { + const int sz = size(); + if (sz == capacity()) + { + reserve(allocSize(size())); + } - SIMD_FORCE_INLINE void push_back(const T& _Val) - { - const BT_REGISTER int sz = size(); - if( sz == capacity() ) - { - reserve( allocSize(size()) ); - } - #ifdef BT_USE_PLACEMENT_NEW - new ( &m_data[m_size] ) T(_Val); + new (&m_data[m_size]) T(_Val); #else - m_data[size()] = _Val; -#endif //BT_USE_PLACEMENT_NEW + m_data[size()] = _Val; +#endif //BT_USE_PLACEMENT_NEW - m_size++; - } - - - /// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve() - SIMD_FORCE_INLINE int capacity() const - { - return m_capacity; - } - - SIMD_FORCE_INLINE void reserve(int _Count) - { // determine new minimum length of allocated storage - if (capacity() < _Count) - { // not enough room, reallocate - T* s = (T*)allocate(_Count); + m_size++; + } - copy(0, size(), s); + /// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve() + SIMD_FORCE_INLINE int capacity() const + { + return m_capacity; + } - destroy(0,size()); + SIMD_FORCE_INLINE void reserve(int _Count) + { // determine new minimum length of allocated storage + if (capacity() < _Count) + { // not enough room, reallocate + T* s = (T*)allocate(_Count); - deallocate(); - - //PCK: added this line - m_ownsMemory = true; + copy(0, size(), s); - m_data = s; - - m_capacity = _Count; + destroy(0, size()); - } - } + deallocate(); + //PCK: added this line + m_ownsMemory = true; - class less - { - public: + m_data = s; - bool operator() ( const T& a, const T& b ) - { - return ( a < b ); - } - }; - + m_capacity = _Count; + } + } - template <typename L> - void quickSortInternal(const L& CompareFunc,int lo, int hi) + class less + { + public: + bool operator()(const T& a, const T& b) const { - // lo is the lower index, hi is the upper index - // of the region of array a that is to be sorted - int i=lo, j=hi; - T x=m_data[(lo+hi)/2]; - - // partition - do - { - while (CompareFunc(m_data[i],x)) - i++; - while (CompareFunc(x,m_data[j])) - j--; - if (i<=j) - { - swap(i,j); - i++; j--; - } - } while (i<=j); - - // recursion - if (lo<j) - quickSortInternal( CompareFunc, lo, j); - if (i<hi) - quickSortInternal( CompareFunc, i, hi); + return (a < b); } + }; + template <typename L> + void quickSortInternal(const L& CompareFunc, int lo, int hi) + { + // lo is the lower index, hi is the upper index + // of the region of array a that is to be sorted + int i = lo, j = hi; + T x = m_data[(lo + hi) / 2]; - template <typename L> - void quickSort(const L& CompareFunc) + // partition + do { - //don't sort 0 or 1 elements - if (size()>1) + while (CompareFunc(m_data[i], x)) + i++; + while (CompareFunc(x, m_data[j])) + j--; + if (i <= j) { - quickSortInternal(CompareFunc,0,size()-1); + swap(i, j); + i++; + j--; } + } while (i <= j); + + // recursion + if (lo < j) + quickSortInternal(CompareFunc, lo, j); + if (i < hi) + quickSortInternal(CompareFunc, i, hi); + } + + template <typename L> + void quickSort(const L& CompareFunc) + { + //don't sort 0 or 1 elements + if (size() > 1) + { + quickSortInternal(CompareFunc, 0, size() - 1); } + } + ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ + template <typename L> + void downHeap(T* pArr, int k, int n, const L& CompareFunc) + { + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ - ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ - template <typename L> - void downHeap(T *pArr, int k, int n, const L& CompareFunc) + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n / 2) { - /* PRE: a[k+1..N] is a heap */ - /* POST: a[k..N] is a heap */ - - T temp = pArr[k - 1]; - /* k has child(s) */ - while (k <= n/2) + int child = 2 * k; + + if ((child < n) && CompareFunc(pArr[child - 1], pArr[child])) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp, pArr[child - 1])) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else { - int child = 2*k; - - if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child])) - { - child++; - } - /* pick larger child */ - if (CompareFunc(temp , pArr[child - 1])) - { - /* move child up */ - pArr[k - 1] = pArr[child - 1]; - k = child; - } - else - { - break; - } + break; } - pArr[k - 1] = temp; - } /*downHeap*/ + } + pArr[k - 1] = temp; + } /*downHeap*/ - void swap(int index0,int index1) - { + void swap(int index0, int index1) + { #ifdef BT_USE_MEMCPY - char temp[sizeof(T)]; - memcpy(temp,&m_data[index0],sizeof(T)); - memcpy(&m_data[index0],&m_data[index1],sizeof(T)); - memcpy(&m_data[index1],temp,sizeof(T)); + char temp[sizeof(T)]; + memcpy(temp, &m_data[index0], sizeof(T)); + memcpy(&m_data[index0], &m_data[index1], sizeof(T)); + memcpy(&m_data[index1], temp, sizeof(T)); #else - T temp = m_data[index0]; - m_data[index0] = m_data[index1]; - m_data[index1] = temp; -#endif //BT_USE_PLACEMENT_NEW - - } + T temp = m_data[index0]; + m_data[index0] = m_data[index1]; + m_data[index1] = temp; +#endif //BT_USE_PLACEMENT_NEW + } template <typename L> void heapSort(const L& CompareFunc) @@ -423,49 +399,48 @@ protected: /* sort a[0..N-1], N.B. 0 to N-1 */ int k; int n = m_size; - for (k = n/2; k > 0; k--) + for (k = n / 2; k > 0; k--) { downHeap(m_data, k, n, CompareFunc); } /* a[1..N] is now a heap */ - while ( n>=1 ) + while (n >= 1) { - swap(0,n-1); /* largest of a[0..n-1] */ - + swap(0, n - 1); /* largest of a[0..n-1] */ n = n - 1; /* restore a[1..i-1] heap */ downHeap(m_data, 1, n, CompareFunc); - } + } } ///non-recursive binary search, assumes sorted array - int findBinarySearch(const T& key) const + int findBinarySearch(const T& key) const { int first = 0; - int last = size()-1; + int last = size() - 1; //assume sorted array - while (first <= last) { + while (first <= last) + { int mid = (first + last) / 2; // compute mid point. - if (key > m_data[mid]) + if (key > m_data[mid]) first = mid + 1; // repeat search in top half. - else if (key < m_data[mid]) - last = mid - 1; // repeat search in bottom half. + else if (key < m_data[mid]) + last = mid - 1; // repeat search in bottom half. else - return mid; // found it. return position ///// + return mid; // found it. return position ///// } - return size(); // failed to find key + return size(); // failed to find key } - - int findLinearSearch(const T& key) const + int findLinearSearch(const T& key) const { - int index=size(); + int index = size(); int i; - for (i=0;i<size();i++) + for (i = 0; i < size(); i++) { if (m_data[i] == key) { @@ -476,19 +451,40 @@ protected: return index; } - void remove(const T& key) + // If the key is not in the array, return -1 instead of 0, + // since 0 also means the first element in the array. + int findLinearSearch2(const T& key) const { + int index = -1; + int i; - int findIndex = findLinearSearch(key); - if (findIndex<size()) + for (i = 0; i < size(); i++) { - swap( findIndex,size()-1); + if (m_data[i] == key) + { + index = i; + break; + } + } + return index; + } + + void removeAtIndex(int index) + { + if (index < size()) + { + swap(index, size() - 1); pop_back(); } } + void remove(const T& key) + { + int findIndex = findLinearSearch(key); + removeAtIndex(findIndex); + } //PCK: whole function - void initializeFromBuffer(void *buffer, int size, int capacity) + void initializeFromBuffer(void* buffer, int size, int capacity) { clear(); m_ownsMemory = false; @@ -500,10 +496,9 @@ protected: void copyFromArray(const btAlignedObjectArray& otherArray) { int otherSize = otherArray.size(); - resize (otherSize); + resize(otherSize); otherArray.copy(0, otherSize, m_data); } - }; -#endif //BT_OBJECT_ARRAY__ +#endif //BT_OBJECT_ARRAY__ |