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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.

#include "btBroadphaseInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btOverlappingPairCache.h"

class btBroadphaseInterface;
class btSimpleBroadphase;

typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;

///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
00034 class btMultiSapBroadphase :public btBroadphaseInterface
      btSapBroadphaseArray    m_sapBroadphases;
      btSimpleBroadphase*           m_simpleBroadphase;

      btOverlappingPairCache* m_overlappingPairs;

      class btQuantizedBvh*               m_optimizedAabbTree;

      bool                          m_ownsPairCache;
      btOverlapFilterCallback*      m_filterCallback;

      int               m_invalidPair;

      struct      btBridgeProxy
            btBroadphaseProxy*            m_childProxy;
            btBroadphaseInterface*  m_childBroadphase;


      struct      btMultiSapProxy   : public btBroadphaseProxy

            ///array with all the entries that this proxy belongs to
            btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
            btVector3   m_aabbMin;
            btVector3   m_aabbMax;

            int   m_shapeType;

/*          void* m_userPtr;
            short int   m_collisionFilterGroup;
            short int   m_collisionFilterMask;
            btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
                  m_multiSapParentProxy =this;



      btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;


      btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);

      btSapBroadphaseArray&   getBroadphaseArray()
            return m_sapBroadphases;

      const btSapBroadphaseArray&   getBroadphaseArray() const
            return m_sapBroadphases;

      virtual ~btMultiSapBroadphase();

      virtual btBroadphaseProxy*    createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
      virtual void      destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
      virtual void      setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);

      void  addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*  childBroadphase);

      ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
      virtual void      calculateOverlappingPairs(btDispatcher* dispatcher);

      bool  testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);

      virtual     btOverlappingPairCache* getOverlappingPairCache()
            return m_overlappingPairs;
      virtual     const btOverlappingPairCache* getOverlappingPairCache() const
            return m_overlappingPairs;

      ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
      ///will add some transform later
00130       virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const

      void  buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);

      virtual void      printStats();

      void quicksort (btBroadphasePairArray& a, int lo, int hi);



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