diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp | 822 |
1 files changed, 0 insertions, 822 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp deleted file mode 100644 index 4d12b1c9c7..0000000000 --- a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ /dev/null @@ -1,822 +0,0 @@ -/* -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 - |