1ef4c721a0
Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*) AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)
337 lines
9.5 KiB
C++
337 lines
9.5 KiB
C++
/*
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BulletSAPCompleteBoxPruningTest, Copyright (c) 2008 Erwin Coumans
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Part of:
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CDTestFramework http://codercorner.com
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Copyright (c) 2007-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//This file was added by Erwin Coumans, to test Bullet SAP performance
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#include "stdafx.h"
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#include "BulletSAPCompleteBoxPruningTest.h"
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#include "RenderingHelpers.h"
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#include "GLFontRenderer.h"
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#include "btBulletCollisionCommon.h"
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int numParts =2;
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BulletSAPCompleteBoxPruningTest::BulletSAPCompleteBoxPruningTest(int numBoxes,int method) :
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mBar (null),
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mNbBoxes (numBoxes),
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mBoxes (null),
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mBoxPtrs (null),
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mBoxTime (null),
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mSpeed (0.005f),
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mAmplitude (100.0f)
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{
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btVector3 aabbMin(-200,-200,-200);
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btVector3 aabbMax(200,200,200);
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int maxNumBoxes = numBoxes;
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switch (method)
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{
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case 1:
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m_broadphase = new btAxisSweep3(aabbMin,aabbMax,maxNumBoxes);
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methodname = "btAxisSweep3";
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break;
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case 2:
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m_broadphase = new btAxisSweep3(aabbMin,aabbMax,maxNumBoxes,new btNullPairCache());
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methodname = "btAxisSweep3+btNullPairCache";
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break;
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case 3:
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m_broadphase = new btAxisSweep3(aabbMin,aabbMax,maxNumBoxes,new btSortedOverlappingPairCache());
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methodname = "btAxisSweep3+btSortedOverlappingPairCache";
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break;
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case 4:
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m_broadphase = new btSimpleBroadphase(maxNumBoxes,new btSortedOverlappingPairCache());
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methodname = "btSimpleBroadphase+btSortedOverlappingPairCache";
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break;
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case 5:
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m_broadphase = new btSimpleBroadphase(maxNumBoxes,new btNullPairCache());
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methodname = "btSimpleBroadphase+btNullPairCache";
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break;
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case 6:
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{
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methodname = "btMultiSapBroadphase";
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btMultiSapBroadphase* multiSap = new btMultiSapBroadphase(maxNumBoxes);
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m_broadphase = multiSap;
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btVector3 tmpAabbMin,tmpAabbMax;
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float numP = (float) numParts;
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for (int i=0;i<numParts;i++)
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{
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tmpAabbMin[0] = aabbMin[0] + i*(aabbMax[0]-aabbMin[0])/numP;
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tmpAabbMax[0] = aabbMin[0] + (i+1)*(aabbMax[0]-aabbMin[0])/numP;
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for (int j=0;j<numParts;j++)
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{
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tmpAabbMin[1] = aabbMin[1] + j*(aabbMax[1]-aabbMin[1])/numP;
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tmpAabbMax[1] = aabbMin[1] + (j+1)*(aabbMax[1]-aabbMin[1])/numP;
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for (int k=0;k<numParts;k++)
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{
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tmpAabbMin[2] = aabbMin[2] + k*(aabbMax[2]-aabbMin[2])/numP;
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tmpAabbMax[2] = aabbMin[2] + (k+1)*(aabbMax[2]-aabbMin[2])/numP;
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btAxisSweep3* childBp = new btAxisSweep3(tmpAabbMin,tmpAabbMax,maxNumBoxes,multiSap->getOverlappingPairCache());
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multiSap->getBroadphaseArray().push_back(childBp);
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}
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}
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}
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// btAxisSweep3* childBp = new btAxisSweep3(aabbMin,aabbMax,maxNumBoxes,multiSap->getOverlappingPairCache());
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// multiSap->getBroadphaseArray().push_back(childBp);
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multiSap->buildTree(aabbMin,aabbMax);
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}
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break;
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default:
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{
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m_broadphase = new btAxisSweep3(aabbMin,aabbMax,numBoxes,new btNullPairCache());
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methodname = "btAxisSweep3+btNullPairCache";
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}
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}
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}
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BulletSAPCompleteBoxPruningTest::~BulletSAPCompleteBoxPruningTest()
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{
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DELETEARRAY(mBoxTime);
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DELETEARRAY(mBoxPtrs);
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DELETEARRAY(mBoxes);
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delete m_broadphase;
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}
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void BulletSAPCompleteBoxPruningTest::Init()
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{
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m_firstTime = true;
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SRand(0);
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mBoxes = new AABB[mNbBoxes];
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mBoxPtrs = new const AABB*[mNbBoxes];
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mBoxTime = new float[mNbBoxes];
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for(udword i=0;i<mNbBoxes;i++)
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{
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Point Center, Extents;
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Center.x = (UnitRandomFloat()-0.5f) * 100.0f;
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Center.y = (UnitRandomFloat()-0.5f) * 10.0f;
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Center.z = (UnitRandomFloat()-0.5f) * 100.0f;
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Extents.x = 2.0f + UnitRandomFloat() * 2.0f;
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Extents.y = 2.0f + UnitRandomFloat() * 2.0f;
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Extents.z = 2.0f + UnitRandomFloat() * 2.0f;
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mBoxes[i].SetCenterExtents(Center, Extents);
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mBoxPtrs[i] = &mBoxes[i];
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btVector3 aabbMin(Center.x-Extents.x,Center.y-Extents.y,Center.z-Extents.z);
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btVector3 aabbMax(Center.x+Extents.x,Center.y+Extents.y,Center.z+Extents.z);
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int shapeType =0;
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void* userPtr = 0;
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btBroadphaseProxy* proxy = m_broadphase->createProxy(aabbMin,aabbMax,shapeType,(void*)i,1,1,0,0);//m_dispatcher);
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m_proxies.push_back( proxy );
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mBoxTime[i] = 2000.0f*UnitRandomFloat();
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}
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}
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void BulletSAPCompleteBoxPruningTest::Release()
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{
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DELETEARRAY(mBoxTime);
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DELETEARRAY(mBoxes);
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}
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void BulletSAPCompleteBoxPruningTest::Select()
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{
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// Create a tweak bar
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{
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mBar = TwNewBar("OPC_CompleteBoxPruning");
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TwAddVarRW(mBar, "Speed", TW_TYPE_FLOAT, &mSpeed, " min=0.0 max=0.01 step=0.00001");
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TwAddVarRW(mBar, "Amplitude", TW_TYPE_FLOAT, &mAmplitude, " min=10.0 max=200.0 step=0.1");
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}
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printf("SubMethod: %s\r\n",methodname);
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}
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void BulletSAPCompleteBoxPruningTest::Deselect()
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{
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if(mBar)
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{
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TwDeleteBar(mBar);
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mBar = null;
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}
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}
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bool BulletSAPCompleteBoxPruningTest::UpdateBoxes(int numBoxes)
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{
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static bool once=true;
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for(udword i=0;i<numBoxes;i++)
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{
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mBoxTime[i] += mSpeed;
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Point Center,Extents;
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mBoxes[i].GetExtents(Extents);
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Center.x = cosf(mBoxTime[i]*2.17f)*mAmplitude + sinf(mBoxTime[i])*mAmplitude*0.5f;
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Center.y = cosf(mBoxTime[i]*1.38f)*mAmplitude + sinf(mBoxTime[i]*mAmplitude);
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Center.z = sinf(mBoxTime[i]*0.777f)*mAmplitude;
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mBoxes[i].SetCenterExtents(Center, Extents);
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}
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return true;
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}
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extern int doTree;
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void BulletSAPCompleteBoxPruningTest::PerformTest()
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{
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int numUpdatedBoxes = mNbBoxes/*/10*/;
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if (m_firstTime)
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{
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numUpdatedBoxes = mNbBoxes;
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m_firstTime = false;
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}
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mProfiler.Start();
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UpdateBoxes(numUpdatedBoxes);
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mPairs.ResetPairs();
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//CompleteBoxPruning(mNbBoxes, mBoxPtrs, mPairs, Axes(AXES_XZY));
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///add batch query?
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for (int i=0;i<numUpdatedBoxes;i++)
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{
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Point Center;
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Point Extents;
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mBoxPtrs[i]->GetCenter(Center);
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mBoxPtrs[i]->GetExtents(Extents);
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btVector3 aabbMin(Center.x-Extents.x,Center.y-Extents.y,Center.z-Extents.z);
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btVector3 aabbMax(Center.x+Extents.x,Center.y+Extents.y,Center.z+Extents.z);
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m_broadphase->setAabb(m_proxies[i],aabbMin,aabbMax,0);//m_dispatcher);
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}
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m_broadphase->calculateOverlappingPairs(0);
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mProfiler.End();
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mProfiler.Accum();
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// printf("%d pairs colliding\r ", mPairs.GetNbPairs());
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bool* Flags = (bool*)_alloca(sizeof(bool)*mNbBoxes);
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ZeroMemory(Flags, sizeof(bool)*mNbBoxes);
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btOverlappingPairCache* pairCache = m_broadphase->getOverlappingPairCache();
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const btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
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for(udword i=0;i<pairCache->getNumOverlappingPairs();i++)
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{
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// Flags[pairPtr[i].m_pProxy0->getUid()-1] = true;
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// Flags[pairPtr[i].m_pProxy1->getUid()-1] = true;
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Flags[int(pairPtr[i].m_pProxy0->m_clientObject)] = true;
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Flags[int(pairPtr[i].m_pProxy1->m_clientObject)] = true;
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}
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btVector3 aabbMin(-200,-200,-200);
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btVector3 aabbMax(200,200,200);
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btVector3 tmpAabbMin,tmpAabbMax;
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glDisable(GL_DEPTH_TEST);
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float numP = (float) numParts;
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for (int i=0;i<numParts;i++)
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{
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tmpAabbMin[0] = aabbMin[0] + i*(aabbMax[0]-aabbMin[0])/numP;
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tmpAabbMax[0] = aabbMin[0] + (i+1)*(aabbMax[0]-aabbMin[0])/numP;
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for (int j=0;j<numParts;j++)
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{
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tmpAabbMin[1] = aabbMin[1] + j*(aabbMax[1]-aabbMin[1])/numP;
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tmpAabbMax[1] = aabbMin[1] + (j+1)*(aabbMax[1]-aabbMin[1])/numP;
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for (int k=0;k<numParts;k++)
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{
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tmpAabbMin[2] = aabbMin[2] + k*(aabbMax[2]-aabbMin[2])/numP;
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tmpAabbMax[2] = aabbMin[2] + (k+1)*(aabbMax[2]-aabbMin[2])/numP;
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OBB CurrentBox;
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CurrentBox.mRot.Identity();
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{
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Point mmin(tmpAabbMin[0],tmpAabbMin[1],tmpAabbMin[2]);
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Point mmax(tmpAabbMax[0],tmpAabbMax[1],tmpAabbMax[2]);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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glEnable(GL_BLEND);
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glColor4f(i, j,k,0.2);//1.0f, 0.0f);
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CurrentBox.mCenter = (mmin+mmax)*0.5;
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CurrentBox.mExtents = (mmax-mmin)*0.5;
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DrawOBB(CurrentBox);
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}
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}
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}
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}
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glEnable(GL_DEPTH_TEST);
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glDisable(GL_BLEND);
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// Render boxes
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OBB CurrentBox;
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CurrentBox.mRot.Identity();
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for(udword i=0;i<mNbBoxes;i++)
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{
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if(Flags[i]) glColor3f(1.0f, 0.0f, 0.0f);
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else glColor3f(0.0f, 1.0f, 0.0f);
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mBoxes[i].GetCenter(CurrentBox.mCenter);
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mBoxes[i].GetExtents(CurrentBox.mExtents);
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DrawOBB(CurrentBox);
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}
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char Buffer[4096];
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sprintf(Buffer, "CompleteBoxPruning: %5.1f us (%d cycles) : %d pairs\n", mProfiler.mMsTime, mProfiler.mCycles,
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m_broadphase->getOverlappingPairCache()->getNumOverlappingPairs());
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// m_broadphase)->printStats();
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GLFontRenderer::print(10.0f, 10.0f, 0.02f, Buffer);
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}
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void BulletSAPCompleteBoxPruningTest::KeyboardCallback(unsigned char key, int x, int y)
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{
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}
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void BulletSAPCompleteBoxPruningTest::MouseCallback(int button, int state, int x, int y)
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{
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}
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void BulletSAPCompleteBoxPruningTest::MotionCallback(int x, int y)
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{
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}
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