/// <summary>
/// Finds all of the overlapping pairs between this DynamicTree and the specified other DynamicTree.
/// </summary>
public void QueryPairsWith(DynamicTree <T> other, Transform t1, Transform t2, Vector2 displacement, Action <T, T> callback)
{
if (_nodeCount > other._nodeCount)
{
other.QueryPairsWith(this, t2, t1, -displacement, callback);
return;
}
_queryPairsCurOtherTree = other;
_queryPairsCurCallback = callback;
Stack <int> stack = _queryStack.Value;
if (_root != NullNode)
{
stack.Push(_root);
}
while (stack.Count > 0)
{
TreeNode <T> node = _nodes[stack.Pop()];
if (node.IsLeaf())
{
AABB aabb = node.AABB;
// Transform into other coordinate system and predict displacement.
AABB.Transform(ref t1, ref aabb);
aabb.Displace(displacement);
AABB.InvTransform(ref t2, ref aabb);
_queryPairsCurUserData = node.UserData;
Debug.Assert(((FixtureProxy)(object)_queryPairsCurUserData).Fixture != null);
other.Query(_queryPairsOtherQueryCallback, ref aabb, out _, null);
}
else
{
if (node.Child1 != NullNode)
{
stack.Push(node.Child1);
}
if (node.Child2 != NullNode)
{
stack.Push(node.Child2);
}
}
}
_queryPairsCurOtherTree = null;
_queryPairsCurCallback = null;
_queryPairsCurUserData = default(T);
}