public void collideTTpersistentStack(DbvtNode root0, DbvtNode root1, DbvtBroadphase pbp)
{
if (root0 != null && root1 != null)
{
//int depth=1;
//int treshold=DOUBLE_STACKSIZE-4;
//中身はただのPush-Pop動作なので、それに置き換え
m_stkStack.Clear();
//m_stkStack.AddRange(DOUBLE_STACKSIZE);
m_stkStack.Add(new sStkNN(root0, root1));
do
{
//sStkNN p=m_stkStack[--depth];
sStkNN p = m_stkStack[m_stkStack.Count - 1];
/*
if(depth>treshold)
{
m_stkStack.resize(m_stkStack.size()*2);
treshold=m_stkStack.size()-4;
}*/
if (p.a == p.b)
{
if (p.a.isinternal())
{
/*m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
*/
m_stkStack.Add(new sStkNN(p.a.childs[0], p.a.childs[0]));
m_stkStack.Add(new sStkNN(p.a.childs[1], p.a.childs[1]));
m_stkStack.Add(new sStkNN(p.a.childs[0], p.a.childs[1]));
}
}
else if (Intersect(ref p.a.volume,ref p.b.volume))
{
if (p.a.isinternal())
{
if (p.b.isinternal())
{
/*m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
*/
m_stkStack.Add(new sStkNN(p.a.childs[0], p.b.childs[0]));
m_stkStack.Add(new sStkNN(p.a.childs[1], p.b.childs[0]));
m_stkStack.Add(new sStkNN(p.a.childs[0], p.b.childs[1]));
m_stkStack.Add(new sStkNN(p.a.childs[1], p.b.childs[1]));
}
else
{
/*m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
*/
m_stkStack.Add(new sStkNN(p.a.childs[0], p.b));
m_stkStack.Add(new sStkNN(p.a.childs[1], p.b));
}
}
else
{
if (p.b.isinternal())
{
/*m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
m_stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
m_stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
*/
m_stkStack.Add(new sStkNN(p.a, p.b.childs[0]));
m_stkStack.Add(new sStkNN(p.a, p.b.childs[1]));
m_stkStack.Add(new sStkNN(p.a, p.b.childs[0]));
m_stkStack.Add(new sStkNN(p.a, p.b.childs[1]));
}
else
{
//policy.Process(p.a,p.b);
DbvtTreeCollider.Process(pbp, p.a, p.b);//stackにclassをnewできないので回避処理……
}
}
}
} while (m_stkStack.Count > 0);
}
}
public void Constructor(btVector3 worldAabbMin, btVector3 worldAabbMax, UInt16 handleMask, UInt16 handleSentinel, UInt16 userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = handleMask;
m_handleSentinel = handleSentinel;
m_pairCache = pairCache;
m_userPairCallback = null;
//m_ownsPairCache=false;
m_invalidPair = 0;
m_raycastAccelerator = null;
UInt16 maxHandles = (ushort)(userMaxHandles + 1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
//m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache);//m_pairCache);
m_raycastAccelerator.m_deferedcollide = true;//don't add/remove pairs
}
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
UInt16 maxInt = m_handleSentinel;
m_quantize = new btVector3(maxInt, maxInt, maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < maxHandles; i++)
m_pHandles[i] = new Handle();
//m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (UInt16 i = m_firstFreeHandle; i < m_pHandles.Length; i++)
m_pHandles[i].SetNextFree((ushort)(i + 1));
m_pHandles[m_pHandles.Length - 1].SetNextFree(0);
}
{
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
m_pEdges[i] = new Edge[maxHandles * 2];
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].m_clientObject = null;
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis][0].m_pos = 0;
m_pEdges[axis][0].m_handle = 0;
m_pEdges[axis][1].m_pos = m_handleSentinel;
m_pEdges[axis][1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
