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reverted back to newer btDbvtBroadphase, and applied Nathanael's fixes.

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This commit is contained in:
erwin.coumans
2008-09-13 08:06:39 +00:00
parent d1318a05b3
commit 1346c95205
5 changed files with 357 additions and 112 deletions
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140
Extras/CDTestFramework/BulletSAPCompleteBoxPruningTest.cpp
View File

@@ -410,9 +410,13 @@ BulletSAPCompleteBoxPruningTest::BulletSAPCompleteBoxPruningTest(int numBoxes,in
}
break;
case 7:
m_broadphase = new btDbvtBroadphase();
m_isdbvt = true;
methodname = "dynamic AABB tree, btDbvtBroadphase";
{
btDbvtBroadphase* pbp=new btDbvtBroadphase();
m_broadphase = pbp;
pbp->m_deferedcollide = true; /* Faster initialization, set to false after. */
m_isdbvt = true;
methodname = "dynamic AABB tree, btDbvtBroadphase";
}
break;
default:
{
@@ -475,19 +479,18 @@ void BulletSAPCompleteBoxPruningTest::Release()
extern int doTree;
extern int percentUpdate;
extern float objectSpeed;
extern bool enableDraw;
static void TW_CALL NormalMode(void* pdata)
{
btDbvtBroadphase* pb=(btDbvtBroadphase*)pdata;
pb->m_deferedcollide = true;
pb->m_predictedframes = 2;
}
static void TW_CALL SlowSpeedMode(void* pdata)
{
btDbvtBroadphase* pb=(btDbvtBroadphase*)pdata;
pb->m_deferedcollide = false;
pb->m_predictedframes = 15;
}
void BulletSAPCompleteBoxPruningTest::Select()
@@ -512,7 +515,7 @@ void BulletSAPCompleteBoxPruningTest::Select()
TwAddVarRW(mBar, "Dyn opt/f(%)",TW_TYPE_INT32,&pbp->m_dupdates,"min=0 max=100");
TwAddVarRW(mBar, "Fix opt/f(%)",TW_TYPE_INT32,&pbp->m_fupdates,"min=0 max=100");
TwAddVarRW(mBar, "Cln opt/f(%)",TW_TYPE_INT32,&pbp->m_cupdates,"min=0 max=100");
TwAddVarRW(mBar, "Pred.frames",TW_TYPE_FLOAT,&pbp->m_predictedframes,"min=0.0 max=50.0 step=0.5");
TwAddVarRW(mBar, "Prediction",TW_TYPE_FLOAT,&pbp->m_prediction,"min=0.0 max=2.0 step=0.1");
TwAddVarRW(mBar, "Defered collide",TW_TYPE_BOOLCPP,&pbp->m_deferedcollide,"");
TwAddVarRO(mBar, "Dyn leafs",TW_TYPE_INT32,&pbp->m_sets[0].m_leaves,"");
TwAddVarRO(mBar, "Fix leafs",TW_TYPE_INT32,&pbp->m_sets[1].m_leaves,"");
@@ -593,9 +596,39 @@ void BulletSAPCompleteBoxPruningTest::PerformTest()
{
//initialization messes up timings
m_firstTime = false;
mProfiler.Reset();
if(m_isdbvt)
{
((btDbvtBroadphase*)m_broadphase)->m_deferedcollide=false;
}
mProfiler.Reset();
}
#if 0
{
int missedpairs=0;
for(int i=0;i<m_proxies.size();++i)
{
btDbvtProxy* pa((btDbvtProxy*)m_proxies[i]);
for(int j=i+1;j<m_proxies.size();++j)
{
btDbvtProxy* pb((btDbvtProxy*)m_proxies[j]);
if(Intersect(pa->aabb,pb->aabb))
{
btDbvtProxy* spa=pa;
btDbvtProxy* spb=pb;
if(spa>spb) btSwap(spa,spb);
if(!m_broadphase->getOverlappingPairCache()->findPair(spa,spb))
{
++missedpairs;
printf("Cannot find %i,%i\r\n",i,j);
}
}
}
}
if(missedpairs>0) printf("Missed pairs: %u\r\n",missedpairs);
}
#endif
// printf("%d pairs colliding\r ", mPairs.GetNbPairs());
ZeroMemory(mFlags,sizeof(bool)*mNbBoxes);
@@ -614,74 +647,63 @@ void BulletSAPCompleteBoxPruningTest::PerformTest()
mFlags[j] = true;
}
if(enableDraw)
{
btVector3 aabbMin(-200,-200,-200);
btVector3 aabbMax(200,200,200);
btVector3 aabbMin(-200,-200,-200);
btVector3 aabbMax(200,200,200);
btVector3 tmpAabbMin,tmpAabbMax;
glDisable(GL_DEPTH_TEST);
btVector3 tmpAabbMin,tmpAabbMax;
glDisable(GL_DEPTH_TEST);
float numP = (float) numParts;
for (int i=0;i<numParts;i++)
{
tmpAabbMin[0] = aabbMin[0] + i*(aabbMax[0]-aabbMin[0])/numP;
tmpAabbMax[0] = aabbMin[0] + (i+1)*(aabbMax[0]-aabbMin[0])/numP;
for (int j=0;j<numParts;j++)
float numP = (float) numParts;
for (int i=0;i<numParts;i++)
{
tmpAabbMin[1] = aabbMin[1] + j*(aabbMax[1]-aabbMin[1])/numP;
tmpAabbMax[1] = aabbMin[1] + (j+1)*(aabbMax[1]-aabbMin[1])/numP;
tmpAabbMin[0] = aabbMin[0] + i*(aabbMax[0]-aabbMin[0])/numP;
tmpAabbMax[0] = aabbMin[0] + (i+1)*(aabbMax[0]-aabbMin[0])/numP;
for (int k=0;k<numParts;k++)
for (int j=0;j<numParts;j++)
{
tmpAabbMin[2] = aabbMin[2] + k*(aabbMax[2]-aabbMin[2])/numP;
tmpAabbMax[2] = aabbMin[2] + (k+1)*(aabbMax[2]-aabbMin[2])/numP;
tmpAabbMin[1] = aabbMin[1] + j*(aabbMax[1]-aabbMin[1])/numP;
tmpAabbMax[1] = aabbMin[1] + (j+1)*(aabbMax[1]-aabbMin[1])/numP;
for (int k=0;k<numParts;k++)
{
tmpAabbMin[2] = aabbMin[2] + k*(aabbMax[2]-aabbMin[2])/numP;
tmpAabbMax[2] = aabbMin[2] + (k+1)*(aabbMax[2]-aabbMin[2])/numP;
OBB CurrentBox;
CurrentBox.mRot.Identity();
{
Point mmin(tmpAabbMin[0],tmpAabbMin[1],tmpAabbMin[2]);
Point mmax(tmpAabbMax[0],tmpAabbMax[1],tmpAabbMax[2]);
OBB CurrentBox;
CurrentBox.mRot.Identity();
{
Point mmin(tmpAabbMin[0],tmpAabbMin[1],tmpAabbMin[2]);
Point mmax(tmpAabbMax[0],tmpAabbMax[1],tmpAabbMax[2]);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glColor4f(i, j,k,0.2);//1.0f, 0.0f);
CurrentBox.mCenter = (mmin+mmax)*0.5;
CurrentBox.mExtents = (mmax-mmin)*0.5;
DrawOBB(CurrentBox);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glColor4f(i, j,k,0.2);//1.0f, 0.0f);
CurrentBox.mCenter = (mmin+mmax)*0.5;
CurrentBox.mExtents = (mmax-mmin)*0.5;
DrawOBB(CurrentBox);
}
}
}
}
}
glEnable(GL_DEPTH_TEST);
//glDisable(GL_DEPTH_TEST);
glDisable(GL_BLEND);
// Render boxes
Render();
/*OBB CurrentBox;
CurrentBox.mRot.Identity();
for(udword i=0;i<mNbBoxes;i++)
{
if(Flags[i]) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
mBoxes[i].GetCenter(CurrentBox.mCenter);
mBoxes[i].GetExtents(CurrentBox.mExtents);
DrawOBB(CurrentBox);
}*/
glEnable(GL_DEPTH_TEST);
//glDisable(GL_DEPTH_TEST);
glDisable(GL_BLEND);
Render();
}
char Buffer[4096];
sprintf(Buffer, "Bullet %s: %5.1f us (%d cycles) : %d pairs\n", methodname, mProfiler.mMsTime, mProfiler.mCycles,
m_broadphase->getOverlappingPairCache()->getNumOverlappingPairs());

2
Extras/CDTestFramework/CDTestFramework.cpp
View File

@@ -36,6 +36,7 @@ subject to the following restrictions:
int percentUpdate = 10;
//float objectSpeed = 0.005f;
float objectSpeed = 0.0005f;
bool enableDraw = true;
//Broadphase comparison
//Static case (updating 10% of objects to same position ( -> no swaps)
@@ -310,6 +311,7 @@ int main(int argc, char** argv)
TwType testType = TwDefineEnum("CollisionTest", testEV, MAX_NB_TESTS);
TwAddVarRW(gMainBar, "CollisionTests", testType, &gSelectedTest, "");
TwAddVarRW(gMainBar, "% of updates",TW_TYPE_INT32,&percentUpdate,"min=0 max=100");
TwAddVarRW(gMainBar, "Draw",TW_TYPE_BOOLCPP,&enableDraw,"");
}
// Create tests

24
Extras/CDTestFramework/OpcodeArraySAPTest.cpp
View File

@@ -140,6 +140,7 @@ bool OpcodeArraySAPTest::UpdateBoxes(int numBoxes)
}
extern int percentUpdate;
extern bool enableDraw;
void OpcodeArraySAPTest::PerformTest()
{
@@ -182,16 +183,19 @@ void OpcodeArraySAPTest::PerformTest()
}
// Render boxes
OBB CurrentBox;
CurrentBox.mRot.Identity();
for(udword i=0;i<mNbBoxes;i++)
{
if(Flags[i]) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
mBoxes[i].GetCenter(CurrentBox.mCenter);
mBoxes[i].GetExtents(CurrentBox.mExtents);
DrawOBB(CurrentBox);
}
if(enableDraw)
{
OBB CurrentBox;
CurrentBox.mRot.Identity();
for(udword i=0;i<mNbBoxes;i++)
{
if(Flags[i]) glColor3f(1.0f, 0.0f, 0.0f);
else glColor3f(0.0f, 1.0f, 0.0f);
mBoxes[i].GetCenter(CurrentBox.mCenter);
mBoxes[i].GetExtents(CurrentBox.mExtents);
DrawOBB(CurrentBox);
}
}
char Buffer[4096];
sprintf(Buffer, "OpcodeArraySAPTest: %5.1f us (%d cycles) : %d pairs\n", mProfiler.mMsTime, mProfiler.mCycles, NbPairs);