void QueryBVHNode(int comparedToNode, int leafNodeIndex)
{
bool is_overlap = Utils.AABBToAABBOverlap(BVHArray[comparedToNode].aabb, BVHArray[leafNodeIndex].aabb);
if (BVHArray[comparedToNode].IsValid > 0 &&
is_overlap)
{
// leaf node
if (BVHArray[comparedToNode].LeftNodeIndex < 0)
{
CollisionPair newPair = new CollisionPair
{
ColliderEntityA = BVHArray[leafNodeIndex].EntityId,
ColliderEntityB = BVHArray[comparedToNode].EntityId,
};
CollisionPairsQueue.Enqueue(newPair);
}
else
{
int left = BVHArray[comparedToNode].LeftNodeIndex;
int right = BVHArray[comparedToNode].RightNodeIndex;
if (left != leafNodeIndex)
{
QueryBVHNode(left, leafNodeIndex);
}
if (right != leafNodeIndex)
{
QueryBVHNode(right, leafNodeIndex);
}
}
}
}