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+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source.
+ *
+ * Variable sized array template. The array is always stored in a contiguous
+ * chunk. The array can be resized. A size increase will cause more memory
+ * to be allocated, and may result in relocation of the array memory.
+ * A size decrease has no effect on the memory allocation.
+ *
+ * Array elements with constructors or destructors are not supported!
+ * But if you must have such elements, here's what to know/do:
+ *   - Bitwise copy is used when copying whole arrays.
+ *   - When copying individual items (via push(), insert() etc) the `='
+ *     (equals) operator is used. Thus you should define this operator to do
+ *     a bitwise copy. You should probably also define the copy constructor.
+ */
+
+
+#ifndef _ODE_ARRAY_H_
+#define _ODE_ARRAY_H_
+
+#include <ode/odeconfig.h>
+
+
+// this base class has no constructors or destructor, for your convenience.
+
+class dArrayBase {
+protected:
+    int _size;		// number of elements in `data'
+    int _anum;		// allocated number of elements in `data'
+    void *_data;		// array data
+
+    void _freeAll (int sizeofT);
+    void _setSize (int newsize, int sizeofT);
+    // set the array size to `newsize', allocating more memory if necessary.
+    // if newsize>_anum and is a power of two then this is guaranteed to
+    // set _size and _anum to newsize.
+
+public:
+    // not: dArrayBase () { _size=0; _anum=0; _data=0; }
+
+    int size() const { return _size; }
+    int allocatedSize() const { return _anum; }
+    void * operator new (size_t size);
+    void operator delete (void *ptr, size_t size);
+
+    void constructor() { _size=0; _anum=0; _data=0; }
+    // if this structure is allocated with malloc() instead of new, you can
+    // call this to set it up.
+
+    void constructLocalArray (int __anum);
+    // this helper function allows non-reallocating arrays to be constructed
+    // on the stack (or in the heap if necessary). this is something of a
+    // kludge and should be used with extreme care. this function acts like
+    // a constructor - it is called on uninitialized memory that will hold the
+    // Array structure and the data. __anum is the number of elements that
+    // are allocated. the memory MUST be allocated with size:
+    //   sizeof(ArrayBase) + __anum*sizeof(T)
+    // arrays allocated this way will never try to reallocate or free the
+    // memory - that's your job.
+};
+
+
+template <class T> class dArray : public dArrayBase {
+public:
+    void equals (const dArray<T> &x) {
+        setSize (x.size());
+        memcpy (_data,x._data,x._size * sizeof(T));
+    }
+
+    dArray () { constructor(); }
+    dArray (const dArray<T> &x) { constructor(); equals (x); }
+    ~dArray () { _freeAll(sizeof(T)); }
+    void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
+    T *data() const { return (T*) _data; }
+    T & operator[] (int i) const { return ((T*)_data)[i]; }
+    void operator = (const dArray<T> &x) { equals (x); }
+
+    void push (const T item) {
+        if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+        memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
+    }
+
+    void swap (dArray<T> &x) {
+        int tmp1;
+        void *tmp2;
+        tmp1=_size; _size=x._size; x._size=tmp1;
+        tmp1=_anum; _anum=x._anum; x._anum=tmp1;
+        tmp2=_data; _data=x._data; x._data=tmp2;
+    }
+
+    // insert the item at the position `i'. if i<0 then add the item to the
+    // start, if i >= size then add the item to the end of the array.
+    void insert (int i, const T item) {
+        if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+        if (i >= (_size-1)) i = _size-1;	// add to end
+        else {
+            if (i < 0) i=0;			// add to start
+            int n = _size-1-i;
+            if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
+        }
+        ((T*)_data)[i] = item;
+    }
+
+    void remove (int i) {
+        if (i >= 0 && i < _size) {	// passing this test guarantees size>0
+            int n = _size-1-i;
+            if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
+            _size--;
+        }
+    }
+};
+
+
+#endif