public void Collide(IDispatcher dispatcher)
{
Stopwatch totalStopwatch = new Stopwatch();
totalStopwatch.Start();
//SPC(m_profiling.m_total);
/* optimize */
m_sets[0].OptimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
if(m_fixedleft > 0)
{
int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
m_sets[1].OptimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
m_fixedleft=System.Math.Max(0,m_fixedleft-count);
}
/* dynamic . fixed set */
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
DbvtProxy current = m_stageRoots[m_stageCurrent];
if(current != null)
{
DbvtTreeCollider collider = new DbvtTreeCollider (this);
do
{
DbvtProxy next =current.links[1];
ListRemove(current,ref m_stageRoots[current.stage]);
ListAppend(current,ref m_stageRoots[STAGECOUNT]);
#if DBVT_BP_ACCURATESLEEPING
m_paircache.removeOverlappingPairsContainingProxy(current,dispatcher);
collider.proxy=current;
btDbvt::collideTV(m_sets[0].m_root,current.aabb,collider);
btDbvt::collideTV(m_sets[1].m_root,current.aabb,collider);
#endif
m_sets[0].Remove(current.leaf);
DbvtAabbMm curAabb=DbvtAabbMm.FromMM(ref current.m_aabbMin,ref current.m_aabbMax);
current.leaf = m_sets[1].Insert(ref curAabb,current);
current.stage = STAGECOUNT;
current = next;
} while(current != null);
m_fixedleft=m_sets[1].m_leaves;
m_needcleanup=true;
}
/* collide dynamics */
{
DbvtTreeCollider collider = new DbvtTreeCollider (this);
if(m_deferedcollide)
{
Stopwatch fdCollideStopwatch = new Stopwatch();
fdCollideStopwatch.Start();
//SPC(m_profiling.m_fdcollide);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
fdCollideStopwatch.Stop();
m_profiling.m_fdcollide += (ulong)fdCollideStopwatch.ElapsedMilliseconds;
}
if(m_deferedcollide)
{
Stopwatch ddCollideStopwatch = new Stopwatch();
ddCollideStopwatch.Start();
//SPC(m_profiling.m_ddcollide);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
ddCollideStopwatch.Stop();
m_profiling.m_ddcollide += (ulong)ddCollideStopwatch.ElapsedMilliseconds;
}
}
/* clean up */
if(m_needcleanup)
{
Stopwatch cleanupStopwatch = new Stopwatch();
cleanupStopwatch.Start();
//SPC(m_profiling.m_cleanup);
IList<BroadphasePair> pairs=m_paircache.GetOverlappingPairArray();
if(pairs.Count>0)
{
int ni= System.Math.Min(pairs.Count,System.Math.Max(m_newpairs,(pairs.Count*m_cupdates)/100));
for(int i=0;i<ni;++i)
{
BroadphasePair p=pairs[(m_cid+i)%pairs.Count];
DbvtProxy pa=(DbvtProxy)p.m_pProxy0;
DbvtProxy pb=(DbvtProxy)p.m_pProxy1;
if (!DbvtAabbMm.Intersect(ref pa.leaf.volume, ref pb.leaf.volume))
{
#if DBVT_BP_SORTPAIRS
if(pa.m_uniqueId>pb.m_uniqueId)
btSwap(pa,pb);
#endif
m_paircache.RemoveOverlappingPair(pa,pb,dispatcher);
--ni;--i;
}
}
if(pairs.Count>0)
{
m_cid=(m_cid+ni)%pairs.Count;
}
else
{
m_cid=0;
}
}
cleanupStopwatch.Stop();
m_profiling.m_cleanup += (ulong)cleanupStopwatch.ElapsedMilliseconds;
}
++m_pid;
m_newpairs=1;
m_needcleanup=false;
if(m_updates_call>0)
{
m_updates_ratio=m_updates_done/(float)m_updates_call;
}
else
{
m_updates_ratio=0;
}
m_updates_done/=2;
m_updates_call/=2;
totalStopwatch.Stop();
m_profiling.m_total += (ulong)totalStopwatch.ElapsedMilliseconds;
}
public virtual void SetAabb(BroadphaseProxy absproxy, ref Vector3 aabbMin, ref Vector3 aabbMax, IDispatcher dispatcher)
{
DbvtProxy proxy=(DbvtProxy)absproxy;
DbvtAabbMm aabb = DbvtAabbMm.FromMM(ref aabbMin,ref aabbMax);
#if DBVT_BP_PREVENTFALSEUPDATE
if(NotEqual(ref aabb,proxy,leaf.volume))
#endif
{
bool docollide=false;
if(proxy.stage==STAGECOUNT)
{/* fixed . dynamic set */
m_sets[1].Remove(proxy.leaf);
proxy.leaf=m_sets[0].Insert(ref aabb,proxy);
docollide=true;
}
else
{/* dynamic set */
++m_updates_call;
if (DbvtAabbMm.Intersect(ref proxy.leaf.volume, ref aabb))
{/* Moving */
Vector3 delta=aabbMin-proxy.m_aabbMin;
Vector3 velocity = (((proxy.m_aabbMax-proxy.m_aabbMin)/2f)*m_prediction);
if(delta.X<0) velocity.X = -velocity.X;
if(delta.Y<0) velocity.Y = -velocity.Y;
if(delta.Z<0) velocity.Z = -velocity.Z;
if (
#if DBVT_BP_MARGIN
m_sets[0].Update(proxy.leaf,ref aabb,ref velocity,DBVT_BP_MARGIN)
#else
m_sets[0].update(proxy.leaf,aabb,ref velocity)
#endif
)
{
++m_updates_done;
docollide=true;
}
}
else
{/* Teleporting */
m_sets[0].Update(proxy.leaf,ref aabb);
++m_updates_done;
docollide=true;
}
}
ListRemove(proxy,ref m_stageRoots[proxy.stage]);
proxy.m_aabbMin = aabbMin;
proxy.m_aabbMax = aabbMax;
proxy.stage = m_stageCurrent;
ListAppend(proxy,ref m_stageRoots[m_stageCurrent]);
if(docollide)
{
m_needcleanup=true;
if(!m_deferedcollide)
{
DbvtTreeCollider collider = new DbvtTreeCollider(this);
Dbvt.CollideTTpersistentStack(m_sets[1].m_root,proxy.leaf,collider);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
}
}
}
}
///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
///http://code.google.com/p/bullet/issues/detail?id=223
public void setAabbForceUpdate(BroadphaseProxy absproxy, ref Vector3 aabbMin, ref Vector3 aabbMax, IDispatcher dispatcher)
{
DbvtProxy proxy=(DbvtProxy)absproxy;
DbvtAabbMm bounds=DbvtAabbMm.FromMM(ref aabbMin,ref aabbMax);
bool docollide=false;
if(proxy.stage==STAGECOUNT)
{/* fixed . dynamic set */
m_sets[1].Remove(proxy.leaf);
proxy.leaf=m_sets[0].Insert(ref bounds,proxy);
docollide=true;
}
else
{/* dynamic set */
++m_updates_call;
/* Teleporting */
m_sets[0].Update(proxy.leaf,ref bounds);
++m_updates_done;
docollide=true;
}
ListRemove(proxy,ref m_stageRoots[proxy.stage]);
proxy.m_aabbMin = aabbMin;
proxy.m_aabbMax = aabbMax;
proxy.stage = m_stageCurrent;
ListAppend(proxy,ref m_stageRoots[m_stageCurrent]);
if(docollide)
{
m_needcleanup=true;
if(!m_deferedcollide)
{
DbvtTreeCollider collider = new DbvtTreeCollider(this);
Dbvt.CollideTTpersistentStack(m_sets[1].m_root, proxy.leaf, collider);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
}
}
}
public virtual BroadphaseProxy CreateProxy(ref Vector3 aabbMin, ref Vector3 aabbMax, BroadphaseNativeTypes shapeType, Object userPtr, CollisionFilterGroups collisionFilterGroup, CollisionFilterGroups collisionFilterMask, IDispatcher dispatcher, Object multiSapProxy)
{
DbvtProxy proxy=new DbvtProxy(ref aabbMin,ref aabbMax,userPtr,collisionFilterGroup,collisionFilterMask);
DbvtAabbMm aabb = DbvtAabbMm.FromMM(ref aabbMin,ref aabbMax);
//bproxy.aabb = btDbvtAabbMm::FromMM(aabbMin,aabbMax);
proxy.stage = m_stageCurrent;
proxy.m_uniqueId = ++m_gid;
proxy.leaf = m_sets[0].Insert(ref aabb,proxy);
ListAppend(proxy,ref m_stageRoots[m_stageCurrent]);
if(!m_deferedcollide)
{
DbvtTreeCollider collider = new DbvtTreeCollider(this);
collider.proxy=proxy;
Dbvt.CollideTV(m_sets[0].m_root,ref aabb,collider);
Dbvt.CollideTV(m_sets[1].m_root,ref aabb,collider);
}
return(proxy);
}
