Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 276 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
new file mode 100644
index 0000000000..8c8a7c3c1e
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
@@ -0,0 +1,276 @@
+/*
+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 "btHashedSimplePairCache.h"
+
+
+#include <stdio.h>
+
+int	gOverlappingSimplePairs = 0;
+int gRemoveSimplePairs =0;
+int gAddedSimplePairs =0;
+int gFindSimplePairs =0;
+
+
+
+
+btHashedSimplePairCache::btHashedSimplePairCache() {
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+	growTables();
+}
+
+
+
+
+btHashedSimplePairCache::~btHashedSimplePairCache()
+{
+}
+
+
+
+
+
+
+void btHashedSimplePairCache::removeAllPairs()
+{
+	m_overlappingPairArray.clear();
+	m_hashTable.clear();
+	m_next.clear();
+
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+	growTables();
+}
+
+
+
+btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
+{
+	gFindSimplePairs++;
+	
+	
+	/*if (indexA > indexB) 
+		btSwap(indexA, indexB);*/
+
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+
+	if (hash >= m_hashTable.size())
+	{
+		return NULL;
+	}
+
+	int index = m_hashTable[hash];
+	while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false)
+	{
+		index = m_next[index];
+	}
+
+	if (index == BT_SIMPLE_NULL_PAIR)
+	{
+		return NULL;
+	}
+
+	btAssert(index < m_overlappingPairArray.size());
+
+	return &m_overlappingPairArray[index];
+}
+
+//#include <stdio.h>
+
+void	btHashedSimplePairCache::growTables()
+{
+
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (m_hashTable.size() < newCapacity)
+	{
+		//grow hashtable and next table
+		int curHashtableSize = m_hashTable.size();
+
+		m_hashTable.resize(newCapacity);
+		m_next.resize(newCapacity);
+
+
+		int i;
+
+		for (i= 0; i < newCapacity; ++i)
+		{
+			m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
+		}
+		for (i = 0; i < newCapacity; ++i)
+		{
+			m_next[i] = BT_SIMPLE_NULL_PAIR;
+		}
+
+		for(i=0;i<curHashtableSize;i++)
+		{
+	
+			const btSimplePair& pair = m_overlappingPairArray[i];
+			int indexA = pair.m_indexA;
+			int indexB = pair.m_indexB;
+			
+			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+			m_next[i] = m_hashTable[hashValue];
+			m_hashTable[hashValue] = i;
+		}
+
+
+	}
+}
+
+btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
+{
+
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+
+
+	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
+	if (pair != NULL)
+	{
+		return pair;
+	}
+
+	int count = m_overlappingPairArray.size();
+	int oldCapacity = m_overlappingPairArray.capacity();
+	void* mem = &m_overlappingPairArray.expandNonInitializing();
+
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (oldCapacity < newCapacity)
+	{
+		growTables();
+		//hash with new capacity
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+	}
+	
+	pair = new (mem) btSimplePair(indexA,indexB);
+
+	pair->m_userPointer = 0;
+	
+	m_next[count] = m_hashTable[hash];
+	m_hashTable[hash] = count;
+
+	return pair;
+}
+
+
+
+void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
+{
+	gRemoveSimplePairs++;
+	
+
+	/*if (indexA > indexB) 
+		btSwap(indexA, indexB);*/
+
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
+
+	btSimplePair* pair = internalFindPair(indexA, indexB, hash);
+	if (pair == NULL)
+	{
+		return 0;
+	}
+
+	
+	void* userData = pair->m_userPointer;
+
+
+	int pairIndex = int(pair - &m_overlappingPairArray[0]);
+	btAssert(pairIndex < m_overlappingPairArray.size());
+
+	// Remove the pair from the hash table.
+	int index = m_hashTable[hash];
+	btAssert(index != BT_SIMPLE_NULL_PAIR);
+
+	int previous = BT_SIMPLE_NULL_PAIR;
+	while (index != pairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_SIMPLE_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == pairIndex);
+		m_next[previous] = m_next[pairIndex];
+	}
+	else
+	{
+		m_hashTable[hash] = m_next[pairIndex];
+	}
+
+	// We now move the last pair into spot of the
+	// pair being removed. We need to fix the hash
+	// table indices to support the move.
+
+	int lastPairIndex = m_overlappingPairArray.size() - 1;
+
+	// If the removed pair is the last pair, we are done.
+	if (lastPairIndex == pairIndex)
+	{
+		m_overlappingPairArray.pop_back();
+		return userData;
+	}
+
+	// Remove the last pair from the hash table.
+	const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
+		/* missing swap here too, Nat. */ 
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity()-1));
+
+	index = m_hashTable[lastHash];
+	btAssert(index != BT_SIMPLE_NULL_PAIR);
+
+	previous = BT_SIMPLE_NULL_PAIR;
+	while (index != lastPairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_SIMPLE_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == lastPairIndex);
+		m_next[previous] = m_next[lastPairIndex];
+	}
+	else
+	{
+		m_hashTable[lastHash] = m_next[lastPairIndex];
+	}
+
+	// Copy the last pair into the remove pair's spot.
+	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
+
+	// Insert the last pair into the hash table
+	m_next[pairIndex] = m_hashTable[lastHash];
+	m_hashTable[lastHash] = pairIndex;
+
+	m_overlappingPairArray.pop_back();
+
+	return userData;
+}
+//#include <stdio.h>
+
+
+
+
+
+
+
+
+
+