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Improved Dbvt speed slightly.

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This commit is contained in:
id0x1234
2008-09-11 11:23:55 +00:00
parent 8b3270f22f
commit 8c6788ad6a
2 changed files with 40 additions and 58 deletions
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51
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -64,13 +64,17 @@ subject to the following restrictions:
#ifdef WIN32
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
#else
#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC
#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC
#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC
#endif
#if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)||(DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
#include <xmmintrin.h>
#if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \
(DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \
(DBVT_INT0_IMPL==DBVT_IMPL_SSE)
#include <emmintrin.h>
#endif
//
@@ -118,6 +122,10 @@ subject to the following restrictions:
#error "DBVT_MERGE_IMPL undefined"
#endif
#ifndef DBVT_INT0_IMPL
#error "DBVT_INT0_IMPL undefined"
#endif
//
// Defaults volumes
//
@@ -135,8 +143,8 @@ 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 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;
@@ -175,12 +183,12 @@ struct btDbvtNode
{
btDbvtVolume volume;
btDbvtNode* parent;
bool isleaf() const { return(childs[1]==0); }
bool isinternal() const { return(!isleaf()); }
DBVT_INLINE bool isleaf() const { return(childs[1]==0); }
DBVT_INLINE bool isinternal() const { return(!isleaf()); }
union {
btDbvtNode* childs[2];
void* data;
};
btDbvtNode* childs[2];
void* data;
};
};
///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
@@ -188,8 +196,6 @@ struct btDbvtNode
///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
struct btDbvt
{
/* Stack element */
struct sStkNN
{
@@ -252,8 +258,8 @@ struct btDbvt
};
// Fields
btDbvtNode* m_root;
btDbvtNode* m_free;
btDbvtNode* m_root;
btDbvtNode* m_free;
int m_lkhd;
int m_leaves;
unsigned m_opath;
@@ -410,17 +416,17 @@ return(box);
}
//
DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3 e)
DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
{
mi-=e;mx+=e;
}
//
DBVT_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());
if(e.z()>0) mx.setZ(mx.z()+e.z()); else mi.setZ(mi.z()+e.z());
if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]);
if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]);
if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]);
}
//
@@ -488,12 +494,18 @@ for(int i=0;i<3;++i)
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b)
{
#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
return((rt.m128_u32[0]|rt.m128_u32[1]|rt.m128_u32[2])==0);
#else
return( (a.mi.x()<=b.mx.x())&&
(a.mx.x()>=b.mi.x())&&
(a.mi.y()<=b.mx.y())&&
(a.mx.y()>=b.mi.y())&&
(a.mi.z()<=b.mx.z())&&
(a.mx.z()>=b.mi.z()));
#endif
}
//
@@ -710,7 +722,7 @@ if(root0&&root1)
int treshold=DOUBLE_STACKSIZE-4;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=sStkNN(root0,root1);
do {
do {
sStkNN p=stack[--depth];
if(depth>treshold)
{
@@ -1092,5 +1104,6 @@ if(root)
#undef DBVT_USE_INTRINSIC_SSE
#undef DBVT_SELECT_IMPL
#undef DBVT_MERGE_IMPL
#undef DBVT_INT0_IMPL
#endif