531 lines
12 KiB
C++
531 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_OBJECT_ARRAY__
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#define BT_OBJECT_ARRAY__
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#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
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#include "btAlignedAllocator.h"
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///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW
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///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
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///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
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///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
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///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
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#define BT_USE_PLACEMENT_NEW 1
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//#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...
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#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
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#ifdef BT_USE_MEMCPY
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#include <memory.h>
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#include <string.h>
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#endif //BT_USE_MEMCPY
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#ifdef BT_USE_PLACEMENT_NEW
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#include <new> //for placement new
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#endif //BT_USE_PLACEMENT_NEW
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// The register keyword is deprecated in C++11 so don't use it.
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#if __cplusplus > 199711L
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#define BT_REGISTER
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#else
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#define BT_REGISTER register
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#endif
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///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
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///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
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template <typename T>
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//template <class T>
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class btAlignedObjectArray
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{
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btAlignedAllocator<T , 16> m_allocator;
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int m_size;
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int m_capacity;
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T* m_data;
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//PCK: added this line
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bool m_ownsMemory;
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#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
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public:
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SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other)
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{
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copyFromArray(other);
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return *this;
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}
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#else//BT_ALLOW_ARRAY_COPY_OPERATOR
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private:
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SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other);
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#endif//BT_ALLOW_ARRAY_COPY_OPERATOR
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protected:
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SIMD_FORCE_INLINE int allocSize(int size)
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{
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return (size ? size*2 : 1);
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}
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SIMD_FORCE_INLINE void copy(int start,int end, T* dest) const
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{
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int i;
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for (i=start;i<end;++i)
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#ifdef BT_USE_PLACEMENT_NEW
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new (&dest[i]) T(m_data[i]);
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#else
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dest[i] = m_data[i];
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#endif //BT_USE_PLACEMENT_NEW
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}
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SIMD_FORCE_INLINE void init()
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{
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//PCK: added this line
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m_ownsMemory = true;
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m_data = 0;
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m_size = 0;
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m_capacity = 0;
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}
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SIMD_FORCE_INLINE void destroy(int first,int last)
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{
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int i;
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for (i=first; i<last;i++)
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{
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m_data[i].~T();
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}
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}
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SIMD_FORCE_INLINE void* allocate(int size)
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{
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if (size)
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return m_allocator.allocate(size);
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return 0;
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}
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SIMD_FORCE_INLINE void deallocate()
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{
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if(m_data) {
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//PCK: enclosed the deallocation in this block
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if (m_ownsMemory)
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{
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m_allocator.deallocate(m_data);
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}
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m_data = 0;
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}
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}
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public:
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btAlignedObjectArray()
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{
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init();
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}
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~btAlignedObjectArray()
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{
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clear();
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}
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///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
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btAlignedObjectArray(const btAlignedObjectArray& otherArray)
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{
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init();
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int otherSize = otherArray.size();
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resize (otherSize);
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otherArray.copy(0, otherSize, m_data);
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}
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/// return the number of elements in the array
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SIMD_FORCE_INLINE int size() const
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{
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return m_size;
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}
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SIMD_FORCE_INLINE const T& at(int n) const
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{
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btAssert(n>=0);
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btAssert(n<size());
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return m_data[n];
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}
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SIMD_FORCE_INLINE T& at(int n)
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{
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btAssert(n>=0);
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btAssert(n<size());
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return m_data[n];
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}
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SIMD_FORCE_INLINE const T& operator[](int n) const
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{
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btAssert(n>=0);
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btAssert(n<size());
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return m_data[n];
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}
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SIMD_FORCE_INLINE T& operator[](int n)
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{
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btAssert(n>=0);
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btAssert(n<size());
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return m_data[n];
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}
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///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
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SIMD_FORCE_INLINE void clear()
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{
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destroy(0,size());
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deallocate();
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init();
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}
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SIMD_FORCE_INLINE void pop_back()
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{
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btAssert(m_size>0);
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m_size--;
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m_data[m_size].~T();
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}
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///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
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///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
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SIMD_FORCE_INLINE void resizeNoInitialize(int newsize)
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{
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if (newsize > size())
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{
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reserve(newsize);
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}
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m_size = newsize;
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}
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SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T())
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{
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const BT_REGISTER int curSize = size();
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if (newsize < curSize)
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{
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for(int i = newsize; i < curSize; i++)
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{
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m_data[i].~T();
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}
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} else
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{
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if (newsize > curSize)
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{
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reserve(newsize);
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}
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#ifdef BT_USE_PLACEMENT_NEW
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for (int i=curSize;i<newsize;i++)
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{
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new ( &m_data[i]) T(fillData);
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}
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#endif //BT_USE_PLACEMENT_NEW
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}
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m_size = newsize;
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}
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SIMD_FORCE_INLINE T& expandNonInitializing( )
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{
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const BT_REGISTER int sz = size();
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if( sz == capacity() )
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{
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reserve( allocSize(size()) );
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}
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m_size++;
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return m_data[sz];
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}
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SIMD_FORCE_INLINE T& expand( const T& fillValue=T())
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{
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const BT_REGISTER int sz = size();
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if( sz == capacity() )
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{
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reserve( allocSize(size()) );
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}
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m_size++;
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#ifdef BT_USE_PLACEMENT_NEW
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new (&m_data[sz]) T(fillValue); //use the in-place new (not really allocating heap memory)
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#endif
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return m_data[sz];
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}
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SIMD_FORCE_INLINE void push_back(const T& _Val)
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{
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const BT_REGISTER int sz = size();
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if( sz == capacity() )
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{
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reserve( allocSize(size()) );
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}
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#ifdef BT_USE_PLACEMENT_NEW
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new ( &m_data[m_size] ) T(_Val);
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#else
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m_data[size()] = _Val;
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#endif //BT_USE_PLACEMENT_NEW
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m_size++;
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}
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/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
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SIMD_FORCE_INLINE int capacity() const
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{
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return m_capacity;
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}
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SIMD_FORCE_INLINE void reserve(int _Count)
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{ // determine new minimum length of allocated storage
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if (capacity() < _Count)
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{ // not enough room, reallocate
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T* s = (T*)allocate(_Count);
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copy(0, size(), s);
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destroy(0,size());
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deallocate();
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//PCK: added this line
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m_ownsMemory = true;
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m_data = s;
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m_capacity = _Count;
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}
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}
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class less
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{
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public:
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bool operator() ( const T& a, const T& b ) const
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{
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return ( a < b );
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}
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};
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template <typename L>
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void quickSortInternal(const L& CompareFunc,int lo, int hi)
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{
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// lo is the lower index, hi is the upper index
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// of the region of array a that is to be sorted
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int i=lo, j=hi;
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T x=m_data[(lo+hi)/2];
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// partition
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do
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{
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while (CompareFunc(m_data[i],x))
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i++;
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while (CompareFunc(x,m_data[j]))
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j--;
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if (i<=j)
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{
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swap(i,j);
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i++; j--;
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}
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} while (i<=j);
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// recursion
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if (lo<j)
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quickSortInternal( CompareFunc, lo, j);
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if (i<hi)
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quickSortInternal( CompareFunc, i, hi);
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}
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template <typename L>
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void quickSort(const L& CompareFunc)
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{
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//don't sort 0 or 1 elements
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if (size()>1)
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{
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quickSortInternal(CompareFunc,0,size()-1);
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}
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}
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///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
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template <typename L>
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void downHeap(T *pArr, int k, int n, const L& CompareFunc)
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{
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/* PRE: a[k+1..N] is a heap */
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/* POST: a[k..N] is a heap */
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T temp = pArr[k - 1];
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/* k has child(s) */
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while (k <= n/2)
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{
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int child = 2*k;
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if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child]))
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{
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child++;
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}
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/* pick larger child */
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if (CompareFunc(temp , pArr[child - 1]))
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{
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/* move child up */
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pArr[k - 1] = pArr[child - 1];
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k = child;
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}
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else
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{
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break;
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}
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}
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pArr[k - 1] = temp;
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} /*downHeap*/
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void swap(int index0,int index1)
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{
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#ifdef BT_USE_MEMCPY
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char temp[sizeof(T)];
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memcpy(temp,&m_data[index0],sizeof(T));
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memcpy(&m_data[index0],&m_data[index1],sizeof(T));
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memcpy(&m_data[index1],temp,sizeof(T));
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#else
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T temp = m_data[index0];
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m_data[index0] = m_data[index1];
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m_data[index1] = temp;
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#endif //BT_USE_PLACEMENT_NEW
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}
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template <typename L>
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void heapSort(const L& CompareFunc)
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{
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/* sort a[0..N-1], N.B. 0 to N-1 */
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int k;
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int n = m_size;
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for (k = n/2; k > 0; k--)
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{
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downHeap(m_data, k, n, CompareFunc);
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}
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/* a[1..N] is now a heap */
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while ( n>=1 )
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{
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swap(0,n-1); /* largest of a[0..n-1] */
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n = n - 1;
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/* restore a[1..i-1] heap */
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downHeap(m_data, 1, n, CompareFunc);
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}
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}
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///non-recursive binary search, assumes sorted array
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int findBinarySearch(const T& key) const
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{
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int first = 0;
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int last = size()-1;
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//assume sorted array
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while (first <= last) {
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int mid = (first + last) / 2; // compute mid point.
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if (key > m_data[mid])
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first = mid + 1; // repeat search in top half.
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else if (key < m_data[mid])
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last = mid - 1; // repeat search in bottom half.
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else
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return mid; // found it. return position /////
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}
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return size(); // failed to find key
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}
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int findLinearSearch(const T& key) const
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{
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int index=size();
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int i;
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for (i=0;i<size();i++)
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{
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if (m_data[i] == key)
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{
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index = i;
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break;
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}
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}
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return index;
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}
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// If the key is not in the array, return -1 instead of 0,
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// since 0 also means the first element in the array.
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int findLinearSearch2(const T& key) const
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{
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int index=-1;
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int i;
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for (i=0;i<size();i++)
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{
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if (m_data[i] == key)
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{
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index = i;
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break;
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}
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}
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return index;
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}
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void removeAtIndex(int index)
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{
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if (index<size())
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{
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swap( index,size()-1);
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pop_back();
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}
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}
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void remove(const T& key)
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{
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int findIndex = findLinearSearch(key);
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removeAtIndex(findIndex);
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}
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//PCK: whole function
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void initializeFromBuffer(void *buffer, int size, int capacity)
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{
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clear();
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m_ownsMemory = false;
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m_data = (T*)buffer;
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m_size = size;
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m_capacity = capacity;
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}
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void copyFromArray(const btAlignedObjectArray& otherArray)
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{
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int otherSize = otherArray.size();
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resize (otherSize);
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otherArray.copy(0, otherSize, m_data);
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}
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};
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#endif //BT_OBJECT_ARRAY__
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