1 files changed, 0 insertions, 828 deletions

diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
deleted file mode 100644
index 7b39dbdc0f..0000000000
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ /dev/null
@@ -1,828 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-///btDbvtBroadphase implementation by Nathanael Presson
-
-#include "btDbvtBroadphase.h"
-#include "LinearMath/btThreads.h"
-btScalar gDbvtMargin = btScalar(0.05);
-//
-// Profiling
-//
-
-#if DBVT_BP_PROFILE || DBVT_BP_ENABLE_BENCHMARK
-#include <stdio.h>
-#endif
-
-#if DBVT_BP_PROFILE
-struct ProfileScope
-{
-	__forceinline ProfileScope(btClock& clock, unsigned long& value) : m_clock(&clock), m_value(&value), m_base(clock.getTimeMicroseconds())
-	{
-	}
-	__forceinline ~ProfileScope()
-	{
-		(*m_value) += m_clock->getTimeMicroseconds() - m_base;
-	}
-	btClock* m_clock;
-	unsigned long* m_value;
-	unsigned long m_base;
-};
-#define SPC(_value_) ProfileScope spc_scope(m_clock, _value_)
-#else
-#define SPC(_value_)
-#endif
-
-//
-// Helpers
-//
-
-//
-template <typename T>
-static inline void listappend(T* item, T*& list)
-{
-	item->links[0] = 0;
-	item->links[1] = list;
-	if (list) list->links[0] = item;
-	list = item;
-}
-
-//
-template <typename T>
-static inline void listremove(T* item, T*& list)
-{
-	if (item->links[0])
-		item->links[0]->links[1] = item->links[1];
-	else
-		list = item->links[1];
-	if (item->links[1]) item->links[1]->links[0] = item->links[0];
-}
-
-//
-template <typename T>
-static inline int listcount(T* root)
-{
-	int n = 0;
-	while (root)
-	{
-		++n;
-		root = root->links[1];
-	}
-	return (n);
-}
-
-//
-template <typename T>
-static inline void clear(T& value)
-{
-	static const struct ZeroDummy : T
-	{
-	} zerodummy;
-	value = zerodummy;
-}
-
-//
-// Colliders
-//
-
-/* Tree collider	*/
-struct btDbvtTreeCollider : btDbvt::ICollide
-{
-	btDbvtBroadphase* pbp;
-	btDbvtProxy* proxy;
-	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
-	void Process(const btDbvtNode* na, const btDbvtNode* nb)
-	{
-		if (na != nb)
-		{
-			btDbvtProxy* pa = (btDbvtProxy*)na->data;
-			btDbvtProxy* pb = (btDbvtProxy*)nb->data;
-#if DBVT_BP_SORTPAIRS
-			if (pa->m_uniqueId > pb->m_uniqueId)
-				btSwap(pa, pb);
-#endif
-			pbp->m_paircache->addOverlappingPair(pa, pb);
-			++pbp->m_newpairs;
-		}
-	}
-	void Process(const btDbvtNode* n)
-	{
-		Process(n, proxy->leaf);
-	}
-};
-
-//
-// btDbvtBroadphase
-//
-
-//
-btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
-{
-	m_deferedcollide = false;
-	m_needcleanup = true;
-	m_releasepaircache = (paircache != 0) ? false : true;
-	m_prediction = 0;
-	m_stageCurrent = 0;
-	m_fixedleft = 0;
-	m_fupdates = 1;
-	m_dupdates = 0;
-	m_cupdates = 10;
-	m_newpairs = 1;
-	m_updates_call = 0;
-	m_updates_done = 0;
-	m_updates_ratio = 0;
-	m_paircache = paircache ? paircache : new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16)) btHashedOverlappingPairCache();
-	m_gid = 0;
-	m_pid = 0;
-	m_cid = 0;
-	for (int i = 0; i <= STAGECOUNT; ++i)
-	{
-		m_stageRoots[i] = 0;
-	}
-#if BT_THREADSAFE
-	m_rayTestStacks.resize(BT_MAX_THREAD_COUNT);
-#else
-	m_rayTestStacks.resize(1);
-#endif
-#if DBVT_BP_PROFILE
-	clear(m_profiling);
-#endif
-}
-
-//
-btDbvtBroadphase::~btDbvtBroadphase()
-{
-	if (m_releasepaircache)
-	{
-		m_paircache->~btOverlappingPairCache();
-		btAlignedFree(m_paircache);
-	}
-}
-
-//
-btBroadphaseProxy* btDbvtBroadphase::createProxy(const btVector3& aabbMin,
-												 const btVector3& aabbMax,
-												 int /*shapeType*/,
-												 void* userPtr,
-												 int collisionFilterGroup,
-												 int collisionFilterMask,
-												 btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = new (btAlignedAlloc(sizeof(btDbvtProxy), 16)) btDbvtProxy(aabbMin, aabbMax, userPtr,
-																				   collisionFilterGroup,
-																				   collisionFilterMask);
-
-	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-
-	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage = m_stageCurrent;
-	proxy->m_uniqueId = ++m_gid;
-	proxy->leaf = m_sets[0].insert(aabb, proxy);
-	listappend(proxy, m_stageRoots[m_stageCurrent]);
-	if (!m_deferedcollide)
-	{
-		btDbvtTreeCollider collider(this);
-		collider.proxy = proxy;
-		m_sets[0].collideTV(m_sets[0].m_root, aabb, collider);
-		m_sets[1].collideTV(m_sets[1].m_root, aabb, collider);
-	}
-	return (proxy);
-}
-
-//
-void btDbvtBroadphase::destroyProxy(btBroadphaseProxy* absproxy,
-									btDispatcher* dispatcher)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	if (proxy->stage == STAGECOUNT)
-		m_sets[1].remove(proxy->leaf);
-	else
-		m_sets[0].remove(proxy->leaf);
-	listremove(proxy, m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy, dispatcher);
-	btAlignedFree(proxy);
-	m_needcleanup = true;
-}
-
-void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	aabbMin = proxy->m_aabbMin;
-	aabbMax = proxy->m_aabbMax;
-}
-
-struct BroadphaseRayTester : btDbvt::ICollide
-{
-	btBroadphaseRayCallback& m_rayCallback;
-	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-		: m_rayCallback(orgCallback)
-	{
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
-		m_rayCallback.process(proxy);
-	}
-};
-
-void btDbvtBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
-{
-	BroadphaseRayTester callback(rayCallback);
-	btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0];
-#if BT_THREADSAFE
-	// for this function to be threadsafe, each thread must have a separate copy
-	// of this stack.  This could be thread-local static to avoid dynamic allocations,
-	// instead of just a local.
-	int threadIndex = btGetCurrentThreadIndex();
-	btAlignedObjectArray<const btDbvtNode*> localStack;
-	//todo(erwincoumans, "why do we get tsan issue here?")
-	if (0)//threadIndex < m_rayTestStacks.size())
-	//if (threadIndex < m_rayTestStacks.size())
-	{
-		// use per-thread preallocated stack if possible to avoid dynamic allocations
-		stack = &m_rayTestStacks[threadIndex];
-	}
-	else
-	{
-		stack = &localStack;
-	}
-#endif
-
-	m_sets[0].rayTestInternal(m_sets[0].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  *stack,
-							  callback);
-
-	m_sets[1].rayTestInternal(m_sets[1].m_root,
-							  rayFrom,
-							  rayTo,
-							  rayCallback.m_rayDirectionInverse,
-							  rayCallback.m_signs,
-							  rayCallback.m_lambda_max,
-							  aabbMin,
-							  aabbMax,
-							  *stack,
-							  callback);
-}
-
-struct BroadphaseAabbTester : btDbvt::ICollide
-{
-	btBroadphaseAabbCallback& m_aabbCallback;
-	BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
-		: m_aabbCallback(orgCallback)
-	{
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		btDbvtProxy* proxy = (btDbvtProxy*)leaf->data;
-		m_aabbCallback.process(proxy);
-	}
-};
-
-void btDbvtBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& aabbCallback)
-{
-	BroadphaseAabbTester callback(aabbCallback);
-
-	const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(aabbMin, aabbMax);
-	//process all children, that overlap with  the given AABB bounds
-	m_sets[0].collideTV(m_sets[0].m_root, bounds, callback);
-	m_sets[1].collideTV(m_sets[1].m_root, bounds, callback);
-}
-
-//
-void btDbvtBroadphase::setAabb(btBroadphaseProxy* absproxy,
-							   const btVector3& aabbMin,
-							   const btVector3& aabbMax,
-							   btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-#if DBVT_BP_PREVENTFALSEUPDATE
-	if (NotEqual(aabb, proxy->leaf->volume))
-#endif
-	{
-		bool docollide = false;
-		if (proxy->stage == STAGECOUNT)
-		{ /* fixed -> dynamic set	*/
-			m_sets[1].remove(proxy->leaf);
-			proxy->leaf = m_sets[0].insert(aabb, proxy);
-			docollide = true;
-		}
-		else
-		{ /* dynamic set				*/
-			++m_updates_call;
-			if (Intersect(proxy->leaf->volume, aabb))
-			{ /* Moving				*/
-
-				const btVector3 delta = aabbMin - proxy->m_aabbMin;
-				btVector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
-				if (delta[0] < 0) velocity[0] = -velocity[0];
-				if (delta[1] < 0) velocity[1] = -velocity[1];
-				if (delta[2] < 0) velocity[2] = -velocity[2];
-				if (
-					m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
-
-				)
-				{
-					++m_updates_done;
-					docollide = true;
-				}
-			}
-			else
-			{ /* Teleporting			*/
-				m_sets[0].update(proxy->leaf, aabb);
-				++m_updates_done;
-				docollide = true;
-			}
-		}
-		listremove(proxy, m_stageRoots[proxy->stage]);
-		proxy->m_aabbMin = aabbMin;
-		proxy->m_aabbMax = aabbMax;
-		proxy->stage = m_stageCurrent;
-		listappend(proxy, m_stageRoots[m_stageCurrent]);
-		if (docollide)
-		{
-			m_needcleanup = true;
-			if (!m_deferedcollide)
-			{
-				btDbvtTreeCollider collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-			}
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::setAabbForceUpdate(btBroadphaseProxy* absproxy,
-										  const btVector3& aabbMin,
-										  const btVector3& aabbMax,
-										  btDispatcher* /*dispatcher*/)
-{
-	btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
-	bool docollide = false;
-	if (proxy->stage == STAGECOUNT)
-	{ /* fixed -> dynamic set	*/
-		m_sets[1].remove(proxy->leaf);
-		proxy->leaf = m_sets[0].insert(aabb, proxy);
-		docollide = true;
-	}
-	else
-	{ /* dynamic set				*/
-		++m_updates_call;
-		/* Teleporting			*/
-		m_sets[0].update(proxy->leaf, aabb);
-		++m_updates_done;
-		docollide = true;
-	}
-	listremove(proxy, m_stageRoots[proxy->stage]);
-	proxy->m_aabbMin = aabbMin;
-	proxy->m_aabbMax = aabbMax;
-	proxy->stage = m_stageCurrent;
-	listappend(proxy, m_stageRoots[m_stageCurrent]);
-	if (docollide)
-	{
-		m_needcleanup = true;
-		if (!m_deferedcollide)
-		{
-			btDbvtTreeCollider collider(this);
-			m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-	collide(dispatcher);
-#if DBVT_BP_PROFILE
-	if (0 == (m_pid % DBVT_BP_PROFILING_RATE))
-	{
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n", m_sets[1].m_leaves, m_sets[0].m_leaves, m_paircache->getNumOverlappingPairs());
-		unsigned int total = m_profiling.m_total;
-		if (total <= 0) total = 1;
-		printf("ddcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_ddcollide * 100) / total, m_profiling.m_ddcollide / DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n", (50 + m_profiling.m_fdcollide * 100) / total, m_profiling.m_fdcollide / DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n", (50 + m_profiling.m_cleanup * 100) / total, m_profiling.m_cleanup / DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n", total / DBVT_BP_PROFILING_RATE);
-		const unsigned long sum = m_profiling.m_ddcollide +
-								  m_profiling.m_fdcollide +
-								  m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n", 100 - ((50 + sum * 100) / total), (total - sum) / DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n", (m_profiling.m_jobcount * 100) / ((m_sets[0].m_leaves + m_sets[1].m_leaves) * DBVT_BP_PROFILING_RATE));
-		clear(m_profiling);
-		m_clock.reset();
-	}
-#endif
-
-	performDeferredRemoval(dispatcher);
-}
-
-void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
-{
-	if (m_paircache->hasDeferredRemoval())
-	{
-		btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		int invalidPair = 0;
-
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-
-		for (i = 0; i < overlappingPairArray.size(); i++)
-		{
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				//important to perform AABB check that is consistent with the broadphase
-				btDbvtProxy* pa = (btDbvtProxy*)pair.m_pProxy0;
-				btDbvtProxy* pb = (btDbvtProxy*)pair.m_pProxy1;
-				bool hasOverlap = Intersect(pa->leaf->volume, pb->leaf->volume);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;
-				}
-				else
-				{
-					needsRemoval = true;
-				}
-			}
-			else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-
-			if (needsRemoval)
-			{
-				m_paircache->cleanOverlappingPair(pair, dispatcher);
-
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				invalidPair++;
-			}
-		}
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-	}
-}
-
-//
-void btDbvtBroadphase::collide(btDispatcher* dispatcher)
-{
-	/*printf("---------------------------------------------------------\n");
-	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
-	{
-		int i;
-		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-		{
-			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-		}
-		printf("\n");
-	}
-*/
-
-	SPC(m_profiling.m_total);
-	/* optimize				*/
-	m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
-	if (m_fixedleft)
-	{
-		const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
-		m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
-		m_fixedleft = btMax<int>(0, m_fixedleft - count);
-	}
-	/* dynamic -> fixed set	*/
-	m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
-	btDbvtProxy* current = m_stageRoots[m_stageCurrent];
-	if (current)
-	{
-#if DBVT_BP_ACCURATESLEEPING
-		btDbvtTreeCollider collider(this);
-#endif
-		do
-		{
-			btDbvtProxy* next = current->links[1];
-			listremove(current, m_stageRoots[current->stage]);
-			listappend(current, m_stageRoots[STAGECOUNT]);
-#if DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
-			collider.proxy = current;
-			btDbvt::collideTV(m_sets[0].m_root, current->aabb, collider);
-			btDbvt::collideTV(m_sets[1].m_root, current->aabb, collider);
-#endif
-			m_sets[0].remove(current->leaf);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)
-			curAabb = btDbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
-			current->leaf = m_sets[1].insert(curAabb, current);
-			current->stage = STAGECOUNT;
-			current = next;
-		} while (current);
-		m_fixedleft = m_sets[1].m_leaves;
-		m_needcleanup = true;
-	}
-	/* collide dynamics		*/
-	{
-		btDbvtTreeCollider collider(this);
-		if (m_deferedcollide)
-		{
-			SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
-		}
-		if (m_deferedcollide)
-		{
-			SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
-		}
-	}
-	/* clean up				*/
-	if (m_needcleanup)
-	{
-		SPC(m_profiling.m_cleanup);
-		btBroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
-		if (pairs.size() > 0)
-		{
-			int ni = btMin(pairs.size(), btMax<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
-			for (int i = 0; i < ni; ++i)
-			{
-				btBroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
-				btDbvtProxy* pa = (btDbvtProxy*)p.m_pProxy0;
-				btDbvtProxy* pb = (btDbvtProxy*)p.m_pProxy1;
-				if (!Intersect(pa->leaf->volume, pb->leaf->volume))
-				{
-#if DBVT_BP_SORTPAIRS
-					if (pa->m_uniqueId > pb->m_uniqueId)
-						btSwap(pa, pb);
-#endif
-					m_paircache->removeOverlappingPair(pa, pb, dispatcher);
-					--ni;
-					--i;
-				}
-			}
-			if (pairs.size() > 0)
-				m_cid = (m_cid + ni) % pairs.size();
-			else
-				m_cid = 0;
-		}
-	}
-	++m_pid;
-	m_newpairs = 1;
-	m_needcleanup = false;
-	if (m_updates_call > 0)
-	{
-		m_updates_ratio = m_updates_done / (btScalar)m_updates_call;
-	}
-	else
-	{
-		m_updates_ratio = 0;
-	}
-	m_updates_done /= 2;
-	m_updates_call /= 2;
-}
-
-//
-void btDbvtBroadphase::optimize()
-{
-	m_sets[0].optimizeTopDown();
-	m_sets[1].optimizeTopDown();
-}
-
-//
-btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
-{
-	return (m_paircache);
-}
-
-//
-const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
-{
-	return (m_paircache);
-}
-
-//
-void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
-{
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)
-	bounds;
-
-	if (!m_sets[0].empty())
-		if (!m_sets[1].empty())
-			Merge(m_sets[0].m_root->volume,
-				  m_sets[1].m_root->volume, bounds);
-		else
-			bounds = m_sets[0].m_root->volume;
-	else if (!m_sets[1].empty())
-		bounds = m_sets[1].m_root->volume;
-	else
-		bounds = btDbvtVolume::FromCR(btVector3(0, 0, 0), 0);
-	aabbMin = bounds.Mins();
-	aabbMax = bounds.Maxs();
-}
-
-void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-	if (!totalObjects)
-	{
-		//reset internal dynamic tree data structures
-		m_sets[0].clear();
-		m_sets[1].clear();
-
-		m_deferedcollide = false;
-		m_needcleanup = true;
-		m_stageCurrent = 0;
-		m_fixedleft = 0;
-		m_fupdates = 1;
-		m_dupdates = 0;
-		m_cupdates = 10;
-		m_newpairs = 1;
-		m_updates_call = 0;
-		m_updates_done = 0;
-		m_updates_ratio = 0;
-
-		m_gid = 0;
-		m_pid = 0;
-		m_cid = 0;
-		for (int i = 0; i <= STAGECOUNT; ++i)
-		{
-			m_stageRoots[i] = 0;
-		}
-	}
-}
-
-//
-void btDbvtBroadphase::printStats()
-{
-}
-
-//
-#if DBVT_BP_ENABLE_BENCHMARK
-
-struct btBroadphaseBenchmark
-{
-	struct Experiment
-	{
-		const char* name;
-		int object_count;
-		int update_count;
-		int spawn_count;
-		int iterations;
-		btScalar speed;
-		btScalar amplitude;
-	};
-	struct Object
-	{
-		btVector3 center;
-		btVector3 extents;
-		btBroadphaseProxy* proxy;
-		btScalar time;
-		void update(btScalar speed, btScalar amplitude, btBroadphaseInterface* pbi)
-		{
-			time += speed;
-			center[0] = btCos(time * (btScalar)2.17) * amplitude +
-						btSin(time) * amplitude / 2;
-			center[1] = btCos(time * (btScalar)1.38) * amplitude +
-						btSin(time) * amplitude;
-			center[2] = btSin(time * (btScalar)0.777) * amplitude;
-			pbi->setAabb(proxy, center - extents, center + extents, 0);
-		}
-	};
-	static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
-	static btScalar UnitRand() { return (UnsignedRand(16384) / (btScalar)16384); }
-	static void OutputTime(const char* name, btClock& c, unsigned count = 0)
-	{
-		const unsigned long us = c.getTimeMicroseconds();
-		const unsigned long ms = (us + 500) / 1000;
-		const btScalar sec = us / (btScalar)(1000 * 1000);
-		if (count > 0)
-			printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
-		else
-			printf("%s : %u us (%u ms)\r\n", name, us, ms);
-	}
-};
-
-void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
-{
-	static const btBroadphaseBenchmark::Experiment experiments[] =
-		{
-			{"1024o.10%", 1024, 10, 0, 8192, (btScalar)0.005, (btScalar)100},
-			/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
-		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
-		};
-	static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
-	btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
-	btClock wallclock;
-	/* Begin			*/
-	for (int iexp = 0; iexp < nexperiments; ++iexp)
-	{
-		const btBroadphaseBenchmark::Experiment& experiment = experiments[iexp];
-		const int object_count = experiment.object_count;
-		const int update_count = (object_count * experiment.update_count) / 100;
-		const int spawn_count = (object_count * experiment.spawn_count) / 100;
-		const btScalar speed = experiment.speed;
-		const btScalar amplitude = experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
-		printf("\tObjects: %u\r\n", object_count);
-		printf("\tUpdate: %u\r\n", update_count);
-		printf("\tSpawn: %u\r\n", spawn_count);
-		printf("\tSpeed: %f\r\n", speed);
-		printf("\tAmplitude: %f\r\n", amplitude);
-		srand(180673);
-		/* Create objects	*/
-		wallclock.reset();
-		objects.reserve(object_count);
-		for (int i = 0; i < object_count; ++i)
-		{
-			btBroadphaseBenchmark::Object* po = new btBroadphaseBenchmark::Object();
-			po->center[0] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->center[1] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->center[2] = btBroadphaseBenchmark::UnitRand() * 50;
-			po->extents[0] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[1] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->extents[2] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
-			po->time = btBroadphaseBenchmark::UnitRand() * 2000;
-			po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
-			objects.push_back(po);
-		}
-		btBroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
-		/* First update		*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			objects[i]->update(speed, amplitude, pbi);
-		}
-		btBroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
-		/* Updates			*/
-		wallclock.reset();
-		for (int i = 0; i < experiment.iterations; ++i)
-		{
-			for (int j = 0; j < update_count; ++j)
-			{
-				objects[j]->update(speed, amplitude, pbi);
-			}
-			pbi->calculateOverlappingPairs(0);
-		}
-		btBroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
-		/* Clean up			*/
-		wallclock.reset();
-		for (int i = 0; i < objects.size(); ++i)
-		{
-			pbi->destroyProxy(objects[i]->proxy, 0);
-			delete objects[i];
-		}
-		objects.resize(0);
-		btBroadphaseBenchmark::OutputTime("\tRelease", wallclock);
-	}
-}
-#else
-void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
-{
-}
-#endif
-
-#if DBVT_BP_PROFILE
-#undef SPC
-#endif