path: root/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 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.
*/
///btDbvt implementation by Nathanael Presson

#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H

#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"

//
// Compile time configuration
//

// Implementation profiles
#define DBVT_IMPL_GENERIC 0  // Generic implementation
#define DBVT_IMPL_SSE 1      // SSE

// Template implementation of ICollide
#ifdef _WIN32
#if (defined(_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1
#else
#define DBVT_USE_TEMPLATE 0
#endif
#else
#define DBVT_USE_TEMPLATE 0
#endif

// Use only intrinsics instead of inline asm
#define DBVT_USE_INTRINSIC_SSE 1

// Using memmov for collideOCL
#define DBVT_USE_MEMMOVE 1

// Enable benchmarking code
#define DBVT_ENABLE_BENCHMARK 0

// Inlining
#define DBVT_INLINE SIMD_FORCE_INLINE

// Specific methods implementation

//SSE gives errors on a MSVC 7.1
#if defined(BT_USE_SSE)  //&& defined (_WIN32)
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
#else
#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC
#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC
#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC
#endif

#if (DBVT_SELECT_IMPL == DBVT_IMPL_SSE) || \
	(DBVT_MERGE_IMPL == DBVT_IMPL_SSE) ||  \
	(DBVT_INT0_IMPL == DBVT_IMPL_SSE)
#include <emmintrin.h>
#endif

//
// Auto config and checks
//

#if DBVT_USE_TEMPLATE
#define DBVT_VIRTUAL
#define DBVT_VIRTUAL_DTOR(a)
#define DBVT_PREFIX template <typename T>
#define DBVT_IPOLICY T& policy
#define DBVT_CHECKTYPE                           \
	static const ICollide& typechecker = *(T*)1; \
	(void)typechecker;
#else
#define DBVT_VIRTUAL_DTOR(a) \
	virtual ~a() {}
#define DBVT_VIRTUAL virtual
#define DBVT_PREFIX
#define DBVT_IPOLICY ICollide& policy
#define DBVT_CHECKTYPE
#endif

#if DBVT_USE_MEMMOVE
#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
#endif

#ifndef DBVT_USE_TEMPLATE
#error "DBVT_USE_TEMPLATE undefined"
#endif

#ifndef DBVT_USE_MEMMOVE
#error "DBVT_USE_MEMMOVE undefined"
#endif

#ifndef DBVT_ENABLE_BENCHMARK
#error "DBVT_ENABLE_BENCHMARK undefined"
#endif

#ifndef DBVT_SELECT_IMPL
#error "DBVT_SELECT_IMPL undefined"
#endif

#ifndef DBVT_MERGE_IMPL
#error "DBVT_MERGE_IMPL undefined"
#endif

#ifndef DBVT_INT0_IMPL
#error "DBVT_INT0_IMPL undefined"
#endif

//
// Defaults volumes
//

/* btDbvtAabbMm			*/
struct btDbvtAabbMm
{
	DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
	DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
	DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }
	DBVT_INLINE const btVector3& Mins() const { return (mi); }
	DBVT_INLINE const btVector3& Maxs() const { return (mx); }
	static inline btDbvtAabbMm FromCE(const btVector3& c, const btVector3& e);
	static inline btDbvtAabbMm FromCR(const btVector3& c, btScalar r);
	static inline btDbvtAabbMm FromMM(const btVector3& mi, const btVector3& mx);
	static inline btDbvtAabbMm FromPoints(const btVector3* pts, int n);
	static inline btDbvtAabbMm FromPoints(const btVector3** ppts, int n);
	DBVT_INLINE void Expand(const btVector3& e);
	DBVT_INLINE void SignedExpand(const btVector3& e);
	DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const;
	DBVT_INLINE int Classify(const btVector3& n, btScalar o, int s) const;
	DBVT_INLINE btScalar ProjectMinimum(const btVector3& v, unsigned signs) const;
	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
									  const btDbvtAabbMm& b);

	DBVT_INLINE friend bool Intersect(const btDbvtAabbMm& a,
									  const btVector3& b);

	DBVT_INLINE friend btScalar Proximity(const btDbvtAabbMm& a,
										  const btDbvtAabbMm& b);
	DBVT_INLINE friend int Select(const btDbvtAabbMm& o,
								  const btDbvtAabbMm& a,
								  const btDbvtAabbMm& b);
	DBVT_INLINE friend void Merge(const btDbvtAabbMm& a,
								  const btDbvtAabbMm& b,
								  btDbvtAabbMm& r);
	DBVT_INLINE friend bool NotEqual(const btDbvtAabbMm& a,
									 const btDbvtAabbMm& b);

	DBVT_INLINE btVector3& tMins() { return (mi); }
	DBVT_INLINE btVector3& tMaxs() { return (mx); }

private:
	DBVT_INLINE void AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const;

private:
	btVector3 mi, mx;
};

// Types
typedef btDbvtAabbMm btDbvtVolume;

/* btDbvtNode				*/
struct btDbvtNode
{
	btDbvtVolume volume;
	btDbvtNode* parent;
	DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
	DBVT_INLINE bool isinternal() const { return (!isleaf()); }
	union {
		btDbvtNode* childs[2];
		void* data;
		int dataAsInt;
	};
};

typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;

///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
struct btDbvt
{
	/* Stack element	*/
	struct sStkNN
	{
		const btDbvtNode* a;
		const btDbvtNode* b;
		sStkNN() {}
		sStkNN(const btDbvtNode* na, const btDbvtNode* nb) : a(na), b(nb) {}
	};
	struct sStkNP
	{
		const btDbvtNode* node;
		int mask;
		sStkNP(const btDbvtNode* n, unsigned m) : node(n), mask(m) {}
	};
	struct sStkNPS
	{
		const btDbvtNode* node;
		int mask;
		btScalar value;
		sStkNPS() {}
		sStkNPS(const btDbvtNode* n, unsigned m, btScalar v) : node(n), mask(m), value(v) {}
	};
	struct sStkCLN
	{
		const btDbvtNode* node;
		btDbvtNode* parent;
		sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {}
	};
	// Policies/Interfaces

	/* ICollide	*/
	struct ICollide
	{
		DBVT_VIRTUAL_DTOR(ICollide)
		DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {}
		DBVT_VIRTUAL void Process(const btDbvtNode*) {}
		DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); }
		DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); }
		DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); }
	};
	/* IWriter	*/
	struct IWriter
	{
		virtual ~IWriter() {}
		virtual void Prepare(const btDbvtNode* root, int numnodes) = 0;
		virtual void WriteNode(const btDbvtNode*, int index, int parent, int child0, int child1) = 0;
		virtual void WriteLeaf(const btDbvtNode*, int index, int parent) = 0;
	};
	/* IClone	*/
	struct IClone
	{
		virtual ~IClone() {}
		virtual void CloneLeaf(btDbvtNode*) {}
	};

	// Constants
	enum
	{
		SIMPLE_STACKSIZE = 64,
		DOUBLE_STACKSIZE = SIMPLE_STACKSIZE * 2
	};

	// Fields
	btDbvtNode* m_root;
	btDbvtNode* m_free;
	int m_lkhd;
	int m_leaves;
	unsigned m_opath;

	btAlignedObjectArray<sStkNN> m_stkStack;

	// Methods
	btDbvt();
	~btDbvt();
	void clear();
	bool empty() const { return (0 == m_root); }
	void optimizeBottomUp();
	void optimizeTopDown(int bu_treshold = 128);
	void optimizeIncremental(int passes);
	btDbvtNode* insert(const btDbvtVolume& box, void* data);
	void update(btDbvtNode* leaf, int lookahead = -1);
	void update(btDbvtNode* leaf, btDbvtVolume& volume);
	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin);
	bool update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity);
	bool update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin);
	void remove(btDbvtNode* leaf);
	void write(IWriter* iwriter) const;
	void clone(btDbvt& dest, IClone* iclone = 0) const;
	static int maxdepth(const btDbvtNode* node);
	static int countLeaves(const btDbvtNode* node);
	static void extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves);
#if DBVT_ENABLE_BENCHMARK
	static void benchmark();
#else
	static void benchmark()
	{
	}
#endif
	// DBVT_IPOLICY must support ICollide policy/interface
	DBVT_PREFIX
	static void enumNodes(const btDbvtNode* root,
						  DBVT_IPOLICY);
	DBVT_PREFIX
	static void enumLeaves(const btDbvtNode* root,
						   DBVT_IPOLICY);
	DBVT_PREFIX
	void collideTT(const btDbvtNode* root0,
				   const btDbvtNode* root1,
				   DBVT_IPOLICY);

	DBVT_PREFIX
	void collideTTpersistentStack(const btDbvtNode* root0,
								  const btDbvtNode* root1,
								  DBVT_IPOLICY);
#if 0
	DBVT_PREFIX
		void		collideTT(	const btDbvtNode* root0,
		const btDbvtNode* root1,
		const btTransform& xform,
		DBVT_IPOLICY);
	DBVT_PREFIX
		void		collideTT(	const btDbvtNode* root0,
		const btTransform& xform0,
		const btDbvtNode* root1,
		const btTransform& xform1,
		DBVT_IPOLICY);
#endif

	DBVT_PREFIX
	void collideTV(const btDbvtNode* root,
				   const btDbvtVolume& volume,
				   DBVT_IPOLICY) const;

	DBVT_PREFIX
	void collideTVNoStackAlloc(const btDbvtNode* root,
							   const btDbvtVolume& volume,
							   btNodeStack& stack,
							   DBVT_IPOLICY) const;

	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
	DBVT_PREFIX
	static void rayTest(const btDbvtNode* root,
						const btVector3& rayFrom,
						const btVector3& rayTo,
						DBVT_IPOLICY);
	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
	///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts
	DBVT_PREFIX
	void rayTestInternal(const btDbvtNode* root,
						 const btVector3& rayFrom,
						 const btVector3& rayTo,
						 const btVector3& rayDirectionInverse,
						 unsigned int signs[3],
						 btScalar lambda_max,
						 const btVector3& aabbMin,
						 const btVector3& aabbMax,
						 btAlignedObjectArray<const btDbvtNode*>& stack,
						 DBVT_IPOLICY) const;

	DBVT_PREFIX
	static void collideKDOP(const btDbvtNode* root,
							const btVector3* normals,
							const btScalar* offsets,
							int count,
							DBVT_IPOLICY);
	DBVT_PREFIX
	static void collideOCL(const btDbvtNode* root,
						   const btVector3* normals,
						   const btScalar* offsets,
						   const btVector3& sortaxis,
						   int count,
						   DBVT_IPOLICY,
						   bool fullsort = true);
	DBVT_PREFIX
	static void collideTU(const btDbvtNode* root,
						  DBVT_IPOLICY);
	// Helpers
	static DBVT_INLINE int nearest(const int* i, const btDbvt::sStkNPS* a, btScalar v, int l, int h)
	{
		int m = 0;
		while (l < h)
		{
			m = (l + h) >> 1;
			if (a[i[m]].value >= v)
				l = m + 1;
			else
				h = m;
		}
		return (h);
	}
	static DBVT_INLINE int allocate(btAlignedObjectArray<int>& ifree,
									btAlignedObjectArray<sStkNPS>& stock,
									const sStkNPS& value)
	{
		int i;
		if (ifree.size() > 0)
		{
			i = ifree[ifree.size() - 1];
			ifree.pop_back();
			stock[i] = value;
		}
		else
		{
			i = stock.size();
			stock.push_back(value);
		}
		return (i);
	}
	//
private:
	btDbvt(const btDbvt&) {}
};

//
// Inline's
//

//
inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c, const btVector3& e)
{
	btDbvtAabbMm box;
	box.mi = c - e;
	box.mx = c + e;
	return (box);
}

//
inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c, btScalar r)
{
	return (FromCE(c, btVector3(r, r, r)));
}

//
inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi, const btVector3& mx)
{
	btDbvtAabbMm box;
	box.mi = mi;
	box.mx = mx;
	return (box);
}

//
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts, int n)
{
	btDbvtAabbMm box;
	box.mi = box.mx = pts[0];
	for (int i = 1; i < n; ++i)
	{
		box.mi.setMin(pts[i]);
		box.mx.setMax(pts[i]);
	}
	return (box);
}

//
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts, int n)
{
	btDbvtAabbMm box;
	box.mi = box.mx = *ppts[0];
	for (int i = 1; i < n; ++i)
	{
		box.mi.setMin(*ppts[i]);
		box.mx.setMax(*ppts[i]);
	}
	return (box);
}

//
DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
{
	mi -= e;
	mx += e;
}

//
DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e)
{
	if (e.x() > 0)
		mx.setX(mx.x() + e[0]);
	else
		mi.setX(mi.x() + e[0]);
	if (e.y() > 0)
		mx.setY(mx.y() + e[1]);
	else
		mi.setY(mi.y() + e[1]);
	if (e.z() > 0)
		mx.setZ(mx.z() + e[2]);
	else
		mi.setZ(mi.z() + e[2]);
}

//
DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
{
	return ((mi.x() <= a.mi.x()) &&
			(mi.y() <= a.mi.y()) &&
			(mi.z() <= a.mi.z()) &&
			(mx.x() >= a.mx.x()) &&
			(mx.y() >= a.mx.y()) &&
			(mx.z() >= a.mx.z()));
}

//
DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) const
{
	btVector3 pi, px;
	switch (s)
	{
		case (0 + 0 + 0):
			px = btVector3(mi.x(), mi.y(), mi.z());
			pi = btVector3(mx.x(), mx.y(), mx.z());
			break;
		case (1 + 0 + 0):
			px = btVector3(mx.x(), mi.y(), mi.z());
			pi = btVector3(mi.x(), mx.y(), mx.z());
			break;
		case (0 + 2 + 0):
			px = btVector3(mi.x(), mx.y(), mi.z());
			pi = btVector3(mx.x(), mi.y(), mx.z());
			break;
		case (1 + 2 + 0):
			px = btVector3(mx.x(), mx.y(), mi.z());
			pi = btVector3(mi.x(), mi.y(), mx.z());
			break;
		case (0 + 0 + 4):
			px = btVector3(mi.x(), mi.y(), mx.z());
			pi = btVector3(mx.x(), mx.y(), mi.z());
			break;
		case (1 + 0 + 4):
			px = btVector3(mx.x(), mi.y(), mx.z());
			pi = btVector3(mi.x(), mx.y(), mi.z());
			break;
		case (0 + 2 + 4):
			px = btVector3(mi.x(), mx.y(), mx.z());
			pi = btVector3(mx.x(), mi.y(), mi.z());
			break;
		case (1 + 2 + 4):
			px = btVector3(mx.x(), mx.y(), mx.z());
			pi = btVector3(mi.x(), mi.y(), mi.z());
			break;
	}
	if ((btDot(n, px) + o) < 0) return (-1);
	if ((btDot(n, pi) + o) >= 0) return (+1);
	return (0);
}

//
DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v, unsigned signs) const
{
	const btVector3* b[] = {&mx, &mi};
	const btVector3 p(b[(signs >> 0) & 1]->x(),
					  b[(signs >> 1) & 1]->y(),
					  b[(signs >> 2) & 1]->z());
	return (btDot(p, v));
}

//
DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d, btScalar& smi, btScalar& smx) const
{
	for (int i = 0; i < 3; ++i)
	{
		if (d[i] < 0)
		{
			smi += mx[i] * d[i];
			smx += mi[i] * d[i];
		}
		else
		{
			smi += mi[i] * d[i];
			smx += mx[i] * d[i];
		}
	}
}

//
DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
						   const btDbvtAabbMm& b)
{
#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
	const __m128 rt(_mm_or_ps(_mm_cmplt_ps(_mm_load_ps(b.mx), _mm_load_ps(a.mi)),
							  _mm_cmplt_ps(_mm_load_ps(a.mx), _mm_load_ps(b.mi))));
#if defined(_WIN32)
	const __int32* pu((const __int32*)&rt);
#else
	const int* pu((const int*)&rt);
#endif
	return ((pu[0] | pu[1] | pu[2]) == 0);
#else
	return ((a.mi.x() <= b.mx.x()) &&
			(a.mx.x() >= b.mi.x()) &&
			(a.mi.y() <= b.mx.y()) &&
			(a.mx.y() >= b.mi.y()) &&
			(a.mi.z() <= b.mx.z()) &&
			(a.mx.z() >= b.mi.z()));
#endif
}

//
DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
						   const btVector3& b)
{
	return ((b.x() >= a.mi.x()) &&
			(b.y() >= a.mi.y()) &&
			(b.z() >= a.mi.z()) &&
			(b.x() <= a.mx.x()) &&
			(b.y() <= a.mx.y()) &&
			(b.z() <= a.mx.z()));
}

//////////////////////////////////////

//
DBVT_INLINE btScalar Proximity(const btDbvtAabbMm& a,
							   const btDbvtAabbMm& b)
{
	const btVector3 d = (a.mi + a.mx) - (b.mi + b.mx);
	return (btFabs(d.x()) + btFabs(d.y()) + btFabs(d.z()));
}

//
DBVT_INLINE int Select(const btDbvtAabbMm& o,
					   const btDbvtAabbMm& a,
					   const btDbvtAabbMm& b)
{
#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE

#if defined(_WIN32)
	static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
#else
	static ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
#endif
	///@todo: the intrinsic version is 11% slower
#if DBVT_USE_INTRINSIC_SSE

	union btSSEUnion  ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
	{
		__m128 ssereg;
		float floats[4];
		int ints[4];
	};

	__m128 omi(_mm_load_ps(o.mi));
	omi = _mm_add_ps(omi, _mm_load_ps(o.mx));
	__m128 ami(_mm_load_ps(a.mi));
	ami = _mm_add_ps(ami, _mm_load_ps(a.mx));
	ami = _mm_sub_ps(ami, omi);
	ami = _mm_and_ps(ami, _mm_load_ps((const float*)mask));
	__m128 bmi(_mm_load_ps(b.mi));
	bmi = _mm_add_ps(bmi, _mm_load_ps(b.mx));
	bmi = _mm_sub_ps(bmi, omi);
	bmi = _mm_and_ps(bmi, _mm_load_ps((const float*)mask));
	__m128 t0(_mm_movehl_ps(ami, ami));
	ami = _mm_add_ps(ami, t0);
	ami = _mm_add_ss(ami, _mm_shuffle_ps(ami, ami, 1));
	__m128 t1(_mm_movehl_ps(bmi, bmi));
	bmi = _mm_add_ps(bmi, t1);
	bmi = _mm_add_ss(bmi, _mm_shuffle_ps(bmi, bmi, 1));

	btSSEUnion tmp;
	tmp.ssereg = _mm_cmple_ss(bmi, ami);
	return tmp.ints[0] & 1;

#else
	ATTRIBUTE_ALIGNED16(__int32 r[1]);
	__asm
	{
		mov		eax,o
			mov		ecx,a
			mov		edx,b
			movaps	xmm0,[eax]
		movaps	xmm5,mask
			addps	xmm0,[eax+16]	
		movaps	xmm1,[ecx]
		movaps	xmm2,[edx]
		addps	xmm1,[ecx+16]
		addps	xmm2,[edx+16]
		subps	xmm1,xmm0
			subps	xmm2,xmm0
			andps	xmm1,xmm5
			andps	xmm2,xmm5
			movhlps	xmm3,xmm1
			movhlps	xmm4,xmm2
			addps	xmm1,xmm3
			addps	xmm2,xmm4
			pshufd	xmm3,xmm1,1
			pshufd	xmm4,xmm2,1
			addss	xmm1,xmm3
			addss	xmm2,xmm4
			cmpless	xmm2,xmm1
			movss	r,xmm2
	}
	return (r[0] & 1);
#endif
#else
	return (Proximity(o, a) < Proximity(o, b) ? 0 : 1);
#endif
}

//
DBVT_INLINE void Merge(const btDbvtAabbMm& a,
					   const btDbvtAabbMm& b,
					   btDbvtAabbMm& r)
{
#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE
	__m128 ami(_mm_load_ps(a.mi));
	__m128 amx(_mm_load_ps(a.mx));
	__m128 bmi(_mm_load_ps(b.mi));
	__m128 bmx(_mm_load_ps(b.mx));
	ami = _mm_min_ps(ami, bmi);
	amx = _mm_max_ps(amx, bmx);
	_mm_store_ps(r.mi, ami);
	_mm_store_ps(r.mx, amx);
#else
	for (int i = 0; i < 3; ++i)
	{
		if (a.mi[i] < b.mi[i])
			r.mi[i] = a.mi[i];
		else
			r.mi[i] = b.mi[i];
		if (a.mx[i] > b.mx[i])
			r.mx[i] = a.mx[i];
		else
			r.mx[i] = b.mx[i];
	}
#endif
}

//
DBVT_INLINE bool NotEqual(const btDbvtAabbMm& a,
						  const btDbvtAabbMm& b)
{
	return ((a.mi.x() != b.mi.x()) ||
			(a.mi.y() != b.mi.y()) ||
			(a.mi.z() != b.mi.z()) ||
			(a.mx.x() != b.mx.x()) ||
			(a.mx.y() != b.mx.y()) ||
			(a.mx.z() != b.mx.z()));
}

//
// Inline's
//

//
DBVT_PREFIX
inline void btDbvt::enumNodes(const btDbvtNode* root,
							  DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	policy.Process(root);
	if (root->isinternal())
	{
		enumNodes(root->childs[0], policy);
		enumNodes(root->childs[1], policy);
	}
}

//
DBVT_PREFIX
inline void btDbvt::enumLeaves(const btDbvtNode* root,
							   DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root->isinternal())
	{
		enumLeaves(root->childs[0], policy);
		enumLeaves(root->childs[1], policy);
	}
	else
	{
		policy.Process(root);
	}
}

//
DBVT_PREFIX
inline void btDbvt::collideTT(const btDbvtNode* root0,
							  const btDbvtNode* root1,
							  DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root0 && root1)
	{
		int depth = 1;
		int treshold = DOUBLE_STACKSIZE - 4;
		btAlignedObjectArray<sStkNN> stkStack;
		stkStack.resize(DOUBLE_STACKSIZE);
		stkStack[0] = sStkNN(root0, root1);
		do
		{
			sStkNN p = stkStack[--depth];
			if (depth > treshold)
			{
				stkStack.resize(stkStack.size() * 2);
				treshold = stkStack.size() - 4;
			}
			if (p.a == p.b)
			{
				if (p.a->isinternal())
				{
					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
					stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
					stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
				}
			}
			else if (Intersect(p.a->volume, p.b->volume))
			{
				if (p.a->isinternal())
				{
					if (p.b->isinternal())
					{
						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
						stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
						stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
					}
					else
					{
						stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
						stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
					}
				}
				else
				{
					if (p.b->isinternal())
					{
						stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
						stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
					}
					else
					{
						policy.Process(p.a, p.b);
					}
				}
			}
		} while (depth);
	}
}

DBVT_PREFIX
inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0,
											 const btDbvtNode* root1,
											 DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root0 && root1)
	{
		int depth = 1;
		int treshold = DOUBLE_STACKSIZE - 4;

		m_stkStack.resize(DOUBLE_STACKSIZE);
		m_stkStack[0] = sStkNN(root0, root1);
		do
		{
			sStkNN p = m_stkStack[--depth];
			if (depth > treshold)
			{
				m_stkStack.resize(m_stkStack.size() * 2);
				treshold = m_stkStack.size() - 4;
			}
			if (p.a == p.b)
			{
				if (p.a->isinternal())
				{
					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
					m_stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
					m_stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
				}
			}
			else if (Intersect(p.a->volume, p.b->volume))
			{
				if (p.a->isinternal())
				{
					if (p.b->isinternal())
					{
						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
					}
					else
					{
						m_stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
						m_stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
					}
				}
				else
				{
					if (p.b->isinternal())
					{
						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
						m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
					}
					else
					{
						policy.Process(p.a, p.b);
					}
				}
			}
		} while (depth);
	}
}

#if 0
//
DBVT_PREFIX
inline void		btDbvt::collideTT(	const btDbvtNode* root0,
								  const btDbvtNode* root1,
								  const btTransform& xform,
								  DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
		if(root0&&root1)
		{
			int								depth=1;
			int								treshold=DOUBLE_STACKSIZE-4;
			btAlignedObjectArray<sStkNN>	stkStack;
			stkStack.resize(DOUBLE_STACKSIZE);
			stkStack[0]=sStkNN(root0,root1);
			do	{
				sStkNN	p=stkStack[--depth];
				if(Intersect(p.a->volume,p.b->volume,xform))
				{
					if(depth>treshold)
					{
						stkStack.resize(stkStack.size()*2);
						treshold=stkStack.size()-4;
					}
					if(p.a->isinternal())
					{
						if(p.b->isinternal())
						{					
							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
						}
						else
						{
							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
						}
					}
					else
					{
						if(p.b->isinternal())
						{
							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
						}
						else
						{
							policy.Process(p.a,p.b);
						}
					}
				}
			} while(depth);
		}
}
//
DBVT_PREFIX
inline void		btDbvt::collideTT(	const btDbvtNode* root0,
								  const btTransform& xform0,
								  const btDbvtNode* root1,
								  const btTransform& xform1,
								  DBVT_IPOLICY)
{
	const btTransform	xform=xform0.inverse()*xform1;
	collideTT(root0,root1,xform,policy);
}
#endif

DBVT_PREFIX
inline void btDbvt::collideTV(const btDbvtNode* root,
							  const btDbvtVolume& vol,
							  DBVT_IPOLICY) const
{
	DBVT_CHECKTYPE
	if (root)
	{
		ATTRIBUTE_ALIGNED16(btDbvtVolume)
		volume(vol);
		btAlignedObjectArray<const btDbvtNode*> stack;
		stack.resize(0);
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
		char tempmemory[SIMPLE_STACKSIZE * sizeof(const btDbvtNode*)];
		stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE);
#else
		stack.reserve(SIMPLE_STACKSIZE);
#endif  //BT_DISABLE_STACK_TEMP_MEMORY

		stack.push_back(root);
		do
		{
			const btDbvtNode* n = stack[stack.size() - 1];
			stack.pop_back();
			if (Intersect(n->volume, volume))
			{
				if (n->isinternal())
				{
					stack.push_back(n->childs[0]);
					stack.push_back(n->childs[1]);
				}
				else
				{
					policy.Process(n);
				}
			}
		} while (stack.size() > 0);
	}
}

//
DBVT_PREFIX
inline void btDbvt::collideTVNoStackAlloc(const btDbvtNode* root,
										  const btDbvtVolume& vol,
										  btNodeStack& stack,
										  DBVT_IPOLICY) const
{
	DBVT_CHECKTYPE
	if (root)
	{
		ATTRIBUTE_ALIGNED16(btDbvtVolume)
		volume(vol);
		stack.resize(0);
		stack.reserve(SIMPLE_STACKSIZE);
		stack.push_back(root);
		do
		{
			const btDbvtNode* n = stack[stack.size() - 1];
			stack.pop_back();
			if (Intersect(n->volume, volume))
			{
				if (n->isinternal())
				{
					stack.push_back(n->childs[0]);
					stack.push_back(n->childs[1]);
				}
				else
				{
					policy.Process(n);
				}
			}
		} while (stack.size() > 0);
	}
}

DBVT_PREFIX
inline void btDbvt::rayTestInternal(const btDbvtNode* root,
									const btVector3& rayFrom,
									const btVector3& rayTo,
									const btVector3& rayDirectionInverse,
									unsigned int signs[3],
									btScalar lambda_max,
									const btVector3& aabbMin,
									const btVector3& aabbMax,
									btAlignedObjectArray<const btDbvtNode*>& stack,
									DBVT_IPOLICY) const
{
	(void)rayTo;
	DBVT_CHECKTYPE
	if (root)
	{
		btVector3 resultNormal;

		int depth = 1;
		int treshold = DOUBLE_STACKSIZE - 2;
		stack.resize(DOUBLE_STACKSIZE);
		stack[0] = root;
		btVector3 bounds[2];
		do
		{
			const btDbvtNode* node = stack[--depth];
			bounds[0] = node->volume.Mins() - aabbMax;
			bounds[1] = node->volume.Maxs() - aabbMin;
			btScalar tmin = 1.f, lambda_min = 0.f;
			unsigned int result1 = false;
			result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);
			if (result1)
			{
				if (node->isinternal())
				{
					if (depth > treshold)
					{
						stack.resize(stack.size() * 2);
						treshold = stack.size() - 2;
					}
					stack[depth++] = node->childs[0];
					stack[depth++] = node->childs[1];
				}
				else
				{
					policy.Process(node);
				}
			}
		} while (depth);
	}
}

//
DBVT_PREFIX
inline void btDbvt::rayTest(const btDbvtNode* root,
							const btVector3& rayFrom,
							const btVector3& rayTo,
							DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root)
	{
		btVector3 rayDir = (rayTo - rayFrom);
		rayDir.normalize();

		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
		btVector3 rayDirectionInverse;
		rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
		rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
		rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
		unsigned int signs[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};

		btScalar lambda_max = rayDir.dot(rayTo - rayFrom);

		btVector3 resultNormal;

		btAlignedObjectArray<const btDbvtNode*> stack;

		int depth = 1;
		int treshold = DOUBLE_STACKSIZE - 2;

		char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
		stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
#else   //BT_DISABLE_STACK_TEMP_MEMORY
		stack.resize(DOUBLE_STACKSIZE);
#endif  //BT_DISABLE_STACK_TEMP_MEMORY
		stack[0] = root;
		btVector3 bounds[2];
		do
		{
			const btDbvtNode* node = stack[--depth];

			bounds[0] = node->volume.Mins();
			bounds[1] = node->volume.Maxs();

			btScalar tmin = 1.f, lambda_min = 0.f;
			unsigned int result1 = btRayAabb2(rayFrom, rayDirectionInverse, signs, bounds, tmin, lambda_min, lambda_max);

#ifdef COMPARE_BTRAY_AABB2
			btScalar param = 1.f;
			bool result2 = btRayAabb(rayFrom, rayTo, node->volume.Mins(), node->volume.Maxs(), param, resultNormal);
			btAssert(result1 == result2);
#endif  //TEST_BTRAY_AABB2

			if (result1)
			{
				if (node->isinternal())
				{
					if (depth > treshold)
					{
						stack.resize(stack.size() * 2);
						treshold = stack.size() - 2;
					}
					stack[depth++] = node->childs[0];
					stack[depth++] = node->childs[1];
				}
				else
				{
					policy.Process(node);
				}
			}
		} while (depth);
	}
}

//
DBVT_PREFIX
inline void btDbvt::collideKDOP(const btDbvtNode* root,
								const btVector3* normals,
								const btScalar* offsets,
								int count,
								DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root)
	{
		const int inside = (1 << count) - 1;
		btAlignedObjectArray<sStkNP> stack;
		int signs[sizeof(unsigned) * 8];
		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
		for (int i = 0; i < count; ++i)
		{
			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
					   ((normals[i].y() >= 0) ? 2 : 0) +
					   ((normals[i].z() >= 0) ? 4 : 0);
		}
		stack.reserve(SIMPLE_STACKSIZE);
		stack.push_back(sStkNP(root, 0));
		do
		{
			sStkNP se = stack[stack.size() - 1];
			bool out = false;
			stack.pop_back();
			for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
			{
				if (0 == (se.mask & j))
				{
					const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
					switch (side)
					{
						case -1:
							out = true;
							break;
						case +1:
							se.mask |= j;
							break;
					}
				}
			}
			if (!out)
			{
				if ((se.mask != inside) && (se.node->isinternal()))
				{
					stack.push_back(sStkNP(se.node->childs[0], se.mask));
					stack.push_back(sStkNP(se.node->childs[1], se.mask));
				}
				else
				{
					if (policy.AllLeaves(se.node)) enumLeaves(se.node, policy);
				}
			}
		} while (stack.size());
	}
}

//
DBVT_PREFIX
inline void btDbvt::collideOCL(const btDbvtNode* root,
							   const btVector3* normals,
							   const btScalar* offsets,
							   const btVector3& sortaxis,
							   int count,
							   DBVT_IPOLICY,
							   bool fsort)
{
	DBVT_CHECKTYPE
	if (root)
	{
		const unsigned srtsgns = (sortaxis[0] >= 0 ? 1 : 0) +
								 (sortaxis[1] >= 0 ? 2 : 0) +
								 (sortaxis[2] >= 0 ? 4 : 0);
		const int inside = (1 << count) - 1;
		btAlignedObjectArray<sStkNPS> stock;
		btAlignedObjectArray<int> ifree;
		btAlignedObjectArray<int> stack;
		int signs[sizeof(unsigned) * 8];
		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
		for (int i = 0; i < count; ++i)
		{
			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
					   ((normals[i].y() >= 0) ? 2 : 0) +
					   ((normals[i].z() >= 0) ? 4 : 0);
		}
		stock.reserve(SIMPLE_STACKSIZE);
		stack.reserve(SIMPLE_STACKSIZE);
		ifree.reserve(SIMPLE_STACKSIZE);
		stack.push_back(allocate(ifree, stock, sStkNPS(root, 0, root->volume.ProjectMinimum(sortaxis, srtsgns))));
		do
		{
			const int id = stack[stack.size() - 1];
			sStkNPS se = stock[id];
			stack.pop_back();
			ifree.push_back(id);
			if (se.mask != inside)
			{
				bool out = false;
				for (int i = 0, j = 1; (!out) && (i < count); ++i, j <<= 1)
				{
					if (0 == (se.mask & j))
					{
						const int side = se.node->volume.Classify(normals[i], offsets[i], signs[i]);
						switch (side)
						{
							case -1:
								out = true;
								break;
							case +1:
								se.mask |= j;
								break;
						}
					}
				}
				if (out) continue;
			}
			if (policy.Descent(se.node))
			{
				if (se.node->isinternal())
				{
					const btDbvtNode* pns[] = {se.node->childs[0], se.node->childs[1]};
					sStkNPS nes[] = {sStkNPS(pns[0], se.mask, pns[0]->volume.ProjectMinimum(sortaxis, srtsgns)),
									 sStkNPS(pns[1], se.mask, pns[1]->volume.ProjectMinimum(sortaxis, srtsgns))};
					const int q = nes[0].value < nes[1].value ? 1 : 0;
					int j = stack.size();
					if (fsort && (j > 0))
					{
						/* Insert 0	*/
						j = nearest(&stack[0], &stock[0], nes[q].value, 0, stack.size());
						stack.push_back(0);

						//void * memmove ( void * destination, const void * source, size_t num );

#if DBVT_USE_MEMMOVE
						{
							int num_items_to_move = stack.size() - 1 - j;
							if (num_items_to_move > 0)
								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
						}
#else
						for (int k = stack.size() - 1; k > j; --k)
						{
							stack[k] = stack[k - 1];
						}
#endif
						stack[j] = allocate(ifree, stock, nes[q]);
						/* Insert 1	*/
						j = nearest(&stack[0], &stock[0], nes[1 - q].value, j, stack.size());
						stack.push_back(0);
#if DBVT_USE_MEMMOVE
						{
							int num_items_to_move = stack.size() - 1 - j;
							if (num_items_to_move > 0)
								memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
						}
#else
						for (int k = stack.size() - 1; k > j; --k)
						{
							stack[k] = stack[k - 1];
						}
#endif
						stack[j] = allocate(ifree, stock, nes[1 - q]);
					}
					else
					{
						stack.push_back(allocate(ifree, stock, nes[q]));
						stack.push_back(allocate(ifree, stock, nes[1 - q]));
					}
				}
				else
				{
					policy.Process(se.node, se.value);
				}
			}
		} while (stack.size());
	}
}

//
DBVT_PREFIX
inline void btDbvt::collideTU(const btDbvtNode* root,
							  DBVT_IPOLICY)
{
	DBVT_CHECKTYPE
	if (root)
	{
		btAlignedObjectArray<const btDbvtNode*> stack;
		stack.reserve(SIMPLE_STACKSIZE);
		stack.push_back(root);
		do
		{
			const btDbvtNode* n = stack[stack.size() - 1];
			stack.pop_back();
			if (policy.Descent(n))
			{
				if (n->isinternal())
				{
					stack.push_back(n->childs[0]);
					stack.push_back(n->childs[1]);
				}
				else
				{
					policy.Process(n);
				}
			}
		} while (stack.size() > 0);
	}
}

//
// PP Cleanup
//

#undef DBVT_USE_MEMMOVE
#undef DBVT_USE_TEMPLATE
#undef DBVT_VIRTUAL_DTOR
#undef DBVT_VIRTUAL
#undef DBVT_PREFIX
#undef DBVT_IPOLICY
#undef DBVT_CHECKTYPE
#undef DBVT_IMPL_GENERIC
#undef DBVT_IMPL_SSE
#undef DBVT_USE_INTRINSIC_SSE
#undef DBVT_SELECT_IMPL
#undef DBVT_MERGE_IMPL
#undef DBVT_INT0_IMPL

#endif