btDbvt.cpp

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/*
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.
*/

#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