/**
* PKCS #1 OAEP decoding
*/
static int OAEP_decode(unsigned char *message,
unsigned int encoded_bytes, const unsigned char *encoded,
unsigned int label_bytes, const unsigned char *label) {
unsigned int i, message_bytes;
unsigned char DB[RSA_MOD_BYTES - RSA_SHA_BYTES - 1 /* Add MGF1 buffer space */ + 4];
unsigned char seed[RSA_SHA_BYTES /* Add MGF1 buffer space */ + 4];
debugValue("OAEP decode: encoded message", encoded, encoded_bytes);
// First byte of encoded message must be 0x00
if(encoded[0] != 0x00) {
debugError("First byte of OAEP encoded message is not 0x00");
return RSA_ERROR_OAEP_DECODE;
}
// Extract maskedDB and maskedSeed
debugValue("OAEP decode: maskedSeed", encoded + 1, RSA_SHA_BYTES);
Copy(RSA_SHA_BYTES, DB, encoded + 1 + RSA_SHA_BYTES);
debugValue("OAEP decode: maskedDB", encoded + 1 + RSA_SHA_BYTES, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
// Finding seed and DB
MGF1(RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB, RSA_SHA_BYTES, seed);
debugValue("OAEP decode: seedMask", seed, RSA_SHA_BYTES);
XorAssign(RSA_SHA_BYTES, seed, encoded + 1);
debugValue("OAEP decode: seed", seed, RSA_SHA_BYTES);
MGF1(RSA_SHA_BYTES, seed, RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB);
debugValue("OAEP decode: dbMask", DB, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
XorAssign(RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB, encoded + 1 + RSA_SHA_BYTES);
debugValue("OAEP decode: DB", DB, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
// Compute the hash of l
debugValue("OAEP decode: label", label, label_bytes);
SHA(RSA_SHA_BYTES, seed, label_bytes, label);
debugValue("OAEP decode: hash of label", seed, RSA_SHA_BYTES);
// Check whether the first RSA_SHA_BYTES bytes of DB equal to lHash
if (NotEqual(RSA_SHA_BYTES, seed, DB)) {
debugError("First RSA_SHA_BYTES of DB do not match with hash of label");
return RSA_ERROR_OAEP_DECODE;
}
// Try to locate the message in DB
i = RSA_SHA_BYTES;
while ((DB[i] == 0x00) && (DB[i] != 0x01) && (i < (RSA_MOD_BYTES - RSA_SHA_BYTES - 1 - 1))) i++;
if ((i == (RSA_MOD_BYTES - RSA_SHA_BYTES - 1 - 1)) || (DB[i] != 0x01)) {
debugError("Failed to locate the message in DB");
return RSA_ERROR_OAEP_DECODE;
}
// Extract the message, starting after 0x01 byte to the end of DB
message_bytes = RSA_MOD_BYTES - RSA_SHA_BYTES - 1 - 1 - (i + 1) + 1;
CopyBytes(message_bytes, message, DB + i + 1);
debugValue("OAEP decode: recovered message", message, message_bytes);
return message_bytes;
}
/**
* Verify a PIN code.
*
* @param buffer which contains the code to verify.
*/
int CHV_PIN_verify(CHV_PIN *pin, unsigned int length, unsigned char *buffer) {
// Verify if the PIN has not been blocked
if (pin->count == 0) {
return CHV_BLOCKED;
}
// Check length of the provided data
if (length > 0) {
if (length != CHV_PIN_SIZE) {
return CHV_WRONG_LENGTH;
} else {
// Compare the PIN with the stored code
if (NotEqual(CHV_PIN_SIZE, buffer, pin->code)) {
debugWarning("PIN verification failed");
debugInteger("Tries left", pin->count - 1);
--(pin->count);
CHV_flags &= (0xFF ^ pin->flag);
} else {
debugMessage("PIN verified");
pin->count = CHV_PIN_COUNT;
CHV_flags |= pin->flag;
}
}
}
return CHV_PIN_query(pin);
}
/**
* PKCS #1 PSS verification
*/
static int PSS_verify(unsigned int message_bytes, const unsigned char *message,
unsigned int encoded_bytes, const unsigned char *encoded) {
unsigned char M[8 + RSA_SHA_BYTES + RSA_SALT_BYTES];
unsigned char DB[RSA_MOD_BYTES - RSA_SHA_BYTES - 1];
debugValue("PSS verify: message", message, message_bytes);
if (encoded_bytes != RSA_MOD_BYTES) {
return RSA_ERROR_PSS_INCONSISTENT;
}
debugValue("PSS verify: encoded message", encoded, encoded_bytes);
// Verification
if (encoded[RSA_MOD_BYTES - 1] != 0xbc) {
return RSA_ERROR_PSS_INCONSISTENT;
}
// Extract maskedDB and H
debugValue("PSS verify: maskedDB", encoded, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
Copy(RSA_SHA_BYTES, M + 8, encoded + RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
debugValue("PSS verify: H", encoded + RSA_MOD_BYTES - RSA_SHA_BYTES - 1, RSA_SHA_BYTES);
// Compute DB
MGF1(RSA_SHA_BYTES, M + 8, RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB);
debugValue("PSS verify: dbMask", DB, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
XorAssign(RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB, encoded);
debugValue("PSS verify: DB", DB, RSA_MOD_BYTES - RSA_SHA_BYTES - 1);
if (DB[RSA_MOD_BYTES - RSA_SALT_BYTES - RSA_SHA_BYTES - 2] != 0x01) {
return RSA_ERROR_PSS_INCONSISTENT;
}
// Compute hash of m
SHA(RSA_SHA_BYTES, M + 8, message_bytes, message);
debugValue("PSS verify: hash of message", M + 8, RSA_SHA_BYTES);
Copy(RSA_SALT_BYTES, M + 8 + RSA_SHA_BYTES, DB + RSA_MOD_BYTES - RSA_SALT_BYTES - RSA_SHA_BYTES - 1);
debugValue("PSS verify: recovered message to be encoded", M, 8 + RSA_SHA_BYTES + RSA_SALT_BYTES);
SHA(RSA_SHA_BYTES, DB, 8 + RSA_SHA_BYTES + RSA_SALT_BYTES, M);
debugValue("PSS verify: hash of recovered message to be encoded", DB, RSA_SHA_BYTES);
if (NotEqual(RSA_SHA_BYTES, encoded + RSA_MOD_BYTES - RSA_SHA_BYTES - 1, DB)) {
debugWarning("PSS verify: verification failed");
return RSA_ERROR_PSS_INCONSISTENT;
}
debugMessage("PSS verify: verification succeeded");
return RSA_PSS_CONSISTENT;
}
bool Matrix::operator==(const Matrix& m) const
{
if(size() != m.size())
{
return false;
}
if(precision() != m.precision())
{
return false;
}
return reduce(apply(*this, m, NotEqual()), {}, Add())[0] == 0;
}
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
const btVector3& aabbMax,
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
#if DBVT_BP_PREVENTFALSEUPDATE
if(NotEqual(aabb,proxy->leaf->volume))
#endif
{
bool docollide=false;
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=
/* Recognize and Translate a Relational "Less Than" */
void Less()
{
Next();
switch(Token) {
case '=':
LessOrEqual();
break;
case '>':
NotEqual();
break;
default:
CompareExpression();
SetLess();
break;
}
}
/**
* RSA signature verification (as specified by PKCS #1)
*
* Note: the signature will be modified/overwritten by this function.
*
* @param key to be used for this operation.
* @param message_bytes size in bytes of the message.
* @param message that is to be verified.
* @param signature_bytes size in bytes of the signature.
* @param signature over the message to be verified.
* @return whether the message/signature is correct.
*/
int RSA_RAW_verify(const RSA_public_key *key,
unsigned int message_bytes, const unsigned char *message,
unsigned int signature_bytes, unsigned char *signature) {
if (signature_bytes != RSA_MOD_BYTES) {
debugError("Incorrect size of signature");
return RSA_ERROR_RAW_VERIFY;
}
if (message_bytes > signature_bytes) {
debugError("Incorrect size of message");
return RSA_ERROR_RAW_VERIFY;
}
ModExp(RSA_EXP_BYTES, RSA_MOD_BYTES, key->exponent, key->modulus, signature, signature);
if (NotEqual(message_bytes, message, signature + RSA_MOD_BYTES - message_bytes)) {
return RSA_ERROR_INCONSISTENT;
}
return RSA_CONSISTENT;
}
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);
}
}
}
void btDbvtBroadphase::setAabb(btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
const btVector3& aabbMax,
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy = (btDbvtProxy*)absproxy;
ATTRIBUTE_ALIGNED16(btDbvtVolume)
aabb = btDbvtVolume::FromMM(aabbMin, aabbMax);
#if DBVT_BP_PREVENTFALSEUPDATE
if (NotEqual(aabb, proxy->leaf->volume))
#endif
{
bool docollide = false;
if (proxy->stage == STAGECOUNT)
{ /* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf = m_sets[0].insert(aabb, proxy);
docollide = true;
}
else
{ /* dynamic set */
++m_updates_call;
if (Intersect(proxy->leaf->volume, aabb))
{ /* Moving */
const btVector3 delta = aabbMin - proxy->m_aabbMin;
btVector3 velocity(((proxy->m_aabbMax - proxy->m_aabbMin) / 2) * m_prediction);
if (delta[0] < 0) velocity[0] = -velocity[0];
if (delta[1] < 0) velocity[1] = -velocity[1];
if (delta[2] < 0) velocity[2] = -velocity[2];
if (
m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
)
{
++m_updates_done;
docollide = true;
}
}
else
{ /* Teleporting */
m_sets[0].update(proxy->leaf, aabb);
++m_updates_done;
docollide = true;
}
}
listremove(proxy, m_stageRoots[proxy->stage]);
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
listappend(proxy, m_stageRoots[m_stageCurrent]);
if (docollide)
{
m_needcleanup = true;
if (!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
}
}
}
}
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");
}
/**
* Unwrap a command APDU from secure messaging
*/
int SM_APDU_unwrap(unsigned char *apdu, unsigned char *buffer, SM_parameters *params) {
unsigned char mac[SM_MAC_BYTES];
int i;
unsigned int offset = 0;
unsigned int do87DataBytes = 0;
unsigned int do87Data = 0;
IncrementBytes(SM_SSC_BYTES, params->ssc);
if (apdu[offset] == 0x87) { // do87
if (apdu[++offset] > 0x80) {
do87Data = apdu[offset++] & 0x7f;
} else {
do87Data = 1;
}
for (i = 0; i < do87Data; i++) {
do87DataBytes += apdu[offset + i] << (do87Data - 1 - i) * 8;
}
offset += do87Data;
if (apdu[offset++] != 0x01) {
return SM_ERROR_WRONG_DATA;
}
do87DataBytes--; // compensate for 0x01 marker
// store pointer to data and defer decrypt to after mac check (do8e)
do87Data = offset;
offset += do87DataBytes;
}
if (apdu[offset] == 0x97) { // do97
if (apdu[++offset] != 0x01) {
return SM_ERROR_WRONG_DATA;
}
Le = apdu[++offset];
offset++;
}
// do8e
if (apdu[offset] != 0x8e || apdu[offset + 1] != 8) {
return SM_ERROR_WRONG_DATA;
}
// verify mac
i = 0;
// SSC
Copy(SM_SSC_BYTES, buffer, params->ssc);
i += SM_SSC_BYTES;
// Header
buffer[i++] = CLA;
buffer[i++] = INS;
buffer[i++] = P1;
buffer[i++] = P2;
// Padding
i = SM_ISO7816_4_pad(apdu, i);
// Cryptogram (do87 and do97)
CopyBytes(offset, buffer + i, apdu);
do87Data += i;
i += offset;
// Padding
i = SM_ISO7816_4_pad(buffer, i);
// Verify the MAC
SM_CBC_sign(i, buffer, mac, SM_KEY_BYTES, params->key_mac, SM_IV);
if (NotEqual(SM_MAC_BYTES, mac, apdu + offset + 2)) {
return SM_ERROR_MAC_INVALID;
}
// Decrypt data if available
if (do87DataBytes != 0) {
SM_CBC_decrypt(do87DataBytes, buffer + do87Data, apdu, SM_IV, SM_KEY_BYTES, params->key_enc);
Lc = do87DataBytes;
if (SM_ISO7816_4_unpad(apdu, &Lc) < 0) {
return SM_ERROR_PADDING_INVALID;
} else {
return Lc;
}
}
}