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diff --git a/thirdparty/bullet/src/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/src/Bullet3Common/b3AlignedObjectArray.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_OBJECT_ARRAY__
-#define B3_OBJECT_ARRAY__
-
-#include "b3Scalar.h" // has definitions like B3_FORCE_INLINE
-#include "b3AlignedAllocator.h"
-
-///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW
-///then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
-///You can enable B3_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 B3_USE_PLACEMENT_NEW 1
-//#define B3_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 B3_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
-
-#ifdef B3_USE_MEMCPY
-#include <memory.h>
-#include <string.h>
-#endif //B3_USE_MEMCPY
-
-#ifdef B3_USE_PLACEMENT_NEW
-#include <new> //for placement new
-#endif //B3_USE_PLACEMENT_NEW
-
-
-///The b3AlignedObjectArray 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 b3AlignedObjectArray
-{
- b3AlignedAllocator<T , 16> m_allocator;
-
- int m_size;
- int m_capacity;
- T* m_data;
- //PCK: added this line
- bool m_ownsMemory;
-
-#ifdef B3_ALLOW_ARRAY_COPY_OPERATOR
-public:
- B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other)
- {
- copyFromArray(other);
- return *this;
- }
-#else//B3_ALLOW_ARRAY_COPY_OPERATOR
-private:
- B3_FORCE_INLINE b3AlignedObjectArray<T>& operator=(const b3AlignedObjectArray<T> &other);
-#endif//B3_ALLOW_ARRAY_COPY_OPERATOR
-
-protected:
- B3_FORCE_INLINE int allocSize(int size)
- {
- return (size ? size*2 : 1);
- }
- B3_FORCE_INLINE void copy(int start,int end, T* dest) const
- {
- int i;
- for (i=start;i<end;++i)
-#ifdef B3_USE_PLACEMENT_NEW
- new (&dest[i]) T(m_data[i]);
-#else
- dest[i] = m_data[i];
-#endif //B3_USE_PLACEMENT_NEW
- }
-
- B3_FORCE_INLINE void init()
- {
- //PCK: added this line
- m_ownsMemory = true;
- m_data = 0;
- m_size = 0;
- m_capacity = 0;
- }
- B3_FORCE_INLINE void destroy(int first,int last)
- {
- int i;
- for (i=first; i<last;i++)
- {
- m_data[i].~T();
- }
- }
-
- B3_FORCE_INLINE void* allocate(int size)
- {
- if (size)
- return m_allocator.allocate(size);
- return 0;
- }
-
- B3_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:
-
- b3AlignedObjectArray()
- {
- init();
- }
-
- ~b3AlignedObjectArray()
- {
- clear();
- }
-
- ///Generally it is best to avoid using the copy constructor of an b3AlignedObjectArray, and use a (const) reference to the array instead.
- b3AlignedObjectArray(const b3AlignedObjectArray& otherArray)
- {
- init();
-
- int otherSize = otherArray.size();
- resize (otherSize);
- otherArray.copy(0, otherSize, m_data);
- }
-
-
-
- /// return the number of elements in the array
- B3_FORCE_INLINE int size() const
- {
- return m_size;
- }
-
- B3_FORCE_INLINE const T& at(int n) const
- {
- b3Assert(n>=0);
- b3Assert(n<size());
- return m_data[n];
- }
-
- B3_FORCE_INLINE T& at(int n)
- {
- b3Assert(n>=0);
- b3Assert(n<size());
- return m_data[n];
- }
-
- B3_FORCE_INLINE const T& operator[](int n) const
- {
- b3Assert(n>=0);
- b3Assert(n<size());
- return m_data[n];
- }
-
- B3_FORCE_INLINE T& operator[](int n)
- {
- b3Assert(n>=0);
- b3Assert(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.
- B3_FORCE_INLINE void clear()
- {
- destroy(0,size());
-
- deallocate();
-
- init();
- }
-
- B3_FORCE_INLINE void pop_back()
- {
- b3Assert(m_size>0);
- 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.
- B3_FORCE_INLINE void resizeNoInitialize(int newsize)
- {
- int curSize = size();
-
- if (newsize < curSize)
- {
- } else
- {
- if (newsize > size())
- {
- reserve(newsize);
- }
- //leave this uninitialized
- }
- m_size = newsize;
- }
-
- B3_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 B3_USE_PLACEMENT_NEW
- for (int i=curSize;i<newsize;i++)
- {
- new ( &m_data[i]) T(fillData);
- }
-#endif //B3_USE_PLACEMENT_NEW
-
- }
-
- m_size = newsize;
- }
- B3_FORCE_INLINE T& expandNonInitializing( )
- {
- int sz = size();
- if( sz == capacity() )
- {
- reserve( allocSize(size()) );
- }
- m_size++;
-
- return m_data[sz];
- }
-
-
- B3_FORCE_INLINE T& expand( const T& fillValue=T())
- {
- int sz = size();
- if( sz == capacity() )
- {
- reserve( allocSize(size()) );
- }
- m_size++;
-#ifdef B3_USE_PLACEMENT_NEW
- new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
-#endif
-
- return m_data[sz];
- }
-
-
- B3_FORCE_INLINE void push_back(const T& _Val)
- {
- int sz = size();
- if( sz == capacity() )
- {
- reserve( allocSize(size()) );
- }
-
-#ifdef B3_USE_PLACEMENT_NEW
- new ( &m_data[m_size] ) T(_Val);
-#else
- m_data[size()] = _Val;
-#endif //B3_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()
- B3_FORCE_INLINE int capacity() const
- {
- return m_capacity;
- }
-
- B3_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);
- b3Assert(s);
- if (s==0)
- {
- b3Error("b3AlignedObjectArray reserve out-of-memory\n");
- _Count=0;
- m_size=0;
- }
- 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(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];
-
- // 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(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 */
-
- 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 B3_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 //B3_USE_PLACEMENT_NEW
-
- }
-
- template <typename L>
- void heapSort(const 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()-1;
-
- //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;
- }
-
- int findLinearSearch2(const T& key) const
- {
- int index=-1;
- 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;
- }
-
- void copyFromArray(const b3AlignedObjectArray& otherArray)
- {
- int otherSize = otherArray.size();
- resize (otherSize);
- otherArray.copy(0, otherSize, m_data);
- }
-
-};
-
-#endif //B3_OBJECT_ARRAY__
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