HashTable.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Math/BVec16.h>
 
JPH_NAMESPACE_BEGIN
 
template <class Key, class KeyValue, class HashTableDetail, class Hash, class KeyEqual>
class HashTable
{
public:
    using value_type = KeyValue;
    using size_type = uint32;
    using difference_type = ptrdiff_t;
 
private:
    template <class Table, class Iterator>
    class IteratorBase
    {
    public:
        using difference_type = typename Table::difference_type;
        using value_type = typename Table::value_type;
        using iterator_category = std::forward_iterator_tag;
 
                            IteratorBase(const IteratorBase &inRHS) = default;
 
        IteratorBase &      operator = (const IteratorBase &inRHS) = default;
 
        explicit            IteratorBase(Table *inTable) :
            mTable(inTable),
            mIndex(0)
        {
            while (mIndex < mTable->mMaxSize && (mTable->mControl[mIndex] & cBucketUsed) == 0)
                ++mIndex;
        }
 
                            IteratorBase(Table *inTable, size_type inIndex) :
            mTable(inTable),
            mIndex(inIndex)
        {
        }
 
        Iterator &          operator ++ ()
        {
            JPH_ASSERT(IsValid());
 
            do
            {
                ++mIndex;
            }
            while (mIndex < mTable->mMaxSize && (mTable->mControl[mIndex] & cBucketUsed) == 0);
 
            return static_cast<Iterator &>(*this);
        }
 
        Iterator            operator ++ (int)
        {
            Iterator result(mTable, mIndex);
            ++(*this);
            return result;
        }
 
        const KeyValue &    operator * () const
        {
            JPH_ASSERT(IsValid());
            return mTable->mData[mIndex];
        }
 
        const KeyValue *    operator -> () const
        {
            JPH_ASSERT(IsValid());
            return mTable->mData + mIndex;
        }
 
        bool                operator == (const Iterator &inRHS) const
        {
            return mIndex == inRHS.mIndex && mTable == inRHS.mTable;
        }
 
        bool                operator != (const Iterator &inRHS) const
        {
            return !(*this == inRHS);
        }
 
        bool                IsValid() const
        {
            return mIndex < mTable->mMaxSize
                && (mTable->mControl[mIndex] & cBucketUsed) != 0;
        }
 
        Table *             mTable;
        size_type           mIndex;
    };
 
    static constexpr size_type sGetMaxLoad(size_type inBucketCount)
    {
        return uint32((cMaxLoadFactorNumerator * inBucketCount) / cMaxLoadFactorDenominator);
    }
 
    JPH_INLINE void         SetControlValue(size_type inIndex, uint8 inValue)
    {
        JPH_ASSERT(inIndex < mMaxSize);
        mControl[inIndex] = inValue;
 
        // Mirror the first 15 bytes to the 15 bytes beyond mMaxSize
        // Note that this is equivalent to:
        // if (inIndex < 15)
        //   mControl[inIndex + mMaxSize] = inValue
        // else
        //   mControl[inIndex] = inValue
        // Which performs a needless write if inIndex >= 15 but at least it is branch-less
        mControl[((inIndex - 15) & (mMaxSize - 1)) + 15] = inValue;
    }
 
    JPH_INLINE void         GetIndexAndControlValue(const Key &inKey, size_type &outIndex, uint8 &outControl) const
    {
        // Calculate hash
        uint64 hash_value = Hash { } (inKey);
 
        // Split hash into index and control value
        outIndex = size_type(hash_value >> 7) & (mMaxSize - 1);
        outControl = cBucketUsed | uint8(hash_value);
    }
 
    void                    AllocateTable(size_type inMaxSize)
    {
        JPH_ASSERT(mData == nullptr);
 
        mMaxSize = inMaxSize;
        mLoadLeft = sGetMaxLoad(inMaxSize);
        size_t required_size = size_t(mMaxSize) * (sizeof(KeyValue) + 1) + 15; // Add 15 bytes to mirror the first 15 bytes of the control values
        if constexpr (cNeedsAlignedAllocate)
            mData = reinterpret_cast<KeyValue *>(AlignedAllocate(required_size, alignof(KeyValue)));
        else
            mData = reinterpret_cast<KeyValue *>(Allocate(required_size));
        mControl = reinterpret_cast<uint8 *>(mData + mMaxSize);
    }
 
    void                    CopyTable(const HashTable &inRHS)
    {
        if (inRHS.empty())
            return;
 
        AllocateTable(inRHS.mMaxSize);
 
        // Copy control bytes
        memcpy(mControl, inRHS.mControl, mMaxSize + 15);
 
        // Copy elements
        uint index = 0;
        for (const uint8 *control = mControl, *control_end = mControl + mMaxSize; control != control_end; ++control, ++index)
            if (*control & cBucketUsed)
                new (mData + index) KeyValue(inRHS.mData[index]);
        mSize = inRHS.mSize;
    }
 
    void                    GrowTable(size_type inNewMaxSize)
    {
        // Move the old table to a temporary structure
        size_type old_max_size = mMaxSize;
        KeyValue *old_data = mData;
        const uint8 *old_control = mControl;
        mData = nullptr;
        mControl = nullptr;
        mSize = 0;
        mMaxSize = 0;
        mLoadLeft = 0;
 
        // Allocate new table
        AllocateTable(inNewMaxSize);
 
        // Reset all control bytes
        memset(mControl, cBucketEmpty, mMaxSize + 15);
 
        if (old_data != nullptr)
        {
            // Copy all elements from the old table
            for (size_type i = 0; i < old_max_size; ++i)
                if (old_control[i] & cBucketUsed)
                {
                    size_type index;
                    KeyValue *element = old_data + i;
                    JPH_IF_ENABLE_ASSERTS(bool inserted =) InsertKey</* InsertAfterGrow= */ true>(HashTableDetail::sGetKey(*element), index);
                    JPH_ASSERT(inserted);
                    new (mData + index) KeyValue(std::move(*element));
                    element->~KeyValue();
                }
 
            // Free memory
            if constexpr (cNeedsAlignedAllocate)
                AlignedFree(old_data);
            else
                Free(old_data);
        }
    }
 
protected:
    KeyValue &              GetElement(size_type inIndex) const
    {
        return mData[inIndex];
    }
 
    template <bool InsertAfterGrow = false>
    bool                    InsertKey(const Key &inKey, size_type &outIndex)
    {
        // Ensure we have enough space
        if (mLoadLeft == 0)
        {
            // Should not be growing if we're already growing!
            if constexpr (InsertAfterGrow)
                JPH_ASSERT(false);
 
            // Decide if we need to clean up all tombstones or if we need to grow the map
            size_type num_deleted = sGetMaxLoad(mMaxSize) - mSize;
            if (num_deleted * cMaxDeletedElementsDenominator > mMaxSize * cMaxDeletedElementsNumerator)
                rehash(0);
            else
            {
                // Grow by a power of 2
                size_type new_max_size = max<size_type>(mMaxSize << 1, 16);
                if (new_max_size < mMaxSize)
                {
                    JPH_ASSERT(false, "Overflow in hash table size, can't grow!");
                    return false;
                }
                GrowTable(new_max_size);
            }
        }
 
        // Split hash into index and control value
        size_type index;
        uint8 control;
        GetIndexAndControlValue(inKey, index, control);
 
        // Keeps track of the index of the first deleted bucket we found
        constexpr size_type cNoDeleted = ~size_type(0);
        size_type first_deleted_index = cNoDeleted;
 
        // Linear probing
        KeyEqual equal;
        size_type bucket_mask = mMaxSize - 1;
        BVec16 control16 = BVec16::sReplicate(control);
        BVec16 bucket_empty = BVec16::sZero();
        BVec16 bucket_deleted = BVec16::sReplicate(cBucketDeleted);
        for (;;)
        {
            // Read 16 control values (note that we added 15 bytes at the end of the control values that mirror the first 15 bytes)
            BVec16 control_bytes = BVec16::sLoadByte16(mControl + index);
 
            // Check if we must find the element before we can insert
            if constexpr (!InsertAfterGrow)
            {
                // Check for the control value we're looking for
                // Note that when deleting we can create empty buckets instead of deleted buckets.
                // This means we must unconditionally check all buckets in this batch for equality
                // (also beyond the first empty bucket).
                uint32 control_equal = uint32(BVec16::sEquals(control_bytes, control16).GetTrues());
 
                // Index within the 16 buckets
                size_type local_index = index;
 
                // Loop while there's still buckets to process
                while (control_equal != 0)
                {
                    // Get the first equal bucket
                    uint first_equal = CountTrailingZeros(control_equal);
 
                    // Skip to the bucket
                    local_index += first_equal;
 
                    // Make sure that our index is not beyond the end of the table
                    local_index &= bucket_mask;
 
                    // We found a bucket with same control value
                    if (equal(HashTableDetail::sGetKey(mData[local_index]), inKey))
                    {
                        // Element already exists
                        outIndex = local_index;
                        return false;
                    }
 
                    // Skip past this bucket
                    control_equal >>= first_equal + 1;
                    local_index++;
                }
 
                // Check if we're still scanning for deleted buckets
                if (first_deleted_index == cNoDeleted)
                {
                    // Check if any buckets have been deleted, if so store the first one
                    uint32 control_deleted = uint32(BVec16::sEquals(control_bytes, bucket_deleted).GetTrues());
                    if (control_deleted != 0)
                        first_deleted_index = index + CountTrailingZeros(control_deleted);
                }
            }
 
            // Check for empty buckets
            uint32 control_empty = uint32(BVec16::sEquals(control_bytes, bucket_empty).GetTrues());
            if (control_empty != 0)
            {
                // If we found a deleted bucket, use it.
                // It doesn't matter if it is before or after the first empty bucket we found
                // since we will always be scanning in batches of 16 buckets.
                if (first_deleted_index == cNoDeleted || InsertAfterGrow)
                {
                    index += CountTrailingZeros(control_empty);
                    --mLoadLeft; // Using an empty bucket decreases the load left
                }
                else
                {
                    index = first_deleted_index;
                }
 
                // Make sure that our index is not beyond the end of the table
                index &= bucket_mask;
 
                // Update control byte
                SetControlValue(index, control);
                ++mSize;
 
                // Return index to newly allocated bucket
                outIndex = index;
                return true;
            }
 
            // Move to next batch of 16 buckets
            index = (index + 16) & bucket_mask;
        }
    }
 
public:
    class iterator : public IteratorBase<HashTable, iterator>
    {
        using Base = IteratorBase<HashTable, iterator>;
 
    public:
        using IteratorBase<HashTable, iterator>::operator ==;
 
        using reference = typename Base::value_type &;
        using pointer = typename Base::value_type *;
 
        explicit            iterator(HashTable *inTable) : Base(inTable) { }
                            iterator(HashTable *inTable, size_type inIndex) : Base(inTable, inIndex) { }
                            iterator(const iterator &inIterator) : Base(inIterator) { }
 
        iterator &          operator = (const iterator &inRHS) { Base::operator = (inRHS); return *this; }
 
        using Base::operator *;
 
        KeyValue &          operator * ()
        {
            JPH_ASSERT(this->IsValid());
            return this->mTable->mData[this->mIndex];
        }
 
        using Base::operator ->;
 
        KeyValue *          operator -> ()
        {
            JPH_ASSERT(this->IsValid());
            return this->mTable->mData + this->mIndex;
        }
    };
 
    class const_iterator : public IteratorBase<const HashTable, const_iterator>
    {
        using Base = IteratorBase<const HashTable, const_iterator>;
 
    public:
        using IteratorBase<const HashTable, const_iterator>::operator ==;
 
        using reference = const typename Base::value_type &;
        using pointer = const typename Base::value_type *;
 
        explicit            const_iterator(const HashTable *inTable) : Base(inTable) { }
                            const_iterator(const HashTable *inTable, size_type inIndex) : Base(inTable, inIndex) { }
                            const_iterator(const const_iterator &inRHS) : Base(inRHS) { }
                            const_iterator(const iterator &inIterator) : Base(inIterator.mTable, inIterator.mIndex) { }
 
        const_iterator &    operator = (const iterator &inRHS) { this->mTable = inRHS.mTable; this->mIndex = inRHS.mIndex; return *this; }
        const_iterator &    operator = (const const_iterator &inRHS) { Base::operator = (inRHS); return *this; }
    };
 
                            HashTable() = default;
 
                            HashTable(const HashTable &inRHS)
    {
        CopyTable(inRHS);
    }
 
                            HashTable(HashTable &&ioRHS) noexcept :
        mData(ioRHS.mData),
        mControl(ioRHS.mControl),
        mSize(ioRHS.mSize),
        mMaxSize(ioRHS.mMaxSize),
        mLoadLeft(ioRHS.mLoadLeft)
    {
        ioRHS.mData = nullptr;
        ioRHS.mControl = nullptr;
        ioRHS.mSize = 0;
        ioRHS.mMaxSize = 0;
        ioRHS.mLoadLeft = 0;
    }
 
    HashTable &             operator = (const HashTable &inRHS)
    {
        if (this != &inRHS)
        {
            clear();
 
            CopyTable(inRHS);
        }
 
        return *this;
    }
 
    HashTable &             operator = (HashTable &&ioRHS) noexcept
    {
        if (this != &ioRHS)
        {
            clear();
 
            mData = ioRHS.mData;
            mControl = ioRHS.mControl;
            mSize = ioRHS.mSize;
            mMaxSize = ioRHS.mMaxSize;
            mLoadLeft = ioRHS.mLoadLeft;
 
            ioRHS.mData = nullptr;
            ioRHS.mControl = nullptr;
            ioRHS.mSize = 0;
            ioRHS.mMaxSize = 0;
            ioRHS.mLoadLeft = 0;
        }
 
        return *this;
    }
 
                            ~HashTable()
    {
        clear();
    }
 
    void                    reserve(size_type inMaxSize)
    {
        // Calculate max size based on load factor
        size_type max_size = GetNextPowerOf2(max<uint32>((cMaxLoadFactorDenominator * inMaxSize) / cMaxLoadFactorNumerator, 16));
        if (max_size <= mMaxSize)
            return;
 
        GrowTable(max_size);
    }
 
    void                    clear()
    {
        // Delete all elements
        if constexpr (!std::is_trivially_destructible<KeyValue>())
            if (!empty())
                for (size_type i = 0; i < mMaxSize; ++i)
                    if (mControl[i] & cBucketUsed)
                        mData[i].~KeyValue();
 
        if (mData != nullptr)
        {
            // Free memory
            if constexpr (cNeedsAlignedAllocate)
                AlignedFree(mData);
            else
                Free(mData);
 
            // Reset members
            mData = nullptr;
            mControl = nullptr;
            mSize = 0;
            mMaxSize = 0;
            mLoadLeft = 0;
        }
    }
 
    void                    ClearAndKeepMemory()
    {
        // Destruct elements
        if constexpr (!std::is_trivially_destructible<KeyValue>())
            if (!empty())
                for (size_type i = 0; i < mMaxSize; ++i)
                    if (mControl[i] & cBucketUsed)
                        mData[i].~KeyValue();
        mSize = 0;
 
        // If there are elements that are not marked cBucketEmpty, we reset them
        size_type max_load = sGetMaxLoad(mMaxSize);
        if (mLoadLeft != max_load)
        {
            // Reset all control bytes
            memset(mControl, cBucketEmpty, mMaxSize + 15);
            mLoadLeft = max_load;
        }
    }
 
    iterator                begin()
    {
        return iterator(this);
    }
 
    iterator                end()
    {
        return iterator(this, mMaxSize);
    }
 
    const_iterator          begin() const
    {
        return const_iterator(this);
    }
 
    const_iterator          end() const
    {
        return const_iterator(this, mMaxSize);
    }
 
    const_iterator          cbegin() const
    {
        return const_iterator(this);
    }
 
    const_iterator          cend() const
    {
        return const_iterator(this, mMaxSize);
    }
 
    size_type               bucket_count() const
    {
        return mMaxSize;
    }
 
    constexpr size_type     max_bucket_count() const
    {
        return size_type(1) << (sizeof(size_type) * 8 - 1);
    }
 
    bool                    empty() const
    {
        return mSize == 0;
    }
 
    size_type               size() const
    {
        return mSize;
    }
 
    constexpr size_type     max_size() const
    {
        return size_type((uint64(max_bucket_count()) * cMaxLoadFactorNumerator) / cMaxLoadFactorDenominator);
    }
 
    constexpr float         max_load_factor() const
    {
        return float(cMaxLoadFactorNumerator) / float(cMaxLoadFactorDenominator);
    }
 
    std::pair<iterator, bool> insert(const value_type &inValue)
    {
        size_type index;
        bool inserted = InsertKey(HashTableDetail::sGetKey(inValue), index);
        if (inserted)
            new (mData + index) KeyValue(inValue);
        return std::make_pair(iterator(this, index), inserted);
    }
 
    const_iterator          find(const Key &inKey) const
    {
        // Check if we have any data
        if (empty())
            return cend();
 
        // Split hash into index and control value
        size_type index;
        uint8 control;
        GetIndexAndControlValue(inKey, index, control);
 
        // Linear probing
        KeyEqual equal;
        size_type bucket_mask = mMaxSize - 1;
        BVec16 control16 = BVec16::sReplicate(control);
        BVec16 bucket_empty = BVec16::sZero();
        for (;;)
        {
            // Read 16 control values
            // (note that we added 15 bytes at the end of the control values that mirror the first 15 bytes)
            BVec16 control_bytes = BVec16::sLoadByte16(mControl + index);
 
            // Check for the control value we're looking for
            // Note that when deleting we can create empty buckets instead of deleted buckets.
            // This means we must unconditionally check all buckets in this batch for equality
            // (also beyond the first empty bucket).
            uint32 control_equal = uint32(BVec16::sEquals(control_bytes, control16).GetTrues());
 
            // Index within the 16 buckets
            size_type local_index = index;
 
            // Loop while there's still buckets to process
            while (control_equal != 0)
            {
                // Get the first equal bucket
                uint first_equal = CountTrailingZeros(control_equal);
 
                // Skip to the bucket
                local_index += first_equal;
 
                // Make sure that our index is not beyond the end of the table
                local_index &= bucket_mask;
 
                // We found a bucket with same control value
                if (equal(HashTableDetail::sGetKey(mData[local_index]), inKey))
                {
                    // Element found
                    return const_iterator(this, local_index);
                }
 
                // Skip past this bucket
                control_equal >>= first_equal + 1;
                local_index++;
            }
 
            // Check for empty buckets
            uint32 control_empty = uint32(BVec16::sEquals(control_bytes, bucket_empty).GetTrues());
            if (control_empty != 0)
            {
                // An empty bucket was found, we didn't find the element
                return cend();
            }
 
            // Move to next batch of 16 buckets
            index = (index + 16) & bucket_mask;
        }
    }
 
    void                    erase(const const_iterator &inIterator)
    {
        JPH_ASSERT(inIterator.IsValid());
 
        // Read 16 control values before and after the current index
        // (note that we added 15 bytes at the end of the control values that mirror the first 15 bytes)
        BVec16 control_bytes_before = BVec16::sLoadByte16(mControl + ((inIterator.mIndex - 16) & (mMaxSize - 1)));
        BVec16 control_bytes_after = BVec16::sLoadByte16(mControl + inIterator.mIndex);
        BVec16 bucket_empty = BVec16::sZero();
        uint32 control_empty_before = uint32(BVec16::sEquals(control_bytes_before, bucket_empty).GetTrues());
        uint32 control_empty_after = uint32(BVec16::sEquals(control_bytes_after, bucket_empty).GetTrues());
 
        // If (this index including) there exist 16 consecutive non-empty slots (represented by a bit being 0) then
        // a probe looking for some element needs to continue probing so we cannot mark the bucket as empty
        // but must mark it as deleted instead.
        // Note that we use: CountLeadingZeros(uint16) = CountLeadingZeros(uint32) - 16.
        uint8 control_value = CountLeadingZeros(control_empty_before) - 16 + CountTrailingZeros(control_empty_after) < 16? cBucketEmpty : cBucketDeleted;
 
        // Mark the bucket as empty/deleted
        SetControlValue(inIterator.mIndex, control_value);
 
        // Destruct the element
        mData[inIterator.mIndex].~KeyValue();
 
        // If we marked the bucket as empty we can increase the load left
        if (control_value == cBucketEmpty)
            ++mLoadLeft;
 
        // Decrease size
        --mSize;
    }
 
    size_type               erase(const Key &inKey)
    {
        const_iterator it = find(inKey);
        if (it == cend())
            return 0;
 
        erase(it);
        return 1;
    }
 
    void                    swap(HashTable &ioRHS) noexcept
    {
        std::swap(mData, ioRHS.mData);
        std::swap(mControl, ioRHS.mControl);
        std::swap(mSize, ioRHS.mSize);
        std::swap(mMaxSize, ioRHS.mMaxSize);
        std::swap(mLoadLeft, ioRHS.mLoadLeft);
    }
 
    void                    rehash(size_type)
    {
        // Update the control value for all buckets
        for (size_type i = 0; i < mMaxSize; ++i)
        {
            uint8 &control = mControl[i];
            switch (control)
            {
            case cBucketDeleted:
                // Deleted buckets become empty
                control = cBucketEmpty;
                break;
            case cBucketEmpty:
                // Remains empty
                break;
            default:
                // Mark all occupied as deleted, to indicate it needs to move to the correct place
                control = cBucketDeleted;
                break;
            }
        }
 
        // Replicate control values to the last 15 entries
        for (size_type i = 0; i < 15; ++i)
            mControl[mMaxSize + i] = mControl[i];
 
        // Loop over all elements that have been 'deleted' and move them to their new spot
        BVec16 bucket_used = BVec16::sReplicate(cBucketUsed);
        size_type bucket_mask = mMaxSize - 1;
        uint32 probe_mask = bucket_mask & ~uint32(0b1111); // Mask out lower 4 bits because we test 16 buckets at a time
        for (size_type src = 0; src < mMaxSize; ++src)
            if (mControl[src] == cBucketDeleted)
                for (;;)
                {
                    // Split hash into index and control value
                    size_type src_index;
                    uint8 src_control;
                    GetIndexAndControlValue(HashTableDetail::sGetKey(mData[src]), src_index, src_control);
 
                    // Linear probing
                    size_type dst = src_index;
                    for (;;)
                    {
                        // Check if any buckets are free
                        BVec16 control_bytes = BVec16::sLoadByte16(mControl + dst);
                        uint32 control_free = uint32(BVec16::sAnd(control_bytes, bucket_used).GetTrues()) ^ 0xffff;
                        if (control_free != 0)
                        {
                            // Select this bucket as destination
                            dst += CountTrailingZeros(control_free);
                            dst &= bucket_mask;
                            break;
                        }
 
                        // Move to next batch of 16 buckets
                        dst = (dst + 16) & bucket_mask;
                    }
 
                    // Check if we stay in the same probe group
                    if (((dst - src_index) & probe_mask) == ((src - src_index) & probe_mask))
                    {
                        // We stay in the same group, we can stay where we are
                        SetControlValue(src, src_control);
                        break;
                    }
                    else if (mControl[dst] == cBucketEmpty)
                    {
                        // There's an empty bucket, move us there
                        SetControlValue(dst, src_control);
                        SetControlValue(src, cBucketEmpty);
                        new (mData + dst) KeyValue(std::move(mData[src]));
                        mData[src].~KeyValue();
                        break;
                    }
                    else
                    {
                        // There's an element in the bucket we want to move to, swap them
                        JPH_ASSERT(mControl[dst] == cBucketDeleted);
                        SetControlValue(dst, src_control);
                        std::swap(mData[src], mData[dst]);
                        // Iterate again with the same source bucket
                    }
                }
 
        // Reinitialize load left
        mLoadLeft = sGetMaxLoad(mMaxSize) - mSize;
    }
 
private:
    static constexpr bool   cNeedsAlignedAllocate = alignof(KeyValue) > (JPH_CPU_ADDRESS_BITS == 32? 8 : 16);
 
    static constexpr uint64 cMaxLoadFactorNumerator = 7;
    static constexpr uint64 cMaxLoadFactorDenominator = 8;
 
    static constexpr uint64 cMaxDeletedElementsNumerator = 1;
    static constexpr uint64 cMaxDeletedElementsDenominator = 8;
 
    static constexpr uint8  cBucketEmpty = 0;
    static constexpr uint8  cBucketDeleted = 0x7f;
    static constexpr uint8  cBucketUsed = 0x80; // Lowest 7 bits are lowest 7 bits of the hash value
 
    KeyValue *              mData = nullptr;
 
    uint8 *                 mControl = nullptr;
 
    size_type               mSize = 0;
 
    size_type               mMaxSize = 0;
 
    size_type               mLoadLeft = 0;
};
 
JPH_NAMESPACE_END