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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.
///btDbvtBroadphase implementation by Nathanael Presson

#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"

// Compile time config

#define     DBVT_BP_PROFILE                           0
//#define DBVT_BP_SORTPAIRS                     1
#define DBVT_BP_ENABLE_BENCHMARK          0
#define DBVT_BP_MARGIN                          (btScalar)0.05

#define     DBVT_BP_PROFILING_RATE  256
#include "LinearMath/btQuickprof.h"

// btDbvtProxy
struct btDbvtProxy : btBroadphaseProxy
      /* Fields         */ 
      //btDbvtAabbMm    aabb;
      btDbvtNode*       leaf;
      btDbvtProxy*      links[2];
      int                     stage;
      /* ctor                 */ 
      btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :

typedef btAlignedObjectArray<btDbvtProxy*>      btDbvtProxyArray;

///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
00061 struct      btDbvtBroadphase : btBroadphaseInterface
      /* Config         */ 
      enum  {
            DYNAMIC_SET             =     0,    /* Dynamic set index    */ 
            FIXED_SET               =     1,    /* Fixed set index            */ 
            STAGECOUNT              =     2     /* Number of stages           */ 
      /* Fields         */ 
      btDbvt                              m_sets[2];                          // Dbvt sets
      btDbvtProxy*                  m_stageRoots[STAGECOUNT+1];   // Stages list
      btOverlappingPairCache* m_paircache;                        // Pair cache
      btScalar                      m_prediction;                       // Velocity prediction
      int                                 m_stageCurrent;                     // Current stage
      int                                 m_fupdates;                         // % of fixed updates per frame
      int                                 m_dupdates;                         // % of dynamic updates per frame
      int                                 m_cupdates;                         // % of cleanup updates per frame
      int                                 m_newpairs;                         // Number of pairs created
      int                                 m_fixedleft;                        // Fixed optimization left
      unsigned                      m_updates_call;                     // Number of updates call
      unsigned                      m_updates_done;                     // Number of updates done
      btScalar                      m_updates_ratio;              // m_updates_done/m_updates_call
      int                                 m_pid;                                    // Parse id
      int                                 m_cid;                                    // Cleanup index
      int                                 m_gid;                                    // Gen id
      bool                          m_releasepaircache;                 // Release pair cache on delete
      bool                          m_deferedcollide;             // Defere dynamic/static collision to collide call
      bool                          m_needcleanup;                      // Need to run cleanup?
      btClock                             m_clock;
      struct      {
            unsigned long           m_total;
            unsigned long           m_ddcollide;
            unsigned long           m_fdcollide;
            unsigned long           m_cleanup;
            unsigned long           m_jobcount;
      }                       m_profiling;
      /* Methods        */ 
      btDbvtBroadphase(btOverlappingPairCache* paircache=0);
      void                                      collide(btDispatcher* dispatcher);
      void                                      optimize();
      /* btBroadphaseInterface Implementation   */ 
      btBroadphaseProxy*                        createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
      void                                      destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
      void                                      setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
      virtual void      rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));

      virtual void      getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
      void                                      calculateOverlappingPairs(btDispatcher* dispatcher);
      btOverlappingPairCache*             getOverlappingPairCache();
      const btOverlappingPairCache* getOverlappingPairCache() const;
      void                                      getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
      void                                      printStats();
      static void                               benchmark(btBroadphaseInterface*);

      void  performDeferredRemoval(btDispatcher* dispatcher);

      ///reset broadphase internal structures, to ensure determinism/reproducability
      virtual void resetPool(btDispatcher* dispatcher);



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