diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp | 1357 |
1 files changed, 0 insertions, 1357 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp deleted file mode 100644 index 166cb04c0b..0000000000 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +++ /dev/null @@ -1,1357 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -///btDbvt implementation by Nathanael Presson - -#include "btDbvt.h" - -// -typedef btAlignedObjectArray<btDbvtNode*> tNodeArray; -typedef btAlignedObjectArray<const btDbvtNode*> tConstNodeArray; - -// -struct btDbvtNodeEnumerator : btDbvt::ICollide -{ - tConstNodeArray nodes; - void Process(const btDbvtNode* n) { nodes.push_back(n); } -}; - -// -static DBVT_INLINE int indexof(const btDbvtNode* node) -{ - return (node->parent->childs[1] == node); -} - -// -static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a, - const btDbvtVolume& b) -{ -#ifdef BT_USE_SSE - ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]); - btDbvtVolume* ptr = (btDbvtVolume*)locals; - btDbvtVolume& res = *ptr; -#else - btDbvtVolume res; -#endif - Merge(a, b, res); - return (res); -} - -// volume+edge lengths -static DBVT_INLINE btScalar size(const btDbvtVolume& a) -{ - const btVector3 edges = a.Lengths(); - return (edges.x() * edges.y() * edges.z() + - edges.x() + edges.y() + edges.z()); -} - -// -static void getmaxdepth(const btDbvtNode* node, int depth, int& maxdepth) -{ - if (node->isinternal()) - { - getmaxdepth(node->childs[0], depth + 1, maxdepth); - getmaxdepth(node->childs[1], depth + 1, maxdepth); - } - else - maxdepth = btMax(maxdepth, depth); -} - -// -static DBVT_INLINE void deletenode(btDbvt* pdbvt, - btDbvtNode* node) -{ - btAlignedFree(pdbvt->m_free); - pdbvt->m_free = node; -} - -// -static void recursedeletenode(btDbvt* pdbvt, - btDbvtNode* node) -{ - if (node == 0) return; - if (!node->isleaf()) - { - recursedeletenode(pdbvt, node->childs[0]); - recursedeletenode(pdbvt, node->childs[1]); - } - if (node == pdbvt->m_root) pdbvt->m_root = 0; - deletenode(pdbvt, node); -} - -// -static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt, - btDbvtNode* parent, - void* data) -{ - btDbvtNode* node; - if (pdbvt->m_free) - { - node = pdbvt->m_free; - pdbvt->m_free = 0; - } - else - { - node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode(); - } - node->parent = parent; - node->data = data; - node->childs[1] = 0; - return (node); -} - -// -static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt, - btDbvtNode* parent, - const btDbvtVolume& volume, - void* data) -{ - btDbvtNode* node = createnode(pdbvt, parent, data); - node->volume = volume; - return (node); -} - -// -static DBVT_INLINE btDbvtNode* createnode(btDbvt* pdbvt, - btDbvtNode* parent, - const btDbvtVolume& volume0, - const btDbvtVolume& volume1, - void* data) -{ - btDbvtNode* node = createnode(pdbvt, parent, data); - Merge(volume0, volume1, node->volume); - return (node); -} - -// -static void insertleaf(btDbvt* pdbvt, - btDbvtNode* root, - btDbvtNode* leaf) -{ - if (!pdbvt->m_root) - { - pdbvt->m_root = leaf; - leaf->parent = 0; - } - else - { - if (!root->isleaf()) - { - do - { - root = root->childs[Select(leaf->volume, - root->childs[0]->volume, - root->childs[1]->volume)]; - } while (!root->isleaf()); - } - btDbvtNode* prev = root->parent; - btDbvtNode* node = createnode(pdbvt, prev, leaf->volume, root->volume, 0); - if (prev) - { - prev->childs[indexof(root)] = node; - node->childs[0] = root; - root->parent = node; - node->childs[1] = leaf; - leaf->parent = node; - do - { - if (!prev->volume.Contain(node->volume)) - Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume); - else - break; - node = prev; - } while (0 != (prev = node->parent)); - } - else - { - node->childs[0] = root; - root->parent = node; - node->childs[1] = leaf; - leaf->parent = node; - pdbvt->m_root = node; - } - } -} - -// -static btDbvtNode* removeleaf(btDbvt* pdbvt, - btDbvtNode* leaf) -{ - if (leaf == pdbvt->m_root) - { - pdbvt->m_root = 0; - return (0); - } - else - { - btDbvtNode* parent = leaf->parent; - btDbvtNode* prev = parent->parent; - btDbvtNode* sibling = parent->childs[1 - indexof(leaf)]; - if (prev) - { - prev->childs[indexof(parent)] = sibling; - sibling->parent = prev; - deletenode(pdbvt, parent); - while (prev) - { - const btDbvtVolume pb = prev->volume; - Merge(prev->childs[0]->volume, prev->childs[1]->volume, prev->volume); - if (NotEqual(pb, prev->volume)) - { - prev = prev->parent; - } - else - break; - } - return (prev ? prev : pdbvt->m_root); - } - else - { - pdbvt->m_root = sibling; - sibling->parent = 0; - deletenode(pdbvt, parent); - return (pdbvt->m_root); - } - } -} - -// -static void fetchleaves(btDbvt* pdbvt, - btDbvtNode* root, - tNodeArray& leaves, - int depth = -1) -{ - if (root->isinternal() && depth) - { - fetchleaves(pdbvt, root->childs[0], leaves, depth - 1); - fetchleaves(pdbvt, root->childs[1], leaves, depth - 1); - deletenode(pdbvt, root); - } - else - { - leaves.push_back(root); - } -} - -// -static bool leftOfAxis(const btDbvtNode* node, - const btVector3& org, - const btVector3& axis) -{ - return btDot(axis, node->volume.Center() - org) <= 0; -} - -// Partitions leaves such that leaves[0, n) are on the -// left of axis, and leaves[n, count) are on the right -// of axis. returns N. -static int split(btDbvtNode** leaves, - int count, - const btVector3& org, - const btVector3& axis) -{ - int begin = 0; - int end = count; - for (;;) - { - while (begin != end && leftOfAxis(leaves[begin], org, axis)) - { - ++begin; - } - - if (begin == end) - { - break; - } - - while (begin != end && !leftOfAxis(leaves[end - 1], org, axis)) - { - --end; - } - - if (begin == end) - { - break; - } - - // swap out of place nodes - --end; - btDbvtNode* temp = leaves[begin]; - leaves[begin] = leaves[end]; - leaves[end] = temp; - ++begin; - } - - return begin; -} - -// -static btDbvtVolume bounds(btDbvtNode** leaves, - int count) -{ -#ifdef BT_USE_SSE - ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]); - btDbvtVolume* ptr = (btDbvtVolume*)locals; - btDbvtVolume& volume = *ptr; - volume = leaves[0]->volume; -#else - btDbvtVolume volume = leaves[0]->volume; -#endif - for (int i = 1, ni = count; i < ni; ++i) - { - Merge(volume, leaves[i]->volume, volume); - } - return (volume); -} - -// -static void bottomup(btDbvt* pdbvt, - btDbvtNode** leaves, - int count) -{ - while (count > 1) - { - btScalar minsize = SIMD_INFINITY; - int minidx[2] = {-1, -1}; - for (int i = 0; i < count; ++i) - { - for (int j = i + 1; j < count; ++j) - { - const btScalar sz = size(merge(leaves[i]->volume, leaves[j]->volume)); - if (sz < minsize) - { - minsize = sz; - minidx[0] = i; - minidx[1] = j; - } - } - } - btDbvtNode* n[] = {leaves[minidx[0]], leaves[minidx[1]]}; - btDbvtNode* p = createnode(pdbvt, 0, n[0]->volume, n[1]->volume, 0); - p->childs[0] = n[0]; - p->childs[1] = n[1]; - n[0]->parent = p; - n[1]->parent = p; - leaves[minidx[0]] = p; - leaves[minidx[1]] = leaves[count - 1]; - --count; - } -} - -// -static btDbvtNode* topdown(btDbvt* pdbvt, - btDbvtNode** leaves, - int count, - int bu_treshold) -{ - static const btVector3 axis[] = {btVector3(1, 0, 0), - btVector3(0, 1, 0), - btVector3(0, 0, 1)}; - btAssert(bu_treshold > 2); - if (count > 1) - { - if (count > bu_treshold) - { - const btDbvtVolume vol = bounds(leaves, count); - const btVector3 org = vol.Center(); - int partition; - int bestaxis = -1; - int bestmidp = count; - int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}}; - int i; - for (i = 0; i < count; ++i) - { - const btVector3 x = leaves[i]->volume.Center() - org; - for (int j = 0; j < 3; ++j) - { - ++splitcount[j][btDot(x, axis[j]) > 0 ? 1 : 0]; - } - } - for (i = 0; i < 3; ++i) - { - if ((splitcount[i][0] > 0) && (splitcount[i][1] > 0)) - { - const int midp = (int)btFabs(btScalar(splitcount[i][0] - splitcount[i][1])); - if (midp < bestmidp) - { - bestaxis = i; - bestmidp = midp; - } - } - } - if (bestaxis >= 0) - { - partition = split(leaves, count, org, axis[bestaxis]); - btAssert(partition != 0 && partition != count); - } - else - { - partition = count / 2 + 1; - } - btDbvtNode* node = createnode(pdbvt, 0, vol, 0); - node->childs[0] = topdown(pdbvt, &leaves[0], partition, bu_treshold); - node->childs[1] = topdown(pdbvt, &leaves[partition], count - partition, bu_treshold); - node->childs[0]->parent = node; - node->childs[1]->parent = node; - return (node); - } - else - { - bottomup(pdbvt, leaves, count); - return (leaves[0]); - } - } - return (leaves[0]); -} - -// -static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n, btDbvtNode*& r) -{ - btDbvtNode* p = n->parent; - btAssert(n->isinternal()); - if (p > n) - { - const int i = indexof(n); - const int j = 1 - i; - btDbvtNode* s = p->childs[j]; - btDbvtNode* q = p->parent; - btAssert(n == p->childs[i]); - if (q) - q->childs[indexof(p)] = n; - else - r = n; - s->parent = n; - p->parent = n; - n->parent = q; - p->childs[0] = n->childs[0]; - p->childs[1] = n->childs[1]; - n->childs[0]->parent = p; - n->childs[1]->parent = p; - n->childs[i] = p; - n->childs[j] = s; - btSwap(p->volume, n->volume); - return (p); - } - return (n); -} - -#if 0 -static DBVT_INLINE btDbvtNode* walkup(btDbvtNode* n,int count) -{ - while(n&&(count--)) n=n->parent; - return(n); -} -#endif - -// -// Api -// - -// -btDbvt::btDbvt() -{ - m_root = 0; - m_free = 0; - m_lkhd = -1; - m_leaves = 0; - m_opath = 0; -} - -// -btDbvt::~btDbvt() -{ - clear(); -} - -// -void btDbvt::clear() -{ - if (m_root) - recursedeletenode(this, m_root); - btAlignedFree(m_free); - m_free = 0; - m_lkhd = -1; - m_stkStack.clear(); - m_opath = 0; -} - -// -void btDbvt::optimizeBottomUp() -{ - if (m_root) - { - tNodeArray leaves; - leaves.reserve(m_leaves); - fetchleaves(this, m_root, leaves); - bottomup(this, &leaves[0], leaves.size()); - m_root = leaves[0]; - } -} - -// -void btDbvt::optimizeTopDown(int bu_treshold) -{ - if (m_root) - { - tNodeArray leaves; - leaves.reserve(m_leaves); - fetchleaves(this, m_root, leaves); - m_root = topdown(this, &leaves[0], leaves.size(), bu_treshold); - } -} - -// -void btDbvt::optimizeIncremental(int passes) -{ - if (passes < 0) passes = m_leaves; - if (m_root && (passes > 0)) - { - do - { - btDbvtNode* node = m_root; - unsigned bit = 0; - while (node->isinternal()) - { - node = sort(node, m_root)->childs[(m_opath >> bit) & 1]; - bit = (bit + 1) & (sizeof(unsigned) * 8 - 1); - } - update(node); - ++m_opath; - } while (--passes); - } -} - -// -btDbvtNode* btDbvt::insert(const btDbvtVolume& volume, void* data) -{ - btDbvtNode* leaf = createnode(this, 0, volume, data); - insertleaf(this, m_root, leaf); - ++m_leaves; - return (leaf); -} - -// -void btDbvt::update(btDbvtNode* leaf, int lookahead) -{ - btDbvtNode* root = removeleaf(this, leaf); - if (root) - { - if (lookahead >= 0) - { - for (int i = 0; (i < lookahead) && root->parent; ++i) - { - root = root->parent; - } - } - else - root = m_root; - } - insertleaf(this, root, leaf); -} - -// -void btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume) -{ - btDbvtNode* root = removeleaf(this, leaf); - if (root) - { - if (m_lkhd >= 0) - { - for (int i = 0; (i < m_lkhd) && root->parent; ++i) - { - root = root->parent; - } - } - else - root = m_root; - } - leaf->volume = volume; - insertleaf(this, root, leaf); -} - -// -bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity, btScalar margin) -{ - if (leaf->volume.Contain(volume)) return (false); - volume.Expand(btVector3(margin, margin, margin)); - volume.SignedExpand(velocity); - update(leaf, volume); - return (true); -} - -// -bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, const btVector3& velocity) -{ - if (leaf->volume.Contain(volume)) return (false); - volume.SignedExpand(velocity); - update(leaf, volume); - return (true); -} - -// -bool btDbvt::update(btDbvtNode* leaf, btDbvtVolume& volume, btScalar margin) -{ - if (leaf->volume.Contain(volume)) return (false); - volume.Expand(btVector3(margin, margin, margin)); - update(leaf, volume); - return (true); -} - -// -void btDbvt::remove(btDbvtNode* leaf) -{ - removeleaf(this, leaf); - deletenode(this, leaf); - --m_leaves; -} - -// -void btDbvt::write(IWriter* iwriter) const -{ - btDbvtNodeEnumerator nodes; - nodes.nodes.reserve(m_leaves * 2); - enumNodes(m_root, nodes); - iwriter->Prepare(m_root, nodes.nodes.size()); - for (int i = 0; i < nodes.nodes.size(); ++i) - { - const btDbvtNode* n = nodes.nodes[i]; - int p = -1; - if (n->parent) p = nodes.nodes.findLinearSearch(n->parent); - if (n->isinternal()) - { - const int c0 = nodes.nodes.findLinearSearch(n->childs[0]); - const int c1 = nodes.nodes.findLinearSearch(n->childs[1]); - iwriter->WriteNode(n, i, p, c0, c1); - } - else - { - iwriter->WriteLeaf(n, i, p); - } - } -} - -// -void btDbvt::clone(btDbvt& dest, IClone* iclone) const -{ - dest.clear(); - if (m_root != 0) - { - btAlignedObjectArray<sStkCLN> stack; - stack.reserve(m_leaves); - stack.push_back(sStkCLN(m_root, 0)); - do - { - const int i = stack.size() - 1; - const sStkCLN e = stack[i]; - btDbvtNode* n = createnode(&dest, e.parent, e.node->volume, e.node->data); - stack.pop_back(); - if (e.parent != 0) - e.parent->childs[i & 1] = n; - else - dest.m_root = n; - if (e.node->isinternal()) - { - stack.push_back(sStkCLN(e.node->childs[0], n)); - stack.push_back(sStkCLN(e.node->childs[1], n)); - } - else - { - iclone->CloneLeaf(n); - } - } while (stack.size() > 0); - } -} - -// -int btDbvt::maxdepth(const btDbvtNode* node) -{ - int depth = 0; - if (node) getmaxdepth(node, 1, depth); - return (depth); -} - -// -int btDbvt::countLeaves(const btDbvtNode* node) -{ - if (node->isinternal()) - return (countLeaves(node->childs[0]) + countLeaves(node->childs[1])); - else - return (1); -} - -// -void btDbvt::extractLeaves(const btDbvtNode* node, btAlignedObjectArray<const btDbvtNode*>& leaves) -{ - if (node->isinternal()) - { - extractLeaves(node->childs[0], leaves); - extractLeaves(node->childs[1], leaves); - } - else - { - leaves.push_back(node); - } -} - -// -#if DBVT_ENABLE_BENCHMARK - -#include <stdio.h> -#include <stdlib.h> -#include "LinearMath/btQuickProf.h" - -/* -q6600,2.4ghz - -/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32" -/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch" -/Fo"..\..\out\release8\build\libbulletcollision\\" -/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb" -/W3 /nologo /c /Wp64 /Zi /errorReport:prompt - -Benchmarking dbvt... -World scale: 100.000000 -Extents base: 1.000000 -Extents range: 4.000000 -Leaves: 8192 -sizeof(btDbvtVolume): 32 bytes -sizeof(btDbvtNode): 44 bytes -[1] btDbvtVolume intersections: 3499 ms (-1%) -[2] btDbvtVolume merges: 1934 ms (0%) -[3] btDbvt::collideTT: 5485 ms (-21%) -[4] btDbvt::collideTT self: 2814 ms (-20%) -[5] btDbvt::collideTT xform: 7379 ms (-1%) -[6] btDbvt::collideTT xform,self: 7270 ms (-2%) -[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s) -[8] insert/remove: 2093 ms (0%),(1001983 ir/s) -[9] updates (teleport): 1879 ms (-3%),(1116100 u/s) -[10] updates (jitter): 1244 ms (-4%),(1685813 u/s) -[11] optimize (incremental): 2514 ms (0%),(1668000 o/s) -[12] btDbvtVolume notequal: 3659 ms (0%) -[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s) -[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s) -[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s) -[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s) -[17] btDbvtVolume select: 3419 ms (0%) -*/ - -struct btDbvtBenchmark -{ - struct NilPolicy : btDbvt::ICollide - { - NilPolicy() : m_pcount(0), m_depth(-SIMD_INFINITY), m_checksort(true) {} - void Process(const btDbvtNode*, const btDbvtNode*) { ++m_pcount; } - void Process(const btDbvtNode*) { ++m_pcount; } - void Process(const btDbvtNode*, btScalar depth) - { - ++m_pcount; - if (m_checksort) - { - if (depth >= m_depth) - m_depth = depth; - else - printf("wrong depth: %f (should be >= %f)\r\n", depth, m_depth); - } - } - int m_pcount; - btScalar m_depth; - bool m_checksort; - }; - struct P14 : btDbvt::ICollide - { - struct Node - { - const btDbvtNode* leaf; - btScalar depth; - }; - void Process(const btDbvtNode* leaf, btScalar depth) - { - Node n; - n.leaf = leaf; - n.depth = depth; - } - static int sortfnc(const Node& a, const Node& b) - { - if (a.depth < b.depth) return (+1); - if (a.depth > b.depth) return (-1); - return (0); - } - btAlignedObjectArray<Node> m_nodes; - }; - struct P15 : btDbvt::ICollide - { - struct Node - { - const btDbvtNode* leaf; - btScalar depth; - }; - void Process(const btDbvtNode* leaf) - { - Node n; - n.leaf = leaf; - n.depth = dot(leaf->volume.Center(), m_axis); - } - static int sortfnc(const Node& a, const Node& b) - { - if (a.depth < b.depth) return (+1); - if (a.depth > b.depth) return (-1); - return (0); - } - btAlignedObjectArray<Node> m_nodes; - btVector3 m_axis; - }; - static btScalar RandUnit() - { - return (rand() / (btScalar)RAND_MAX); - } - static btVector3 RandVector3() - { - return (btVector3(RandUnit(), RandUnit(), RandUnit())); - } - static btVector3 RandVector3(btScalar cs) - { - return (RandVector3() * cs - btVector3(cs, cs, cs) / 2); - } - static btDbvtVolume RandVolume(btScalar cs, btScalar eb, btScalar es) - { - return (btDbvtVolume::FromCE(RandVector3(cs), btVector3(eb, eb, eb) + RandVector3() * es)); - } - static btTransform RandTransform(btScalar cs) - { - btTransform t; - t.setOrigin(RandVector3(cs)); - t.setRotation(btQuaternion(RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2).normalized()); - return (t); - } - static void RandTree(btScalar cs, btScalar eb, btScalar es, int leaves, btDbvt& dbvt) - { - dbvt.clear(); - for (int i = 0; i < leaves; ++i) - { - dbvt.insert(RandVolume(cs, eb, es), 0); - } - } -}; - -void btDbvt::benchmark() -{ - static const btScalar cfgVolumeCenterScale = 100; - static const btScalar cfgVolumeExentsBase = 1; - static const btScalar cfgVolumeExentsScale = 4; - static const int cfgLeaves = 8192; - static const bool cfgEnable = true; - - //[1] btDbvtVolume intersections - bool cfgBenchmark1_Enable = cfgEnable; - static const int cfgBenchmark1_Iterations = 8; - static const int cfgBenchmark1_Reference = 3499; - //[2] btDbvtVolume merges - bool cfgBenchmark2_Enable = cfgEnable; - static const int cfgBenchmark2_Iterations = 4; - static const int cfgBenchmark2_Reference = 1945; - //[3] btDbvt::collideTT - bool cfgBenchmark3_Enable = cfgEnable; - static const int cfgBenchmark3_Iterations = 512; - static const int cfgBenchmark3_Reference = 5485; - //[4] btDbvt::collideTT self - bool cfgBenchmark4_Enable = cfgEnable; - static const int cfgBenchmark4_Iterations = 512; - static const int cfgBenchmark4_Reference = 2814; - //[5] btDbvt::collideTT xform - bool cfgBenchmark5_Enable = cfgEnable; - static const int cfgBenchmark5_Iterations = 512; - static const btScalar cfgBenchmark5_OffsetScale = 2; - static const int cfgBenchmark5_Reference = 7379; - //[6] btDbvt::collideTT xform,self - bool cfgBenchmark6_Enable = cfgEnable; - static const int cfgBenchmark6_Iterations = 512; - static const btScalar cfgBenchmark6_OffsetScale = 2; - static const int cfgBenchmark6_Reference = 7270; - //[7] btDbvt::rayTest - bool cfgBenchmark7_Enable = cfgEnable; - static const int cfgBenchmark7_Passes = 32; - static const int cfgBenchmark7_Iterations = 65536; - static const int cfgBenchmark7_Reference = 6307; - //[8] insert/remove - bool cfgBenchmark8_Enable = cfgEnable; - static const int cfgBenchmark8_Passes = 32; - static const int cfgBenchmark8_Iterations = 65536; - static const int cfgBenchmark8_Reference = 2105; - //[9] updates (teleport) - bool cfgBenchmark9_Enable = cfgEnable; - static const int cfgBenchmark9_Passes = 32; - static const int cfgBenchmark9_Iterations = 65536; - static const int cfgBenchmark9_Reference = 1879; - //[10] updates (jitter) - bool cfgBenchmark10_Enable = cfgEnable; - static const btScalar cfgBenchmark10_Scale = cfgVolumeCenterScale / 10000; - static const int cfgBenchmark10_Passes = 32; - static const int cfgBenchmark10_Iterations = 65536; - static const int cfgBenchmark10_Reference = 1244; - //[11] optimize (incremental) - bool cfgBenchmark11_Enable = cfgEnable; - static const int cfgBenchmark11_Passes = 64; - static const int cfgBenchmark11_Iterations = 65536; - static const int cfgBenchmark11_Reference = 2510; - //[12] btDbvtVolume notequal - bool cfgBenchmark12_Enable = cfgEnable; - static const int cfgBenchmark12_Iterations = 32; - static const int cfgBenchmark12_Reference = 3677; - //[13] culling(OCL+fullsort) - bool cfgBenchmark13_Enable = cfgEnable; - static const int cfgBenchmark13_Iterations = 1024; - static const int cfgBenchmark13_Reference = 2231; - //[14] culling(OCL+qsort) - bool cfgBenchmark14_Enable = cfgEnable; - static const int cfgBenchmark14_Iterations = 8192; - static const int cfgBenchmark14_Reference = 3500; - //[15] culling(KDOP+qsort) - bool cfgBenchmark15_Enable = cfgEnable; - static const int cfgBenchmark15_Iterations = 8192; - static const int cfgBenchmark15_Reference = 1151; - //[16] insert/remove batch - bool cfgBenchmark16_Enable = cfgEnable; - static const int cfgBenchmark16_BatchCount = 256; - static const int cfgBenchmark16_Passes = 16384; - static const int cfgBenchmark16_Reference = 5138; - //[17] select - bool cfgBenchmark17_Enable = cfgEnable; - static const int cfgBenchmark17_Iterations = 4; - static const int cfgBenchmark17_Reference = 3390; - - btClock wallclock; - printf("Benchmarking dbvt...\r\n"); - printf("\tWorld scale: %f\r\n", cfgVolumeCenterScale); - printf("\tExtents base: %f\r\n", cfgVolumeExentsBase); - printf("\tExtents range: %f\r\n", cfgVolumeExentsScale); - printf("\tLeaves: %u\r\n", cfgLeaves); - printf("\tsizeof(btDbvtVolume): %u bytes\r\n", sizeof(btDbvtVolume)); - printf("\tsizeof(btDbvtNode): %u bytes\r\n", sizeof(btDbvtNode)); - if (cfgBenchmark1_Enable) - { // Benchmark 1 - srand(380843); - btAlignedObjectArray<btDbvtVolume> volumes; - btAlignedObjectArray<bool> results; - volumes.resize(cfgLeaves); - results.resize(cfgLeaves); - for (int i = 0; i < cfgLeaves; ++i) - { - volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale); - } - printf("[1] btDbvtVolume intersections: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark1_Iterations; ++i) - { - for (int j = 0; j < cfgLeaves; ++j) - { - for (int k = 0; k < cfgLeaves; ++k) - { - results[k] = Intersect(volumes[j], volumes[k]); - } - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark1_Reference) * 100 / time); - } - if (cfgBenchmark2_Enable) - { // Benchmark 2 - srand(380843); - btAlignedObjectArray<btDbvtVolume> volumes; - btAlignedObjectArray<btDbvtVolume> results; - volumes.resize(cfgLeaves); - results.resize(cfgLeaves); - for (int i = 0; i < cfgLeaves; ++i) - { - volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale); - } - printf("[2] btDbvtVolume merges: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark2_Iterations; ++i) - { - for (int j = 0; j < cfgLeaves; ++j) - { - for (int k = 0; k < cfgLeaves; ++k) - { - Merge(volumes[j], volumes[k], results[k]); - } - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark2_Reference) * 100 / time); - } - if (cfgBenchmark3_Enable) - { // Benchmark 3 - srand(380843); - btDbvt dbvt[2]; - btDbvtBenchmark::NilPolicy policy; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]); - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]); - dbvt[0].optimizeTopDown(); - dbvt[1].optimizeTopDown(); - printf("[3] btDbvt::collideTT: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark3_Iterations; ++i) - { - btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, policy); - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark3_Reference) * 100 / time); - } - if (cfgBenchmark4_Enable) - { // Benchmark 4 - srand(380843); - btDbvt dbvt; - btDbvtBenchmark::NilPolicy policy; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[4] btDbvt::collideTT self: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark4_Iterations; ++i) - { - btDbvt::collideTT(dbvt.m_root, dbvt.m_root, policy); - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark4_Reference) * 100 / time); - } - if (cfgBenchmark5_Enable) - { // Benchmark 5 - srand(380843); - btDbvt dbvt[2]; - btAlignedObjectArray<btTransform> transforms; - btDbvtBenchmark::NilPolicy policy; - transforms.resize(cfgBenchmark5_Iterations); - for (int i = 0; i < transforms.size(); ++i) - { - transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark5_OffsetScale); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[0]); - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt[1]); - dbvt[0].optimizeTopDown(); - dbvt[1].optimizeTopDown(); - printf("[5] btDbvt::collideTT xform: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark5_Iterations; ++i) - { - btDbvt::collideTT(dbvt[0].m_root, dbvt[1].m_root, transforms[i], policy); - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark5_Reference) * 100 / time); - } - if (cfgBenchmark6_Enable) - { // Benchmark 6 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btTransform> transforms; - btDbvtBenchmark::NilPolicy policy; - transforms.resize(cfgBenchmark6_Iterations); - for (int i = 0; i < transforms.size(); ++i) - { - transforms[i] = btDbvtBenchmark::RandTransform(cfgVolumeCenterScale * cfgBenchmark6_OffsetScale); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[6] btDbvt::collideTT xform,self: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark6_Iterations; ++i) - { - btDbvt::collideTT(dbvt.m_root, dbvt.m_root, transforms[i], policy); - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark6_Reference) * 100 / time); - } - if (cfgBenchmark7_Enable) - { // Benchmark 7 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btVector3> rayorg; - btAlignedObjectArray<btVector3> raydir; - btDbvtBenchmark::NilPolicy policy; - rayorg.resize(cfgBenchmark7_Iterations); - raydir.resize(cfgBenchmark7_Iterations); - for (int i = 0; i < rayorg.size(); ++i) - { - rayorg[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2); - raydir[i] = btDbvtBenchmark::RandVector3(cfgVolumeCenterScale * 2); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[7] btDbvt::rayTest: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark7_Passes; ++i) - { - for (int j = 0; j < cfgBenchmark7_Iterations; ++j) - { - btDbvt::rayTest(dbvt.m_root, rayorg[j], rayorg[j] + raydir[j], policy); - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - unsigned rays = cfgBenchmark7_Passes * cfgBenchmark7_Iterations; - printf("%u ms (%i%%),(%u r/s)\r\n", time, (time - cfgBenchmark7_Reference) * 100 / time, (rays * 1000) / time); - } - if (cfgBenchmark8_Enable) - { // Benchmark 8 - srand(380843); - btDbvt dbvt; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[8] insert/remove: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark8_Passes; ++i) - { - for (int j = 0; j < cfgBenchmark8_Iterations; ++j) - { - dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0)); - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int ir = cfgBenchmark8_Passes * cfgBenchmark8_Iterations; - printf("%u ms (%i%%),(%u ir/s)\r\n", time, (time - cfgBenchmark8_Reference) * 100 / time, ir * 1000 / time); - } - if (cfgBenchmark9_Enable) - { // Benchmark 9 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<const btDbvtNode*> leaves; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - dbvt.extractLeaves(dbvt.m_root, leaves); - printf("[9] updates (teleport): "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark9_Passes; ++i) - { - for (int j = 0; j < cfgBenchmark9_Iterations; ++j) - { - dbvt.update(const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]), - btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale)); - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int up = cfgBenchmark9_Passes * cfgBenchmark9_Iterations; - printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark9_Reference) * 100 / time, up * 1000 / time); - } - if (cfgBenchmark10_Enable) - { // Benchmark 10 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<const btDbvtNode*> leaves; - btAlignedObjectArray<btVector3> vectors; - vectors.resize(cfgBenchmark10_Iterations); - for (int i = 0; i < vectors.size(); ++i) - { - vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)) * cfgBenchmark10_Scale; - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - dbvt.extractLeaves(dbvt.m_root, leaves); - printf("[10] updates (jitter): "); - wallclock.reset(); - - for (int i = 0; i < cfgBenchmark10_Passes; ++i) - { - for (int j = 0; j < cfgBenchmark10_Iterations; ++j) - { - const btVector3& d = vectors[j]; - btDbvtNode* l = const_cast<btDbvtNode*>(leaves[rand() % cfgLeaves]); - btDbvtVolume v = btDbvtVolume::FromMM(l->volume.Mins() + d, l->volume.Maxs() + d); - dbvt.update(l, v); - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int up = cfgBenchmark10_Passes * cfgBenchmark10_Iterations; - printf("%u ms (%i%%),(%u u/s)\r\n", time, (time - cfgBenchmark10_Reference) * 100 / time, up * 1000 / time); - } - if (cfgBenchmark11_Enable) - { // Benchmark 11 - srand(380843); - btDbvt dbvt; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[11] optimize (incremental): "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark11_Passes; ++i) - { - dbvt.optimizeIncremental(cfgBenchmark11_Iterations); - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int op = cfgBenchmark11_Passes * cfgBenchmark11_Iterations; - printf("%u ms (%i%%),(%u o/s)\r\n", time, (time - cfgBenchmark11_Reference) * 100 / time, op / time * 1000); - } - if (cfgBenchmark12_Enable) - { // Benchmark 12 - srand(380843); - btAlignedObjectArray<btDbvtVolume> volumes; - btAlignedObjectArray<bool> results; - volumes.resize(cfgLeaves); - results.resize(cfgLeaves); - for (int i = 0; i < cfgLeaves; ++i) - { - volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale); - } - printf("[12] btDbvtVolume notequal: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark12_Iterations; ++i) - { - for (int j = 0; j < cfgLeaves; ++j) - { - for (int k = 0; k < cfgLeaves; ++k) - { - results[k] = NotEqual(volumes[j], volumes[k]); - } - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark12_Reference) * 100 / time); - } - if (cfgBenchmark13_Enable) - { // Benchmark 13 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btVector3> vectors; - btDbvtBenchmark::NilPolicy policy; - vectors.resize(cfgBenchmark13_Iterations); - for (int i = 0; i < vectors.size(); ++i) - { - vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized(); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - printf("[13] culling(OCL+fullsort): "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark13_Iterations; ++i) - { - static const btScalar offset = 0; - policy.m_depth = -SIMD_INFINITY; - dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy); - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int t = cfgBenchmark13_Iterations; - printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark13_Reference) * 100 / time, (t * 1000) / time); - } - if (cfgBenchmark14_Enable) - { // Benchmark 14 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btVector3> vectors; - btDbvtBenchmark::P14 policy; - vectors.resize(cfgBenchmark14_Iterations); - for (int i = 0; i < vectors.size(); ++i) - { - vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized(); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - policy.m_nodes.reserve(cfgLeaves); - printf("[14] culling(OCL+qsort): "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark14_Iterations; ++i) - { - static const btScalar offset = 0; - policy.m_nodes.resize(0); - dbvt.collideOCL(dbvt.m_root, &vectors[i], &offset, vectors[i], 1, policy, false); - policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc); - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int t = cfgBenchmark14_Iterations; - printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark14_Reference) * 100 / time, (t * 1000) / time); - } - if (cfgBenchmark15_Enable) - { // Benchmark 15 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btVector3> vectors; - btDbvtBenchmark::P15 policy; - vectors.resize(cfgBenchmark15_Iterations); - for (int i = 0; i < vectors.size(); ++i) - { - vectors[i] = (btDbvtBenchmark::RandVector3() * 2 - btVector3(1, 1, 1)).normalized(); - } - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - policy.m_nodes.reserve(cfgLeaves); - printf("[15] culling(KDOP+qsort): "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark15_Iterations; ++i) - { - static const btScalar offset = 0; - policy.m_nodes.resize(0); - policy.m_axis = vectors[i]; - dbvt.collideKDOP(dbvt.m_root, &vectors[i], &offset, 1, policy); - policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc); - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int t = cfgBenchmark15_Iterations; - printf("%u ms (%i%%),(%u t/s)\r\n", time, (time - cfgBenchmark15_Reference) * 100 / time, (t * 1000) / time); - } - if (cfgBenchmark16_Enable) - { // Benchmark 16 - srand(380843); - btDbvt dbvt; - btAlignedObjectArray<btDbvtNode*> batch; - btDbvtBenchmark::RandTree(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale, cfgLeaves, dbvt); - dbvt.optimizeTopDown(); - batch.reserve(cfgBenchmark16_BatchCount); - printf("[16] insert/remove batch(%u): ", cfgBenchmark16_BatchCount); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark16_Passes; ++i) - { - for (int j = 0; j < cfgBenchmark16_BatchCount; ++j) - { - batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale), 0)); - } - for (int j = 0; j < cfgBenchmark16_BatchCount; ++j) - { - dbvt.remove(batch[j]); - } - batch.resize(0); - } - const int time = (int)wallclock.getTimeMilliseconds(); - const int ir = cfgBenchmark16_Passes * cfgBenchmark16_BatchCount; - printf("%u ms (%i%%),(%u bir/s)\r\n", time, (time - cfgBenchmark16_Reference) * 100 / time, int(ir * 1000.0 / time)); - } - if (cfgBenchmark17_Enable) - { // Benchmark 17 - srand(380843); - btAlignedObjectArray<btDbvtVolume> volumes; - btAlignedObjectArray<int> results; - btAlignedObjectArray<int> indices; - volumes.resize(cfgLeaves); - results.resize(cfgLeaves); - indices.resize(cfgLeaves); - for (int i = 0; i < cfgLeaves; ++i) - { - indices[i] = i; - volumes[i] = btDbvtBenchmark::RandVolume(cfgVolumeCenterScale, cfgVolumeExentsBase, cfgVolumeExentsScale); - } - for (int i = 0; i < cfgLeaves; ++i) - { - btSwap(indices[i], indices[rand() % cfgLeaves]); - } - printf("[17] btDbvtVolume select: "); - wallclock.reset(); - for (int i = 0; i < cfgBenchmark17_Iterations; ++i) - { - for (int j = 0; j < cfgLeaves; ++j) - { - for (int k = 0; k < cfgLeaves; ++k) - { - const int idx = indices[k]; - results[idx] = Select(volumes[idx], volumes[j], volumes[k]); - } - } - } - const int time = (int)wallclock.getTimeMilliseconds(); - printf("%u ms (%i%%)\r\n", time, (time - cfgBenchmark17_Reference) * 100 / time); - } - printf("\r\n\r\n"); -} -#endif |