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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 AXIS_SWEEP_3_H
#define AXIS_SWEEP_3_H

#include "../../LinearMath/btPoint3.h"
#include "../../LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
#include "btBroadphaseProxy.h"

//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects
//#define BP_USE_FIXEDPOINT_INT_32 1

      #define BP_FP_INT_TYPE unsigned int
      #define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles
      #define BP_HANDLE_SENTINEL 0x7fffffff
      #define BP_HANDLE_MASK  0xfffffffe
      #define BP_FP_INT_TYPE unsigned short int
      #define BP_MAX_HANDLES 32767
      #define BP_HANDLE_SENTINEL 0xffff
      #define BP_HANDLE_MASK  0xfffe


/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
00048 class btAxisSweep3 : public btOverlappingPairCache


      class Edge
            BP_FP_INT_TYPE m_pos;               // low bit is min/max
            BP_FP_INT_TYPE m_handle;

            BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}

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

      btPoint3 m_worldAabbMin;                                    // overall system bounds
      btPoint3 m_worldAabbMax;                                    // overall system bounds

      btVector3 m_quantize;                                 // scaling factor for quantization

      BP_FP_INT_TYPE m_numHandles;                                // number of active handles
      int 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)

      int m_invalidPair;

      // allocation/deallocation
      BP_FP_INT_TYPE allocHandle();
      void freeHandle(BP_FP_INT_TYPE handle);

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

      void debugPrintAxis(int axis,bool checkCardinality=true);

      //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 quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;

      void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
      void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
      void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
      void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);

      btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
      virtual     ~btAxisSweep3();

      virtual void      refreshOverlappingPairs();
      BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
      void removeHandle(BP_FP_INT_TYPE handle);
      void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
      inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}

      void  processAllOverlappingPairs(btOverlapCallback* callback);

      //Broadphase Interface
      virtual btBroadphaseProxy*    createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
      virtual void      destroyProxy(btBroadphaseProxy* proxy);
      virtual void      setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
      bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);



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