public static void collideTT(Node root0, Node root1, Dispatcher dispatcher, ICollide policy)
{
if (root0 != null && root1 != null)
{
List <sStkNN> stack = new List <sStkNN>(DOUBLE_STACKSIZE);
stack.Add(new sStkNN(root0, root1));
do
{
sStkNN p = stack[stack.Count - 1];
stack.RemoveAt(stack.Count - 1);
if (p.a == p.b)
{
if (p.a.isinternal())
{
stack.Add(new sStkNN(p.a.childs[0], p.a.childs[0]));
stack.Add(new sStkNN(p.a.childs[1], p.a.childs[1]));
stack.Add(new sStkNN(p.a.childs[0], p.a.childs[1]));
}
}
else if (DbvtAabbMm.Intersect(p.a.volume, p.b.volume))
{
if (p.a.isinternal())
{
if (p.b.isinternal())
{
stack.Add(new sStkNN(p.a.childs[0], p.b.childs[0]));
stack.Add(new sStkNN(p.a.childs[1], p.b.childs[0]));
stack.Add(new sStkNN(p.a.childs[0], p.b.childs[1]));
stack.Add(new sStkNN(p.a.childs[1], p.b.childs[1]));
}
else
{
stack.Add(new sStkNN(p.a.childs[0], p.b));
stack.Add(new sStkNN(p.a.childs[1], p.b));
}
}
else
{
if (p.b.isinternal())
{
stack.Add(new sStkNN(p.a, p.b.childs[0]));
stack.Add(new sStkNN(p.a, p.b.childs[1]));
}
else
{
if (!dispatcher.needsCollision(p.a.data.collisionFilterGroup, p.a.data.collisionFilterMask, p.b.data.collisionFilterGroup, p.b.data.collisionFilterMask))
{
continue;
}
policy.Process(p.a, p.b);
}
}
}
}while (stack.Count > 0);
}
}
public static void CollideTTpersistentStack( btDbvtNode root0,
btDbvtNode root1,
ICollide collideable )
{
//CollideTT(root0, root1, collideable);
//return;
if( root0 != null && root1 != null )
{
int depth = 1;
int treshold = m_stkStack.Length - 4;
//m_stkStack.Capacity = DOUBLE_STACKSIZE;
m_stkStack[0].Initialize( root0, root1 );
do
{
sStkNN p = m_stkStack[--depth];
if( depth > treshold )
{
sStkNN[] newArray = new sStkNN[m_stkStack.Length * 2];
for( int n = 0; n < depth; n++ )
newArray[n] = m_stkStack[n];
m_stkStack = newArray;
treshold = newArray.Length - 4;
}
if( p.a == p.b )
{
if( p.a.IsInternal() )
{
m_stkStack[depth++].Initialize( p.a._children0, p.a._children0 );
m_stkStack[depth++].Initialize( p.a._children1, p.a._children1 );
m_stkStack[depth++].Initialize( p.a._children0, p.a._children1 );
}
}
else if( btDbvtVolume.Intersect( ref p.a.volume, ref p.b.volume ) )
{
if( p.a.IsInternal() )
{
if( p.b.IsInternal() )
{
m_stkStack[depth++].Initialize( p.a._children0, p.b._children0 );
m_stkStack[depth++].Initialize( p.a._children1, p.b._children0 );
m_stkStack[depth++].Initialize( p.a._children0, p.b._children1 );
m_stkStack[depth++].Initialize( p.a._children1, p.b._children1 );
}
else
{
m_stkStack[depth++].Initialize( p.a._children0, p.b );
m_stkStack[depth++].Initialize( p.a._children1, p.b );
}
}
else
{
if( p.b.IsInternal() )
{
m_stkStack[depth++].Initialize( p.a, p.b._children0 );
m_stkStack[depth++].Initialize( p.a, p.b._children1 );
}
else
{
collideable.Process( p.a, p.b );
}
}
}
} while( depth > 0 );
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(sStkNN obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
