1330 lines
36 KiB
C++
1330 lines
36 KiB
C++
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/*
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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<btDbvtNode*> tNodeArray;
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typedef btAlignedObjectArray<const btDbvtNode*> 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 btDbvtNode* n) { nodes.push_back(n); }
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};
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//
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static DBVT_INLINE int indexof(const btDbvtNode* 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 DBVT_INLINE btDbvtVolume merge( const btDbvtVolume& a,
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const btDbvtVolume& b)
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{
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#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
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ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
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btDbvtVolume* ptr = (btDbvtVolume*) locals;
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btDbvtVolume& res=*ptr;
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#else
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btDbvtVolume res;
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#endif
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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 DBVT_INLINE btScalar size(const btDbvtVolume& 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 void getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
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{
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if(node->isinternal())
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{
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getmaxdepth(node->childs[0],depth+1,maxdepth);
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getmaxdepth(node->childs[1],depth+1,maxdepth);
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} else maxdepth=btMax(maxdepth,depth);
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}
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//
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static DBVT_INLINE void deletenode( btDbvt* pdbvt,
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btDbvtNode* 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 void recursedeletenode( btDbvt* pdbvt,
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btDbvtNode* 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 DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
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btDbvtNode* parent,
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void* data)
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{
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btDbvtNode* 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(btDbvtNode),16)) btDbvtNode(); }
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node->parent = parent;
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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 DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
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btDbvtNode* parent,
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const btDbvtVolume& volume,
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void* data)
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{
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btDbvtNode* node=createnode(pdbvt,parent,data);
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node->volume=volume;
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return(node);
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}
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//
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static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
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btDbvtNode* parent,
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const btDbvtVolume& volume0,
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const btDbvtVolume& volume1,
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void* data)
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{
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btDbvtNode* node=createnode(pdbvt,parent,data);
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Merge(volume0,volume1,node->volume);
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return(node);
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}
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//
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static void insertleaf( btDbvt* pdbvt,
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btDbvtNode* root,
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btDbvtNode* 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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root=root->childs[Select( leaf->volume,
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root->childs[0]->volume,
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root->childs[1]->volume)];
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} while(!root->isleaf());
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}
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btDbvtNode* prev=root->parent;
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btDbvtNode* node=createnode(pdbvt,prev,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 btDbvtNode* removeleaf( btDbvt* pdbvt,
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btDbvtNode* 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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btDbvtNode* parent=leaf->parent;
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btDbvtNode* prev=parent->parent;
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btDbvtNode* 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 btDbvtVolume 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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btDbvtNode* 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 bool leftOfAxis( const btDbvtNode* node,
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const btVector3& org,
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const btVector3& axis)
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{
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return btDot(axis, node->volume.Center() - org) <= 0;
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}
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// Partitions leaves such that leaves[0, n) are on the
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// left of axis, and leaves[n, count) are on the right
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// of axis. returns N.
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static int split( btDbvtNode** leaves,
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int count,
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const btVector3& org,
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const btVector3& axis)
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{
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int begin=0;
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int end=count;
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for(;;)
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{
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while(begin!=end && leftOfAxis(leaves[begin],org,axis))
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{
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++begin;
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}
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if(begin==end)
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{
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break;
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}
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while(begin!=end && !leftOfAxis(leaves[end-1],org,axis))
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{
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--end;
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}
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if(begin==end)
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{
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break;
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}
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// swap out of place nodes
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--end;
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btDbvtNode* temp=leaves[begin];
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leaves[begin]=leaves[end];
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leaves[end]=temp;
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++begin;
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}
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return begin;
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}
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//
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static btDbvtVolume bounds( btDbvtNode** leaves,
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int count)
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{
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#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
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ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
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btDbvtVolume* ptr = (btDbvtVolume*) locals;
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btDbvtVolume& volume=*ptr;
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volume=leaves[0]->volume;
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#else
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btDbvtVolume volume=leaves[0]->volume;
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#endif
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for(int i=1,ni=count;i<ni;++i)
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{
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Merge(volume,leaves[i]->volume,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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btDbvtNode** leaves,
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int count)
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{
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while(count>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<count;++i)
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{
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for(int j=i+1;j<count;++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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btDbvtNode* n[] = {leaves[minidx[0]],leaves[minidx[1]]};
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btDbvtNode* p = createnode(pdbvt,0,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[minidx[1]] = leaves[count-1];
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--count;
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}
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}
|
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//
|
||
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static btDbvtNode* topdown(btDbvt* pdbvt,
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btDbvtNode** leaves,
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int count,
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int bu_treshold)
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||
|
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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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btAssert(bu_treshold>2);
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if(count>1)
|
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{
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if(count>bu_treshold)
|
||
|
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{
|
||
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const btDbvtVolume vol=bounds(leaves,count);
|
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const btVector3 org=vol.Center();
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int partition;
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int bestaxis=-1;
|
||
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int bestmidp=count;
|
||
|
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int splitcount[3][2]={{0,0},{0,0},{0,0}};
|
||
|
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int i;
|
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|
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for( i=0;i<count;++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][btDot(x,axis[j])>0?1:0];
|
||
|
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}
|
||
|
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}
|
||
|
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for( i=0;i<3;++i)
|
||
|
|
{
|
||
|
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if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
|
||
|
|
{
|
||
|
|
const int midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
|
||
|
|
if(midp<bestmidp)
|
||
|
|
{
|
||
|
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bestaxis=i;
|
||
|
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bestmidp=midp;
|
||
|
|
}
|
||
|
|
}
|
||
|
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}
|
||
|
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if(bestaxis>=0)
|
||
|
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{
|
||
|
|
partition=split(leaves,count,org,axis[bestaxis]);
|
||
|
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btAssert(partition!=0 && partition!=count);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
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partition=count/2+1;
|
||
|
|
}
|
||
|
|
btDbvtNode* node=createnode(pdbvt,0,vol,0);
|
||
|
|
node->childs[0]=topdown(pdbvt,&leaves[0],partition,bu_treshold);
|
||
|
|
node->childs[1]=topdown(pdbvt,&leaves[partition],count-partition,bu_treshold);
|
||
|
|
node->childs[0]->parent=node;
|
||
|
|
node->childs[1]->parent=node;
|
||
|
|
return(node);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
bottomup(pdbvt,leaves,count);
|
||
|
|
return(leaves[0]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return(leaves[0]);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n,btDbvtNode*& r)
|
||
|
|
{
|
||
|
|
btDbvtNode* p=n->parent;
|
||
|
|
btAssert(n->isinternal());
|
||
|
|
if(p>n)
|
||
|
|
{
|
||
|
|
const int i=indexof(n);
|
||
|
|
const int j=1-i;
|
||
|
|
btDbvtNode* s=p->childs[j];
|
||
|
|
btDbvtNode* q=p->parent;
|
||
|
|
btAssert(n==p->childs[i]);
|
||
|
|
if(q) q->childs[indexof(p)]=n; else r=n;
|
||
|
|
s->parent=n;
|
||
|
|
p->parent=n;
|
||
|
|
n->parent=q;
|
||
|
|
p->childs[0]=n->childs[0];
|
||
|
|
p->childs[1]=n->childs[1];
|
||
|
|
n->childs[0]->parent=p;
|
||
|
|
n->childs[1]->parent=p;
|
||
|
|
n->childs[i]=p;
|
||
|
|
n->childs[j]=s;
|
||
|
|
btSwap(p->volume,n->volume);
|
||
|
|
return(p);
|
||
|
|
}
|
||
|
|
return(n);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
static DBVT_INLINE btDbvtNode* walkup(btDbvtNode* n,int count)
|
||
|
|
{
|
||
|
|
while(n&&(count--)) n=n->parent;
|
||
|
|
return(n);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//
|
||
|
|
// Api
|
||
|
|
//
|
||
|
|
|
||
|
|
//
|
||
|
|
btDbvt::btDbvt()
|
||
|
|
{
|
||
|
|
m_root = 0;
|
||
|
|
m_free = 0;
|
||
|
|
m_lkhd = -1;
|
||
|
|
m_leaves = 0;
|
||
|
|
m_opath = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
btDbvt::~btDbvt()
|
||
|
|
{
|
||
|
|
clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::clear()
|
||
|
|
{
|
||
|
|
if(m_root)
|
||
|
|
recursedeletenode(this,m_root);
|
||
|
|
btAlignedFree(m_free);
|
||
|
|
m_free=0;
|
||
|
|
m_lkhd = -1;
|
||
|
|
m_stkStack.clear();
|
||
|
|
m_opath = 0;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::optimizeBottomUp()
|
||
|
|
{
|
||
|
|
if(m_root)
|
||
|
|
{
|
||
|
|
tNodeArray leaves;
|
||
|
|
leaves.reserve(m_leaves);
|
||
|
|
fetchleaves(this,m_root,leaves);
|
||
|
|
bottomup(this,&leaves[0],leaves.size());
|
||
|
|
m_root=leaves[0];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::optimizeTopDown(int bu_treshold)
|
||
|
|
{
|
||
|
|
if(m_root)
|
||
|
|
{
|
||
|
|
tNodeArray leaves;
|
||
|
|
leaves.reserve(m_leaves);
|
||
|
|
fetchleaves(this,m_root,leaves);
|
||
|
|
m_root=topdown(this,&leaves[0],leaves.size(),bu_treshold);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::optimizeIncremental(int passes)
|
||
|
|
{
|
||
|
|
if(passes<0) passes=m_leaves;
|
||
|
|
if(m_root&&(passes>0))
|
||
|
|
{
|
||
|
|
do {
|
||
|
|
btDbvtNode* node=m_root;
|
||
|
|
unsigned bit=0;
|
||
|
|
while(node->isinternal())
|
||
|
|
{
|
||
|
|
node=sort(node,m_root)->childs[(m_opath>>bit)&1];
|
||
|
|
bit=(bit+1)&(sizeof(unsigned)*8-1);
|
||
|
|
}
|
||
|
|
update(node);
|
||
|
|
++m_opath;
|
||
|
|
} while(--passes);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
btDbvtNode* btDbvt::insert(const btDbvtVolume& volume,void* data)
|
||
|
|
{
|
||
|
|
btDbvtNode* leaf=createnode(this,0,volume,data);
|
||
|
|
insertleaf(this,m_root,leaf);
|
||
|
|
++m_leaves;
|
||
|
|
return(leaf);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::update(btDbvtNode* leaf,int lookahead)
|
||
|
|
{
|
||
|
|
btDbvtNode* root=removeleaf(this,leaf);
|
||
|
|
if(root)
|
||
|
|
{
|
||
|
|
if(lookahead>=0)
|
||
|
|
{
|
||
|
|
for(int i=0;(i<lookahead)&&root->parent;++i)
|
||
|
|
{
|
||
|
|
root=root->parent;
|
||
|
|
}
|
||
|
|
} else root=m_root;
|
||
|
|
}
|
||
|
|
insertleaf(this,root,leaf);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
|
||
|
|
{
|
||
|
|
btDbvtNode* root=removeleaf(this,leaf);
|
||
|
|
if(root)
|
||
|
|
{
|
||
|
|
if(m_lkhd>=0)
|
||
|
|
{
|
||
|
|
for(int i=0;(i<m_lkhd)&&root->parent;++i)
|
||
|
|
{
|
||
|
|
root=root->parent;
|
||
|
|
}
|
||
|
|
} else root=m_root;
|
||
|
|
}
|
||
|
|
leaf->volume=volume;
|
||
|
|
insertleaf(this,root,leaf);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
|
||
|
|
{
|
||
|
|
if(leaf->volume.Contain(volume)) return(false);
|
||
|
|
volume.Expand(btVector3(margin,margin,margin));
|
||
|
|
volume.SignedExpand(velocity);
|
||
|
|
update(leaf,volume);
|
||
|
|
return(true);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
|
||
|
|
{
|
||
|
|
if(leaf->volume.Contain(volume)) return(false);
|
||
|
|
volume.SignedExpand(velocity);
|
||
|
|
update(leaf,volume);
|
||
|
|
return(true);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
|
||
|
|
{
|
||
|
|
if(leaf->volume.Contain(volume)) return(false);
|
||
|
|
volume.Expand(btVector3(margin,margin,margin));
|
||
|
|
update(leaf,volume);
|
||
|
|
return(true);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::remove(btDbvtNode* leaf)
|
||
|
|
{
|
||
|
|
removeleaf(this,leaf);
|
||
|
|
deletenode(this,leaf);
|
||
|
|
--m_leaves;
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::write(IWriter* iwriter) const
|
||
|
|
{
|
||
|
|
btDbvtNodeEnumerator nodes;
|
||
|
|
nodes.nodes.reserve(m_leaves*2);
|
||
|
|
enumNodes(m_root,nodes);
|
||
|
|
iwriter->Prepare(m_root,nodes.nodes.size());
|
||
|
|
for(int i=0;i<nodes.nodes.size();++i)
|
||
|
|
{
|
||
|
|
const btDbvtNode* n=nodes.nodes[i];
|
||
|
|
int p=-1;
|
||
|
|
if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
|
||
|
|
if(n->isinternal())
|
||
|
|
{
|
||
|
|
const int c0=nodes.nodes.findLinearSearch(n->childs[0]);
|
||
|
|
const int c1=nodes.nodes.findLinearSearch(n->childs[1]);
|
||
|
|
iwriter->WriteNode(n,i,p,c0,c1);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
iwriter->WriteLeaf(n,i,p);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::clone(btDbvt& dest,IClone* iclone) const
|
||
|
|
{
|
||
|
|
dest.clear();
|
||
|
|
if(m_root!=0)
|
||
|
|
{
|
||
|
|
btAlignedObjectArray<sStkCLN> stack;
|
||
|
|
stack.reserve(m_leaves);
|
||
|
|
stack.push_back(sStkCLN(m_root,0));
|
||
|
|
do {
|
||
|
|
const int i=stack.size()-1;
|
||
|
|
const sStkCLN e=stack[i];
|
||
|
|
btDbvtNode* n=createnode(&dest,e.parent,e.node->volume,e.node->data);
|
||
|
|
stack.pop_back();
|
||
|
|
if(e.parent!=0)
|
||
|
|
e.parent->childs[i&1]=n;
|
||
|
|
else
|
||
|
|
dest.m_root=n;
|
||
|
|
if(e.node->isinternal())
|
||
|
|
{
|
||
|
|
stack.push_back(sStkCLN(e.node->childs[0],n));
|
||
|
|
stack.push_back(sStkCLN(e.node->childs[1],n));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
iclone->CloneLeaf(n);
|
||
|
|
}
|
||
|
|
} while(stack.size()>0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
int btDbvt::maxdepth(const btDbvtNode* node)
|
||
|
|
{
|
||
|
|
int depth=0;
|
||
|
|
if(node) getmaxdepth(node,1,depth);
|
||
|
|
return(depth);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
int btDbvt::countLeaves(const btDbvtNode* node)
|
||
|
|
{
|
||
|
|
if(node->isinternal())
|
||
|
|
return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
|
||
|
|
else
|
||
|
|
return(1);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
void btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
|
||
|
|
{
|
||
|
|
if(node->isinternal())
|
||
|
|
{
|
||
|
|
extractLeaves(node->childs[0],leaves);
|
||
|
|
extractLeaves(node->childs[1],leaves);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
leaves.push_back(node);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
#if DBVT_ENABLE_BENCHMARK
|
||
|
|
|
||
|
|
#include <stdio.h>
|
||
|
|
#include <stdlib.h>
|
||
|
|
#include "LinearMath/btQuickProf.h"
|
||
|
|
|
||
|
|
/*
|
||
|
|
q6600,2.4ghz
|
||
|
|
|
||
|
|
/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
|
||
|
|
/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
|
||
|
|
/Fo"..\..\out\release8\build\libbulletcollision\\"
|
||
|
|
/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
|
||
|
|
/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
|
||
|
|
|
||
|
|
Benchmarking dbvt...
|
||
|
|
World scale: 100.000000
|
||
|
|
Extents base: 1.000000
|
||
|
|
Extents range: 4.000000
|
||
|
|
Leaves: 8192
|
||
|
|
sizeof(btDbvtVolume): 32 bytes
|
||
|
|
sizeof(btDbvtNode): 44 bytes
|
||
|
|
[1] btDbvtVolume intersections: 3499 ms (-1%)
|
||
|
|
[2] btDbvtVolume merges: 1934 ms (0%)
|
||
|
|
[3] btDbvt::collideTT: 5485 ms (-21%)
|
||
|
|
[4] btDbvt::collideTT self: 2814 ms (-20%)
|
||
|
|
[5] btDbvt::collideTT xform: 7379 ms (-1%)
|
||
|
|
[6] btDbvt::collideTT xform,self: 7270 ms (-2%)
|
||
|
|
[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
|
||
|
|
[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
|
||
|
|
[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
|
||
|
|
[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
|
||
|
|
[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
|
||
|
|
[12] btDbvtVolume notequal: 3659 ms (0%)
|
||
|
|
[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
|
||
|
|
[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
|
||
|
|
[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
|
||
|
|
[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
|
||
|
|
[17] btDbvtVolume select: 3419 ms (0%)
|
||
|
|
*/
|
||
|
|
|
||
|
|
struct btDbvtBenchmark
|
||
|
|
{
|
||
|
|
struct NilPolicy : btDbvt::ICollide
|
||
|
|
{
|
||
|
|
NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true) {}
|
||
|
|
void Process(const btDbvtNode*,const btDbvtNode*) { ++m_pcount; }
|
||
|
|
void Process(const btDbvtNode*) { ++m_pcount; }
|
||
|
|
void Process(const btDbvtNode*,btScalar depth)
|
||
|
|
{
|
||
|
|
++m_pcount;
|
||
|
|
if(m_checksort)
|
||
|
|
{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
|
||
|
|
}
|
||
|
|
int m_pcount;
|
||
|
|
btScalar m_depth;
|
||
|
|
bool m_checksort;
|
||
|
|
};
|
||
|
|
struct P14 : btDbvt::ICollide
|
||
|
|
{
|
||
|
|
struct Node
|
||
|
|
{
|
||
|
|
const btDbvtNode* leaf;
|
||
|
|
btScalar depth;
|
||
|
|
};
|
||
|
|
void Process(const btDbvtNode* leaf,btScalar depth)
|
||
|
|
{
|
||
|
|
Node n;
|
||
|
|
n.leaf = leaf;
|
||
|
|
n.depth = depth;
|
||
|
|
}
|
||
|
|
static int sortfnc(const Node& a,const Node& b)
|
||
|
|
{
|
||
|
|
if(a.depth<b.depth) return(+1);
|
||
|
|
if(a.depth>b.depth) return(-1);
|
||
|
|
return(0);
|
||
|
|
}
|
||
|
|
btAlignedObjectArray<Node> m_nodes;
|
||
|
|
};
|
||
|
|
struct P15 : btDbvt::ICollide
|
||
|
|
{
|
||
|
|
struct Node
|
||
|
|
{
|
||
|
|
const btDbvtNode* leaf;
|
||
|
|
btScalar depth;
|
||
|
|
};
|
||
|
|
void Process(const btDbvtNode* leaf)
|
||
|
|
{
|
||
|
|
Node n;
|
||
|
|
n.leaf = leaf;
|
||
|
|
n.depth = dot(leaf->volume.Center(),m_axis);
|
||
|
|
}
|
||
|
|
static int sortfnc(const Node& a,const Node& b)
|
||
|
|
{
|
||
|
|
if(a.depth<b.depth) return(+1);
|
||
|
|
if(a.depth>b.depth) return(-1);
|
||
|
|
return(0);
|
||
|
|
}
|
||
|
|
btAlignedObjectArray<Node> m_nodes;
|
||
|
|
btVector3 m_axis;
|
||
|
|
};
|
||
|
|
static btScalar RandUnit()
|
||
|
|
{
|
||
|
|
return(rand()/(btScalar)RAND_MAX);
|
||
|
|
}
|
||
|
|
static btVector3 RandVector3()
|
||
|
|
{
|
||
|
|
return(btVector3(RandUnit(),RandUnit(),RandUnit()));
|
||
|
|
}
|
||
|
|
static btVector3 RandVector3(btScalar cs)
|
||
|
|
{
|
||
|
|
return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
|
||
|
|
}
|
||
|
|
static btDbvtVolume RandVolume(btScalar cs,btScalar eb,btScalar es)
|
||
|
|
{
|
||
|
|
return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
|
||
|
|
}
|
||
|
|
static btTransform RandTransform(btScalar cs)
|
||
|
|
{
|
||
|
|
btTransform t;
|
||
|
|
t.setOrigin(RandVector3(cs));
|
||
|
|
t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
|
||
|
|
return(t);
|
||
|
|
}
|
||
|
|
static void RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
|
||
|
|
{
|
||
|
|
dbvt.clear();
|
||
|
|
for(int i=0;i<leaves;++i)
|
||
|
|
{
|
||
|
|
dbvt.insert(RandVolume(cs,eb,es),0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
void btDbvt::benchmark()
|
||
|
|
{
|
||
|
|
static const btScalar cfgVolumeCenterScale = 100;
|
||
|
|
static const btScalar cfgVolumeExentsBase = 1;
|
||
|
|
static const btScalar cfgVolumeExentsScale = 4;
|
||
|
|
static const int cfgLeaves = 8192;
|
||
|
|
static const bool cfgEnable = true;
|
||
|
|
|
||
|
|
//[1] btDbvtVolume intersections
|
||
|
|
bool cfgBenchmark1_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark1_Iterations = 8;
|
||
|
|
static const int cfgBenchmark1_Reference = 3499;
|
||
|
|
//[2] btDbvtVolume merges
|
||
|
|
bool cfgBenchmark2_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark2_Iterations = 4;
|
||
|
|
static const int cfgBenchmark2_Reference = 1945;
|
||
|
|
//[3] btDbvt::collideTT
|
||
|
|
bool cfgBenchmark3_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark3_Iterations = 512;
|
||
|
|
static const int cfgBenchmark3_Reference = 5485;
|
||
|
|
//[4] btDbvt::collideTT self
|
||
|
|
bool cfgBenchmark4_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark4_Iterations = 512;
|
||
|
|
static const int cfgBenchmark4_Reference = 2814;
|
||
|
|
//[5] btDbvt::collideTT xform
|
||
|
|
bool cfgBenchmark5_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark5_Iterations = 512;
|
||
|
|
static const btScalar cfgBenchmark5_OffsetScale = 2;
|
||
|
|
static const int cfgBenchmark5_Reference = 7379;
|
||
|
|
//[6] btDbvt::collideTT xform,self
|
||
|
|
bool cfgBenchmark6_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark6_Iterations = 512;
|
||
|
|
static const btScalar cfgBenchmark6_OffsetScale = 2;
|
||
|
|
static const int cfgBenchmark6_Reference = 7270;
|
||
|
|
//[7] btDbvt::rayTest
|
||
|
|
bool cfgBenchmark7_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark7_Passes = 32;
|
||
|
|
static const int cfgBenchmark7_Iterations = 65536;
|
||
|
|
static const int cfgBenchmark7_Reference = 6307;
|
||
|
|
//[8] insert/remove
|
||
|
|
bool cfgBenchmark8_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark8_Passes = 32;
|
||
|
|
static const int cfgBenchmark8_Iterations = 65536;
|
||
|
|
static const int cfgBenchmark8_Reference = 2105;
|
||
|
|
//[9] updates (teleport)
|
||
|
|
bool cfgBenchmark9_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark9_Passes = 32;
|
||
|
|
static const int cfgBenchmark9_Iterations = 65536;
|
||
|
|
static const int cfgBenchmark9_Reference = 1879;
|
||
|
|
//[10] updates (jitter)
|
||
|
|
bool cfgBenchmark10_Enable = cfgEnable;
|
||
|
|
static const btScalar cfgBenchmark10_Scale = cfgVolumeCenterScale/10000;
|
||
|
|
static const int cfgBenchmark10_Passes = 32;
|
||
|
|
static const int cfgBenchmark10_Iterations = 65536;
|
||
|
|
static const int cfgBenchmark10_Reference = 1244;
|
||
|
|
//[11] optimize (incremental)
|
||
|
|
bool cfgBenchmark11_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark11_Passes = 64;
|
||
|
|
static const int cfgBenchmark11_Iterations = 65536;
|
||
|
|
static const int cfgBenchmark11_Reference = 2510;
|
||
|
|
//[12] btDbvtVolume notequal
|
||
|
|
bool cfgBenchmark12_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark12_Iterations = 32;
|
||
|
|
static const int cfgBenchmark12_Reference = 3677;
|
||
|
|
//[13] culling(OCL+fullsort)
|
||
|
|
bool cfgBenchmark13_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark13_Iterations = 1024;
|
||
|
|
static const int cfgBenchmark13_Reference = 2231;
|
||
|
|
//[14] culling(OCL+qsort)
|
||
|
|
bool cfgBenchmark14_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark14_Iterations = 8192;
|
||
|
|
static const int cfgBenchmark14_Reference = 3500;
|
||
|
|
//[15] culling(KDOP+qsort)
|
||
|
|
bool cfgBenchmark15_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark15_Iterations = 8192;
|
||
|
|
static const int cfgBenchmark15_Reference = 1151;
|
||
|
|
//[16] insert/remove batch
|
||
|
|
bool cfgBenchmark16_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark16_BatchCount = 256;
|
||
|
|
static const int cfgBenchmark16_Passes = 16384;
|
||
|
|
static const int cfgBenchmark16_Reference = 5138;
|
||
|
|
//[17] select
|
||
|
|
bool cfgBenchmark17_Enable = cfgEnable;
|
||
|
|
static const int cfgBenchmark17_Iterations = 4;
|
||
|
|
static const int cfgBenchmark17_Reference = 3390;
|
||
|
|
|
||
|
|
btClock wallclock;
|
||
|
|
printf("Benchmarking dbvt...\r\n");
|
||
|
|
printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
|
||
|
|
printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
|
||
|
|
printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
|
||
|
|
printf("\tLeaves: %u\r\n",cfgLeaves);
|
||
|
|
printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
|
||
|
|
printf("\tsizeof(btDbvtNode): %u bytes\r\n",sizeof(btDbvtNode));
|
||
|
|
if(cfgBenchmark1_Enable)
|
||
|
|
{// Benchmark 1
|
||
|
|
srand(380843);
|
||
|
|
btAlignedObjectArray<btDbvtVolume> volumes;
|
||
|
|
btAlignedObjectArray<bool> results;
|
||
|
|
volumes.resize(cfgLeaves);
|
||
|
|
results.resize(cfgLeaves);
|
||
|
|
for(int i=0;i<cfgLeaves;++i)
|
||
|
|
{
|
||
|
|
volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
|
||
|
|
}
|
||
|
|
printf("[1] btDbvtVolume intersections: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark1_Iterations;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgLeaves;++j)
|
||
|
|
{
|
||
|
|
for(int k=0;k<cfgLeaves;++k)
|
||
|
|
{
|
||
|
|
results[k]=Intersect(volumes[j],volumes[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark2_Enable)
|
||
|
|
{// Benchmark 2
|
||
|
|
srand(380843);
|
||
|
|
btAlignedObjectArray<btDbvtVolume> volumes;
|
||
|
|
btAlignedObjectArray<btDbvtVolume> results;
|
||
|
|
volumes.resize(cfgLeaves);
|
||
|
|
results.resize(cfgLeaves);
|
||
|
|
for(int i=0;i<cfgLeaves;++i)
|
||
|
|
{
|
||
|
|
volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
|
||
|
|
}
|
||
|
|
printf("[2] btDbvtVolume merges: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark2_Iterations;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgLeaves;++j)
|
||
|
|
{
|
||
|
|
for(int k=0;k<cfgLeaves;++k)
|
||
|
|
{
|
||
|
|
Merge(volumes[j],volumes[k],results[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark3_Enable)
|
||
|
|
{// Benchmark 3
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt[2];
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
|
||
|
|
dbvt[0].optimizeTopDown();
|
||
|
|
dbvt[1].optimizeTopDown();
|
||
|
|
printf("[3] btDbvt::collideTT: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark3_Iterations;++i)
|
||
|
|
{
|
||
|
|
btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark4_Enable)
|
||
|
|
{// Benchmark 4
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[4] btDbvt::collideTT self: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark4_Iterations;++i)
|
||
|
|
{
|
||
|
|
btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark5_Enable)
|
||
|
|
{// Benchmark 5
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt[2];
|
||
|
|
btAlignedObjectArray<btTransform> transforms;
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
transforms.resize(cfgBenchmark5_Iterations);
|
||
|
|
for(int i=0;i<transforms.size();++i)
|
||
|
|
{
|
||
|
|
transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
|
||
|
|
dbvt[0].optimizeTopDown();
|
||
|
|
dbvt[1].optimizeTopDown();
|
||
|
|
printf("[5] btDbvt::collideTT xform: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark5_Iterations;++i)
|
||
|
|
{
|
||
|
|
btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark6_Enable)
|
||
|
|
{// Benchmark 6
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btTransform> transforms;
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
transforms.resize(cfgBenchmark6_Iterations);
|
||
|
|
for(int i=0;i<transforms.size();++i)
|
||
|
|
{
|
||
|
|
transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[6] btDbvt::collideTT xform,self: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark6_Iterations;++i)
|
||
|
|
{
|
||
|
|
btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark7_Enable)
|
||
|
|
{// Benchmark 7
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btVector3> rayorg;
|
||
|
|
btAlignedObjectArray<btVector3> raydir;
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
rayorg.resize(cfgBenchmark7_Iterations);
|
||
|
|
raydir.resize(cfgBenchmark7_Iterations);
|
||
|
|
for(int i=0;i<rayorg.size();++i)
|
||
|
|
{
|
||
|
|
rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
|
||
|
|
raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[7] btDbvt::rayTest: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark7_Passes;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgBenchmark7_Iterations;++j)
|
||
|
|
{
|
||
|
|
btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
unsigned rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark8_Enable)
|
||
|
|
{// Benchmark 8
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[8] insert/remove: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark8_Passes;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgBenchmark8_Iterations;++j)
|
||
|
|
{
|
||
|
|
dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark9_Enable)
|
||
|
|
{// Benchmark 9
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<const btDbvtNode*> leaves;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
dbvt.extractLeaves(dbvt.m_root,leaves);
|
||
|
|
printf("[9] updates (teleport): ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark9_Passes;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgBenchmark9_Iterations;++j)
|
||
|
|
{
|
||
|
|
dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
|
||
|
|
btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark10_Enable)
|
||
|
|
{// Benchmark 10
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<const btDbvtNode*> leaves;
|
||
|
|
btAlignedObjectArray<btVector3> vectors;
|
||
|
|
vectors.resize(cfgBenchmark10_Iterations);
|
||
|
|
for(int i=0;i<vectors.size();++i)
|
||
|
|
{
|
||
|
|
vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
dbvt.extractLeaves(dbvt.m_root,leaves);
|
||
|
|
printf("[10] updates (jitter): ");
|
||
|
|
wallclock.reset();
|
||
|
|
|
||
|
|
for(int i=0;i<cfgBenchmark10_Passes;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgBenchmark10_Iterations;++j)
|
||
|
|
{
|
||
|
|
const btVector3& d=vectors[j];
|
||
|
|
btDbvtNode* l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
|
||
|
|
btDbvtVolume v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
|
||
|
|
dbvt.update(l,v);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark11_Enable)
|
||
|
|
{// Benchmark 11
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[11] optimize (incremental): ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark11_Passes;++i)
|
||
|
|
{
|
||
|
|
dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark12_Enable)
|
||
|
|
{// Benchmark 12
|
||
|
|
srand(380843);
|
||
|
|
btAlignedObjectArray<btDbvtVolume> volumes;
|
||
|
|
btAlignedObjectArray<bool> results;
|
||
|
|
volumes.resize(cfgLeaves);
|
||
|
|
results.resize(cfgLeaves);
|
||
|
|
for(int i=0;i<cfgLeaves;++i)
|
||
|
|
{
|
||
|
|
volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
|
||
|
|
}
|
||
|
|
printf("[12] btDbvtVolume notequal: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark12_Iterations;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgLeaves;++j)
|
||
|
|
{
|
||
|
|
for(int k=0;k<cfgLeaves;++k)
|
||
|
|
{
|
||
|
|
results[k]=NotEqual(volumes[j],volumes[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark13_Enable)
|
||
|
|
{// Benchmark 13
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btVector3> vectors;
|
||
|
|
btDbvtBenchmark::NilPolicy policy;
|
||
|
|
vectors.resize(cfgBenchmark13_Iterations);
|
||
|
|
for(int i=0;i<vectors.size();++i)
|
||
|
|
{
|
||
|
|
vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
printf("[13] culling(OCL+fullsort): ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark13_Iterations;++i)
|
||
|
|
{
|
||
|
|
static const btScalar offset=0;
|
||
|
|
policy.m_depth=-SIMD_INFINITY;
|
||
|
|
dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int t=cfgBenchmark13_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark14_Enable)
|
||
|
|
{// Benchmark 14
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btVector3> vectors;
|
||
|
|
btDbvtBenchmark::P14 policy;
|
||
|
|
vectors.resize(cfgBenchmark14_Iterations);
|
||
|
|
for(int i=0;i<vectors.size();++i)
|
||
|
|
{
|
||
|
|
vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
policy.m_nodes.reserve(cfgLeaves);
|
||
|
|
printf("[14] culling(OCL+qsort): ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark14_Iterations;++i)
|
||
|
|
{
|
||
|
|
static const btScalar offset=0;
|
||
|
|
policy.m_nodes.resize(0);
|
||
|
|
dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
|
||
|
|
policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int t=cfgBenchmark14_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark15_Enable)
|
||
|
|
{// Benchmark 15
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btVector3> vectors;
|
||
|
|
btDbvtBenchmark::P15 policy;
|
||
|
|
vectors.resize(cfgBenchmark15_Iterations);
|
||
|
|
for(int i=0;i<vectors.size();++i)
|
||
|
|
{
|
||
|
|
vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
|
||
|
|
}
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
policy.m_nodes.reserve(cfgLeaves);
|
||
|
|
printf("[15] culling(KDOP+qsort): ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark15_Iterations;++i)
|
||
|
|
{
|
||
|
|
static const btScalar offset=0;
|
||
|
|
policy.m_nodes.resize(0);
|
||
|
|
policy.m_axis=vectors[i];
|
||
|
|
dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
|
||
|
|
policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int t=cfgBenchmark15_Iterations;
|
||
|
|
printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
|
||
|
|
}
|
||
|
|
if(cfgBenchmark16_Enable)
|
||
|
|
{// Benchmark 16
|
||
|
|
srand(380843);
|
||
|
|
btDbvt dbvt;
|
||
|
|
btAlignedObjectArray<btDbvtNode*> batch;
|
||
|
|
btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
|
||
|
|
dbvt.optimizeTopDown();
|
||
|
|
batch.reserve(cfgBenchmark16_BatchCount);
|
||
|
|
printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark16_Passes;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgBenchmark16_BatchCount;++j)
|
||
|
|
{
|
||
|
|
batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
|
||
|
|
}
|
||
|
|
for(int j=0;j<cfgBenchmark16_BatchCount;++j)
|
||
|
|
{
|
||
|
|
dbvt.remove(batch[j]);
|
||
|
|
}
|
||
|
|
batch.resize(0);
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
const int ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
|
||
|
|
printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
|
||
|
|
}
|
||
|
|
if(cfgBenchmark17_Enable)
|
||
|
|
{// Benchmark 17
|
||
|
|
srand(380843);
|
||
|
|
btAlignedObjectArray<btDbvtVolume> volumes;
|
||
|
|
btAlignedObjectArray<int> results;
|
||
|
|
btAlignedObjectArray<int> indices;
|
||
|
|
volumes.resize(cfgLeaves);
|
||
|
|
results.resize(cfgLeaves);
|
||
|
|
indices.resize(cfgLeaves);
|
||
|
|
for(int i=0;i<cfgLeaves;++i)
|
||
|
|
{
|
||
|
|
indices[i]=i;
|
||
|
|
volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
|
||
|
|
}
|
||
|
|
for(int i=0;i<cfgLeaves;++i)
|
||
|
|
{
|
||
|
|
btSwap(indices[i],indices[rand()%cfgLeaves]);
|
||
|
|
}
|
||
|
|
printf("[17] btDbvtVolume select: ");
|
||
|
|
wallclock.reset();
|
||
|
|
for(int i=0;i<cfgBenchmark17_Iterations;++i)
|
||
|
|
{
|
||
|
|
for(int j=0;j<cfgLeaves;++j)
|
||
|
|
{
|
||
|
|
for(int k=0;k<cfgLeaves;++k)
|
||
|
|
{
|
||
|
|
const int idx=indices[k];
|
||
|
|
results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
const int time=(int)wallclock.getTimeMilliseconds();
|
||
|
|
printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
|
||
|
|
}
|
||
|
|
printf("\r\n\r\n");
|
||
|
|
}
|
||
|
|
#endif
|