public DbvtNode insert(ref DbvtAabbMm volume, object data)
{
DbvtNode leaf = createnode(this, null,ref volume, data);
insertleaf(this, m_root, leaf);
++m_leaves;
return (leaf);
}
public void collideTV(DbvtNode root, ref DbvtAabbMm vol, ICollide policy)
{
if (root != null)
{
DbvtAabbMm volume = vol;
List<DbvtNode> stack = new List<DbvtNode>();
stack.Add(root);
do
{
DbvtNode n = stack[stack.Count - 1];
stack.RemoveAt(stack.Count - 1);
if (Intersect(ref n.volume,ref volume))
{
if (n.isinternal())
{
stack.Add(n.childs[0]);
stack.Add(n.childs[1]);
}
else
{
policy.Process(n);
}
}
} while (stack.Count > 0);
}
}
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);
}
private static DbvtNode createnode(Dbvt pdbvt,
DbvtNode parent,
ref DbvtAabbMm volume,
object data)
{
DbvtNode node = createnode(pdbvt, parent, data);
node.volume = volume;
return (node);
}
public void update(DbvtNode leaf, ref DbvtAabbMm volume)
{
DbvtNode root = removeleaf(this, leaf);
if (root != null)
{
if (m_lkhd >= 0)
{
for (int i = 0; (i < m_lkhd) && root.parent != null; ++i)
{
root = root.parent;
}
}
else root = m_root;
}
leaf.volume = volume;
insertleaf(this, root, leaf);
}
public bool update(DbvtNode leaf,ref DbvtAabbMm volume,ref btVector3 velocity,float margin)
{
if(leaf.volume.Contain(ref volume)) return(false);
btVector3 temp = new btVector3(margin, margin, margin);
volume.Expand(ref temp);
volume.SignedExpand(ref velocity);
update(leaf,ref volume);
return(true);
}
static bool NotEqual(ref DbvtAabbMm a, ref DbvtAabbMm b)
{
return ((a.mi.X != b.mi.X) ||
(a.mi.Y != b.mi.Y) ||
(a.mi.Z != b.mi.Z) ||
(a.mx.X != b.mx.X) ||
(a.mx.Y != b.mx.Y) ||
(a.mx.Z != b.mx.Z));
}
public static bool Intersect(ref DbvtAabbMm a,
ref DbvtAabbMm b)
{
return ((a.mi.X <= b.mx.X) &&
(a.mx.X >= b.mi.X) &&
(a.mi.Y <= b.mx.Y) &&
(a.mx.Y >= b.mi.Y) &&
(a.mi.Z <= b.mx.Z) &&
(a.mx.Z >= b.mi.Z));
}
static float Proximity(ref DbvtAabbMm a,
ref DbvtAabbMm b)
{
btVector3 d;// = (a.mi + a.mx) - (b.mi + b.mx);
{
btVector3 temp1, temp2;
btVector3.Add(ref a.mi, ref a.mx, out temp1);
btVector3.Add(ref b.mi, ref b.mx, out temp2);
btVector3.Subtract(ref temp1, ref temp2, out d);
}
return (Math.Abs(d.X) + Math.Abs(d.Y) + Math.Abs(d.Z));
}
static int Select(ref DbvtAabbMm o,
ref DbvtAabbMm a,
ref DbvtAabbMm b)
{
return (Proximity(ref o,ref a) < Proximity(ref o,ref b) ? 0 : 1);
}
static void Merge(ref DbvtAabbMm a,
ref DbvtAabbMm b,
ref DbvtAabbMm r)
{
for (int i = 0; i < 3; ++i)
{
if (a.mi[i] < b.mi[i]) r.mi[i] = a.mi[i]; else r.mi[i] = b.mi[i];
if (a.mx[i] > b.mx[i]) r.mx[i] = a.mx[i]; else r.mx[i] = b.mx[i];
}
}
