btAlignedObjectArray.h

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/*
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_OBJECT_ARRAY__
#define BT_OBJECT_ARRAY__

#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
#include "btAlignedAllocator.h"


#define BT_USE_PLACEMENT_NEW 1
//#define BT_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...

#ifdef BT_USE_MEMCPY
#include <memory.h>
#include <string.h>
#endif //BT_USE_MEMCPY

#ifdef BT_USE_PLACEMENT_NEW
#include <new> //for placement new
#endif //BT_USE_PLACEMENT_NEW


template <typename T> 
//template <class T> 
class btAlignedObjectArray
{
        btAlignedAllocator<T , 16>      m_allocator;

        int                                     m_size;
        int                                     m_capacity;
        T*                                      m_data;
        //PCK: added this line
        bool                            m_ownsMemory;

        protected:
                SIMD_FORCE_INLINE       int     allocSize(int size)
                {
                        return (size ? size*2 : 1);
                }
                SIMD_FORCE_INLINE       void    copy(int start,int end, T* dest) const
                {
                        int i;
                        for (i=start;i<end;++i)
#ifdef BT_USE_PLACEMENT_NEW
                                new (&dest[i]) T(m_data[i]);
#else
                                dest[i] = m_data[i];
#endif //BT_USE_PLACEMENT_NEW
                }

                SIMD_FORCE_INLINE       void    init()
                {
                        //PCK: added this line
                        m_ownsMemory = true;
                        m_data = 0;
                        m_size = 0;
                        m_capacity = 0;
                }
                SIMD_FORCE_INLINE       void    destroy(int first,int last)
                {
                        int i;
                        for (i=first; i<last;i++)
                        {
                                m_data[i].~T();
                        }
                }

                SIMD_FORCE_INLINE       void* allocate(int size)
                {
                        if (size)
                                return m_allocator.allocate(size);
                        return 0;
                }

                SIMD_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:
                
                btAlignedObjectArray()
                {
                        init();
                }

                ~btAlignedObjectArray()
                {
                        clear();
                }

                btAlignedObjectArray(const btAlignedObjectArray& otherArray)
                {
                        init();

                        int otherSize = otherArray.size();
                        resize (otherSize);
                        otherArray.copy(0, otherSize, m_data);
                }

                
                
                SIMD_FORCE_INLINE       int size() const
                {       
                        return m_size;
                }
                
                SIMD_FORCE_INLINE const T& at(int n) const
                {
                        return m_data[n];
                }

                SIMD_FORCE_INLINE T& at(int n)
                {
                        return m_data[n];
                }

                SIMD_FORCE_INLINE const T& operator[](int n) const
                {
                        return m_data[n];
                }

                SIMD_FORCE_INLINE T& operator[](int n)
                {
                        return m_data[n];
                }
                

                SIMD_FORCE_INLINE       void    clear()
                {
                        destroy(0,size());
                        
                        deallocate();
                        
                        init();
                }

                SIMD_FORCE_INLINE       void    pop_back()
                {
                        m_size--;
                        m_data[m_size].~T();
                }

                SIMD_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 BT_USE_PLACEMENT_NEW
                                for (int i=curSize;i<newsize;i++)
                                {
                                        new ( &m_data[i]) T(fillData);
                                }
#endif //BT_USE_PLACEMENT_NEW

                        }

                        m_size = newsize;
                }
        
                SIMD_FORCE_INLINE       T&  expandNonInitializing( )
                {       
                        int sz = size();
                        if( sz == capacity() )
                        {
                                reserve( allocSize(size()) );
                        }
                        m_size++;

                        return m_data[sz];              
                }


                SIMD_FORCE_INLINE       T&  expand( const T& fillValue=T())
                {       
                        int sz = size();
                        if( sz == capacity() )
                        {
                                reserve( allocSize(size()) );
                        }
                        m_size++;
#ifdef BT_USE_PLACEMENT_NEW
                        new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
#endif

                        return m_data[sz];              
                }


                SIMD_FORCE_INLINE       void push_back(const T& _Val)
                {       
                        int sz = size();
                        if( sz == capacity() )
                        {
                                reserve( allocSize(size()) );
                        }
                        
#ifdef BT_USE_PLACEMENT_NEW
                        new ( &m_data[m_size] ) T(_Val);
#else
                        m_data[size()] = _Val;                  
#endif //BT_USE_PLACEMENT_NEW

                        m_size++;
                }

        
                SIMD_FORCE_INLINE       int capacity() const
                {       
                        return m_capacity;
                }
                
                SIMD_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);

                                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(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(L CompareFunc)
                {
                        //don't sort 0 or 1 elements
                        if (size()>1)
                        {
                                quickSortInternal(CompareFunc,0,size()-1);
                        }
                }


                template <typename L>
                void downHeap(T *pArr, int k, int n,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 BT_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 //BT_USE_PLACEMENT_NEW

                }

        template <typename L>
        void heapSort(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);
                } 
        }

        int     findBinarySearch(const T& key) const
        {
                int first = 0;
                int last = size();

                //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;
        }

        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;
        }

};

#endif //BT_OBJECT_ARRAY__

---

bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013