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//Bullet Continuous Collision Detection and Physics Library
//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

// AxisSweep3.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 AXIS_SWEEP_3_H
#define AXIS_SWEEP_3_H

#include "SimdPoint3.h"
#include "SimdVector3.h"
#include "SimpleBroadphase.h"
#include "BroadphaseProxy.h"

class AxisSweep3 : public SimpleBroadphase


      class Edge
            unsigned short m_pos;               // low bit is min/max
            unsigned short m_handle;

            unsigned short IsMax() const {return m_pos & 1;}

      class Handle : public BroadphaseProxy
            // indexes into the edge arrays
            unsigned short m_minEdges[3], m_maxEdges[3];          // 6 * 2 = 12
            unsigned short m_handleId;
            unsigned short m_pad;
            //void* m_pOwner; this is now in BroadphaseProxy.m_clientObject
            inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
            inline unsigned short GetNextFree() const {return m_minEdges[0];}
      };          // 24 bytes + 24 for Edge structures = 44 bytes total per entry

      SimdPoint3 m_worldAabbMin;                                  // overall system bounds
      SimdPoint3 m_worldAabbMax;                                  // overall system bounds

      SimdVector3 m_quantize;                               // scaling factor for quantization

      int m_numHandles;                               // number of active handles
      int m_maxHandles;                               // max number of handles
      Handle* m_pHandles;                                   // handles pool
      unsigned short m_firstFreeHandle;         // free handles list

      Edge* m_pEdges[3];                                    // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)

      // allocation/deallocation
      unsigned short AllocHandle();
      void FreeHandle(unsigned short handle);

      bool TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);

      //Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
      //void RemoveOverlap(unsigned short handleA, unsigned short handleB);

      void Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const;

      void SortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
      void SortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
      void SortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
      void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);

      AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 1024, int maxOverlaps = 8192);
      virtual     ~AxisSweep3();

      virtual void      RefreshOverlappingPairs()
            //this is replace by sweep and prune
      unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner);
      void RemoveHandle(unsigned short handle);
      void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
      inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}

      //Broadphase Interface
      virtual BroadphaseProxy*      CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr );
      virtual void      DestroyProxy(BroadphaseProxy* proxy);
      virtual void      SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);


#endif //AXIS_SWEEP_3_H

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