From 8bf47140fe092fd0706a73869428feca3b1d9859 Mon Sep 17 00:00:00 2001
From: ejcoumans <ejcoumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Tue, 25 Jul 2006 00:30:15 +0000
Subject: [PATCH] prepare for AABB tree traversal for compound objects

---
 .../CompoundCollisionAlgorithm.cpp            |  8 ++++++++
 Bullet/CollisionShapes/CompoundShape.cpp      |  3 ++-
 Bullet/CollisionShapes/CompoundShape.h        | 10 +++++++++-
 Bullet/CollisionShapes/OptimizedBvh.cpp       | 19 ++++++-------------
 4 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp b/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
index ef27c34c0..9c021f63f 100644
--- a/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
+++ b/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
@@ -65,6 +65,14 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
 	
 	CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
 
+	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
+	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
+	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
+	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
+	//then use each overlapping node AABB against Tree0
+	//and vise versa.
+
+
 	int numChildren = m_childCollisionAlgorithms.size();
 	int i;
 	for (i=0;i<numChildren;i++)
diff --git a/Bullet/CollisionShapes/CompoundShape.cpp b/Bullet/CollisionShapes/CompoundShape.cpp
index 80539962c..28fead98b 100644
--- a/Bullet/CollisionShapes/CompoundShape.cpp
+++ b/Bullet/CollisionShapes/CompoundShape.cpp
@@ -21,7 +21,8 @@ subject to the following restrictions:
 
 CompoundShape::CompoundShape()
 :m_localAabbMin(1e30f,1e30f,1e30f),
-m_localAabbMax(-1e30f,-1e30f,-1e30f)
+m_localAabbMax(-1e30f,-1e30f,-1e30f),
+m_aabbTree(0)
 {
 }
 
diff --git a/Bullet/CollisionShapes/CompoundShape.h b/Bullet/CollisionShapes/CompoundShape.h
index 1d3f249f8..7a43e44c2 100644
--- a/Bullet/CollisionShapes/CompoundShape.h
+++ b/Bullet/CollisionShapes/CompoundShape.h
@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include <vector>
 #include "CollisionShapes/CollisionMargin.h"
 
-
+class OptimizedBvh;
 
 /// CompoundShape allows to store multiple other CollisionShapes
 /// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
@@ -35,6 +35,7 @@ class CompoundShape	: public CollisionShape
 	SimdVector3						m_localAabbMin;
 	SimdVector3						m_localAabbMax;
 
+	OptimizedBvh*					m_aabbTree;
 
 public:
 	CompoundShape();
@@ -96,6 +97,13 @@ public:
 		return "Compound";
 	}
 
+	//this is optional, but should make collision queries faster, by culling non-overlapping nodes
+	void	CreateAabbTreeFromChildren();
+
+	const OptimizedBvh*					GetAabbTree() const
+	{
+		return m_aabbTree;
+	}
 
 private:
 	SimdScalar	m_collisionMargin;
diff --git a/Bullet/CollisionShapes/OptimizedBvh.cpp b/Bullet/CollisionShapes/OptimizedBvh.cpp
index 0cd20ecd0..1b30bfbcb 100644
--- a/Bullet/CollisionShapes/OptimizedBvh.cpp
+++ b/Bullet/CollisionShapes/OptimizedBvh.cpp
@@ -193,21 +193,14 @@ int	OptimizedBvh::CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endI
 }
 
 
-	
+
 void	OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
-	if (aabbMin.length() > 1000.f)
-	{
-		for (size_t i=0;i<m_leafNodes.size();i++)
-		{
-			const OptimizedBvhNode&	node = m_leafNodes[i];
-			nodeCallback->ProcessNode(&node);
-		}
-	} else
-	{
-		//WalkTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
-		WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
-	}
+	//either choose recursive traversal (WalkTree) or stackless (WalkStacklessTree)
+
+	//WalkTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
+
+	WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
 }
 
 void	OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const