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moved predictUnconstraintMotion to SPU

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This commit is contained in:
erwin.coumans
2008-06-04 02:39:37 +00:00
parent 8827d5dbfb
commit 35083aae4a
2 changed files with 96 additions and 23 deletions
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116
Extras/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp
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@@ -27,10 +27,12 @@ subject to the following restrictions:
#define spu_printf printf
#endif
#define MAX_NUM_BODIES 8192
struct SampleTask_LocalStoreMemory
{
ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]);
ATTRIBUTE_ALIGNED16(void* gPointerArray[1024]); //at max upload 1024 pointers
ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]);
};
@@ -40,7 +42,7 @@ struct SampleTask_LocalStoreMemory
//-- MAIN METHOD
void processSampleTask(void* userPtr, void* lsMemory)
{
// BT_PROFILE("processSampleTask");
// BT_PROFILE("processSampleTask");
SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory;
@@ -55,11 +57,16 @@ void processSampleTask(void* userPtr, void* lsMemory)
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
int batchSize = taskDesc.m_sampleValue;
if (batchSize>MAX_NUM_BODIES)
{
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
break;
}
int dmaArraySize = batchSize*sizeof(void*);
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
if (dmaArraySize>=16)
{
@@ -69,24 +76,24 @@ void processSampleTask(void* userPtr, void* lsMemory)
{
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
}
for ( int i=0;i<batchSize;i++)
{
///DMA rigid body
void* localPtr = &localMemory->gLocalRigidBody[0];
void* shortAdd = localMemory->gPointerArray[i];
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
int dmaBodySize = sizeof(btRigidBody);
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
float timeStep = 1.f/60.f;
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
@@ -97,7 +104,7 @@ void processSampleTask(void* userPtr, void* lsMemory)
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
void* ptr = (void*)localPtr;
// spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
// spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
@@ -106,17 +113,82 @@ void processSampleTask(void* userPtr, void* lsMemory)
}
}
/*
#ifdef __SPU__
spu_printf("hello SPU world\n");
#else
printf("hello world\n");
#endif
*/
break;
}
case CMD_SAMPLE_PREDICT_MOTION_BODIES:
{
btTransform predictedTrans;
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
int batchSize = taskDesc.m_sampleValue;
int dmaArraySize = batchSize*sizeof(void*);
if (batchSize>MAX_NUM_BODIES)
{
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
break;
}
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
if (dmaArraySize>=16)
{
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
} else
{
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
}
for ( int i=0;i<batchSize;i++)
{
///DMA rigid body
void* localPtr = &localMemory->gLocalRigidBody[0];
void* shortAdd = localMemory->gPointerArray[i];
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
int dmaBodySize = sizeof(btRigidBody);
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
float timeStep = 1.f/60.f;
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
if (body)
{
if (!body->isStaticOrKinematicObject())
{
if (body->isActive())
{
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
void* ptr = (void*)localPtr;
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
}
}
}
break;
}
default:
{
@@ -136,7 +208,7 @@ void* createSampleLocalStoreMemory()
#else
void* createSampleLocalStoreMemory()
{
return new SampleTask_LocalStoreMemory;
return new SampleTask_LocalStoreMemory;
};
#endif