delete old files

Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp

@@ -1,489 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btMultiSapBroadphase.h"
-
-#include "btSimpleBroadphase.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "btQuantizedBvh.h"
-
-///	btSapBroadphaseArray	m_sapBroadphases;
-
-///	btOverlappingPairCache*	m_overlappingPairs;
-extern int gOverlappingPairs;
-
-/*
-class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
-{
-public:
-
-	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-	{
-		return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
-	}
-};
-
-*/
-
-btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
-:m_overlappingPairs(pairCache),
-m_optimizedAabbTree(0),
-m_ownsPairCache(false),
-m_invalidPair(0)
-{
-	if (!m_overlappingPairs)
-	{
-		m_ownsPairCache = true;
-		void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
-		m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
-	}
-
-	struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
-	{
-		virtual ~btMultiSapOverlapFilterCallback()
-		{}
-		// return true when pairs need collision
-		virtual bool	needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
-		{
-			btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
-			btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
-			
-			bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
-			collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
-	
-			return collides;
-		}
-	};
-
-	void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
-	m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
-
-	m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
-//	mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
-//	m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
-}
-
-btMultiSapBroadphase::~btMultiSapBroadphase()
-{
-	if (m_ownsPairCache)
-	{
-		m_overlappingPairs->~btOverlappingPairCache();
-		btAlignedFree(m_overlappingPairs);
-	}
-}
-
-
-void	btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
-{
-	m_optimizedAabbTree = new btQuantizedBvh();
-	m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
-	QuantizedNodeArray&	nodes = m_optimizedAabbTree->getLeafNodeArray();
-	for (int i=0;i<m_sapBroadphases.size();i++)
-	{
-		btQuantizedBvhNode node;
-		btVector3 aabbMin,aabbMax;
-		m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
-		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
-		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
-		int partId = 0;
-		node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
-		nodes.push_back(node);
-	}
-	m_optimizedAabbTree->buildInternal();
-}
-
-btBroadphaseProxy*	btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
-{
-	//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
-
-	void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
-	btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin,  aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
-	m_multiSapProxies.push_back(proxy);
-
-	///this should deal with inserting/removal into child broadphases
-	setAabb(proxy,aabbMin,aabbMax,dispatcher);
-	return proxy;
-}
-
-void	btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
-{
-	///not yet
-	btAssert(0);
-
-}
-
-
-void	btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase)
-{
-	void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
-	btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
-	bridgeProxyRef->m_childProxy = childProxy;
-	bridgeProxyRef->m_childBroadphase = childBroadphase;
-	parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
-}
-
-
-bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
-bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
-{
-return
-amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
-amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
-amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
-}
-
-
-
-
-
-
-void	btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
-	aabbMin = multiProxy->m_aabbMin;
-	aabbMax = multiProxy->m_aabbMax;
-}
-
-void	btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	for (int i=0;i<m_multiSapProxies.size();i++)
-	{
-		rayCallback.process(m_multiSapProxies[i]);
-	}
-}
-
-
-//#include <stdio.h>
-
-void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
-{
-	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
-	multiProxy->m_aabbMin = aabbMin;
-	multiProxy->m_aabbMax = aabbMax;
-	
-	
-//	bool fullyContained = false;
-//	bool alreadyInSimple = false;
-	
-
-
-	
-	struct MyNodeOverlapCallback : public btNodeOverlapCallback
-	{
-		btMultiSapBroadphase*	m_multiSap;
-		btMultiSapProxy*		m_multiProxy;
-		btDispatcher*			m_dispatcher;
-
-		MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
-			:m_multiSap(multiSap),
-			m_multiProxy(multiProxy),
-			m_dispatcher(dispatcher)
-		{
-
-		}
-
-		virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
-		{
-			btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
-
-			int containingBroadphaseIndex = -1;
-			//already found?
-			for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
-			{
-
-				if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
-				{
-					containingBroadphaseIndex = i;
-					break;
-				}
-			}
-			if (containingBroadphaseIndex<0)
-			{
-				//add it
-				btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
-				m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
-
-			}
-		}
-	};
-
-	MyNodeOverlapCallback	myNodeCallback(this,multiProxy,dispatcher);
-
-
-
-	
-	if (m_optimizedAabbTree)
-		m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-
-	int i;
-
-	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
-	{
-		btVector3 worldAabbMin,worldAabbMax;
-		multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
-		bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
-		if (!overlapsBroadphase)
-		{
-			//remove it now
-			btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
-
-			btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
-			bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
-			
-			multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
-			multiProxy->m_bridgeProxies.pop_back();
-
-		}
-	}
-
-
-	/*
-
-	if (1)
-	{
-
-		//find broadphase that contain this multiProxy
-		int numChildBroadphases = getBroadphaseArray().size();
-		for (int i=0;i<numChildBroadphases;i++)
-		{
-			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
-			btVector3 worldAabbMin,worldAabbMax;
-			childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
-			bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
-			
-		//	fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
-			int containingBroadphaseIndex = -1;
-			
-			//if already contains this
-			
-			for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
-			{
-				if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
-				{
-					containingBroadphaseIndex = i;
-				}
-				alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
-			}
-
-			if (overlapsBroadphase)
-			{
-				if (containingBroadphaseIndex<0)
-				{
-					btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
-					childProxy->m_multiSapParentProxy = multiProxy;
-					addToChildBroadphase(multiProxy,childProxy,childBroadphase);
-				}
-			} else
-			{
-				if (containingBroadphaseIndex>=0)
-				{
-					//remove
-					btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
-
-					btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
-					bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
-					
-					multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
-					multiProxy->m_bridgeProxies.pop_back();
-				}
-			}
-		}
-
-
-		///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
-		///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
-		if (0)//!multiProxy->m_bridgeProxies.size())
-		{
-			///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
-			///this is needed to be able to calculate the aabb overlap
-			btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
-			childProxy->m_multiSapParentProxy = multiProxy;
-			addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
-		}
-	}
-
-	if (!multiProxy->m_bridgeProxies.size())
-	{
-		///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
-		///this is needed to be able to calculate the aabb overlap
-		btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
-		childProxy->m_multiSapParentProxy = multiProxy;
-		addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
-	}
-*/
-
-
-	//update
-	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
-	{
-		btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
-		bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
-	}
-
-}
-bool stopUpdating=false;
-
-
-
-class btMultiSapBroadphasePairSortPredicate
-{
-	public:
-
-		bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
-		{
-				btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
-				btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
-				btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
-				btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
-
-				 return aProxy0 > bProxy0 || 
-					(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
-					(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); 
-		}
-};
-
-
-        ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-void    btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
-
-//	m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
-
-	if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
-	{
-	
-		btBroadphasePairArray&	overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
-
-	//	quicksort(overlappingPairArray,0,overlappingPairArray.size());
-
-		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-	//	overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-
-		
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
-		{
-		
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
-			btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
-			btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
-			btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
-
-			bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
-			
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;//callback->processOverlap(pair);
-				} else
-				{
-					needsRemoval = true;
-				}
-			} else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-			
-			if (needsRemoval)
-			{
-				getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
-
-		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-		//		m_overlappingPairArray.pop_back();
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				m_invalidPair++;
-				gOverlappingPairs--;
-			} 
-			
-		}
-
-	///if you don't like to skip the invalid pairs in the array, execute following code:
-	#define CLEAN_INVALID_PAIRS 1
-	#ifdef CLEAN_INVALID_PAIRS
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
-		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-	#endif//CLEAN_INVALID_PAIRS
-		
-		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
-	}
-
-
-}
-
-
-bool	btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
-{
-	btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
-		btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
-
-		return	TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
-			multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
-		
-}
-
-
-void	btMultiSapBroadphase::printStats()
-{
-/*	printf("---------------------------------\n");
-	
-		printf("btMultiSapBroadphase.h\n");
-		printf("numHandles = %d\n",m_multiSapProxies.size());
-			//find broadphase that contain this multiProxy
-		int numChildBroadphases = getBroadphaseArray().size();
-		for (int i=0;i<numChildBroadphases;i++)
-		{
-
-			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
-			childBroadphase->printStats();
-
-		}
-		*/
-
-}
-
-void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	// not yet
-}

Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h

@@ -1,151 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BT_MULTI_SAP_BROADPHASE
-#define BT_MULTI_SAP_BROADPHASE
-
-#include "btBroadphaseInterface.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btOverlappingPairCache.h"
-
-
-class btBroadphaseInterface;
-class btSimpleBroadphase;
-
-
-typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
-
-///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
-///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
-///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
-///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
-///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
-///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
-class btMultiSapBroadphase :public btBroadphaseInterface
-{
-	btSapBroadphaseArray	m_sapBroadphases;
-	
-	btSimpleBroadphase*		m_simpleBroadphase;
-
-	btOverlappingPairCache*	m_overlappingPairs;
-
-	class btQuantizedBvh*			m_optimizedAabbTree;
-
-
-	bool					m_ownsPairCache;
-	
-	btOverlapFilterCallback*	m_filterCallback;
-
-	int			m_invalidPair;
-
-	struct	btBridgeProxy
-	{
-		btBroadphaseProxy*		m_childProxy;
-		btBroadphaseInterface*	m_childBroadphase;
-	};
-
-
-public:
-
-	struct	btMultiSapProxy	: public btBroadphaseProxy
-	{
-
-		///array with all the entries that this proxy belongs to
-		btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
-		btVector3	m_aabbMin;
-		btVector3	m_aabbMax;
-
-		int	m_shapeType;
-
-/*		void*	m_userPtr;
-		short int	m_collisionFilterGroup;
-		short int	m_collisionFilterMask;
-*/
-		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
-			:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
-			m_aabbMin(aabbMin),
-			m_aabbMax(aabbMax),
-			m_shapeType(shapeType)
-		{
-			m_multiSapParentProxy =this;
-		}
-
-		
-	};
-
-protected:
-
-
-	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
-
-public:
-
-	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
-
-
-	btSapBroadphaseArray&	getBroadphaseArray()
-	{
-		return m_sapBroadphases;
-	}
-
-	const btSapBroadphaseArray&	getBroadphaseArray() const
-	{
-		return m_sapBroadphases;
-	}
-
-	virtual ~btMultiSapBroadphase();
-
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
-
-	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
-
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	virtual	btOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_overlappingPairs;
-	}
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
-	{
-		return m_overlappingPairs;
-	}
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
-	{
-		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
-		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
-	}
-
-	void	buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
-
-	virtual void	printStats();
-
-	void quicksort (btBroadphasePairArray& a, int lo, int hi);
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
-};
-
-#endif //BT_MULTI_SAP_BROADPHASE