btDbvt.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
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.
*/
 
#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)
{
#ifdef BT_USE_SSE
        ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
        btDbvtVolume* ptr = (btDbvtVolume*)locals;
        btDbvtVolume& res = *ptr;
#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 == 0) return;
        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 bool leftOfAxis(const btDbvtNode* node,
                                           const btVector3& org,
                                           const btVector3& axis)
{
        return btDot(axis, node->volume.Center() - org) <= 0;
}
 
// Partitions leaves such that leaves[0, n) are on the
// left of axis, and leaves[n, count) are on the right
// of axis. returns N.
static int split(btDbvtNode** leaves,
                                 int count,
                                 const btVector3& org,
                                 const btVector3& axis)
{
        int begin = 0;
        int end = count;
        for (;;)
        {
                while (begin != end && leftOfAxis(leaves[begin], org, axis))
                {
                        ++begin;
                }
 
                if (begin == end)
                {
                        break;
                }
 
                while (begin != end && !leftOfAxis(leaves[end - 1], org, axis))
                {
                        --end;
                }
 
                if (begin == end)
                {
                        break;
                }
 
                // swap out of place nodes
                --end;
                btDbvtNode* temp = leaves[begin];
                leaves[begin] = leaves[end];
                leaves[end] = temp;
                ++begin;
        }
 
        return begin;
}
 
//
static btDbvtVolume bounds(btDbvtNode** leaves,
                                                   int count)
{
#ifdef BT_USE_SSE
        ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
        btDbvtVolume* ptr = (btDbvtVolume*)locals;
        btDbvtVolume& volume = *ptr;
        volume = leaves[0]->volume;
#else
        btDbvtVolume volume = leaves[0]->volume;
#endif
        for (int i = 1, ni = count; i < ni; ++i)
        {
                Merge(volume, leaves[i]->volume, volume);
        }
        return (volume);
}
 
//
static void bottomup(btDbvt* pdbvt,
                                         btDbvtNode** leaves,
                                         int count)
{
        while (count > 1)
        {
                btScalar minsize = SIMD_INFINITY;
                int minidx[2] = {-1, -1};
                for (int i = 0; i < count; ++i)
                {
                        for (int j = i + 1; j < count; ++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[minidx[1]] = leaves[count - 1];
                --count;
        }
}
 
//
static btDbvtNode* topdown(btDbvt* pdbvt,
                                                   btDbvtNode** leaves,
                                                   int count,
                                                   int bu_treshold)
{
        static const btVector3 axis[] = {btVector3(1, 0, 0),
                                                                         btVector3(0, 1, 0),
                                                                         btVector3(0, 0, 1)};
        btAssert(bu_treshold > 2);
        if (count > 1)
        {
                if (count > bu_treshold)
                {
                        const btDbvtVolume vol = bounds(leaves, count);
                        const btVector3 org = vol.Center();
                        int partition;
                        int bestaxis = -1;
                        int bestmidp = count;
                        int splitcount[3][2] = {{0, 0}, {0, 0}, {0, 0}};
                        int i;
                        for (i = 0; i < count; ++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)
                        {
                                partition = split(leaves, count, org, axis[bestaxis]);
                                btAssert(partition != 0 && partition != count);
                        }
                        else
                        {
                                partition = count / 2 + 1;
                        }
                        btDbvtNode* node = createnode(pdbvt, 0, vol, 0);
                        node->childs[0] = topdown(pdbvt, &leaves[0], partition, bu_treshold);
                        node->childs[1] = topdown(pdbvt, &leaves[partition], count - partition, bu_treshold);
                        node->childs[0]->parent = node;
                        node->childs[1]->parent = node;
                        return (node);
                }
                else
                {
                        bottomup(pdbvt, leaves, count);
                        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[0], leaves.size());
                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[0], leaves.size(), 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