*Backed out changeset 3be01fb200a5

--HG--
branch : trunk

1 files changed, 288 insertions, 0 deletions

diff --git a/src/shared/vmap/AABSPTree.h b/src/shared/vmap/AABSPTree.h
index 5fe9c59cf2b..ff4335b6774 100644
--- a/src/shared/vmap/AABSPTree.h
+++ b/src/shared/vmap/AABSPTree.h
@@ -1,14 +1,21 @@
 /**
   @file AABSPTree.h
+
   @maintainer Morgan McGuire, matrix@graphics3d.com
+
   @created 2004-01-11
   @edited  2007-02-16
+
   Copyright 2000-2007, Morgan McGuire.
   All rights reserved.
+
   */
+
 #ifndef G3D_AABSPTREE_H
 #define G3D_AABSPTREE_H
+
 #include "VMapTools.h"
+
 #include "G3D/platform.h"
 #include "G3D/Array.h"
 #include "G3D/Table.h"
@@ -26,47 +33,60 @@
 #include "G3D/CollisionDetection.h"
 #include "G3D/GCamera.h"
 #include <algorithm>
+
 // If defined, in debug mode the tree is checked for consistency
 // as a way of detecting corruption due to implementation bugs
 // #define VERIFY_TREE
+
 inline void getBounds(const G3D::Vector3& v, G3D::AABox& out) {
     out = G3D::AABox(v);
 }
 
+
 inline void getBounds(const G3D::AABox& a, G3D::AABox& out) {
     out = a;
 }
+
 inline void getBounds(const G3D::Sphere& s, G3D::AABox& out) {
     s.getBounds(out);
 }
 
+
 inline void getBounds(const G3D::Box& b, G3D::AABox& out) {
     b.getBounds(out);
 }
 
+
 inline void getBounds(const G3D::Triangle& t, G3D::AABox& out) {
     t.getBounds(out);
 }
 
+
+
 inline void getBounds(const G3D::Vector3* v, G3D::AABox& out) {
     out = G3D::AABox(*v);
 }
 
+
 inline void getBounds(const G3D::AABox* a, G3D::AABox& out) {
     getBounds(*a, out);
 }
+
 inline void getBounds(const G3D::Sphere* s, G3D::AABox& out) {
     s->getBounds(out);
 }
 
+
 inline void getBounds(const G3D::Box* b, G3D::AABox& out) {
     b->getBounds(out);
 }
+
 inline void getBounds(const G3D::Triangle* t, G3D::AABox& out) {
     t->getBounds(out);
 }
 namespace G3D {
     namespace _internal {
+
     /**
      Wraps a pointer value so that it can be treated as the instance itself;
      convenient for inserting pointers into a Table but using the
@@ -76,50 +96,65 @@ namespace G3D {
     class Indirector {
     public:
         Type*         handle;
+
         inline Indirector(Type* h) : handle(h) {}
+
         inline Indirector() : handle(NULL) {}
+
         /** Returns true iff the values referenced by the handles are equivalent. */
         inline bool operator==(const Indirector& m) {
             return *handle == *(m.handle);
         }
+
         inline bool operator==(const Type& m) {
             return *handle == m;
         }
+
         inline size_t hashCode() const {
             return handle->hashCode();
         }
     };
  } // namespace internal
 } // namespace G3D
+
 template <class Handle>
 struct GHashCode< G3D::_internal::Indirector<Handle> >
 {
     size_t operator()(const G3D::_internal::Indirector<Handle>& key) const { return key.hashCode(); }
 };
+
 namespace G3D {
+
 /**
  A set that supports spatial queries using an axis-aligned
  BSP tree for speed.
+
  AABSPTree allows you to quickly find objects in 3D that lie within
  a box or along a ray. For large sets of objects it is much faster
  than testing each object for a collision.
+
  AABSPTree is as powerful as but more general than a Quad Tree, Oct
  Tree, or KD Tree, but less general than an unconstrained BSP tree
  (which is much slower to create).
+
  Internally, objects
  are arranged into an axis-aligned BSP-tree according to their
  axis-aligned bounds.  This increases the cost of insertion to
  O(log n) but allows fast overlap queries.
+
  <B>Template Parameters</B>
  <DT>The template parameter <I>T</I> must be one for which
  the following functions are all overloaded:
+
   <P><CODE>void ::getBounds(const T&, G3D::AABox&);</CODE>
   <DT><CODE>bool ::operator==(const T&, const T&);</CODE>
   <DT><CODE>unsigned int ::hashCode(const T&);</CODE>
   <DT><CODE>T::T();</CODE> <I>(public constructor of no arguments)</I>
+
  G3D provides these for common classes like G3D::Vector3 and G3D::Sphere.
  If you use a custom class, or a pointer to a custom class, you will need
  to define those functions.
+
  <B>Moving %Set Members</B>
  <DT>It is important that objects do not move without updating the
  AABSPTree.  If the axis-aligned bounds of an object are about
@@ -130,21 +165,26 @@ namespace G3D {
  you can use the AABSPTree::update method as a shortcut to
  insert/remove an object in one step after it has moved.
 
+
  Note: Do not mutate any value once it has been inserted into AABSPTree. Values
  are copied interally. All AABSPTree iterators convert to pointers to constant
  values to reinforce this.
+
  If you want to mutate the objects you intend to store in a AABSPTree
  simply insert <I>pointers</I> to your objects instead of the objects
  themselves, and ensure that the above operations are defined. (And
  actually, because values are copied, if your values are large you may
  want to insert pointers anyway, to save space and make the balance
  operation faster.)
+
  <B>Dimensions</B>
  Although designed as a 3D-data structure, you can use the AABSPTree
  for data distributed along 2 or 1 axes by simply returning bounds
  that are always zero along one or more dimensions.
+
 */
 namespace _AABSPTree {
+
     /** Wrapper for a value that includes a cache of its bounds.
         Except for the test value used in a set-query operation, there
         is only ever one instance of the handle associated with any
@@ -156,75 +196,97 @@ namespace _AABSPTree {
     public:
         /** The bounds of each object are constrained to AABox::maxFinite */
         AABox               bounds;
+
         /** Center of bounds.  We cache this value to avoid recomputing it
             during the median sort, and because MSVC 6 std::sort goes into
             an infinite loop if we compute the midpoint on the fly (possibly
             a floating point roundoff issue, where B<A and A<B both are true).*/
         Vector3             center;
+
         TValue              value;
+
         Handle<TValue>() {}
+
         inline Handle<TValue>(const TValue& v) : value(v) {
             getBounds(v, bounds);
             bounds = bounds.intersect(AABox::maxFinite());
             center = bounds.center();
         }
+
         inline bool operator==(const Handle<TValue>& other) const {
             return (*value).operator==(*other.value);
         }
+
         inline size_t hashCode() const {
             return value->hashCode();
         }
     };
+
     template<>
     class Handle<Triangle> {
     public:
         /** The bounds of each object are constrained to AABox::maxFinite */
         AABox          bounds;
+
         /** Center of bounds.  We cache this value to avoid recomputing it
             during the median sort, and because MSVC 6 std::sort goes into
             an infinite loop if we compute the midpoint on the fly (possibly
             a floating point roundoff issue, where B<A and A<B both are true).*/
         Vector3        center;
+
         Triangle       value;
+
         Handle<Triangle>() {}
+
         inline Handle<Triangle>(const Triangle& v) : value(v) {
             getBounds(v, bounds);
             bounds = bounds.intersect(AABox::maxFinite());
             center = bounds.center();
         }
+
         inline bool operator==(const Handle<Triangle>& other) const {
             return value.operator==(other.value);
         }
+
         inline size_t hashCode() const {
             return value.hashCode();
         }
     };
 }
+
 template<class T> class AABSPTree {
 protected:
 public:
 
+
     /** Returns the bounds of the sub array. Used by makeNode. */
     static AABox computeBounds(
     const Array<_AABSPTree::Handle<T>*>& point,
         int                   beginIndex,
         int                   endIndex) {
+
         Vector3 lo = Vector3::inf();
         Vector3 hi = -lo;
+
         for (int p = beginIndex; p <= endIndex; ++p) {
             lo = lo.min(point[p]->bounds.low());
             hi = hi.max(point[p]->bounds.high());
         }
+
         return AABox(lo, hi);
     }
+
     /** Compares centers */
     class CenterComparator {
     public:
         Vector3::Axis sortAxis;
+
         CenterComparator(Vector3::Axis a) : sortAxis(a) {}
+
         inline int operator()(_AABSPTree::Handle<T>* A, const _AABSPTree::Handle<T>* B) const {
             float a = A->center[sortAxis];
             float b = B->center[sortAxis];
+
             if (a < b) {
                 return 1;
             } else if (a > b) {
@@ -235,14 +297,18 @@ public:
         }
     };
 
+
     /** Compares bounds for strict >, <, or overlap*/
     class BoundsComparator {
     public:
         Vector3::Axis sortAxis;
+
         BoundsComparator(Vector3::Axis a) : sortAxis(a) {}
+
         inline int operator()(_AABSPTree::Handle<T>* A, const _AABSPTree::Handle<T>* B) const {
             const AABox& a = A->bounds;
             const AABox& b = B->bounds;
+
             if (a.high()[sortAxis] < b.low()[sortAxis]) {
                 return 1;
             } else if (a.low()[sortAxis] > b.high()[sortAxis]) {
@@ -253,15 +319,19 @@ public:
         }
     };
 
+
     /** Compares bounds to the sort location */
     class Comparator {
     public:
         Vector3::Axis sortAxis;
         float sortLocation;
+
         Comparator(Vector3::Axis a, float l) : sortAxis(a), sortLocation(l) {}
+
         inline int operator()(_AABSPTree::Handle<T>* /*ignore*/, const _AABSPTree::Handle<T>* handle) const {
             const AABox& box = handle->bounds;
             debugAssert(ignore == NULL);
+
             if (box.high()[sortAxis] < sortLocation) {
                 // Box is strictly below the sort location
                 return -1;
@@ -274,31 +344,41 @@ public:
             }
         }
     };
+
     // Using System::malloc with this class provided no speed improvement.
     class Node {
     public:
+
         /** Spatial bounds on all values at this node and its children, based purely on
             the parent's splitting planes.  May be infinite. */
         AABox               splitBounds;
+
         Vector3::Axis       splitAxis;
+
         /** Location along the specified axis */
         float               splitLocation;
+
         /** child[0] contains all values strictly
             smaller than splitLocation along splitAxis.
+
             child[1] contains all values strictly
             larger.
+
             Both may be NULL if there are not enough
             values to bother recursing.
         */
         Node*               child[2];
+
         /** Array of values at this node (i.e., values
             straddling the split plane + all values if
             this is a leaf node).
+
             This is an array of pointers because that minimizes
             data movement during tree building, which accounts
             for about 15% of the time cost of tree building.
           */
         Array<_AABSPTree::Handle<T> * >      valueArray;
+
         /** For each object in the value array, a copy of its bounds.
             Packing these into an array at the node level
             instead putting them in the valueArray improves
@@ -306,6 +386,7 @@ public:
             increase when performing intersection computations.
           */
         Array<AABox>        boundsArray;
+
         /** Creates node with NULL children */
         Node() {
             splitAxis     = Vector3::X_AXIS;
@@ -315,6 +396,7 @@ public:
                 child[i] = NULL;
             }
         }
+
         /**
          Doesn't clone children.
          */
@@ -326,6 +408,7 @@ public:
                 child[i] = NULL;
             }
         }
+
         /** Copies the specified subarray of pt into point, NULLs the children.
             Assumes a second pass will set splitBounds. */
         Node(const Array<_AABSPTree::Handle<T> * >& pt) : valueArray(pt) {
@@ -334,22 +417,26 @@ public:
             for (int i = 0; i < 2; ++i) {
                 child[i] = NULL;
             }
+
             boundsArray.resize(valueArray.size());
             for (int i = 0; i < valueArray.size(); ++i) {
                 boundsArray[i] = valueArray[i]->bounds;
             }
         }
+
         /** Deletes the children (but not the values) */
         ~Node() {
             for (int i = 0; i < 2; ++i) {
                 delete child[i];
             }
         }
+
         /** Returns true if this node is a leaf (no children) */
         inline bool isLeaf() const {
             return (child[0] == NULL) && (child[1] == NULL);
         }
 
+
         /**
          Recursively appends all handles and children's handles
          to the array.
@@ -362,35 +449,44 @@ public:
                 }
             }
         }
+
         void verifyNode(const Vector3& lo, const Vector3& hi) {
             //      debugPrintf("Verifying: split %d @ %f [%f, %f, %f], [%f, %f, %f]\n",
             //              splitAxis, splitLocation, lo.x, lo.y, lo.z, hi.x, hi.y, hi.z);
+
             debugAssert(lo == splitBounds.low());
             debugAssert(hi == splitBounds.high());
+
             for (int i = 0; i < valueArray.length(); ++i) {
                 const AABox& b = valueArray[i]->bounds;
                 debugAssert(b == boundsArray[i]);
+
                 for(int axis = 0; axis < 3; ++axis) {
                     debugAssert(b.low()[axis] <= b.high()[axis]);
                     debugAssert(b.low()[axis] >= lo[axis]);
                     debugAssert(b.high()[axis] <= hi[axis]);
                 }
             }
+
             if (child[0] || child[1]) {
                 debugAssert(lo[splitAxis] < splitLocation);
                 debugAssert(hi[splitAxis] > splitLocation);
             }
+
             Vector3 newLo = lo;
             newLo[splitAxis] = splitLocation;
             Vector3 newHi = hi;
             newHi[splitAxis] = splitLocation;
+
             if (child[0] != NULL) {
                 child[0]->verifyNode(lo, newHi);
             }
+
             if (child[1] != NULL) {
                 child[1]->verifyNode(newLo, hi);
             }
         }
+
 #if 0
         /**
           Stores the locations of the splitting planes (the structure but not the content)
@@ -410,6 +506,7 @@ public:
                 }
             }
         }
+
         /** Clears the member table */
         static Node* deserializeStructure(BinaryInput& bi) {
             if (bi.readUInt8() == 0) {
@@ -427,6 +524,7 @@ public:
 #endif
         /** Returns the deepest node that completely contains bounds. */
         Node* findDeepestContainingNode(const AABox& bounds) {
+
             // See which side of the splitting plane the bounds are on
             if (bounds.high()[splitAxis] < splitLocation) {
                 // Bounds are on the low side.  Recurse into the child
@@ -441,11 +539,13 @@ public:
                     return child[1]->findDeepestContainingNode(bounds);
                 }
             }
+
             // There was no containing child, so this node is the
             // deepest containing node.
             return this;
         }
 
+
         /** Appends all members that intersect the box.
             If useSphere is true, members that pass the box test
             face a second test against the sphere. */
@@ -454,6 +554,7 @@ public:
             const Sphere&       sphere,
             Array<T>&           members,
             bool                useSphere) const {
+
             // Test all values at this node
             for (int v = 0; v < boundsArray.size(); ++v) {
                 const AABox& bounds = boundsArray[v];
@@ -462,22 +563,27 @@ public:
                     members.append(valueArray[v]->value);
                 }
             }
+
             // If the left child overlaps the box, recurse into it
             if ((child[0] != NULL) && (box.low()[splitAxis] < splitLocation)) {
                 child[0]->getIntersectingMembers(box, sphere, members, useSphere);
             }
+
             // If the right child overlaps the box, recurse into it
             if ((child[1] != NULL) && (box.high()[splitAxis] > splitLocation)) {
                 child[1]->getIntersectingMembers(box, sphere, members, useSphere);
             }
         }
+
         /**
          Recurse through the tree, assigning splitBounds fields.
          */
         void assignSplitBounds(const AABox& myBounds) {
             splitBounds = myBounds;
+
             AABox childBounds[2];
             myBounds.split(splitAxis, splitLocation, childBounds[0], childBounds[1]);
+
 #           if defined(G3D_DEBUG) && defined(VERIFY_TREE)
                 // Verify the split
                 for (int v = 0; v < boundsArray.size(); ++v) {
@@ -485,12 +591,14 @@ public:
                     debugAssert(myBounds.contains(bounds));
                 }
 #           endif
+
             for (int c = 0; c < 2; ++c) {
                 if (child[c]) {
                     child[c]->assignSplitBounds(childBounds[c]);
                 }
             }
         }
+
         /** Returns true if the ray intersects this node */
         bool intersects(const Ray& ray, float distance) const {
             // See if the ray will ever hit this node or its children
@@ -499,10 +607,13 @@ public:
             bool rayWillHitBounds =
                 VMAP::MyCollisionDetection::collisionLocationForMovingPointFixedAABox(
                     ray.origin, ray.direction, splitBounds, location, alreadyInsideBounds);
+
             bool canHitThisNode = (alreadyInsideBounds ||
                 (rayWillHitBounds && ((location - ray.origin).squaredLength() < square(distance))));
+
             return canHitThisNode;
         }
+
         template<typename RayCallback>
         void intersectRay(
             const Ray& ray,
@@ -511,13 +622,16 @@ public:
             bool pStopAtFirstHit,
             bool intersectCallbackIsFast) const {
                 float enterDistance = distance;
+
             if (! intersects(ray, distance)) {
                 // The ray doesn't hit this node, so it can't hit the children of the node.
                 return;
             }
+
             // Test for intersection against every object at this node.
             for (int v = 0; v < valueArray.size(); ++v) {
                 bool canHitThisObject = true;
+
                 if (! intersectCallbackIsFast) {
                     // See if
                     Vector3 location;
@@ -526,9 +640,11 @@ public:
                     bool rayWillHitBounds =
                         VMAP::MyCollisionDetection::collisionLocationForMovingPointFixedAABox(
                             ray.origin, ray.direction, bounds, location, alreadyInsideBounds);
+
                     canHitThisObject = (alreadyInsideBounds ||
                         (rayWillHitBounds && ((location - ray.origin).squaredLength() < square(distance))));
                 }
+
                 if (canHitThisObject) {
                     // It is possible that this ray hits this object.  Look for the intersection using the
                     // callback.
@@ -538,24 +654,32 @@ public:
                 if(pStopAtFirstHit && distance < enterDistance)
                     return;
             }
+
             // There are three cases to consider next:
             //
             //  1. the ray can start on one side of the splitting plane and never enter the other,
             //  2. the ray can start on one side and enter the other, and
             //  3. the ray can travel exactly down the splitting plane
+
             enum {NONE = -1};
             int firstChild = NONE;
             int secondChild = NONE;
+
             if (ray.origin[splitAxis] < splitLocation) {
+
                 // The ray starts on the small side
                 firstChild = 0;
+
                 if (ray.direction[splitAxis] > 0) {
                     // The ray will eventually reach the other side
                     secondChild = 1;
                 }
+
             } else if (ray.origin[splitAxis] > splitLocation) {
+
                 // The ray starts on the large side
                 firstChild = 1;
+
                 if (ray.direction[splitAxis] < 0) {
                     secondChild = 0;
                 }
@@ -569,12 +693,14 @@ public:
                     firstChild = 1;
                 }
             }
+
             // Test on the side closer to the ray origin.
             if ((firstChild != NONE) && child[firstChild]) {
                 child[firstChild]->intersectRay(ray, intersectCallback, distance, pStopAtFirstHit, intersectCallbackIsFast);
                 if(pStopAtFirstHit && distance < enterDistance)
                     return;
             }
+
             if (ray.direction[splitAxis] != 0) {
                 // See if there was an intersection before hitting the splitting plane.
                 // If so, there is no need to look on the far side and recursion terminates.
@@ -586,16 +712,21 @@ public:
                     return;
                 }
             }
+
             // Test on the side farther from the ray origin.
             if ((secondChild != NONE) && child[secondChild]) {
                 child[secondChild]->intersectRay(ray, intersectCallback, distance, pStopAtFirstHit, intersectCallbackIsFast);
             }
+
         }
     };
 
+
     /**
      Recursively subdivides the subarray.
+
      Clears the source array as soon as it is no longer needed.
+
      Call assignSplitBounds() on the root node after making a tree.
      */
     Node* makeNode(
@@ -603,28 +734,40 @@ public:
         int valuesPerNode,
         int numMeanSplits,
         Array<_AABSPTree::Handle<T> * >& temp)  {
+
         Node* node = NULL;
+
         if (source.size() <= valuesPerNode) {
             // Make a new leaf node
             node = new Node(source);
+
             // Set the pointers in the memberTable
             for (int i = 0; i < source.size(); ++i) {
                 memberTable.set(Member(source[i]), node);
             }
             source.clear();
+
         } else {
             // Make a new internal node
             node = new Node();
+
             const AABox bounds = computeBounds(source, 0, source.size() - 1);
             const Vector3 extent = bounds.high() - bounds.low();
+
             Vector3::Axis splitAxis = extent.primaryAxis();
+
             float splitLocation;
+
             // Arrays for holding the children
             Array<_AABSPTree::Handle<T> * > lt, gt;
+
             if (numMeanSplits <= 0) {
+
                 source.medianPartition(lt, node->valueArray, gt, temp, CenterComparator(splitAxis));
+
                 // Choose the split location to be the center of whatever fell in the center
                 splitLocation = node->valueArray[0]->center[splitAxis];
+
                 // Some of the elements in the lt or gt array might really overlap the split location.
                 // Move them as needed.
                 for (int i = 0; i < lt.size(); ++i) {
@@ -636,6 +779,7 @@ public:
                         lt.fastRemove(i); --i;
                     }
                 }
+
                 for (int i = 0; i < gt.size(); ++i) {
                     const AABox& bounds = gt[i]->bounds;
                     if ((bounds.low()[splitAxis] <= splitLocation) && (bounds.high()[splitAxis] >= splitLocation)) {
@@ -645,6 +789,7 @@ public:
                         gt.fastRemove(i); --i;
                     }
                 }
+
                 if ((node->valueArray.size() > (source.size() / 2)) &&
                     (source.size() > 6)) {
                     // This was a bad partition; we ended up putting the splitting plane right in the middle of most of the
@@ -654,16 +799,21 @@ public:
                     numMeanSplits = 1;
                 }
             }
+
             // Note: numMeanSplits may have been increased by the code in the previous case above in order to
             // force a re-partition.
+
             if (numMeanSplits > 0) {
                 // Split along the mean
                 splitLocation = (bounds.high()[splitAxis] +
                                  bounds.low()[splitAxis]) / 2.0;
+
                 source.partition(NULL, lt, node->valueArray, gt, Comparator(splitAxis, splitLocation));
+
                 // The Comparator ensures that elements are strictly on the correct side of the split
             }
 
+
 #           if defined(G3D_DEBUG) && defined(VERIFY_TREE)
                 debugAssert(lt.size() + node->valueArray.size() + gt.size() == source.size());
                 // Verify that all objects ended up on the correct side of the split.
@@ -672,20 +822,25 @@ public:
                     const AABox& bounds  = lt[i]->bounds;
                     debugAssert(bounds.high()[splitAxis] < splitLocation);
                 }
+
                 for (int i = 0; i < gt.size(); ++i) {
                     const AABox& bounds  = gt[i]->bounds;
                     debugAssert(bounds.low()[splitAxis] > splitLocation);
                 }
+
                 for (int i = 0; i < node->valueArray.size(); ++i) {
                     const AABox& bounds  = node->valueArray[i]->bounds;
                     debugAssert(bounds.high()[splitAxis] >= splitLocation);
                     debugAssert(bounds.low()[splitAxis] <= splitLocation);
                 }
 #           endif
+
             // The source array is no longer needed
             source.clear();
+
             node->splitAxis = splitAxis;
             node->splitLocation = splitLocation;
+
             // Update the bounds array and member table
             node->boundsArray.resize(node->valueArray.size());
             for (int i = 0; i < node->valueArray.size(); ++i) {
@@ -693,15 +848,20 @@ public:
                 node->boundsArray[i] = v->bounds;
                 memberTable.set(Member(v), node);
             }
+
             if (lt.size() > 0) {
                 node->child[0] = makeNode(lt, valuesPerNode, numMeanSplits - 1, temp);
             }
+
             if (gt.size() > 0) {
                 node->child[1] = makeNode(gt, valuesPerNode, numMeanSplits - 1, temp);
             }
+
         }
+
         return node;
     }
+
     /**
      Recursively clone the passed in node tree, setting
      pointers for members in the memberTable as appropriate.
@@ -709,36 +869,47 @@ public:
      */
     Node* cloneTree(Node* src) {
         Node* dst = new Node(*src);
+
         // Make back pointers
         for (int i = 0; i < dst->valueArray.size(); ++i) {
             memberTable.set(Member(dst->valueArray[i]), dst);
         }
+
         // Clone children
         for (int i = 0; i < 2; ++i) {
             if (src->child[i] != NULL) {
                 dst->child[i] = cloneTree(src->child[i]);
             }
         }
+
         return dst;
     }
+
    /**
     Wrapper for a Handle; used to create a memberTable that acts like Table<Handle, Node*> but
     stores only Handle* internally to avoid memory copies.
     */
     typedef _internal::Indirector<_AABSPTree::Handle<T> > Member;
+
     typedef Table<Member, Node*> MemberTable;
+
     /** Maps members to the node containing them */
     MemberTable             memberTable;
+
     Node*                   root;
+
 public:
+
     /** To construct a balanced tree, insert the elements and then call
       AABSPTree::balance(). */
     AABSPTree() : root(NULL) {}
 
+
     AABSPTree(const AABSPTree& src) : root(NULL) {
         *this = src;
     }
 
+
     AABSPTree& operator=(const AABSPTree& src) {
         delete root;
         // Clone tree takes care of filling out the memberTable.
@@ -746,14 +917,17 @@ public:
         return *this;
     }
 
+
     ~AABSPTree() {
         clear();
     }
+
     /**
      Throws out all elements of the set.
      */
     void clear() {
         typedef typename Table<_internal::Indirector<_AABSPTree::Handle<T> >, Node* >::Iterator It;
+
         // Delete all handles stored in the member table
         It cur = memberTable.begin();
         It end = memberTable.end();
@@ -763,13 +937,16 @@ public:
             ++cur;
         }
         memberTable.clear();
+
         // Delete the tree structure itself
         delete root;
         root = NULL;
     }
+
     size_t size() const {
         return memberTable.size();
     }
+
     /**
      Inserts an object into the set if it is not
      already present.  O(log n) time.  Does not
@@ -780,19 +957,25 @@ public:
             // Already in the set
             return;
         }
+
         _AABSPTree::Handle<T>* h = new _AABSPTree::Handle<T>(value);
+
         if (root == NULL) {
             // This is the first node; create a root node
             root = new Node();
         }
+
         Node* node = root->findDeepestContainingNode(h->bounds);
+
         // Insert into the node
         node->valueArray.append(h);
         node->boundsArray.append(h->bounds);
+
         // Insert into the node table
         Member m(h);
         memberTable.set(m, node);
     }
+
     /** Inserts each elements in the array in turn.  If the tree
         begins empty (no structure and no elements), this is faster
         than inserting each element in turn.  You still need to balance
@@ -815,6 +998,7 @@ public:
                 root->boundsArray[j] = h->bounds;
                 memberTable.set(Member(h), root);
             }
+
         } else {
             // Insert at appropriate tree depth.
             for (int i = 0; i < valueArray.size(); ++i) {
@@ -823,6 +1007,7 @@ public:
         }
     }
 
+
     /**
      Returns true if this object is in the set, otherwise
      returns false.  O(1) time.
@@ -833,10 +1018,12 @@ public:
         return memberTable.containsKey(Member(&h));
     }
 
+
     /**
      Removes an object from the set in O(1) time.
      It is an error to remove members that are not already
      present.  May unbalance the tree.
+
      Removing an element never causes a node (split plane) to be removed...
      nodes are only changed when the tree is rebalanced.  This behavior
      is desirable because it allows the split planes to be serialized,
@@ -846,34 +1033,44 @@ public:
         debugAssertM(contains(value),
             "Tried to remove an element from a "
             "AABSPTree that was not present");
+
         // Get the list of elements at the node
         _AABSPTree::Handle<T> h(value);
         Member m(&h);
+
         Array<_AABSPTree::Handle<T> * >& list = memberTable[m]->valueArray;
+
         _AABSPTree::Handle<T>* ptr = NULL;
+
         // Find the element and remove it
         for (int i = list.length() - 1; i >= 0; --i) {
             if (list[i]->value == value) {
                 // This was the element.  Grab the pointer so that
                 // we can delete it below
                 ptr = list[i];
+
                 // Remove the handle from the node
                 list.fastRemove(i);
+
                 // Remove the corresponding bounds
                 memberTable[m]->boundsArray.fastRemove(i);
                 break;
             }
         }
+
         // Remove the member
         memberTable.remove(m);
+
         // Delete the handle data structure
         delete ptr;
         ptr = NULL;
     }
 
+
     /**
      If the element is in the set, it is removed.
      The element is then inserted.
+
      This is useful when the == and hashCode methods
      on <I>T</I> are independent of the bounds.  In
      that case, you may call update(v) to insert an
@@ -888,18 +1085,22 @@ public:
         insert(value);
     }
 
+
     /**
      Rebalances the tree (slow).  Call when objects
      have moved substantially from their original positions
      (which unbalances the tree and causes the spatial
      queries to be slow).
+
      @param valuesPerNode Maximum number of elements to put at
      a node.
+
      @param numMeanSplits numMeanSplits = 0 gives a
      fully axis aligned BSP-tree, where the balance operation attempts to balance
      the tree so that every splitting plane has an equal number of left
      and right children (i.e. it is a <B>median</B> split along that axis).
      This tends to maximize average performance.
+
      You can override this behavior by
      setting a number of <B>mean</B> (average) splits.  numMeanSplits = MAX_INT
      creates a full oct-tree, which tends to optimize peak performance at the expense of
@@ -911,33 +1112,41 @@ public:
             // Tree is empty
             return;
         }
+
         // Get all handles and delete the old tree structure
         Node* oldRoot = root;
         for (int c = 0; c < 2; ++c) {
             if (root->child[c] != NULL) {
                 root->child[c]->getHandles(root->valueArray);
+
                 // Delete the child; this will delete all structure below it
                 delete root->child[c];
                 root->child[c] = NULL;
             }
         }
+
         Array<_AABSPTree::Handle<T> * > temp;
         // Make a new root.  Work with a copy of the value array because
         // makeNode clears the source array as it progresses
         Array<_AABSPTree::Handle<T> * > copy(oldRoot->valueArray);
         root = makeNode(copy, valuesPerNode, numMeanSplits, temp);
+
         // Throw away the old root node
         delete oldRoot;
         oldRoot = NULL;
+
         // Walk the tree, assigning splitBounds.  We start with unbounded
         // space.  This will override the current member table.
         root->assignSplitBounds(AABox::maxFinite());
+
 #       ifdef _DEBUG
             // Ensure that the balanced tree is till correct
             root->verifyNode(Vector3::minFinite(), Vector3::maxFinite());
 #       endif
     }
+
 protected:
+
     /**
      @param parentMask The mask that this node returned from culledBy.
      */
@@ -946,12 +1155,15 @@ protected:
         Array<T>&                   members,
         Node*                       node,
         uint32                      parentMask) {
+
         int dummy;
+
         if (parentMask == 0) {
             // None of these planes can cull anything
             for (int v = node->valueArray.size() - 1; v >= 0; --v) {
                 members.append(node->valueArray[v]->value);
             }
+
             // Iterate through child nodes
             for (int c = 0; c < 2; ++c) {
                 if (node->child[c]) {
@@ -959,13 +1171,16 @@ protected:
                 }
             }
         } else {
+
             // Test values at this node against remaining planes
             for (int v = node->boundsArray.size() - 1; v >= 0; --v) {
                 if (! node->boundsArray[v].culledBy(plane, dummy, parentMask)) {
                     members.append(node->valueArray[v]->value);
                 }
             }
+
             uint32 childMask  = 0xFFFFFF;
+
             // Iterate through child nodes
             for (int c = 0; c < 2; ++c) {
                 if (node->child[c] &&
@@ -976,7 +1191,9 @@ protected:
             }
         }
     }
+
 public:
+
     /**
      Returns all members inside the set of planes.
       @param members The results are appended to this array.
@@ -985,12 +1202,15 @@ public:
         if (root == NULL) {
             return;
         }
+
         getIntersectingMembers(plane, members, root, 0xFFFFFF);
     }
+
     /**
      Typically used to find all visible
      objects inside the view frustum (see also GCamera::getClipPlanes)... i.e. all objects
      <B>not<B> culled by frustum.
+
      Example:
       <PRE>
         Array<Object*>  visible;
@@ -1001,11 +1221,14 @@ public:
       */
     void getIntersectingMembers(const GCamera::Frustum& frustum, Array<T>& members) const {
         Array<Plane> plane;
+
         for (int i = 0; i < frustum.faceArray.size(); ++i) {
             plane.append(frustum.faceArray[i].plane);
         }
+
         getIntersectingMembers(plane, members);
     }
+
     /**
      C++ STL style iterator variable.  See beginBoxIntersection().
      The iterator overloads the -> (dereference) operator, so this
@@ -1019,26 +1242,34 @@ public:
     class BoxIntersectionIterator {
     private:
         friend class AABSPTree<T>;
+
         /** True if this is the "end" iterator instance */
         bool            isEnd;
+
         /** The box that we're testing against. */
         AABox           box;
+
         /** Node that we're currently looking at.  Undefined if isEnd
             is true. */
         Node*           node;
+
         /** Nodes waiting to be processed */
         // We could use backpointers within the tree and careful
         // state management to avoid ever storing the stack-- but
         // it is much easier this way and only inefficient if the
         // caller uses post increment (which they shouldn't!).
         Array<Node*>    stack;
+
         /** The next index of current->valueArray to return.
             Undefined when isEnd is true.*/
         int             nextValueArrayIndex;
+
         BoxIntersectionIterator() : isEnd(true) {}
+
         BoxIntersectionIterator(const AABox& b, const Node* root) :
            isEnd(root == NULL), box(b),
            node(const_cast<Node*>(root)), nextValueArrayIndex(-1) {
+
            // We intentionally start at the "-1" index of the current
            // node so we can use the preincrement operator to move
            // ourselves to element 0 instead of repeating all of the
@@ -1046,10 +1277,13 @@ public:
            // cause us to become the "end" instance.
            ++(*this);
         }
+
     public:
+
         inline bool operator!=(const BoxIntersectionIterator& other) const {
             return ! (*this == other);
         }
+
         bool operator==(const BoxIntersectionIterator& other) const {
             if (isEnd) {
                 return other.isEnd;
@@ -1064,41 +1298,49 @@ public:
                     (stack.length() != other.stack.length())) {
                     return false;
                 }
+
                 // See if the stacks are the same
                 for (int i = 0; i < stack.length(); ++i) {
                     if (stack[i] != other.stack[i]) {
                         return false;
                     }
                 }
+
                 // We failed to find a difference; they must be the same
                 return true;
             }
         }
+
         /**
          Pre increment.
          */
         BoxIntersectionIterator& operator++() {
             ++nextValueArrayIndex;
+
             bool foundIntersection = false;
             while (! isEnd && ! foundIntersection) {
+
                 // Search for the next node if we've exhausted this one
                 while ((! isEnd) &&  (nextValueArrayIndex >= node->valueArray.length())) {
                     // If we entered this loop, then the iterator has exhausted the elements at
                     // node (possibly because it just switched to a child node with no members).
                     // This loop continues until it finds a node with members or reaches
                     // the end of the whole intersection search.
+
                     // If the right child overlaps the box, push it onto the stack for
                     // processing.
                     if ((node->child[1] != NULL) &&
                         (box.high()[node->splitAxis] > node->splitLocation)) {
                         stack.push(node->child[1]);
                     }
+
                     // If the left child overlaps the box, push it onto the stack for
                     // processing.
                     if ((node->child[0] != NULL) &&
                         (box.low()[node->splitAxis] < node->splitLocation)) {
                         stack.push(node->child[0]);
                     }
+
                     if (stack.length() > 0) {
                         // Go on to the next node (which may be either one of the ones we
                         // just pushed, or one from farther back the tree).
@@ -1109,6 +1351,7 @@ public:
                         isEnd = true;
                     }
                 }
+
                 // Search for the next intersection at this node until we run out of children
                 while (! isEnd && ! foundIntersection && (nextValueArrayIndex < node->valueArray.length())) {
                     if (box.intersects(node->boundsArray[nextValueArrayIndex])) {
@@ -1120,8 +1363,10 @@ public:
                     }
                 }
             }
+
             return *this;
         }
+
     private:
         /**
          Post increment (much slower than preincrement!).  Intentionally overloaded to preclude accidentally slow code.
@@ -1132,19 +1377,23 @@ public:
             ++this;
             return old;
         }*/
+
     public:
+
         /** Overloaded dereference operator so the iterator can masquerade as a pointer
             to a member */
         const T& operator*() const {
             alwaysAssertM(! isEnd, "Can't dereference the end element of an iterator");
             return node->valueArray[nextValueArrayIndex]->value;
         }
+
         /** Overloaded dereference operator so the iterator can masquerade as a pointer
             to a member */
         T const * operator->() const {
             alwaysAssertM(! isEnd, "Can't dereference the end element of an iterator");
             return &(stack.last()->valueArray[nextValueArrayIndex]->value);
         }
+
         /** Overloaded cast operator so the iterator can masquerade as a pointer
             to a member */
         operator T*() const {
@@ -1153,16 +1402,19 @@ public:
         }
     };
 
+
     /**
      Iterates through the members that intersect the box
      */
     BoxIntersectionIterator beginBoxIntersection(const AABox& box) const {
         return BoxIntersectionIterator(box, root);
     }
+
     BoxIntersectionIterator endBoxIntersection() const {
         // The "end" iterator instance
         return BoxIntersectionIterator();
     }
+
     /**
      Appends all members whose bounds intersect the box.
      See also AABSPTree::beginBoxIntersection.
@@ -1174,18 +1426,25 @@ public:
         root->getIntersectingMembers(box, Sphere(Vector3::zero(), 0), members, false);
     }
 
+
     /**
      Invoke a callback for every member along a ray until the closest intersection is found.
+
      @param callback either a function or an instance of a class with an overloaded operator() of the form:
+
             <code>void callback(const Ray& ray, const T& object, float& distance)</code>.  If the ray hits the object
             before travelling distance <code>distance</code>, updates <code>distance</code> with the new distance to
             the intersection, otherwise leaves it unmodified.  A common example is:
+
             <pre>
             class Entity {
             public:
+
                 void intersect(const Ray& ray, float& maxDist, Vector3& outLocation, Vector3& outNormal) {
                     float d = maxDist;
+
                     // ... search for intersection distance d
+
                     if ((d > 0) && (d < maxDist)) {
                         // Intersection occured
                         maxDist = d;
@@ -1194,24 +1453,30 @@ public:
                     }
                 }
             };
+
             // Finds the surface normal and location of the first intersection with the scene
             class Intersection {
             public:
                 Entity*     closestEntity;
                 Vector3     hitLocation;
                 Vector3     hitNormal;
+
                 void operator()(const Ray& ray, const Entity* entity, float& distance) {
                     entity->intersect(ray, distance, hitLocation, hitNormal);
                 }
             };
+
             AABSPTree<Entity*> scene;
+
             Intersection intersection;
             float distance = inf();
             scene.intersectRay(camera.worldRay(x, y), intersection, distance);
           </pre>
 
+
      @param distance When the method is invoked, this is the maximum distance that the tree should search for an intersection.
      On return, this is set to the distance to the first intersection encountered.
+
      @param intersectCallbackIsFast  If false, each object's bounds are tested before the intersectCallback is invoked.
       If the intersect callback runs at the same speed or faster than AABox-ray intersection, set this to true.
      */
@@ -1222,9 +1487,12 @@ public:
         float& distance,
         bool pStopAtFirstHit,
         bool intersectCallbackIsFast = false) const {
+
         root->intersectRay(ray, intersectCallback, distance, pStopAtFirstHit, intersectCallbackIsFast);
+
     }
 
+
     /**
       @param members The results are appended to this array.
      */
@@ -1232,9 +1500,11 @@ public:
         if (root == NULL) {
             return;
         }
+
         AABox box;
         sphere.getBounds(box);
         root->getIntersectingMembers(box, sphere, members, true);
+
     }
 #if 0
     /**
@@ -1245,6 +1515,7 @@ public:
     void serializeStructure(BinaryOutput& bo) const {
         Node::serializeStructure(root, bo);
     }
+
     /** Clears the member table */
     void deserializeStructure(BinaryInput& bi) {
         clear();
@@ -1262,6 +1533,7 @@ public:
         }
     }
 
+
     /**
      C++ STL style iterator variable.  See begin().
      Overloads the -> (dereference) operator, so this acts like a pointer
@@ -1270,17 +1542,23 @@ public:
     class Iterator {
     private:
         friend class AABSPTree<T>;
+
         // Note: this is a Table iterator, we are currently defining
         // Set iterator
         typename Table<Member, Node*>::Iterator it;
+
         Iterator(const typename Table<Member, Node*>::Iterator& it) : it(it) {}
+
     public:
+
         inline bool operator!=(const Iterator& other) const {
             return !(*this == other);
         }
+
         bool operator==(const Iterator& other) const {
             return it == other.it;
         }
+
         /**
          Pre increment.
          */
@@ -1288,6 +1566,7 @@ public:
             ++it;
             return *this;
         }
+
     private:
         /**
          Post increment (slower than preincrement).  Intentionally unimplemented to prevent slow code.
@@ -1298,17 +1577,21 @@ public:
             return old;
         }*/
     public:
+
         const T& operator*() const {
             return it->key.handle->value;
         }
+
         T* operator->() const {
             return &(it->key.handle->value);
         }
+
         operator T*() const {
             return &(it->key.handle->value);
         }
     };
 
+
     /**
      C++ STL style iterator method.  Returns the first member.
      Use preincrement (++entry) to get to the next element (iteration
@@ -1319,6 +1602,7 @@ public:
         return Iterator(memberTable.begin());
     }
 
+
     /**
      C++ STL style iterator method.  Returns one after the last iterator
      element.
@@ -1327,7 +1611,11 @@ public:
         return Iterator(memberTable.end());
     }
 };
+
 }
+
 #endif
 
 
+
+