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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
#include "BpAABBManagerBase.h"
#include "BpBroadPhase.h"
using namespace physx;
using namespace Bp;
using namespace Cm;
AABBManagerBase::AABBManagerBase( BroadPhase& bp, BoundsArray& boundsArray, PinnableArray<PxReal>& contactDistance,
PxU32 maxNbAggregates, PxU32 maxNbShapes, VirtualAllocatorCallback& allocator, PxU64 contextID,
PxPairFilteringMode::Enum kineKineFilteringMode, PxPairFilteringMode::Enum staticKineFilteringMode) :
mAddedHandleMap (allocator),
mRemovedHandleMap (allocator),
mChangedHandleMap (allocator),
mGroups (allocator),
mEnvIDs (allocator),
mContactDistance (contactDistance),
mVolumeData (allocator),
mFilters (kineKineFilteringMode == PxPairFilteringMode::eKILL, staticKineFilteringMode == PxPairFilteringMode::eKILL),
mAddedHandles (allocator),
mUpdatedHandles (allocator),
mRemovedHandles (allocator),
mBroadPhase (bp),
mBoundsArray (boundsArray),
mUsedSize (0),
mNbAggregates (0),
#if PX_ENABLE_SIM_STATS
mGpuDynamicsLostFoundPairsStats(0),
mGpuDynamicsTotalAggregatePairsStats(0),
mGpuDynamicsLostFoundAggregatePairsStats(0),
#else
PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
#endif
#if BP_USE_AGGREGATE_GROUP_TAIL
mAggregateGroupTide (PxU32(Bp::FilterGroup::eAGGREGATE_BASE)),
#endif
mContextID (contextID),
mOriginShifted (false)
{
PX_UNUSED(maxNbAggregates); // PT: TODO: use it or remove it
reserveShapeSpace(PxMax(maxNbShapes, 1u));
// mCreatedOverlaps.reserve(16000);
}
void AABBManagerBase::reserveShapeSpace(PxU32 nbTotalBounds)
{
nbTotalBounds = PxNextPowerOfTwo(nbTotalBounds);
mGroups.resize(nbTotalBounds, Bp::FilterGroup::eINVALID);
mVolumeData.resize(nbTotalBounds); //KS - must be initialized so that userData is NULL for SQ-only shapes
mContactDistance.resizeUninitialized(nbTotalBounds);
mAddedHandleMap.resize(nbTotalBounds);
mRemovedHandleMap.resize(nbTotalBounds);
}
void AABBManagerBase::reserveSpaceForBounds(BoundsIndex index)
{
if ((index + 1) >= mVolumeData.size())
reserveShapeSpace(index + 1);
resetEntry(index); //KS - make sure this entry is flagged as invalid
}
void AABBManagerBase::freeBuffers()
{
// PT: TODO: investigate if we need more stuff here
mBroadPhase.freeBuffers();
}
void AABBManagerBase::shiftOrigin(const PxVec3& shift)
{
mBroadPhase.shiftOrigin(shift, mBoundsArray.begin(), mContactDistance.begin());
mOriginShifted = true;
}