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

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -1,1257 +0,0 @@
-/*
-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);
-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;
-	};
-};
-
-///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;
-	mutable btAlignedObjectArray<const btDbvtNode*>	m_rayTestStack;
-
-
-	// 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);
-	///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,
-								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))));
-	const __int32*	pu((const __int32*)&rt);
-	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
-	static ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
-	///@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)
-{
-	DBVT_CHECKTYPE
-		if(root)
-		{
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
-			btAlignedObjectArray<const btDbvtNode*>	stack;
-			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,
-								DBVT_IPOLICY) const
-{
-        (void) rayTo;
-	DBVT_CHECKTYPE
-	if(root)
-	{
-		btVector3 resultNormal;
-
-		int								depth=1;
-		int								treshold=DOUBLE_STACKSIZE-2;
-		btAlignedObjectArray<const btDbvtNode*>&	stack = m_rayTestStack;
-		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;
-
-			stack.resize(DOUBLE_STACKSIZE);
-			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);
-#if DBVT_USE_MEMMOVE
-							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
-#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
-							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
-#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