protected bool TestOverlap2D(Handle pHandleA, Handle pHandleB, int axis0, int axis1)
{
//optimization 1: check the array index (memory address), instead of the m_pos
if (pHandleA.m_maxEdges[axis0] < pHandleB.m_minEdges[axis0] ||
pHandleB.m_maxEdges[axis0] < pHandleA.m_minEdges[axis0] ||
pHandleA.m_maxEdges[axis1] < pHandleB.m_minEdges[axis1] ||
pHandleB.m_maxEdges[axis1] < pHandleA.m_minEdges[axis1])
{
return false;
}
return true;
}
//public AxisSweep3Internal(ref Vector3 worldAabbMin,ref Vector3 worldAabbMax, int handleMask, int handleSentinel, int maxHandles = 16384, OverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
public AxisSweep3Internal(ref Vector3 worldAabbMin, ref Vector3 worldAabbMax, int handleMask, ushort handleSentinel, ushort userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = (handleMask);
m_handleSentinel = (handleSentinel);
m_pairCache = (pairCache);
m_userPairCallback = null;
m_ownsPairCache = (false);
m_invalidPair = 0;
m_raycastAccelerator = null;
ushort maxHandles = (ushort)(userMaxHandles+1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache);//m_pairCache);
m_raycastAccelerator.m_deferedcollide = true;//don't add/remove pairs
}
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
Vector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
int maxInt = m_handleSentinel;
m_quantize = new Vector3((float)maxInt,(float)maxInt,(float)maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i] = new Handle();
}
m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (ushort i = m_firstFreeHandle; i < maxHandles; i++)
{
ushort nextFree = (ushort)(i + (ushort)1);
m_pHandles[i].SetNextFree(nextFree);
}
m_pHandles[maxHandles - 1].SetNextFree(0);
}
{
m_pEdges = new Edge[3, (maxHandles * 2)];
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < maxHandles * 2; ++j)
{
m_pEdges[i,j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].SetClientObject(null);
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis,0].m_pos = 0;
m_pEdges[axis,0].m_handle = 0;
m_pEdges[axis,1].m_pos = m_handleSentinel;
m_pEdges[axis,1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
private void SanityCheckHandle(Handle handle,int axis)
{
if (handle.m_minEdges[axis] == ushort.MaxValue)
{
int ibreak = 0;
}
}