///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
// quicksort(overlappingPairArray,0,overlappingPairArray.size());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}
void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
//first check for new overlapping pairs
int i,j;
if (m_numHandles >= 0)
{
int new_largest_index = -1;
for (i=0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
if(!proxy0->m_clientObject)
{
continue;
}
new_largest_index = i;
for (j=i+1; j <= m_LastHandleIndex; j++)
{
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
btAssert(proxy0 != proxy1);
if(!proxy1->m_clientObject)
{
continue;
}
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
if (aabbOverlap(p0,p1))
{
if ( !m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
} else
{
if (!m_pairCache->hasDeferredRemoval())
{
if ( m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
}
}
}
}
m_LastHandleIndex = new_largest_index;
if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
}
}
