static TestCollidableBEPU[] GetLeavesBEPU(int width, int height, int length, float size, float gap)
{
var leaves = new TestCollidableBEPU[width * height * length];
var offset = size + gap;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var collidable = new TestCollidableBEPU();
BEPUutilities.BoundingBox boundingBox;
boundingBox.Min = new BEPUutilities.Vector3(i * offset, j * offset, k * offset);
boundingBox.Max = boundingBox.Min + new BEPUutilities.Vector3(size, size, size);
collidable.BoundingBox = boundingBox;
leaves[height * length * i + length * j + k] = collidable;
}
}
}
return(leaves);
}
static TestCollidableBEPU[] GetRandomLeavesBEPU(int leafCount, BoundingBox bounds, Vector3 minimumSize, Vector3 maximumSize, float sizePower, VelocityDescription velocityDescription)
{
var leaves = new TestCollidableBEPU[leafCount];
Random random = new Random(5);
var range = bounds.Max - bounds.Min;
var sizeRange = maximumSize - minimumSize;
for (int i = 0; i < leafCount; ++i)
{
var halfLeafSize = 0.5f * (minimumSize + new Vector3((float)Math.Pow(random.NextDouble(), sizePower), (float)Math.Pow(random.NextDouble(), sizePower), (float)Math.Pow(random.NextDouble(), sizePower)) * sizeRange);
var position = bounds.Min + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) * range;
leaves[i] = new TestCollidableBEPU();
leaves[i].Position = new BEPUutilities.Vector3(position.X, position.Y, position.Z);
leaves[i].HalfSize = new BEPUutilities.Vector3(halfLeafSize.X, halfLeafSize.Y, halfLeafSize.Z);
leaves[i].UpdateBoundingBox();
}
for (int i = 0; i < leaves.Length * velocityDescription.PortionOfMovingLeaves; ++i)
{
var speed = (float)(velocityDescription.MinVelocity + (velocityDescription.MaxVelocity - velocityDescription.MinVelocity) * Math.Pow(random.NextDouble(), velocityDescription.VelocityDistributionPower));
var direction = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) * 2 - Vector3.One;
var lengthSquared = direction.LengthSquared();
if (lengthSquared < 1e-9f)
{
direction = new Vector3(0, 1, 0);
}
else
{
direction /= (float)Math.Sqrt(lengthSquared);
}
var velocity = speed * direction;
leaves[i].Velocity = new BEPUutilities.Vector3(velocity.X, velocity.Y, velocity.Z);
}
return leaves;
}
static TestCollidableBEPU[] GetRandomLeavesBEPU(int leafCount, BoundingBox bounds, Vector3 minimumSize, Vector3 maximumSize, float sizePower, VelocityDescription velocityDescription)
{
var leaves = new TestCollidableBEPU[leafCount];
Random random = new Random(5);
var range = bounds.Max - bounds.Min;
var sizeRange = maximumSize - minimumSize;
for (int i = 0; i < leafCount; ++i)
{
var halfLeafSize = 0.5f * (minimumSize + new Vector3((float)Math.Pow(random.NextDouble(), sizePower), (float)Math.Pow(random.NextDouble(), sizePower), (float)Math.Pow(random.NextDouble(), sizePower)) * sizeRange);
var position = bounds.Min + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) * range;
leaves[i] = new TestCollidableBEPU();
leaves[i].Position = new BEPUutilities.Vector3(position.X, position.Y, position.Z);
leaves[i].HalfSize = new BEPUutilities.Vector3(halfLeafSize.X, halfLeafSize.Y, halfLeafSize.Z);
leaves[i].UpdateBoundingBox();
}
for (int i = 0; i < leaves.Length * velocityDescription.PortionOfMovingLeaves; ++i)
{
var speed = (float)(velocityDescription.MinVelocity + (velocityDescription.MaxVelocity - velocityDescription.MinVelocity) * Math.Pow(random.NextDouble(), velocityDescription.VelocityDistributionPower));
var direction = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) * 2 - Vector3.One;
var lengthSquared = direction.LengthSquared();
if (lengthSquared < 1e-9f)
{
direction = new Vector3(0, 1, 0);
}
else
{
direction /= (float)Math.Sqrt(lengthSquared);
}
var velocity = speed * direction;
leaves[i].Velocity = new BEPUutilities.Vector3(velocity.X, velocity.Y, velocity.Z);
}
return(leaves);
}
static TestCollidableBEPU[] GetLeavesBEPU(int width, int height, int length, float size, float gap)
{
var leaves = new TestCollidableBEPU[width * height * length];
var offset = size + gap;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var collidable = new TestCollidableBEPU();
BEPUutilities.BoundingBox boundingBox;
boundingBox.Min = new BEPUutilities.Vector3(i * offset, j * offset, k * offset);
boundingBox.Max = boundingBox.Min + new BEPUutilities.Vector3(size, size, size);
collidable.BoundingBox = boundingBox;
leaves[height * length * i + length * j + k] = collidable;
}
}
}
return leaves;
}
public static TestResults TestDH(TestCollidableBEPU[] leaves, BEPUutilities.BoundingBox[] queries, ref BoundingBox positionBounds,
int queryCount, int selfTestCount, int refitCount, int frameCount, float dt, IParallelLooper looper)
{
GC.Collect();
{
DynamicHierarchy tree = new DynamicHierarchy(looper);
for (int i = 0; i < leaves.Length; ++i)
{
tree.Add(leaves[i]);
}
if (looper.ThreadCount > 1)
tree.MultithreadedRefitPhase(tree.GetSplitDepth());
else
tree.SingleThreadedRefitPhase();
tree.Overlaps.Count = 0;
if (looper.ThreadCount > 1)
tree.MultithreadedOverlapPhase(tree.GetSplitDepth());
else
tree.SingleThreadedOverlapPhase();
for (int i = 0; i < leaves.Length; ++i)
{
tree.Remove(leaves[i]);
}
}
GC.Collect();
{
var startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
DynamicHierarchy tree = new DynamicHierarchy(looper);
for (int i = 0; i < leaves.Length; ++i)
{
tree.Add(leaves[i]);
}
var endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"DH Build Time: {endTime - startTime}");
Console.WriteLine($"Cost metric: {tree.MeasureCostMetric()}");
//tree.SingleThreadedRefitPhase();
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//for (int i = 0; i < refitCount; ++i)
//{
// tree.SingleThreadedRefitPhase();
// //Console.WriteLine($"Cost metric: {tree.MeasureCostMetric()}");
//}
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//Console.WriteLine($"DH Refit Time: {endTime - startTime}");
//Console.WriteLine($"Cost metric: {tree.MeasureCostMetric()}");
//tree.SingleThreadedOverlapPhase();
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//for (int i = 0; i < selfTestCount; ++i)
//{
// tree.Overlaps.Clear();
// tree.SingleThreadedOverlapPhase();
//}
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//Console.WriteLine($"DH selftest Time: {endTime - startTime}, overlaps: {tree.Overlaps.Count}");
//**************** Dynamic Testing
Random random = new Random(5);
TestResults results = new TestResults("Old", frameCount);
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int t = 0; t < frameCount; ++t)
{
//Update the positions of objects.
for (int i = 0; i < leaves.Length; ++i)
{
var leaf = leaves[i];
//Bounce off the walls.
if (leaf.Position.X < positionBounds.Min.X && leaf.Velocity.X < 0)
leaf.Velocity.X = -leaf.Velocity.X;
if (leaf.Position.Y < positionBounds.Min.Y && leaf.Velocity.Y < 0)
leaf.Velocity.Y = -leaf.Velocity.Y;
if (leaf.Position.Z < positionBounds.Min.Z && leaf.Velocity.Z < 0)
leaf.Velocity.Z = -leaf.Velocity.Z;
if (leaf.Position.X > positionBounds.Max.X && leaf.Velocity.X > 0)
leaf.Velocity.X = -leaf.Velocity.X;
if (leaf.Position.Y > positionBounds.Max.Y && leaf.Velocity.Y > 0)
leaf.Velocity.Y = -leaf.Velocity.Y;
if (leaf.Position.Z > positionBounds.Max.Z && leaf.Velocity.Z > 0)
leaf.Velocity.Z = -leaf.Velocity.Z;
leaf.Position += leaf.Velocity * dt;
leaf.UpdateBoundingBox();
}
var refineStartTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
if (looper.ThreadCount > 1)
tree.MultithreadedRefitPhase(tree.GetSplitDepth());
else
tree.SingleThreadedRefitPhase();
//tree.Refit();
//for (int i = 0; i < 1; ++i)
//{
// subtreeReferences.Count = 0;
// treeletInternalNodes.Count = 0;
// tree.BinnedRefine(0, ref subtreeReferences, maximumSubtrees, ref treeletInternalNodes, ref spareNodes, ref resources, out nodesInvalidated);
//}
//tree.RemoveUnusedInternalNodes(ref spareNodes);
var refineEndTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
tree.Overlaps.Count = 0;
if (looper.ThreadCount > 1)
tree.MultithreadedOverlapPhase(tree.GetSplitDepth());
else
tree.SingleThreadedOverlapPhase();
var testEndTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
results.Refine[t] = 1000 * (refineEndTime - refineStartTime);
results.SelfTest[t] = 1000 * (testEndTime - refineEndTime);
results.Total[t] = 1000 * (testEndTime - refineStartTime);
results.OverlapCounts[t] = tree.Overlaps.Count;
results.TreeCosts[t] = tree.MeasureCostMetric();
if (t % 16 == 0)
{
Console.WriteLine($"_________________{t}_________________");
Console.WriteLine($"Refine time: {results.Refine[t]}");
Console.WriteLine($"Test time: {results.SelfTest[t]}");
Console.WriteLine($"TIME: {results.Total[t]}");
Console.WriteLine($"Cost metric: {results.TreeCosts[t]}");
Console.WriteLine($"Overlaps: {results.OverlapCounts[t]}");
GC.Collect();
}
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"Cost metric: {tree.MeasureCostMetric()}");
tree.Overlaps.Clear();
tree.SingleThreadedOverlapPhase();
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < selfTestCount; ++i)
{
tree.Overlaps.Clear();
tree.SingleThreadedOverlapPhase();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"DH selftest Time2: {endTime - startTime}, overlaps: {tree.Overlaps.Count}");
return results;
}
}
public static void TestBEPU(TestCollidableBEPU[] leaves, BEPUutilities.BoundingBox[] queries, int queryCount, int selfTestCount, int refitCount)
{
GC.Collect();
{
var warmLeaves = GetLeavesBEPU(2, 2, 2, 10, 10);
BoundingBoxTree<TestCollidableBEPU> tree = new BoundingBoxTree<TestCollidableBEPU>(warmLeaves);
Console.WriteLine($"BEPU Cachewarm Build, root AABB: {tree.BoundingBox}");
tree.Refit();
RawList<TestCollidableBEPU> results = new RawList<TestCollidableBEPU>();
BEPUutilities.BoundingBox aabb = new BEPUutilities.BoundingBox { Min = new BEPUutilities.Vector3(0, 0, 0), Max = new BEPUutilities.Vector3(1, 1, 1) };
results.Count = 0;
tree.GetOverlaps(aabb, results);
var overlaps = new List<TreeOverlapPair<TestCollidableBEPU, TestCollidableBEPU>>(100);
for (int i = 0; i < selfTestCount; ++i)
{
tree.GetOverlaps(tree, overlaps);
}
}
GC.Collect();
{
var startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
BoundingBoxTree<TestCollidableBEPU> tree = new BoundingBoxTree<TestCollidableBEPU>(leaves);
var endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"BEPU Build Time: {endTime - startTime}, root AABB: {tree.BoundingBox}");
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < refitCount; ++i)
{
tree.Refit();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"BEPU Refit Time: {endTime - startTime}");
RawList<TestCollidableBEPU> results = new RawList<TestCollidableBEPU>();
var queryMask = queries.Length - 1;
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < queryCount; ++i)
{
results.Count = 0;
tree.GetOverlaps(queries[i & queryMask], results);
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"BEPU Query Time: {endTime - startTime}, overlaps: {results.Count}");
//var overlaps = new RawList<TreeOverlapPair<TestCollidableBEPU, TestCollidableBEPU>>(280000);
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//for (int i = 0; i < selfTestCount; ++i)
//{
// overlaps.Count = 0;
// tree.GetOverlaps(tree, overlaps);
//}
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//Console.WriteLine($"BEPU SelfTree Time: {endTime - startTime}, overlaps: {overlaps.Count}");
}
}
