fix to get msvc 6 to compile, related to 'Allocate' template

src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp

@@ -24,7 +24,6 @@ GJK-EPA collision solver by Nathanael Presson
 Nov.2006
 */
 
-
 #include "btGjkEpa.h"
 #include <string.h> //for memset
 
@@ -95,18 +94,6 @@ throw(object); }
 #else
 template <typename T> static inline void	Raise(const T&)				{}
 #endif
-static inline F								Det(const Vector3& a,const Vector3& b,const Vector3& 
-c,const Vector3& d)
-		{
-		return(	-(a.z()*b.y()*c.x()) + a.y()*b.z()*c.x() + a.z()*b.x()*c.y() - 
-a.x()*b.z()*c.y() - a.y()*b.x()*c.z() + a.x()*b.y()*c.z() +
-				a.z()*b.y()*d.x() - a.y()*b.z()*d.x() - a.z()*c.y()*d.x() + 
-b.z()*c.y()*d.x() + a.y()*c.z()*d.x() - b.y()*c.z()*d.x() -
-				a.z()*b.x()*d.y() + a.x()*b.z()*d.y() + a.z()*c.x()*d.y() - 
-b.z()*c.x()*d.y() - a.x()*c.z()*d.y() + b.x()*c.z()*d.y() +
-				a.y()*b.x()*d.z() - a.x()*b.y()*d.z() - a.y()*c.x()*d.z() + 
-b.y()*c.x()*d.z() + a.x()*c.y()*d.z() - b.x()*c.y()*d.z());
-		}
 
 //
 // StackAlloc
@@ -127,16 +114,6 @@ struct StackAlloc
 		data		=	new U1[size];
 		totalsize	=	size;
 		}
-	StackAlloc*	CreateChild(U size)
-		{
-		StackAlloc*	sa(Allocate<StackAlloc>());
-		sa->ischild		=	true;
-		sa->data		=	Allocate(size);
-		sa->totalsize	=	size;
-		sa->usedsize	=	0;
-		sa->current		=	0;
-		return(sa);
-		}
 	void		Free()
 		{
 		if(usedsize==0)
@@ -148,7 +125,7 @@ struct StackAlloc
 		}
 	Block*		BeginBlock()
 		{
-		Block*	pb(Allocate<Block>());
+		Block*	pb((Block*)Allocate(sizeof(Block)));
 		pb->previous	=	current;
 		pb->address		=	data+usedsize;
 		current			=	pb;
@@ -173,10 +150,6 @@ struct StackAlloc
 		Raise(L"Not enough memory");
 		return(0);
 		}
-	template <typename T> T*	Allocate()				{
-return((T*)Allocate((U)sizeof(T))); }
-	template <typename T> T*	AllocateArray(U count)	{
-return((T*)Allocate((U)sizeof(T)*count)); }
 	private:
 	void		ctor()
 		{
@@ -208,10 +181,9 @@ struct	GJK
 		Vector3	v;
 		He*		n;
 		};
-	static const U			hashsize=64;
 	StackAlloc*				sa;
 	StackAlloc::Block*		sablock;
-	He*						table[hashsize];
+	He*						table[GJK_hashsize];
 	Rotation				wrotations[2];
 	Vector3					positions[2];
 	const btConvexShape*	shapes[2];
@@ -242,7 +214,7 @@ struct	GJK
 	// vdh : very dumm hash
 	static inline U	Hash(const Vector3& v)
 		{
-                const U h((U)(v[0]*15461)^(U)(v[1]*83003)^(U)(v[2]*15473));
+		const U	h(U(v[0]*15461)^U(v[1]*83003)^U(v[2]*15473));
 		return(((*((const U*)&h))*169639)&GJK_hashmask);
 		}
 	//
@@ -264,7 +236,7 @@ struct	GJK
 		const U			h(Hash(ray));
 		He*				e(table[h]);
 		while(e) { if(e->v==ray) { --order;return(false); } else e=e->n; }
-		e=sa->Allocate<He>();e->v=ray;e->n=table[h];table[h]=e;
+		e=(He*)sa->Allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e;
 		Support(ray,simplex[++order]);
 		return(ray.dot(SPXW(order))>0);
 		}
@@ -331,10 +303,12 @@ order=2;SPX(1)=SPX(0);SPX(0)=SPX(2);SPX(2)=SPX(3);return(SolveSimplex3a(ao,ad,ab
 	inline Z		SearchOrigin(const Vector3& initray=Vector3(1,0,0))
 		{
 		iterations	=	0;
-		order		=	0;
+		order		=	(U)-1;
 		failed		=	false;
-		Support(initray,simplex[0]);ray=-SPXW(0);
+		ray			=	initray.normalized();
-		ClearMemory(table,sizeof(void*)*hashsize);
+		ClearMemory(table,sizeof(void*)*GJK_hashsize);
+		FetchSupport();
+		ray			=	-SPXW(0);
 		for(;iterations<GJK_maxiterations;++iterations)
 			{
 			const F		rl(ray.length());
@@ -483,7 +457,7 @@ c) const
 	//
 	inline Face*	NewFace(const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c)
 		{
-		Face*	pf(sa->Allocate<Face>());
+		Face*	pf((Face*)sa->Allocate(sizeof(Face)));
 		if(Set(pf,a,b,c))
 			{
 			if(root) root->prev=pf;
@@ -525,7 +499,7 @@ c) const
 	//
 	GJK::Mkv*		Support(const Vector3& w) const
 		{
-		GJK::Mkv*		v(sa->Allocate<GJK::Mkv>());
+		GJK::Mkv*		v((GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv)));
 		gjk->Support(w,*v);
 		return(v);
 		}
@@ -596,7 +570,8 @@ U	eidx[9][4]={{0,0,4,0},{0,1,2,1},{0,2,1,2},{1,1,5,2},{1,0,2,0},{2,2,3,2},{3,1,5
 							}	break;
 				}
 			for(U i=0;i<=gjk->order;++i)		{ 
-basemkv[i]=sa->Allocate<GJK::Mkv>();*basemkv[i]=gjk->simplex[i]; }
+basemkv[i]=(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i]; 
+}
 			for(U i=0;i<nfidx;++i,pfidx+=3)		{ 
 basefaces[i]=NewFace(basemkv[pfidx[0]],basemkv[pfidx[1]],basemkv[pfidx[2]]); 
 }
@@ -707,3 +682,5 @@ return(false);
 
 
 
+
+