public AxisSweep3(Vector3 worldAabbMin, Vector3 worldAabbMax, int maxHandles)
: base()
{
BulletDebug.Assert(maxHandles > 1 && maxHandles < 32767);
// init bounds
_worldAabbMin = worldAabbMin;
_worldAabbMax = worldAabbMax;
Vector3 aabbSize = _worldAabbMax - _worldAabbMin;
_quantize = new Vector3(65535.0f, 65535.0f, 65535.0f) / aabbSize;
// allocate handles buffer and put all handles on free list
_handles = new Handle[maxHandles];
for (int i = 0; i < maxHandles; i++)
_handles[i] = new Handle();
_maxHandles = maxHandles;
_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
_firstFreeHandle = 1;
{
for (int i = _firstFreeHandle; i < maxHandles; i++)
{
_handles[i].NextFree = (ushort)(i + 1);
}
_handles[maxHandles - 1].NextFree = 0;
}
{
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
_edges[i] = new Edge[maxHandles * 2];
for (int j = 0; j < maxHandles * 2; j++)
{
_edges[i][j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
_handles[0].ClientData = 0;
for (int axis = 0; axis < 3; axis++)
{
_handles[0].MinEdges[axis] = 0;
_handles[0].MaxEdges[axis] = 1;
_edges[axis][0].Position = 0;
_edges[axis][0].Handle = 0;
_edges[axis][1].Position = 0xffff;
_edges[axis][1].Handle = 0;
}
}
private bool TestOverlap(int ignoreAxis, Handle pHandleA, Handle pHandleB)
{
for (int axis = 0; axis < 3; axis++)
{
if (axis != ignoreAxis)
{
if (pHandleA.MaxEdges[axis] < pHandleB.MinEdges[axis] ||
pHandleB.MaxEdges[axis] < pHandleA.MinEdges[axis])
{
return false;
}
}
}
return true;
}