public static void CollideTU(DbvtNode root, Collide collideable)
{
if (root != null)
{
Stack<DbvtNode> stack = new Stack<DbvtNode>(SIMPLE_STACKSIZE);
stack.Push(root);
do
{
DbvtNode n = stack.Pop();
if (collideable.Descent(n))
{
if (n.IsInternal())
{
stack.Push(n._children[0]);
stack.Push(n._children[1]);
}
else
{
collideable.Process(n);
}
}
} while (stack.Count > 0);
}
}
public static void CollideOCL(DbvtNode root, Vector3[] normals, float[] offsets, ref Vector3 sortaxis, int count, Collide collideable)
{
if (root != null)
{
uint srtsgns = (uint)((sortaxis.X >= 0 ? 1 : 0) + (sortaxis.Y >= 0 ? 2 : 0) + (sortaxis.Z >= 0 ? 4 : 0));
int inside = (1 << count) - 1;
//Stack<sStkNPS> stack = new Stack<sStkNPS>(SIMPLE_STACKSIZE);
List<sStkNPS> stack = new List<sStkNPS>(SIMPLE_STACKSIZE);
int[] signs = new int[count];
for (int i = 0; i < count; ++i)
{
signs[i] = ((normals[i].X >= 0) ? 1 : 0) +
((normals[i].Y >= 0) ? 2 : 0) +
((normals[i].Z >= 0) ? 4 : 0);
}
stack.Insert(0, new sStkNPS(root, 0, root.volume.ProjectMinimum(ref sortaxis, srtsgns)));
do
{
sStkNPS se = stack[0];
stack.RemoveAt(0);
if (se.mask != inside)
{
bool outp = false;
for (int i = 0, j = 1; (!outp) && (i < count); ++i, j <<= 1)
{
if (0 == (se.mask & j))
{
int side = se.node.volume.Classify(ref normals[i], offsets[i], signs[i]);
switch (side)
{
case -1: outp = true; break;
case +1: se.mask |= (uint)j; break;
}
}
}
if (outp)
{
continue;
}
}
if (collideable.Descent(se.node))
{
if (se.node.IsInternal())
{
for (int i = 0; i < 2; ++i)
{
DbvtNode n = se.node._children[i];
int j = stack.Count;
sStkNPS ne = new sStkNPS(n, se.mask, n.volume.ProjectMinimum(ref sortaxis, srtsgns));
stack.Insert(0, ne);
while ((j > 0) && (ne.value > stack[j - 1].value))
{
sStkNPS left = stack[j];
sStkNPS right = stack[j - 1];
stack[j] = right;
stack[j - 1] = left;
--j;
//btSwap(stack[j],stack[j-1]);--j;
}
}
}
else
{
collideable.Process(se.node);
}
}
} while (stack.Count > 0);
}
}
