///<summary>
/// Constructs a new space for things to live in.
///</summary>
///<param name="parallelLooper">Used by the space to perform multithreaded updates. Pass null if multithreading is not required.</param>
public Space(IParallelLooper parallelLooper)
{
timeStepSettings = new TimeStepSettings();
this.parallelLooper = parallelLooper;
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ParallelLooper);
ForceUpdater = new ForceUpdater(TimeStepSettings, ParallelLooper);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ParallelLooper);
BroadPhase = new DynamicHierarchy(ParallelLooper);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ParallelLooper);
Solver = new Solver(TimeStepSettings, DeactivationManager, ParallelLooper);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ParallelLooper);
BufferedStates = new BufferedStatesManager(ParallelLooper);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ParallelLooper);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ParallelLooper);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ParallelLooper);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ParallelLooper);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ParallelLooper);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ParallelLooper);
}
internal override void GetOverlaps(Node opposingNode, DynamicHierarchy owner)
{
bool intersects;
//note: This is never executed when the opposing node is the current node.
if (opposingNode.IsLeaf)
{
//We're both leaves! Our parents have already done the testing for us, so we know we're overlapping.
owner.TryToAddOverlap(element, opposingNode.Element);
}
else
{
var opposingChildA = opposingNode.ChildA;
var opposingChildB = opposingNode.ChildB;
//If it's not a leaf, try to go deeper in the opposing hierarchy.
BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
GetOverlaps(opposingChildA, owner);
}
BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
GetOverlaps(opposingChildB, owner);
}
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhaseRemovalTestDemo(DemosGame game)
: base(game)
{
Entity toAdd;
//BoundingBox box = new BoundingBox(new Vector3(-5, 1, 1), new Vector3(5, 7, 7));
BoundingBox box = new BoundingBox(new Vector3(-500, -500, -500), new Vector3(500, 500, 500));
DynamicHierarchy dh = new DynamicHierarchy();
Random rand = new Random(0);
RawList<Entity> entities = new RawList<Entity>();
for (int k = 0; k < 1000; k++)
{
Vector3 position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
toAdd = new Box(MathConverter.Convert(position), 1, 1, 1, 1);
entities.Add(toAdd);
}
testResults = new double[2];
int runCount = 10;
for (int k = 0; k < runCount; k++)
{
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
long start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveFast(entities[i].CollisionInformation);
}
long end = Stopwatch.GetTimestamp();
testResults[0] += (end - start) / (double)Stopwatch.Frequency;
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveBrute(entities[i].CollisionInformation);
}
end = Stopwatch.GetTimestamp();
testResults[1] += (end - start) / (double)Stopwatch.Frequency;
}
testResults[0] /= runCount;
testResults[1] /= runCount;
}
internal override void GetMultithreadedOverlaps(Node opposingNode, int splitDepth, int currentDepth, DynamicHierarchy owner, RawList <DynamicHierarchy.NodePair> multithreadingSourceOverlaps)
{
bool intersects;
//note: This is never executed when the opposing node is the current node.
if (opposingNode.IsLeaf)
{
//We're both leaves! Our parents have already done the testing for us, so we know we're overlapping.
owner.TryToAddOverlap(element, opposingNode.Element);
}
else
{
var opposingChildA = opposingNode.ChildA;
var opposingChildB = opposingNode.ChildB;
if (splitDepth == currentDepth)
{
//Time to add the child overlaps to the multithreading set!
BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = this, b = opposingChildA
});
}
BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = this, b = opposingChildB
});
}
return;
}
//If it's not a leaf, try to go deeper in the opposing hierarchy.
BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
GetOverlaps(opposingChildA, owner);
}
BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
GetOverlaps(opposingChildB, owner);
}
}
}
internal override void GetMultithreadedOverlaps(Node opposingNode, int splitDepth, int currentDepth, DynamicHierarchy owner, RawList <DynamicHierarchy.NodePair> multithreadingSourceOverlaps)
{
bool intersects;
if (currentDepth == splitDepth)
{
//We've reached the depth where our child comparisons will be multithreaded.
if (this == opposingNode)
{
//We are being compared against ourselves!
//Obviously we're an internal node, so spawn three children:
//A versus A:
if (!childA.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childA, b = childA
});
}
//B versus B:
if (!childB.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childB, b = childB
});
}
//A versus B (if they intersect):
childA.BoundingBox.Intersects(ref childB.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childA, b = childB
});
}
}
else
{
//Two different nodes. The other one may be a leaf.
if (opposingNode.IsLeaf)
{
//If it's a leaf, go deeper in our hierarchy, but not the opposition.
childA.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childA, b = opposingNode
});
}
childB.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childB, b = opposingNode
});
}
}
else
{
var opposingChildA = opposingNode.ChildA;
var opposingChildB = opposingNode.ChildB;
//If it's not a leaf, try to go deeper in both hierarchies.
childA.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childA, b = opposingChildA
});
}
childA.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childA, b = opposingChildB
});
}
childB.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childB, b = opposingChildA
});
}
childB.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
multithreadingSourceOverlaps.Add(new DynamicHierarchy.NodePair()
{
a = childB, b = opposingChildB
});
}
}
}
return;
}
if (this == opposingNode)
{
//We are being compared against ourselves!
//Obviously we're an internal node, so spawn three children:
//A versus A:
if (!childA.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
childA.GetMultithreadedOverlaps(childA, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
//B versus B:
if (!childB.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
childB.GetMultithreadedOverlaps(childB, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
//A versus B (if they intersect):
childA.BoundingBox.Intersects(ref childB.BoundingBox, out intersects);
if (intersects)
{
childA.GetMultithreadedOverlaps(childB, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
}
else
{
//Two different nodes. The other one may be a leaf.
if (opposingNode.IsLeaf)
{
//If it's a leaf, go deeper in our hierarchy, but not the opposition.
childA.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
childA.GetMultithreadedOverlaps(opposingNode, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
childB.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
childB.GetMultithreadedOverlaps(opposingNode, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
}
else
{
var opposingChildA = opposingNode.ChildA;
var opposingChildB = opposingNode.ChildB;
//If it's not a leaf, try to go deeper in both hierarchies.
childA.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
childA.GetMultithreadedOverlaps(opposingChildA, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
childA.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
childA.GetMultithreadedOverlaps(opposingChildB, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
childB.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
childB.GetMultithreadedOverlaps(opposingChildA, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
childB.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
childB.GetMultithreadedOverlaps(opposingChildB, splitDepth, currentDepth + 1, owner, multithreadingSourceOverlaps);
}
}
}
}
internal abstract void GetMultithreadedOverlaps(Node opposingNode, int splitDepth, int currentDepth, DynamicHierarchy owner, RawList <DynamicHierarchy.NodePair> multithreadingSourceOverlaps);
internal abstract void GetOverlaps(Node node, DynamicHierarchy owner);
internal override void GetOverlaps(Node opposingNode, DynamicHierarchy owner)
{
bool intersects;
if (this == opposingNode)
{
//We are being compared against ourselves!
//Obviously we're an internal node, so spawn three children:
//A versus A:
if (!childA.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
childA.GetOverlaps(childA, owner);
}
//B versus B:
if (!childB.IsLeaf) //This is performed in the child method usually by convention, but this saves some time.
{
childB.GetOverlaps(childB, owner);
}
//A versus B (if they intersect):
childA.BoundingBox.Intersects(ref childB.BoundingBox, out intersects);
if (intersects)
{
childA.GetOverlaps(childB, owner);
}
}
else
{
//Two different nodes. The other one may be a leaf.
if (opposingNode.IsLeaf)
{
//If it's a leaf, go deeper in our hierarchy, but not the opposition.
childA.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
childA.GetOverlaps(opposingNode, owner);
}
childB.BoundingBox.Intersects(ref opposingNode.BoundingBox, out intersects);
if (intersects)
{
childB.GetOverlaps(opposingNode, owner);
}
}
else
{
var opposingChildA = opposingNode.ChildA;
var opposingChildB = opposingNode.ChildB;
//If it's not a leaf, try to go deeper in both hierarchies.
childA.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
childA.GetOverlaps(opposingChildA, owner);
}
childA.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
childA.GetOverlaps(opposingChildB, owner);
}
childB.BoundingBox.Intersects(ref opposingChildA.BoundingBox, out intersects);
if (intersects)
{
childB.GetOverlaps(opposingChildA, owner);
}
childB.BoundingBox.Intersects(ref opposingChildB.BoundingBox, out intersects);
if (intersects)
{
childB.GetOverlaps(opposingChildB, owner);
}
}
}
}
internal DynamicHierarchyQueryAccelerator(DynamicHierarchy hierarchy)
{
this.hierarchy = hierarchy;
}
double RunTest(int splitOffset, IParallelLooper parallelLooper)
{
Entity toAdd;
//BoundingBox box = new BoundingBox(new Vector3(-5, 1, 1), new Vector3(5, 7, 7));
BoundingBox box = new BoundingBox(new Vector3(-500, -500, -500), new Vector3(500, 500, 500));
int splitDepth = splitOffset + (int)Math.Ceiling(Math.Log(parallelLooper.ThreadCount, 2));
DynamicHierarchy dh = new DynamicHierarchy(parallelLooper);
Random rand = new Random(0);
RawList<Entity> entities = new RawList<Entity>();
for (int k = 0; k < 10000; k++)
{
Vector3 position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
toAdd = new Box(position, 1, 1, 1, 1);
toAdd.CollisionInformation.CollisionRules.Personal = CollisionRule.NoNarrowPhasePair;
toAdd.CollisionInformation.UpdateBoundingBox(0);
dh.Add(toAdd.CollisionInformation);
entities.Add(toAdd);
}
Space.ForceUpdater.Gravity = new Vector3();
int numRuns = 3000;
//Prime the system.
dh.Update();
var testType = Test.Update;
BroadPhaseOverlap[] overlapBasis = new BroadPhaseOverlap[dh.Overlaps.Count];
dh.Overlaps.CopyTo(overlapBasis, 0);
double time = 0;
double startTime, endTime;
switch (testType)
{
#region Update Timing
case Test.Update:
for (int i = 0; i < numRuns; i++)
{
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//dh.Update();
//lock (dh.Locker)
//{
// dh.Overlaps.Clear();
// if (dh.ROOTEXISTS)
// {
// dh.MultithreadedRefitPhase(splitDepth);
// dh.MultithreadedOverlapPhase(splitDepth);
// }
//}
//dh.Update();
//lock (dh.Locker)
//{
// dh.Overlaps.Clear();
// if (dh.ROOTEXISTS)
// {
// dh.SingleThreadedRefitPhase();
// dh.SingleThreadedOverlapPhase();
// }
//}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
time += endTime - startTime;
//if (dh.Overlaps.Count != overlapBasis.Length)
// Debug.WriteLine("Failed Update.");
//for (int j = 0; j < overlapBasis.Length; j++)
//{
// if (!dh.Overlaps.Contains(overlapBasis[j]))
// Debug.WriteLine("Failed Update.");
//}
//MoveEntities(entities);
}
break;
#endregion
#region Refit Timing
case Test.Refit:
for (int i = 0; i < numRuns; i++)
{
dh.Overlaps.Clear();
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//dh.MultithreadedRefitPhase(splitDepth);
//dh.SingleThreadedRefitPhase();
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
time += endTime - startTime;
//dh.SingleThreadedOverlapPhase();
//if (dh.Overlaps.Count != overlapBasis.Length)
// Debug.WriteLine("Failed Refit.");
//for (int j = 0; j < overlapBasis.Length; j++)
//{
// if (!dh.Overlaps.Contains(overlapBasis[j]))
// Debug.WriteLine("Failed Refit.");
//}
//MoveEntities(entities);
}
break;
#endregion
#region Overlap Timing
case Test.Overlap:
for (int i = 0; i < numRuns; i++)
{
dh.Overlaps.Clear();
//dh.MultithreadedRefitPhase(splitDepth);
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//dh.MultithreadedOverlapPhase(splitDepth);
//dh.SingleThreadedOverlapPhase();
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
time += endTime - startTime;
//if (dh.Overlaps.Count != overlapBasis.Length)
// Debug.WriteLine("Failed Overlap.");
//for (int j = 0; j < overlapBasis.Length; j++)
//{
// if (!dh.Overlaps.Contains(overlapBasis[j]))
// Debug.WriteLine("Failed Overlap.");
//}
//MoveEntities(entities);
}
break;
#endregion
#region Ray cast timing
case Test.RayCast:
float rayLength = 100;
RawList<Ray> rays = new RawList<Ray>();
for (int i = 0; i < numRuns; i++)
{
rays.Add(new Ray()
{
Position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z)),
Direction = Vector3.Normalize(new Vector3((float)(rand.NextDouble() - .5), (float)(rand.NextDouble() - .5), (float)(rand.NextDouble() - .5)))
});
}
RawList<BroadPhaseEntry> outputIntersections = new RawList<BroadPhaseEntry>();
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
dh.QueryAccelerator.RayCast(rays.Elements[i], rayLength, outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
time = endTime - startTime;
break;
#endregion
#region Bounding box query timing
case Test.BoundingBoxQuery:
float boundingBoxSize = 10;
var boundingBoxes = new RawList<BoundingBox>();
Vector3 offset = new Vector3(boundingBoxSize / 2, boundingBoxSize / 2, boundingBoxSize / 2);
for (int i = 0; i < numRuns; i++)
{
Vector3 center = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
boundingBoxes.Add(new BoundingBox()
{
Min = center - offset,
Max = center + offset
});
}
outputIntersections = new RawList<BroadPhaseEntry>();
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
dh.QueryAccelerator.GetEntries(boundingBoxes.Elements[i], outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
time = endTime - startTime;
break;
#endregion
}
return time / numRuns;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhasesTestDemo(DemosGame game)
: base(game)
{
Space.Solver.IterationLimit = 0;
Entity toAdd;
//BoundingBox box = new BoundingBox(new Vector3(-5, 1, 1), new Vector3(5, 7, 7));
BoundingBox box = new BoundingBox(new Vector3(-50, -50, -50), new Vector3(50, 50, 50));
//DynamicHierarchyOld dhOld = new DynamicHierarchyOld(Space.ThreadManager);
DynamicHierarchy dh = new DynamicHierarchy(Space.ParallelLooper);
SortAndSweep1D sas1d = new SortAndSweep1D(Space.ParallelLooper);
Grid2DSortAndSweep grid2DSAS = new Grid2DSortAndSweep(Space.ParallelLooper);
//DynamicHierarchy dh = new DynamicHierarchy();
//DynamicHierarchy4 dh4 = new DynamicHierarchy4();
//SortAndSweep1D sas1d = new SortAndSweep1D();
//Grid2DSortAndSweep grid2DSAS = new Grid2DSortAndSweep();
//DynamicHierarchy2 dh2 = new DynamicHierarchy2();
//DynamicHierarchy3 dh3 = new DynamicHierarchy3();
//SortAndSweep3D sap3d = new SortAndSweep3D();
RawList<Entity> entities = new RawList<Entity>();
for (int k = 0; k < 100; k++)
{
Vector3 position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
toAdd = new Box(position, 1, 1, 1, 1);
toAdd.CollisionInformation.CollisionRules.Personal = CollisionRule.NoNarrowPhasePair;
toAdd.CollisionInformation.UpdateBoundingBox(0);
//Space.Add(toAdd);
//dhOld.Add(toAdd.CollisionInformation);
dh.Add(toAdd.CollisionInformation);
sas1d.Add(toAdd.CollisionInformation);
grid2DSAS.Add(toAdd.CollisionInformation);
entities.Add(toAdd);
}
Space.ForceUpdater.Gravity = new Vector3();
int numRuns = 10000;
//Prime the system.
grid2DSAS.Update();
sas1d.Update();
//dhOld.Update();
dh.Update();
var testType = Test.Update;
double startTime, endTime;
switch (testType)
{
#region Update Timing
case Test.Update:
for (int i = 0; i < numRuns; i++)
{
////DH
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//dhOld.Update();
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//DHOldTime += endTime - startTime;
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
dh.Update();
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
DHtime += endTime - startTime;
//SAP1D
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
sas1d.Update();
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
SAS1Dtime += endTime - startTime;
//Grid2D SOS
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
grid2DSAS.Update();
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
grid2DSAStime += endTime - startTime;
//if (sap1d.Overlaps.Count != dh.Overlaps.Count)
// Debug.WriteLine("SAP1D Failure");
//if (grid2DSOS.Overlaps.Count != dh.Overlaps.Count)
// Debug.WriteLine("grid2DSOS Failure");
//for (int j = 0; j < dh2.Overlaps.Count; j++)
//{
// if (!grid2DSOS.Overlaps.Contains(dh2.Overlaps[j]))
// Debug.WriteLine("Break.");
//}
//for (int j = 0; j < grid2DSOS.Overlaps.Count; j++)
//{
// if (!dh2.Overlaps.Contains(grid2DSOS.Overlaps[j]))
// break;
//}
//for (int j = 0; j < grid2DSOS.Overlaps.Count; j++)
//{
// if (!dh4.Overlaps.Contains(grid2DSOS.Overlaps[j]))
// break;
//}
//for (int j = 0; j < dh.Overlaps.Count; j++)
//{
// if (!dh.Overlaps[j].EntryA.BoundingBox.Intersects(dh.Overlaps[j].EntryB.BoundingBox))
// Debug.WriteLine("Break.");
//}
//for (int j = 0; j < sap1d.Overlaps.Count; j++)
//{
// if (!sap1d.Overlaps[j].EntryA.BoundingBox.Intersects(sap1d.Overlaps[j].EntryB.BoundingBox))
// Debug.WriteLine("Break.");
//}
//for (int j = 0; j < grid2DSOS.Overlaps.Count; j++)
//{
// if (!grid2DSOS.Overlaps[j].EntryA.BoundingBox.Intersects(grid2DSOS.Overlaps[j].EntryB.BoundingBox))
// Debug.WriteLine("Break.");
//}
//MoveEntities(entities);
}
break;
#endregion
#region Ray cast timing
case Test.RayCast:
float rayLength = 100;
RawList<Ray> rays = new RawList<Ray>();
for (int i = 0; i < numRuns; i++)
{
rays.Add(new Ray()
{
Position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z)),
Direction = Vector3.Normalize(new Vector3((float)(rand.NextDouble() - .5), (float)(rand.NextDouble() - .5), (float)(rand.NextDouble() - .5)))
});
}
RawList<BroadPhaseEntry> outputIntersections = new RawList<BroadPhaseEntry>();
////DH
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//for (int i = 0; i < numRuns; i++)
//{
// dhOld.QueryAccelerator.RayCast(rays.Elements[i], rayLength, outputIntersections);
// outputIntersections.Clear();
//}
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//DHOldTime = endTime - startTime;
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
dh.QueryAccelerator.RayCast(rays.Elements[i], rayLength, outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
DHtime = endTime - startTime;
//Grid2DSAS
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
grid2DSAS.QueryAccelerator.RayCast(rays.Elements[i], rayLength, outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
grid2DSAStime = endTime - startTime;
break;
#endregion
#region Bounding box query timing
case Test.BoundingBoxQuery:
float boundingBoxSize = 10;
var boundingBoxes = new RawList<BoundingBox>();
Vector3 offset = new Vector3(boundingBoxSize / 2, boundingBoxSize / 2, boundingBoxSize / 2);
for (int i = 0; i < numRuns; i++)
{
Vector3 center = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
boundingBoxes.Add(new BoundingBox()
{
Min = center - offset,
Max = center + offset
});
}
outputIntersections = new RawList<BroadPhaseEntry>();
////DH
//startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//for (int i = 0; i < numRuns; i++)
//{
// dhOld.QueryAccelerator.GetEntries(boundingBoxes.Elements[i], outputIntersections);
// outputIntersections.Clear();
//}
//endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
//DHOldTime = endTime - startTime;
//DH4
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
dh.QueryAccelerator.GetEntries(boundingBoxes.Elements[i], outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
DHtime = endTime - startTime;
//Grid2DSAS
startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < numRuns; i++)
{
grid2DSAS.QueryAccelerator.GetEntries(boundingBoxes.Elements[i], outputIntersections);
outputIntersections.Clear();
}
endTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
grid2DSAStime = endTime - startTime;
break;
#endregion
}
DHOldTime /= numRuns;
DH2time /= numRuns;
DH3time /= numRuns;
DHtime /= numRuns;
SAS1Dtime /= numRuns;
grid2DSAStime /= numRuns;
}
internal DynamicHierarchyQueryAccelerator(DynamicHierarchy hierarchy)
{
this.hierarchy = hierarchy;
}
///<summary>
/// Constructs a new space for things to live in.
///</summary>
public Space()
{
NarrowPhaseHelper.CollisionManagers = NarrowPhaseHelper.CollisionManagers; //Forces the NarrowPhaseHelper to run the static constructor. Better to do it now instead of mid-simulation.
timeStepSettings = new TimeStepSettings();
#if !WINDOWS
threadManager = new SpecializedThreadManager();
#else
threadManager = new SpecializedThreadManager();
#endif
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ThreadManager);
ForceUpdater = new ForceUpdater(TimeStepSettings, ThreadManager);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ThreadManager);
BroadPhase = new DynamicHierarchy(ThreadManager);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ThreadManager);
Solver = new Solver(TimeStepSettings, DeactivationManager, ThreadManager);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ThreadManager);
BufferedStates = new BufferedStatesManager(ThreadManager);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ThreadManager);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ThreadManager);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ThreadManager);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ThreadManager);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ThreadManager);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ThreadManager);
}
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;
}
}
