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Some performance improvements and fixes related to btVector3 being aligned on SPU.

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btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
This commit is contained in:
erwin.coumans
2008-10-29 02:44:50 +00:00
parent ce5df7cf47
commit 55b29e2355
10 changed files with 241 additions and 110 deletions
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215
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -118,6 +118,8 @@ struct CollisionTask_LocalStoreMemory
return (btCollisionObject*) gColObj1;
}
bool needsDmaPutContactManifoldAlgo;
DoubleBuffer<unsigned char, MIDPHASE_WORKUNIT_PAGE_SIZE> g_workUnitTaskBuffers;
ATTRIBUTE_ALIGNED16(btBroadphasePair gBroadphasePairs[SPU_BATCHSIZE_BROADPHASE_PAIRS]);
@@ -125,7 +127,7 @@ struct CollisionTask_LocalStoreMemory
//SpuContactManifoldCollisionAlgorithm gSpuContactManifoldAlgo;
//ATTRIBUTE_ALIGNED16(char gSpuContactManifoldAlgo[sizeof(SpuContactManifoldCollisionAlgorithm)+128]);
SpuContactManifoldCollisionAlgorithm gSpuContactManifoldAlgo;
ATTRIBUTE_ALIGNED16(char gSpuContactManifoldAlgo [sizeof(SpuContactManifoldCollisionAlgorithm)+16]);
SpuContactManifoldCollisionAlgorithm* getlocalCollisionAlgorithm()
{
@@ -250,8 +252,8 @@ class spuNodeCallback : public btNodeOverlapCallback
public:
spuNodeCallback(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts)
: m_wuInput(wuInput),
m_lsMemPtr(lsMemPtr),
m_spuContacts(spuContacts)
m_spuContacts(spuContacts),
m_lsMemPtr(lsMemPtr)
{
}
@@ -346,9 +348,7 @@ public:
void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
{
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1];
//need the mesh interface, for access to triangle vertices
dmaBvhShapeData (&lsMemPtr->bvhShapeData, trimeshShape);
@@ -559,8 +559,17 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
wuInput->m_isSwapped);
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
{
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
#ifdef USE_SEPDISTANCE_UTIL
btScalar sepDist = gjk.getCachedSeparatingDistance()+spuManifold->getContactBreakingThreshold();
lsMemPtr->getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(gjk.getCachedSeparatingAxis(),sepDist,wuInput->m_worldTransform0,wuInput->m_worldTransform1);
lsMemPtr->needsDmaPutContactManifoldAlgo = true;
#endif //USE_SEPDISTANCE_UTIL
}
}
@@ -581,11 +590,11 @@ SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collis
register ppu_address_t dmaPpuAddress2;
dmaSize = sizeof(btCollisionObject);//btTransform);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.gSpuContactManifoldAlgo.getCollisionObject0();
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject0();
cellDmaGet(&lsMem.gColObj0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
dmaSize = sizeof(btCollisionObject);//btTransform);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.gSpuContactManifoldAlgo.getCollisionObject1();
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject1();
cellDmaGet(&lsMem.gColObj1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
@@ -601,8 +610,6 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
ppu_address_t collisionShape0Ptr, void* collisionShape0Loc,
ppu_address_t collisionShape1Ptr, void* collisionShape1Loc, bool dmaShapes = true)
{
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)
&& btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
@@ -904,31 +911,11 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm;
cellDmaGet(&lsMem.gSpuContactManifoldAlgo, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
//snPause();
#ifdef DEBUG_SPU_COLLISION_DETECTION
//spu_printf("SPU: manifoldPtr: %llx",collisionPairInput->m_persistentManifoldPtr);
#endif //DEBUG_SPU_COLLISION_DETECTION
/*
dmaSize = sizeof(btBroadphaseProxy);
dmaPpuAddress2 = (ppu_address_t)pair.m_pProxy0;
//stallingUnalignedDmaSmallGet(lsMem.gProxyPtr0, dmaPpuAddress2 , dmaSize);
void* tmpPtr = cellDmaSmallGetReadOnly(&lsMem.bufferProxy0, dmaPpuAddress2 , dmaSize,DMA_TAG(1), 0, 0);
lsMem.gProxyPtr0 = (btBroadphaseProxy*) tmpPtr;
dmaSize = sizeof(btBroadphaseProxy);
dmaPpuAddress2 = (ppu_address_t)pair.m_pProxy1;
tmpPtr = cellDmaSmallGetReadOnly(&lsMem.bufferProxy1, dmaPpuAddress2 , dmaSize,DMA_TAG(1), 0, 0);
lsMem.gProxyPtr1 = (btBroadphaseProxy*)tmpPtr;
*/
cellDmaWaitTagStatusAll(DMA_MASK(1));
collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.gSpuContactManifoldAlgo.getContactManifoldPtr();
lsMem.needsDmaPutContactManifoldAlgo = false;
collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.getlocalCollisionAlgorithm()->getContactManifoldPtr();
collisionPairInput.m_isSwapped = false;
if (1)
@@ -948,10 +935,10 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
dmaPpuAddress2 = collisionPairInput.m_persistentManifoldPtr;
cellDmaGet(&lsMem.gPersistentManifold, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
collisionPairInput.m_shapeType0 = lsMem.gSpuContactManifoldAlgo.getShapeType0();
collisionPairInput.m_shapeType1 = lsMem.gSpuContactManifoldAlgo.getShapeType1();
collisionPairInput.m_collisionMargin0 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin0();
collisionPairInput.m_collisionMargin1 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin1();
collisionPairInput.m_shapeType0 = lsMem.getlocalCollisionAlgorithm()->getShapeType0();
collisionPairInput.m_shapeType1 = lsMem.getlocalCollisionAlgorithm()->getShapeType1();
collisionPairInput.m_collisionMargin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
collisionPairInput.m_collisionMargin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
@@ -965,11 +952,18 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
// Get the collision objects
dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
//if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
{
bool boxbox = ((lsMem.gSpuContactManifoldAlgo.getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
(lsMem.gSpuContactManifoldAlgo.getShapeType1()==BOX_SHAPE_PROXYTYPE));
if (boxbox && !gUseEpa)//for now use gUseEpa for this toggle
lsMem.needsDmaPutContactManifoldAlgo = true;
#ifdef USE_SEPDISTANCE_UTIL
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.updateSeparatingDistance(collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
#endif //USE_SEPDISTANCE_UTIL
bool boxbox = ((lsMem.getlocalCollisionAlgorithm()->getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
(lsMem.getlocalCollisionAlgorithm()->getShapeType1()==BOX_SHAPE_PROXYTYPE));
if (boxbox)// && !gUseEpa)//for now use gUseEpa for this toggle
{
//getVmVector3
//getBtVector3
@@ -977,73 +971,118 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
//getBtQuat
//getVmMatrix3
//getCollisionMargin0
btScalar margin0 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin0();
btScalar margin1 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin1();
btVector3 shapeDim0 = lsMem.gSpuContactManifoldAlgo.getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.gSpuContactManifoldAlgo.getShapeDimensions1()+btVector3(margin1,margin1,margin1);
//spu_printf("boxbox dist = %f\n",distance);
btPersistentManifold* spuManifold=&lsMem.gPersistentManifold;
btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
ppu_address_t manifoldAddress = (ppu_address_t)manifold;
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(),
lsMem.getColObj1()->getWorldTransform(),
lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(),
lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
collisionPairInput.m_isSwapped);
Transform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
float distanceThreshold = gContactBreakingThreshold;//0.0f;//FLT_MAX;//use epsilon?
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB,
boxA, transformA, boxB,transformB,distanceThreshold);
if(distance < distanceThreshold)
if (//!gUseEpa &&
#ifdef USE_SEPDISTANCE_UTIL
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f
#else
1
#endif
)
{
//spu_printf("boxbox dist = %f\n",distance);
//getCollisionMargin0
btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Transform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
float distanceThreshold = FLT_MAX;//0.0f;//FLT_MAX;//use epsilon?
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
btVector3 normalInB = -getBtVector3(resultNormal);
if(distance < spuManifold->getContactBreakingThreshold())
{
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
}
lsMem.needsDmaPutContactManifoldAlgo = true;
#ifdef USE_SEPDISTANCE_UTIL
btScalar sepDist = distance+spuManifold->getContactBreakingThreshold();
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(normalInB,sepDist,collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
#endif //USE_SEPDISTANCE_UTIL
}
spuContacts.flush();
} else
{
if (
#ifdef USE_SEPDISTANCE_UTIL
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f
#else
1
#endif //USE_SEPDISTANCE_UTIL
)
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
} else
{
//spu_printf("boxbox dist = %f\n",distance);
btPersistentManifold* spuManifold=&lsMem.gPersistentManifold;
btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
ppu_address_t manifoldAddress = (ppu_address_t)manifold;
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(),
lsMem.getColObj1()->getWorldTransform(),
lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(),
lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
collisionPairInput.m_isSwapped);
btVector3 normalInB = -getBtVector3(resultNormal);
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
//transform pointOnB to worldspace?
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
//normalInB,
//pointOnB+positionOffset,
//distance);
//SET_CONTACT_POINT(cp[0],distance,-testNormal,
// boxPointA,relTransformA,primIndexA,
// boxPointB,relTransformB,primIndexB);
spuContacts.flush();
}
} else
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
}
}
}
}
#ifdef USE_SEPDISTANCE_UTIL
if (lsMem.needsDmaPutContactManifoldAlgo)
{
dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm;
cellDmaLargePut(&lsMem.gSpuContactManifoldAlgo, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
#endif //#ifdef USE_SEPDISTANCE_UTIL
}
}
}