ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletSoftBody/btSparseSDF.h

@@ -1,306 +0,0 @@
-/*
-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.
-*/
-///btSparseSdf implementation by Nathanael Presson
-
-#ifndef BT_SPARSE_SDF_H
-#define BT_SPARSE_SDF_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-
-// Modified Paul Hsieh hash
-template <const int DWORDLEN>
-unsigned int HsiehHash(const void* pdata)
-{
-	const unsigned short*	data=(const unsigned short*)pdata;
-	unsigned				hash=DWORDLEN<<2,tmp;
-	for(int i=0;i<DWORDLEN;++i)
-	{
-		hash	+=	data[0];
-		tmp		=	(data[1]<<11)^hash;
-		hash	=	(hash<<16)^tmp;
-		data	+=	2;
-		hash	+=	hash>>11;
-	}
-	hash^=hash<<3;hash+=hash>>5;
-	hash^=hash<<4;hash+=hash>>17;
-	hash^=hash<<25;hash+=hash>>6;
-	return(hash);
-}
-
-template <const int CELLSIZE>
-struct	btSparseSdf
-{
-	//
-	// Inner types
-	//
-	struct IntFrac
-	{
-		int					b;
-		int					i;
-		btScalar			f;
-	};
-	struct	Cell
-	{
-		btScalar			d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
-		int					c[3];
-		int					puid;
-		unsigned			hash;
-		btCollisionShape*	pclient;
-		Cell*				next;
-	};
-	//
-	// Fields
-	//
-
-	btAlignedObjectArray<Cell*>		cells;	
-	btScalar						voxelsz;
-	int								puid;
-	int								ncells;
-	int								nprobes;
-	int								nqueries;	
-
-	//
-	// Methods
-	//
-
-	//
-	void					Initialize(int hashsize=2383)
-	{
-		cells.resize(hashsize,0);
-		Reset();		
-	}
-	//
-	void					Reset()
-	{
-		for(int i=0,ni=cells.size();i<ni;++i)
-		{
-			Cell*	pc=cells[i];
-			cells[i]=0;
-			while(pc)
-			{
-				Cell*	pn=pc->next;
-				delete pc;
-				pc=pn;
-			}
-		}
-		voxelsz		=0.25;
-		puid		=0;
-		ncells		=0;
-		nprobes		=1;
-		nqueries	=1;
-	}
-	//
-	void					GarbageCollect(int lifetime=256)
-	{
-		const int life=puid-lifetime;
-		for(int i=0;i<cells.size();++i)
-		{
-			Cell*&	root=cells[i];
-			Cell*	pp=0;
-			Cell*	pc=root;
-			while(pc)
-			{
-				Cell*	pn=pc->next;
-				if(pc->puid<life)
-				{
-					if(pp) pp->next=pn; else root=pn;
-					delete pc;pc=pp;--ncells;
-				}
-				pp=pc;pc=pn;
-			}
-		}
-		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
-		nqueries=1;
-		nprobes=1;
-		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
-		/* else setup a priority list...						*/ 
-	}
-	//
-	int						RemoveReferences(btCollisionShape* pcs)
-	{
-		int	refcount=0;
-		for(int i=0;i<cells.size();++i)
-		{
-			Cell*&	root=cells[i];
-			Cell*	pp=0;
-			Cell*	pc=root;
-			while(pc)
-			{
-				Cell*	pn=pc->next;
-				if(pc->pclient==pcs)
-				{
-					if(pp) pp->next=pn; else root=pn;
-					delete pc;pc=pp;++refcount;
-				}
-				pp=pc;pc=pn;
-			}
-		}
-		return(refcount);
-	}
-	//
-	btScalar				Evaluate(	const btVector3& x,
-		btCollisionShape* shape,
-		btVector3& normal,
-		btScalar margin)
-	{
-		/* Lookup cell			*/ 
-		const btVector3	scx=x/voxelsz;
-		const IntFrac	ix=Decompose(scx.x());
-		const IntFrac	iy=Decompose(scx.y());
-		const IntFrac	iz=Decompose(scx.z());
-		const unsigned	h=Hash(ix.b,iy.b,iz.b,shape);
-		Cell*&			root=cells[static_cast<int>(h%cells.size())];
-		Cell*			c=root;
-		++nqueries;
-		while(c)
-		{
-			++nprobes;
-			if(	(c->hash==h)	&&
-				(c->c[0]==ix.b)	&&
-				(c->c[1]==iy.b)	&&
-				(c->c[2]==iz.b)	&&
-				(c->pclient==shape))
-			{ break; }
-			else
-			{ c=c->next; }
-		}
-		if(!c)
-		{
-			++nprobes;		
-			++ncells;
-			c=new Cell();
-			c->next=root;root=c;
-			c->pclient=shape;
-			c->hash=h;
-			c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
-			BuildCell(*c);
-		}
-		c->puid=puid;
-		/* Extract infos		*/ 
-		const int		o[]={	ix.i,iy.i,iz.i};
-		const btScalar	d[]={	c->d[o[0]+0][o[1]+0][o[2]+0],
-			c->d[o[0]+1][o[1]+0][o[2]+0],
-			c->d[o[0]+1][o[1]+1][o[2]+0],
-			c->d[o[0]+0][o[1]+1][o[2]+0],
-			c->d[o[0]+0][o[1]+0][o[2]+1],
-			c->d[o[0]+1][o[1]+0][o[2]+1],
-			c->d[o[0]+1][o[1]+1][o[2]+1],
-			c->d[o[0]+0][o[1]+1][o[2]+1]};
-		/* Normal	*/ 
-#if 1
-		const btScalar	gx[]={	d[1]-d[0],d[2]-d[3],
-			d[5]-d[4],d[6]-d[7]};
-		const btScalar	gy[]={	d[3]-d[0],d[2]-d[1],
-			d[7]-d[4],d[6]-d[5]};
-		const btScalar	gz[]={	d[4]-d[0],d[5]-d[1],
-			d[7]-d[3],d[6]-d[2]};
-		normal.setX(Lerp(	Lerp(gx[0],gx[1],iy.f),
-			Lerp(gx[2],gx[3],iy.f),iz.f));
-		normal.setY(Lerp(	Lerp(gy[0],gy[1],ix.f),
-			Lerp(gy[2],gy[3],ix.f),iz.f));
-		normal.setZ(Lerp(	Lerp(gz[0],gz[1],ix.f),
-			Lerp(gz[2],gz[3],ix.f),iy.f));
-		normal		=	normal.normalized();
-#else
-		normal		=	btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
-#endif
-		/* Distance	*/ 
-		const btScalar	d0=Lerp(Lerp(d[0],d[1],ix.f),
-			Lerp(d[3],d[2],ix.f),iy.f);
-		const btScalar	d1=Lerp(Lerp(d[4],d[5],ix.f),
-			Lerp(d[7],d[6],ix.f),iy.f);
-		return(Lerp(d0,d1,iz.f)-margin);
-	}
-	//
-	void					BuildCell(Cell& c)
-	{
-		const btVector3	org=btVector3(	(btScalar)c.c[0],
-			(btScalar)c.c[1],
-			(btScalar)c.c[2])	*
-			CELLSIZE*voxelsz;
-		for(int k=0;k<=CELLSIZE;++k)
-		{
-			const btScalar	z=voxelsz*k+org.z();
-			for(int j=0;j<=CELLSIZE;++j)
-			{
-				const btScalar	y=voxelsz*j+org.y();
-				for(int i=0;i<=CELLSIZE;++i)
-				{
-					const btScalar	x=voxelsz*i+org.x();
-					c.d[i][j][k]=DistanceToShape(	btVector3(x,y,z),
-						c.pclient);
-				}
-			}
-		}
-	}
-	//
-	static inline btScalar	DistanceToShape(const btVector3& x,
-		btCollisionShape* shape)
-	{
-		btTransform	unit;
-		unit.setIdentity();
-		if(shape->isConvex())
-		{
-			btGjkEpaSolver2::sResults	res;
-			btConvexShape*				csh=static_cast<btConvexShape*>(shape);
-			return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
-		}
-		return(0);
-	}
-	//
-	static inline IntFrac	Decompose(btScalar x)
-	{
-		/* That one need a lot of improvements...	*/
-		/* Remove test, faster floor...				*/ 
-		IntFrac			r;
-		x/=CELLSIZE;
-		const int		o=x<0?(int)(-x+1):0;
-		x+=o;r.b=(int)x;
-		const btScalar	k=(x-r.b)*CELLSIZE;
-		r.i=(int)k;r.f=k-r.i;r.b-=o;
-		return(r);
-	}
-	//
-	static inline btScalar	Lerp(btScalar a,btScalar b,btScalar t)
-	{
-		return(a+(b-a)*t);
-	}
-
-
-
-	//
-	static inline unsigned int	Hash(int x,int y,int z,btCollisionShape* shape)
-	{
-		struct btS
-		{ 
-			int x,y,z;
-			void* p;
-		};
-
-		btS myset;
-
-		myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
-		const void* ptr = &myset;
-
-		unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
-
-
-		return result;
-	}
-};
-
-
-#endif //BT_SPARSE_SDF_H

data/deps/include/bullet/LinearMath/btAabbUtil2.h

@@ -1,236 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / 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.
-*/
-
-
-
-#ifndef BT_AABB_UTIL2
-#define BT_AABB_UTIL2
-
-#include "btTransform.h"
-#include "btVector3.h"
-#include "btMinMax.h"
-
-
-
-SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
-								   btVector3& aabbMax,
-								   const btVector3& expansionMin,
-								   const btVector3& expansionMax)
-{
-	aabbMin = aabbMin + expansionMin;
-	aabbMax = aabbMax + expansionMax;
-}
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
-								const btVector3 &point)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
-	return overlap;
-}
-
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
-								const btVector3 &aabbMin2, const btVector3 &aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
-	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
-	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
-									const btVector3 &aabbMin, const btVector3 &aabbMax)
-{
-	const btVector3 &p1 = vertices[0];
-	const btVector3 &p2 = vertices[1];
-	const btVector3 &p3 = vertices[2];
-
-	if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
-	if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
-
-	if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
-	if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-  
-	if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
-	if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
-	return true;
-}
-
-
-SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent) 
-{
-	return (p.getX()  < -halfExtent.getX() ? 0x01 : 0x0) |    
-		   (p.getX() >  halfExtent.getX() ? 0x08 : 0x0) |
-		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |    
-		   (p.getY() >  halfExtent.getY() ? 0x10 : 0x0) |
-		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |    
-		   (p.getZ() >  halfExtent.getZ() ? 0x20 : 0x0);
-}
-
-
-
-SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
-								  const btVector3& rayInvDirection,
-								  const unsigned int raySign[3],
-								  const btVector3 bounds[2],
-								  btScalar& tmin,
-								  btScalar lambda_min,
-								  btScalar lambda_max)
-{
-	btScalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
-	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-	tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
-
-	if ( (tmin > tymax) || (tymin > tmax) )
-		return false;
-
-	if (tymin > tmin)
-		tmin = tymin;
-
-	if (tymax < tmax)
-		tmax = tymax;
-
-	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-	tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
-
-	if ( (tmin > tzmax) || (tzmin > tmax) )
-		return false;
-	if (tzmin > tmin)
-		tmin = tzmin;
-	if (tzmax < tmax)
-		tmax = tzmax;
-	return ( (tmin < lambda_max) && (tmax > lambda_min) );
-}
-
-SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
-								 const btVector3& rayTo, 
-								 const btVector3& aabbMin, 
-								 const btVector3& aabbMax,
-					  btScalar& param, btVector3& normal) 
-{
-	btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5);
-	btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5);
-	btVector3	source = rayFrom - aabbCenter;
-	btVector3	target = rayTo - aabbCenter;
-	int	sourceOutcode = btOutcode(source,aabbHalfExtent);
-	int targetOutcode = btOutcode(target,aabbHalfExtent);
-	if ((sourceOutcode & targetOutcode) == 0x0)
-	{
-		btScalar lambda_enter = btScalar(0.0);
-		btScalar lambda_exit  = param;
-		btVector3 r = target - source;
-		int i;
-		btScalar	normSign = 1;
-		btVector3	hitNormal(0,0,0);
-		int bit=1;
-
-		for (int j=0;j<2;j++)
-		{
-			for (i = 0; i != 3; ++i)
-			{
-				if (sourceOutcode & bit)
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
-					if (lambda_enter <= lambda)
-					{
-						lambda_enter = lambda;
-						hitNormal.setValue(0,0,0);
-						hitNormal[i] = normSign;
-					}
-				}
-				else if (targetOutcode & bit) 
-				{
-					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
-					btSetMin(lambda_exit, lambda);
-				}
-				bit<<=1;
-			}
-			normSign = btScalar(-1.);
-		}
-		if (lambda_enter <= lambda_exit)
-		{
-			param = lambda_enter;
-			normal = hitNormal;
-			return true;
-		}
-	}
-	return false;
-}
-
-
-
-SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
-{
-	btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
-	btMatrix3x3 abs_b = t.getBasis().absolute();  
-	btVector3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
-		   abs_b[1].dot(halfExtentsWithMargin),
-		  abs_b[2].dot(halfExtentsWithMargin));
-	aabbMinOut = center - extent;
-	aabbMaxOut = center + extent;
-}
-
-
-SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
-{
-		btAssert(localAabbMin.getX() <= localAabbMax.getX());
-		btAssert(localAabbMin.getY() <= localAabbMax.getY());
-		btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
-		btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
-		localHalfExtents+=btVector3(margin,margin,margin);
-
-		btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
-		btMatrix3x3 abs_b = trans.getBasis().absolute();  
-		btVector3 center = trans(localCenter);
-		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-			   abs_b[1].dot(localHalfExtents),
-			  abs_b[2].dot(localHalfExtents));
-		aabbMinOut = center-extent;
-		aabbMaxOut = center+extent;
-}
-
-#define USE_BANCHLESS 1
-#ifdef USE_BANCHLESS
-	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{		
-		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
-			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
-			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-			1, 0));
-	}
-#else
-	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
-	{
-		bool overlap = true;
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-		return overlap;
-	}
-#endif //USE_BANCHLESS
-
-#endif //BT_AABB_UTIL2
-
-

data/deps/include/bullet/LinearMath/btAlignedAllocator.h

@@ -1,107 +0,0 @@
-/*
-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.
-*/
-
-#ifndef BT_ALIGNED_ALLOCATOR
-#define BT_ALIGNED_ALLOCATOR
-
-///we probably replace this with our own aligned memory allocator
-///so we replace _aligned_malloc and _aligned_free with our own
-///that is better portable and more predictable
-
-#include "btScalar.h"
-//#define BT_DEBUG_MEMORY_ALLOCATIONS 1
-#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
-
-#define btAlignedAlloc(a,b) \
-		btAlignedAllocInternal(a,b,__LINE__,__FILE__)
-
-#define btAlignedFree(ptr) \
-		btAlignedFreeInternal(ptr,__LINE__,__FILE__)
-
-void*	btAlignedAllocInternal	(size_t size, int alignment,int line,char* filename);
-
-void	btAlignedFreeInternal	(void* ptr,int line,char* filename);
-
-#else
-	void*	btAlignedAllocInternal	(size_t size, int alignment);
-	void	btAlignedFreeInternal	(void* ptr);
-
-	#define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment)
-	#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
-
-#endif
-typedef int	size_type;
-
-typedef void *(btAlignedAllocFunc)(size_t size, int alignment);
-typedef void (btAlignedFreeFunc)(void *memblock);
-typedef void *(btAllocFunc)(size_t size);
-typedef void (btFreeFunc)(void *memblock);
-
-///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
-void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc);
-///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
-
-
-///The btAlignedAllocator is a portable class for aligned memory allocations.
-///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.
-template < typename T , unsigned Alignment >
-class btAlignedAllocator {
-	
-	typedef btAlignedAllocator< T , Alignment > self_type;
-	
-public:
-
-	//just going down a list:
-	btAlignedAllocator() {}
-	/*
-	btAlignedAllocator( const self_type & ) {}
-	*/
-
-	template < typename Other >
-	btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {}
-
-	typedef const T*         const_pointer;
-	typedef const T&         const_reference;
-	typedef T*               pointer;
-	typedef T&               reference;
-	typedef T                value_type;
-
-	pointer       address   ( reference        ref ) const                           { return &ref; }
-	const_pointer address   ( const_reference  ref ) const                           { return &ref; }
-	pointer       allocate  ( size_type        n   , const_pointer *      hint = 0 ) {
-		(void)hint;
-		return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment ));
-	}
-	void          construct ( pointer          ptr , const value_type &   value    ) { new (ptr) value_type( value ); }
-	void          deallocate( pointer          ptr ) {
-		btAlignedFree( reinterpret_cast< void * >( ptr ) );
-	}
-	void          destroy   ( pointer          ptr )                                 { ptr->~value_type(); }
-	
-
-	template < typename O > struct rebind {
-		typedef btAlignedAllocator< O , Alignment > other;
-	};
-	template < typename O >
-	self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; }
-
-	friend bool operator==( const self_type & , const self_type & ) { return true; }
-};
-
-
-
-#endif //BT_ALIGNED_ALLOCATOR
-