| /* |
| 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& 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(); |
| } |
| } else |
| { |
| if (newsize > size()) |
| { |
| 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 |
| |
| } |
| |
| m_size = newsize; |
| } |
| |
| |
| SIMD_FORCE_INLINE T& expand( const T& fillValue=T()) |
| { |
| 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) |
| #endif |
| |
| return m_data[sz]; |
| } |
| |
| |
| SIMD_FORCE_INLINE void push_back(const T& _Val) |
| { |
| int sz = size(); |
| if( sz == capacity() ) |
| { |
| reserve( allocSize(size()) ); |
| } |
| |
| #ifdef BT_USE_PLACEMENT_NEW |
| new ( &m_data[m_size] ) T(_Val); |
| #else |
| 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); |
| |
| copy(0, size(), s); |
| |
| destroy(0,size()); |
| |
| deallocate(); |
| |
| //PCK: added this line |
| m_ownsMemory = true; |
| |
| m_data = s; |
| |
| m_capacity = _Count; |
| |
| } |
| } |
| |
| |
| class less |
| { |
| public: |
| |
| bool operator() ( const T& a, const T& b ) |
| { |
| return ( a < b ); |
| } |
| }; |
| |
| template <typename L> |
| void quickSortInternal(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]; |
| |
| // 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); |
| } |
| |
| |
| template <typename L> |
| void quickSort(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,L CompareFunc) |
| { |
| /* 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 |
| { |
| break; |
| } |
| } |
| pArr[k - 1] = temp; |
| } /*downHeap*/ |
| |
| 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)); |
| #else |
| 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(L CompareFunc) |
| { |
| /* sort a[0..N-1], N.B. 0 to N-1 */ |
| int k; |
| int n = m_size; |
| for (k = n/2; k > 0; k--) |
| { |
| downHeap(m_data, k, n, CompareFunc); |
| } |
| |
| /* a[1..N] is now a heap */ |
| while ( 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 first = 0; |
| int last = size(); |
| |
| //assume sorted array |
| while (first <= last) { |
| int mid = (first + last) / 2; // compute mid point. |
| 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 |
| return mid; // found it. return position ///// |
| } |
| return size(); // failed to find key |
| } |
| |
| |
| int findLinearSearch(const T& key) const |
| { |
| int index=size(); |
| int i; |
| |
| for (i=0;i<size();i++) |
| { |
| if (m_data[i] == key) |
| { |
| index = i; |
| break; |
| } |
| } |
| return index; |
| } |
| |
| void remove(const T& key) |
| { |
| |
| int findIndex = findLinearSearch(key); |
| if (findIndex<size()) |
| { |
| swap( findIndex,size()-1); |
| pop_back(); |
| } |
| } |
| |
| //PCK: whole function |
| void initializeFromBuffer(void *buffer, int size, int capacity) |
| { |
| clear(); |
| m_ownsMemory = false; |
| m_data = (T*)buffer; |
| m_size = size; |
| m_capacity = capacity; |
| } |
| |
| }; |
| |
| #endif //BT_OBJECT_ARRAY__ |