btDbvt.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans  https://bulletphysics.org
 
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_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 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);
 
        DBVT_INLINE btVector3& tMins() { return (mi); }
        DBVT_INLINE btVector3& tMaxs() { return (mx); }
 
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;
        };
};
 
/* btDbv(normal)tNode                */
struct btDbvntNode
{
    btDbvtVolume volume;
    btVector3 normal;
    btScalar angle;
    DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
    DBVT_INLINE bool isinternal() const { return (!isleaf()); }
    btDbvntNode* childs[2];
    void* data;
 
    btDbvntNode(const btDbvtNode* n)
    : volume(n->volume)
    , normal(0,0,0)
    , angle(0)
    , data(n->data)
    {
        childs[0] = 0;
        childs[1] = 0;
    }
    
    ~btDbvntNode()
    {
        if (childs[0])
            delete childs[0];
        if (childs[1])
            delete childs[1];
    }
};
 
typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
 
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) {}
        };
    
    struct sStknNN
    {
        const btDbvntNode* a;
        const btDbvntNode* b;
        sStknNN() {}
        sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {}
    };
        // 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 void Process(const btDbvntNode*, const btDbvntNode*) {}
                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;
 
        // 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 selfCollideT(const btDbvntNode* root,
                   DBVT_IPOLICY);
    DBVT_PREFIX
    void selfCollideTT(const btDbvtNode* root,
                      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) const;
 
        DBVT_PREFIX
        void collideTVNoStackAlloc(const btDbvtNode* root,
                                                           const btDbvtVolume& volume,
                                                           btNodeStack& stack,
                                                           DBVT_IPOLICY) const;
 
        DBVT_PREFIX
        static void rayTest(const btDbvtNode* root,
                                                const btVector3& rayFrom,
                                                const btVector3& rayTo,
                                                DBVT_IPOLICY);
        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,
                                                 btAlignedObjectArray<const btDbvtNode*>& stack,
                                                 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))));
#if defined(_WIN32)
        const __int32* pu((const __int32*)&rt);
#else
        const int* pu((const int*)&rt);
#endif
        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
 
#if defined(_WIN32)
        static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff};
#else
        static ATTRIBUTE_ALIGNED16(const unsigned int) mask[] = {0x7fffffff, 0x7fffffff, 0x7fffffff, 0x00000000 /*0x7fffffff*/};
#endif
#if DBVT_USE_INTRINSIC_SSE
 
        union btSSEUnion  
        {
                __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::selfCollideT(const btDbvntNode* root,
                              DBVT_IPOLICY)
{
    DBVT_CHECKTYPE
    if (root)
    {
        int depth = 1;
        int treshold = DOUBLE_STACKSIZE - 4;
        btAlignedObjectArray<sStknNN> stkStack;
        stkStack.resize(DOUBLE_STACKSIZE);
        stkStack[0] = sStknNN(root, root);
        do
        {
            sStknNN p = stkStack[--depth];
            if (depth > treshold)
            {
                stkStack.resize(stkStack.size() * 2);
                treshold = stkStack.size() - 4;
            }
            if (p.a == p.b)
            {
                if (p.a->isinternal() && p.a->angle > SIMD_PI)
                {
                    stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]);
                    stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]);
                    stkStack[depth++] = sStknNN(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++] = sStknNN(p.a->childs[0], p.b->childs[0]);
                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]);
                        stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]);
                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]);
                    }
                    else
                    {
                        stkStack[depth++] = sStknNN(p.a->childs[0], p.b);
                        stkStack[depth++] = sStknNN(p.a->childs[1], p.b);
                    }
                }
                else
                {
                    if (p.b->isinternal())
                    {
                        stkStack[depth++] = sStknNN(p.a, p.b->childs[0]);
                        stkStack[depth++] = sStknNN(p.a, p.b->childs[1]);
                    }
                    else
                    {
                        policy.Process(p.a, p.b);
                    }
                }
            }
        } while (depth);
    }
}
 
//
DBVT_PREFIX
inline void btDbvt::selfCollideTT(const btDbvtNode* root,
                                 DBVT_IPOLICY)
{
    DBVT_CHECKTYPE
    if (root)
    {
        int depth = 1;
        int treshold = DOUBLE_STACKSIZE - 4;
        btAlignedObjectArray<sStkNN> stkStack;
        stkStack.resize(DOUBLE_STACKSIZE);
        stkStack[0] = sStkNN(root, root);
        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) const
{
        DBVT_CHECKTYPE
        if (root)
        {
                ATTRIBUTE_ALIGNED16(btDbvtVolume)
                volume(vol);
                btAlignedObjectArray<const btDbvtNode*> stack;
                stack.resize(0);
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
                char tempmemory[SIMPLE_STACKSIZE * sizeof(const btDbvtNode*)];
                stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE);
#else
                stack.reserve(SIMPLE_STACKSIZE);
#endif  //BT_DISABLE_STACK_TEMP_MEMORY
 
                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::collideTVNoStackAlloc(const btDbvtNode* root,
                                                                                  const btDbvtVolume& vol,
                                                                                  btNodeStack& stack,
                                                                                  DBVT_IPOLICY) const
{
        DBVT_CHECKTYPE
        if (root)
        {
                ATTRIBUTE_ALIGNED16(btDbvtVolume)
                volume(vol);
                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,
                                                                        btAlignedObjectArray<const btDbvtNode*>& stack,
                                                                        DBVT_IPOLICY) const
{
        (void)rayTo;
        DBVT_CHECKTYPE
        if (root)
        {
                btVector3 resultNormal;
 
                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() - 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();
 
                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;
 
                char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)];
#ifndef BT_DISABLE_STACK_TEMP_MEMORY
                stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE);
#else   //BT_DISABLE_STACK_TEMP_MEMORY
                stack.resize(DOUBLE_STACKSIZE);
#endif  //BT_DISABLE_STACK_TEMP_MEMORY
                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);
 
                                                //void * memmove ( void * destination, const void * source, size_t num );
 
#if DBVT_USE_MEMMOVE
                                                {
                                                        int num_items_to_move = stack.size() - 1 - j;
                                                        if (num_items_to_move > 0)
                                                                memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
                                                }
#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
                                                {
                                                        int num_items_to_move = stack.size() - 1 - j;
                                                        if (num_items_to_move > 0)
                                                                memmove(&stack[j + 1], &stack[j], sizeof(int) * num_items_to_move);
                                                }
#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