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source: code/trunk/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp @ 8265

Last change on this file since 8265 was 5781, checked in by rgrieder, 15 years ago
Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).
Property svn:eol-style set to `native`
File size: 35.4 KB

Rev	Line
[1963]	1	/*
	2	Bullet Continuous Collision Detection and Physics Library
	3	Copyright (c) 2003-2006 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	///btDbvt implementation by Nathanael Presson
	16
	17	#include "btDbvt.h"
	18
	19	//
	20	typedef btAlignedObjectArray<btDbvtNode*> tNodeArray;
	21	typedef btAlignedObjectArray<const btDbvtNode*> tConstNodeArray;
	22
	23	//
	24	struct btDbvtNodeEnumerator : btDbvt::ICollide
	25	{
[2430]	26	tConstNodeArray nodes;
	27	void Process(const btDbvtNode* n) { nodes.push_back(n); }
[1963]	28	};
	29
	30	//
	31	static DBVT_INLINE int indexof(const btDbvtNode* node)
	32	{
[2430]	33	return(node->parent->childs[1]==node);
[1963]	34	}
	35
	36	//
	37	static DBVT_INLINE btDbvtVolume merge( const btDbvtVolume& a,
[2430]	38	const btDbvtVolume& b)
[1963]	39	{
[2430]	40	#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
	41	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
	42	btDbvtVolume& res=(btDbvtVolume)locals;
[1963]	43	#else
[2430]	44	btDbvtVolume res;
[1963]	45	#endif
[2430]	46	Merge(a,b,res);
	47	return(res);
[1963]	48	}
	49
	50	// volume+edge lengths
	51	static DBVT_INLINE btScalar size(const btDbvtVolume& a)
	52	{
[2430]	53	const btVector3 edges=a.Lengths();
	54	return( edges.x()edges.y()edges.z()+
[1963]	55	edges.x()+edges.y()+edges.z());
	56	}
	57
	58	//
	59	static void getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
	60	{
[2430]	61	if(node->isinternal())
[1963]	62	{
[2430]	63	getmaxdepth(node->childs[0],depth+1,maxdepth);
	64	getmaxdepth(node->childs[0],depth+1,maxdepth);
[1963]	65	} else maxdepth=btMax(maxdepth,depth);
	66	}
	67
	68	//
	69	static DBVT_INLINE void deletenode( btDbvt* pdbvt,
[2430]	70	btDbvtNode* node)
[1963]	71	{
[2430]	72	btAlignedFree(pdbvt->m_free);
	73	pdbvt->m_free=node;
[1963]	74	}
[2430]	75
[1963]	76	//
	77	static void recursedeletenode( btDbvt* pdbvt,
[2430]	78	btDbvtNode* node)
[1963]	79	{
[2430]	80	if(!node->isleaf())
[1963]	81	{
[2430]	82	recursedeletenode(pdbvt,node->childs[0]);
	83	recursedeletenode(pdbvt,node->childs[1]);
[1963]	84	}
[2430]	85	if(node==pdbvt->m_root) pdbvt->m_root=0;
	86	deletenode(pdbvt,node);
[1963]	87	}
	88
	89	//
	90	static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
[2430]	91	btDbvtNode* parent,
	92	void* data)
[1963]	93	{
[2430]	94	btDbvtNode* node;
	95	if(pdbvt->m_free)
[1963]	96	{ node=pdbvt->m_free;pdbvt->m_free=0; }
	97	else
	98	{ node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
[2430]	99	node->parent = parent;
	100	node->data = data;
	101	node->childs[1] = 0;
	102	return(node);
[1963]	103	}
	104
	105	//
	106	static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
[2430]	107	btDbvtNode* parent,
	108	const btDbvtVolume& volume,
	109	void* data)
[1963]	110	{
[2430]	111	btDbvtNode* node=createnode(pdbvt,parent,data);
	112	node->volume=volume;
	113	return(node);
[1963]	114	}
	115
	116	//
	117	static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt,
[2430]	118	btDbvtNode* parent,
	119	const btDbvtVolume& volume0,
	120	const btDbvtVolume& volume1,
	121	void* data)
[1963]	122	{
[2430]	123	btDbvtNode* node=createnode(pdbvt,parent,data);
	124	Merge(volume0,volume1,node->volume);
	125	return(node);
[1963]	126	}
	127
	128	//
	129	static void insertleaf( btDbvt* pdbvt,
[2430]	130	btDbvtNode* root,
	131	btDbvtNode* leaf)
[1963]	132	{
[2430]	133	if(!pdbvt->m_root)
[1963]	134	{
[2430]	135	pdbvt->m_root = leaf;
	136	leaf->parent = 0;
[1963]	137	}
	138	else
	139	{
[2430]	140	if(!root->isleaf())
[1963]	141	{
[2430]	142	do {
	143	root=root->childs[Select( leaf->volume,
	144	root->childs[0]->volume,
	145	root->childs[1]->volume)];
[1963]	146	} while(!root->isleaf());
	147	}
[2430]	148	btDbvtNode* prev=root->parent;
	149	btDbvtNode* node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
	150	if(prev)
[1963]	151	{
[2430]	152	prev->childs[indexof(root)] = node;
	153	node->childs[0] = root;root->parent=node;
	154	node->childs[1] = leaf;leaf->parent=node;
	155	do {
	156	if(!prev->volume.Contain(node->volume))
	157	Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
[1963]	158	else
[2430]	159	break;
	160	node=prev;
[1963]	161	} while(0!=(prev=node->parent));
	162	}
	163	else
	164	{
[2430]	165	node->childs[0] = root;root->parent=node;
	166	node->childs[1] = leaf;leaf->parent=node;
	167	pdbvt->m_root = node;
[1963]	168	}
	169	}
	170	}
[2430]	171
[1963]	172	//
	173	static btDbvtNode* removeleaf( btDbvt* pdbvt,
[2430]	174	btDbvtNode* leaf)
[1963]	175	{
[2430]	176	if(leaf==pdbvt->m_root)
[1963]	177	{
[2430]	178	pdbvt->m_root=0;
	179	return(0);
[1963]	180	}
	181	else
	182	{
[2430]	183	btDbvtNode* parent=leaf->parent;
	184	btDbvtNode* prev=parent->parent;
	185	btDbvtNode* sibling=parent->childs[1-indexof(leaf)];
	186	if(prev)
[1963]	187	{
[2430]	188	prev->childs[indexof(parent)]=sibling;
	189	sibling->parent=prev;
	190	deletenode(pdbvt,parent);
	191	while(prev)
[1963]	192	{
[2430]	193	const btDbvtVolume pb=prev->volume;
	194	Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
	195	if(NotEqual(pb,prev->volume))
[1963]	196	{
[2430]	197	prev=prev->parent;
[1963]	198	} else break;
	199	}
[2430]	200	return(prev?prev:pdbvt->m_root);
[1963]	201	}
	202	else
	203	{
[2430]	204	pdbvt->m_root=sibling;
	205	sibling->parent=0;
	206	deletenode(pdbvt,parent);
	207	return(pdbvt->m_root);
[1963]	208	}
	209	}
	210	}
	211
	212	//
	213	static void fetchleaves(btDbvt* pdbvt,
	214	btDbvtNode* root,
	215	tNodeArray& leaves,
	216	int depth=-1)
	217	{
[2430]	218	if(root->isinternal()&&depth)
[1963]	219	{
[2430]	220	fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
	221	fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
	222	deletenode(pdbvt,root);
[1963]	223	}
	224	else
	225	{
[2430]	226	leaves.push_back(root);
[1963]	227	}
	228	}
	229
	230	//
	231	static void split( const tNodeArray& leaves,
[2430]	232	tNodeArray& left,
	233	tNodeArray& right,
	234	const btVector3& org,
	235	const btVector3& axis)
[1963]	236	{
[2430]	237	left.resize(0);
	238	right.resize(0);
	239	for(int i=0,ni=leaves.size();i<ni;++i)
[1963]	240	{
[2430]	241	if(dot(axis,leaves[i]->volume.Center()-org)<0)
	242	left.push_back(leaves[i]);
[1963]	243	else
[2430]	244	right.push_back(leaves[i]);
[1963]	245	}
	246	}
	247
	248	//
	249	static btDbvtVolume bounds( const tNodeArray& leaves)
	250	{
	251	#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
[2430]	252	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
	253	btDbvtVolume& volume=(btDbvtVolume)locals;
	254	volume=leaves[0]->volume;
[1963]	255	#else
[2430]	256	btDbvtVolume volume=leaves[0]->volume;
[1963]	257	#endif
[2430]	258	for(int i=1,ni=leaves.size();i<ni;++i)
[1963]	259	{
[2430]	260	Merge(volume,leaves[i]->volume,volume);
[1963]	261	}
[2430]	262	return(volume);
[1963]	263	}
	264
	265	//
	266	static void bottomup( btDbvt* pdbvt,
[2430]	267	tNodeArray& leaves)
[1963]	268	{
[2430]	269	while(leaves.size()>1)
[1963]	270	{
[2430]	271	btScalar minsize=SIMD_INFINITY;
	272	int minidx[2]={-1,-1};
	273	for(int i=0;i<leaves.size();++i)
[1963]	274	{
[2430]	275	for(int j=i+1;j<leaves.size();++j)
[1963]	276	{
[2430]	277	const btScalar sz=size(merge(leaves[i]->volume,leaves[j]->volume));
	278	if(sz<minsize)
[1963]	279	{
[2430]	280	minsize = sz;
	281	minidx[0] = i;
	282	minidx[1] = j;
[1963]	283	}
	284	}
	285	}
[2430]	286	btDbvtNode* n[] = {leaves[minidx[0]],leaves[minidx[1]]};
	287	btDbvtNode* p = createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
	288	p->childs[0] = n[0];
	289	p->childs[1] = n[1];
	290	n[0]->parent = p;
	291	n[1]->parent = p;
	292	leaves[minidx[0]] = p;
	293	leaves.swap(minidx[1],leaves.size()-1);
	294	leaves.pop_back();
[1963]	295	}
	296	}
	297
	298	//
	299	static btDbvtNode* topdown(btDbvt* pdbvt,
	300	tNodeArray& leaves,
	301	int bu_treshold)
	302	{
[2430]	303	static const btVector3 axis[]={btVector3(1,0,0),
	304	btVector3(0,1,0),
	305	btVector3(0,0,1)};
	306	if(leaves.size()>1)
[1963]	307	{
[2430]	308	if(leaves.size()>bu_treshold)
[1963]	309	{
[2430]	310	const btDbvtVolume vol=bounds(leaves);
	311	const btVector3 org=vol.Center();
	312	tNodeArray sets[2];
	313	int bestaxis=-1;
	314	int bestmidp=leaves.size();
	315	int splitcount[3][2]={{0,0},{0,0},{0,0}};
	316	int i;
	317	for( i=0;i<leaves.size();++i)
[1963]	318	{
[2430]	319	const btVector3 x=leaves[i]->volume.Center()-org;
	320	for(int j=0;j<3;++j)
[1963]	321	{
[2430]	322	++splitcount[j][dot(x,axis[j])>0?1:0];
[1963]	323	}
	324	}
[2430]	325	for( i=0;i<3;++i)
[1963]	326	{
[2430]	327	if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
[1963]	328	{
[2430]	329	const int midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
	330	if(midp<bestmidp)
[1963]	331	{
[2430]	332	bestaxis=i;
	333	bestmidp=midp;
[1963]	334	}
	335	}
	336	}
[2430]	337	if(bestaxis>=0)
[1963]	338	{
[2430]	339	sets[0].reserve(splitcount[bestaxis][0]);
	340	sets[1].reserve(splitcount[bestaxis][1]);
	341	split(leaves,sets[0],sets[1],org,axis[bestaxis]);
[1963]	342	}
	343	else
	344	{
[2430]	345	sets[0].reserve(leaves.size()/2+1);
	346	sets[1].reserve(leaves.size()/2);
	347	for(int i=0,ni=leaves.size();i<ni;++i)
[1963]	348	{
[2430]	349	sets[i&1].push_back(leaves[i]);
[1963]	350	}
	351	}
[2430]	352	btDbvtNode* node=createnode(pdbvt,0,vol,0);
	353	node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
	354	node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
	355	node->childs[0]->parent=node;
	356	node->childs[1]->parent=node;
	357	return(node);
[1963]	358	}
	359	else
	360	{
[2430]	361	bottomup(pdbvt,leaves);
	362	return(leaves[0]);
[1963]	363	}
	364	}
[2430]	365	return(leaves[0]);
[1963]	366	}
	367
	368	//
	369	static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n,btDbvtNode*& r)
	370	{
[2430]	371	btDbvtNode* p=n->parent;
	372	btAssert(n->isinternal());
	373	if(p>n)
[1963]	374	{
[2430]	375	const int i=indexof(n);
	376	const int j=1-i;
	377	btDbvtNode* s=p->childs[j];
	378	btDbvtNode* q=p->parent;
	379	btAssert(n==p->childs[i]);
	380	if(q) q->childs[indexof(p)]=n; else r=n;
	381	s->parent=n;
	382	p->parent=n;
	383	n->parent=q;
	384	p->childs[0]=n->childs[0];
	385	p->childs[1]=n->childs[1];
	386	n->childs[0]->parent=p;
	387	n->childs[1]->parent=p;
	388	n->childs[i]=p;
	389	n->childs[j]=s;
	390	btSwap(p->volume,n->volume);
	391	return(p);
[1963]	392	}
[2430]	393	return(n);
[1963]	394	}
	395
[2882]	396	#if 0
[1963]	397	static DBVT_INLINE btDbvtNode* walkup(btDbvtNode* n,int count)
	398	{
[2430]	399	while(n&&(count--)) n=n->parent;
	400	return(n);
[1963]	401	}
[2882]	402	#endif
[1963]	403
	404	//
	405	// Api
	406	//
	407
	408	//
[2430]	409	btDbvt::btDbvt()
[1963]	410	{
[2430]	411	m_root = 0;
	412	m_free = 0;
	413	m_lkhd = -1;
	414	m_leaves = 0;
	415	m_opath = 0;
[1963]	416	}
	417
	418	//
[2430]	419	btDbvt::~btDbvt()
[1963]	420	{
[2430]	421	clear();
[1963]	422	}
	423
	424	//
	425	void btDbvt::clear()
	426	{
[2882]	427	if(m_root)
	428	recursedeletenode(this,m_root);
[2430]	429	btAlignedFree(m_free);
	430	m_free=0;
[2882]	431	m_lkhd = -1;
	432	m_stkStack.clear();
	433	m_opath = 0;
	434
[1963]	435	}
	436
	437	//
	438	void btDbvt::optimizeBottomUp()
	439	{
[2430]	440	if(m_root)
[1963]	441	{
[2430]	442	tNodeArray leaves;
	443	leaves.reserve(m_leaves);
	444	fetchleaves(this,m_root,leaves);
	445	bottomup(this,leaves);
	446	m_root=leaves[0];
[1963]	447	}
	448	}
	449
	450	//
	451	void btDbvt::optimizeTopDown(int bu_treshold)
	452	{
[2430]	453	if(m_root)
[1963]	454	{
[2430]	455	tNodeArray leaves;
	456	leaves.reserve(m_leaves);
	457	fetchleaves(this,m_root,leaves);
	458	m_root=topdown(this,leaves,bu_treshold);
[1963]	459	}
	460	}
	461
	462	//
	463	void btDbvt::optimizeIncremental(int passes)
	464	{
[2430]	465	if(passes<0) passes=m_leaves;
	466	if(m_root&&(passes>0))
[1963]	467	{
[2430]	468	do {
	469	btDbvtNode* node=m_root;
	470	unsigned bit=0;
	471	while(node->isinternal())
[1963]	472	{
[2430]	473	node=sort(node,m_root)->childs[(m_opath>>bit)&1];
	474	bit=(bit+1)&(sizeof(unsigned)*8-1);
[1963]	475	}
[2430]	476	update(node);
	477	++m_opath;
[1963]	478	} while(--passes);
	479	}
	480	}
	481
	482	//
	483	btDbvtNode* btDbvt::insert(const btDbvtVolume& volume,void* data)
	484	{
[2430]	485	btDbvtNode* leaf=createnode(this,0,volume,data);
	486	insertleaf(this,m_root,leaf);
	487	++m_leaves;
	488	return(leaf);
[1963]	489	}
	490
	491	//
	492	void btDbvt::update(btDbvtNode* leaf,int lookahead)
	493	{
[2430]	494	btDbvtNode* root=removeleaf(this,leaf);
	495	if(root)
[1963]	496	{
[2430]	497	if(lookahead>=0)
[1963]	498	{
[2430]	499	for(int i=0;(i<lookahead)&&root->parent;++i)
[1963]	500	{
[2430]	501	root=root->parent;
[1963]	502	}
	503	} else root=m_root;
	504	}
[2430]	505	insertleaf(this,root,leaf);
[1963]	506	}
	507
	508	//
[2430]	509	void btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
[1963]	510	{
[2430]	511	btDbvtNode* root=removeleaf(this,leaf);
	512	if(root)
[1963]	513	{
[2430]	514	if(m_lkhd>=0)
[1963]	515	{
[2430]	516	for(int i=0;(i<m_lkhd)&&root->parent;++i)
[1963]	517	{
[2430]	518	root=root->parent;
[1963]	519	}
	520	} else root=m_root;
	521	}
[2430]	522	leaf->volume=volume;
	523	insertleaf(this,root,leaf);
[1963]	524	}
	525
	526	//
[2430]	527	bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
[1963]	528	{
[2430]	529	if(leaf->volume.Contain(volume)) return(false);
	530	volume.Expand(btVector3(margin,margin,margin));
	531	volume.SignedExpand(velocity);
	532	update(leaf,volume);
	533	return(true);
[1963]	534	}
	535
	536	//
[2430]	537	bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
[1963]	538	{
[2430]	539	if(leaf->volume.Contain(volume)) return(false);
	540	volume.SignedExpand(velocity);
	541	update(leaf,volume);
	542	return(true);
[1963]	543	}
	544
	545	//
[2430]	546	bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
[1963]	547	{
[2430]	548	if(leaf->volume.Contain(volume)) return(false);
	549	volume.Expand(btVector3(margin,margin,margin));
	550	update(leaf,volume);
	551	return(true);
[1963]	552	}
	553
	554	//
	555	void btDbvt::remove(btDbvtNode* leaf)
	556	{
[2430]	557	removeleaf(this,leaf);
	558	deletenode(this,leaf);
	559	--m_leaves;
[1963]	560	}
	561
	562	//
	563	void btDbvt::write(IWriter* iwriter) const
	564	{
[2430]	565	btDbvtNodeEnumerator nodes;
	566	nodes.nodes.reserve(m_leaves*2);
	567	enumNodes(m_root,nodes);
	568	iwriter->Prepare(m_root,nodes.nodes.size());
	569	for(int i=0;i<nodes.nodes.size();++i)
[1963]	570	{
[2430]	571	const btDbvtNode* n=nodes.nodes[i];
	572	int p=-1;
	573	if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
	574	if(n->isinternal())
[1963]	575	{
[2430]	576	const int c0=nodes.nodes.findLinearSearch(n->childs[0]);
	577	const int c1=nodes.nodes.findLinearSearch(n->childs[1]);
	578	iwriter->WriteNode(n,i,p,c0,c1);
[1963]	579	}
	580	else
	581	{
[2430]	582	iwriter->WriteLeaf(n,i,p);
[1963]	583	}
	584	}
	585	}
	586
	587	//
	588	void btDbvt::clone(btDbvt& dest,IClone* iclone) const
	589	{
[2430]	590	dest.clear();
	591	if(m_root!=0)
[1963]	592	{
[2430]	593	btAlignedObjectArray<sStkCLN> stack;
	594	stack.reserve(m_leaves);
	595	stack.push_back(sStkCLN(m_root,0));
	596	do {
	597	const int i=stack.size()-1;
	598	const sStkCLN e=stack[i];
	599	btDbvtNode* n=createnode(&dest,e.parent,e.node->volume,e.node->data);
	600	stack.pop_back();
	601	if(e.parent!=0)
	602	e.parent->childs[i&1]=n;
[1963]	603	else
[2430]	604	dest.m_root=n;
	605	if(e.node->isinternal())
[1963]	606	{
[2430]	607	stack.push_back(sStkCLN(e.node->childs[0],n));
	608	stack.push_back(sStkCLN(e.node->childs[1],n));
[1963]	609	}
	610	else
	611	{
[2430]	612	iclone->CloneLeaf(n);
[1963]	613	}
	614	} while(stack.size()>0);
	615	}
	616	}
	617
	618	//
	619	int btDbvt::maxdepth(const btDbvtNode* node)
	620	{
[2430]	621	int depth=0;
	622	if(node) getmaxdepth(node,1,depth);
	623	return(depth);
[1963]	624	}
	625
	626	//
	627	int btDbvt::countLeaves(const btDbvtNode* node)
	628	{
[2430]	629	if(node->isinternal())
	630	return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
[1963]	631	else
[2430]	632	return(1);
[1963]	633	}
	634
	635	//
	636	void btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
	637	{
[2430]	638	if(node->isinternal())
[1963]	639	{
[2430]	640	extractLeaves(node->childs[0],leaves);
	641	extractLeaves(node->childs[1],leaves);
[1963]	642	}
	643	else
	644	{
[2430]	645	leaves.push_back(node);
[1963]	646	}
	647	}
	648
	649	//
	650	#if DBVT_ENABLE_BENCHMARK
	651
	652	#include <stdio.h>
	653	#include <stdlib.h>
	654	#include "LinearMath/btQuickProf.h"
	655
	656	/*
	657	q6600,2.4ghz
	658
	659	/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"
	660	/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
	661	/Fo"..\..\out\release8\build\libbulletcollision\\"
	662	/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
	663	/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
	664
	665	Benchmarking dbvt...
[2430]	666	World scale: 100.000000
	667	Extents base: 1.000000
	668	Extents range: 4.000000
	669	Leaves: 8192
	670	sizeof(btDbvtVolume): 32 bytes
	671	sizeof(btDbvtNode): 44 bytes
[1963]	672	[1] btDbvtVolume intersections: 3499 ms (-1%)
	673	[2] btDbvtVolume merges: 1934 ms (0%)
	674	[3] btDbvt::collideTT: 5485 ms (-21%)
	675	[4] btDbvt::collideTT self: 2814 ms (-20%)
	676	[5] btDbvt::collideTT xform: 7379 ms (-1%)
	677	[6] btDbvt::collideTT xform,self: 7270 ms (-2%)
[2430]	678	[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
[1963]	679	[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
	680	[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
	681	[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
	682	[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
	683	[12] btDbvtVolume notequal: 3659 ms (0%)
	684	[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
	685	[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
	686	[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
	687	[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
	688	[17] btDbvtVolume select: 3419 ms (0%)
	689	*/
	690
	691	struct btDbvtBenchmark
	692	{
[2430]	693	struct NilPolicy : btDbvt::ICollide
[1963]	694	{
[2430]	695	NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true) {}
	696	void Process(const btDbvtNode,const btDbvtNode) { ++m_pcount; }
	697	void Process(const btDbvtNode*) { ++m_pcount; }
	698	void Process(const btDbvtNode*,btScalar depth)
[1963]	699	{
[2430]	700	++m_pcount;
	701	if(m_checksort)
[1963]	702	{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
	703	}
[2430]	704	int m_pcount;
	705	btScalar m_depth;
	706	bool m_checksort;
[1963]	707	};
[2430]	708	struct P14 : btDbvt::ICollide
[1963]	709	{
[2430]	710	struct Node
[1963]	711	{
[2430]	712	const btDbvtNode* leaf;
	713	btScalar depth;
[1963]	714	};
[2430]	715	void Process(const btDbvtNode* leaf,btScalar depth)
[1963]	716	{
[2430]	717	Node n;
	718	n.leaf = leaf;
	719	n.depth = depth;
[1963]	720	}
[2430]	721	static int sortfnc(const Node& a,const Node& b)
[1963]	722	{
[2430]	723	if(a.depth<b.depth) return(+1);
	724	if(a.depth>b.depth) return(-1);
	725	return(0);
[1963]	726	}
[2430]	727	btAlignedObjectArray<Node> m_nodes;
[1963]	728	};
[2430]	729	struct P15 : btDbvt::ICollide
[1963]	730	{
[2430]	731	struct Node
[1963]	732	{
[2430]	733	const btDbvtNode* leaf;
	734	btScalar depth;
[1963]	735	};
[2430]	736	void Process(const btDbvtNode* leaf)
[1963]	737	{
[2430]	738	Node n;
	739	n.leaf = leaf;
	740	n.depth = dot(leaf->volume.Center(),m_axis);
[1963]	741	}
[2430]	742	static int sortfnc(const Node& a,const Node& b)
[1963]	743	{
[2430]	744	if(a.depth<b.depth) return(+1);
	745	if(a.depth>b.depth) return(-1);
	746	return(0);
[1963]	747	}
[2430]	748	btAlignedObjectArray<Node> m_nodes;
	749	btVector3 m_axis;
[1963]	750	};
[2430]	751	static btScalar RandUnit()
[1963]	752	{
[2430]	753	return(rand()/(btScalar)RAND_MAX);
[1963]	754	}
[2430]	755	static btVector3 RandVector3()
[1963]	756	{
[2430]	757	return(btVector3(RandUnit(),RandUnit(),RandUnit()));
[1963]	758	}
[2430]	759	static btVector3 RandVector3(btScalar cs)
[1963]	760	{
[2430]	761	return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
[1963]	762	}
[2430]	763	static btDbvtVolume RandVolume(btScalar cs,btScalar eb,btScalar es)
[1963]	764	{
[2430]	765	return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
[1963]	766	}
[2430]	767	static btTransform RandTransform(btScalar cs)
[1963]	768	{
[2430]	769	btTransform t;
	770	t.setOrigin(RandVector3(cs));
	771	t.setRotation(btQuaternion(RandUnit()SIMD_PI2,RandUnit()SIMD_PI2,RandUnit()SIMD_PI2).normalized());
	772	return(t);
[1963]	773	}
[2430]	774	static void RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
[1963]	775	{
[2430]	776	dbvt.clear();
	777	for(int i=0;i<leaves;++i)
[1963]	778	{
[2430]	779	dbvt.insert(RandVolume(cs,eb,es),0);
[1963]	780	}
	781	}
	782	};
	783
	784	void btDbvt::benchmark()
	785	{
[2430]	786	static const btScalar cfgVolumeCenterScale = 100;
	787	static const btScalar cfgVolumeExentsBase = 1;
	788	static const btScalar cfgVolumeExentsScale = 4;
	789	static const int cfgLeaves = 8192;
	790	static const bool cfgEnable = true;
[1963]	791
[2430]	792	//[1] btDbvtVolume intersections
	793	bool cfgBenchmark1_Enable = cfgEnable;
	794	static const int cfgBenchmark1_Iterations = 8;
	795	static const int cfgBenchmark1_Reference = 3499;
	796	//[2] btDbvtVolume merges
	797	bool cfgBenchmark2_Enable = cfgEnable;
	798	static const int cfgBenchmark2_Iterations = 4;
	799	static const int cfgBenchmark2_Reference = 1945;
	800	//[3] btDbvt::collideTT
	801	bool cfgBenchmark3_Enable = cfgEnable;
	802	static const int cfgBenchmark3_Iterations = 512;
	803	static const int cfgBenchmark3_Reference = 5485;
	804	//[4] btDbvt::collideTT self
	805	bool cfgBenchmark4_Enable = cfgEnable;
	806	static const int cfgBenchmark4_Iterations = 512;
	807	static const int cfgBenchmark4_Reference = 2814;
	808	//[5] btDbvt::collideTT xform
	809	bool cfgBenchmark5_Enable = cfgEnable;
	810	static const int cfgBenchmark5_Iterations = 512;
	811	static const btScalar cfgBenchmark5_OffsetScale = 2;
	812	static const int cfgBenchmark5_Reference = 7379;
	813	//[6] btDbvt::collideTT xform,self
	814	bool cfgBenchmark6_Enable = cfgEnable;
	815	static const int cfgBenchmark6_Iterations = 512;
	816	static const btScalar cfgBenchmark6_OffsetScale = 2;
	817	static const int cfgBenchmark6_Reference = 7270;
	818	//[7] btDbvt::rayTest
	819	bool cfgBenchmark7_Enable = cfgEnable;
	820	static const int cfgBenchmark7_Passes = 32;
	821	static const int cfgBenchmark7_Iterations = 65536;
	822	static const int cfgBenchmark7_Reference = 6307;
	823	//[8] insert/remove
	824	bool cfgBenchmark8_Enable = cfgEnable;
	825	static const int cfgBenchmark8_Passes = 32;
	826	static const int cfgBenchmark8_Iterations = 65536;
	827	static const int cfgBenchmark8_Reference = 2105;
	828	//[9] updates (teleport)
	829	bool cfgBenchmark9_Enable = cfgEnable;
	830	static const int cfgBenchmark9_Passes = 32;
	831	static const int cfgBenchmark9_Iterations = 65536;
	832	static const int cfgBenchmark9_Reference = 1879;
	833	//[10] updates (jitter)
	834	bool cfgBenchmark10_Enable = cfgEnable;
	835	static const btScalar cfgBenchmark10_Scale = cfgVolumeCenterScale/10000;
	836	static const int cfgBenchmark10_Passes = 32;
	837	static const int cfgBenchmark10_Iterations = 65536;
	838	static const int cfgBenchmark10_Reference = 1244;
	839	//[11] optimize (incremental)
	840	bool cfgBenchmark11_Enable = cfgEnable;
	841	static const int cfgBenchmark11_Passes = 64;
	842	static const int cfgBenchmark11_Iterations = 65536;
	843	static const int cfgBenchmark11_Reference = 2510;
	844	//[12] btDbvtVolume notequal
	845	bool cfgBenchmark12_Enable = cfgEnable;
	846	static const int cfgBenchmark12_Iterations = 32;
	847	static const int cfgBenchmark12_Reference = 3677;
	848	//[13] culling(OCL+fullsort)
	849	bool cfgBenchmark13_Enable = cfgEnable;
	850	static const int cfgBenchmark13_Iterations = 1024;
	851	static const int cfgBenchmark13_Reference = 2231;
	852	//[14] culling(OCL+qsort)
	853	bool cfgBenchmark14_Enable = cfgEnable;
	854	static const int cfgBenchmark14_Iterations = 8192;
	855	static const int cfgBenchmark14_Reference = 3500;
	856	//[15] culling(KDOP+qsort)
	857	bool cfgBenchmark15_Enable = cfgEnable;
	858	static const int cfgBenchmark15_Iterations = 8192;
	859	static const int cfgBenchmark15_Reference = 1151;
	860	//[16] insert/remove batch
	861	bool cfgBenchmark16_Enable = cfgEnable;
	862	static const int cfgBenchmark16_BatchCount = 256;
	863	static const int cfgBenchmark16_Passes = 16384;
	864	static const int cfgBenchmark16_Reference = 5138;
	865	//[17] select
	866	bool cfgBenchmark17_Enable = cfgEnable;
	867	static const int cfgBenchmark17_Iterations = 4;
	868	static const int cfgBenchmark17_Reference = 3390;
[1963]	869
[2430]	870	btClock wallclock;
	871	printf("Benchmarking dbvt...\r\n");
	872	printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
	873	printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
	874	printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
	875	printf("\tLeaves: %u\r\n",cfgLeaves);
	876	printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
	877	printf("\tsizeof(btDbvtNode): %u bytes\r\n",sizeof(btDbvtNode));
	878	if(cfgBenchmark1_Enable)
[1963]	879	{// Benchmark 1
[2430]	880	srand(380843);
	881	btAlignedObjectArray<btDbvtVolume> volumes;
	882	btAlignedObjectArray<bool> results;
	883	volumes.resize(cfgLeaves);
	884	results.resize(cfgLeaves);
	885	for(int i=0;i<cfgLeaves;++i)
[1963]	886	{
[2430]	887	volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
[1963]	888	}
[2430]	889	printf("[1] btDbvtVolume intersections: ");
	890	wallclock.reset();
	891	for(int i=0;i<cfgBenchmark1_Iterations;++i)
[1963]	892	{
[2430]	893	for(int j=0;j<cfgLeaves;++j)
[1963]	894	{
[2430]	895	for(int k=0;k<cfgLeaves;++k)
[1963]	896	{
[2430]	897	results[k]=Intersect(volumes[j],volumes[k]);
[1963]	898	}
	899	}
	900	}
[2430]	901	const int time=(int)wallclock.getTimeMilliseconds();
	902	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
[1963]	903	}
[2430]	904	if(cfgBenchmark2_Enable)
[1963]	905	{// Benchmark 2
[2430]	906	srand(380843);
	907	btAlignedObjectArray<btDbvtVolume> volumes;
	908	btAlignedObjectArray<btDbvtVolume> results;
	909	volumes.resize(cfgLeaves);
	910	results.resize(cfgLeaves);
	911	for(int i=0;i<cfgLeaves;++i)
[1963]	912	{
[2430]	913	volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
[1963]	914	}
[2430]	915	printf("[2] btDbvtVolume merges: ");
	916	wallclock.reset();
	917	for(int i=0;i<cfgBenchmark2_Iterations;++i)
[1963]	918	{
[2430]	919	for(int j=0;j<cfgLeaves;++j)
[1963]	920	{
[2430]	921	for(int k=0;k<cfgLeaves;++k)
[1963]	922	{
[2430]	923	Merge(volumes[j],volumes[k],results[k]);
[1963]	924	}
	925	}
	926	}
[2430]	927	const int time=(int)wallclock.getTimeMilliseconds();
	928	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
[1963]	929	}
[2430]	930	if(cfgBenchmark3_Enable)
[1963]	931	{// Benchmark 3
[2430]	932	srand(380843);
	933	btDbvt dbvt[2];
	934	btDbvtBenchmark::NilPolicy policy;
	935	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
	936	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
	937	dbvt[0].optimizeTopDown();
	938	dbvt[1].optimizeTopDown();
	939	printf("[3] btDbvt::collideTT: ");
	940	wallclock.reset();
	941	for(int i=0;i<cfgBenchmark3_Iterations;++i)
[1963]	942	{
[2430]	943	btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
[1963]	944	}
[2430]	945	const int time=(int)wallclock.getTimeMilliseconds();
	946	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
[1963]	947	}
[2430]	948	if(cfgBenchmark4_Enable)
[1963]	949	{// Benchmark 4
[2430]	950	srand(380843);
	951	btDbvt dbvt;
	952	btDbvtBenchmark::NilPolicy policy;
	953	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	954	dbvt.optimizeTopDown();
	955	printf("[4] btDbvt::collideTT self: ");
	956	wallclock.reset();
	957	for(int i=0;i<cfgBenchmark4_Iterations;++i)
[1963]	958	{
[2430]	959	btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
[1963]	960	}
[2430]	961	const int time=(int)wallclock.getTimeMilliseconds();
	962	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
[1963]	963	}
[2430]	964	if(cfgBenchmark5_Enable)
[1963]	965	{// Benchmark 5
[2430]	966	srand(380843);
	967	btDbvt dbvt[2];
	968	btAlignedObjectArray<btTransform> transforms;
	969	btDbvtBenchmark::NilPolicy policy;
	970	transforms.resize(cfgBenchmark5_Iterations);
	971	for(int i=0;i<transforms.size();++i)
[1963]	972	{
[2430]	973	transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
[1963]	974	}
[2430]	975	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
	976	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
	977	dbvt[0].optimizeTopDown();
	978	dbvt[1].optimizeTopDown();
	979	printf("[5] btDbvt::collideTT xform: ");
	980	wallclock.reset();
	981	for(int i=0;i<cfgBenchmark5_Iterations;++i)
[1963]	982	{
[2430]	983	btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
[1963]	984	}
[2430]	985	const int time=(int)wallclock.getTimeMilliseconds();
	986	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
[1963]	987	}
[2430]	988	if(cfgBenchmark6_Enable)
[1963]	989	{// Benchmark 6
[2430]	990	srand(380843);
	991	btDbvt dbvt;
	992	btAlignedObjectArray<btTransform> transforms;
	993	btDbvtBenchmark::NilPolicy policy;
	994	transforms.resize(cfgBenchmark6_Iterations);
	995	for(int i=0;i<transforms.size();++i)
[1963]	996	{
[2430]	997	transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
[1963]	998	}
[2430]	999	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1000	dbvt.optimizeTopDown();
	1001	printf("[6] btDbvt::collideTT xform,self: ");
	1002	wallclock.reset();
	1003	for(int i=0;i<cfgBenchmark6_Iterations;++i)
[1963]	1004	{
[2430]	1005	btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);
[1963]	1006	}
[2430]	1007	const int time=(int)wallclock.getTimeMilliseconds();
	1008	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
[1963]	1009	}
[2430]	1010	if(cfgBenchmark7_Enable)
[1963]	1011	{// Benchmark 7
[2430]	1012	srand(380843);
	1013	btDbvt dbvt;
	1014	btAlignedObjectArray<btVector3> rayorg;
	1015	btAlignedObjectArray<btVector3> raydir;
	1016	btDbvtBenchmark::NilPolicy policy;
	1017	rayorg.resize(cfgBenchmark7_Iterations);
	1018	raydir.resize(cfgBenchmark7_Iterations);
	1019	for(int i=0;i<rayorg.size();++i)
[1963]	1020	{
[2430]	1021	rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
	1022	raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
[1963]	1023	}
[2430]	1024	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1025	dbvt.optimizeTopDown();
	1026	printf("[7] btDbvt::rayTest: ");
	1027	wallclock.reset();
	1028	for(int i=0;i<cfgBenchmark7_Passes;++i)
[1963]	1029	{
[2430]	1030	for(int j=0;j<cfgBenchmark7_Iterations;++j)
[1963]	1031	{
[2430]	1032	btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
[1963]	1033	}
	1034	}
[2430]	1035	const int time=(int)wallclock.getTimeMilliseconds();
	1036	unsigned rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
	1037	printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)100/time,(rays1000)/time);
[1963]	1038	}
[2430]	1039	if(cfgBenchmark8_Enable)
[1963]	1040	{// Benchmark 8
[2430]	1041	srand(380843);
	1042	btDbvt dbvt;
	1043	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1044	dbvt.optimizeTopDown();
	1045	printf("[8] insert/remove: ");
	1046	wallclock.reset();
	1047	for(int i=0;i<cfgBenchmark8_Passes;++i)
[1963]	1048	{
[2430]	1049	for(int j=0;j<cfgBenchmark8_Iterations;++j)
[1963]	1050	{
[2430]	1051	dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
[1963]	1052	}
	1053	}
[2430]	1054	const int time=(int)wallclock.getTimeMilliseconds();
	1055	const int ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
	1056	printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)100/time,ir1000/time);
[1963]	1057	}
[2430]	1058	if(cfgBenchmark9_Enable)
[1963]	1059	{// Benchmark 9
[2430]	1060	srand(380843);
	1061	btDbvt dbvt;
	1062	btAlignedObjectArray<const btDbvtNode*> leaves;
	1063	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1064	dbvt.optimizeTopDown();
	1065	dbvt.extractLeaves(dbvt.m_root,leaves);
	1066	printf("[9] updates (teleport): ");
	1067	wallclock.reset();
	1068	for(int i=0;i<cfgBenchmark9_Passes;++i)
[1963]	1069	{
[2430]	1070	for(int j=0;j<cfgBenchmark9_Iterations;++j)
[1963]	1071	{
[2430]	1072	dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
	1073	btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
[1963]	1074	}
	1075	}
[2430]	1076	const int time=(int)wallclock.getTimeMilliseconds();
	1077	const int up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
	1078	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)100/time,up1000/time);
[1963]	1079	}
[2430]	1080	if(cfgBenchmark10_Enable)
[1963]	1081	{// Benchmark 10
[2430]	1082	srand(380843);
	1083	btDbvt dbvt;
	1084	btAlignedObjectArray<const btDbvtNode*> leaves;
	1085	btAlignedObjectArray<btVector3> vectors;
	1086	vectors.resize(cfgBenchmark10_Iterations);
	1087	for(int i=0;i<vectors.size();++i)
[1963]	1088	{
[2430]	1089	vectors[i]=(btDbvtBenchmark::RandVector3()2-btVector3(1,1,1))cfgBenchmark10_Scale;
[1963]	1090	}
[2430]	1091	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1092	dbvt.optimizeTopDown();
	1093	dbvt.extractLeaves(dbvt.m_root,leaves);
	1094	printf("[10] updates (jitter): ");
	1095	wallclock.reset();
	1096
	1097	for(int i=0;i<cfgBenchmark10_Passes;++i)
[1963]	1098	{
[2430]	1099	for(int j=0;j<cfgBenchmark10_Iterations;++j)
[1963]	1100	{
[2430]	1101	const btVector3& d=vectors[j];
	1102	btDbvtNode* l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
	1103	btDbvtVolume v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
	1104	dbvt.update(l,v);
[1963]	1105	}
	1106	}
[2430]	1107	const int time=(int)wallclock.getTimeMilliseconds();
	1108	const int up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
	1109	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)100/time,up1000/time);
[1963]	1110	}
[2430]	1111	if(cfgBenchmark11_Enable)
[1963]	1112	{// Benchmark 11
[2430]	1113	srand(380843);
	1114	btDbvt dbvt;
	1115	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1116	dbvt.optimizeTopDown();
	1117	printf("[11] optimize (incremental): ");
	1118	wallclock.reset();
	1119	for(int i=0;i<cfgBenchmark11_Passes;++i)
[1963]	1120	{
[2430]	1121	dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
[1963]	1122	}
[2430]	1123	const int time=(int)wallclock.getTimeMilliseconds();
	1124	const int op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
	1125	printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)100/time,op/time1000);
[1963]	1126	}
[2430]	1127	if(cfgBenchmark12_Enable)
[1963]	1128	{// Benchmark 12
[2430]	1129	srand(380843);
	1130	btAlignedObjectArray<btDbvtVolume> volumes;
	1131	btAlignedObjectArray<bool> results;
	1132	volumes.resize(cfgLeaves);
	1133	results.resize(cfgLeaves);
	1134	for(int i=0;i<cfgLeaves;++i)
[1963]	1135	{
[2430]	1136	volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
[1963]	1137	}
[2430]	1138	printf("[12] btDbvtVolume notequal: ");
	1139	wallclock.reset();
	1140	for(int i=0;i<cfgBenchmark12_Iterations;++i)
[1963]	1141	{
[2430]	1142	for(int j=0;j<cfgLeaves;++j)
[1963]	1143	{
[2430]	1144	for(int k=0;k<cfgLeaves;++k)
[1963]	1145	{
[2430]	1146	results[k]=NotEqual(volumes[j],volumes[k]);
[1963]	1147	}
	1148	}
	1149	}
[2430]	1150	const int time=(int)wallclock.getTimeMilliseconds();
	1151	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
[1963]	1152	}
[2430]	1153	if(cfgBenchmark13_Enable)
[1963]	1154	{// Benchmark 13
[2430]	1155	srand(380843);
	1156	btDbvt dbvt;
	1157	btAlignedObjectArray<btVector3> vectors;
	1158	btDbvtBenchmark::NilPolicy policy;
	1159	vectors.resize(cfgBenchmark13_Iterations);
	1160	for(int i=0;i<vectors.size();++i)
[1963]	1161	{
[2430]	1162	vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
[1963]	1163	}
[2430]	1164	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1165	dbvt.optimizeTopDown();
	1166	printf("[13] culling(OCL+fullsort): ");
	1167	wallclock.reset();
	1168	for(int i=0;i<cfgBenchmark13_Iterations;++i)
[1963]	1169	{
[2430]	1170	static const btScalar offset=0;
	1171	policy.m_depth=-SIMD_INFINITY;
	1172	dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
[1963]	1173	}
[2430]	1174	const int time=(int)wallclock.getTimeMilliseconds();
	1175	const int t=cfgBenchmark13_Iterations;
	1176	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)100/time,(t1000)/time);
[1963]	1177	}
[2430]	1178	if(cfgBenchmark14_Enable)
[1963]	1179	{// Benchmark 14
[2430]	1180	srand(380843);
	1181	btDbvt dbvt;
	1182	btAlignedObjectArray<btVector3> vectors;
	1183	btDbvtBenchmark::P14 policy;
	1184	vectors.resize(cfgBenchmark14_Iterations);
	1185	for(int i=0;i<vectors.size();++i)
[1963]	1186	{
[2430]	1187	vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
[1963]	1188	}
[2430]	1189	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1190	dbvt.optimizeTopDown();
	1191	policy.m_nodes.reserve(cfgLeaves);
	1192	printf("[14] culling(OCL+qsort): ");
	1193	wallclock.reset();
	1194	for(int i=0;i<cfgBenchmark14_Iterations;++i)
[1963]	1195	{
[2430]	1196	static const btScalar offset=0;
	1197	policy.m_nodes.resize(0);
	1198	dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
	1199	policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
[1963]	1200	}
[2430]	1201	const int time=(int)wallclock.getTimeMilliseconds();
	1202	const int t=cfgBenchmark14_Iterations;
	1203	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)100/time,(t1000)/time);
[1963]	1204	}
[2430]	1205	if(cfgBenchmark15_Enable)
[1963]	1206	{// Benchmark 15
[2430]	1207	srand(380843);
	1208	btDbvt dbvt;
	1209	btAlignedObjectArray<btVector3> vectors;
	1210	btDbvtBenchmark::P15 policy;
	1211	vectors.resize(cfgBenchmark15_Iterations);
	1212	for(int i=0;i<vectors.size();++i)
[1963]	1213	{
[2430]	1214	vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
[1963]	1215	}
[2430]	1216	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1217	dbvt.optimizeTopDown();
	1218	policy.m_nodes.reserve(cfgLeaves);
	1219	printf("[15] culling(KDOP+qsort): ");
	1220	wallclock.reset();
	1221	for(int i=0;i<cfgBenchmark15_Iterations;++i)
[1963]	1222	{
[2430]	1223	static const btScalar offset=0;
	1224	policy.m_nodes.resize(0);
	1225	policy.m_axis=vectors[i];
	1226	dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
	1227	policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
[1963]	1228	}
[2430]	1229	const int time=(int)wallclock.getTimeMilliseconds();
	1230	const int t=cfgBenchmark15_Iterations;
	1231	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)100/time,(t1000)/time);
[1963]	1232	}
[2430]	1233	if(cfgBenchmark16_Enable)
[1963]	1234	{// Benchmark 16
[2430]	1235	srand(380843);
	1236	btDbvt dbvt;
	1237	btAlignedObjectArray<btDbvtNode*> batch;
	1238	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
	1239	dbvt.optimizeTopDown();
	1240	batch.reserve(cfgBenchmark16_BatchCount);
	1241	printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
	1242	wallclock.reset();
	1243	for(int i=0;i<cfgBenchmark16_Passes;++i)
[1963]	1244	{
[2430]	1245	for(int j=0;j<cfgBenchmark16_BatchCount;++j)
[1963]	1246	{
[2430]	1247	batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
[1963]	1248	}
[2430]	1249	for(int j=0;j<cfgBenchmark16_BatchCount;++j)
[1963]	1250	{
[2430]	1251	dbvt.remove(batch[j]);
[1963]	1252	}
[2430]	1253	batch.resize(0);
[1963]	1254	}
[2430]	1255	const int time=(int)wallclock.getTimeMilliseconds();
	1256	const int ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
	1257	printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)100/time,int(ir1000.0/time));
[1963]	1258	}
[2430]	1259	if(cfgBenchmark17_Enable)
[1963]	1260	{// Benchmark 17
[2430]	1261	srand(380843);
	1262	btAlignedObjectArray<btDbvtVolume> volumes;
	1263	btAlignedObjectArray<int> results;
	1264	btAlignedObjectArray<int> indices;
	1265	volumes.resize(cfgLeaves);
	1266	results.resize(cfgLeaves);
	1267	indices.resize(cfgLeaves);
	1268	for(int i=0;i<cfgLeaves;++i)
[1963]	1269	{
[2430]	1270	indices[i]=i;
	1271	volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
[1963]	1272	}
[2430]	1273	for(int i=0;i<cfgLeaves;++i)
[1963]	1274	{
[2430]	1275	btSwap(indices[i],indices[rand()%cfgLeaves]);
[1963]	1276	}
[2430]	1277	printf("[17] btDbvtVolume select: ");
	1278	wallclock.reset();
	1279	for(int i=0;i<cfgBenchmark17_Iterations;++i)
[1963]	1280	{
[2430]	1281	for(int j=0;j<cfgLeaves;++j)
[1963]	1282	{
[2430]	1283	for(int k=0;k<cfgLeaves;++k)
[1963]	1284	{
[2430]	1285	const int idx=indices[k];
	1286	results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
[1963]	1287	}
	1288	}
	1289	}
[2430]	1290	const int time=(int)wallclock.getTimeMilliseconds();
	1291	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
[1963]	1292	}
[2430]	1293	printf("\r\n\r\n");
[1963]	1294	}
	1295	#endif

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