Minor fixes in multi-threaded narrowphase Bullet version: allow to dynamically switch number of threads/SPUs

Disable USE_SEPDISTANCE_UTIL for now

src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp

@@ -24,6 +24,28 @@ subject to the following restrictions:
 
 
 
+void	SpuCollisionTaskProcess::setNumTasks(int maxNumTasks)
+{
+	m_maxNumOutstandingTasks = maxNumTasks;
+	m_taskBusy.resize(m_maxNumOutstandingTasks);
+	m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks);
+
+	for (int i = 0; i < m_taskBusy.size(); i++)
+	{
+		m_taskBusy[i] = false;
+	}
+
+	///re-allocate task memory buffers
+	if (m_workUnitTaskBuffers != 0)
+	{
+		btAlignedFree(m_workUnitTaskBuffers);
+	}
+	
+	m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128);
+				m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*6, 128);
+	
+}
+
 
 
 SpuCollisionTaskProcess::SpuCollisionTaskProcess(class	btThreadSupportInterface*	threadInterface, unsigned int	maxNumOutstandingTasks)
@@ -31,13 +53,7 @@ SpuCollisionTaskProcess::SpuCollisionTaskProcess(class	btThreadSupportInterface*
 m_maxNumOutstandingTasks(maxNumOutstandingTasks)
 {
 	m_workUnitTaskBuffers = (unsigned char *)0;
-	m_taskBusy.resize(m_maxNumOutstandingTasks);
+	setNumTasks(maxNumOutstandingTasks);
-	m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks);
-
-	for (int i = 0; i < m_maxNumOutstandingTasks; i++)
-	{
-		m_taskBusy[i] = false;
-	}
 	m_numBusyTasks = 0;
 	m_currentTask = 0;
 	m_currentPage = 0;
@@ -77,11 +93,6 @@ void SpuCollisionTaskProcess::initialize2(bool useEpa)
 #ifdef DEBUG_SPU_TASK_SCHEDULING
 	printf("SpuCollisionTaskProcess::initialize()\n");
 #endif //DEBUG_SPU_TASK_SCHEDULING
-	if (!m_workUnitTaskBuffers)
-	{
-		m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128);
-	}
-
 	
 	for (int i = 0; i < m_maxNumOutstandingTasks; i++)
 	{

src/BulletMultiThreaded/SpuCollisionTaskProcess.h

@@ -132,6 +132,14 @@ public:
 
 	///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
 	void flush2();
+
+	/// set the maximum number of SPU tasks allocated
+	void	setNumTasks(int maxNumTasks);
+
+	int		getNumTasks() const
+	{
+		return m_maxNumOutstandingTasks;
+	}
 };
 
 

src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h

@@ -24,7 +24,7 @@ subject to the following restrictions:
 
 class btPersistentManifold;
 
-#define USE_SEPDISTANCE_UTIL 1
+//#define USE_SEPDISTANCE_UTIL 1
 
 /// SpuContactManifoldCollisionAlgorithm  provides contact manifold and should be processed on SPU.
 ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm

src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp

@@ -150,10 +150,16 @@ void	SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
 
 	if (dispatchInfo.m_enableSPU)
 	{
+		m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();
+
 		if (!m_spuCollisionTaskProcess)
 			m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
 	
+		m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
+//		printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
+
 		m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
+		
 	
 		///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
 		{

src/BulletMultiThreaded/Win32ThreadSupport.h

@@ -64,6 +64,7 @@ private:
 	btAlignedObjectArray<btSpuStatus>	m_activeSpuStatus;
 	btAlignedObjectArray<void*>			m_completeHandles;
 	
+	int m_maxNumTasks;
 public:
 	///Setup and initialize SPU/CELL/Libspe2
 
@@ -116,6 +117,12 @@ public:
 
 	virtual	void	setNumTasks(int numTasks)
 	{
+		m_maxNumTasks = numTasks;
+	}
+
+	virtual int getNumTasks() const
+	{
+		return m_maxNumTasks;
 	}
 
 };

src/BulletMultiThreaded/btThreadSupportInterface.h

@@ -42,6 +42,8 @@ public:
 	///tell the task scheduler to use no more than numTasks tasks
 	virtual void	setNumTasks(int numTasks)=0;
 
+	virtual int		getNumTasks() const = 0;
+
 };
 
 #endif //THREAD_SUPPORT_INTERFACE_H