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source: code/trunk/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @ 2832

Last change on this file since 2832 was 2662, checked in by rgrieder, 16 years ago
Merged presentation branch back to trunk.
Property svn:eol-style set to `native`
File size: 16.4 KB

Rev	Line
[1963]	1	/*
	2	Bullet Continuous Collision Detection and Physics Library
	3	Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
	4
	5	This software is provided 'as-is', without any express or implied warranty.
	6	In no event will the authors be held liable for any damages arising from the use of this software.
	7	Permission is granted to anyone to use this software for any purpose,
	8	including commercial applications, and to alter it and redistribute it freely,
	9	subject to the following restrictions:
	10
	11	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.
	12	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	13	3. This notice may not be removed or altered from any source distribution.
	14	*/
	15	///btDbvtBroadphase implementation by Nathanael Presson
	16
	17	#include "btDbvtBroadphase.h"
	18
	19	//
	20	// Profiling
	21	//
	22
	23	#if DBVT_BP_PROFILE\|\|DBVT_BP_ENABLE_BENCHMARK
	24	#include <stdio.h>
	25	#endif
	26
	27	#if DBVT_BP_PROFILE
	28	struct ProfileScope
[2430]	29	{
	30	__forceinline ProfileScope(btClock& clock,unsigned long& value) :
	31	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
[1972]	32	{
[2430]	33	}
[1963]	34	__forceinline ~ProfileScope()
[2430]	35	{
[1963]	36	(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
[2430]	37	}
[1963]	38	btClock* m_clock;
	39	unsigned long* m_value;
	40	unsigned long m_base;
[2430]	41	};
[1963]	42	#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
	43	#else
	44	#define SPC(_value_)
	45	#endif
	46
	47	//
	48	// Helpers
	49	//
	50
	51	//
	52	template <typename T>
	53	static inline void listappend(T* item,T*& list)
	54	{
[2430]	55	item->links[0]=0;
	56	item->links[1]=list;
	57	if(list) list->links[0]=item;
	58	list=item;
[1963]	59	}
	60
	61	//
	62	template <typename T>
	63	static inline void listremove(T* item,T*& list)
	64	{
[2430]	65	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
	66	if(item->links[1]) item->links[1]->links[0]=item->links[0];
[1963]	67	}
	68
	69	//
	70	template <typename T>
	71	static inline int listcount(T* root)
	72	{
[2430]	73	int n=0;
	74	while(root) { ++n;root=root->links[1]; }
	75	return(n);
[1963]	76	}
	77
	78	//
	79	template <typename T>
	80	static inline void clear(T& value)
	81	{
[2430]	82	static const struct ZeroDummy : T {} zerodummy;
	83	value=zerodummy;
[1963]	84	}
	85
	86	//
	87	// Colliders
	88	//
	89
	90	/* Tree collider */
	91	struct btDbvtTreeCollider : btDbvt::ICollide
	92	{
[2430]	93	btDbvtBroadphase* pbp;
	94	btDbvtProxy* proxy;
	95	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
	96	void Process(const btDbvtNode* na,const btDbvtNode* nb)
[1963]	97	{
[2430]	98	if(na!=nb)
[1963]	99	{
[2430]	100	btDbvtProxy* pa=(btDbvtProxy*)na->data;
	101	btDbvtProxy* pb=(btDbvtProxy*)nb->data;
	102	#if DBVT_BP_SORTPAIRS
	103	if(pa>pb) btSwap(pa,pb);
	104	#endif
	105	pbp->m_paircache->addOverlappingPair(pa,pb);
	106	++pbp->m_newpairs;
[1963]	107	}
	108	}
[2430]	109	void Process(const btDbvtNode* n)
[1963]	110	{
[2430]	111	Process(n,proxy->leaf);
[1963]	112	}
	113	};
	114
	115	//
	116	// btDbvtBroadphase
	117	//
	118
	119	//
	120	btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
	121	{
[2430]	122	m_deferedcollide = false;
	123	m_needcleanup = true;
	124	m_releasepaircache = (paircache!=0)?false:true;
	125	m_prediction = 1/(btScalar)2;
	126	m_stageCurrent = 0;
	127	m_fixedleft = 0;
	128	m_fupdates = 1;
	129	m_dupdates = 0;
	130	m_cupdates = 10;
	131	m_newpairs = 1;
	132	m_updates_call = 0;
	133	m_updates_done = 0;
	134	m_updates_ratio = 0;
	135	m_paircache = paircache?
	136	paircache :
	137	new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
	138	m_gid = 0;
	139	m_pid = 0;
	140	m_cid = 0;
	141	for(int i=0;i<=STAGECOUNT;++i)
[1963]	142	{
[2430]	143	m_stageRoots[i]=0;
[1963]	144	}
	145	#if DBVT_BP_PROFILE
[2430]	146	clear(m_profiling);
[1963]	147	#endif
	148	}
	149
	150	//
	151	btDbvtBroadphase::~btDbvtBroadphase()
	152	{
[2430]	153	if(m_releasepaircache)
	154	{
	155	m_paircache->~btOverlappingPairCache();
	156	btAlignedFree(m_paircache);
	157	}
[1963]	158	}
	159
	160	//
	161	btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
[2430]	162	const btVector3& aabbMax,
	163	int /shapeType/,
	164	void* userPtr,
	165	short int collisionFilterGroup,
	166	short int collisionFilterMask,
	167	btDispatcher* /dispatcher/,
	168	void* /multiSapProxy/)
[1963]	169	{
[2430]	170	btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
	171	collisionFilterGroup,
	172	collisionFilterMask);
	173
	174	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
	175
	176	//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
	177	proxy->stage = m_stageCurrent;
	178	proxy->m_uniqueId = ++m_gid;
	179	proxy->leaf = m_sets[0].insert(aabb,proxy);
	180	listappend(proxy,m_stageRoots[m_stageCurrent]);
	181	if(!m_deferedcollide)
[1963]	182	{
[2430]	183	btDbvtTreeCollider collider(this);
	184	collider.proxy=proxy;
	185	m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
	186	m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
[1963]	187	}
[2430]	188	return(proxy);
[1963]	189	}
	190
	191	//
	192	void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
[2430]	193	btDispatcher* dispatcher)
[1963]	194	{
[2430]	195	btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
	196	if(proxy->stage==STAGECOUNT)
	197	m_sets[1].remove(proxy->leaf);
[1963]	198	else
[2430]	199	m_sets[0].remove(proxy->leaf);
	200	listremove(proxy,m_stageRoots[proxy->stage]);
	201	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
	202	btAlignedFree(proxy);
	203	m_needcleanup=true;
[1963]	204	}
	205
[2430]	206	void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
	207	{
	208	btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
	209	aabbMin = proxy->m_aabbMin;
	210	aabbMax = proxy->m_aabbMax;
	211	}
	212
	213	void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
	214	{
	215
	216	struct BroadphaseRayTester : btDbvt::ICollide
	217	{
	218	btBroadphaseRayCallback& m_rayCallback;
	219	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
	220	:m_rayCallback(orgCallback)
	221	{
	222	}
	223	void Process(const btDbvtNode* leaf)
	224	{
	225	btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
	226	m_rayCallback.process(proxy);
	227	}
	228	};
	229
	230	BroadphaseRayTester callback(rayCallback);
	231
	232	m_sets[0].rayTestInternal( m_sets[0].m_root,
	233	rayFrom,
	234	rayTo,
	235	rayCallback.m_rayDirectionInverse,
	236	rayCallback.m_signs,
	237	rayCallback.m_lambda_max,
	238	aabbMin,
	239	aabbMax,
	240	callback);
	241
	242	m_sets[1].rayTestInternal( m_sets[1].m_root,
	243	rayFrom,
	244	rayTo,
	245	rayCallback.m_rayDirectionInverse,
	246	rayCallback.m_signs,
	247	rayCallback.m_lambda_max,
	248	aabbMin,
	249	aabbMax,
	250	callback);
	251
	252	}
	253
[1963]	254	//
	255	void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
[2430]	256	const btVector3& aabbMin,
	257	const btVector3& aabbMax,
	258	btDispatcher* /dispatcher/)
[1963]	259	{
[2430]	260	btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
	261	ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
[1963]	262	#if DBVT_BP_PREVENTFALSEUPDATE
[2430]	263	if(NotEqual(aabb,proxy->leaf->volume))
[1963]	264	#endif
	265	{
[2430]	266	bool docollide=false;
	267	if(proxy->stage==STAGECOUNT)
[1963]	268	{/* fixed -> dynamic set */
[2430]	269	m_sets[1].remove(proxy->leaf);
	270	proxy->leaf=m_sets[0].insert(aabb,proxy);
	271	docollide=true;
[1963]	272	}
	273	else
	274	{/* dynamic set */
[2430]	275	++m_updates_call;
	276	if(Intersect(proxy->leaf->volume,aabb))
[1963]	277	{/* Moving */
[2430]	278
	279	const btVector3 delta=aabbMin-proxy->m_aabbMin;
	280	btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
	281	if(delta[0]<0) velocity[0]=-velocity[0];
	282	if(delta[1]<0) velocity[1]=-velocity[1];
	283	if(delta[2]<0) velocity[2]=-velocity[2];
	284	if (
	285	#ifdef DBVT_BP_MARGIN
	286	m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
	287	#else
	288	m_sets[0].update(proxy->leaf,aabb,velocity)
	289	#endif
	290	)
[1963]	291	{
[2430]	292	++m_updates_done;
	293	docollide=true;
[1963]	294	}
	295	}
	296	else
	297	{/* Teleporting */
[2430]	298	m_sets[0].update(proxy->leaf,aabb);
	299	++m_updates_done;
	300	docollide=true;
[1963]	301	}
	302	}
[2430]	303	listremove(proxy,m_stageRoots[proxy->stage]);
	304	proxy->m_aabbMin = aabbMin;
	305	proxy->m_aabbMax = aabbMax;
	306	proxy->stage = m_stageCurrent;
	307	listappend(proxy,m_stageRoots[m_stageCurrent]);
	308	if(docollide)
[1963]	309	{
[2430]	310	m_needcleanup=true;
	311	if(!m_deferedcollide)
[1963]	312	{
[2430]	313	btDbvtTreeCollider collider(this);
	314	m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
	315	m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
[1963]	316	}
	317	}
	318	}
	319	}
	320
	321	//
	322	void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
	323	{
[2430]	324	collide(dispatcher);
[1963]	325	#if DBVT_BP_PROFILE
[2430]	326	if(0==(m_pid%DBVT_BP_PROFILING_RATE))
[1963]	327	{
[2430]	328	printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
	329	unsigned int total=m_profiling.m_total;
	330	if(total<=0) total=1;
	331	printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
	332	printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
	333	printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
	334	printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
	335	const unsigned long sum=m_profiling.m_ddcollide+
	336	m_profiling.m_fdcollide+
	337	m_profiling.m_cleanup;
	338	printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
	339	printf("job counts: %u%%\r\n",(m_profiling.m_jobcount100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)DBVT_BP_PROFILING_RATE));
	340	clear(m_profiling);
	341	m_clock.reset();
[1963]	342	}
	343	#endif
	344	}
	345
	346	//
	347	void btDbvtBroadphase::collide(btDispatcher* dispatcher)
	348	{
[2430]	349	SPC(m_profiling.m_total);
	350	/* optimize */
	351	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
	352	if(m_fixedleft)
[1963]	353	{
[2430]	354	const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
	355	m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
	356	m_fixedleft=btMax<int>(0,m_fixedleft-count);
[1963]	357	}
[2430]	358	/* dynamic -> fixed set */
	359	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
	360	btDbvtProxy* current=m_stageRoots[m_stageCurrent];
	361	if(current)
[1963]	362	{
[2430]	363	btDbvtTreeCollider collider(this);
	364	do {
	365	btDbvtProxy* next=current->links[1];
	366	listremove(current,m_stageRoots[current->stage]);
	367	listappend(current,m_stageRoots[STAGECOUNT]);
	368	#if DBVT_BP_ACCURATESLEEPING
	369	m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
	370	collider.proxy=current;
	371	btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
	372	btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
	373	#endif
	374	m_sets[0].remove(current->leaf);
	375	ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
	376	current->leaf = m_sets[1].insert(curAabb,current);
	377	current->stage = STAGECOUNT;
	378	current = next;
[1963]	379	} while(current);
[2430]	380	m_fixedleft=m_sets[1].m_leaves;
	381	m_needcleanup=true;
[1963]	382	}
[2430]	383	/* collide dynamics */
[1963]	384	{
[2430]	385	btDbvtTreeCollider collider(this);
	386	if(m_deferedcollide)
[1963]	387	{
[2430]	388	SPC(m_profiling.m_fdcollide);
	389	m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
[1963]	390	}
[2430]	391	if(m_deferedcollide)
[1963]	392	{
[2430]	393	SPC(m_profiling.m_ddcollide);
	394	m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
[1963]	395	}
	396	}
[2430]	397	/* clean up */
	398	if(m_needcleanup)
[1963]	399	{
[2430]	400	SPC(m_profiling.m_cleanup);
	401	btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
	402	if(pairs.size()>0)
[1963]	403	{
[2430]	404	const int ci=pairs.size();
	405	int ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
	406	for(int i=0;i<ni;++i)
[1963]	407	{
[2430]	408	btBroadphasePair& p=pairs[(m_cid+i)%ci];
	409	btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
	410	btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
	411	if(!Intersect(pa->leaf->volume,pb->leaf->volume))
[1963]	412	{
[2430]	413	#if DBVT_BP_SORTPAIRS
	414	if(pa>pb) btSwap(pa,pb);
	415	#endif
	416	m_paircache->removeOverlappingPair(pa,pb,dispatcher);
	417	--ni;--i;
[1963]	418	}
	419	}
[2430]	420	if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
[1963]	421	}
	422	}
[2430]	423	++m_pid;
	424	m_newpairs=1;
	425	m_needcleanup=false;
	426	if(m_updates_call>0)
[1963]	427	{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
	428	else
	429	{ m_updates_ratio=0; }
[2430]	430	m_updates_done/=2;
	431	m_updates_call/=2;
[1963]	432	}
	433
	434	//
	435	void btDbvtBroadphase::optimize()
	436	{
[2430]	437	m_sets[0].optimizeTopDown();
	438	m_sets[1].optimizeTopDown();
[1963]	439	}
	440
	441	//
	442	btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
	443	{
[2430]	444	return(m_paircache);
[1963]	445	}
	446
	447	//
	448	const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
	449	{
[2430]	450	return(m_paircache);
[1963]	451	}
	452
	453	//
	454	void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
	455	{
	456
	457	ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds;
	458
[2430]	459	if(!m_sets[0].empty())
	460	if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
	461	m_sets[1].m_root->volume,bounds);
	462	else
	463	bounds=m_sets[0].m_root->volume;
	464	else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
	465	else
	466	bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
	467	aabbMin=bounds.Mins();
	468	aabbMax=bounds.Maxs();
[1963]	469	}
	470
	471	//
	472	void btDbvtBroadphase::printStats()
	473	{}
	474
	475	//
	476	#if DBVT_BP_ENABLE_BENCHMARK
	477
	478	struct btBroadphaseBenchmark
[2430]	479	{
	480	struct Experiment
[1972]	481	{
[1963]	482	const char* name;
	483	int object_count;
	484	int update_count;
	485	int spawn_count;
	486	int iterations;
	487	btScalar speed;
	488	btScalar amplitude;
[2430]	489	};
[1963]	490	struct Object
[2430]	491	{
[1963]	492	btVector3 center;
	493	btVector3 extents;
	494	btBroadphaseProxy* proxy;
	495	btScalar time;
	496	void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
[2430]	497	{
[1963]	498	time += speed;
	499	center[0] = btCos(time(btScalar)2.17)amplitude+
[2430]	500	btSin(time)*amplitude/2;
[1963]	501	center[1] = btCos(time(btScalar)1.38)amplitude+
[2430]	502	btSin(time)*amplitude;
[1963]	503	center[2] = btSin(time(btScalar)0.777)amplitude;
	504	pbi->setAabb(proxy,center-extents,center+extents,0);
[2430]	505	}
	506	};
[1963]	507	static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); }
	508	static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); }
	509	static void OutputTime(const char* name,btClock& c,unsigned count=0)
[2430]	510	{
[1963]	511	const unsigned long us=c.getTimeMicroseconds();
	512	const unsigned long ms=(us+500)/1000;
	513	const btScalar sec=us/(btScalar)(1000*1000);
	514	if(count>0)
	515	printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
[2430]	516	else
[1963]	517	printf("%s : %u us (%u ms)\r\n",name,us,ms);
[2430]	518	}
	519	};
[1963]	520
	521	void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
	522	{
[2430]	523	static const btBroadphaseBenchmark::Experiment experiments[]=
[1963]	524	{
[2430]	525	{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
	526	/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
	527	{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
[1963]	528	};
[2430]	529	static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]);
	530	btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
	531	btClock wallclock;
	532	/* Begin */
	533	for(int iexp=0;iexp<nexperiments;++iexp)
[1963]	534	{
[2430]	535	const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp];
	536	const int object_count=experiment.object_count;
	537	const int update_count=(object_count*experiment.update_count)/100;
	538	const int spawn_count=(object_count*experiment.spawn_count)/100;
	539	const btScalar speed=experiment.speed;
	540	const btScalar amplitude=experiment.amplitude;
	541	printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
	542	printf("\tObjects: %u\r\n",object_count);
	543	printf("\tUpdate: %u\r\n",update_count);
	544	printf("\tSpawn: %u\r\n",spawn_count);
	545	printf("\tSpeed: %f\r\n",speed);
	546	printf("\tAmplitude: %f\r\n",amplitude);
	547	srand(180673);
	548	/* Create objects */
	549	wallclock.reset();
	550	objects.reserve(object_count);
	551	for(int i=0;i<object_count;++i)
[1963]	552	{
[2430]	553	btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object();
	554	po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
	555	po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
	556	po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
	557	po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
	558	po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
	559	po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
	560	po->time=btBroadphaseBenchmark::UnitRand()*2000;
	561	po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
	562	objects.push_back(po);
[1963]	563	}
[2430]	564	btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
	565	/* First update */
	566	wallclock.reset();
	567	for(int i=0;i<objects.size();++i)
[1963]	568	{
[2430]	569	objects[i]->update(speed,amplitude,pbi);
[1963]	570	}
[2430]	571	btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
	572	/* Updates */
	573	wallclock.reset();
	574	for(int i=0;i<experiment.iterations;++i)
[1963]	575	{
[2430]	576	for(int j=0;j<update_count;++j)
[1963]	577	{
[2430]	578	objects[j]->update(speed,amplitude,pbi);
[1963]	579	}
[2430]	580	pbi->calculateOverlappingPairs(0);
[1963]	581	}
[2430]	582	btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
	583	/* Clean up */
	584	wallclock.reset();
	585	for(int i=0;i<objects.size();++i)
[1963]	586	{
[2430]	587	pbi->destroyProxy(objects[i]->proxy,0);
	588	delete objects[i];
[1963]	589	}
[2430]	590	objects.resize(0);
	591	btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
[1963]	592	}
	593
	594	}
	595	#else
	596	void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
	597	{}
	598	#endif
	599
	600	#if DBVT_BP_PROFILE
	601	#undef SPC
	602	#endif

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