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- General performances improvement (25%) on insert/update/collideTT.

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- ~30% additional performance improvement for win32 using SSE implementation for critical methods.
This commit is contained in:
id0x1234
2008-08-13 04:46:01 +00:00
parent 05e64d6715
commit 79a1e5b8f4
3 changed files with 472 additions and 167 deletions
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342
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -25,19 +25,47 @@ subject to the following restrictions:
// Compile time configuration
//
// Implementation profiles
#define DBVT_IMPL_GENERIC 0 // Generic implementation
#define DBVT_IMPL_SSE 1 // SSE
// Template implementation of ICollide
#ifdef WIN32
//only define templates for visual studio 2005 and later, it just causes headaches for other compilers
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1 // Enable template for ICollide
#else
#define DBVT_USE_TEMPLATE 0 // Don't
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1
#else
#define DBVT_USE_TEMPLATE 0
#endif
#else
#define DBVT_USE_TEMPLATE 0 // Enable template for ICollide
#define DBVT_USE_TEMPLATE 0
#endif
#define DBVT_USE_MEMMOVE 1 // Enable memmove (collideOCL)
#define DBVT_ENABLE_BENCHMARK 0 // Enable benchmarking code
// Using memmov for collideOCL
#define DBVT_USE_MEMMOVE 1
// Enable benchmarking code
#define DBVT_ENABLE_BENCHMARK 0
// Inlining
#define DBVT_INLINE SIMD_FORCE_INLINE
// Align
#ifdef WIN32
#define DBVT_ALIGN __declspec(align(16))
#else
#define DBVT_ALIGN
#endif
// Specific methods implementation
#ifdef WIN32
#define DBVT_PROXIMITY_IMPL DBVT_IMPL_SSE
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#else
#define DBVT_PROXIMITY_IMPL DBVT_IMPL_GENERIC
#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC
#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC
#endif
//
// Auto config and checks
@@ -76,6 +104,18 @@ subject to the following restrictions:
#error "DBVT_ENABLE_BENCHMARK undefined"
#endif
#ifndef DBVT_PROXIMITY_IMPL
#error "DBVT_PROXIMITY_IMPL undefined"
#endif
#ifndef DBVT_SELECT_IMPL
#error "DBVT_SELECT_IMPL undefined"
#endif
#ifndef DBVT_MERGE_IMPL
#error "DBVT_MERGE_IMPL undefined"
#endif
//
// Defaults volumes
//
@@ -83,41 +123,44 @@ subject to the following restrictions:
/* btDbvtAabbMm */
struct btDbvtAabbMm
{
inline btVector3 Center() const { return((mi+mx)/2); }
inline btVector3 Lengths() const { return(mx-mi); }
inline btVector3 Extents() const { return((mx-mi)/2); }
inline const btVector3& Mins() const { return(mi); }
inline const btVector3& Maxs() const { return(mx); }
static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e);
static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r);
static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx);
static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n);
static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n);
inline void Expand(const btVector3 e);
inline void SignedExpand(const btVector3 e);
inline bool Contain(const btDbvtAabbMm& a) const;
inline int Classify(const btVector3& n,btScalar o,int s) const;
inline btScalar ProjectMinimum(const btVector3& v,unsigned signs) const;
inline friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
inline friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
const btTransform& xform);
inline friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& b);
inline friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& org,
const btVector3& invdir,
const unsigned* signs);
inline friend btScalar Proximity( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
inline friend void Merge( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
btDbvtAabbMm& r);
inline friend bool NotEqual( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); }
DBVT_INLINE btVector3 Lengths() const { return(mx-mi); }
DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); }
DBVT_INLINE const btVector3& Mins() const { return(mi); }
DBVT_INLINE const btVector3& Maxs() const { return(mx); }
static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e);
static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r);
static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx);
static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n);
static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n);
DBVT_INLINE void Expand(const btVector3 e);
DBVT_INLINE void SignedExpand(const btVector3 e);
DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const;
DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const;
DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const;
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
const btTransform& xform);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& b);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& org,
const btVector3& invdir,
const unsigned* signs);
DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE friend int Select( const btDbvtAabbMm& o,
const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE friend void Merge( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
btDbvtAabbMm& r);
DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
private:
inline void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
private:
btVector3 mi,mx;
};
@@ -129,7 +172,7 @@ typedef btDbvtAabbMm btDbvtVolume;
struct btDbvtNode
{
btDbvtVolume volume;
btDbvtNode* parent;
btDbvtNode* parent;
bool isleaf() const { return(childs[1]==0); }
bool isinternal() const { return(!isleaf()); }
union {
@@ -150,6 +193,7 @@ struct btDbvt
{
const btDbvtNode* a;
const btDbvtNode* b;
sStkNN() {}
sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {}
};
struct sStkNP
@@ -219,7 +263,7 @@ struct btDbvt
void optimizeBottomUp();
void optimizeTopDown(int bu_treshold=128);
void optimizeIncremental(int passes);
btDbvtNode* insert(const btDbvtVolume& box,void* data);
btDbvtNode* insert(const btDbvtVolume& box,void* data);
void update(btDbvtNode* leaf,int lookahead=-1);
void update(btDbvtNode* leaf,const btDbvtVolume& volume);
bool update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin);
@@ -227,7 +271,8 @@ struct btDbvt
bool update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin);
void remove(btDbvtNode* leaf);
void write(IWriter* iwriter) const;
void clone(btDbvt& dest,IClone* iclone=0) const;
void clone(btDbvt& dest,IClone* iclone=0) const;
static int maxdepth(const btDbvtNode* node);
static int countLeaves(const btDbvtNode* node);
static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves);
#if DBVT_ENABLE_BENCHMARK
@@ -284,7 +329,7 @@ struct btDbvt
static void collideTU( const btDbvtNode* root,
DBVT_IPOLICY);
// Helpers
static inline int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
{
int m=0;
while(l<h)
@@ -294,7 +339,7 @@ struct btDbvt
}
return(h);
}
static inline int allocate( btAlignedObjectArray<int>& ifree,
static DBVT_INLINE int allocate( btAlignedObjectArray<int>& ifree,
btAlignedObjectArray<sStkNPS>& stock,
const sStkNPS& value)
{
@@ -315,7 +360,7 @@ struct btDbvt
//
//
inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
{
btDbvtAabbMm box;
box.mi=c-e;box.mx=c+e;
@@ -323,13 +368,13 @@ return(box);
}
//
inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
{
return(FromCE(c,btVector3(r,r,r)));
}
//
inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
{
btDbvtAabbMm box;
box.mi=mi;box.mx=mx;
@@ -337,7 +382,7 @@ return(box);
}
//
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
{
btDbvtAabbMm box;
box.mi=box.mx=pts[0];
@@ -350,7 +395,7 @@ return(box);
}
//
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
{
btDbvtAabbMm box;
box.mi=box.mx=*ppts[0];
@@ -363,13 +408,13 @@ return(box);
}
//
inline void btDbvtAabbMm::Expand(const btVector3 e)
DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3 e)
{
mi-=e;mx+=e;
}
//
inline void btDbvtAabbMm::SignedExpand(const btVector3 e)
DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3 e)
{
if(e.x()>0) mx.setX(mx.x()+e.x()); else mi.setX(mi.x()+e.x());
if(e.y()>0) mx.setY(mx.y()+e.y()); else mi.setY(mi.y()+e.y());
@@ -377,7 +422,7 @@ if(e.z()>0) mx.setZ(mx.z()+e.z()); else mi.setZ(mi.z()+e.z());
}
//
inline bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
{
return( (mi.x()<=a.mi.x())&&
(mi.y()<=a.mi.y())&&
@@ -388,7 +433,7 @@ return( (mi.x()<=a.mi.x())&&
}
//
inline int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
{
btVector3 pi,px;
switch(s)
@@ -416,7 +461,7 @@ return(0);
}
//
inline btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
{
const btVector3* b[]={&mx,&mi};
const btVector3 p( b[(signs>>0)&1]->x(),
@@ -426,7 +471,7 @@ return(dot(p,v));
}
//
inline void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
{
for(int i=0;i<3;++i)
{
@@ -438,7 +483,7 @@ for(int i=0;i<3;++i)
}
//
inline bool Intersect( const btDbvtAabbMm& a,
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
return( (a.mi.x()<=b.mx.x())&&
@@ -450,7 +495,7 @@ return( (a.mi.x()<=b.mx.x())&&
}
//
inline bool Intersect( const btDbvtAabbMm& a,
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
const btTransform& xform)
{
@@ -466,7 +511,7 @@ return(true);
}
//
inline bool Intersect( const btDbvtAabbMm& a,
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btVector3& b)
{
return( (b.x()>=a.mi.x())&&
@@ -478,11 +523,20 @@ return( (b.x()>=a.mi.x())&&
}
//
inline bool Intersect( const btDbvtAabbMm& a,
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btVector3& org,
const btVector3& invdir,
const unsigned* signs)
{
#if 0
const btVector3 b0((a.mi-org)*invdir);
const btVector3 b1((a.mx-org)*invdir);
const btVector3 tmin(btMin(b0[0],b1[0]),btMin(b0[1],b1[1]),btMin(b0[2],b1[2]));
const btVector3 tmax(btMax(b0[0],b1[0]),btMax(b0[1],b1[1]),btMax(b0[2],b1[2]));
const btScalar tin=btMax(tmin[0],btMax(tmin[1],tmin[2]));
const btScalar tout=btMin(tmax[0],btMin(tmax[1],tmax[2]));
return(tin<tout);
#else
const btVector3* bounds[2]={&a.mi,&a.mx};
btScalar txmin=(bounds[ signs[0]]->x()-org[0])*invdir[0];
btScalar txmax=(bounds[1-signs[0]]->x()-org[0])*invdir[0];
@@ -497,30 +551,113 @@ if((txmin>tzmax)||(tzmin>txmax)) return(false);
if(tzmin>txmin) txmin=tzmin;
if(tzmax<txmax) txmax=tzmax;
return(txmax>0);
#endif
}
//
inline btScalar Proximity( const btDbvtAabbMm& a,
DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
#if DBVT_PROXIMITY_IMPL == DBVT_IMPL_SSE
DBVT_ALIGN btScalar r[1];
static DBVT_ALIGN const unsigned __int32 mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
__asm
{
mov eax,a
mov ecx,b
movaps xmm0,[eax]
movaps xmm2,[ecx]
movaps xmm1,[eax+16]
movaps xmm3,[ecx+16]
addps xmm0,xmm1
addps xmm2,xmm3
subps xmm0,xmm2
andps xmm0,mask
movhlps xmm1,xmm0
addps xmm0,xmm1
pshufd xmm1,xmm0,1
addss xmm0,xmm1
movss r,xmm0
}
return(r[0]);
#else
const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx);
return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
#endif
}
//
inline void Merge( const btDbvtAabbMm& a,
DBVT_INLINE int Select( const btDbvtAabbMm& o,
const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE
DBVT_ALIGN __int32 r[1];
static DBVT_ALIGN const unsigned __int32 mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
__asm
{
mov eax,o
mov ecx,a
mov edx,b
movaps xmm0,[eax]
movaps xmm5,mask
addps xmm0,[eax+16]
movaps xmm1,[ecx]
movaps xmm2,[edx]
addps xmm1,[ecx+16]
addps xmm2,[edx+16]
subps xmm1,xmm0
subps xmm2,xmm0
andps xmm1,xmm5
andps xmm2,xmm5
movhlps xmm3,xmm1
movhlps xmm4,xmm2
addps xmm1,xmm3
addps xmm2,xmm4
pshufd xmm3,xmm1,1
pshufd xmm4,xmm2,1
addss xmm1,xmm3
addss xmm2,xmm4
cmpless xmm2,xmm1
movss r,xmm2
}
return(r[0]&1);
#else
return(Proximity(o,a)<Proximity(o,b)?0:1);
#endif
}
//
DBVT_INLINE void Merge( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
btDbvtAabbMm& r)
{
#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
__asm
{
mov eax,a
mov edx,b
mov ecx,r
movaps xmm0,[eax+0]
movaps xmm1,[edx+0]
movaps xmm2,[eax+16]
movaps xmm3,[edx+16]
minps xmm0,xmm1
maxps xmm2,xmm3
movaps [ecx+0],xmm0
movaps [ecx+16],xmm2
}
#else
for(int i=0;i<3;++i)
{
if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
}
#endif
}
//
inline bool NotEqual( const btDbvtAabbMm& a,
DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
return( (a.mi.x()!=b.mi.x())||
@@ -576,18 +713,24 @@ DBVT_CHECKTYPE
if(root0&&root1)
{
btAlignedObjectArray<sStkNN> stack;
stack.reserve(DOUBLE_STACKSIZE);
stack.push_back(sStkNN(root0,root1));
int depth=1;
int treshold=DOUBLE_STACKSIZE-4;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=sStkNN(root0,root1);
do {
sStkNN p=stack[stack.size()-1];
stack.pop_back();
sStkNN p=stack[--depth];
if(depth>treshold)
{
stack.resize(stack.size()*2);
treshold=stack.size()-4;
}
if(p.a==p.b)
{
if(p.a->isinternal())
{
stack.push_back(sStkNN(p.a->childs[0],p.a->childs[0]));
stack.push_back(sStkNN(p.a->childs[1],p.a->childs[1]));
stack.push_back(sStkNN(p.a->childs[0],p.a->childs[1]));
stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
}
}
else if(Intersect(p.a->volume,p.b->volume))
@@ -596,23 +739,23 @@ if(root0&&root1)
{
if(p.b->isinternal())
{
stack.push_back(sStkNN(p.a->childs[0],p.b->childs[0]));
stack.push_back(sStkNN(p.a->childs[1],p.b->childs[0]));
stack.push_back(sStkNN(p.a->childs[0],p.b->childs[1]));
stack.push_back(sStkNN(p.a->childs[1],p.b->childs[1]));
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stack.push_back(sStkNN(p.a->childs[0],p.b));
stack.push_back(sStkNN(p.a->childs[1],p.b));
stack[depth++]=sStkNN(p.a->childs[0],p.b);
stack[depth++]=sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stack.push_back(sStkNN(p.a,p.b->childs[0]));
stack.push_back(sStkNN(p.a,p.b->childs[1]));
stack[depth++]=sStkNN(p.a,p.b->childs[0]);
stack[depth++]=sStkNN(p.a,p.b->childs[1]);
}
else
{
@@ -620,7 +763,7 @@ if(root0&&root1)
}
}
}
} while(stack.size()>0);
} while(depth);
}
}
@@ -635,34 +778,40 @@ DBVT_CHECKTYPE
if(root0&&root1)
{
btAlignedObjectArray<sStkNN> stack;
stack.reserve(DOUBLE_STACKSIZE);
stack.push_back(sStkNN(root0,root1));
int depth=1;
int treshold=DOUBLE_STACKSIZE-4;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=sStkNN(root0,root1);
do {
sStkNN p=stack[stack.size()-1];
stack.pop_back();
sStkNN p=stack[--depth];
if(Intersect(p.a->volume,p.b->volume,xform))
{
if(depth>treshold)
{
stack.resize(stack.size()*2);
treshold=stack.size()-4;
}
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stack.push_back(sStkNN(p.a->childs[0],p.b->childs[0]));
stack.push_back(sStkNN(p.a->childs[1],p.b->childs[0]));
stack.push_back(sStkNN(p.a->childs[0],p.b->childs[1]));
stack.push_back(sStkNN(p.a->childs[1],p.b->childs[1]));
{
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stack.push_back(sStkNN(p.a->childs[0],p.b));
stack.push_back(sStkNN(p.a->childs[1],p.b));
stack[depth++]=sStkNN(p.a->childs[0],p.b);
stack[depth++]=sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stack.push_back(sStkNN(p.a,p.b->childs[0]));
stack.push_back(sStkNN(p.a,p.b->childs[1]));
stack[depth++]=sStkNN(p.a,p.b->childs[0]);
stack[depth++]=sStkNN(p.a,p.b->childs[1]);
}
else
{
@@ -670,7 +819,7 @@ if(root0&&root1)
}
}
}
} while(stack.size()>0);
} while(depth);
}
}
@@ -945,5 +1094,8 @@ if(root)
#undef DBVT_PREFIX
#undef DBVT_IPOLICY
#undef DBVT_CHECKTYPE
#undef DBVT_IMPL_GENERIC
#undef DBVT_IMPL_FPU0x86
#undef DBVT_IMPL_SSE
#endif