665 lines
17 KiB
C++
665 lines
17 KiB
C++
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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* OPCODE - Optimized Collision Detection
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* Copyright (C) 2001 Pierre Terdiman
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* Homepage: http://www.codercorner.com/Opcode.htm
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide)
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* \file OPC_SweepAndPrune.cpp
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* \author Pierre Terdiman
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* \date January, 29, 2000
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Precompiled Header
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#include "Stdafx.h"
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using namespace Opcode;
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inline_ void Sort(udword& id0, udword& id1)
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{
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if(id0>id1) Swap(id0, id1);
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}
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class Opcode::SAP_Element
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{
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public:
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inline_ SAP_Element() {}
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inline_ SAP_Element(udword id, SAP_Element* next) : mID(id), mNext(next) {}
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inline_ ~SAP_Element() {}
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udword mID;
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SAP_Element* mNext;
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};
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class Opcode::SAP_Box
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{
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public:
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SAP_EndPoint* Min[3];
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SAP_EndPoint* Max[3];
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};
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class Opcode::SAP_EndPoint
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{
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public:
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float Value; // Min or Max value
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SAP_EndPoint* Previous; // Previous EndPoint whose Value is smaller than ours (or null)
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SAP_EndPoint* Next; // Next EndPoint whose Value is greater than ours (or null)
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udword Data; // Parent box ID *2 | MinMax flag
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inline_ void SetData(udword box_id, BOOL is_max) { Data = (box_id<<1)|is_max; }
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inline_ BOOL IsMax() const { return Data & 1; }
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inline_ udword GetBoxID() const { return Data>>1; }
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inline_ void InsertAfter(SAP_EndPoint* element)
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{
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if(this!=element && this!=element->Next)
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{
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// Remove
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if(Previous) Previous->Next = Next;
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if(Next) Next->Previous = Previous;
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// Insert
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Next = element->Next;
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if(Next) Next->Previous = this;
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element->Next = this;
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Previous = element;
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}
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}
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inline_ void InsertBefore(SAP_EndPoint* element)
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{
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if(this!=element && this!=element->Previous)
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{
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// Remove
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if(Previous) Previous->Next = Next;
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if(Next) Next->Previous = Previous;
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// Insert
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Previous = element->Previous;
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element->Previous = this;
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Next = element;
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if(Previous) Previous->Next = this;
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}
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}
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};
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Constructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SAP_PairData::SAP_PairData() :
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mNbElements (0),
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mNbUsedElements (0),
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mElementPool (null),
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mFirstFree (null),
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mNbObjects (0),
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mArray (null)
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Destructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SAP_PairData::~SAP_PairData()
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{
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Release();
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}
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void SAP_PairData::Release()
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{
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mNbElements = 0;
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mNbUsedElements = 0;
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mNbObjects = 0;
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DELETEARRAY(mElementPool);
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DELETEARRAY(mArray);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Initializes.
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* \param nb_objects [in]
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* \return true if success
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool SAP_PairData::Init(udword nb_objects)
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{
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// Make sure everything has been released
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Release();
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if(!nb_objects) return false;
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mArray = new SAP_Element*[nb_objects];
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CHECKALLOC(mArray);
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ZeroMemory(mArray, nb_objects*sizeof(SAP_Element*));
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mNbObjects = nb_objects;
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Remaps a pointer when pool gets resized.
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* \param element [in/out] remapped element
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* \param delta [in] offset in bytes
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void Remap(SAP_Element*& element, size_t delta)
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{
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if(element) element = (SAP_Element*)(size_t(element) + delta);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Gets a free element in the pool.
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* \param id [in] element id
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* \param next [in] next element
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* \param remap [out] possible remapping offset
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* \return the new element
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SAP_Element* SAP_PairData::GetFreeElem(udword id, SAP_Element* next, udword* remap)
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{
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if(remap) *remap = 0;
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SAP_Element* FreeElem;
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if(mFirstFree)
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{
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// Recycle
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FreeElem = mFirstFree;
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mFirstFree = mFirstFree->mNext; // First free = next free (or null)
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}
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else
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{
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if(mNbUsedElements==mNbElements)
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{
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// Resize
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mNbElements = mNbElements ? (mNbElements<<1) : 2;
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SAP_Element* NewElems = new SAP_Element[mNbElements];
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if(mNbUsedElements) CopyMemory(NewElems, mElementPool, mNbUsedElements*sizeof(SAP_Element));
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// Remap everything
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{
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size_t Delta = size_t(NewElems) - size_t(mElementPool);
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for(udword i=0;i<mNbUsedElements;i++) Remap(NewElems[i].mNext, Delta);
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for(udword i=0;i<mNbObjects;i++) Remap(mArray[i], Delta);
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Remap(mFirstFree, Delta);
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Remap(next, Delta);
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if(remap) *remap = Delta;
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}
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DELETEARRAY(mElementPool);
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mElementPool = NewElems;
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}
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FreeElem = &mElementPool[mNbUsedElements++];
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}
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FreeElem->mID = id;
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FreeElem->mNext = next;
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return FreeElem;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Frees an element of the pool.
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* \param elem [in] element to free/recycle
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SAP_PairData::FreeElem(SAP_Element* elem)
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{
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elem->mNext = mFirstFree; // Next free
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mFirstFree = elem;
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}
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// Add a pair to the set.
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void SAP_PairData::AddPair(udword id1, udword id2)
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{
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// Order the ids
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Sort(id1, id2);
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ASSERT(id1<mNbObjects);
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if(id1>=mNbObjects) return;
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// Select the right list from "mArray".
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SAP_Element* Current = mArray[id1];
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if(!Current)
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{
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// Empty slot => create new element
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mArray[id1] = GetFreeElem(id2, null);
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}
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else if(Current->mID>id2)
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{
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// The list is not empty but all elements are greater than id2 => insert id2 in the front.
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mArray[id1] = GetFreeElem(id2, mArray[id1]);
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}
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else
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{
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// Else find the correct location in the sorted list (ascending order) and insert id2 there.
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while(Current->mNext)
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{
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if(Current->mNext->mID > id2) break;
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Current = Current->mNext;
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}
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if(Current->mID==id2) return; // The pair already exists
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// Current->mNext = GetFreeElem(id2, Current->mNext);
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udword Delta;
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SAP_Element* E = GetFreeElem(id2, Current->mNext, &Delta);
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if(Delta) Remap(Current, Delta);
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Current->mNext = E;
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}
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}
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// Delete a pair from the set.
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void SAP_PairData::RemovePair(udword id1, udword id2)
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{
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// Order the ids.
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Sort(id1, id2);
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// Exit if the pair doesn't exist in the set
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if(id1>=mNbObjects) return;
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// Otherwise, select the correct list.
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SAP_Element* Current = mArray[id1];
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// If this list is empty, the pair doesn't exist.
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if(!Current) return;
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// Otherwise, if id2 is the first element, delete it.
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if(Current->mID==id2)
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{
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mArray[id1] = Current->mNext;
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FreeElem(Current);
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}
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else
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{
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// If id2 is not the first element, start traversing the sorted list.
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while(Current->mNext)
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{
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// If we have moved too far away without hitting id2, then the pair doesn't exist
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if(Current->mNext->mID > id2) return;
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// Otherwise, delete id2.
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if(Current->mNext->mID == id2)
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{
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SAP_Element* Temp = Current->mNext;
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Current->mNext = Temp->mNext;
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FreeElem(Temp);
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return;
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}
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Current = Current->mNext;
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}
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}
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}
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void SAP_PairData::DumpPairs(Pairs& pairs) const
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{
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// ### Ugly and slow
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for(udword i=0;i<mNbObjects;i++)
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{
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SAP_Element* Current = mArray[i];
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while(Current)
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{
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ASSERT(Current->mID<mNbObjects);
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pairs.AddPair(i, Current->mID);
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Current = Current->mNext;
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}
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}
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}
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void SAP_PairData::DumpPairs(PairCallback callback, void* user_data) const
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{
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if(!callback) return;
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// ### Ugly and slow
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for(udword i=0;i<mNbObjects;i++)
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{
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SAP_Element* Current = mArray[i];
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while(Current)
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{
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ASSERT(Current->mID<mNbObjects);
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if(!(callback)(i, Current->mID, user_data)) return;
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Current = Current->mNext;
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}
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Constructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SweepAndPrune::SweepAndPrune()
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Destructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SweepAndPrune::~SweepAndPrune()
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{
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}
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void SweepAndPrune::GetPairs(Pairs& pairs) const
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{
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mPairs.DumpPairs(pairs);
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}
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void SweepAndPrune::GetPairs(PairCallback callback, void* user_data) const
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{
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mPairs.DumpPairs(callback, user_data);
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}
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bool SweepAndPrune::Init(udword nb_objects, const AABB** boxes)
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{
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// 1) Create sorted lists
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mNbObjects = nb_objects;
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mBoxes = new SAP_Box[nb_objects];
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// for(udword i=0;i<nb_objects;i++) mBoxes[i].Box = *boxes[i];
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float* Data = new float[nb_objects*2];
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for(udword Axis=0;Axis<3;Axis++)
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{
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|
mList[Axis] = new SAP_EndPoint[nb_objects*2];
|
||
|
|
|
||
|
|
for(udword i=0;i<nb_objects;i++)
|
||
|
|
{
|
||
|
|
Data[i*2+0] = boxes[i]->GetMin(Axis);
|
||
|
|
Data[i*2+1] = boxes[i]->GetMax(Axis);
|
||
|
|
}
|
||
|
|
RadixSort RS;
|
||
|
|
const udword* Sorted = RS.Sort(Data, nb_objects*2).GetRanks();
|
||
|
|
|
||
|
|
SAP_EndPoint* PreviousEndPoint = null;
|
||
|
|
|
||
|
|
for(udword i=0;i<nb_objects*2;i++)
|
||
|
|
{
|
||
|
|
udword SortedIndex = *Sorted++;
|
||
|
|
float SortedCoord = Data[SortedIndex];
|
||
|
|
udword BoxIndex = SortedIndex>>1;
|
||
|
|
|
||
|
|
ASSERT(BoxIndex<nb_objects);
|
||
|
|
|
||
|
|
SAP_EndPoint* CurrentEndPoint = &mList[Axis][SortedIndex];
|
||
|
|
CurrentEndPoint->Value = SortedCoord;
|
||
|
|
// CurrentEndPoint->IsMax = SortedIndex&1; // ### could be implicit ?
|
||
|
|
// CurrentEndPoint->ID = BoxIndex; // ### could be implicit ?
|
||
|
|
CurrentEndPoint->SetData(BoxIndex, SortedIndex&1); // ### could be implicit ?
|
||
|
|
CurrentEndPoint->Previous = PreviousEndPoint;
|
||
|
|
CurrentEndPoint->Next = null;
|
||
|
|
if(PreviousEndPoint) PreviousEndPoint->Next = CurrentEndPoint;
|
||
|
|
|
||
|
|
if(CurrentEndPoint->IsMax()) mBoxes[BoxIndex].Max[Axis] = CurrentEndPoint;
|
||
|
|
else mBoxes[BoxIndex].Min[Axis] = CurrentEndPoint;
|
||
|
|
|
||
|
|
PreviousEndPoint = CurrentEndPoint;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
DELETEARRAY(Data);
|
||
|
|
|
||
|
|
CheckListsIntegrity();
|
||
|
|
|
||
|
|
// 2) Quickly find starting pairs
|
||
|
|
|
||
|
|
mPairs.Init(nb_objects);
|
||
|
|
|
||
|
|
{
|
||
|
|
Pairs P;
|
||
|
|
CompleteBoxPruning(nb_objects, boxes, P, Axes(AXES_XZY));
|
||
|
|
for(udword i=0;i<P.GetNbPairs();i++)
|
||
|
|
{
|
||
|
|
const Pair* PP = P.GetPair(i);
|
||
|
|
|
||
|
|
udword id0 = PP->id0;
|
||
|
|
udword id1 = PP->id1;
|
||
|
|
|
||
|
|
if(id0!=id1 && boxes[id0]->Intersect(*boxes[id1]))
|
||
|
|
{
|
||
|
|
mPairs.AddPair(id0, id1);
|
||
|
|
}
|
||
|
|
else ASSERT(0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool SweepAndPrune::CheckListsIntegrity()
|
||
|
|
{
|
||
|
|
for(udword Axis=0;Axis<3;Axis++)
|
||
|
|
{
|
||
|
|
// Find list head
|
||
|
|
SAP_EndPoint* Current = mList[Axis];
|
||
|
|
while(Current->Previous) Current = Current->Previous;
|
||
|
|
|
||
|
|
udword Nb = 0;
|
||
|
|
|
||
|
|
SAP_EndPoint* Previous = null;
|
||
|
|
while(Current)
|
||
|
|
{
|
||
|
|
Nb++;
|
||
|
|
|
||
|
|
if(Previous)
|
||
|
|
{
|
||
|
|
ASSERT(Previous->Value <= Current->Value);
|
||
|
|
if(Previous->Value > Current->Value) return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
ASSERT(Current->Previous==Previous);
|
||
|
|
if(Current->Previous!=Previous) return false;
|
||
|
|
|
||
|
|
Previous = Current;
|
||
|
|
Current = Current->Next;
|
||
|
|
}
|
||
|
|
|
||
|
|
ASSERT(Nb==mNbObjects*2);
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
inline_ BOOL Intersect(const AABB& a, const SAP_Box& b)
|
||
|
|
{
|
||
|
|
if(b.Max[0]->Value < a.GetMin(0) || a.GetMax(0) < b.Min[0]->Value
|
||
|
|
|| b.Max[1]->Value < a.GetMin(1) || a.GetMax(1) < b.Min[1]->Value
|
||
|
|
|| b.Max[2]->Value < a.GetMin(2) || a.GetMax(2) < b.Min[2]->Value) return FALSE;
|
||
|
|
|
||
|
|
return TRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
bool SweepAndPrune::UpdateObject(udword i, const AABB& box)
|
||
|
|
{
|
||
|
|
for(udword Axis=0;Axis<3;Axis++)
|
||
|
|
{
|
||
|
|
// udword Base = (udword)&mList[Axis][0];
|
||
|
|
|
||
|
|
// Update min
|
||
|
|
{
|
||
|
|
SAP_EndPoint* const CurrentMin = mBoxes[i].Min[Axis];
|
||
|
|
ASSERT(!CurrentMin->IsMax());
|
||
|
|
|
||
|
|
const float Limit = box.GetMin(Axis);
|
||
|
|
if(Limit == CurrentMin->Value)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
else if(Limit < CurrentMin->Value)
|
||
|
|
{
|
||
|
|
CurrentMin->Value = Limit;
|
||
|
|
|
||
|
|
// Min is moving left:
|
||
|
|
SAP_EndPoint* NewPos = CurrentMin;
|
||
|
|
ASSERT(NewPos);
|
||
|
|
|
||
|
|
SAP_EndPoint* tmp;
|
||
|
|
while((tmp = NewPos->Previous) && tmp->Value > Limit)
|
||
|
|
{
|
||
|
|
NewPos = tmp;
|
||
|
|
|
||
|
|
if(NewPos->IsMax())
|
||
|
|
{
|
||
|
|
// Our min passed a max => start overlap
|
||
|
|
//udword SortedIndex = (udword(CurrentMin) - Base)/sizeof(NS_EndPoint);
|
||
|
|
const udword id0 = CurrentMin->GetBoxID();
|
||
|
|
const udword id1 = NewPos->GetBoxID();
|
||
|
|
|
||
|
|
if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
CurrentMin->InsertBefore(NewPos);
|
||
|
|
}
|
||
|
|
else// if(Limit > CurrentMin->Value)
|
||
|
|
{
|
||
|
|
CurrentMin->Value = Limit;
|
||
|
|
|
||
|
|
// Min is moving right:
|
||
|
|
SAP_EndPoint* NewPos = CurrentMin;
|
||
|
|
ASSERT(NewPos);
|
||
|
|
|
||
|
|
SAP_EndPoint* tmp;
|
||
|
|
while((tmp = NewPos->Next) && tmp->Value < Limit)
|
||
|
|
{
|
||
|
|
NewPos = tmp;
|
||
|
|
|
||
|
|
if(NewPos->IsMax())
|
||
|
|
{
|
||
|
|
// Our min passed a max => stop overlap
|
||
|
|
const udword id0 = CurrentMin->GetBoxID();
|
||
|
|
const udword id1 = NewPos->GetBoxID();
|
||
|
|
|
||
|
|
if(id0!=id1) mPairs.RemovePair(id0, id1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
CurrentMin->InsertAfter(NewPos);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update max
|
||
|
|
{
|
||
|
|
SAP_EndPoint* const CurrentMax = mBoxes[i].Max[Axis];
|
||
|
|
ASSERT(CurrentMax->IsMax());
|
||
|
|
|
||
|
|
const float Limit = box.GetMax(Axis);
|
||
|
|
if(Limit == CurrentMax->Value)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
else if(Limit > CurrentMax->Value)
|
||
|
|
{
|
||
|
|
CurrentMax->Value = Limit;
|
||
|
|
|
||
|
|
// Max is moving right:
|
||
|
|
SAP_EndPoint* NewPos = CurrentMax;
|
||
|
|
ASSERT(NewPos);
|
||
|
|
|
||
|
|
SAP_EndPoint* tmp;
|
||
|
|
while((tmp = NewPos->Next) && tmp->Value < Limit)
|
||
|
|
{
|
||
|
|
NewPos = tmp;
|
||
|
|
|
||
|
|
if(!NewPos->IsMax())
|
||
|
|
{
|
||
|
|
// Our max passed a min => start overlap
|
||
|
|
const udword id0 = CurrentMax->GetBoxID();
|
||
|
|
const udword id1 = NewPos->GetBoxID();
|
||
|
|
|
||
|
|
if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
CurrentMax->InsertAfter(NewPos);
|
||
|
|
}
|
||
|
|
else// if(Limit < CurrentMax->Value)
|
||
|
|
{
|
||
|
|
CurrentMax->Value = Limit;
|
||
|
|
|
||
|
|
// Max is moving left:
|
||
|
|
SAP_EndPoint* NewPos = CurrentMax;
|
||
|
|
ASSERT(NewPos);
|
||
|
|
|
||
|
|
SAP_EndPoint* tmp;
|
||
|
|
while((tmp = NewPos->Previous) && tmp->Value > Limit)
|
||
|
|
{
|
||
|
|
NewPos = tmp;
|
||
|
|
|
||
|
|
if(!NewPos->IsMax())
|
||
|
|
{
|
||
|
|
// Our max passed a min => stop overlap
|
||
|
|
const udword id0 = CurrentMax->GetBoxID();
|
||
|
|
const udword id1 = NewPos->GetBoxID();
|
||
|
|
|
||
|
|
if(id0!=id1) mPairs.RemovePair(id0, id1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
CurrentMax->InsertBefore(NewPos);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|