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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.


#include "LinearMath/btVector3.h"


#include <vector>

class btStridingMeshInterface;

/// btOptimizedBvhNode contains both internal and leaf node information.
/// It hasn't been optimized yet for storage. Some obvious optimizations are:
/// Removal of the pointers (can already be done, they are not used for traversal)
/// and storing aabbmin/max as quantized integers.
/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)

      btVector3   m_aabbMin;
      btVector3   m_aabbMax;

//these 2 pointers are obsolete, the stackless traversal just uses the escape index
      btOptimizedBvhNode*     m_leftChild;
      btOptimizedBvhNode*     m_rightChild;

      int   m_escapeIndex;

      //for child nodes
      int   m_subPart;
      int   m_triangleIndex;


00055 class btNodeOverlapCallback
      virtual ~btNodeOverlapCallback() {};

      virtual void processNode(const btOptimizedBvhNode* node) = 0;

#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"

//typedef std::vector< unsigned , allocator_type >     container_type;
const unsigned size = (1 << 20);
typedef btAlignedAllocator< btOptimizedBvhNode , size >  allocator_type;

//typedef btAlignedObjectArray<btOptimizedBvhNode, allocator_type>      NodeArray;

typedef btAlignedObjectArray<btOptimizedBvhNode>      NodeArray;

///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
00076 class btOptimizedBvh
      NodeArray               m_leafNodes;

      btOptimizedBvhNode*     m_rootNode1;
      btOptimizedBvhNode*     m_contiguousNodes;
      int                           m_curNodeIndex;

      int                           m_numNodes;


      virtual ~btOptimizedBvh();
      void  build(btStridingMeshInterface* triangles);

      btOptimizedBvhNode*     buildTree   (NodeArray& leafNodes,int startIndex,int endIndex);

      int   calcSplittingAxis(NodeArray&  leafNodes,int startIndex,int endIndex);

      int   sortAndCalcSplittingIndex(NodeArray&      leafNodes,int startIndex,int endIndex,int splitAxis);
      void  walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
      void  walkStacklessTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;

      //OptimizedBvhNode*     GetRootNode() { return m_rootNode1;}

      int                           getNumNodes() { return m_numNodes;}

      void  reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;

      void  reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;



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