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