public bool m_needcleanup; // Need to run cleanup?
public DbvtBroadphase(IOverlappingPairCache paircache)
{
for (int i = 0; i < m_sets.Length; i++)
m_sets[i] = new Dbvt();
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache != null) ? false : true;
m_prediction = 0;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
m_dupdates = 0;
m_cupdates = 10;
m_newpairs = 1;
m_updates_call = 0;
m_updates_done = 0;
m_updates_ratio = 0;
m_paircache = (paircache != null) ? paircache : new HashedOverlappingPairCache();
m_gid = 0;
m_pid = 0;
m_cid = 0;
for (int i = 0; i <= STAGECOUNT; ++i)
{
m_stageRoots[i] = null;
}
#if DBVT_BP_PROFILE
clear(m_profiling);
#endif
}
private static DbvtNode createnode(Dbvt pdbvt,
DbvtNode parent,
ref DbvtAabbMm volume,
object data)
{
DbvtNode node = createnode(pdbvt, parent, data);
node.volume = volume;
return (node);
}
static DbvtNode createnode(Dbvt pdbvt,
DbvtNode parent,
object data)
{
DbvtNode node;
if (pdbvt.m_free != null)
{
node = pdbvt.m_free;
pdbvt.m_free = null;
}
else
{
node = new DbvtNode();
}
node.parent = parent;
node.data = data;
node.childs[1] = null;
return (node);
}
private static DbvtNode createnode(Dbvt pdbvt,
DbvtNode parent,
ref DbvtAabbMm volume0,
ref DbvtAabbMm volume1,
object data)
{
DbvtNode node = createnode(pdbvt, parent, data);
Merge(ref volume0,ref volume1,ref node.volume);
return (node);
}
static void deletenode(Dbvt pdbvt, DbvtNode node)
{
//btAlignedFree(pdbvt->m_free);
pdbvt.m_free = node;
}
//
static DbvtNode removeleaf(Dbvt pdbvt, DbvtNode leaf)
{
if (leaf == pdbvt.m_root)
{
pdbvt.m_root = null;
return null;
}
else
{
DbvtNode parent = leaf.parent;
DbvtNode prev = parent.parent;
DbvtNode sibling = parent.childs[1 - indexof(leaf)];
if (prev != null)
{
prev.childs[indexof(parent)] = sibling;
sibling.parent = prev;
deletenode(pdbvt, parent);
while (prev != null)
{
DbvtAabbMm pb = prev.volume;
Merge(ref prev.childs[0].volume,ref prev.childs[1].volume,ref prev.volume);
if (NotEqual(ref pb, ref prev.volume))
{
prev = prev.parent;
}
else break;
}
return (prev != null ? prev : pdbvt.m_root);
}
else
{
pdbvt.m_root = sibling;
sibling.parent = null;
deletenode(pdbvt, parent);
return (pdbvt.m_root);
}
}
}
private static void insertleaf(Dbvt pdbvt,
DbvtNode root,
DbvtNode leaf)
{
if (pdbvt.m_root == null)
{
pdbvt.m_root = leaf;
leaf.parent = null;
}
else
{
if (!root.isleaf())
{
do
{
root = root.childs[Select(ref leaf.volume,
ref root.childs[0].volume,
ref root.childs[1].volume)];
} while (!root.isleaf());
}
DbvtNode prev = root.parent;
DbvtNode node = createnode(pdbvt, prev,ref leaf.volume,ref root.volume, null);
if (prev != null)
{
prev.childs[indexof(root)] = node;
node.childs[0] = root; root.parent = node;
node.childs[1] = leaf; leaf.parent = node;
do
{
if (!prev.volume.Contain(ref node.volume))
Merge(ref prev.childs[0].volume,ref prev.childs[1].volume,ref prev.volume);
else
break;
node = prev;
prev = node.parent;
} while (null != prev);
}
else
{
node.childs[0] = root; root.parent = node;
node.childs[1] = leaf; leaf.parent = node;
pdbvt.m_root = node;
}
}
}