Added portable non-parallel implementation for btThreadSupportInterface: SequentialThreadSupport, Thanks John McCutchan (JMC)

Added CMake support for BulletMultiThreaded.

Extras/BulletMultiThreaded/CMakeLists.txt

@@ -0,0 +1,53 @@
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletMultiThreaded/
+${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+ADD_LIBRARY(LibBulletMultiThreaded
+		PlatformDefinitions.h
+		SpuFakeDma.cpp
+		SpuFakeDma.h
+		SpuSync.h
+		SpuDoubleBuffer.h
+		SpuLibspe2Support.cpp
+		SpuLibspe2Support.h
+		btThreadSupportInterface.cpp
+		btThreadSupportInterface.h
+		
+		Win32ThreadSupport.cpp
+		Win32ThreadSupport.h
+		SequentialThreadSupport.cpp
+		SequentialThreadSupport.h
+		SpuSampleTaskProcess.h
+		SpuSampleTaskProcess.cpp
+
+		SpuCollisionTaskProcess.h
+		SpuCollisionTaskProcess.cpp
+		SpuGatheringCollisionDispatcher.h
+		SpuGatheringCollisionDispatcher.cpp
+		SpuContactManifoldCollisionAlgorithm.cpp
+		SpuContactManifoldCollisionAlgorithm.h
+		SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
+		SpuNarrowPhaseCollisionTask/SpuContactResult.h
+		SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
+		SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
+		SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
+		SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
+		SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
+		SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h
+		SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp
+		SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h
+		SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp
+		SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h
+		SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
+
+		SpuParallelSolver.cpp
+		SpuParallelSolver.h
+		SpuSolverTask/SpuParallellSolverTask.cpp
+		SpuSolverTask/SpuParallellSolverTask.h
+
+#		SpuRaycastTaskProcess.cpp
+#		SpuRaycastTaskProcess.h
+#		SpuRaycastTask/SpuRaycastTask.cpp
+#		SpuRaycastTask/SpuRaycastTask.h
+)

Extras/BulletMultiThreaded/SequentialThreadSupport.cpp

@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+#include "SequentialThreadSupport.h"
+
+
+#include "SpuCollisionTaskProcess.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
+SequentialThreadSupport::SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo)
+{
+	startThreads(threadConstructionInfo);
+}
+
+///cleanup/shutdown Libspe2
+SequentialThreadSupport::~SequentialThreadSupport()
+{
+	stopSPU();
+}
+
+#include <stdio.h>
+
+///send messages to SPUs
+void SequentialThreadSupport::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t taskId)
+{
+	switch (uiCommand)
+	{
+	case 	CMD_GATHER_AND_PROCESS_PAIRLIST:
+		{
+			btSpuStatus&	spuStatus = m_activeSpuStatus[0];
+			spuStatus.m_userPtr=(void*)uiArgument0;
+			spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
+		}
+	break;
+	default:
+		{
+			///not implemented
+			btAssert(0 && "Not implemented");
+		}
+
+	};
+
+
+}
+
+
+///check for messages from SPUs
+void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
+{
+	btAssert(m_activeSpuStatus.size());
+	btSpuStatus& spuStatus = m_activeSpuStatus[0];
+	*puiArgument0 = spuStatus.m_taskId;
+	*puiArgument1 = spuStatus.m_status;
+}
+
+
+
+void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo)
+{
+	m_activeSpuStatus.resize(1);
+	printf("STS: Not starting any threads\n");
+	btSpuStatus& spuStatus = m_activeSpuStatus[0];
+	spuStatus.m_userPtr = 0;
+	spuStatus.m_taskId = 0;
+	spuStatus.m_commandId = 0;
+	spuStatus.m_status = 0;
+	spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
+	spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+	printf("STS: Created local store at %p for function %p\n",spuStatus.m_lsMemory, spuStatus.m_userThreadFunc);
+}
+
+void SequentialThreadSupport::startSPU()
+{
+}
+
+void SequentialThreadSupport::stopSPU()
+{
+	m_activeSpuStatus.clear();
+}
+

Extras/BulletMultiThreaded/SequentialThreadSupport.h

@@ -0,0 +1,84 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+#include "LinearMath/btScalar.h"
+#include "PlatformDefinitions.h"
+
+
+#ifndef SEQUENTIAL_THREAD_SUPPORT_H
+#define SEQUENTIAL_THREAD_SUPPORT_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btThreadSupportInterface.h"
+
+typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory);
+typedef void* (*SequentiallsMemorySetupFunc)();
+
+
+
+///SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
+class SequentialThreadSupport : public btThreadSupportInterface 
+{
+public:
+	struct	btSpuStatus
+	{
+		uint32_t	m_taskId;
+		uint32_t	m_commandId;
+		uint32_t	m_status;
+
+		SequentialThreadFunc	m_userThreadFunc;
+
+		void*	m_userPtr; //for taskDesc etc
+		void*	m_lsMemory; //initialized using SequentiallsMemorySetupFunc
+	};
+private:
+	btAlignedObjectArray<btSpuStatus>	m_activeSpuStatus;
+	btAlignedObjectArray<void*>			m_completeHandles;	
+public:
+	struct	SequentialThreadConstructionInfo
+	{
+		SequentialThreadConstructionInfo (char* uniqueName,
+									SequentialThreadFunc userThreadFunc,
+									SequentiallsMemorySetupFunc	lsMemoryFunc
+									)
+									:m_uniqueName(uniqueName),
+									m_userThreadFunc(userThreadFunc),
+									m_lsMemoryFunc(lsMemoryFunc)
+		{
+
+		}
+
+		char*						m_uniqueName;
+		SequentialThreadFunc		m_userThreadFunc;
+		SequentiallsMemorySetupFunc	m_lsMemoryFunc;
+	};
+
+	SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo);
+	virtual	~SequentialThreadSupport();
+	void	startThreads(SequentialThreadConstructionInfo&	threadInfo);
+///send messages to SPUs
+	virtual	void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1);
+///check for messages from SPUs
+	virtual	void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
+///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
+	virtual	void startSPU();
+///tell the task scheduler we are done with the SPU tasks
+	virtual	void stopSPU();
+
+};
+
+#endif //SEQUENTIAL_THREAD_SUPPORT_H
+

Extras/BulletMultiThreaded/Win32ThreadSupport.cpp

@@ -46,7 +46,7 @@ Win32ThreadSupport::~Win32ThreadSupport()
 DWORD WINAPI Thread_no_1( LPVOID lpParam ) 
 {
 
-	btSpuStatus* status = (btSpuStatus*)lpParam;
+	Win32ThreadSupport::btSpuStatus* status = (Win32ThreadSupport::btSpuStatus*)lpParam;
 
 	
 	while (1)

Extras/BulletMultiThreaded/Win32ThreadSupport.h

@@ -30,9 +30,17 @@ typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
 typedef void* (*Win32lsMemorySetupFunc)();
 
 
-///placeholder, until libspe2 support is there
-struct	btSpuStatus
+
+
+
+
+///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class Win32ThreadSupport : public btThreadSupportInterface 
 {
+public:
+	///placeholder, until libspe2 support is there
+	struct	btSpuStatus
+	{
 		uint32_t	m_taskId;
 		uint32_t	m_commandId;
 		uint32_t	m_status;
@@ -50,13 +58,8 @@ struct	btSpuStatus
 		char	m_eventCompletetHandleName[32];
 		
 
-};
-
-
-
-///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class Win32ThreadSupport : public btThreadSupportInterface 
-{
+	};
+private:
 
 	btAlignedObjectArray<btSpuStatus>	m_activeSpuStatus;
 	btAlignedObjectArray<void*>			m_completeHandles;

Extras/CMakeLists.txt

@@ -1 +1 @@
-SUBDIRS( BulletColladaConverter LibXML COLLADA_DOM GIMPACT )
+SUBDIRS( BulletMultiThreaded BulletColladaConverter LibXML COLLADA_DOM GIMPACT )

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -120,7 +120,7 @@ public:
 	
 	void	updateSuspension(btScalar deltaTime);
 
-	void	updateFriction(btScalar	timeStep);
+	virtual void	updateFriction(btScalar	timeStep);