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https://github.com/bulletphysics/bullet3.git
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b66e5350d0
rename AddSingleResult to addSingleResult moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
1166 lines
31 KiB
C++
1166 lines
31 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btDbvt implementation by Nathanael Presson
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#include "btDbvt.h"
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//
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typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
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typedef btAlignedObjectArray<const btDbvt::Node*> tConstNodeArray;
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//
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struct btDbvtNodeEnumerator : btDbvt::ICollide
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{
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tConstNodeArray nodes;
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void Process(const btDbvt::Node* n) { nodes.push_back(n); }
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};
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//
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static inline int indexof(const btDbvt::Node* node)
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{
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return(node->parent->childs[1]==node);
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}
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//
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static inline btDbvt::Volume merge( const btDbvt::Volume& a,
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const btDbvt::Volume& b)
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{
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btDbvt::Volume res;
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Merge(a,b,res);
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return(res);
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}
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// volume+edge lengths
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static inline btScalar size(const btDbvt::Volume& a)
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{
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const btVector3 edges=a.Lengths();
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return( edges.x()*edges.y()*edges.z()+
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edges.x()+edges.y()+edges.z());
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}
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//
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static inline void deletenode( btDbvt* pdbvt,
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btDbvt::Node* node)
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{
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btAlignedFree(pdbvt->m_free);
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pdbvt->m_free=node;
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}
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//
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static inline void recursedeletenode( btDbvt* pdbvt,
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btDbvt::Node* node)
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{
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if(!node->isleaf())
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{
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recursedeletenode(pdbvt,node->childs[0]);
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recursedeletenode(pdbvt,node->childs[1]);
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}
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if(node==pdbvt->m_root) pdbvt->m_root=0;
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deletenode(pdbvt,node);
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}
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//
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static inline btDbvt::Node* createnode( btDbvt* pdbvt,
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btDbvt::Node* parent,
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const btDbvt::Volume& volume,
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void* data)
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{
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btDbvt::Node* node;
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if(pdbvt->m_free)
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{ node=pdbvt->m_free;pdbvt->m_free=0; }
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else
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{ node=new(btAlignedAlloc(sizeof(btDbvt::Node),16)) btDbvt::Node(); }
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node->parent = parent;
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node->volume = volume;
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node->data = data;
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node->childs[1] = 0;
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return(node);
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}
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//
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static inline void insertleaf( btDbvt* pdbvt,
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btDbvt::Node* root,
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btDbvt::Node* leaf)
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{
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if(!pdbvt->m_root)
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{
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pdbvt->m_root = leaf;
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leaf->parent = 0;
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}
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else
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{
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if(!root->isleaf())
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{
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do {
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if( Proximity(root->childs[0]->volume,leaf->volume)<
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Proximity(root->childs[1]->volume,leaf->volume))
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root=root->childs[0];
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else
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root=root->childs[1];
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} while(!root->isleaf());
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}
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btDbvt::Node* prev=root->parent;
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btDbvt::Node* node=createnode(pdbvt,prev,merge(leaf->volume,root->volume),0);
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if(prev)
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{
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prev->childs[indexof(root)] = node;
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node->childs[0] = root;root->parent=node;
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node->childs[1] = leaf;leaf->parent=node;
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do {
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if(!prev->volume.Contain(node->volume))
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Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
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else
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break;
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node=prev;
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} while(0!=(prev=node->parent));
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}
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else
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{
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node->childs[0] = root;root->parent=node;
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node->childs[1] = leaf;leaf->parent=node;
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pdbvt->m_root = node;
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}
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}
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}
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//
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static inline btDbvt::Node* removeleaf( btDbvt* pdbvt,
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btDbvt::Node* leaf)
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{
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if(leaf==pdbvt->m_root)
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{
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pdbvt->m_root=0;
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return(0);
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}
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else
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{
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btDbvt::Node* parent=leaf->parent;
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btDbvt::Node* prev=parent->parent;
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btDbvt::Node* sibling=parent->childs[1-indexof(leaf)];
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if(prev)
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{
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prev->childs[indexof(parent)]=sibling;
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sibling->parent=prev;
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deletenode(pdbvt,parent);
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while(prev)
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{
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const btDbvt::Volume pb=prev->volume;
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Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
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if(NotEqual(pb,prev->volume))
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{
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prev=prev->parent;
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} else break;
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}
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return(prev?prev:pdbvt->m_root);
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}
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else
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{
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pdbvt->m_root=sibling;
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sibling->parent=0;
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deletenode(pdbvt,parent);
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return(pdbvt->m_root);
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}
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}
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}
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//
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static void fetchleaves(btDbvt* pdbvt,
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btDbvt::Node* root,
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tNodeArray& leaves,
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int depth=-1)
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{
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if(root->isinternal()&&depth)
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{
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fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
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fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
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deletenode(pdbvt,root);
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}
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else
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{
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leaves.push_back(root);
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}
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}
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//
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static void split( const tNodeArray& leaves,
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tNodeArray& left,
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tNodeArray& right,
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const btVector3& org,
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const btVector3& axis)
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{
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left.resize(0);
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right.resize(0);
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for(int i=0,ni=leaves.size();i<ni;++i)
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{
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if(dot(axis,leaves[i]->volume.Center()-org)<0)
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left.push_back(leaves[i]);
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else
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right.push_back(leaves[i]);
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}
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}
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//
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static btDbvt::Volume bounds( const tNodeArray& leaves)
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{
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btDbvt::Volume volume=leaves[0]->volume;
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for(int i=1,ni=leaves.size();i<ni;++i)
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{
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volume=merge(volume,leaves[i]->volume);
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}
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return(volume);
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}
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//
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static void bottomup( btDbvt* pdbvt,
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tNodeArray& leaves)
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{
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while(leaves.size()>1)
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{
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btScalar minsize=SIMD_INFINITY;
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int minidx[2]={-1,-1};
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for(int i=0;i<leaves.size();++i)
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{
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for(int j=i+1;j<leaves.size();++j)
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{
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const btScalar sz=size(merge(leaves[i]->volume,leaves[j]->volume));
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if(sz<minsize)
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{
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minsize = sz;
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minidx[0] = i;
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minidx[1] = j;
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}
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}
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}
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btDbvt::Node* n[] = {leaves[minidx[0]],leaves[minidx[1]]};
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btDbvt::Node* p = createnode(pdbvt,0,merge(n[0]->volume,n[1]->volume),0);
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p->childs[0] = n[0];
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p->childs[1] = n[1];
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n[0]->parent = p;
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n[1]->parent = p;
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leaves[minidx[0]] = p;
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leaves.swap(minidx[1],leaves.size()-1);
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leaves.pop_back();
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}
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}
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//
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static btDbvt::Node* topdown(btDbvt* pdbvt,
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tNodeArray& leaves,
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int bu_treshold)
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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if(leaves.size()>1)
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{
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if(leaves.size()>bu_treshold)
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{
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const btDbvt::Volume vol=bounds(leaves);
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const btVector3 org=vol.Center();
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tNodeArray sets[2];
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int bestaxis=-1;
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int bestmidp=leaves.size();
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int splitcount[3][2]={{0,0},{0,0},{0,0}};
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for(int i=0;i<leaves.size();++i)
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{
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const btVector3 x=leaves[i]->volume.Center()-org;
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for(int j=0;j<3;++j)
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{
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++splitcount[j][dot(x,axis[j])>0?1:0];
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}
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}
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for(int i=0;i<3;++i)
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{
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if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
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{
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const int midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
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if(midp<bestmidp)
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{
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bestaxis=i;
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bestmidp=midp;
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}
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}
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}
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if(bestaxis>=0)
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{
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sets[0].reserve(splitcount[bestaxis][0]);
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sets[1].reserve(splitcount[bestaxis][1]);
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split(leaves,sets[0],sets[1],org,axis[bestaxis]);
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}
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else
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{
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sets[0].reserve(leaves.size()/2+1);
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sets[1].reserve(leaves.size()/2);
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for(int i=0,ni=leaves.size();i<ni;++i)
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{
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sets[i&1].push_back(leaves[i]);
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}
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}
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btDbvt::Node* node=createnode(pdbvt,0,vol,0);
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node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
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node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
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node->childs[0]->parent=node;
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node->childs[1]->parent=node;
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return(node);
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}
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else
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{
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bottomup(pdbvt,leaves);
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return(leaves[0]);
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}
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}
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return(leaves[0]);
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}
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//
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static inline btDbvt::Node* sort(btDbvt::Node* n,btDbvt::Node*& r)
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{
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btDbvt::Node* p=n->parent;
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btAssert(n->isinternal());
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if(p>n)
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{
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const int i=indexof(n);
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const int j=1-i;
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btDbvt::Node* s=p->childs[j];
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btDbvt::Node* q=p->parent;
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btAssert(n==p->childs[i]);
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if(q) q->childs[indexof(p)]=n; else r=n;
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s->parent=n;
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p->parent=n;
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n->parent=q;
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p->childs[0]=n->childs[0];
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p->childs[1]=n->childs[1];
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n->childs[0]->parent=p;
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n->childs[1]->parent=p;
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n->childs[i]=p;
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n->childs[j]=s;
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btSwap(p->volume,n->volume);
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return(p);
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}
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return(n);
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}
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//
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static inline btDbvt::Node* walkup(btDbvt::Node* n,int count)
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{
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while(n&&(count--)) n=n->parent;
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return(n);
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}
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//
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// Api
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//
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//
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btDbvt::btDbvt()
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{
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m_root = 0;
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m_free = 0;
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m_lkhd = -1;
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m_leaves = 0;
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m_opath = 0;
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}
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//
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btDbvt::~btDbvt()
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{
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clear();
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}
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//
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void btDbvt::clear()
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{
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if(m_root) recursedeletenode(this,m_root);
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btAlignedFree(m_free);
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m_free=0;
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}
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//
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void btDbvt::optimizeBottomUp()
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{
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if(m_root)
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{
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tNodeArray leaves;
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leaves.reserve(m_leaves);
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fetchleaves(this,m_root,leaves);
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bottomup(this,leaves);
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m_root=leaves[0];
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}
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}
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//
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void btDbvt::optimizeTopDown(int bu_treshold)
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{
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if(m_root)
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{
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tNodeArray leaves;
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leaves.reserve(m_leaves);
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fetchleaves(this,m_root,leaves);
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m_root=topdown(this,leaves,bu_treshold);
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}
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}
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//
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void btDbvt::optimizeIncremental(int passes)
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{
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if(passes<0) passes=m_leaves;
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if(m_root&&(passes>0))
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{
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do {
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Node* node=m_root;
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unsigned bit=0;
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while(node->isinternal())
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{
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node=sort(node,m_root)->childs[(m_opath>>bit)&1];
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bit=(bit+1)&(sizeof(unsigned)*8-1);
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}
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update(node);
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++m_opath;
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} while(--passes);
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}
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}
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//
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btDbvt::Node* btDbvt::insert(const Volume& volume,void* data)
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{
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Node* leaf=createnode(this,0,volume,data);
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insertleaf(this,m_root,leaf);
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++m_leaves;
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return(leaf);
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}
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//
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void btDbvt::update(Node* leaf,int lookahead)
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{
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Node* root=removeleaf(this,leaf);
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if(root)
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{
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if(lookahead>=0)
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{
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for(int i=0;(i<lookahead)&&root->parent;++i)
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{
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root=root->parent;
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}
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} else root=m_root;
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}
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insertleaf(this,root,leaf);
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}
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//
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void btDbvt::update(Node* leaf,const Volume& volume)
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{
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Node* root=removeleaf(this,leaf);
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if(root)
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{
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if(m_lkhd>=0)
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{
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for(int i=0;(i<m_lkhd)&&root->parent;++i)
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{
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root=root->parent;
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}
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} else root=m_root;
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}
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leaf->volume=volume;
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insertleaf(this,root,leaf);
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}
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//
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bool btDbvt::update(Node* leaf,Volume volume,const btVector3& velocity,btScalar margin)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.Expand(btVector3(margin,margin,margin));
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volume.SignedExpand(velocity);
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update(leaf,volume);
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return(true);
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}
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//
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bool btDbvt::update(Node* leaf,Volume volume,const btVector3& velocity)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.SignedExpand(velocity);
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update(leaf,volume);
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return(true);
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}
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//
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bool btDbvt::update(Node* leaf,Volume volume,btScalar margin)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.Expand(btVector3(margin,margin,margin));
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update(leaf,volume);
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return(true);
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}
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//
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void btDbvt::remove(Node* leaf)
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{
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removeleaf(this,leaf);
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deletenode(this,leaf);
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--m_leaves;
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}
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//
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void btDbvt::write(IWriter* iwriter) const
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{
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btDbvtNodeEnumerator nodes;
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nodes.nodes.reserve(m_leaves*2);
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enumNodes(m_root,nodes);
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iwriter->Prepare(m_root,nodes.nodes.size());
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for(int i=0;i<nodes.nodes.size();++i)
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{
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const Node* n=nodes.nodes[i];
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int p=-1;
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if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
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if(n->isinternal())
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{
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const int c0=nodes.nodes.findLinearSearch(n->childs[0]);
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const int c1=nodes.nodes.findLinearSearch(n->childs[1]);
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iwriter->WriteNode(n,i,p,c0,c1);
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}
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else
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{
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iwriter->WriteLeaf(n,i,p);
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}
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}
|
|
}
|
|
|
|
//
|
|
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];
|
|
Node* 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::countLeaves(const Node* node)
|
|
{
|
|
if(node->isinternal())
|
|
return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
|
|
else
|
|
return(1);
|
|
}
|
|
|
|
//
|
|
void btDbvt::extractLeaves(const Node* node,btAlignedObjectArray<const Node*>& 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
|
|
[1] btDbvt::Volume intersections: 3986 ms (0%)
|
|
[2] btDbvt::Volume merges: 5815 ms (-1%)
|
|
[3] btDbvt::collideTT: 3267 ms (0%)
|
|
[4] btDbvt::collideTT self: 1657 ms (0%)
|
|
[5] btDbvt::collideTT xform: 7201 ms (0%)
|
|
[6] btDbvt::collideTT xform,self: 7382 ms (0%)
|
|
[7] btDbvt::collideRAY: 8855 ms (-1%),(236832 r/s)
|
|
[8] insert/remove: 3574 ms (0%),(586780 ir/s)
|
|
[9] updates (teleport): 3281 ms (0%),(639180 u/s)
|
|
[10] updates (jitter): 2658 ms (0%),(788996 u/s)
|
|
[11] optimize (incremental): 5091 ms (0%),(823000 o/s)
|
|
[12] btDbvt::Volume notequal: 4151 ms (0%)
|
|
[13] culling(OCL): 2486 ms (0%),(411 t/s)
|
|
[14] culling(OCL+qsort): 599 ms (-2%),(1709 t/s)
|
|
[15] culling(KDOP+qsort): 306 ms (0%),(3346 t/s)
|
|
*/
|
|
|
|
struct btDbvtBenchmark
|
|
{
|
|
struct NilPolicy : btDbvt::ICollide
|
|
{
|
|
NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true) {}
|
|
void Process(const btDbvt::Node*,const btDbvt::Node*) { ++m_pcount; }
|
|
void Process(const btDbvt::Node*) { ++m_pcount; }
|
|
void Process(const btDbvt::Node*,btScalar depth)
|
|
{
|
|
++m_pcount;
|
|
if(m_checksort)
|
|
{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f\r\n",depth); }
|
|
}
|
|
int m_pcount;
|
|
btScalar m_depth;
|
|
bool m_checksort;
|
|
};
|
|
struct P14 : btDbvt::ICollide
|
|
{
|
|
struct Node
|
|
{
|
|
const btDbvt::Node* leaf;
|
|
btScalar depth;
|
|
};
|
|
void Process(const btDbvt::Node* 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 btDbvt::Node* leaf;
|
|
btScalar depth;
|
|
};
|
|
void Process(const btDbvt::Node* 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 btDbvt::Volume RandVolume(btScalar cs,btScalar eb,btScalar es)
|
|
{
|
|
return(btDbvt::Volume::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] btDbvt::Volume intersections
|
|
bool cfgBenchmark1_Enable = cfgEnable;
|
|
static const int cfgBenchmark1_Iterations = 8;
|
|
static const int cfgBenchmark1_Reference = 3980;
|
|
//[2] btDbvt::Volume merges
|
|
bool cfgBenchmark2_Enable = cfgEnable;
|
|
static const int cfgBenchmark2_Iterations = 4;
|
|
static const int cfgBenchmark2_Reference = 5924;
|
|
//[3] btDbvt::collideTT
|
|
bool cfgBenchmark3_Enable = cfgEnable;
|
|
static const int cfgBenchmark3_Iterations = 256;
|
|
static const int cfgBenchmark3_Reference = 3288;
|
|
//[4] btDbvt::collideTT self
|
|
bool cfgBenchmark4_Enable = cfgEnable;
|
|
static const int cfgBenchmark4_Iterations = 256;
|
|
static const int cfgBenchmark4_Reference = 1655;
|
|
//[5] btDbvt::collideTT xform
|
|
bool cfgBenchmark5_Enable = cfgEnable;
|
|
static const int cfgBenchmark5_Iterations = 256;
|
|
static const btScalar cfgBenchmark5_OffsetScale = 2;
|
|
static const int cfgBenchmark5_Reference = 7201;
|
|
//[6] btDbvt::collideTT xform,self
|
|
bool cfgBenchmark6_Enable = cfgEnable;
|
|
static const int cfgBenchmark6_Iterations = 256;
|
|
static const btScalar cfgBenchmark6_OffsetScale = 2;
|
|
static const int cfgBenchmark6_Reference = 7382;
|
|
//[7] btDbvt::collideRAY
|
|
bool cfgBenchmark7_Enable = cfgEnable;
|
|
static const int cfgBenchmark7_Passes = 32;
|
|
static const int cfgBenchmark7_Iterations = 65536;
|
|
static const int cfgBenchmark7_Reference = 8954;
|
|
//[8] insert/remove
|
|
bool cfgBenchmark8_Enable = cfgEnable;
|
|
static const int cfgBenchmark8_Passes = 32;
|
|
static const int cfgBenchmark8_Iterations = 65536;
|
|
static const int cfgBenchmark8_Reference = 3597;
|
|
//[9] updates (teleport)
|
|
bool cfgBenchmark9_Enable = cfgEnable;
|
|
static const int cfgBenchmark9_Passes = 32;
|
|
static const int cfgBenchmark9_Iterations = 65536;
|
|
static const int cfgBenchmark9_Reference = 3282;
|
|
//[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 = 2659;
|
|
//[11] optimize (incremental)
|
|
bool cfgBenchmark11_Enable = cfgEnable;
|
|
static const int cfgBenchmark11_Passes = 64;
|
|
static const int cfgBenchmark11_Iterations = 65536;
|
|
static const int cfgBenchmark11_Reference = 5075;
|
|
//[12] btDbvt::Volume notequal
|
|
bool cfgBenchmark12_Enable = cfgEnable;
|
|
static const int cfgBenchmark12_Iterations = 32;
|
|
static const int cfgBenchmark12_Reference = 4118;
|
|
//[13] culling(OCL+fullsort)
|
|
bool cfgBenchmark13_Enable = cfgEnable;
|
|
static const int cfgBenchmark13_Iterations = 1024;
|
|
static const int cfgBenchmark13_Reference = 2483;
|
|
//[14] culling(OCL+qsort)
|
|
bool cfgBenchmark14_Enable = cfgEnable;
|
|
static const int cfgBenchmark14_Iterations = 1024;
|
|
static const int cfgBenchmark14_Reference = 614;
|
|
//[15] culling(KDOP+qsort)
|
|
bool cfgBenchmark15_Enable = cfgEnable;
|
|
static const int cfgBenchmark15_Iterations = 1024;
|
|
static const int cfgBenchmark15_Reference = 305;
|
|
|
|
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);
|
|
if(cfgBenchmark1_Enable)
|
|
{// Benchmark 1
|
|
srand(380843);
|
|
btAlignedObjectArray<btDbvt::Volume> 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] btDbvt::Volume 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<btDbvt::Volume> volumes;
|
|
btAlignedObjectArray<btDbvt::Volume> results;
|
|
volumes.resize(cfgLeaves);
|
|
results.resize(cfgLeaves);
|
|
for(int i=0;i<cfgLeaves;++i)
|
|
{
|
|
volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
|
|
}
|
|
printf("[2] btDbvt::Volume 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::collideRAY: ");
|
|
wallclock.reset();
|
|
for(int i=0;i<cfgBenchmark7_Passes;++i)
|
|
{
|
|
for(int j=0;j<cfgBenchmark7_Iterations;++j)
|
|
{
|
|
btDbvt::collideRAY(dbvt.m_root,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 btDbvt::Node*> 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<btDbvt::Node*>(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 btDbvt::Node*> 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];
|
|
btDbvt::Node* l=const_cast<btDbvt::Node*>(leaves[rand()%cfgLeaves]);
|
|
btDbvt::Volume v=btDbvt::Volume::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<btDbvt::Volume> 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] btDbvt::Volume 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);
|
|
}
|
|
printf("\r\n\r\n");
|
|
}
|
|
#endif
|