btAxisSweep3Internal.h

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//Bullet Continuous Collision Detection and Physics Library
//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
//
// btAxisSweep3.h
//
// Copyright (c) 2006 Simon Hobbs
//
// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
//
// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
//
// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
//
// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
//
// 3. This notice may not be removed or altered from any source distribution.
 
#ifndef BT_AXIS_SWEEP_3_INTERNAL_H
#define BT_AXIS_SWEEP_3_INTERNAL_H
 
#include "LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
#include "btBroadphaseInterface.h"
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"
#include "btDbvtBroadphase.h"
 
//#define DEBUG_BROADPHASE 1
#define USE_OVERLAP_TEST_ON_REMOVES 1
 
template <typename BP_FP_INT_TYPE>
class btAxisSweep3Internal : public btBroadphaseInterface
{
protected:
    BP_FP_INT_TYPE m_bpHandleMask;
    BP_FP_INT_TYPE m_handleSentinel;
 
public:
    BT_DECLARE_ALIGNED_ALLOCATOR();
 
    class Edge
    {
    public:
        BP_FP_INT_TYPE m_pos;  // low bit is min/max
        BP_FP_INT_TYPE m_handle;
 
        BP_FP_INT_TYPE IsMax() const { return static_cast<BP_FP_INT_TYPE>(m_pos & 1); }
    };
 
public:
    class Handle : public btBroadphaseProxy
    {
    public:
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        // indexes into the edge arrays
        BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];  // 6 * 2 = 12
                                                      //        BP_FP_INT_TYPE m_uniqueId;
        btBroadphaseProxy* m_dbvtProxy;               //for faster raycast
        //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
 
        SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) { m_minEdges[0] = next; }
        SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const { return m_minEdges[0]; }
    };  // 24 bytes + 24 for Edge structures = 44 bytes total per entry
 
protected:
    btVector3 m_worldAabbMin;  // overall system bounds
    btVector3 m_worldAabbMax;  // overall system bounds
 
    btVector3 m_quantize;  // scaling factor for quantization
 
    BP_FP_INT_TYPE m_numHandles;  // number of active handles
    BP_FP_INT_TYPE m_maxHandles;  // max number of handles
    Handle* m_pHandles;           // handles pool
 
    BP_FP_INT_TYPE m_firstFreeHandle;  // free handles list
 
    Edge* m_pEdges[3];  // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
    void* m_pEdgesRawPtr[3];
 
    btOverlappingPairCache* m_pairCache;
 
    btOverlappingPairCallback* m_userPairCallback;
 
    bool m_ownsPairCache;
 
    int m_invalidPair;
 
    btDbvtBroadphase* m_raycastAccelerator;
    btOverlappingPairCache* m_nullPairCache;
 
    // allocation/deallocation
    BP_FP_INT_TYPE allocHandle();
    void freeHandle(BP_FP_INT_TYPE handle);
 
    bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1);
 
#ifdef DEBUG_BROADPHASE
    void debugPrintAxis(int axis, bool checkCardinality = true);
#endif  //DEBUG_BROADPHASE
 
    //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
    //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
    void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
    void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
    void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
    void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
 
public:
    btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 
    virtual ~btAxisSweep3Internal();
 
    BP_FP_INT_TYPE getNumHandles() const
    {
        return m_numHandles;
    }
 
    virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
 
    BP_FP_INT_TYPE addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
    void removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher);
    void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
    SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const { return m_pHandles + index; }
 
    virtual void resetPool(btDispatcher* dispatcher);
 
    void processAllOverlappingPairs(btOverlapCallback* callback);
 
    //Broadphase Interface
    virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
    virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
    virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
    virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
 
    virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
    virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
 
    void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
    void unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
 
    bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
    btOverlappingPairCache* getOverlappingPairCache()
    {
        return m_pairCache;
    }
    const btOverlappingPairCache* getOverlappingPairCache() const
    {
        return m_pairCache;
    }
 
    void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
    {
        m_userPairCallback = pairCallback;
    }
    const btOverlappingPairCallback* getOverlappingPairUserCallback() const
    {
        return m_userPairCallback;
    }
 
    virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
    {
        aabbMin = m_worldAabbMin;
        aabbMax = m_worldAabbMax;
    }
 
    virtual void printStats()
    {
        /*      printf("btAxisSweep3.h\n");
        printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
        printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
            m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
            */
    }
};
 
 
#ifdef DEBUG_BROADPHASE
#include <stdio.h>
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality)
{
    int numEdges = m_pHandles[0].m_maxEdges[axis];
    printf("SAP Axis %d, numEdges=%d\n", axis, numEdges);
 
    int i;
    for (i = 0; i < numEdges + 1; i++)
    {
        Edge* pEdge = m_pEdges[axis] + i;
        Handle* pHandlePrev = getHandle(pEdge->m_handle);
        int handleIndex = pEdge->IsMax() ? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
        char beginOrEnd;
        beginOrEnd = pEdge->IsMax() ? 'E' : 'B';
        printf("    [%c,h=%d,p=%x,i=%d]\n", beginOrEnd, pEdge->m_handle, pEdge->m_pos, handleIndex);
    }
 
    if (checkCardinality)
        btAssert(numEdges == m_numHandles * 2 + 1);
}
#endif  //DEBUG_BROADPHASE
 
template <typename BP_FP_INT_TYPE>
btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
{
    (void)shapeType;
    BP_FP_INT_TYPE handleId = addHandle(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
 
    Handle* handle = getHandle(handleId);
 
    if (m_raycastAccelerator)
    {
        btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
        handle->m_dbvtProxy = rayProxy;
    }
    return handle;
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
{
    Handle* handle = static_cast<Handle*>(proxy);
    if (m_raycastAccelerator)
        m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy, dispatcher);
    removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
{
    Handle* handle = static_cast<Handle*>(proxy);
    handle->m_aabbMin = aabbMin;
    handle->m_aabbMax = aabbMax;
    updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax, dispatcher);
    if (m_raycastAccelerator)
        m_raycastAccelerator->setAabb(handle->m_dbvtProxy, aabbMin, aabbMax, dispatcher);
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
{
    if (m_raycastAccelerator)
    {
        m_raycastAccelerator->rayTest(rayFrom, rayTo, rayCallback, aabbMin, aabbMax);
    }
    else
    {
        //choose axis?
        BP_FP_INT_TYPE axis = 0;
        //for each proxy
        for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
        {
            if (m_pEdges[axis][i].IsMax())
            {
                rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
            }
        }
    }
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
    if (m_raycastAccelerator)
    {
        m_raycastAccelerator->aabbTest(aabbMin, aabbMax, callback);
    }
    else
    {
        //choose axis?
        BP_FP_INT_TYPE axis = 0;
        //for each proxy
        for (BP_FP_INT_TYPE i = 1; i < m_numHandles * 2 + 1; i++)
        {
            if (m_pEdges[axis][i].IsMax())
            {
                Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
                if (TestAabbAgainstAabb2(aabbMin, aabbMax, handle->m_aabbMin, handle->m_aabbMax))
                {
                    callback.process(handle);
                }
            }
        }
    }
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
{
    Handle* pHandle = static_cast<Handle*>(proxy);
    aabbMin = pHandle->m_aabbMin;
    aabbMax = pHandle->m_aabbMax;
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
{
    Handle* pHandle = static_cast<Handle*>(proxy);
 
    unsigned short vecInMin[3];
    unsigned short vecInMax[3];
 
    vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos;
    vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos + 1;
    vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos;
    vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos + 1;
    vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos;
    vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos + 1;
 
    aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()), (btScalar)(vecInMin[1]) / (m_quantize.getY()), (btScalar)(vecInMin[2]) / (m_quantize.getZ()));
    aabbMin += m_worldAabbMin;
 
    aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()), (btScalar)(vecInMax[1]) / (m_quantize.getY()), (btScalar)(vecInMax[2]) / (m_quantize.getZ()));
    aabbMax += m_worldAabbMin;
}
 
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin, const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
    : m_bpHandleMask(handleMask),
      m_handleSentinel(handleSentinel),
      m_pairCache(pairCache),
      m_userPairCallback(0),
      m_ownsPairCache(false),
      m_invalidPair(0),
      m_raycastAccelerator(0)
{
    BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles + 1);  //need to add one sentinel handle
 
    if (!m_pairCache)
    {
        void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
        m_pairCache = new (ptr) btHashedOverlappingPairCache();
        m_ownsPairCache = true;
    }
 
    if (!disableRaycastAccelerator)
    {
        m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache), 16)) btNullPairCache();
        m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase), 16)) btDbvtBroadphase(m_nullPairCache);  //m_pairCache);
        m_raycastAccelerator->m_deferedcollide = true;                                                                //don't add/remove pairs
    }
 
    //btAssert(bounds.HasVolume());
 
    // init bounds
    m_worldAabbMin = worldAabbMin;
    m_worldAabbMax = worldAabbMax;
 
    btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
 
    BP_FP_INT_TYPE maxInt = m_handleSentinel;
 
    m_quantize = btVector3(btScalar(maxInt), btScalar(maxInt), btScalar(maxInt)) / aabbSize;
 
    // allocate handles buffer, using btAlignedAlloc, and put all handles on free list
    m_pHandles = new Handle[maxHandles];
 
    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 (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
            m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
        m_pHandles[maxHandles - 1].SetNextFree(0);
    }
 
    {
        // allocate edge buffers
        for (int i = 0; i < 3; i++)
        {
            m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge) * maxHandles * 2, 16);
            m_pEdges[i] = new (m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
        }
    }
    //removed overlap management
 
    // make boundary sentinels
 
    m_pHandles[0].m_clientObject = 0;
 
    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;
#ifdef DEBUG_BROADPHASE
        debugPrintAxis(axis);
#endif  //DEBUG_BROADPHASE
    }
}
 
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
{
    if (m_raycastAccelerator)
    {
        m_nullPairCache->~btOverlappingPairCache();
        btAlignedFree(m_nullPairCache);
        m_raycastAccelerator->~btDbvtBroadphase();
        btAlignedFree(m_raycastAccelerator);
    }
 
    for (int i = 2; i >= 0; i--)
    {
        btAlignedFree(m_pEdgesRawPtr[i]);
    }
    delete[] m_pHandles;
 
    if (m_ownsPairCache)
    {
        m_pairCache->~btOverlappingPairCache();
        btAlignedFree(m_pairCache);
    }
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const
{
#ifdef OLD_CLAMPING_METHOD
    btVector3 clampedPoint(point);
    clampedPoint.setMax(m_worldAabbMin);
    clampedPoint.setMin(m_worldAabbMax);
    btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
    out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
    out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
    out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
#else
    btVector3 v = (point - m_worldAabbMin) * m_quantize;
    out[0] = (v[0] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[0] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0] & m_bpHandleMask) | isMax);
    out[1] = (v[1] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[1] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1] & m_bpHandleMask) | isMax);
    out[2] = (v[2] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[2] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2] & m_bpHandleMask) | isMax);
#endif  //OLD_CLAMPING_METHOD
}
 
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
{
    btAssert(m_firstFreeHandle);
 
    BP_FP_INT_TYPE handle = m_firstFreeHandle;
    m_firstFreeHandle = getHandle(handle)->GetNextFree();
    m_numHandles++;
 
    return handle;
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
{
    btAssert(handle > 0 && handle < m_maxHandles);
 
    getHandle(handle)->SetNextFree(m_firstFreeHandle);
    m_firstFreeHandle = handle;
 
    m_numHandles--;
}
 
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
{
    // quantize the bounds
    BP_FP_INT_TYPE min[3], max[3];
    quantize(min, aabbMin, 0);
    quantize(max, aabbMax, 1);
 
    // allocate a handle
    BP_FP_INT_TYPE handle = allocHandle();
 
    Handle* pHandle = getHandle(handle);
 
    pHandle->m_uniqueId = static_cast<int>(handle);
    //pHandle->m_pOverlaps = 0;
    pHandle->m_clientObject = pOwner;
    pHandle->m_collisionFilterGroup = collisionFilterGroup;
    pHandle->m_collisionFilterMask = collisionFilterMask;
 
    // compute current limit of edge arrays
    BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
 
    // insert new edges just inside the max boundary edge
    for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
    {
        m_pHandles[0].m_maxEdges[axis] += 2;
 
        m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
 
        m_pEdges[axis][limit - 1].m_pos = min[axis];
        m_pEdges[axis][limit - 1].m_handle = handle;
 
        m_pEdges[axis][limit].m_pos = max[axis];
        m_pEdges[axis][limit].m_handle = handle;
 
        pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1);
        pHandle->m_maxEdges[axis] = limit;
    }
 
    // now sort the new edges to their correct position
    sortMinDown(0, pHandle->m_minEdges[0], dispatcher, false);
    sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher, false);
    sortMinDown(1, pHandle->m_minEdges[1], dispatcher, false);
    sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher, false);
    sortMinDown(2, pHandle->m_minEdges[2], dispatcher, true);
    sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher, true);
 
    return handle;
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher)
{
    Handle* pHandle = getHandle(handle);
 
    //explicitly remove the pairs containing the proxy
    //we could do it also in the sortMinUp (passing true)
    if (!m_pairCache->hasDeferredRemoval())
    {
        m_pairCache->removeOverlappingPairsContainingProxy(pHandle, dispatcher);
    }
 
    // compute current limit of edge arrays
    int limit = static_cast<int>(m_numHandles * 2);
 
    int axis;
 
    for (axis = 0; axis < 3; axis++)
    {
        m_pHandles[0].m_maxEdges[axis] -= 2;
    }
 
    // remove the edges by sorting them up to the end of the list
    for (axis = 0; axis < 3; axis++)
    {
        Edge* pEdges = m_pEdges[axis];
        BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
        pEdges[max].m_pos = m_handleSentinel;
 
        sortMaxUp(axis, max, dispatcher, false);
 
        BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
        pEdges[i].m_pos = m_handleSentinel;
 
        sortMinUp(axis, i, dispatcher, false);
 
        pEdges[limit - 1].m_handle = 0;
        pEdges[limit - 1].m_pos = m_handleSentinel;
 
#ifdef DEBUG_BROADPHASE
        debugPrintAxis(axis, false);
#endif  //DEBUG_BROADPHASE
    }
 
    // free the handle
    freeHandle(handle);
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*/)
{
    if (m_numHandles == 0)
    {
        m_firstFreeHandle = 1;
        {
            for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++)
                m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
            m_pHandles[m_maxHandles - 1].SetNextFree(0);
        }
    }
}
 
//#include <stdio.h>
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
{
    if (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;
 
        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];
 
            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++;
            }
        }
 
#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
 
        //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
    }
}
 
template <typename BP_FP_INT_TYPE>
bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
    const Handle* pHandleA = static_cast<Handle*>(proxy0);
    const Handle* pHandleB = static_cast<Handle*>(proxy1);
 
    //optimization 1: check the array index (memory address), instead of the m_pos
 
    for (int axis = 0; axis < 3; axis++)
    {
        if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
            pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
        {
            return false;
        }
    }
    return true;
}
 
template <typename BP_FP_INT_TYPE>
bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1)
{
    //optimization 1: check the array index (memory address), instead of the m_pos
 
    if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] ||
        pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] ||
        pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] ||
        pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1])
    {
        return false;
    }
    return true;
}
 
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher)
{
    //  btAssert(bounds.IsFinite());
    //btAssert(bounds.HasVolume());
 
    Handle* pHandle = getHandle(handle);
 
    // quantize the new bounds
    BP_FP_INT_TYPE min[3], max[3];
    quantize(min, aabbMin, 0);
    quantize(max, aabbMax, 1);
 
    // update changed edges
    for (int axis = 0; axis < 3; axis++)
    {
        BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
        BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
 
        int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
        int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
 
        m_pEdges[axis][emin].m_pos = min[axis];
        m_pEdges[axis][emax].m_pos = max[axis];
 
        // expand (only adds overlaps)
        if (dmin < 0)
            sortMinDown(axis, emin, dispatcher, true);
 
        if (dmax > 0)
            sortMaxUp(axis, emax, dispatcher, true);
 
        // shrink (only removes overlaps)
        if (dmin > 0)
            sortMinUp(axis, emin, dispatcher, true);
 
        if (dmax < 0)
            sortMaxDown(axis, emax, dispatcher, true);
 
#ifdef DEBUG_BROADPHASE
        debugPrintAxis(axis);
#endif  //DEBUG_BROADPHASE
    }
}
 
// sorting a min edge downwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
{
    Edge* pEdge = m_pEdges[axis] + edge;
    Edge* pPrev = pEdge - 1;
    Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
    while (pEdge->m_pos < pPrev->m_pos)
    {
        Handle* pHandlePrev = getHandle(pPrev->m_handle);
 
        if (pPrev->IsMax())
        {
            // if previous edge is a maximum check the bounds and add an overlap if necessary
            const int axis1 = (1 << axis) & 3;
            const int axis2 = (1 << axis1) & 3;
            if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev, axis1, axis2))
            {
                m_pairCache->addOverlappingPair(pHandleEdge, pHandlePrev);
                if (m_userPairCallback)
                    m_userPairCallback->addOverlappingPair(pHandleEdge, pHandlePrev);
 
                //AddOverlap(pEdge->m_handle, pPrev->m_handle);
            }
 
            // update edge reference in other handle
            pHandlePrev->m_maxEdges[axis]++;
        }
        else
            pHandlePrev->m_minEdges[axis]++;
 
        pHandleEdge->m_minEdges[axis]--;
 
        // swap the edges
        Edge swap = *pEdge;
        *pEdge = *pPrev;
        *pPrev = swap;
 
        // decrement
        pEdge--;
        pPrev--;
    }
 
#ifdef DEBUG_BROADPHASE
    debugPrintAxis(axis);
#endif  //DEBUG_BROADPHASE
}
 
// sorting a min edge upwards can only ever *remove* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
    Edge* pEdge = m_pEdges[axis] + edge;
    Edge* pNext = pEdge + 1;
    Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
    while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
    {
        Handle* pHandleNext = getHandle(pNext->m_handle);
 
        if (pNext->IsMax())
        {
            Handle* handle0 = getHandle(pEdge->m_handle);
            Handle* handle1 = getHandle(pNext->m_handle);
            const int axis1 = (1 << axis) & 3;
            const int axis2 = (1 << axis1) & 3;
 
            // if next edge is maximum remove any overlap between the two handles
            if (updateOverlaps
#ifdef USE_OVERLAP_TEST_ON_REMOVES
                && testOverlap2D(handle0, handle1, axis1, axis2)
#endif  //USE_OVERLAP_TEST_ON_REMOVES
            )
            {
                m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
                if (m_userPairCallback)
                    m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
            }
 
            // update edge reference in other handle
            pHandleNext->m_maxEdges[axis]--;
        }
        else
            pHandleNext->m_minEdges[axis]--;
 
        pHandleEdge->m_minEdges[axis]++;
 
        // swap the edges
        Edge swap = *pEdge;
        *pEdge = *pNext;
        *pNext = swap;
 
        // increment
        pEdge++;
        pNext++;
    }
}
 
// sorting a max edge downwards can only ever *remove* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
    Edge* pEdge = m_pEdges[axis] + edge;
    Edge* pPrev = pEdge - 1;
    Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
    while (pEdge->m_pos < pPrev->m_pos)
    {
        Handle* pHandlePrev = getHandle(pPrev->m_handle);
 
        if (!pPrev->IsMax())
        {
            // if previous edge was a minimum remove any overlap between the two handles
            Handle* handle0 = getHandle(pEdge->m_handle);
            Handle* handle1 = getHandle(pPrev->m_handle);
            const int axis1 = (1 << axis) & 3;
            const int axis2 = (1 << axis1) & 3;
 
            if (updateOverlaps
#ifdef USE_OVERLAP_TEST_ON_REMOVES
                && testOverlap2D(handle0, handle1, axis1, axis2)
#endif  //USE_OVERLAP_TEST_ON_REMOVES
            )
            {
                //this is done during the overlappingpairarray iteration/narrowphase collision
 
                m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
                if (m_userPairCallback)
                    m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
            }
 
            // update edge reference in other handle
            pHandlePrev->m_minEdges[axis]++;
            ;
        }
        else
            pHandlePrev->m_maxEdges[axis]++;
 
        pHandleEdge->m_maxEdges[axis]--;
 
        // swap the edges
        Edge swap = *pEdge;
        *pEdge = *pPrev;
        *pPrev = swap;
 
        // decrement
        pEdge--;
        pPrev--;
    }
 
#ifdef DEBUG_BROADPHASE
    debugPrintAxis(axis);
#endif  //DEBUG_BROADPHASE
}
 
// sorting a max edge upwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
{
    Edge* pEdge = m_pEdges[axis] + edge;
    Edge* pNext = pEdge + 1;
    Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
    while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
    {
        Handle* pHandleNext = getHandle(pNext->m_handle);
 
        const int axis1 = (1 << axis) & 3;
        const int axis2 = (1 << axis1) & 3;
 
        if (!pNext->IsMax())
        {
            // if next edge is a minimum check the bounds and add an overlap if necessary
            if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext, axis1, axis2))
            {
                Handle* handle0 = getHandle(pEdge->m_handle);
                Handle* handle1 = getHandle(pNext->m_handle);
                m_pairCache->addOverlappingPair(handle0, handle1);
                if (m_userPairCallback)
                    m_userPairCallback->addOverlappingPair(handle0, handle1);
            }
 
            // update edge reference in other handle
            pHandleNext->m_minEdges[axis]--;
        }
        else
            pHandleNext->m_maxEdges[axis]--;
 
        pHandleEdge->m_maxEdges[axis]++;
 
        // swap the edges
        Edge swap = *pEdge;
        *pEdge = *pNext;
        *pNext = swap;
 
        // increment
        pEdge++;
        pNext++;
    }
}
 
#endif