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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp | 822 |
1 files changed, 822 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp new file mode 100644 index 0000000000..4d12b1c9c7 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -0,0 +1,822 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +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. +*/ + +///btDbvtBroadphase implementation by Nathanael Presson + +#include "btDbvtBroadphase.h" +#include "LinearMath/btThreads.h" + +// +// Profiling +// + +#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK +#include <stdio.h> +#endif + +#if DBVT_BP_PROFILE +struct ProfileScope +{ + __forceinline ProfileScope(btClock& clock,unsigned long& value) : + m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds()) + { + } + __forceinline ~ProfileScope() + { + (*m_value)+=m_clock->getTimeMicroseconds()-m_base; + } + btClock* m_clock; + unsigned long* m_value; + unsigned long m_base; +}; +#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_) +#else +#define SPC(_value_) +#endif + +// +// Helpers +// + +// +template <typename T> +static inline void listappend(T* item,T*& list) +{ + item->links[0]=0; + item->links[1]=list; + if(list) list->links[0]=item; + list=item; +} + +// +template <typename T> +static inline void listremove(T* item,T*& list) +{ + if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1]; + if(item->links[1]) item->links[1]->links[0]=item->links[0]; +} + +// +template <typename T> +static inline int listcount(T* root) +{ + int n=0; + while(root) { ++n;root=root->links[1]; } + return(n); +} + +// +template <typename T> +static inline void clear(T& value) +{ + static const struct ZeroDummy : T {} zerodummy; + value=zerodummy; +} + +// +// Colliders +// + +/* Tree collider */ +struct btDbvtTreeCollider : btDbvt::ICollide +{ + btDbvtBroadphase* pbp; + btDbvtProxy* proxy; + btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {} + void Process(const btDbvtNode* na,const btDbvtNode* nb) + { + if(na!=nb) + { + btDbvtProxy* pa=(btDbvtProxy*)na->data; + btDbvtProxy* pb=(btDbvtProxy*)nb->data; +#if DBVT_BP_SORTPAIRS + if(pa->m_uniqueId>pb->m_uniqueId) + btSwap(pa,pb); +#endif + pbp->m_paircache->addOverlappingPair(pa,pb); + ++pbp->m_newpairs; + } + } + void Process(const btDbvtNode* n) + { + Process(n,proxy->leaf); + } +}; + +// +// btDbvtBroadphase +// + +// +btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache) +{ + m_deferedcollide = false; + m_needcleanup = true; + m_releasepaircache = (paircache!=0)?false:true; + m_prediction = 0; + m_stageCurrent = 0; + m_fixedleft = 0; + m_fupdates = 1; + m_dupdates = 0; + m_cupdates = 10; + m_newpairs = 1; + m_updates_call = 0; + m_updates_done = 0; + m_updates_ratio = 0; + m_paircache = paircache? paircache : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache(); + m_gid = 0; + m_pid = 0; + m_cid = 0; + for(int i=0;i<=STAGECOUNT;++i) + { + m_stageRoots[i]=0; + } +#if BT_THREADSAFE + m_rayTestStacks.resize(BT_MAX_THREAD_COUNT); +#else + m_rayTestStacks.resize(1); +#endif +#if DBVT_BP_PROFILE + clear(m_profiling); +#endif +} + +// +btDbvtBroadphase::~btDbvtBroadphase() +{ + if(m_releasepaircache) + { + m_paircache->~btOverlappingPairCache(); + btAlignedFree(m_paircache); + } +} + +// +btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin, + const btVector3& aabbMax, + int /*shapeType*/, + void* userPtr, + int collisionFilterGroup, + int collisionFilterMask, + btDispatcher* /*dispatcher*/) +{ + btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr, + collisionFilterGroup, + collisionFilterMask); + + btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax); + + //bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax); + proxy->stage = m_stageCurrent; + proxy->m_uniqueId = ++m_gid; + proxy->leaf = m_sets[0].insert(aabb,proxy); + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + collider.proxy=proxy; + m_sets[0].collideTV(m_sets[0].m_root,aabb,collider); + m_sets[1].collideTV(m_sets[1].m_root,aabb,collider); + } + return(proxy); +} + +// +void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy, + btDispatcher* dispatcher) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + if(proxy->stage==STAGECOUNT) + m_sets[1].remove(proxy->leaf); + else + m_sets[0].remove(proxy->leaf); + listremove(proxy,m_stageRoots[proxy->stage]); + m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher); + btAlignedFree(proxy); + m_needcleanup=true; +} + +void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + aabbMin = proxy->m_aabbMin; + aabbMax = proxy->m_aabbMax; +} + +struct BroadphaseRayTester : btDbvt::ICollide +{ + btBroadphaseRayCallback& m_rayCallback; + BroadphaseRayTester(btBroadphaseRayCallback& orgCallback) + :m_rayCallback(orgCallback) + { + } + void Process(const btDbvtNode* leaf) + { + btDbvtProxy* proxy=(btDbvtProxy*)leaf->data; + m_rayCallback.process(proxy); + } +}; + +void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + BroadphaseRayTester callback(rayCallback); + btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0]; +#if BT_THREADSAFE + // for this function to be threadsafe, each thread must have a separate copy + // of this stack. This could be thread-local static to avoid dynamic allocations, + // instead of just a local. + int threadIndex = btGetCurrentThreadIndex(); + btAlignedObjectArray<const btDbvtNode*> localStack; + if (threadIndex < m_rayTestStacks.size()) + { + // use per-thread preallocated stack if possible to avoid dynamic allocations + stack = &m_rayTestStacks[threadIndex]; + } + else + { + stack = &localStack; + } +#endif + + m_sets[0].rayTestInternal( m_sets[0].m_root, + rayFrom, + rayTo, + rayCallback.m_rayDirectionInverse, + rayCallback.m_signs, + rayCallback.m_lambda_max, + aabbMin, + aabbMax, + *stack, + callback); + + m_sets[1].rayTestInternal( m_sets[1].m_root, + rayFrom, + rayTo, + rayCallback.m_rayDirectionInverse, + rayCallback.m_signs, + rayCallback.m_lambda_max, + aabbMin, + aabbMax, + *stack, + callback); + +} + + +struct BroadphaseAabbTester : btDbvt::ICollide +{ + btBroadphaseAabbCallback& m_aabbCallback; + BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback) + :m_aabbCallback(orgCallback) + { + } + void Process(const btDbvtNode* leaf) + { + btDbvtProxy* proxy=(btDbvtProxy*)leaf->data; + m_aabbCallback.process(proxy); + } +}; + +void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback) +{ + BroadphaseAabbTester callback(aabbCallback); + + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax); + //process all children, that overlap with the given AABB bounds + m_sets[0].collideTV(m_sets[0].m_root,bounds,callback); + m_sets[1].collideTV(m_sets[1].m_root,bounds,callback); + +} + + + +// +void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy, + const btVector3& aabbMin, + const btVector3& aabbMax, + btDispatcher* /*dispatcher*/) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax); +#if DBVT_BP_PREVENTFALSEUPDATE + if(NotEqual(aabb,proxy->leaf->volume)) +#endif + { + bool docollide=false; + if(proxy->stage==STAGECOUNT) + {/* fixed -> dynamic set */ + m_sets[1].remove(proxy->leaf); + proxy->leaf=m_sets[0].insert(aabb,proxy); + docollide=true; + } + else + {/* dynamic set */ + ++m_updates_call; + if(Intersect(proxy->leaf->volume,aabb)) + {/* Moving */ + + const btVector3 delta=aabbMin-proxy->m_aabbMin; + btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction); + if(delta[0]<0) velocity[0]=-velocity[0]; + if(delta[1]<0) velocity[1]=-velocity[1]; + if(delta[2]<0) velocity[2]=-velocity[2]; + if ( +#ifdef DBVT_BP_MARGIN + m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN) +#else + m_sets[0].update(proxy->leaf,aabb,velocity) +#endif + ) + { + ++m_updates_done; + docollide=true; + } + } + else + {/* Teleporting */ + m_sets[0].update(proxy->leaf,aabb); + ++m_updates_done; + docollide=true; + } + } + listremove(proxy,m_stageRoots[proxy->stage]); + proxy->m_aabbMin = aabbMin; + proxy->m_aabbMax = aabbMax; + proxy->stage = m_stageCurrent; + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(docollide) + { + m_needcleanup=true; + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider); + } + } + } +} + + +// +void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy, + const btVector3& aabbMin, + const btVector3& aabbMax, + btDispatcher* /*dispatcher*/) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax); + bool docollide=false; + if(proxy->stage==STAGECOUNT) + {/* fixed -> dynamic set */ + m_sets[1].remove(proxy->leaf); + proxy->leaf=m_sets[0].insert(aabb,proxy); + docollide=true; + } + else + {/* dynamic set */ + ++m_updates_call; + /* Teleporting */ + m_sets[0].update(proxy->leaf,aabb); + ++m_updates_done; + docollide=true; + } + listremove(proxy,m_stageRoots[proxy->stage]); + proxy->m_aabbMin = aabbMin; + proxy->m_aabbMax = aabbMax; + proxy->stage = m_stageCurrent; + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(docollide) + { + m_needcleanup=true; + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider); + } + } +} + +// +void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + collide(dispatcher); +#if DBVT_BP_PROFILE + if(0==(m_pid%DBVT_BP_PROFILING_RATE)) + { + printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs()); + unsigned int total=m_profiling.m_total; + if(total<=0) total=1; + printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE); + printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE); + printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE); + printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE); + const unsigned long sum=m_profiling.m_ddcollide+ + m_profiling.m_fdcollide+ + m_profiling.m_cleanup; + printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE); + printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE)); + clear(m_profiling); + m_clock.reset(); + } +#endif + + performDeferredRemoval(dispatcher); + +} + +void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher) +{ + + if (m_paircache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + int invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;i<overlappingPairArray.size();i++) + { + + btBroadphasePair& pair = overlappingPairArray[i]; + + bool isDuplicate = (pair == previousPair); + + previousPair = pair; + + bool needsRemoval = false; + + if (!isDuplicate) + { + //important to perform AABB check that is consistent with the broadphase + btDbvtProxy* pa=(btDbvtProxy*)pair.m_pProxy0; + btDbvtProxy* pb=(btDbvtProxy*)pair.m_pProxy1; + bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume); + + if (hasOverlap) + { + needsRemoval = false; + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_paircache->cleanOverlappingPair(pair,dispatcher); + + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + invalidPair++; + } + + } + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + overlappingPairArray.resize(overlappingPairArray.size() - invalidPair); + } +} + +// +void btDbvtBroadphase::collide(btDispatcher* dispatcher) +{ + /*printf("---------------------------------------------------------\n"); + printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves); + printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves); + printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs()); + { + int i; + for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++) + { + printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(), + getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid()); + } + printf("\n"); + } +*/ + + + + SPC(m_profiling.m_total); + /* optimize */ + m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100); + if(m_fixedleft) + { + const int count=1+(m_sets[1].m_leaves*m_fupdates)/100; + m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100); + m_fixedleft=btMax<int>(0,m_fixedleft-count); + } + /* dynamic -> fixed set */ + m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT; + btDbvtProxy* current=m_stageRoots[m_stageCurrent]; + if(current) + { +#if DBVT_BP_ACCURATESLEEPING + btDbvtTreeCollider collider(this); +#endif + do { + btDbvtProxy* next=current->links[1]; + listremove(current,m_stageRoots[current->stage]); + listappend(current,m_stageRoots[STAGECOUNT]); +#if DBVT_BP_ACCURATESLEEPING + m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher); + collider.proxy=current; + btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider); + btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider); +#endif + m_sets[0].remove(current->leaf); + ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax); + current->leaf = m_sets[1].insert(curAabb,current); + current->stage = STAGECOUNT; + current = next; + } while(current); + m_fixedleft=m_sets[1].m_leaves; + m_needcleanup=true; + } + /* collide dynamics */ + { + btDbvtTreeCollider collider(this); + if(m_deferedcollide) + { + SPC(m_profiling.m_fdcollide); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider); + } + if(m_deferedcollide) + { + SPC(m_profiling.m_ddcollide); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider); + } + } + /* clean up */ + if(m_needcleanup) + { + SPC(m_profiling.m_cleanup); + btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray(); + if(pairs.size()>0) + { + + int ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100)); + for(int i=0;i<ni;++i) + { + btBroadphasePair& p=pairs[(m_cid+i)%pairs.size()]; + btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0; + btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1; + if(!Intersect(pa->leaf->volume,pb->leaf->volume)) + { +#if DBVT_BP_SORTPAIRS + if(pa->m_uniqueId>pb->m_uniqueId) + btSwap(pa,pb); +#endif + m_paircache->removeOverlappingPair(pa,pb,dispatcher); + --ni;--i; + } + } + if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0; + } + } + ++m_pid; + m_newpairs=1; + m_needcleanup=false; + if(m_updates_call>0) + { m_updates_ratio=m_updates_done/(btScalar)m_updates_call; } + else + { m_updates_ratio=0; } + m_updates_done/=2; + m_updates_call/=2; +} + +// +void btDbvtBroadphase::optimize() +{ + m_sets[0].optimizeTopDown(); + m_sets[1].optimizeTopDown(); +} + +// +btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() +{ + return(m_paircache); +} + +// +const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const +{ + return(m_paircache); +} + +// +void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const +{ + + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds; + + if(!m_sets[0].empty()) + if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume, + m_sets[1].m_root->volume,bounds); + else + bounds=m_sets[0].m_root->volume; + else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume; + else + bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0); + aabbMin=bounds.Mins(); + aabbMax=bounds.Maxs(); +} + +void btDbvtBroadphase::resetPool(btDispatcher* dispatcher) +{ + + int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves; + if (!totalObjects) + { + //reset internal dynamic tree data structures + m_sets[0].clear(); + m_sets[1].clear(); + + m_deferedcollide = false; + m_needcleanup = true; + m_stageCurrent = 0; + m_fixedleft = 0; + m_fupdates = 1; + m_dupdates = 0; + m_cupdates = 10; + m_newpairs = 1; + m_updates_call = 0; + m_updates_done = 0; + m_updates_ratio = 0; + + m_gid = 0; + m_pid = 0; + m_cid = 0; + for(int i=0;i<=STAGECOUNT;++i) + { + m_stageRoots[i]=0; + } + } +} + +// +void btDbvtBroadphase::printStats() +{} + +// +#if DBVT_BP_ENABLE_BENCHMARK + +struct btBroadphaseBenchmark +{ + struct Experiment + { + const char* name; + int object_count; + int update_count; + int spawn_count; + int iterations; + btScalar speed; + btScalar amplitude; + }; + struct Object + { + btVector3 center; + btVector3 extents; + btBroadphaseProxy* proxy; + btScalar time; + void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi) + { + time += speed; + center[0] = btCos(time*(btScalar)2.17)*amplitude+ + btSin(time)*amplitude/2; + center[1] = btCos(time*(btScalar)1.38)*amplitude+ + btSin(time)*amplitude; + center[2] = btSin(time*(btScalar)0.777)*amplitude; + pbi->setAabb(proxy,center-extents,center+extents,0); + } + }; + static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); } + static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); } + static void OutputTime(const char* name,btClock& c,unsigned count=0) + { + const unsigned long us=c.getTimeMicroseconds(); + const unsigned long ms=(us+500)/1000; + const btScalar sec=us/(btScalar)(1000*1000); + if(count>0) + printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec); + else + printf("%s : %u us (%u ms)\r\n",name,us,ms); + } +}; + +void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi) +{ + static const btBroadphaseBenchmark::Experiment experiments[]= + { + {"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100}, + /*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100}, + {"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/ + }; + static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]); + btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects; + btClock wallclock; + /* Begin */ + for(int iexp=0;iexp<nexperiments;++iexp) + { + const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp]; + const int object_count=experiment.object_count; + const int update_count=(object_count*experiment.update_count)/100; + const int spawn_count=(object_count*experiment.spawn_count)/100; + const btScalar speed=experiment.speed; + const btScalar amplitude=experiment.amplitude; + printf("Experiment #%u '%s':\r\n",iexp,experiment.name); + printf("\tObjects: %u\r\n",object_count); + printf("\tUpdate: %u\r\n",update_count); + printf("\tSpawn: %u\r\n",spawn_count); + printf("\tSpeed: %f\r\n",speed); + printf("\tAmplitude: %f\r\n",amplitude); + srand(180673); + /* Create objects */ + wallclock.reset(); + objects.reserve(object_count); + for(int i=0;i<object_count;++i) + { + btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object(); + po->center[0]=btBroadphaseBenchmark::UnitRand()*50; + po->center[1]=btBroadphaseBenchmark::UnitRand()*50; + po->center[2]=btBroadphaseBenchmark::UnitRand()*50; + po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2; + po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2; + po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2; + po->time=btBroadphaseBenchmark::UnitRand()*2000; + po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0); + objects.push_back(po); + } + btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock); + /* First update */ + wallclock.reset(); + for(int i=0;i<objects.size();++i) + { + objects[i]->update(speed,amplitude,pbi); + } + btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock); + /* Updates */ + wallclock.reset(); + for(int i=0;i<experiment.iterations;++i) + { + for(int j=0;j<update_count;++j) + { + objects[j]->update(speed,amplitude,pbi); + } + pbi->calculateOverlappingPairs(0); + } + btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations); + /* Clean up */ + wallclock.reset(); + for(int i=0;i<objects.size();++i) + { + pbi->destroyProxy(objects[i]->proxy,0); + delete objects[i]; + } + objects.resize(0); + btBroadphaseBenchmark::OutputTime("\tRelease",wallclock); + } + +} +#else +void btDbvtBroadphase::benchmark(btBroadphaseInterface*) +{} +#endif + +#if DBVT_BP_PROFILE +#undef SPC +#endif + |