updated/added Cell SPU demo for IBM Cell SDK
This commit is contained in:
ejcoumans
296
Demos/CellSpuDemo/BasicDemo2.cpp
Normal file
296
Demos/CellSpuDemo/BasicDemo2.cpp
Normal file
@@ -0,0 +1,296 @@
|
|||||||
|
/*
|
||||||
|
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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
//#define USE_GROUND_BOX 1
|
||||||
|
//#define PRINT_CONTACT_STATISTICS 1
|
||||||
|
//#define CHECK_MEMORY_LEAKS 1
|
||||||
|
#define USE_PARALLEL_DISPATCHER 1
|
||||||
|
|
||||||
|
|
||||||
|
//#define USE_SIMPLE_DYNAMICS_WORLD 1
|
||||||
|
|
||||||
|
int gNumObjects = 120;
|
||||||
|
#define HALF_EXTENTS btScalar(1.)
|
||||||
|
#include "btBulletDynamicsCommon.h"
|
||||||
|
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
|
||||||
|
#include "LinearMath/btIDebugDraw.h"
|
||||||
|
#include "GLDebugDrawer.h"
|
||||||
|
#include <stdio.h> //printf debugging
|
||||||
|
btScalar deltaTime = btScalar(1./60.);
|
||||||
|
btScalar gCollisionMargin = btScalar(0.05);
|
||||||
|
#include "BasicDemo2.h"
|
||||||
|
#include "GL_ShapeDrawer.h"
|
||||||
|
#include "GlutStuff.h"
|
||||||
|
|
||||||
|
#ifdef USE_PARALLEL_DISPATCHER
|
||||||
|
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
|
||||||
|
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
|
||||||
|
#include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
|
||||||
|
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||||
|
#endif//USE_PARALLEL_DISPATCHER
|
||||||
|
|
||||||
|
|
||||||
|
#include <LinearMath/btAlignedObjectArray.h>
|
||||||
|
|
||||||
|
////////////////////////////////////
|
||||||
|
|
||||||
|
GLDebugDrawer debugDrawer;
|
||||||
|
|
||||||
|
class myTest
|
||||||
|
{
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
int main(int argc,char** argv)
|
||||||
|
{
|
||||||
|
|
||||||
|
BasicDemo ccdDemo;
|
||||||
|
ccdDemo.initPhysics();
|
||||||
|
ccdDemo.setCameraDistance(btScalar(50.));
|
||||||
|
|
||||||
|
#ifdef CHECK_MEMORY_LEAKS
|
||||||
|
ccdDemo.exitPhysics();
|
||||||
|
#else
|
||||||
|
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
//default glut doesn't return from mainloop
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
extern int gNumManifold;
|
||||||
|
extern int gOverlappingPairs;
|
||||||
|
extern int gTotalContactPoints;
|
||||||
|
|
||||||
|
void BasicDemo::clientMoveAndDisplay()
|
||||||
|
{
|
||||||
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||||
|
|
||||||
|
//simple dynamics world doesn't handle fixed-time-stepping
|
||||||
|
float ms = m_clock.getTimeMicroseconds();
|
||||||
|
m_clock.reset();
|
||||||
|
float minFPS = 1000000.f/60.f;
|
||||||
|
if (ms > minFPS)
|
||||||
|
ms = minFPS;
|
||||||
|
|
||||||
|
printf("step\n");
|
||||||
|
|
||||||
|
if (m_dynamicsWorld)
|
||||||
|
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||||
|
|
||||||
|
printf("step finished\n");
|
||||||
|
|
||||||
|
renderme();
|
||||||
|
|
||||||
|
glFlush();
|
||||||
|
//some additional debugging info
|
||||||
|
#ifdef PRINT_CONTACT_STATISTICS
|
||||||
|
printf("num manifolds: %i\n",gNumManifold);
|
||||||
|
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
|
||||||
|
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
|
||||||
|
#endif //PRINT_CONTACT_STATISTICS
|
||||||
|
|
||||||
|
gTotalContactPoints = 0;
|
||||||
|
glutSwapBuffers();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void BasicDemo::displayCallback(void) {
|
||||||
|
|
||||||
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||||
|
|
||||||
|
if (m_dynamicsWorld)
|
||||||
|
m_dynamicsWorld->updateAabbs();
|
||||||
|
|
||||||
|
renderme();
|
||||||
|
|
||||||
|
glFlush();
|
||||||
|
glutSwapBuffers();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void BasicDemo::initPhysics()
|
||||||
|
{
|
||||||
|
|
||||||
|
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||||
|
|
||||||
|
#ifdef USE_PARALLEL_DISPATCHER
|
||||||
|
|
||||||
|
int maxNumOutstandingTasks = 1;//number of maximum outstanding tasks
|
||||||
|
#ifdef USE_WIN32_THREADING
|
||||||
|
|
||||||
|
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
||||||
|
"collision",
|
||||||
|
processCollisionTask,
|
||||||
|
createCollisionLocalStoreMemory,
|
||||||
|
maxNumOutstandingTasks));
|
||||||
|
#else
|
||||||
|
|
||||||
|
spe_program_handle_t * program_handle;
|
||||||
|
#ifndef USE_CESOF
|
||||||
|
char* spuFileName = "../../../Extras/BulletMultiThreaded/out/spuCollision.elf";
|
||||||
|
|
||||||
|
program_handle = spe_image_open (spuFileName);
|
||||||
|
if (program_handle == NULL)
|
||||||
|
{
|
||||||
|
printf( "SPU OPEN IMAGE ERROR:%s\n",spuFileName);
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
printf( "IMAGE OPENED:%s\n",spuFileName);
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
extern spe_program_handle_t spu_program;
|
||||||
|
program_handle = &spu_program;
|
||||||
|
#endif
|
||||||
|
SpuLibspe2Support* threadSupport = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
|
||||||
|
|
||||||
|
#endif // WIN32
|
||||||
|
|
||||||
|
|
||||||
|
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
|
||||||
|
#else
|
||||||
|
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||||
|
#endif //USE_PARALLEL_DISPATCHER
|
||||||
|
|
||||||
|
#define USE_SWEEP_AND_PRUNE 1
|
||||||
|
#ifdef USE_SWEEP_AND_PRUNE
|
||||||
|
#define maxProxies 8192
|
||||||
|
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||||
|
btVector3 worldAabbMax(10000,10000,10000);
|
||||||
|
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
||||||
|
//m_overlappingPairCache = new btMultiSapBroadphase();
|
||||||
|
|
||||||
|
|
||||||
|
#else
|
||||||
|
m_overlappingPairCache = new btSimpleBroadphase;
|
||||||
|
#endif //USE_SWEEP_AND_PRUNE
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||||
|
m_solver = sol;
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef USE_SIMPLE_DYNAMICS_WORLD
|
||||||
|
//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
|
||||||
|
sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
|
||||||
|
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
|
||||||
|
#else
|
||||||
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
|
||||||
|
#endif //USE_SIMPLE_DYNAMICS_WORLD
|
||||||
|
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
||||||
|
|
||||||
|
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||||
|
|
||||||
|
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
|
||||||
|
|
||||||
|
///create a few basic rigid bodies
|
||||||
|
|
||||||
|
|
||||||
|
//static ground
|
||||||
|
#ifdef USE_GROUND_BOX
|
||||||
|
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
||||||
|
#else
|
||||||
|
btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
|
||||||
|
#endif//USE_GROUND_BOX
|
||||||
|
|
||||||
|
m_collisionShapes.push_back(groundShape);
|
||||||
|
|
||||||
|
btTransform groundTransform;
|
||||||
|
groundTransform.setIdentity();
|
||||||
|
groundTransform.setOrigin(btVector3(0,-50,0));
|
||||||
|
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||||
|
|
||||||
|
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
|
||||||
|
//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
|
||||||
|
btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
|
||||||
|
m_collisionShapes.push_back(sphereShape);
|
||||||
|
|
||||||
|
int i;
|
||||||
|
for (i=0;i<gNumObjects;i++)
|
||||||
|
{
|
||||||
|
|
||||||
|
sphereShape->setMargin(gCollisionMargin);
|
||||||
|
btTransform trans;
|
||||||
|
trans.setIdentity();
|
||||||
|
//stack them
|
||||||
|
int colsize = 2;
|
||||||
|
int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
|
||||||
|
int row2 = row;
|
||||||
|
int col = (i)%(colsize)-colsize/2;
|
||||||
|
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
|
||||||
|
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
|
||||||
|
|
||||||
|
trans.setOrigin(pos);
|
||||||
|
//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
|
||||||
|
localCreateRigidBody(btScalar(1.),trans,sphereShape);
|
||||||
|
}
|
||||||
|
|
||||||
|
clientResetScene();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void BasicDemo::exitPhysics()
|
||||||
|
{
|
||||||
|
|
||||||
|
|
||||||
|
//cleanup in the reverse order of creation/initialization
|
||||||
|
|
||||||
|
//remove the rigidbodies from the dynamics world and delete them
|
||||||
|
int i;
|
||||||
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||||
|
{
|
||||||
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||||
|
m_dynamicsWorld->removeCollisionObject( obj );
|
||||||
|
delete obj;
|
||||||
|
}
|
||||||
|
|
||||||
|
//delete collision shapes
|
||||||
|
for (int j=0;j<m_collisionShapes.size();j++)
|
||||||
|
{
|
||||||
|
btCollisionShape* shape = m_collisionShapes[j];
|
||||||
|
delete shape;
|
||||||
|
}
|
||||||
|
|
||||||
|
//delete dynamics world
|
||||||
|
delete m_dynamicsWorld;
|
||||||
|
|
||||||
|
//delete solver
|
||||||
|
delete m_solver;
|
||||||
|
|
||||||
|
//delete broadphase
|
||||||
|
delete m_overlappingPairCache;
|
||||||
|
|
||||||
|
//delete dispatcher
|
||||||
|
delete m_dispatcher;
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
58
Demos/CellSpuDemo/BasicDemo2.h
Normal file
58
Demos/CellSpuDemo/BasicDemo2.h
Normal file
@@ -0,0 +1,58 @@
|
|||||||
|
/*
|
||||||
|
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.
|
||||||
|
*/
|
||||||
|
#ifndef BASIC_DEMO_H
|
||||||
|
#define BASIC_DEMO_H
|
||||||
|
|
||||||
|
#include "DemoApplication.h"
|
||||||
|
|
||||||
|
|
||||||
|
class btCollisionShape;
|
||||||
|
class btOverlappingPairCache;
|
||||||
|
class btCollisionDispatcher;
|
||||||
|
class btConstraintSolver;
|
||||||
|
struct btCollisionAlgorithmCreateFunc;
|
||||||
|
|
||||||
|
///BasicDemo is good starting point for learning the code base and porting.
|
||||||
|
class BasicDemo : public DemoApplication
|
||||||
|
{
|
||||||
|
|
||||||
|
//keep the collision shapes, for deletion/cleanup
|
||||||
|
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||||
|
|
||||||
|
btBroadphaseInterface* m_overlappingPairCache;
|
||||||
|
|
||||||
|
btCollisionDispatcher* m_dispatcher;
|
||||||
|
|
||||||
|
btConstraintSolver* m_solver;
|
||||||
|
|
||||||
|
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
|
||||||
|
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
|
||||||
|
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
void initPhysics();
|
||||||
|
|
||||||
|
void exitPhysics();
|
||||||
|
|
||||||
|
virtual void clientMoveAndDisplay();
|
||||||
|
|
||||||
|
virtual void displayCallback();
|
||||||
|
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif //BASIC_DEMO_H
|
||||||
|
|
||||||
62
Demos/CellSpuDemo/ibmsdk/Makefile
Executable file
62
Demos/CellSpuDemo/ibmsdk/Makefile
Executable file
@@ -0,0 +1,62 @@
|
|||||||
|
# ---------------------------------------------------------------
|
||||||
|
# PLEASE DO NOT MODIFY THIS SECTION
|
||||||
|
# This prolog section is automatically generated.
|
||||||
|
#
|
||||||
|
# (C) Copyright 2001,2006,
|
||||||
|
# International Business Machines Corporation,
|
||||||
|
#
|
||||||
|
# All Rights Reserved.
|
||||||
|
# ---------------------------------------------------------------
|
||||||
|
# --------------------------------------------------------------
|
||||||
|
# PROLOG END TAG zYx
|
||||||
|
|
||||||
|
########################################################################
|
||||||
|
# Source Code
|
||||||
|
########################################################################
|
||||||
|
VPATH = ../
|
||||||
|
########################################################################
|
||||||
|
# Target
|
||||||
|
########################################################################
|
||||||
|
ROOT = ../../..
|
||||||
|
HOSTINC = /usr/include
|
||||||
|
PROGRAM_ppu := BasicDemo2
|
||||||
|
|
||||||
|
#######################################################################
|
||||||
|
# Objs
|
||||||
|
######################################################################
|
||||||
|
OBJS = BasicDemo2.o
|
||||||
|
|
||||||
|
########################################################################
|
||||||
|
# Libraries, Include paths, Defines
|
||||||
|
########################################################################
|
||||||
|
INCLUDE = -DUSE_LIBSPE2 \
|
||||||
|
-I../ \
|
||||||
|
-I$(ROOT)/src \
|
||||||
|
-I$(ROOT)/Demos/OpenGL \
|
||||||
|
-I$(HOSTINC)
|
||||||
|
SYS_LIBS := -lspe2 -lglut -lGLU -lGL -lm -lXext -lXmu -lX11
|
||||||
|
|
||||||
|
IMPORTS = $(ROOT)/lib/ibmsdk/bulletmultithreaded.a \
|
||||||
|
$(ROOT)/lib/ibmsdk/bulletopenglsupport.a \
|
||||||
|
$(ROOT)/lib/ibmsdk/bulletdynamics.a \
|
||||||
|
$(ROOT)/lib/ibmsdk/bulletcollision.a \
|
||||||
|
$(ROOT)/lib/ibmsdk/bulletmath.a
|
||||||
|
|
||||||
|
#######################################################################
|
||||||
|
# Install files/dirs
|
||||||
|
#######################################################################
|
||||||
|
INSTALL_DIR = $(ROOT)/ibmsdk
|
||||||
|
INSTALL_FILES = $(PROGRAM_ppu)
|
||||||
|
########################################################################
|
||||||
|
# make.footer
|
||||||
|
########################################################################
|
||||||
|
|
||||||
|
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||||
|
|
||||||
|
include $(CELL_TOP)/make.footer
|
||||||
|
|
||||||
|
$(PPMS):
|
||||||
|
cp textures/$@ .
|
||||||
|
|
||||||
|
cleanlocal:
|
||||||
|
rm -f $(PPMS)
|
||||||
@@ -8,7 +8,7 @@ HOST = /usr/include
|
|||||||
LIBRARY_ppu = bulletopenglsupport.a
|
LIBRARY_ppu = bulletopenglsupport.a
|
||||||
|
|
||||||
#### Compiler flags
|
#### Compiler flags
|
||||||
CPPFLAGS = \
|
CPPFLAGS = -DUSE_LIBSPE2 \
|
||||||
-I$(ROOT)/src/ \
|
-I$(ROOT)/src/ \
|
||||||
-I$(SDKINC) \
|
-I$(SDKINC) \
|
||||||
-I$(HOST)
|
-I$(HOST)
|
||||||
|
|||||||
Reference in New Issue
Block a user