source: code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @ 2119

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btDbvtBroadphase implementation by Nathanael Presson

#include "btDbvtBroadphase.h"

//
// Profiling
//

#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK
#include <stdio.h>
#endif

#if DBVT_BP_PROFILE
struct  ProfileScope
        {
        __forceinline ProfileScope(btClock& clock,unsigned long& value) :
                m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
                {
                }
        __forceinline ~ProfileScope()
                {
                (*m_value)+=m_clock->getTimeMicroseconds()-m_base;
                }
        btClock*                m_clock;
        unsigned long*  m_value;
        unsigned long   m_base;
        };
#define SPC(_value_)    ProfileScope    spc_scope(m_clock,_value_)
#else
#define SPC(_value_)
#endif

//
// Helpers
//

//
template <typename T>
static inline void      listappend(T* item,T*& list)
{
item->links[0]=0;
item->links[1]=list;
if(list) list->links[0]=item;
list=item;
}

//
template <typename T>
static inline void      listremove(T* item,T*& list)
{
if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
if(item->links[1]) item->links[1]->links[0]=item->links[0];
}

//
template <typename T>
static inline int       listcount(T* root)
{
int     n=0;
while(root) { ++n;root=root->links[1]; }
return(n);
}

//
template <typename T>
static inline void      clear(T& value)
{
static const struct ZeroDummy : T {} zerodummy;
value=zerodummy;
}

//
// Colliders
//

/* Tree collider        */ 
struct  btDbvtTreeCollider : btDbvt::ICollide
{
btDbvtBroadphase*       pbp;
btDbvtProxy*            proxy;
                btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
void    Process(const btDbvtNode* na,const btDbvtNode* nb)
        {
        if(na!=nb)
                {
                btDbvtProxy*    pa=(btDbvtProxy*)na->data;
                btDbvtProxy*    pb=(btDbvtProxy*)nb->data;
                #if DBVT_BP_SORTPAIRS
                if(pa>pb) btSwap(pa,pb);
                #endif
                pbp->m_paircache->addOverlappingPair(pa,pb);
                ++pbp->m_newpairs;
                }
        }
void    Process(const btDbvtNode* n)
        {
        Process(n,proxy->leaf);
        }
};

//
// btDbvtBroadphase
//

//
btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
{
m_deferedcollide        =       false;
m_needcleanup           =       true;
m_releasepaircache      =       (paircache!=0)?false:true;
m_prediction            =       1/(btScalar)2;
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_paircache                     =       paircache?
                                                paircache       :
                                                new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
m_gid                           =       0;
m_pid                           =       0;
m_cid                           =       0;
for(int i=0;i<=STAGECOUNT;++i)
        {
        m_stageRoots[i]=0;
        }
#if DBVT_BP_PROFILE
clear(m_profiling);
#endif
}

//
btDbvtBroadphase::~btDbvtBroadphase()
{
if(m_releasepaircache) 
{
        m_paircache->~btOverlappingPairCache();
        btAlignedFree(m_paircache);
}
}

//
btBroadphaseProxy*                              btDbvtBroadphase::createProxy(  const btVector3& aabbMin,
                                                                                                                                const btVector3& aabbMax,
                                                                                                                                int /*shapeType*/,
                                                                                                                                void* userPtr,
                                                                                                                                short int collisionFilterGroup,
                                                                                                                                short int collisionFilterMask,
                                                                                                                                btDispatcher* /*dispatcher*/,
                                                                                                                                void* /*multiSapProxy*/)
{
btDbvtProxy*            proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(  userPtr,
                                                                                                                                                                        collisionFilterGroup,
                                                                                                                                                                        collisionFilterMask);
proxy->aabb                     =       btDbvtVolume::FromMM(aabbMin,aabbMax);
proxy->stage            =       m_stageCurrent;
proxy->m_uniqueId       =       ++m_gid;
proxy->leaf                     =       m_sets[0].insert(proxy->aabb,proxy);
listappend(proxy,m_stageRoots[m_stageCurrent]);
if(!m_deferedcollide)
        {
        btDbvtTreeCollider      collider(this);
        collider.proxy=proxy;
        btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
        btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider);
        }
return(proxy);
}

//
void                                                    btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
                                                                                                                                btDispatcher* dispatcher)
{
btDbvtProxy*    proxy=(btDbvtProxy*)absproxy;
if(proxy->stage==STAGECOUNT)
        m_sets[1].remove(proxy->leaf);
        else
        m_sets[0].remove(proxy->leaf);
listremove(proxy,m_stageRoots[proxy->stage]);
m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
btAlignedFree(proxy);
m_needcleanup=true;
}

//
void                                                    btDbvtBroadphase::setAabb(              btBroadphaseProxy* absproxy,
                                                                                                                                const btVector3& aabbMin,
                                                                                                                                const btVector3& aabbMax,
                                                                                                                                btDispatcher* /*dispatcher*/)
{
btDbvtProxy*                                            proxy=(btDbvtProxy*)absproxy;
ATTRIBUTE_ALIGNED16(btDbvtVolume)       aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
#if DBVT_BP_PREVENTFALSEUPDATE
if(NotEqual(aabb,proxy->leaf->volume))
#endif
        {
        bool    docollide=false;
        if(proxy->stage==STAGECOUNT)
                {/* fixed -> dynamic set        */ 
                m_sets[1].remove(proxy->leaf);
                proxy->leaf=m_sets[0].insert(aabb,proxy);
                docollide=true;
                }
                else
                {/* dynamic set                         */ 
                ++m_updates_call;
                if(Intersect(proxy->leaf->volume,aabb))
                        {/* Moving                              */ 
                        const btVector3 delta=aabbMin-proxy->aabb.Mins();
                        btVector3               velocity(aabb.Extents()*m_prediction);
                        if(delta[0]<0) velocity[0]=-velocity[0];
                        if(delta[1]<0) velocity[1]=-velocity[1];
                        if(delta[2]<0) velocity[2]=-velocity[2];
                        if      (
                                #ifdef DBVT_BP_MARGIN                           
                                m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
                                #else
                                m_sets[0].update(proxy->leaf,aabb,velocity)
                                #endif
                                )
                                {
                                ++m_updates_done;
                                docollide=true;
                                }
                        }
                        else
                        {/* Teleporting                 */ 
                        m_sets[0].update(proxy->leaf,aabb);
                        ++m_updates_done;
                        docollide=true;
                        }       
                }
        listremove(proxy,m_stageRoots[proxy->stage]);
        proxy->aabb             =       aabb;
        proxy->stage    =       m_stageCurrent;
        listappend(proxy,m_stageRoots[m_stageCurrent]);
        if(docollide)
                {
                m_needcleanup=true;
                if(!m_deferedcollide)
                        {
                        btDbvtTreeCollider      collider(this);
                        btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
                        btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
                        }
                }       
        }
}

//
void                                                    btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
collide(dispatcher);
#if DBVT_BP_PROFILE
if(0==(m_pid%DBVT_BP_PROFILING_RATE))
        {       
        printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
        unsigned int    total=m_profiling.m_total;
        if(total<=0) total=1;
        printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
        printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
        printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
        printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
        const unsigned long     sum=m_profiling.m_ddcollide+
                                                        m_profiling.m_fdcollide+
                                                        m_profiling.m_cleanup;
        printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
        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));
        clear(m_profiling);
        m_clock.reset();
        }
#endif
}

//
void                                                    btDbvtBroadphase::collide(btDispatcher* dispatcher)
{
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)
        {
        btDbvtTreeCollider      collider(this);
        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);
                current->leaf   =       m_sets[1].insert(current->aabb,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);
                btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
                }
        if(m_deferedcollide)
                {
                SPC(m_profiling.m_ddcollide);
                btDbvt::collideTT(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)
                {
                const int       ci=pairs.size();
                int                     ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
                for(int i=0;i<ni;++i)
                        {
                        btBroadphasePair&       p=pairs[(m_cid+i)%ci];
                        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>pb) 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::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