source: code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp @ 2948

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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

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

#include "btDbvt.h"

//
typedef btAlignedObjectArray<btDbvtNode*>                       tNodeArray;
typedef btAlignedObjectArray<const btDbvtNode*> tConstNodeArray;

//
struct btDbvtNodeEnumerator : btDbvt::ICollide
{
        tConstNodeArray nodes;
        void Process(const btDbvtNode* n) { nodes.push_back(n); }
};

//
static DBVT_INLINE int                  indexof(const btDbvtNode* node)
{
        return(node->parent->childs[1]==node);
}

//
static DBVT_INLINE btDbvtVolume merge(  const btDbvtVolume& a,
                                                                          const btDbvtVolume& b)
{
#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
        ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
        btDbvtVolume&   res=*(btDbvtVolume*)locals;
#else
                btDbvtVolume    res;
#endif
        Merge(a,b,res);
        return(res);
}

// volume+edge lengths
static DBVT_INLINE btScalar             size(const btDbvtVolume& a)
{
        const btVector3 edges=a.Lengths();
        return( edges.x()*edges.y()*edges.z()+
                edges.x()+edges.y()+edges.z());
}

//
static void                                             getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
{
        if(node->isinternal())
        {
                getmaxdepth(node->childs[0],depth+1,maxdepth);
                getmaxdepth(node->childs[0],depth+1,maxdepth);
        } else maxdepth=btMax(maxdepth,depth);
}

//
static DBVT_INLINE void                 deletenode(     btDbvt* pdbvt,
                                                                                   btDbvtNode* node)
{
        btAlignedFree(pdbvt->m_free);
        pdbvt->m_free=node;
}

//
static void                                             recursedeletenode(      btDbvt* pdbvt,
                                                                                                  btDbvtNode* node)
{
        if(!node->isleaf())
        {
                recursedeletenode(pdbvt,node->childs[0]);
                recursedeletenode(pdbvt,node->childs[1]);
        }
        if(node==pdbvt->m_root) pdbvt->m_root=0;
        deletenode(pdbvt,node);
}

//
static DBVT_INLINE btDbvtNode*  createnode(     btDbvt* pdbvt,
                                                                                   btDbvtNode* parent,
                                                                                   void* data)
{
        btDbvtNode*     node;
        if(pdbvt->m_free)
        { node=pdbvt->m_free;pdbvt->m_free=0; }
        else
        { node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
        node->parent    =       parent;
        node->data              =       data;
        node->childs[1] =       0;
        return(node);
}

//
static DBVT_INLINE btDbvtNode*  createnode(     btDbvt* pdbvt,
                                                                                   btDbvtNode* parent,
                                                                                   const btDbvtVolume& volume,
                                                                                   void* data)
{
        btDbvtNode*     node=createnode(pdbvt,parent,data);
        node->volume=volume;
        return(node);
}

//
static DBVT_INLINE btDbvtNode*  createnode(     btDbvt* pdbvt,
                                                                                   btDbvtNode* parent,
                                                                                   const btDbvtVolume& volume0,
                                                                                   const btDbvtVolume& volume1,
                                                                                   void* data)
{
        btDbvtNode*     node=createnode(pdbvt,parent,data);
        Merge(volume0,volume1,node->volume);
        return(node);
}

//
static void                                             insertleaf(     btDbvt* pdbvt,
                                                                                   btDbvtNode* root,
                                                                                   btDbvtNode* leaf)
{
        if(!pdbvt->m_root)
        {
                pdbvt->m_root   =       leaf;
                leaf->parent    =       0;
        }
        else
        {
                if(!root->isleaf())
                {
                        do      {
                                root=root->childs[Select(       leaf->volume,
                                        root->childs[0]->volume,
                                        root->childs[1]->volume)];
                        } while(!root->isleaf());
                }
                btDbvtNode*     prev=root->parent;
                btDbvtNode*     node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
                if(prev)
                {
                        prev->childs[indexof(root)]     =       node;
                        node->childs[0]                         =       root;root->parent=node;
                        node->childs[1]                         =       leaf;leaf->parent=node;
                        do      {
                                if(!prev->volume.Contain(node->volume))
                                        Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
                                else
                                        break;
                                node=prev;
                        } while(0!=(prev=node->parent));
                }
                else
                {
                        node->childs[0] =       root;root->parent=node;
                        node->childs[1] =       leaf;leaf->parent=node;
                        pdbvt->m_root   =       node;
                }
        }
}

//
static btDbvtNode*                              removeleaf(     btDbvt* pdbvt,
                                                                                   btDbvtNode* leaf)
{
        if(leaf==pdbvt->m_root)
        {
                pdbvt->m_root=0;
                return(0);
        }
        else
        {
                btDbvtNode*     parent=leaf->parent;
                btDbvtNode*     prev=parent->parent;
                btDbvtNode*     sibling=parent->childs[1-indexof(leaf)];                        
                if(prev)
                {
                        prev->childs[indexof(parent)]=sibling;
                        sibling->parent=prev;
                        deletenode(pdbvt,parent);
                        while(prev)
                        {
                                const btDbvtVolume      pb=prev->volume;
                                Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
                                if(NotEqual(pb,prev->volume))
                                {
                                        prev=prev->parent;
                                } else break;
                        }
                        return(prev?prev:pdbvt->m_root);
                }
                else
                {                                                               
                        pdbvt->m_root=sibling;
                        sibling->parent=0;
                        deletenode(pdbvt,parent);
                        return(pdbvt->m_root);
                }                       
        }
}

//
static void                                             fetchleaves(btDbvt* pdbvt,
                                                                                        btDbvtNode* root,
                                                                                        tNodeArray& leaves,
                                                                                        int depth=-1)
{
        if(root->isinternal()&&depth)
        {
                fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
                fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
                deletenode(pdbvt,root);
        }
        else
        {
                leaves.push_back(root);
        }
}

//
static void                                             split(  const tNodeArray& leaves,
                                                                          tNodeArray& left,
                                                                          tNodeArray& right,
                                                                          const btVector3& org,
                                                                          const btVector3& axis)
{
        left.resize(0);
        right.resize(0);
        for(int i=0,ni=leaves.size();i<ni;++i)
        {
                if(dot(axis,leaves[i]->volume.Center()-org)<0)
                        left.push_back(leaves[i]);
                else
                        right.push_back(leaves[i]);
        }
}

//
static btDbvtVolume                             bounds( const tNodeArray& leaves)
{
#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
        ATTRIBUTE_ALIGNED16(char        locals[sizeof(btDbvtVolume)]);
        btDbvtVolume&   volume=*(btDbvtVolume*)locals;
        volume=leaves[0]->volume;
#else
        btDbvtVolume volume=leaves[0]->volume;
#endif
        for(int i=1,ni=leaves.size();i<ni;++i)
        {
                Merge(volume,leaves[i]->volume,volume);
        }
        return(volume);
}

//
static void                                             bottomup(       btDbvt* pdbvt,
                                                                                 tNodeArray& leaves)
{
        while(leaves.size()>1)
        {
                btScalar        minsize=SIMD_INFINITY;
                int                     minidx[2]={-1,-1};
                for(int i=0;i<leaves.size();++i)
                {
                        for(int j=i+1;j<leaves.size();++j)
                        {
                                const btScalar  sz=size(merge(leaves[i]->volume,leaves[j]->volume));
                                if(sz<minsize)
                                {
                                        minsize         =       sz;
                                        minidx[0]       =       i;
                                        minidx[1]       =       j;
                                }
                        }
                }
                btDbvtNode*     n[]     =       {leaves[minidx[0]],leaves[minidx[1]]};
                btDbvtNode*     p       =       createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
                p->childs[0]            =       n[0];
                p->childs[1]            =       n[1];
                n[0]->parent            =       p;
                n[1]->parent            =       p;
                leaves[minidx[0]]       =       p;
                leaves.swap(minidx[1],leaves.size()-1);
                leaves.pop_back();
        }
}

//
static btDbvtNode*                      topdown(btDbvt* pdbvt,
                                                                        tNodeArray& leaves,
                                                                        int bu_treshold)
{
        static const btVector3  axis[]={btVector3(1,0,0),
                btVector3(0,1,0),
                btVector3(0,0,1)};
        if(leaves.size()>1)
        {
                if(leaves.size()>bu_treshold)
                {
                        const btDbvtVolume      vol=bounds(leaves);
                        const btVector3                 org=vol.Center();
                        tNodeArray                              sets[2];
                        int                                             bestaxis=-1;
                        int                                             bestmidp=leaves.size();
                        int                                             splitcount[3][2]={{0,0},{0,0},{0,0}};
                        int i;
                        for( i=0;i<leaves.size();++i)
                        {
                                const btVector3 x=leaves[i]->volume.Center()-org;
                                for(int j=0;j<3;++j)
                                {
                                        ++splitcount[j][dot(x,axis[j])>0?1:0];
                                }
                        }
                        for( i=0;i<3;++i)
                        {
                                if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
                                {
                                        const int       midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
                                        if(midp<bestmidp)
                                        {
                                                bestaxis=i;
                                                bestmidp=midp;
                                        }
                                }
                        }
                        if(bestaxis>=0)
                        {
                                sets[0].reserve(splitcount[bestaxis][0]);
                                sets[1].reserve(splitcount[bestaxis][1]);
                                split(leaves,sets[0],sets[1],org,axis[bestaxis]);
                        }
                        else
                        {
                                sets[0].reserve(leaves.size()/2+1);
                                sets[1].reserve(leaves.size()/2);
                                for(int i=0,ni=leaves.size();i<ni;++i)
                                {
                                        sets[i&1].push_back(leaves[i]);
                                }
                        }
                        btDbvtNode*     node=createnode(pdbvt,0,vol,0);
                        node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
                        node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
                        node->childs[0]->parent=node;
                        node->childs[1]->parent=node;
                        return(node);
                }
                else
                {
                        bottomup(pdbvt,leaves);
                        return(leaves[0]);
                }
        }
        return(leaves[0]);
}

//
static DBVT_INLINE btDbvtNode*  sort(btDbvtNode* n,btDbvtNode*& r)
{
        btDbvtNode*     p=n->parent;
        btAssert(n->isinternal());
        if(p>n)
        {
                const int               i=indexof(n);
                const int               j=1-i;
                btDbvtNode*     s=p->childs[j];
                btDbvtNode*     q=p->parent;
                btAssert(n==p->childs[i]);
                if(q) q->childs[indexof(p)]=n; else r=n;
                s->parent=n;
                p->parent=n;
                n->parent=q;
                p->childs[0]=n->childs[0];
                p->childs[1]=n->childs[1];
                n->childs[0]->parent=p;
                n->childs[1]->parent=p;
                n->childs[i]=p;
                n->childs[j]=s;
                btSwap(p->volume,n->volume);
                return(p);
        }
        return(n);
}

//
static DBVT_INLINE btDbvtNode*  walkup(btDbvtNode* n,int count)
{
        while(n&&(count--)) n=n->parent;
        return(n);
}

//
// Api
//

//
btDbvt::btDbvt()
{
        m_root          =       0;
        m_free          =       0;
        m_lkhd          =       -1;
        m_leaves        =       0;
        m_opath         =       0;
}

//
btDbvt::~btDbvt()
{
        clear();
}

//
void                    btDbvt::clear()
{
        if(m_root)      recursedeletenode(this,m_root);
        btAlignedFree(m_free);
        m_free=0;
}

//
void                    btDbvt::optimizeBottomUp()
{
        if(m_root)
        {
                tNodeArray leaves;
                leaves.reserve(m_leaves);
                fetchleaves(this,m_root,leaves);
                bottomup(this,leaves);
                m_root=leaves[0];
        }
}

//
void                    btDbvt::optimizeTopDown(int bu_treshold)
{
        if(m_root)
        {
                tNodeArray      leaves;
                leaves.reserve(m_leaves);
                fetchleaves(this,m_root,leaves);
                m_root=topdown(this,leaves,bu_treshold);
        }
}

//
void                    btDbvt::optimizeIncremental(int passes)
{
        if(passes<0) passes=m_leaves;
        if(m_root&&(passes>0))
        {
                do      {
                        btDbvtNode*             node=m_root;
                        unsigned        bit=0;
                        while(node->isinternal())
                        {
                                node=sort(node,m_root)->childs[(m_opath>>bit)&1];
                                bit=(bit+1)&(sizeof(unsigned)*8-1);
                        }
                        update(node);
                        ++m_opath;
                } while(--passes);
        }
}

//
btDbvtNode*     btDbvt::insert(const btDbvtVolume& volume,void* data)
{
        btDbvtNode*     leaf=createnode(this,0,volume,data);
        insertleaf(this,m_root,leaf);
        ++m_leaves;
        return(leaf);
}

//
void                    btDbvt::update(btDbvtNode* leaf,int lookahead)
{
        btDbvtNode*     root=removeleaf(this,leaf);
        if(root)
        {
                if(lookahead>=0)
                {
                        for(int i=0;(i<lookahead)&&root->parent;++i)
                        {
                                root=root->parent;
                        }
                } else root=m_root;
        }
        insertleaf(this,root,leaf);
}

//
void                    btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
{
        btDbvtNode*     root=removeleaf(this,leaf);
        if(root)
        {
                if(m_lkhd>=0)
                {
                        for(int i=0;(i<m_lkhd)&&root->parent;++i)
                        {
                                root=root->parent;
                        }
                } else root=m_root;
        }
        leaf->volume=volume;
        insertleaf(this,root,leaf);
}

//
bool                    btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
{
        if(leaf->volume.Contain(volume)) return(false);
        volume.Expand(btVector3(margin,margin,margin));
        volume.SignedExpand(velocity);
        update(leaf,volume);
        return(true);
}

//
bool                    btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
{
        if(leaf->volume.Contain(volume)) return(false);
        volume.SignedExpand(velocity);
        update(leaf,volume);
        return(true);
}

//
bool                    btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
{
        if(leaf->volume.Contain(volume)) return(false);
        volume.Expand(btVector3(margin,margin,margin));
        update(leaf,volume);
        return(true);
}

//
void                    btDbvt::remove(btDbvtNode* leaf)
{
        removeleaf(this,leaf);
        deletenode(this,leaf);
        --m_leaves;
}

//
void                    btDbvt::write(IWriter* iwriter) const
{
        btDbvtNodeEnumerator    nodes;
        nodes.nodes.reserve(m_leaves*2);
        enumNodes(m_root,nodes);
        iwriter->Prepare(m_root,nodes.nodes.size());
        for(int i=0;i<nodes.nodes.size();++i)
        {
                const btDbvtNode* n=nodes.nodes[i];
                int                     p=-1;
                if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
                if(n->isinternal())
                {
                        const int       c0=nodes.nodes.findLinearSearch(n->childs[0]);
                        const int       c1=nodes.nodes.findLinearSearch(n->childs[1]);
                        iwriter->WriteNode(n,i,p,c0,c1);
                }
                else
                {
                        iwriter->WriteLeaf(n,i,p);
                }       
        }
}

//
void                    btDbvt::clone(btDbvt& dest,IClone* iclone) const
{
        dest.clear();
        if(m_root!=0)
        {       
                btAlignedObjectArray<sStkCLN>   stack;
                stack.reserve(m_leaves);
                stack.push_back(sStkCLN(m_root,0));
                do      {
                        const int               i=stack.size()-1;
                        const sStkCLN   e=stack[i];
                        btDbvtNode*                     n=createnode(&dest,e.parent,e.node->volume,e.node->data);
                        stack.pop_back();
                        if(e.parent!=0)
                                e.parent->childs[i&1]=n;
                        else
                                dest.m_root=n;
                        if(e.node->isinternal())
                        {
                                stack.push_back(sStkCLN(e.node->childs[0],n));
                                stack.push_back(sStkCLN(e.node->childs[1],n));
                        }
                        else
                        {
                                iclone->CloneLeaf(n);
                        }
                } while(stack.size()>0);
        }
}

//
int                             btDbvt::maxdepth(const btDbvtNode* node)
{
        int     depth=0;
        if(node) getmaxdepth(node,1,depth);
        return(depth);
}

//
int                             btDbvt::countLeaves(const btDbvtNode* node)
{
        if(node->isinternal())
                return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
        else
                return(1);
}

//
void                    btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
{
        if(node->isinternal())
        {
                extractLeaves(node->childs[0],leaves);
                extractLeaves(node->childs[1],leaves);
        }
        else
        {
                leaves.push_back(node);
        }       
}

//
#if DBVT_ENABLE_BENCHMARK

#include <stdio.h>
#include <stdlib.h>
#include "LinearMath/btQuickProf.h"

/*
q6600,2.4ghz

/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
/Fo"..\..\out\release8\build\libbulletcollision\\"
/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
/W3 /nologo /c /Wp64 /Zi /errorReport:prompt

Benchmarking dbvt...
World scale: 100.000000
Extents base: 1.000000
Extents range: 4.000000
Leaves: 8192
sizeof(btDbvtVolume): 32 bytes
sizeof(btDbvtNode):   44 bytes
[1] btDbvtVolume intersections: 3499 ms (-1%)
[2] btDbvtVolume merges: 1934 ms (0%)
[3] btDbvt::collideTT: 5485 ms (-21%)
[4] btDbvt::collideTT self: 2814 ms (-20%)
[5] btDbvt::collideTT xform: 7379 ms (-1%)
[6] btDbvt::collideTT xform,self: 7270 ms (-2%)
[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
[12] btDbvtVolume notequal: 3659 ms (0%)
[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
[17] btDbvtVolume select: 3419 ms (0%)
*/

struct btDbvtBenchmark
{
        struct NilPolicy : btDbvt::ICollide
        {
                NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)             {}
                void    Process(const btDbvtNode*,const btDbvtNode*)                            { ++m_pcount; }
                void    Process(const btDbvtNode*)                                                                      { ++m_pcount; }
                void    Process(const btDbvtNode*,btScalar depth)
                {
                        ++m_pcount;
                        if(m_checksort)
                        { if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
                }
                int                     m_pcount;
                btScalar        m_depth;
                bool            m_checksort;
        };
        struct P14 : btDbvt::ICollide
        {
                struct Node
                {
                        const btDbvtNode*       leaf;
                        btScalar                        depth;
                };
                void Process(const btDbvtNode* leaf,btScalar depth)
                {
                        Node    n;
                        n.leaf  =       leaf;
                        n.depth =       depth;
                }
                static int sortfnc(const Node& a,const Node& b)
                {
                        if(a.depth<b.depth) return(+1);
                        if(a.depth>b.depth) return(-1);
                        return(0);
                }
                btAlignedObjectArray<Node>              m_nodes;
        };
        struct P15 : btDbvt::ICollide
        {
                struct Node
                {
                        const btDbvtNode*       leaf;
                        btScalar                        depth;
                };
                void Process(const btDbvtNode* leaf)
                {
                        Node    n;
                        n.leaf  =       leaf;
                        n.depth =       dot(leaf->volume.Center(),m_axis);
                }
                static int sortfnc(const Node& a,const Node& b)
                {
                        if(a.depth<b.depth) return(+1);
                        if(a.depth>b.depth) return(-1);
                        return(0);
                }
                btAlignedObjectArray<Node>              m_nodes;
                btVector3                                               m_axis;
        };
        static btScalar                 RandUnit()
        {
                return(rand()/(btScalar)RAND_MAX);
        }
        static btVector3                RandVector3()
        {
                return(btVector3(RandUnit(),RandUnit(),RandUnit()));
        }
        static btVector3                RandVector3(btScalar cs)
        {
                return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
        }
        static btDbvtVolume     RandVolume(btScalar cs,btScalar eb,btScalar es)
        {
                return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
        }
        static btTransform              RandTransform(btScalar cs)
        {
                btTransform     t;
                t.setOrigin(RandVector3(cs));
                t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
                return(t);
        }
        static void                             RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
        {
                dbvt.clear();
                for(int i=0;i<leaves;++i)
                {
                        dbvt.insert(RandVolume(cs,eb,es),0);
                }
        }
};

void                    btDbvt::benchmark()
{
        static const btScalar   cfgVolumeCenterScale            =       100;
        static const btScalar   cfgVolumeExentsBase                     =       1;
        static const btScalar   cfgVolumeExentsScale            =       4;
        static const int                cfgLeaves                                       =       8192;
        static const bool               cfgEnable                                       =       true;

        //[1] btDbvtVolume intersections
        bool                                    cfgBenchmark1_Enable            =       cfgEnable;
        static const int                cfgBenchmark1_Iterations        =       8;
        static const int                cfgBenchmark1_Reference         =       3499;
        //[2] btDbvtVolume merges
        bool                                    cfgBenchmark2_Enable            =       cfgEnable;
        static const int                cfgBenchmark2_Iterations        =       4;
        static const int                cfgBenchmark2_Reference         =       1945;
        //[3] btDbvt::collideTT
        bool                                    cfgBenchmark3_Enable            =       cfgEnable;
        static const int                cfgBenchmark3_Iterations        =       512;
        static const int                cfgBenchmark3_Reference         =       5485;
        //[4] btDbvt::collideTT self
        bool                                    cfgBenchmark4_Enable            =       cfgEnable;
        static const int                cfgBenchmark4_Iterations        =       512;
        static const int                cfgBenchmark4_Reference         =       2814;
        //[5] btDbvt::collideTT xform
        bool                                    cfgBenchmark5_Enable            =       cfgEnable;
        static const int                cfgBenchmark5_Iterations        =       512;
        static const btScalar   cfgBenchmark5_OffsetScale       =       2;
        static const int                cfgBenchmark5_Reference         =       7379;
        //[6] btDbvt::collideTT xform,self
        bool                                    cfgBenchmark6_Enable            =       cfgEnable;
        static const int                cfgBenchmark6_Iterations        =       512;
        static const btScalar   cfgBenchmark6_OffsetScale       =       2;
        static const int                cfgBenchmark6_Reference         =       7270;
        //[7] btDbvt::rayTest
        bool                                    cfgBenchmark7_Enable            =       cfgEnable;
        static const int                cfgBenchmark7_Passes            =       32;
        static const int                cfgBenchmark7_Iterations        =       65536;
        static const int                cfgBenchmark7_Reference         =       6307;
        //[8] insert/remove
        bool                                    cfgBenchmark8_Enable            =       cfgEnable;
        static const int                cfgBenchmark8_Passes            =       32;
        static const int                cfgBenchmark8_Iterations        =       65536;
        static const int                cfgBenchmark8_Reference         =       2105;
        //[9] updates (teleport)
        bool                                    cfgBenchmark9_Enable            =       cfgEnable;
        static const int                cfgBenchmark9_Passes            =       32;
        static const int                cfgBenchmark9_Iterations        =       65536;
        static const int                cfgBenchmark9_Reference         =       1879;
        //[10] updates (jitter)
        bool                                    cfgBenchmark10_Enable           =       cfgEnable;
        static const btScalar   cfgBenchmark10_Scale            =       cfgVolumeCenterScale/10000;
        static const int                cfgBenchmark10_Passes           =       32;
        static const int                cfgBenchmark10_Iterations       =       65536;
        static const int                cfgBenchmark10_Reference        =       1244;
        //[11] optimize (incremental)
        bool                                    cfgBenchmark11_Enable           =       cfgEnable;
        static const int                cfgBenchmark11_Passes           =       64;
        static const int                cfgBenchmark11_Iterations       =       65536;
        static const int                cfgBenchmark11_Reference        =       2510;
        //[12] btDbvtVolume notequal
        bool                                    cfgBenchmark12_Enable           =       cfgEnable;
        static const int                cfgBenchmark12_Iterations       =       32;
        static const int                cfgBenchmark12_Reference        =       3677;
        //[13] culling(OCL+fullsort)
        bool                                    cfgBenchmark13_Enable           =       cfgEnable;
        static const int                cfgBenchmark13_Iterations       =       1024;
        static const int                cfgBenchmark13_Reference        =       2231;
        //[14] culling(OCL+qsort)
        bool                                    cfgBenchmark14_Enable           =       cfgEnable;
        static const int                cfgBenchmark14_Iterations       =       8192;
        static const int                cfgBenchmark14_Reference        =       3500;
        //[15] culling(KDOP+qsort)
        bool                                    cfgBenchmark15_Enable           =       cfgEnable;
        static const int                cfgBenchmark15_Iterations       =       8192;
        static const int                cfgBenchmark15_Reference        =       1151;
        //[16] insert/remove batch
        bool                                    cfgBenchmark16_Enable           =       cfgEnable;
        static const int                cfgBenchmark16_BatchCount       =       256;
        static const int                cfgBenchmark16_Passes           =       16384;
        static const int                cfgBenchmark16_Reference        =       5138;
        //[17] select
        bool                                    cfgBenchmark17_Enable           =       cfgEnable;
        static const int                cfgBenchmark17_Iterations       =       4;
        static const int                cfgBenchmark17_Reference        =       3390;

        btClock                                 wallclock;
        printf("Benchmarking dbvt...\r\n");
        printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
        printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
        printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
        printf("\tLeaves: %u\r\n",cfgLeaves);
        printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
        printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
        if(cfgBenchmark1_Enable)
        {// Benchmark 1 
                srand(380843);
                btAlignedObjectArray<btDbvtVolume>      volumes;
                btAlignedObjectArray<bool>                      results;
                volumes.resize(cfgLeaves);
                results.resize(cfgLeaves);
                for(int i=0;i<cfgLeaves;++i)
                {
                        volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
                }
                printf("[1] btDbvtVolume intersections: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark1_Iterations;++i)
                {
                        for(int j=0;j<cfgLeaves;++j)
                        {
                                for(int k=0;k<cfgLeaves;++k)
                                {
                                        results[k]=Intersect(volumes[j],volumes[k]);
                                }
                        }
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
        }
        if(cfgBenchmark2_Enable)
        {// Benchmark 2 
                srand(380843);
                btAlignedObjectArray<btDbvtVolume>      volumes;
                btAlignedObjectArray<btDbvtVolume>      results;
                volumes.resize(cfgLeaves);
                results.resize(cfgLeaves);
                for(int i=0;i<cfgLeaves;++i)
                {
                        volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
                }
                printf("[2] btDbvtVolume merges: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark2_Iterations;++i)
                {
                        for(int j=0;j<cfgLeaves;++j)
                        {
                                for(int k=0;k<cfgLeaves;++k)
                                {
                                        Merge(volumes[j],volumes[k],results[k]);
                                }
                        }
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
        }
        if(cfgBenchmark3_Enable)
        {// Benchmark 3 
                srand(380843);
                btDbvt                                          dbvt[2];
                btDbvtBenchmark::NilPolicy      policy;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
                dbvt[0].optimizeTopDown();
                dbvt[1].optimizeTopDown();
                printf("[3] btDbvt::collideTT: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark3_Iterations;++i)
                {
                        btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
        }
        if(cfgBenchmark4_Enable)
        {// Benchmark 4
                srand(380843);
                btDbvt                                          dbvt;
                btDbvtBenchmark::NilPolicy      policy;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[4] btDbvt::collideTT self: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark4_Iterations;++i)
                {
                        btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
        }
        if(cfgBenchmark5_Enable)
        {// Benchmark 5 
                srand(380843);
                btDbvt                                                          dbvt[2];
                btAlignedObjectArray<btTransform>       transforms;
                btDbvtBenchmark::NilPolicy                      policy;
                transforms.resize(cfgBenchmark5_Iterations);
                for(int i=0;i<transforms.size();++i)
                {
                        transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
                dbvt[0].optimizeTopDown();
                dbvt[1].optimizeTopDown();
                printf("[5] btDbvt::collideTT xform: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark5_Iterations;++i)
                {
                        btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
        }
        if(cfgBenchmark6_Enable)
        {// Benchmark 6 
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btTransform>       transforms;
                btDbvtBenchmark::NilPolicy                      policy;
                transforms.resize(cfgBenchmark6_Iterations);
                for(int i=0;i<transforms.size();++i)
                {
                        transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[6] btDbvt::collideTT xform,self: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark6_Iterations;++i)
                {
                        btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);                
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
        }
        if(cfgBenchmark7_Enable)
        {// Benchmark 7 
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btVector3>         rayorg;
                btAlignedObjectArray<btVector3>         raydir;
                btDbvtBenchmark::NilPolicy                      policy;
                rayorg.resize(cfgBenchmark7_Iterations);
                raydir.resize(cfgBenchmark7_Iterations);
                for(int i=0;i<rayorg.size();++i)
                {
                        rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
                        raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[7] btDbvt::rayTest: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark7_Passes;++i)
                {
                        for(int j=0;j<cfgBenchmark7_Iterations;++j)
                        {
                                btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
                        }
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                unsigned        rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
                printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
        }
        if(cfgBenchmark8_Enable)
        {// Benchmark 8 
                srand(380843);
                btDbvt                                                          dbvt;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[8] insert/remove: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark8_Passes;++i)
                {
                        for(int j=0;j<cfgBenchmark8_Iterations;++j)
                        {
                                dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
                        }
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
                printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
        }
        if(cfgBenchmark9_Enable)
        {// Benchmark 9 
                srand(380843);
                btDbvt                                                                          dbvt;
                btAlignedObjectArray<const btDbvtNode*> leaves;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                dbvt.extractLeaves(dbvt.m_root,leaves);
                printf("[9] updates (teleport): ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark9_Passes;++i)
                {
                        for(int j=0;j<cfgBenchmark9_Iterations;++j)
                        {
                                dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
                                        btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
                        }
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
                printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
        }
        if(cfgBenchmark10_Enable)
        {// Benchmark 10        
                srand(380843);
                btDbvt                                                                          dbvt;
                btAlignedObjectArray<const btDbvtNode*> leaves;
                btAlignedObjectArray<btVector3>                         vectors;
                vectors.resize(cfgBenchmark10_Iterations);
                for(int i=0;i<vectors.size();++i)
                {
                        vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                dbvt.extractLeaves(dbvt.m_root,leaves);
                printf("[10] updates (jitter): ");
                wallclock.reset();

                for(int i=0;i<cfgBenchmark10_Passes;++i)
                {
                        for(int j=0;j<cfgBenchmark10_Iterations;++j)
                        {                       
                                const btVector3&        d=vectors[j];
                                btDbvtNode*             l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
                                btDbvtVolume            v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
                                dbvt.update(l,v);
                        }
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
                printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
        }
        if(cfgBenchmark11_Enable)
        {// Benchmark 11        
                srand(380843);
                btDbvt                                                                          dbvt;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[11] optimize (incremental): ");
                wallclock.reset();      
                for(int i=0;i<cfgBenchmark11_Passes;++i)
                {
                        dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
                printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
        }
        if(cfgBenchmark12_Enable)
        {// Benchmark 12        
                srand(380843);
                btAlignedObjectArray<btDbvtVolume>      volumes;
                btAlignedObjectArray<bool>                              results;
                volumes.resize(cfgLeaves);
                results.resize(cfgLeaves);
                for(int i=0;i<cfgLeaves;++i)
                {
                        volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
                }
                printf("[12] btDbvtVolume notequal: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark12_Iterations;++i)
                {
                        for(int j=0;j<cfgLeaves;++j)
                        {
                                for(int k=0;k<cfgLeaves;++k)
                                {
                                        results[k]=NotEqual(volumes[j],volumes[k]);
                                }
                        }
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
        }
        if(cfgBenchmark13_Enable)
        {// Benchmark 13        
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btVector3>         vectors;
                btDbvtBenchmark::NilPolicy                      policy;
                vectors.resize(cfgBenchmark13_Iterations);
                for(int i=0;i<vectors.size();++i)
                {
                        vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                printf("[13] culling(OCL+fullsort): ");
                wallclock.reset();      
                for(int i=0;i<cfgBenchmark13_Iterations;++i)
                {
                        static const btScalar   offset=0;
                        policy.m_depth=-SIMD_INFINITY;
                        dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       t=cfgBenchmark13_Iterations;
                printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
        }
        if(cfgBenchmark14_Enable)
        {// Benchmark 14        
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btVector3>         vectors;
                btDbvtBenchmark::P14                            policy;
                vectors.resize(cfgBenchmark14_Iterations);
                for(int i=0;i<vectors.size();++i)
                {
                        vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                policy.m_nodes.reserve(cfgLeaves);
                printf("[14] culling(OCL+qsort): ");
                wallclock.reset();      
                for(int i=0;i<cfgBenchmark14_Iterations;++i)
                {
                        static const btScalar   offset=0;
                        policy.m_nodes.resize(0);
                        dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
                        policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       t=cfgBenchmark14_Iterations;
                printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
        }
        if(cfgBenchmark15_Enable)
        {// Benchmark 15        
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btVector3>         vectors;
                btDbvtBenchmark::P15                            policy;
                vectors.resize(cfgBenchmark15_Iterations);
                for(int i=0;i<vectors.size();++i)
                {
                        vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
                }
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                policy.m_nodes.reserve(cfgLeaves);
                printf("[15] culling(KDOP+qsort): ");
                wallclock.reset();      
                for(int i=0;i<cfgBenchmark15_Iterations;++i)
                {
                        static const btScalar   offset=0;
                        policy.m_nodes.resize(0);
                        policy.m_axis=vectors[i];
                        dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
                        policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       t=cfgBenchmark15_Iterations;
                printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
        }
        if(cfgBenchmark16_Enable)
        {// Benchmark 16        
                srand(380843);
                btDbvt                                                          dbvt;
                btAlignedObjectArray<btDbvtNode*>       batch;
                btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
                dbvt.optimizeTopDown();
                batch.reserve(cfgBenchmark16_BatchCount);
                printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
                wallclock.reset();
                for(int i=0;i<cfgBenchmark16_Passes;++i)
                {
                        for(int j=0;j<cfgBenchmark16_BatchCount;++j)
                        {
                                batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
                        }
                        for(int j=0;j<cfgBenchmark16_BatchCount;++j)
                        {
                                dbvt.remove(batch[j]);
                        }
                        batch.resize(0);
                }
                const int       time=(int)wallclock.getTimeMilliseconds();
                const int       ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
                printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
        }
        if(cfgBenchmark17_Enable)
        {// Benchmark 17
                srand(380843);
                btAlignedObjectArray<btDbvtVolume>      volumes;
                btAlignedObjectArray<int>                       results;
                btAlignedObjectArray<int>                       indices;
                volumes.resize(cfgLeaves);
                results.resize(cfgLeaves);
                indices.resize(cfgLeaves);
                for(int i=0;i<cfgLeaves;++i)
                {
                        indices[i]=i;
                        volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
                }
                for(int i=0;i<cfgLeaves;++i)
                {
                        btSwap(indices[i],indices[rand()%cfgLeaves]);
                }
                printf("[17] btDbvtVolume select: ");
                wallclock.reset();
                for(int i=0;i<cfgBenchmark17_Iterations;++i)
                {
                        for(int j=0;j<cfgLeaves;++j)
                        {
                                for(int k=0;k<cfgLeaves;++k)
                                {
                                        const int idx=indices[k];
                                        results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
                                }
                        }
                }
                const int time=(int)wallclock.getTimeMilliseconds();
                printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
        }
        printf("\r\n\r\n");
}
#endif