From 7c0abad0416232a1d438d8293be17cf340857a75 Mon Sep 17 00:00:00 2001
From: ejcoumans <ejcoumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Fri, 3 Aug 2007 01:48:34 +0000
Subject: [PATCH] added aabb overlap check for multi SAP broadphase

---
 .../BroadphaseCollision/btMultiSapBroadphase.cpp | 16 +++++++++++++++-
 .../BroadphaseCollision/btMultiSapBroadphase.h   |  2 ++
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
index 3939f66f6..a94fa861c 100644
--- a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
@@ -16,6 +16,7 @@ subject to the following restrictions:
 #include "btMultiSapBroadphase.h"
 
 #include "btSimpleBroadphase.h"
+#include "LinearMath/btAabbUtil2.h"
 
 ///	btSapBroadphaseArray	m_sapBroadphases;
 
@@ -84,6 +85,9 @@ void	btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy)
 void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
 {
 	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
+	multiProxy->m_aabbMin = aabbMin;
+	multiProxy->m_aabbMax = aabbMax;
+
 	for (int i=0;i<multiProxy->m_childProxies.size();i++)
 	{
 		btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
@@ -126,7 +130,7 @@ void	btMultiSapBroadphase::calculateOverlappingPairs()
 
 		if (!isDuplicate)
 		{
-			bool hasOverlap = true;//testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+			bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
 
 			if (hasOverlap)
 			{
@@ -170,3 +174,13 @@ void	btMultiSapBroadphase::calculateOverlappingPairs()
 
 }
 
+
+bool	btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
+{
+		btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
+		btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
+
+		return	TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
+			multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
+		
+}
diff --git a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
index e51d5e5d3..f7199248e 100644
--- a/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+++ b/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
@@ -98,6 +98,8 @@ public:
 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
 	virtual void	calculateOverlappingPairs();
 
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
 	virtual	btOverlappingPairCache*	getOverlappingPairCache()
 	{
 		return m_overlappingPairs;