/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* 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, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
/**
* This broad phase uses the Sweep and Prune algorithm in:
* Collision Detection in Interactive 3D Environments by Gino van den Bergen
* Also, some ideas, such integral values for fast compares comes from
* Bullet (http:/www.bulletphysics.com).
*
* Notes:
* - we use bound arrays instead of linked lists for cache coherence.
* - we use quantized integral values for fast compares.
* - we use short indices rather than pointers to save memory.
* - we use a stabbing count for fast overlap queries (less than order N).
* - we also use a time stamp on each proxy to speed up the registration of
* overlap query results.
* - where possible, we compare bound indices instead of values to reduce
* cache misses (TODO_ERIN).
* - no broadphase is perfect and neither is this one: it is not great for huge
* worlds (use a multi-SAP instead), it is not great for large objects.
*
* @class b2Bound
* @constructor
*/
var b2BroadPhase = function (worldAABB, callback) {
// initialize instance variables for references
this.m_pairManager = new b2PairManager();
this.m_proxyPool = new Array(b2Settings.b2_maxPairs);
this.m_bounds = new Array(2*b2Settings.b2_maxProxies);
this.m_queryResults = new Array(b2Settings.b2_maxProxies);
this.m_quantizationFactor = new b2Vec2();
//
//b2Settings.b2Assert(worldAABB.IsValid());
var i = 0;
this.m_pairManager.Initialize(this, callback);
this.m_worldAABB = worldAABB;
this.m_proxyCount = 0;
// query results
for (i = 0; i < b2Settings.b2_maxProxies; i++){
this.m_queryResults[i] = 0;
}
// bounds array
this.m_bounds = new Array(2);
for (i = 0; i < 2; i++){
this.m_bounds[i] = new Array(2*b2Settings.b2_maxProxies);
for (var j = 0; j < 2*b2Settings.b2_maxProxies; j++){
this.m_bounds[i][j] = new b2Bound();
}
}
//var d = b2Math.SubtractVV(worldAABB.maxVertex, worldAABB.minVertex);
var dX = worldAABB.maxVertex.x;
var dY = worldAABB.maxVertex.y;
dX -= worldAABB.minVertex.x;
dY -= worldAABB.minVertex.y;
this.m_quantizationFactor.x = b2Settings.USHRT_MAX / dX;
this.m_quantizationFactor.y = b2Settings.USHRT_MAX / dY;
var tProxy;
for (i = 0; i < b2Settings.b2_maxProxies - 1; ++i)
{
tProxy = new b2Proxy();
this.m_proxyPool[i] = tProxy;
tProxy.SetNext(i + 1);
tProxy.timeStamp = 0;
tProxy.overlapCount = b2BroadPhase.b2_invalid;
tProxy.userData = null;
}
tProxy = new b2Proxy();
this.m_proxyPool[b2Settings.b2_maxProxies-1] = tProxy;
tProxy.SetNext(b2Pair.b2_nullProxy);
tProxy.timeStamp = 0;
tProxy.overlapCount = b2BroadPhase.b2_invalid;
tProxy.userData = null;
this.m_freeProxy = 0;
this.m_timeStamp = 1;
this.m_queryResultCount = 0;
};
b2BroadPhase.prototype =
{
//public:
//~b2BroadPhase();
// Use this to see if your proxy is in range. If it is not in range,
// it should be destroyed. Otherwise you may get O(m^2) pairs, where m
// is the number of proxies that are out of range.
InRange: function(aabb){
//var d = b2Math.b2MaxV(b2Math.SubtractVV(aabb.minVertex, this.m_worldAABB.maxVertex), b2Math.SubtractVV(this.m_worldAABB.minVertex, aabb.maxVertex));
var dX;
var dY;
var d2X;
var d2Y;
dX = aabb.minVertex.x;
dY = aabb.minVertex.y;
dX -= this.m_worldAABB.maxVertex.x;
dY -= this.m_worldAABB.maxVertex.y;
d2X = this.m_worldAABB.minVertex.x;
d2Y = this.m_worldAABB.minVertex.y;
d2X -= aabb.maxVertex.x;
d2Y -= aabb.maxVertex.y;
dX = b2Math.b2Max(dX, d2X);
dY = b2Math.b2Max(dY, d2Y);
return b2Math.b2Max(dX, dY) < 0.0;
},
// Get a single proxy. Returns NULL if the id is invalid.
GetProxy: function(proxyId){
if (proxyId == b2Pair.b2_nullProxy || this.m_proxyPool[proxyId].IsValid() == false)
{
return null;
}
return this.m_proxyPool[ proxyId ];
},
// Create and destroy proxies. These call Flush first.
CreateProxy: function(aabb, userData){
var index = 0;
var proxy;
//b2Settings.b2Assert(this.m_proxyCount < b2_maxProxies);
//b2Settings.b2Assert(this.m_freeProxy != b2Pair.b2_nullProxy);
var proxyId = this.m_freeProxy;
proxy = this.m_proxyPool[ proxyId ];
this.m_freeProxy = proxy.GetNext();
proxy.overlapCount = 0;
proxy.userData = userData;
var boundCount = 2 * this.m_proxyCount;
var lowerValues = new Array();
var upperValues = new Array();
this.ComputeBounds(lowerValues, upperValues, aabb);
for (var axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
var lowerIndex = 0;
var upperIndex = 0;
var lowerIndexOut = [lowerIndex];
var upperIndexOut = [upperIndex];
this.Query(lowerIndexOut, upperIndexOut, lowerValues[axis], upperValues[axis], bounds, boundCount, axis);
lowerIndex = lowerIndexOut[0];
upperIndex = upperIndexOut[0];
// Replace memmove calls
//memmove(bounds + upperIndex + 2, bounds + upperIndex, (edgeCount - upperIndex) * sizeof(b2Bound));
var tArr = new Array();
var j = 0;
var tEnd = boundCount - upperIndex
var tBound1;
var tBound2;
// make temp array
for (j = 0; j < tEnd; j++){
tArr[j] = new b2Bound();
tBound1 = tArr[j];
tBound2 = bounds[upperIndex+j];
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// move temp array back in to bounds
tEnd = tArr.length;
var tIndex = upperIndex+2;
for (j = 0; j < tEnd; j++){
//bounds[tIndex+j] = tArr[j];
tBound2 = tArr[j];
tBound1 = bounds[tIndex+j]
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
//memmove(bounds + lowerIndex + 1, bounds + lowerIndex, (upperIndex - lowerIndex) * sizeof(b2Bound));
// make temp array
tArr = new Array();
tEnd = upperIndex - lowerIndex;
for (j = 0; j < tEnd; j++){
tArr[j] = new b2Bound();
tBound1 = tArr[j];
tBound2 = bounds[lowerIndex+j];
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// move temp array back in to bounds
tEnd = tArr.length;
tIndex = lowerIndex+1;
for (j = 0; j < tEnd; j++){
//bounds[tIndex+j] = tArr[j];
tBound2 = tArr[j];
tBound1 = bounds[tIndex+j]
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// The upper index has increased because of the lower bound insertion.
++upperIndex;
// Copy in the new bounds.
bounds[lowerIndex].value = lowerValues[axis];
bounds[lowerIndex].proxyId = proxyId;
bounds[upperIndex].value = upperValues[axis];
bounds[upperIndex].proxyId = proxyId;
bounds[lowerIndex].stabbingCount = lowerIndex == 0 ? 0 : bounds[lowerIndex-1].stabbingCount;
bounds[upperIndex].stabbingCount = bounds[upperIndex-1].stabbingCount;
// Adjust the stabbing count between the new bounds.
for (index = lowerIndex; index < upperIndex; ++index)
{
bounds[index].stabbingCount++;
}
// Adjust the all the affected bound indices.
for (index = lowerIndex; index < boundCount + 2; ++index)
{
var proxy2 = this.m_proxyPool[ bounds[index].proxyId ];
if (bounds[index].IsLower())
{
proxy2.lowerBounds[axis] = index;
}
else
{
proxy2.upperBounds[axis] = index;
}
}
}
++this.m_proxyCount;
//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
for (var i = 0; i < this.m_queryResultCount; ++i)
{
//b2Settings.b2Assert(this.m_queryResults[i] < b2_maxProxies);
//b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
this.m_pairManager.AddBufferedPair(proxyId, this.m_queryResults[i]);
}
this.m_pairManager.Commit();
// Prepare for next query.
this.m_queryResultCount = 0;
this.IncrementTimeStamp();
return proxyId;
},
DestroyProxy: function(proxyId){
//b2Settings.b2Assert(0 < this.m_proxyCount && this.m_proxyCount <= b2_maxProxies);
var proxy = this.m_proxyPool[ proxyId ];
//b2Settings.b2Assert(proxy.IsValid());
var boundCount = 2 * this.m_proxyCount;
for (var axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
var lowerIndex = proxy.lowerBounds[axis];
var upperIndex = proxy.upperBounds[axis];
var lowerValue = bounds[lowerIndex].value;
var upperValue = bounds[upperIndex].value;
// replace memmove calls
//memmove(bounds + lowerIndex, bounds + lowerIndex + 1, (upperIndex - lowerIndex - 1) * sizeof(b2Bound));
var tArr = new Array();
var j = 0;
var tEnd = upperIndex - lowerIndex - 1;
var tBound1;
var tBound2;
// make temp array
for (j = 0; j < tEnd; j++){
tArr[j] = new b2Bound();
tBound1 = tArr[j];
tBound2 = bounds[lowerIndex+1+j];
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// move temp array back in to bounds
tEnd = tArr.length;
var tIndex = lowerIndex;
for (j = 0; j < tEnd; j++){
//bounds[tIndex+j] = tArr[j];
tBound2 = tArr[j];
tBound1 = bounds[tIndex+j]
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
//memmove(bounds + upperIndex-1, bounds + upperIndex + 1, (edgeCount - upperIndex - 1) * sizeof(b2Bound));
// make temp array
tArr = new Array();
tEnd = boundCount - upperIndex - 1;
for (j = 0; j < tEnd; j++){
tArr[j] = new b2Bound();
tBound1 = tArr[j];
tBound2 = bounds[upperIndex+1+j];
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// move temp array back in to bounds
tEnd = tArr.length;
tIndex = upperIndex-1;
for (j = 0; j < tEnd; j++){
//bounds[tIndex+j] = tArr[j];
tBound2 = tArr[j];
tBound1 = bounds[tIndex+j]
tBound1.value = tBound2.value;
tBound1.proxyId = tBound2.proxyId;
tBound1.stabbingCount = tBound2.stabbingCount;
}
// Fix bound indices.
tEnd = boundCount - 2;
for (var index = lowerIndex; index < tEnd; ++index)
{
var proxy2 = this.m_proxyPool[ bounds[index].proxyId ];
if (bounds[index].IsLower())
{
proxy2.lowerBounds[axis] = index;
}
else
{
proxy2.upperBounds[axis] = index;
}
}
// Fix stabbing count.
tEnd = upperIndex - 1;
for (var index2 = lowerIndex; index2 < tEnd; ++index2)
{
bounds[index2].stabbingCount--;
}
// this.Query for pairs to be removed. lowerIndex and upperIndex are not needed.
// make lowerIndex and upper output using an array and do this for others if compiler doesn't pick them up
this.Query([0], [0], lowerValue, upperValue, bounds, boundCount - 2, axis);
}
//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
for (var i = 0; i < this.m_queryResultCount; ++i)
{
//b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
this.m_pairManager.RemoveBufferedPair(proxyId, this.m_queryResults[i]);
}
this.m_pairManager.Commit();
// Prepare for next query.
this.m_queryResultCount = 0;
this.IncrementTimeStamp();
// Return the proxy to the pool.
proxy.userData = null;
proxy.overlapCount = b2BroadPhase.b2_invalid;
proxy.lowerBounds[0] = b2BroadPhase.b2_invalid;
proxy.lowerBounds[1] = b2BroadPhase.b2_invalid;
proxy.upperBounds[0] = b2BroadPhase.b2_invalid;
proxy.upperBounds[1] = b2BroadPhase.b2_invalid;
proxy.SetNext(this.m_freeProxy);
this.m_freeProxy = proxyId;
--this.m_proxyCount;
},
// Call this.MoveProxy times like, then when you are done
// call this.Commit to finalized the proxy pairs (for your time step).
MoveProxy: function(proxyId, aabb){
var axis = 0;
var index = 0;
var bound;
var prevBound
var nextBound
var nextProxyId = 0;
var nextProxy;
if (proxyId == b2Pair.b2_nullProxy || b2Settings.b2_maxProxies <= proxyId)
{
//b2Settings.b2Assert(false);
return;
}
if (aabb.IsValid() == false)
{
//b2Settings.b2Assert(false);
return;
}
var boundCount = 2 * this.m_proxyCount;
var proxy = this.m_proxyPool[ proxyId ];
// Get new bound values
var newValues = new b2BoundValues();
this.ComputeBounds(newValues.lowerValues, newValues.upperValues, aabb);
// Get old bound values
var oldValues = new b2BoundValues();
for (axis = 0; axis < 2; ++axis)
{
oldValues.lowerValues[axis] = this.m_bounds[axis][proxy.lowerBounds[axis]].value;
oldValues.upperValues[axis] = this.m_bounds[axis][proxy.upperBounds[axis]].value;
}
for (axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
var lowerIndex = proxy.lowerBounds[axis];
var upperIndex = proxy.upperBounds[axis];
var lowerValue = newValues.lowerValues[axis];
var upperValue = newValues.upperValues[axis];
var deltaLower = lowerValue - bounds[lowerIndex].value;
var deltaUpper = upperValue - bounds[upperIndex].value;
bounds[lowerIndex].value = lowerValue;
bounds[upperIndex].value = upperValue;
//
// Expanding adds overlaps
//
// Should we move the lower bound down?
if (deltaLower < 0)
{
index = lowerIndex;
while (index > 0 && lowerValue < bounds[index-1].value)
{
bound = bounds[index];
prevBound = bounds[index - 1];
var prevProxyId = prevBound.proxyId;
var prevProxy = this.m_proxyPool[ prevBound.proxyId ];
prevBound.stabbingCount++;
if (prevBound.IsUpper() == true)
{
if (this.TestOverlap(newValues, prevProxy))
{
this.m_pairManager.AddBufferedPair(proxyId, prevProxyId);
}
prevProxy.upperBounds[axis]++;
bound.stabbingCount++;
}
else
{
prevProxy.lowerBounds[axis]++;
bound.stabbingCount--;
}
proxy.lowerBounds[axis]--;
// swap
//var temp = bound;
//bound = prevEdge;
//prevEdge = temp;
bound.Swap(prevBound);
//b2Math.b2Swap(bound, prevEdge);
--index;
}
}
// Should we move the upper bound up?
if (deltaUpper > 0)
{
index = upperIndex;
while (index < boundCount-1 && bounds[index+1].value <= upperValue)
{
bound = bounds[ index ];
nextBound = bounds[ index + 1 ];
nextProxyId = nextBound.proxyId;
nextProxy = this.m_proxyPool[ nextProxyId ];
nextBound.stabbingCount++;
if (nextBound.IsLower() == true)
{
if (this.TestOverlap(newValues, nextProxy))
{
this.m_pairManager.AddBufferedPair(proxyId, nextProxyId);
}
nextProxy.lowerBounds[axis]--;
bound.stabbingCount++;
}
else
{
nextProxy.upperBounds[axis]--;
bound.stabbingCount--;
}
proxy.upperBounds[axis]++;
// swap
//var temp = bound;
//bound = nextEdge;
//nextEdge = temp;
bound.Swap(nextBound);
//b2Math.b2Swap(bound, nextEdge);
index++;
}
}
//
// Shrinking removes overlaps
//
// Should we move the lower bound up?
if (deltaLower > 0)
{
index = lowerIndex;
while (index < boundCount-1 && bounds[index+1].value <= lowerValue)
{
bound = bounds[ index ];
nextBound = bounds[ index + 1 ];
nextProxyId = nextBound.proxyId;
nextProxy = this.m_proxyPool[ nextProxyId ];
nextBound.stabbingCount--;
if (nextBound.IsUpper())
{
if (this.TestOverlap(oldValues, nextProxy))
{
this.m_pairManager.RemoveBufferedPair(proxyId, nextProxyId);
}
nextProxy.upperBounds[axis]--;
bound.stabbingCount--;
}
else
{
nextProxy.lowerBounds[axis]--;
bound.stabbingCount++;
}
proxy.lowerBounds[axis]++;
// swap
//var temp = bound;
//bound = nextEdge;
//nextEdge = temp;
bound.Swap(nextBound);
//b2Math.b2Swap(bound, nextEdge);
index++;
}
}
// Should we move the upper bound down?
if (deltaUpper < 0)
{
index = upperIndex;
while (index > 0 && upperValue < bounds[index-1].value)
{
bound = bounds[index];
prevBound = bounds[index - 1];
prevProxyId = prevBound.proxyId;
prevProxy = this.m_proxyPool[ prevProxyId ];
prevBound.stabbingCount--;
if (prevBound.IsLower() == true)
{
if (this.TestOverlap(oldValues, prevProxy))
{
this.m_pairManager.RemoveBufferedPair(proxyId, prevProxyId);
}
prevProxy.lowerBounds[axis]++;
bound.stabbingCount--;
}
else
{
prevProxy.upperBounds[axis]++;
bound.stabbingCount++;
}
proxy.upperBounds[axis]--;
// swap
//var temp = bound;
//bound = prevEdge;
//prevEdge = temp;
bound.Swap(prevBound);
//b2Math.b2Swap(bound, prevEdge);
index--;
}
}
}
},
Commit: function(){
this.m_pairManager.Commit();
},
// this.Query an AABB for overlapping proxies, returns the user data and
// the count, up to the supplied maximum count.
QueryAABB: function(aabb, userData, maxCount){
var lowerValues = new Array();
var upperValues = new Array();
this.ComputeBounds(lowerValues, upperValues, aabb);
var lowerIndex = 0;
var upperIndex = 0;
var lowerIndexOut = [lowerIndex];
var upperIndexOut = [upperIndex];
this.Query(lowerIndexOut, upperIndexOut, lowerValues[0], upperValues[0], this.m_bounds[0], 2*this.m_proxyCount, 0);
this.Query(lowerIndexOut, upperIndexOut, lowerValues[1], upperValues[1], this.m_bounds[1], 2*this.m_proxyCount, 1);
//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
var count = 0;
for (var i = 0; i < this.m_queryResultCount && count < maxCount; ++i, ++count)
{
//b2Settings.b2Assert(this.m_queryResults[i] < b2Settings.b2_maxProxies);
var proxy = this.m_proxyPool[ this.m_queryResults[i] ];
//b2Settings.b2Assert(proxy.IsValid());
userData[i] = proxy.userData;
}
// Prepare for next query.
this.m_queryResultCount = 0;
this.IncrementTimeStamp();
return count;
},
Validate: function(){
var pair;
var proxy1;
var proxy2;
var overlap;
for (var axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
var boundCount = 2 * this.m_proxyCount;
var stabbingCount = 0;
for (var i = 0; i < boundCount; ++i)
{
var bound = bounds[i];
//b2Settings.b2Assert(i == 0 || bounds[i-1].value <= bound->value);
//b2Settings.b2Assert(bound->proxyId != b2_nullProxy);
//b2Settings.b2Assert(this.m_proxyPool[bound->proxyId].IsValid());
if (bound.IsLower() == true)
{
//b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].lowerBounds[axis] == i);
stabbingCount++;
}
else
{
//b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].upperBounds[axis] == i);
stabbingCount--;
}
//b2Settings.b2Assert(bound.stabbingCount == stabbingCount);
}
}
},
//private:
ComputeBounds: function(lowerValues, upperValues, aabb)
{
//b2Settings.b2Assert(aabb.maxVertex.x > aabb.minVertex.x);
//b2Settings.b2Assert(aabb.maxVertex.y > aabb.minVertex.y);
//var minVertex = b2Math.b2ClampV(aabb.minVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
var minVertexX = aabb.minVertex.x;
var minVertexY = aabb.minVertex.y;
minVertexX = b2Math.b2Min(minVertexX, this.m_worldAABB.maxVertex.x);
minVertexY = b2Math.b2Min(minVertexY, this.m_worldAABB.maxVertex.y);
minVertexX = b2Math.b2Max(minVertexX, this.m_worldAABB.minVertex.x);
minVertexY = b2Math.b2Max(minVertexY, this.m_worldAABB.minVertex.y);
//var maxVertex = b2Math.b2ClampV(aabb.maxVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
var maxVertexX = aabb.maxVertex.x;
var maxVertexY = aabb.maxVertex.y;
maxVertexX = b2Math.b2Min(maxVertexX, this.m_worldAABB.maxVertex.x);
maxVertexY = b2Math.b2Min(maxVertexY, this.m_worldAABB.maxVertex.y);
maxVertexX = b2Math.b2Max(maxVertexX, this.m_worldAABB.minVertex.x);
maxVertexY = b2Math.b2Max(maxVertexY, this.m_worldAABB.minVertex.y);
// Bump lower bounds downs and upper bounds up. This ensures correct sorting of
// lower/upper bounds that would have equal values.
// TODO_ERIN implement fast float to uint16 conversion.
lowerValues[0] = /*uint*/(this.m_quantizationFactor.x * (minVertexX - this.m_worldAABB.minVertex.x)) & (b2Settings.USHRT_MAX - 1);
upperValues[0] = (/*uint*/(this.m_quantizationFactor.x * (maxVertexX - this.m_worldAABB.minVertex.x))& 0x0000ffff) | 1;
lowerValues[1] = /*uint*/(this.m_quantizationFactor.y * (minVertexY - this.m_worldAABB.minVertex.y)) & (b2Settings.USHRT_MAX - 1);
upperValues[1] = (/*uint*/(this.m_quantizationFactor.y * (maxVertexY - this.m_worldAABB.minVertex.y))& 0x0000ffff) | 1;
},
// This one is only used for validation.
TestOverlapValidate: function(p1, p2){
for (var axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
//b2Settings.b2Assert(p1.lowerBounds[axis] < 2 * this.m_proxyCount);
//b2Settings.b2Assert(p1.upperBounds[axis] < 2 * this.m_proxyCount);
//b2Settings.b2Assert(p2.lowerBounds[axis] < 2 * this.m_proxyCount);
//b2Settings.b2Assert(p2.upperBounds[axis] < 2 * this.m_proxyCount);
if (bounds[p1.lowerBounds[axis]].value > bounds[p2.upperBounds[axis]].value)
return false;
if (bounds[p1.upperBounds[axis]].value < bounds[p2.lowerBounds[axis]].value)
return false;
}
return true;
},
TestOverlap: function(b, p)
{
for (var axis = 0; axis < 2; ++axis)
{
var bounds = this.m_bounds[axis];
//b2Settings.b2Assert(p.lowerBounds[axis] < 2 * this.m_proxyCount);
//b2Settings.b2Assert(p.upperBounds[axis] < 2 * this.m_proxyCount);
if (b.lowerValues[axis] > bounds[p.upperBounds[axis]].value)
return false;
if (b.upperValues[axis] < bounds[p.lowerBounds[axis]].value)
return false;
}
return true;
},
Query: function(lowerQueryOut, upperQueryOut, lowerValue, upperValue, bounds, boundCount, axis){
var lowerQuery = b2BroadPhase.BinarySearch(bounds, boundCount, lowerValue);
var upperQuery = b2BroadPhase.BinarySearch(bounds, boundCount, upperValue);
// Easy case: lowerQuery <= lowerIndex(i) < upperQuery
// Solution: search query range for min bounds.
for (var j = lowerQuery; j < upperQuery; ++j)
{
if (bounds[j].IsLower())
{
this.IncrementOverlapCount(bounds[j].proxyId);
}
}
// Hard case: lowerIndex(i) < lowerQuery < upperIndex(i)
// Solution: use the stabbing count to search down the bound array.
if (lowerQuery > 0)
{
var i = lowerQuery - 1;
var s = bounds[i].stabbingCount;
// Find the s overlaps.
while (s)
{
//b2Settings.b2Assert(i >= 0);
if (bounds[i].IsLower())
{
var proxy = this.m_proxyPool[ bounds[i].proxyId ];
if (lowerQuery <= proxy.upperBounds[axis])
{
this.IncrementOverlapCount(bounds[i].proxyId);
--s;
}
}
--i;
}
}
lowerQueryOut[0] = lowerQuery;
upperQueryOut[0] = upperQuery;
},
IncrementOverlapCount: function(proxyId){
var proxy = this.m_proxyPool[ proxyId ];
if (proxy.timeStamp < this.m_timeStamp)
{
proxy.timeStamp = this.m_timeStamp;
proxy.overlapCount = 1;
}
else
{
proxy.overlapCount = 2;
//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
this.m_queryResults[this.m_queryResultCount] = proxyId;
++this.m_queryResultCount;
}
},
IncrementTimeStamp: function(){
if (this.m_timeStamp == b2Settings.USHRT_MAX)
{
for (var i = 0; i < b2Settings.b2_maxProxies; ++i)
{
this.m_proxyPool[i].timeStamp = 0;
}
this.m_timeStamp = 1;
}
else
{
++this.m_timeStamp;
}
},
//public:
m_pairManager: new b2PairManager(),
m_proxyPool: new Array(b2Settings.b2_maxPairs),
m_freeProxy: 0,
m_bounds: new Array(2*b2Settings.b2_maxProxies),
m_queryResults: new Array(b2Settings.b2_maxProxies),
m_queryResultCount: 0,
m_worldAABB: null,
m_quantizationFactor: new b2Vec2(),
m_proxyCount: 0,
m_timeStamp: 0};
b2BroadPhase.s_validate = false;
b2BroadPhase.b2_invalid = b2Settings.USHRT_MAX;
b2BroadPhase.b2_nullEdge = b2Settings.USHRT_MAX;
b2BroadPhase.BinarySearch = function(bounds, count, value)
{
var low = 0;
var high = count - 1;
while (low <= high)
{
var mid = Math.floor((low + high) / 2);
if (bounds[mid].value > value)
{
high = mid - 1;
}
else if (bounds[mid].value < value)
{
low = mid + 1;
}
else
{
return /*uint*/(mid);
}
}
return /*uint*/(low);
};
