ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -0,0 +1,1295 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+///btDbvt implementation by Nathanael Presson
+
+#include "btDbvt.h"
+
+//
+typedef btAlignedObjectArray<btDbvtNode*>			tNodeArray;
+typedef btAlignedObjectArray<const btDbvtNode*>	tConstNodeArray;
+
+//
+struct btDbvtNodeEnumerator : btDbvt::ICollide
+{
+	tConstNodeArray	nodes;
+	void Process(const btDbvtNode* n) { nodes.push_back(n); }
+};
+
+//
+static DBVT_INLINE int			indexof(const btDbvtNode* node)
+{
+	return(node->parent->childs[1]==node);
+}
+
+//
+static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
+									  const btDbvtVolume& b)
+{
+#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
+	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
+	btDbvtVolume&	res=*(btDbvtVolume*)locals;
+#else
+		btDbvtVolume	res;
+#endif
+	Merge(a,b,res);
+	return(res);
+}
+
+// volume+edge lengths
+static DBVT_INLINE btScalar		size(const btDbvtVolume& a)
+{
+	const btVector3	edges=a.Lengths();
+	return(	edges.x()*edges.y()*edges.z()+
+		edges.x()+edges.y()+edges.z());
+}
+
+//
+static void						getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
+{
+	if(node->isinternal())
+	{
+		getmaxdepth(node->childs[0],depth+1,maxdepth);
+		getmaxdepth(node->childs[1],depth+1,maxdepth);
+	} else maxdepth=btMax(maxdepth,depth);
+}
+
+//
+static DBVT_INLINE void			deletenode(	btDbvt* pdbvt,
+										   btDbvtNode* node)
+{
+	btAlignedFree(pdbvt->m_free);
+	pdbvt->m_free=node;
+}
+
+//
+static void						recursedeletenode(	btDbvt* pdbvt,
+												  btDbvtNode* node)
+{
+	if(!node->isleaf())
+	{
+		recursedeletenode(pdbvt,node->childs[0]);
+		recursedeletenode(pdbvt,node->childs[1]);
+	}
+	if(node==pdbvt->m_root) pdbvt->m_root=0;
+	deletenode(pdbvt,node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+										   btDbvtNode* parent,
+										   void* data)
+{
+	btDbvtNode*	node;
+	if(pdbvt->m_free)
+	{ node=pdbvt->m_free;pdbvt->m_free=0; }
+	else
+	{ node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
+	node->parent	=	parent;
+	node->data		=	data;
+	node->childs[1]	=	0;
+	return(node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+										   btDbvtNode* parent,
+										   const btDbvtVolume& volume,
+										   void* data)
+{
+	btDbvtNode*	node=createnode(pdbvt,parent,data);
+	node->volume=volume;
+	return(node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+										   btDbvtNode* parent,
+										   const btDbvtVolume& volume0,
+										   const btDbvtVolume& volume1,
+										   void* data)
+{
+	btDbvtNode*	node=createnode(pdbvt,parent,data);
+	Merge(volume0,volume1,node->volume);
+	return(node);
+}
+
+//
+static void						insertleaf(	btDbvt* pdbvt,
+										   btDbvtNode* root,
+										   btDbvtNode* leaf)
+{
+	if(!pdbvt->m_root)
+	{
+		pdbvt->m_root	=	leaf;
+		leaf->parent	=	0;
+	}
+	else
+	{
+		if(!root->isleaf())
+		{
+			do	{
+				root=root->childs[Select(	leaf->volume,
+					root->childs[0]->volume,
+					root->childs[1]->volume)];
+			} while(!root->isleaf());
+		}
+		btDbvtNode*	prev=root->parent;
+		btDbvtNode*	node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
+		if(prev)
+		{
+			prev->childs[indexof(root)]	=	node;
+			node->childs[0]				=	root;root->parent=node;
+			node->childs[1]				=	leaf;leaf->parent=node;
+			do	{
+				if(!prev->volume.Contain(node->volume))
+					Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+				else
+					break;
+				node=prev;
+			} while(0!=(prev=node->parent));
+		}
+		else
+		{
+			node->childs[0]	=	root;root->parent=node;
+			node->childs[1]	=	leaf;leaf->parent=node;
+			pdbvt->m_root	=	node;
+		}
+	}
+}
+
+//
+static btDbvtNode*				removeleaf(	btDbvt* pdbvt,
+										   btDbvtNode* leaf)
+{
+	if(leaf==pdbvt->m_root)
+	{
+		pdbvt->m_root=0;
+		return(0);
+	}
+	else
+	{
+		btDbvtNode*	parent=leaf->parent;
+		btDbvtNode*	prev=parent->parent;
+		btDbvtNode*	sibling=parent->childs[1-indexof(leaf)];			
+		if(prev)
+		{
+			prev->childs[indexof(parent)]=sibling;
+			sibling->parent=prev;
+			deletenode(pdbvt,parent);
+			while(prev)
+			{
+				const btDbvtVolume	pb=prev->volume;
+				Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+				if(NotEqual(pb,prev->volume))
+				{
+					prev=prev->parent;
+				} else break;
+			}
+			return(prev?prev:pdbvt->m_root);
+		}
+		else
+		{								
+			pdbvt->m_root=sibling;
+			sibling->parent=0;
+			deletenode(pdbvt,parent);
+			return(pdbvt->m_root);
+		}			
+	}
+}
+
+//
+static void						fetchleaves(btDbvt* pdbvt,
+											btDbvtNode* root,
+											tNodeArray& leaves,
+											int depth=-1)
+{
+	if(root->isinternal()&&depth)
+	{
+		fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
+		fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
+		deletenode(pdbvt,root);
+	}
+	else
+	{
+		leaves.push_back(root);
+	}
+}
+
+//
+static void						split(	const tNodeArray& leaves,
+									  tNodeArray& left,
+									  tNodeArray& right,
+									  const btVector3& org,
+									  const btVector3& axis)
+{
+	left.resize(0);
+	right.resize(0);
+	for(int i=0,ni=leaves.size();i<ni;++i)
+	{
+		if(btDot(axis,leaves[i]->volume.Center()-org)<0)
+			left.push_back(leaves[i]);
+		else
+			right.push_back(leaves[i]);
+	}
+}
+
+//
+static btDbvtVolume				bounds(	const tNodeArray& leaves)
+{
+#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
+	ATTRIBUTE_ALIGNED16(char	locals[sizeof(btDbvtVolume)]);
+	btDbvtVolume&	volume=*(btDbvtVolume*)locals;
+	volume=leaves[0]->volume;
+#else
+	btDbvtVolume volume=leaves[0]->volume;
+#endif
+	for(int i=1,ni=leaves.size();i<ni;++i)
+	{
+		Merge(volume,leaves[i]->volume,volume);
+	}
+	return(volume);
+}
+
+//
+static void						bottomup(	btDbvt* pdbvt,
+										 tNodeArray& leaves)
+{
+	while(leaves.size()>1)
+	{
+		btScalar	minsize=SIMD_INFINITY;
+		int			minidx[2]={-1,-1};
+		for(int i=0;i<leaves.size();++i)
+		{
+			for(int j=i+1;j<leaves.size();++j)
+			{
+				const btScalar	sz=size(merge(leaves[i]->volume,leaves[j]->volume));
+				if(sz<minsize)
+				{
+					minsize		=	sz;
+					minidx[0]	=	i;
+					minidx[1]	=	j;
+				}
+			}
+		}
+		btDbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
+		btDbvtNode*	p	=	createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
+		p->childs[0]		=	n[0];
+		p->childs[1]		=	n[1];
+		n[0]->parent		=	p;
+		n[1]->parent		=	p;
+		leaves[minidx[0]]	=	p;
+		leaves.swap(minidx[1],leaves.size()-1);
+		leaves.pop_back();
+	}
+}
+
+//
+static btDbvtNode*			topdown(btDbvt* pdbvt,
+									tNodeArray& leaves,
+									int bu_treshold)
+{
+	static const btVector3	axis[]={btVector3(1,0,0),
+		btVector3(0,1,0),
+		btVector3(0,0,1)};
+	if(leaves.size()>1)
+	{
+		if(leaves.size()>bu_treshold)
+		{
+			const btDbvtVolume	vol=bounds(leaves);
+			const btVector3			org=vol.Center();
+			tNodeArray				sets[2];
+			int						bestaxis=-1;
+			int						bestmidp=leaves.size();
+			int						splitcount[3][2]={{0,0},{0,0},{0,0}};
+			int i;
+			for( i=0;i<leaves.size();++i)
+			{
+				const btVector3	x=leaves[i]->volume.Center()-org;
+				for(int j=0;j<3;++j)
+				{
+					++splitcount[j][btDot(x,axis[j])>0?1:0];
+				}
+			}
+			for( i=0;i<3;++i)
+			{
+				if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
+				{
+					const int	midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
+					if(midp<bestmidp)
+					{
+						bestaxis=i;
+						bestmidp=midp;
+					}
+				}
+			}
+			if(bestaxis>=0)
+			{
+				sets[0].reserve(splitcount[bestaxis][0]);
+				sets[1].reserve(splitcount[bestaxis][1]);
+				split(leaves,sets[0],sets[1],org,axis[bestaxis]);
+			}
+			else
+			{
+				sets[0].reserve(leaves.size()/2+1);
+				sets[1].reserve(leaves.size()/2);
+				for(int i=0,ni=leaves.size();i<ni;++i)
+				{
+					sets[i&1].push_back(leaves[i]);
+				}
+			}
+			btDbvtNode*	node=createnode(pdbvt,0,vol,0);
+			node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
+			node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
+			node->childs[0]->parent=node;
+			node->childs[1]->parent=node;
+			return(node);
+		}
+		else
+		{
+			bottomup(pdbvt,leaves);
+			return(leaves[0]);
+		}
+	}
+	return(leaves[0]);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	sort(btDbvtNode* n,btDbvtNode*& r)
+{
+	btDbvtNode*	p=n->parent;
+	btAssert(n->isinternal());
+	if(p>n)
+	{
+		const int		i=indexof(n);
+		const int		j=1-i;
+		btDbvtNode*	s=p->childs[j];
+		btDbvtNode*	q=p->parent;
+		btAssert(n==p->childs[i]);
+		if(q) q->childs[indexof(p)]=n; else r=n;
+		s->parent=n;
+		p->parent=n;
+		n->parent=q;
+		p->childs[0]=n->childs[0];
+		p->childs[1]=n->childs[1];
+		n->childs[0]->parent=p;
+		n->childs[1]->parent=p;
+		n->childs[i]=p;
+		n->childs[j]=s;
+		btSwap(p->volume,n->volume);
+		return(p);
+	}
+	return(n);
+}
+
+#if 0
+static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
+{
+	while(n&&(count--)) n=n->parent;
+	return(n);
+}
+#endif
+
+//
+// Api
+//
+
+//
+btDbvt::btDbvt()
+{
+	m_root		=	0;
+	m_free		=	0;
+	m_lkhd		=	-1;
+	m_leaves	=	0;
+	m_opath		=	0;
+}
+
+//
+btDbvt::~btDbvt()
+{
+	clear();
+}
+
+//
+void			btDbvt::clear()
+{
+	if(m_root)	
+		recursedeletenode(this,m_root);
+	btAlignedFree(m_free);
+	m_free=0;
+	m_lkhd		=	-1;
+	m_stkStack.clear();
+	m_opath		=	0;
+	
+}
+
+//
+void			btDbvt::optimizeBottomUp()
+{
+	if(m_root)
+	{
+		tNodeArray leaves;
+		leaves.reserve(m_leaves);
+		fetchleaves(this,m_root,leaves);
+		bottomup(this,leaves);
+		m_root=leaves[0];
+	}
+}
+
+//
+void			btDbvt::optimizeTopDown(int bu_treshold)
+{
+	if(m_root)
+	{
+		tNodeArray	leaves;
+		leaves.reserve(m_leaves);
+		fetchleaves(this,m_root,leaves);
+		m_root=topdown(this,leaves,bu_treshold);
+	}
+}
+
+//
+void			btDbvt::optimizeIncremental(int passes)
+{
+	if(passes<0) passes=m_leaves;
+	if(m_root&&(passes>0))
+	{
+		do	{
+			btDbvtNode*		node=m_root;
+			unsigned	bit=0;
+			while(node->isinternal())
+			{
+				node=sort(node,m_root)->childs[(m_opath>>bit)&1];
+				bit=(bit+1)&(sizeof(unsigned)*8-1);
+			}
+			update(node);
+			++m_opath;
+		} while(--passes);
+	}
+}
+
+//
+btDbvtNode*	btDbvt::insert(const btDbvtVolume& volume,void* data)
+{
+	btDbvtNode*	leaf=createnode(this,0,volume,data);
+	insertleaf(this,m_root,leaf);
+	++m_leaves;
+	return(leaf);
+}
+
+//
+void			btDbvt::update(btDbvtNode* leaf,int lookahead)
+{
+	btDbvtNode*	root=removeleaf(this,leaf);
+	if(root)
+	{
+		if(lookahead>=0)
+		{
+			for(int i=0;(i<lookahead)&&root->parent;++i)
+			{
+				root=root->parent;
+			}
+		} else root=m_root;
+	}
+	insertleaf(this,root,leaf);
+}
+
+//
+void			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
+{
+	btDbvtNode*	root=removeleaf(this,leaf);
+	if(root)
+	{
+		if(m_lkhd>=0)
+		{
+			for(int i=0;(i<m_lkhd)&&root->parent;++i)
+			{
+				root=root->parent;
+			}
+		} else root=m_root;
+	}
+	leaf->volume=volume;
+	insertleaf(this,root,leaf);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
+{
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.Expand(btVector3(margin,margin,margin));
+	volume.SignedExpand(velocity);
+	update(leaf,volume);
+	return(true);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
+{
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.SignedExpand(velocity);
+	update(leaf,volume);
+	return(true);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
+{
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.Expand(btVector3(margin,margin,margin));
+	update(leaf,volume);
+	return(true);
+}
+
+//
+void			btDbvt::remove(btDbvtNode* leaf)
+{
+	removeleaf(this,leaf);
+	deletenode(this,leaf);
+	--m_leaves;
+}
+
+//
+void			btDbvt::write(IWriter* iwriter) const
+{
+	btDbvtNodeEnumerator	nodes;
+	nodes.nodes.reserve(m_leaves*2);
+	enumNodes(m_root,nodes);
+	iwriter->Prepare(m_root,nodes.nodes.size());
+	for(int i=0;i<nodes.nodes.size();++i)
+	{
+		const btDbvtNode* n=nodes.nodes[i];
+		int			p=-1;
+		if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
+		if(n->isinternal())
+		{
+			const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
+			const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
+			iwriter->WriteNode(n,i,p,c0,c1);
+		}
+		else
+		{
+			iwriter->WriteLeaf(n,i,p);
+		}	
+	}
+}
+
+//
+void			btDbvt::clone(btDbvt& dest,IClone* iclone) const
+{
+	dest.clear();
+	if(m_root!=0)
+	{	
+		btAlignedObjectArray<sStkCLN>	stack;
+		stack.reserve(m_leaves);
+		stack.push_back(sStkCLN(m_root,0));
+		do	{
+			const int		i=stack.size()-1;
+			const sStkCLN	e=stack[i];
+			btDbvtNode*			n=createnode(&dest,e.parent,e.node->volume,e.node->data);
+			stack.pop_back();
+			if(e.parent!=0)
+				e.parent->childs[i&1]=n;
+			else
+				dest.m_root=n;
+			if(e.node->isinternal())
+			{
+				stack.push_back(sStkCLN(e.node->childs[0],n));
+				stack.push_back(sStkCLN(e.node->childs[1],n));
+			}
+			else
+			{
+				iclone->CloneLeaf(n);
+			}
+		} while(stack.size()>0);
+	}
+}
+
+//
+int				btDbvt::maxdepth(const btDbvtNode* node)
+{
+	int	depth=0;
+	if(node) getmaxdepth(node,1,depth);
+	return(depth);
+}
+
+//
+int				btDbvt::countLeaves(const btDbvtNode* node)
+{
+	if(node->isinternal())
+		return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
+	else
+		return(1);
+}
+
+//
+void			btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
+{
+	if(node->isinternal())
+	{
+		extractLeaves(node->childs[0],leaves);
+		extractLeaves(node->childs[1],leaves);
+	}
+	else
+	{
+		leaves.push_back(node);
+	}	
+}
+
+//
+#if DBVT_ENABLE_BENCHMARK
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "LinearMath/btQuickProf.h"
+
+/*
+q6600,2.4ghz
+
+/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
+/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
+/Fo"..\..\out\release8\build\libbulletcollision\\"
+/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
+/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
+
+Benchmarking dbvt...
+World scale: 100.000000
+Extents base: 1.000000
+Extents range: 4.000000
+Leaves: 8192
+sizeof(btDbvtVolume): 32 bytes
+sizeof(btDbvtNode):   44 bytes
+[1] btDbvtVolume intersections: 3499 ms (-1%)
+[2] btDbvtVolume merges: 1934 ms (0%)
+[3] btDbvt::collideTT: 5485 ms (-21%)
+[4] btDbvt::collideTT self: 2814 ms (-20%)
+[5] btDbvt::collideTT xform: 7379 ms (-1%)
+[6] btDbvt::collideTT xform,self: 7270 ms (-2%)
+[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
+[8] insert/remove: 2093 ms (0%),(1001983 ir/s)
+[9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
+[10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
+[11] optimize (incremental): 2514 ms (0%),(1668000 o/s)
+[12] btDbvtVolume notequal: 3659 ms (0%)
+[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s)
+[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s)
+[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s)
+[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s)
+[17] btDbvtVolume select: 3419 ms (0%)
+*/
+
+struct btDbvtBenchmark
+{
+	struct NilPolicy : btDbvt::ICollide
+	{
+		NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)		{}
+		void	Process(const btDbvtNode*,const btDbvtNode*)				{ ++m_pcount; }
+		void	Process(const btDbvtNode*)									{ ++m_pcount; }
+		void	Process(const btDbvtNode*,btScalar depth)
+		{
+			++m_pcount;
+			if(m_checksort)
+			{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
+		}
+		int			m_pcount;
+		btScalar	m_depth;
+		bool		m_checksort;
+	};
+	struct P14 : btDbvt::ICollide
+	{
+		struct Node
+		{
+			const btDbvtNode*	leaf;
+			btScalar			depth;
+		};
+		void Process(const btDbvtNode* leaf,btScalar depth)
+		{
+			Node	n;
+			n.leaf	=	leaf;
+			n.depth	=	depth;
+		}
+		static int sortfnc(const Node& a,const Node& b)
+		{
+			if(a.depth<b.depth) return(+1);
+			if(a.depth>b.depth) return(-1);
+			return(0);
+		}
+		btAlignedObjectArray<Node>		m_nodes;
+	};
+	struct P15 : btDbvt::ICollide
+	{
+		struct Node
+		{
+			const btDbvtNode*	leaf;
+			btScalar			depth;
+		};
+		void Process(const btDbvtNode* leaf)
+		{
+			Node	n;
+			n.leaf	=	leaf;
+			n.depth	=	dot(leaf->volume.Center(),m_axis);
+		}
+		static int sortfnc(const Node& a,const Node& b)
+		{
+			if(a.depth<b.depth) return(+1);
+			if(a.depth>b.depth) return(-1);
+			return(0);
+		}
+		btAlignedObjectArray<Node>		m_nodes;
+		btVector3						m_axis;
+	};
+	static btScalar			RandUnit()
+	{
+		return(rand()/(btScalar)RAND_MAX);
+	}
+	static btVector3		RandVector3()
+	{
+		return(btVector3(RandUnit(),RandUnit(),RandUnit()));
+	}
+	static btVector3		RandVector3(btScalar cs)
+	{
+		return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
+	}
+	static btDbvtVolume	RandVolume(btScalar cs,btScalar eb,btScalar es)
+	{
+		return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
+	}
+	static btTransform		RandTransform(btScalar cs)
+	{
+		btTransform	t;
+		t.setOrigin(RandVector3(cs));
+		t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
+		return(t);
+	}
+	static void				RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
+	{
+		dbvt.clear();
+		for(int i=0;i<leaves;++i)
+		{
+			dbvt.insert(RandVolume(cs,eb,es),0);
+		}
+	}
+};
+
+void			btDbvt::benchmark()
+{
+	static const btScalar	cfgVolumeCenterScale		=	100;
+	static const btScalar	cfgVolumeExentsBase			=	1;
+	static const btScalar	cfgVolumeExentsScale		=	4;
+	static const int		cfgLeaves					=	8192;
+	static const bool		cfgEnable					=	true;
+
+	//[1] btDbvtVolume intersections
+	bool					cfgBenchmark1_Enable		=	cfgEnable;
+	static const int		cfgBenchmark1_Iterations	=	8;
+	static const int		cfgBenchmark1_Reference		=	3499;
+	//[2] btDbvtVolume merges
+	bool					cfgBenchmark2_Enable		=	cfgEnable;
+	static const int		cfgBenchmark2_Iterations	=	4;
+	static const int		cfgBenchmark2_Reference		=	1945;
+	//[3] btDbvt::collideTT
+	bool					cfgBenchmark3_Enable		=	cfgEnable;
+	static const int		cfgBenchmark3_Iterations	=	512;
+	static const int		cfgBenchmark3_Reference		=	5485;
+	//[4] btDbvt::collideTT self
+	bool					cfgBenchmark4_Enable		=	cfgEnable;
+	static const int		cfgBenchmark4_Iterations	=	512;
+	static const int		cfgBenchmark4_Reference		=	2814;
+	//[5] btDbvt::collideTT xform
+	bool					cfgBenchmark5_Enable		=	cfgEnable;
+	static const int		cfgBenchmark5_Iterations	=	512;
+	static const btScalar	cfgBenchmark5_OffsetScale	=	2;
+	static const int		cfgBenchmark5_Reference		=	7379;
+	//[6] btDbvt::collideTT xform,self
+	bool					cfgBenchmark6_Enable		=	cfgEnable;
+	static const int		cfgBenchmark6_Iterations	=	512;
+	static const btScalar	cfgBenchmark6_OffsetScale	=	2;
+	static const int		cfgBenchmark6_Reference		=	7270;
+	//[7] btDbvt::rayTest
+	bool					cfgBenchmark7_Enable		=	cfgEnable;
+	static const int		cfgBenchmark7_Passes		=	32;
+	static const int		cfgBenchmark7_Iterations	=	65536;
+	static const int		cfgBenchmark7_Reference		=	6307;
+	//[8] insert/remove
+	bool					cfgBenchmark8_Enable		=	cfgEnable;
+	static const int		cfgBenchmark8_Passes		=	32;
+	static const int		cfgBenchmark8_Iterations	=	65536;
+	static const int		cfgBenchmark8_Reference		=	2105;
+	//[9] updates (teleport)
+	bool					cfgBenchmark9_Enable		=	cfgEnable;
+	static const int		cfgBenchmark9_Passes		=	32;
+	static const int		cfgBenchmark9_Iterations	=	65536;
+	static const int		cfgBenchmark9_Reference		=	1879;
+	//[10] updates (jitter)
+	bool					cfgBenchmark10_Enable		=	cfgEnable;
+	static const btScalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
+	static const int		cfgBenchmark10_Passes		=	32;
+	static const int		cfgBenchmark10_Iterations	=	65536;
+	static const int		cfgBenchmark10_Reference	=	1244;
+	//[11] optimize (incremental)
+	bool					cfgBenchmark11_Enable		=	cfgEnable;
+	static const int		cfgBenchmark11_Passes		=	64;
+	static const int		cfgBenchmark11_Iterations	=	65536;
+	static const int		cfgBenchmark11_Reference	=	2510;
+	//[12] btDbvtVolume notequal
+	bool					cfgBenchmark12_Enable		=	cfgEnable;
+	static const int		cfgBenchmark12_Iterations	=	32;
+	static const int		cfgBenchmark12_Reference	=	3677;
+	//[13] culling(OCL+fullsort)
+	bool					cfgBenchmark13_Enable		=	cfgEnable;
+	static const int		cfgBenchmark13_Iterations	=	1024;
+	static const int		cfgBenchmark13_Reference	=	2231;
+	//[14] culling(OCL+qsort)
+	bool					cfgBenchmark14_Enable		=	cfgEnable;
+	static const int		cfgBenchmark14_Iterations	=	8192;
+	static const int		cfgBenchmark14_Reference	=	3500;
+	//[15] culling(KDOP+qsort)
+	bool					cfgBenchmark15_Enable		=	cfgEnable;
+	static const int		cfgBenchmark15_Iterations	=	8192;
+	static const int		cfgBenchmark15_Reference	=	1151;
+	//[16] insert/remove batch
+	bool					cfgBenchmark16_Enable		=	cfgEnable;
+	static const int		cfgBenchmark16_BatchCount	=	256;
+	static const int		cfgBenchmark16_Passes		=	16384;
+	static const int		cfgBenchmark16_Reference	=	5138;
+	//[17] select
+	bool					cfgBenchmark17_Enable		=	cfgEnable;
+	static const int		cfgBenchmark17_Iterations	=	4;
+	static const int		cfgBenchmark17_Reference	=	3390;
+
+	btClock					wallclock;
+	printf("Benchmarking dbvt...\r\n");
+	printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
+	printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
+	printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
+	printf("\tLeaves: %u\r\n",cfgLeaves);
+	printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
+	printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
+	if(cfgBenchmark1_Enable)
+	{// Benchmark 1	
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<bool>			results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
+		{
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+		printf("[1] btDbvtVolume intersections: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark1_Iterations;++i)
+		{
+			for(int j=0;j<cfgLeaves;++j)
+			{
+				for(int k=0;k<cfgLeaves;++k)
+				{
+					results[k]=Intersect(volumes[j],volumes[k]);
+				}
+			}
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
+	}
+	if(cfgBenchmark2_Enable)
+	{// Benchmark 2	
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<btDbvtVolume>	results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
+		{
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+		printf("[2] btDbvtVolume merges: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark2_Iterations;++i)
+		{
+			for(int j=0;j<cfgLeaves;++j)
+			{
+				for(int k=0;k<cfgLeaves;++k)
+				{
+					Merge(volumes[j],volumes[k],results[k]);
+				}
+			}
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
+	}
+	if(cfgBenchmark3_Enable)
+	{// Benchmark 3	
+		srand(380843);
+		btDbvt						dbvt[2];
+		btDbvtBenchmark::NilPolicy	policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		dbvt[0].optimizeTopDown();
+		dbvt[1].optimizeTopDown();
+		printf("[3] btDbvt::collideTT: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark3_Iterations;++i)
+		{
+			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
+	}
+	if(cfgBenchmark4_Enable)
+	{// Benchmark 4
+		srand(380843);
+		btDbvt						dbvt;
+		btDbvtBenchmark::NilPolicy	policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[4] btDbvt::collideTT self: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark4_Iterations;++i)
+		{
+			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
+	}
+	if(cfgBenchmark5_Enable)
+	{// Benchmark 5	
+		srand(380843);
+		btDbvt								dbvt[2];
+		btAlignedObjectArray<btTransform>	transforms;
+		btDbvtBenchmark::NilPolicy			policy;
+		transforms.resize(cfgBenchmark5_Iterations);
+		for(int i=0;i<transforms.size();++i)
+		{
+			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		dbvt[0].optimizeTopDown();
+		dbvt[1].optimizeTopDown();
+		printf("[5] btDbvt::collideTT xform: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark5_Iterations;++i)
+		{
+			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
+	}
+	if(cfgBenchmark6_Enable)
+	{// Benchmark 6	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btTransform>	transforms;
+		btDbvtBenchmark::NilPolicy			policy;
+		transforms.resize(cfgBenchmark6_Iterations);
+		for(int i=0;i<transforms.size();++i)
+		{
+			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[6] btDbvt::collideTT xform,self: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark6_Iterations;++i)
+		{
+			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
+	}
+	if(cfgBenchmark7_Enable)
+	{// Benchmark 7	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		rayorg;
+		btAlignedObjectArray<btVector3>		raydir;
+		btDbvtBenchmark::NilPolicy			policy;
+		rayorg.resize(cfgBenchmark7_Iterations);
+		raydir.resize(cfgBenchmark7_Iterations);
+		for(int i=0;i<rayorg.size();++i)
+		{
+			rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+			raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[7] btDbvt::rayTest: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark7_Passes;++i)
+		{
+			for(int j=0;j<cfgBenchmark7_Iterations;++j)
+			{
+				btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
+			}
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
+		printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
+	}
+	if(cfgBenchmark8_Enable)
+	{// Benchmark 8	
+		srand(380843);
+		btDbvt								dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[8] insert/remove: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark8_Passes;++i)
+		{
+			for(int j=0;j<cfgBenchmark8_Iterations;++j)
+			{
+				dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+			}
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
+		printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
+	}
+	if(cfgBenchmark9_Enable)
+	{// Benchmark 9	
+		srand(380843);
+		btDbvt										dbvt;
+		btAlignedObjectArray<const btDbvtNode*>	leaves;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		dbvt.extractLeaves(dbvt.m_root,leaves);
+		printf("[9] updates (teleport): ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark9_Passes;++i)
+		{
+			for(int j=0;j<cfgBenchmark9_Iterations;++j)
+			{
+				dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
+					btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
+			}
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
+	}
+	if(cfgBenchmark10_Enable)
+	{// Benchmark 10	
+		srand(380843);
+		btDbvt										dbvt;
+		btAlignedObjectArray<const btDbvtNode*>	leaves;
+		btAlignedObjectArray<btVector3>				vectors;
+		vectors.resize(cfgBenchmark10_Iterations);
+		for(int i=0;i<vectors.size();++i)
+		{
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		dbvt.extractLeaves(dbvt.m_root,leaves);
+		printf("[10] updates (jitter): ");
+		wallclock.reset();
+
+		for(int i=0;i<cfgBenchmark10_Passes;++i)
+		{
+			for(int j=0;j<cfgBenchmark10_Iterations;++j)
+			{			
+				const btVector3&	d=vectors[j];
+				btDbvtNode*		l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
+				btDbvtVolume		v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
+				dbvt.update(l,v);
+			}
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
+	}
+	if(cfgBenchmark11_Enable)
+	{// Benchmark 11	
+		srand(380843);
+		btDbvt										dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[11] optimize (incremental): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark11_Passes;++i)
+		{
+			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
+		printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
+	}
+	if(cfgBenchmark12_Enable)
+	{// Benchmark 12	
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<bool>				results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
+		{
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+		printf("[12] btDbvtVolume notequal: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark12_Iterations;++i)
+		{
+			for(int j=0;j<cfgLeaves;++j)
+			{
+				for(int k=0;k<cfgLeaves;++k)
+				{
+					results[k]=NotEqual(volumes[j],volumes[k]);
+				}
+			}
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
+	}
+	if(cfgBenchmark13_Enable)
+	{// Benchmark 13	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::NilPolicy			policy;
+		vectors.resize(cfgBenchmark13_Iterations);
+		for(int i=0;i<vectors.size();++i)
+		{
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[13] culling(OCL+fullsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark13_Iterations;++i)
+		{
+			static const btScalar	offset=0;
+			policy.m_depth=-SIMD_INFINITY;
+			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark13_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
+	}
+	if(cfgBenchmark14_Enable)
+	{// Benchmark 14	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::P14				policy;
+		vectors.resize(cfgBenchmark14_Iterations);
+		for(int i=0;i<vectors.size();++i)
+		{
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		policy.m_nodes.reserve(cfgLeaves);
+		printf("[14] culling(OCL+qsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark14_Iterations;++i)
+		{
+			static const btScalar	offset=0;
+			policy.m_nodes.resize(0);
+			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
+			policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark14_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
+	}
+	if(cfgBenchmark15_Enable)
+	{// Benchmark 15	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::P15				policy;
+		vectors.resize(cfgBenchmark15_Iterations);
+		for(int i=0;i<vectors.size();++i)
+		{
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		policy.m_nodes.reserve(cfgLeaves);
+		printf("[15] culling(KDOP+qsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark15_Iterations;++i)
+		{
+			static const btScalar	offset=0;
+			policy.m_nodes.resize(0);
+			policy.m_axis=vectors[i];
+			dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
+			policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark15_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
+	}
+	if(cfgBenchmark16_Enable)
+	{// Benchmark 16	
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btDbvtNode*>	batch;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		batch.reserve(cfgBenchmark16_BatchCount);
+		printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark16_Passes;++i)
+		{
+			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			{
+				batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+			}
+			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			{
+				dbvt.remove(batch[j]);
+			}
+			batch.resize(0);
+		}
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
+		printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
+	}
+	if(cfgBenchmark17_Enable)
+	{// Benchmark 17
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<int>			results;
+		btAlignedObjectArray<int>			indices;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		indices.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
+		{
+			indices[i]=i;
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+		for(int i=0;i<cfgLeaves;++i)
+		{
+			btSwap(indices[i],indices[rand()%cfgLeaves]);
+		}
+		printf("[17] btDbvtVolume select: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark17_Iterations;++i)
+		{
+			for(int j=0;j<cfgLeaves;++j)
+			{
+				for(int k=0;k<cfgLeaves;++k)
+				{
+					const int idx=indices[k];
+					results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
+				}
+			}
+		}
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
+	}
+	printf("\r\n\r\n");
+}
+#endif