I'm trying to compute self-collision of a triangular mesh (more or less, it's a cloth simulation except the cloth isn't a simple rectangle). I wanted to start with a broad-phase SAP on the faces' AABBs and then do some custom work on the resulting pairs (I'm using an inexact method that is "good enough" for my particular purpose). Opcode's ArraySAP seemed like a good way to go as it seemed a bit easier to modify then Bullet's SAP. However, I've run into a problem.
I'm using the ArraySAP as follows...
1) add objects to ArraySAP
2) update AABBs whenever needed
3) call DumpPairs with no callbacks to get a list of intersecting AABBs.
However, I'm getting WAY too many pairs returned and many of them don't intersect upon inspection (roughly 80% don't).
Clearly I'm doing something wrong here. Thoughts?