829 lines
22 KiB
C++
829 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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btScalar gDbvtMargin = btScalar(0.05);
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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) : 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])
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item->links[0]->links[1] = item->links[1];
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else
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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)
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{
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++n;
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root = root->links[1];
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}
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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
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{
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} 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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//todo(erwincoumans, "why do we get tsan issue here?")
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if (0)//threadIndex < m_rayTestStacks.size())
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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)
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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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m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
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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)
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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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}
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else
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{
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needsRemoval = true;
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}
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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;
|
|
invalidPair++;
|
|
}
|
|
}
|
|
|
|
//perform a sort, to sort 'invalid' pairs to the end
|
|
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
|
|
overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
|
|
}
|
|
}
|
|
|
|
//
|
|
void btDbvtBroadphase::collide(btDispatcher* dispatcher)
|
|
{
|
|
/*printf("---------------------------------------------------------\n");
|
|
printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
|
|
printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
|
|
printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
|
|
{
|
|
int i;
|
|
for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
|
|
{
|
|
printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
|
|
getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
|
|
}
|
|
printf("\n");
|
|
}
|
|
*/
|
|
|
|
SPC(m_profiling.m_total);
|
|
/* optimize */
|
|
m_sets[0].optimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
|
|
if (m_fixedleft)
|
|
{
|
|
const int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
|
|
m_sets[1].optimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
|
|
m_fixedleft = btMax<int>(0, m_fixedleft - count);
|
|
}
|
|
/* dynamic -> fixed set */
|
|
m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
|
|
btDbvtProxy* current = m_stageRoots[m_stageCurrent];
|
|
if (current)
|
|
{
|
|
#if DBVT_BP_ACCURATESLEEPING
|
|
btDbvtTreeCollider collider(this);
|
|
#endif
|
|
do
|
|
{
|
|
btDbvtProxy* next = current->links[1];
|
|
listremove(current, m_stageRoots[current->stage]);
|
|
listappend(current, m_stageRoots[STAGECOUNT]);
|
|
#if DBVT_BP_ACCURATESLEEPING
|
|
m_paircache->removeOverlappingPairsContainingProxy(current, dispatcher);
|
|
collider.proxy = current;
|
|
btDbvt::collideTV(m_sets[0].m_root, current->aabb, collider);
|
|
btDbvt::collideTV(m_sets[1].m_root, current->aabb, collider);
|
|
#endif
|
|
m_sets[0].remove(current->leaf);
|
|
ATTRIBUTE_ALIGNED16(btDbvtVolume)
|
|
curAabb = btDbvtVolume::FromMM(current->m_aabbMin, current->m_aabbMax);
|
|
current->leaf = m_sets[1].insert(curAabb, current);
|
|
current->stage = STAGECOUNT;
|
|
current = next;
|
|
} while (current);
|
|
m_fixedleft = m_sets[1].m_leaves;
|
|
m_needcleanup = true;
|
|
}
|
|
/* collide dynamics */
|
|
{
|
|
btDbvtTreeCollider collider(this);
|
|
if (m_deferedcollide)
|
|
{
|
|
SPC(m_profiling.m_fdcollide);
|
|
m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
|
|
}
|
|
if (m_deferedcollide)
|
|
{
|
|
SPC(m_profiling.m_ddcollide);
|
|
m_sets[0].collideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
|
|
}
|
|
}
|
|
/* clean up */
|
|
if (m_needcleanup)
|
|
{
|
|
SPC(m_profiling.m_cleanup);
|
|
btBroadphasePairArray& pairs = m_paircache->getOverlappingPairArray();
|
|
if (pairs.size() > 0)
|
|
{
|
|
int ni = btMin(pairs.size(), btMax<int>(m_newpairs, (pairs.size() * m_cupdates) / 100));
|
|
for (int i = 0; i < ni; ++i)
|
|
{
|
|
btBroadphasePair& p = pairs[(m_cid + i) % pairs.size()];
|
|
btDbvtProxy* pa = (btDbvtProxy*)p.m_pProxy0;
|
|
btDbvtProxy* pb = (btDbvtProxy*)p.m_pProxy1;
|
|
if (!Intersect(pa->leaf->volume, pb->leaf->volume))
|
|
{
|
|
#if DBVT_BP_SORTPAIRS
|
|
if (pa->m_uniqueId > pb->m_uniqueId)
|
|
btSwap(pa, pb);
|
|
#endif
|
|
m_paircache->removeOverlappingPair(pa, pb, dispatcher);
|
|
--ni;
|
|
--i;
|
|
}
|
|
}
|
|
if (pairs.size() > 0)
|
|
m_cid = (m_cid + ni) % pairs.size();
|
|
else
|
|
m_cid = 0;
|
|
}
|
|
}
|
|
++m_pid;
|
|
m_newpairs = 1;
|
|
m_needcleanup = false;
|
|
if (m_updates_call > 0)
|
|
{
|
|
m_updates_ratio = m_updates_done / (btScalar)m_updates_call;
|
|
}
|
|
else
|
|
{
|
|
m_updates_ratio = 0;
|
|
}
|
|
m_updates_done /= 2;
|
|
m_updates_call /= 2;
|
|
}
|
|
|
|
//
|
|
void btDbvtBroadphase::optimize()
|
|
{
|
|
m_sets[0].optimizeTopDown();
|
|
m_sets[1].optimizeTopDown();
|
|
}
|
|
|
|
//
|
|
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
|
|
{
|
|
return (m_paircache);
|
|
}
|
|
|
|
//
|
|
const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
|
|
{
|
|
return (m_paircache);
|
|
}
|
|
|
|
//
|
|
void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
|
|
{
|
|
ATTRIBUTE_ALIGNED16(btDbvtVolume)
|
|
bounds;
|
|
|
|
if (!m_sets[0].empty())
|
|
if (!m_sets[1].empty())
|
|
Merge(m_sets[0].m_root->volume,
|
|
m_sets[1].m_root->volume, bounds);
|
|
else
|
|
bounds = m_sets[0].m_root->volume;
|
|
else if (!m_sets[1].empty())
|
|
bounds = m_sets[1].m_root->volume;
|
|
else
|
|
bounds = btDbvtVolume::FromCR(btVector3(0, 0, 0), 0);
|
|
aabbMin = bounds.Mins();
|
|
aabbMax = bounds.Maxs();
|
|
}
|
|
|
|
void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
|
|
{
|
|
int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
|
|
if (!totalObjects)
|
|
{
|
|
//reset internal dynamic tree data structures
|
|
m_sets[0].clear();
|
|
m_sets[1].clear();
|
|
|
|
m_deferedcollide = false;
|
|
m_needcleanup = true;
|
|
m_stageCurrent = 0;
|
|
m_fixedleft = 0;
|
|
m_fupdates = 1;
|
|
m_dupdates = 0;
|
|
m_cupdates = 10;
|
|
m_newpairs = 1;
|
|
m_updates_call = 0;
|
|
m_updates_done = 0;
|
|
m_updates_ratio = 0;
|
|
|
|
m_gid = 0;
|
|
m_pid = 0;
|
|
m_cid = 0;
|
|
for (int i = 0; i <= STAGECOUNT; ++i)
|
|
{
|
|
m_stageRoots[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
//
|
|
void btDbvtBroadphase::printStats()
|
|
{
|
|
}
|
|
|
|
//
|
|
#if DBVT_BP_ENABLE_BENCHMARK
|
|
|
|
struct btBroadphaseBenchmark
|
|
{
|
|
struct Experiment
|
|
{
|
|
const char* name;
|
|
int object_count;
|
|
int update_count;
|
|
int spawn_count;
|
|
int iterations;
|
|
btScalar speed;
|
|
btScalar amplitude;
|
|
};
|
|
struct Object
|
|
{
|
|
btVector3 center;
|
|
btVector3 extents;
|
|
btBroadphaseProxy* proxy;
|
|
btScalar time;
|
|
void update(btScalar speed, btScalar amplitude, btBroadphaseInterface* pbi)
|
|
{
|
|
time += speed;
|
|
center[0] = btCos(time * (btScalar)2.17) * amplitude +
|
|
btSin(time) * amplitude / 2;
|
|
center[1] = btCos(time * (btScalar)1.38) * amplitude +
|
|
btSin(time) * amplitude;
|
|
center[2] = btSin(time * (btScalar)0.777) * amplitude;
|
|
pbi->setAabb(proxy, center - extents, center + extents, 0);
|
|
}
|
|
};
|
|
static int UnsignedRand(int range = RAND_MAX - 1) { return (rand() % (range + 1)); }
|
|
static btScalar UnitRand() { return (UnsignedRand(16384) / (btScalar)16384); }
|
|
static void OutputTime(const char* name, btClock& c, unsigned count = 0)
|
|
{
|
|
const unsigned long us = c.getTimeMicroseconds();
|
|
const unsigned long ms = (us + 500) / 1000;
|
|
const btScalar sec = us / (btScalar)(1000 * 1000);
|
|
if (count > 0)
|
|
printf("%s : %u us (%u ms), %.2f/s\r\n", name, us, ms, count / sec);
|
|
else
|
|
printf("%s : %u us (%u ms)\r\n", name, us, ms);
|
|
}
|
|
};
|
|
|
|
void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
|
|
{
|
|
static const btBroadphaseBenchmark::Experiment experiments[] =
|
|
{
|
|
{"1024o.10%", 1024, 10, 0, 8192, (btScalar)0.005, (btScalar)100},
|
|
/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
|
|
{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
|
|
};
|
|
static const int nexperiments = sizeof(experiments) / sizeof(experiments[0]);
|
|
btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
|
|
btClock wallclock;
|
|
/* Begin */
|
|
for (int iexp = 0; iexp < nexperiments; ++iexp)
|
|
{
|
|
const btBroadphaseBenchmark::Experiment& experiment = experiments[iexp];
|
|
const int object_count = experiment.object_count;
|
|
const int update_count = (object_count * experiment.update_count) / 100;
|
|
const int spawn_count = (object_count * experiment.spawn_count) / 100;
|
|
const btScalar speed = experiment.speed;
|
|
const btScalar amplitude = experiment.amplitude;
|
|
printf("Experiment #%u '%s':\r\n", iexp, experiment.name);
|
|
printf("\tObjects: %u\r\n", object_count);
|
|
printf("\tUpdate: %u\r\n", update_count);
|
|
printf("\tSpawn: %u\r\n", spawn_count);
|
|
printf("\tSpeed: %f\r\n", speed);
|
|
printf("\tAmplitude: %f\r\n", amplitude);
|
|
srand(180673);
|
|
/* Create objects */
|
|
wallclock.reset();
|
|
objects.reserve(object_count);
|
|
for (int i = 0; i < object_count; ++i)
|
|
{
|
|
btBroadphaseBenchmark::Object* po = new btBroadphaseBenchmark::Object();
|
|
po->center[0] = btBroadphaseBenchmark::UnitRand() * 50;
|
|
po->center[1] = btBroadphaseBenchmark::UnitRand() * 50;
|
|
po->center[2] = btBroadphaseBenchmark::UnitRand() * 50;
|
|
po->extents[0] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
|
|
po->extents[1] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
|
|
po->extents[2] = btBroadphaseBenchmark::UnitRand() * 2 + 2;
|
|
po->time = btBroadphaseBenchmark::UnitRand() * 2000;
|
|
po->proxy = pbi->createProxy(po->center - po->extents, po->center + po->extents, 0, po, 1, 1, 0, 0);
|
|
objects.push_back(po);
|
|
}
|
|
btBroadphaseBenchmark::OutputTime("\tInitialization", wallclock);
|
|
/* First update */
|
|
wallclock.reset();
|
|
for (int i = 0; i < objects.size(); ++i)
|
|
{
|
|
objects[i]->update(speed, amplitude, pbi);
|
|
}
|
|
btBroadphaseBenchmark::OutputTime("\tFirst update", wallclock);
|
|
/* Updates */
|
|
wallclock.reset();
|
|
for (int i = 0; i < experiment.iterations; ++i)
|
|
{
|
|
for (int j = 0; j < update_count; ++j)
|
|
{
|
|
objects[j]->update(speed, amplitude, pbi);
|
|
}
|
|
pbi->calculateOverlappingPairs(0);
|
|
}
|
|
btBroadphaseBenchmark::OutputTime("\tUpdate", wallclock, experiment.iterations);
|
|
/* Clean up */
|
|
wallclock.reset();
|
|
for (int i = 0; i < objects.size(); ++i)
|
|
{
|
|
pbi->destroyProxy(objects[i]->proxy, 0);
|
|
delete objects[i];
|
|
}
|
|
objects.resize(0);
|
|
btBroadphaseBenchmark::OutputTime("\tRelease", wallclock);
|
|
}
|
|
}
|
|
#else
|
|
void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
|
|
{
|
|
}
|
|
#endif
|
|
|
|
#if DBVT_BP_PROFILE
|
|
#undef SPC
|
|
#endif
|