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diff --git a/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h b/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
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+++ b/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2013 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.
+*/
+
+#ifndef B3_OVERLAPPING_PAIR_CACHE_H
+#define B3_OVERLAPPING_PAIR_CACHE_H
+
+#include "Bullet3Common/shared/b3Int2.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+class b3Dispatcher;
+#include "b3OverlappingPair.h"
+
+
+
+typedef b3AlignedObjectArray<b3BroadphasePair>	b3BroadphasePairArray;
+
+struct	b3OverlapCallback
+{
+	virtual ~b3OverlapCallback()
+	{}
+	//return true for deletion of the pair
+	virtual bool	processOverlap(b3BroadphasePair& pair) = 0;
+
+};
+
+struct b3OverlapFilterCallback
+{
+	virtual ~b3OverlapFilterCallback()
+	{}
+	// return true when pairs need collision
+	virtual bool	needBroadphaseCollision(int proxy0,int proxy1) const = 0;
+};
+
+
+
+
+
+
+
+extern int b3g_removePairs;
+extern int b3g_addedPairs;
+extern int b3g_findPairs;
+
+const int B3_NULL_PAIR=0xffffffff;
+
+///The b3OverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the b3BroadphaseInterface broadphases.
+///The b3HashedOverlappingPairCache and b3SortedOverlappingPairCache classes are two implementations.
+class b3OverlappingPairCache 
+{
+public:
+	virtual ~b3OverlappingPairCache() {} // this is needed so we can get to the derived class destructor
+
+	virtual b3BroadphasePair*	getOverlappingPairArrayPtr() = 0;
+	
+	virtual const b3BroadphasePair*	getOverlappingPairArrayPtr() const = 0;
+
+	virtual b3BroadphasePairArray&	getOverlappingPairArray() = 0;
+
+	virtual	void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher) = 0;
+
+	virtual int getNumOverlappingPairs() const = 0;
+
+	virtual void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher) = 0;
+
+	virtual	void setOverlapFilterCallback(b3OverlapFilterCallback* callback) = 0;
+
+	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher) = 0;
+
+	virtual b3BroadphasePair* findPair(int proxy0, int proxy1) = 0;
+
+	virtual bool	hasDeferredRemoval() = 0;
+
+	//virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)=0;
+
+	virtual b3BroadphasePair* 	addOverlappingPair(int proxy0,int proxy1)=0;
+	virtual void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher)=0;
+	virtual void	removeOverlappingPairsContainingProxy(int /*proxy0*/,b3Dispatcher* /*dispatcher*/)=0;
+
+	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher) = 0;
+
+
+};
+
+/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
+class b3HashedOverlappingPairCache : public b3OverlappingPairCache
+{
+	b3BroadphasePairArray	m_overlappingPairArray;
+	b3OverlapFilterCallback* m_overlapFilterCallback;
+//	bool		m_blockedForChanges;
+
+
+public:
+	b3HashedOverlappingPairCache();
+	virtual ~b3HashedOverlappingPairCache();
+
+	
+	virtual void	removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher);
+
+	virtual void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher);
+	
+	B3_FORCE_INLINE bool needsBroadphaseCollision(int proxy0,int proxy1) const
+	{
+		if (m_overlapFilterCallback)
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+
+		bool collides = true;//(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
+		return collides;
+	}
+
+	// Add a pair and return the new pair. If the pair already exists,
+	// no new pair is created and the old one is returned.
+	virtual b3BroadphasePair* 	addOverlappingPair(int proxy0,int proxy1)
+	{
+		b3g_addedPairs++;
+
+		if (!needsBroadphaseCollision(proxy0,proxy1))
+			return 0;
+
+		return internalAddPair(proxy0,proxy1);
+	}
+
+	
+
+	void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher);
+
+	
+	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher);
+
+	virtual b3BroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	const b3BroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	b3BroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+
+	const b3BroadphasePairArray&	getOverlappingPairArray() const
+	{
+		return m_overlappingPairArray;
+	}
+
+	void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher);
+
+
+
+	b3BroadphasePair* findPair(int proxy0, int proxy1);
+
+	int GetCount() const { return m_overlappingPairArray.size(); }
+//	b3BroadphasePair* GetPairs() { return m_pairs; }
+
+	b3OverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return m_overlapFilterCallback;
+	}
+
+	void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
+	{
+		m_overlapFilterCallback = callback;
+	}
+
+	int	getNumOverlappingPairs() const
+	{
+		return m_overlappingPairArray.size();
+	}
+private:
+	
+	b3BroadphasePair* 	internalAddPair(int proxy0,int proxy1);
+
+	void	growTables();
+
+	B3_FORCE_INLINE bool equalsPair(const b3BroadphasePair& pair, int proxyId1, int proxyId2)
+	{	
+		return pair.x == proxyId1 && pair.y  == proxyId2;
+	}
+
+	/*
+	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
+	// This assumes proxyId1 and proxyId2 are 16-bit.
+	B3_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
+	{
+		int key = (proxyId2 << 16) | proxyId1;
+		key = ~key + (key << 15);
+		key = key ^ (key >> 12);
+		key = key + (key << 2);
+		key = key ^ (key >> 4);
+		key = key * 2057;
+		key = key ^ (key >> 16);
+		return key;
+	}
+	*/
+
+
+	
+	B3_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	{
+		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
+		// Thomas Wang's hash
+
+		key += ~(key << 15);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
+		key += ~(key << 11);
+		key ^=  (key >> 16);
+		return static_cast<unsigned int>(key);
+	}
+	
+
+
+
+
+	B3_FORCE_INLINE b3BroadphasePair* internalFindPair(int proxy0, int proxy1, int hash)
+	{
+		int proxyId1 = proxy0;
+		int proxyId2 = proxy1;
+		#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
+		if (proxyId1 > proxyId2) 
+			b3Swap(proxyId1, proxyId2);
+		#endif
+
+		int index = m_hashTable[hash];
+		
+		while( index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+		{
+			index = m_next[index];
+		}
+
+		if ( index == B3_NULL_PAIR )
+		{
+			return NULL;
+		}
+
+		b3Assert(index < m_overlappingPairArray.size());
+
+		return &m_overlappingPairArray[index];
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return false;
+	}
+
+/*	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
+	{
+		m_ghostPairCallback = ghostPairCallback;
+	}
+	*/
+
+	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher);
+	
+
+protected:
+	
+	b3AlignedObjectArray<int>	m_hashTable;
+	b3AlignedObjectArray<int>	m_next;
+//	b3OverlappingPairCallback*	m_ghostPairCallback;
+	
+};
+
+
+
+
+///b3SortedOverlappingPairCache maintains the objects with overlapping AABB
+///Typically managed by the Broadphase, Axis3Sweep or b3SimpleBroadphase
+class	b3SortedOverlappingPairCache : public b3OverlappingPairCache
+{
+	protected:
+		//avoid brute-force finding all the time
+		b3BroadphasePairArray	m_overlappingPairArray;
+
+		//during the dispatch, check that user doesn't destroy/create proxy
+		bool		m_blockedForChanges;
+
+		///by default, do the removal during the pair traversal
+		bool		m_hasDeferredRemoval;
+		
+		//if set, use the callback instead of the built in filter in needBroadphaseCollision
+		b3OverlapFilterCallback* m_overlapFilterCallback;
+
+//		b3OverlappingPairCallback*	m_ghostPairCallback;
+
+	public:
+			
+		b3SortedOverlappingPairCache();	
+		virtual ~b3SortedOverlappingPairCache();
+
+		virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* dispatcher);
+
+		void*	removeOverlappingPair(int proxy0,int proxy1,b3Dispatcher* dispatcher);
+
+		void	cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher);
+		
+		b3BroadphasePair*	addOverlappingPair(int proxy0,int proxy1);
+
+		b3BroadphasePair*	findPair(int proxy0,int proxy1);
+			
+		
+		void	cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher);
+
+		virtual void	removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher);
+
+
+		inline bool needsBroadphaseCollision(int proxy0,int proxy1) const
+		{
+			if (m_overlapFilterCallback)
+				return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+
+			bool collides = true;//(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			
+			return collides;
+		}
+		
+		b3BroadphasePairArray&	getOverlappingPairArray()
+		{
+			return m_overlappingPairArray;
+		}
+
+		const b3BroadphasePairArray&	getOverlappingPairArray() const
+		{
+			return m_overlappingPairArray;
+		}
+
+		
+
+
+		b3BroadphasePair*	getOverlappingPairArrayPtr()
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		const b3BroadphasePair*	getOverlappingPairArrayPtr() const
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		int	getNumOverlappingPairs() const
+		{
+			return m_overlappingPairArray.size();
+		}
+		
+		b3OverlapFilterCallback* getOverlapFilterCallback()
+		{
+			return m_overlapFilterCallback;
+		}
+
+		void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
+		{
+			m_overlapFilterCallback = callback;
+		}
+
+		virtual bool	hasDeferredRemoval()
+		{
+			return m_hasDeferredRemoval;
+		}
+
+/*		virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
+		{
+			m_ghostPairCallback = ghostPairCallback;
+		}
+		*/
+		virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher);
+		
+
+};
+
+
+
+///b3NullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
+class b3NullPairCache : public b3OverlappingPairCache
+{
+
+	b3BroadphasePairArray	m_overlappingPairArray;
+
+public:
+
+	virtual b3BroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+	const b3BroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+	b3BroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+	
+	virtual	void	cleanOverlappingPair(b3BroadphasePair& /*pair*/,b3Dispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual int getNumOverlappingPairs() const
+	{
+		return 0;
+	}
+
+	virtual void	cleanProxyFromPairs(int /*proxy*/,b3Dispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual	void setOverlapFilterCallback(b3OverlapFilterCallback* /*callback*/)
+	{
+	}
+
+	virtual void	processAllOverlappingPairs(b3OverlapCallback*,b3Dispatcher* /*dispatcher*/)
+	{
+	}
+
+	virtual b3BroadphasePair* findPair(int /*proxy0*/, int /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return true;
+	}
+
+//	virtual	void	setInternalGhostPairCallback(b3OverlappingPairCallback* /* ghostPairCallback */)
+//	{
+//
+//	}
+
+	virtual b3BroadphasePair*	addOverlappingPair(int /*proxy0*/,int /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(int /*proxy0*/,int /*proxy1*/,b3Dispatcher* /*dispatcher*/)
+	{
+		return 0;
+	}
+
+	virtual void	removeOverlappingPairsContainingProxy(int /*proxy0*/,b3Dispatcher* /*dispatcher*/)
+	{
+	}
+	
+	virtual void	sortOverlappingPairs(b3Dispatcher* dispatcher)
+	{
+        (void) dispatcher;
+	}
+
+
+};
+
+
+#endif //B3_OVERLAPPING_PAIR_CACHE_H
+
+