///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 IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
{
DbvtProxy proxy = absproxy as DbvtProxy;
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 = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(this);
Dbvt.CollideTTpersistentStack(m_sets[1].m_root, proxy.leaf, collider);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
BulletGlobals.DbvtTreeColliderPool.Free(collider);
}
}
}
public virtual void SetAabb(BroadphaseProxy absproxy, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
{
DbvtProxy proxy = absproxy as DbvtProxy;
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 */
IndexedVector3 delta = aabbMin - proxy.m_aabbMin;
IndexedVector3 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 = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(this);
Dbvt.CollideTTpersistentStack(m_sets[1].m_root, proxy.leaf, collider);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
BulletGlobals.DbvtTreeColliderPool.Free(collider);
}
}
}
}
public void Collide(IDispatcher dispatcher)
{
BulletGlobals.StartProfile("BroadphaseCollide");
//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 = 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 = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(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;
BulletGlobals.DbvtTreeColliderPool.Free(collider);
m_needcleanup = true;
}
/* collide dynamics */
{
DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(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;
}
BulletGlobals.DbvtTreeColliderPool.Free(collider);
}
/* 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 = Math.Min(pairs.Count, 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 = p.m_pProxy0 as DbvtProxy;
DbvtProxy pb = p.m_pProxy1 as DbvtProxy;
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;
BulletGlobals.StopProfile();
}
