Pairs phase at 1.1-1.2x Box3D, the wide separating axis test, #158

README.md

@@ -29,10 +29,10 @@ so a test written against the reference reads the same here.
 | `aephysics.basics` | bit set, id pool, hash set, a long-to-int map, arrays, the stack and arena allocators, the content hash (the reference's core.c, named so a host's own `core` module and this one can share a program) | done, `test_basics.ae` (100k checks, test_container.c and test_allocator.c among them); `test_hash.ae` (36 checks: test_hash.c's properties on our hash, every bit and the length reaching it, families of real geometry never colliding) |
 | `aephysics.native` | the Aether face of the one C file built with every program: the threads' helpers Aether has not (a thread-local worker index, yield, pause, the processor count, atomics on an int in place, a semaphore) and the per-worker scratch every module keeps a block of | done |
 | `aephysics.parallel` | the reference's scheduler and `parallel_for`: worker threads made once and waiting on a semaphore, tasks in slots claimed by compare-and-swap, the main thread helping while it waits; a range in blocks the tasks claim, the caller working as worker 0 | done, `test_parallel.ae` (18 checks); [the step by worker count against the reference's](bench/RESULTS.md#parallel) |
-| `aephysics.dynamic_tree` | the bounding volume hierarchy under the broad phase: SAH insertion, rotations, enlarge, sweep refit, partial rebuild in depth-first order, box / closest / ray / swept-box queries, the tree saved and loaded as bytes (b3DynamicTree_Save and _Load; every corrupt input refused) | done, `test_dynamic_tree.ae` (15k checks: TreeSaveLoadRoundtrip among them, the loaded tree's queries against a scan, a scale, and ten corruptions refused); [same tree as the reference; inserts 0.4x its time, queries 1.1x, rays 0.9x](bench/RESULTS.md#dynamic_tree) |
-| `aephysics.hull` | quickhull with face merging, the half-edge hull with its mass properties, box / cylinder / cone / rock hulls and PEEL's convex (the reference's complex hull, the same 32 points), clone-and-transform with mirroring, support functions, ray cast, the 2D hull | done, `test_hull.ae` (445 checks); [same hulls as the reference; sphere hulls at parity, merge-heavy cubes 2x, box hulls 3.6x (a heap block against its stack value)](bench/RESULTS.md#hull) |
+| `aephysics.dynamic_tree` | the bounding volume hierarchy under the broad phase: SAH insertion, rotations, enlarge, sweep refit, partial rebuild in depth-first order, box / closest / ray / swept-box queries, the tree saved and loaded as bytes (b3DynamicTree_Save and _Load; every corrupt input refused); its boxes in single precision rounded outward from double, as the reference's large-world build keeps them (32-byte nodes; the costs and rays measured on the widened boxes) | done, `test_dynamic_tree.ae` (15k checks: TreeSaveLoadRoundtrip among them, the loaded tree's queries against a scan, a scale, ten corruptions refused, and centimetre boxes at 1e7 each held by its leaf and found by every query that touches it); [same tree as the reference; inserts 0.4x its time, queries 1.1x, rays 0.9x](bench/RESULTS.md#dynamic_tree) |
+| `aephysics.hull` | quickhull with face merging, the half-edge hull with its mass properties, box / cylinder / cone / rock hulls and PEEL's convex (the reference's complex hull, the same 32 points), clone-and-transform with mirroring, support functions, ray cast, the 2D hull; every hull carries single-precision rows of its vertices and normals and its edges' cosines, padded to eight lanes, for the wide separating axis test | done, `test_hull.ae` (445 checks); [same hulls as the reference; sphere hulls at parity, merge-heavy cubes 2x, box hulls 3.6x (a heap block against its stack value)](bench/RESULTS.md#hull) |
 | `aephysics.distance` | GJK with the warm-started simplex cache, the shape cast by conservative advancement, the time of impact by separating-axis root finding | done, `test_distance.ae` (1.1k checks); [same results as the reference; 1.1-1.2x its time, the time of impact faster](bench/RESULTS.md#distance) |
-| `aephysics.manifold` | contact manifolds for sphere, capsule and hull in every pairing: the separating axis test with its cache, reference-face clipping, the feature pairs, reduction to four points | done, `test_manifold.ae` (43k checks, 7,000 pairs against a brute-force oracle); [same manifolds as the reference, warm cache at parity](bench/RESULTS.md#manifold) |
+| `aephysics.manifold` | contact manifolds for sphere, capsule and hull in every pairing: the separating axis test with its cache (support searches eight vertices a pass over the hulls' rows, edge candidates culled by the inscribed spheres and a probe point, edge pairs eight a pass, every winner measured in double), reference-face clipping, the feature pairs, reduction to four points | done, `test_manifold.ae` (43k checks, 7,000 pairs against a brute-force oracle); [same manifolds as the reference, warm cache at parity](bench/RESULTS.md#manifold) |
 | `aephysics.triangle_manifold` | one mesh triangle against a sphere, capsule or hull: back-side cull with hysteresis, GJK shallow, the separating axis test deep with the triangle's edges as zero-area faces, the feature recorded for the mesh contact's ghost-collision reduction | done, `test_triangle_manifold.ae` (1.5k checks); [same manifolds as the reference, within 10% on hulls](bench/RESULTS.md#triangle_manifold) |
 | `aephysics.mesh` | the triangle mesh: a BVH by binned SAH or median split with the triangles in depth-first order, vertex welding, edge flags, any scale including mirrored; overlap, ray cast, shape cast, the mover's planes, a box query | done, `test_mesh.ae` (1.6k checks); [same trees as the reference; the SAH build at parity, the median build 1.2-1.4x, rays and casts faster, the box query 1.5x](bench/RESULTS.md#mesh) |
 | `aephysics.height_field` | the height field: quantised heights on a fixed diagonal, materials and holes per cell, edge flags per triangle, either winding; overlap, ray and shape casts by a walk along the grid, the mover's planes, a box query | done, `test_height_field.ae` (158 checks, casts against a brute force over a wave, the file roundtrip through `aephysics.files`: the definition back byte for byte, the reference's own text with CRLF lines, and every bad file refused); [same results and the same 1.3 MB as the reference; rays at parity, queries and casts faster, builds 1.1x](bench/RESULTS.md#height_field) |
@@ -43,7 +43,7 @@ so a test written against the reference reads the same here.
 | `aephysics.compound` | the baked compound: capsules, hulls, meshes and spheres in one block under a static tree, hulls and meshes shared by content, materials by value; bounds, overlap, ray and shape casts, the box query, the mover's planes; the compound as bytes and back (b3ConvertCompoundToBytes, every section, shared hull and mesh, material and child checked against the bytes) | done, `test_compound.ae` (200 checks: the three serialize tests, the same bytes for the same compound, and ten corruptions refused); [same results as the reference; builds 0.9x, rays 1.1x, box queries 1.3x](bench/RESULTS.md#compound) |
 | `aephysics.shape` | the shape of any kind (sphere, capsule, hull, mesh, height field, compound) with the dispatch over every kind under a transform: bounds, swept and fat bounds, centroid, areas, mass, extent, ray and shape casts, overlap, the mover's planes, the proxy; the collision filters | done, `test_shape.ae` (443 checks); [same results as the reference; rays, shape casts and overlaps at or under its time](bench/RESULTS.md#shape) |
 | `aephysics.mover` | the character mover's plane solver: pushes accumulated and clamped over twenty sweeps, the velocity clip | done, `test_mover.ae` (56 checks); [same results as the reference, 0.9x its time](bench/RESULTS.md#mover) |
-| `aephysics.broad_phase` | the broad phase: a tree per body type, proxies keyed by type, the pair update through the moved siblings and cross-tree seeds with the filter and compound lookups as visitors, the pair set, the keys sorted | done, `test_broad_phase.ae` (36 checks against a brute force); [10,000 moving boxes at 4.6 ms a step](bench/RESULTS.md#broad_phase) |
+| `aephysics.broad_phase` | the broad phase: a tree per body type, proxies keyed by type, the pair update through the moved siblings and cross-tree seeds with the filter and compound lookups as visitors, candidates checked against the pair set 32 at a time with every slot prefetched first (b3FlushCandidatePairs), the keys sorted | done, `test_broad_phase.ae` (36 checks against a brute force); [10,000 moving boxes at 4.6 ms a step](bench/RESULTS.md#broad_phase) |
 | `aephysics.mesh_contact` | a convex shape against a mesh or height field: the triangle cache with per-triangle warm starts, the manifolds per triangle, the seam rules against ghost collisions, clusters by normal, the four-point cull | done, `test_mesh_contact.ae` (64 checks); [a box on a wave at 3.2 us a step](bench/RESULTS.md#mesh_contact) |
 | `aephysics.dynamics` | the world's state and bookkeeping: worlds, bodies (creation, mass from shapes or by hand, transforms, velocities, extents, locks, sleep and enable flags, the type changed, disabled and enabled) in solver sets, shapes of every kind on bodies with their broad-phase proxies, the hull database (a hull shape holds the world's copy, equal hulls share one, transformed hulls baked into their own), islands linked by contacts and joints and split by union-find, sleeping sets, waking and merging, the constraint graph's colouring, contacts from the broad phase's pairs with the narrow phase (convex, mesh, height field, compound children) and the state changes with their events, contact recycling, joints of every kind (definitions, creation with the edges, sets and islands, collide-connected in the pair filter, destruction, separations, reactions), sensors with their begin and end events | `test_dynamics.ae` (641 checks: test_body.c, the step-free test_world.c and test_joint.c, test_shape.c's names and flags, contacts, islands, sleep, joints, sensors); [creation 0.9x, the first collide at parity, recycling 1.1-1.2x, joints 0.6x, sensors 0.75-1.0x](bench/RESULTS.md#dynamics-bookkeeping-contacts-joints-sensors) |
 | `aephysics.contact_solver` | the contact constraints of a step, scalar: prepared from the manifolds (anchors, base separations, normal masses, the friction centre and its tangent mass, twist and rolling masses), warm started, solved per sub-step (soft normal constraints with speculative bias, then central friction, twist friction and rolling resistance in the relax pass), the restitution pass, the impulses stored with the hit events; the step context | `test_contact_solver.ae` (50 checks: the passes by hand on a cube on a slab) | [ours alone](bench/RESULTS.md#contact_solver) |

aephysics/basics/module.ae

@@ -31,7 +31,7 @@ exports (
     idpool_create, idpool_destroy, idpool_alloc, idpool_free, idpool_count, idpool_capacity,
     key_hash, shape_pair_key, SHAPE_POWER, CHILD_POWER, MAX_SHAPES, MAX_CHILD_SHAPES,
     set_create, set_destroy, set_clear, set_add, set_remove, set_contains, set_contains_hashed,
-    set_count, set_bytes,
+    set_count, set_bytes, set_prefetch,
     LongMap, map_create, map_destroy, map_clear, map_set, map_get, map_has, map_remove, map_count, map_bytes,
     hash_bytes, section_fits,
     ints_create, ints_destroy, ints_reserve, ints_push, ints_pop, ints_get, ints_set, ints_clear,
@@ -840,6 +840,12 @@ set_contains(s: *HashSet, key: long) -> bool {
     return items[index].key == key
 }
 
+// The cache line of a hash's home slot, fetched ahead: a batch prefetches
+// every key's slot before it probes any (the reference's b3PrefetchHash).
+set_prefetch(s: *HashSet, hash: int) {
+    native.prefetch(s.items + (hash & (s.capacity - 1)) * sizeof(SetItem))
+}
+
 // With the hash already in hand, for a batch that prefetches slots.
 set_contains_hashed(s: *HashSet, key: long, hash: int) -> bool {
     index = find_slot(s, key, hash)