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