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