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

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.


//#define SIMPLE_MAX_PROXIES 8192
//#define SIMPLE_MAX_OVERLAP 4096

#include "BroadphaseInterface.h"
#include "BroadphaseProxy.h"
#include "SimdPoint3.h"

struct SimpleBroadphaseProxy : public BroadphaseProxy
      SimdVector3 m_min;
      SimdVector3 m_max;
      SimpleBroadphaseProxy() {};

      SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr)


///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
00043 class SimpleBroadphase : public BroadphaseInterface

      SimpleBroadphaseProxy*  m_proxies;
      int*                    m_freeProxies;
      int                     m_firstFreeProxy;

      SimpleBroadphaseProxy** m_pProxies;
      int                     m_numProxies;

      //during the dispatch, check that user doesn't destroy/create proxy
      bool        m_blockedForChanges;

      BroadphasePair*   m_OverlappingPairs;
      int   m_NumOverlapBroadphasePair;

      int m_maxProxies;
      int m_maxOverlap;
      inline SimpleBroadphaseProxy* GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
            SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
            return proxy0;

      bool  AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);

      void  validate();

      void  RemoveOverlappingPair(BroadphasePair& pair);
      void  CleanOverlappingPair(BroadphasePair& pair);

      void  RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);

      void  AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
      BroadphasePair*   FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
      virtual void      RefreshOverlappingPairs();
      SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
      virtual ~SimpleBroadphase();

      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);
      virtual void      CleanProxyFromPairs(BroadphaseProxy* proxy);
      virtual void      DispatchAllCollisionPairs(Dispatcher&     dispatcher,DispatcherInfo& dispatchInfo);



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