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enable convex polyhedra (btConvexHullShape) for multi-threaded version

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This commit is contained in:
ejcoumans
2007-06-13 06:01:56 +00:00
parent 50f957eff1
commit 2b39be94a3
3 changed files with 84 additions and 3 deletions
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81
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -14,6 +14,8 @@
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "SpuMinkowskiPenetrationDepthSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuVoronoiSimplexSolver.h"
@@ -27,6 +29,7 @@
#endif
//int gNumConvexPoints0=0;
///Make sure no destructors are called on this memory
@@ -66,7 +69,7 @@ struct CollisionTask_LocalStoreMemory
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
SpuConvexPolyhedronVertexData* convexVertexData;
SpuConvexPolyhedronVertexData convexVertexData;
};
@@ -105,6 +108,80 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
SpuVoronoiSimplexSolver vsSolver;
SpuMinkowskiPenetrationDepthSolver penetrationSolver;
///DMA in the vertices for convex shapes
if (wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE)
{
// spu_printf("SPU: DMA btConvexHullShape\n");
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
{
int dmaSize = sizeof(btConvexHullShape);
uint64_t dmaPpuAddress2 = wuInput->m_collisionShapes[0];
cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
lsMemPtr->convexVertexData.gNumConvexPoints0 = localPtr->getNumPoints();
if (lsMemPtr->convexVertexData.gNumConvexPoints0>MAX_NUM_SPU_CONVEX_POINTS)
{
btAssert(0);
spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,lsMemPtr->convexVertexData.gNumConvexPoints0);
return;
}
{
int dmaSize = lsMemPtr->convexVertexData.gNumConvexPoints0*sizeof(btPoint3);
uint64_t dmaPpuAddress2 = (uint64_t) localPtr->getPoints();
cellDmaGet(&lsMemPtr->convexVertexData.g_convexPointBuffer0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
lsMemPtr->convexVertexData.gSpuConvexShapePtr0 = wuInput->m_spuCollisionShapes[0];
lsMemPtr->convexVertexData.gConvexPoints0 = &lsMemPtr->convexVertexData.g_convexPointBuffer0[0];
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
}
if (wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE)
{
ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
// spu_printf("SPU: DMA btConvexHullShape\n");
{
int dmaSize = sizeof(btConvexHullShape);
uint64_t dmaPpuAddress2 = wuInput->m_collisionShapes[1];
cellDmaGet(&convexHullShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape1;
lsMemPtr->convexVertexData.gNumConvexPoints1 = localPtr->getNumPoints();
if (lsMemPtr->convexVertexData.gNumConvexPoints1>MAX_NUM_SPU_CONVEX_POINTS)
{
btAssert(0);
spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,lsMemPtr->convexVertexData.gNumConvexPoints1);
return;
}
{
int dmaSize = lsMemPtr->convexVertexData.gNumConvexPoints1*sizeof(btPoint3);
uint64_t dmaPpuAddress2 = (uint64_t) localPtr->getPoints();
cellDmaGet(&lsMemPtr->convexVertexData.g_convexPointBuffer1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
lsMemPtr->convexVertexData.gSpuConvexShapePtr1 = wuInput->m_spuCollisionShapes[1];
lsMemPtr->convexVertexData.gConvexPoints1 = &lsMemPtr->convexVertexData.g_convexPointBuffer1[0];
}
}
void* shape0Ptr = wuInput->m_spuCollisionShapes[0];
void* shape1Ptr = wuInput->m_spuCollisionShapes[1];
int shapeType0 = wuInput->m_shapeType0;
@@ -113,7 +190,7 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
float marginB = wuInput->m_collisionMargin1;
SpuClosestPointInput cpInput;
cpInput.m_convexVertexData = lsMemPtr->convexVertexData;
cpInput.m_convexVertexData = &lsMemPtr->convexVertexData;
cpInput.m_transformA = wuInput->m_worldTransform0;
cpInput.m_transformB = wuInput->m_worldTransform1;
float sumMargin = (marginA+marginB);