Added libspe2 parallel Cell SPE support contribution by IBM Germany 'Extreme Blue' project:

Thanks to Benjamin Hoeferlin, Minh Cuong Tran,Martina Huellmann,Frederick Roth.

Extras/BulletMultiThreaded/PlatformDefinitions.h

@@ -6,6 +6,13 @@
 ///This file provides some platform/compiler checks for common definitions
 
 #ifdef WIN32
+
+typedef union
+{
+  unsigned int u;
+  void *p;
+} addr64;
+
 		#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
 		#else
 		#endif //__MINGW32__
@@ -22,23 +29,44 @@
 
 		#define USE_WIN32_THREADING 1
 
+
+		#include <stdio.h>		
+		#define spu_printf printf
+		
 #else
-#if defined	(__CELLOS_LV2__)
-				///Playstation 3 Cell SDK
-	#include <spu_printf.h>
-#else
-	//non-windows systems
-
-	#define USE_PTHREADS 1
-
-	
-#endif	//__CELLOS_LV2__
-
 		#include <stdint.h>
 		#include <stdlib.h>
 		#include <string.h> //for memcpy
 
+#if defined	(__CELLOS_LV2__)
+	// Playstation 3 Cell SDK
+#include <spu_printf.h>
+		
+#else
+	// posix system
+
+#define USE_PTHREADS 
+
+#ifdef USE_LIBSPE2
+#include <stdio.h>		
+#define spu_printf printf	
+#define DWORD unsigned int
+		
+			typedef union
+			{
+			  unsigned long long ull;
+			  unsigned int ui[2];
+			  void *p;
+			} addr64;
+		
+		
+#endif // USE_LIBSPE2
+	
+#endif	//__CELLOS_LV2__
+	
 #endif
 
 
 #endif //TYPE_DEFINITIONS_H
+
+

Extras/BulletMultiThreaded/SpuCollisionTaskProcess.cpp

@@ -16,23 +16,10 @@ subject to the following restrictions:
 
 //#define DEBUG_SPU_TASK_SCHEDULING 1
 
-#include "btThreadSupportInterface.h"
-
-//#include "SPUAssert.h"
-#include <string.h>
 
 //class OptimizedBvhNode;
 
 #include "SpuCollisionTaskProcess.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "SpuLibspe2Support.h"
-#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory
-
-
-#include <stdio.h>
-
 
 
 
@@ -44,7 +31,6 @@ SpuCollisionTaskProcess::SpuCollisionTaskProcess(class	btThreadSupportInterface*
 m_maxNumOutstandingTasks(maxNumOutstandingTasks)
 {
 	m_workUnitTaskBuffers = (unsigned char *)0;
-
 	m_taskBusy.resize(m_maxNumOutstandingTasks);
 	m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks);
 
@@ -70,9 +56,10 @@ m_maxNumOutstandingTasks(maxNumOutstandingTasks)
 
 SpuCollisionTaskProcess::~SpuCollisionTaskProcess()
 {
+	
 	if (m_workUnitTaskBuffers != 0)
 	{
-		free(m_workUnitTaskBuffers);
+		btAlignedFree(m_workUnitTaskBuffers);
 		m_workUnitTaskBuffers = 0;
 	}
 	
@@ -84,15 +71,15 @@ SpuCollisionTaskProcess::~SpuCollisionTaskProcess()
 
 
 
-void
+void SpuCollisionTaskProcess::initialize2()
-SpuCollisionTaskProcess::initialize2()
 {
+
 #ifdef DEBUG_SPU_TASK_SCHEDULING
 	printf("SpuCollisionTaskProcess::initialize()\n");
 #endif //DEBUG_SPU_TASK_SCHEDULING
 	if (!m_workUnitTaskBuffers)
 	{
-		m_workUnitTaskBuffers = (unsigned char *)memalign(128, MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks);
+		m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128);
 	}
 
 	for (int i = 0; i < m_maxNumOutstandingTasks; i++)
@@ -114,10 +101,8 @@ SpuCollisionTaskProcess::initialize2()
 void SpuCollisionTaskProcess::issueTask2()
 {
 
-
-
 #ifdef DEBUG_SPU_TASK_SCHEDULING
-	printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\)n", m_currentTask);
+	printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\n)", m_currentTask);
 #endif //DEBUG_SPU_TASK_SCHEDULING
 
 	m_taskBusy[m_currentTask] = true;
@@ -265,7 +250,7 @@ SpuCollisionTaskProcess::flush2()
 	// all tasks are issued, wait for all tasks to be complete
 	while(m_numBusyTasks > 0)
 	{
-// Consolidating SPU code
+	  // Consolidating SPU code
 	  unsigned int taskId;
 	  unsigned int outputSize;
 	  

Extras/BulletMultiThreaded/SpuCollisionTaskProcess.h

@@ -22,8 +22,25 @@ subject to the following restrictions:
 
 #include "PlatformDefinitions.h"
 #include "LinearMath/btAlignedObjectArray.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory
 
-//#define DEBUG_SpuCollisionTaskProcess 1
+#include "btThreadSupportInterface.h"
+
+
+//#include "SPUAssert.h"
+#include <string.h>
+
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+
+#include <LinearMath/btAlignedAllocator.h>
+
+#include <stdio.h>
+
+
+#define DEBUG_SpuCollisionTaskProcess 1
 
 
 #define CMD_GATHER_AND_PROCESS_PAIRLIST	1
@@ -33,26 +50,27 @@ class btPersistentManifold;
 class btDispatcher;
 
 
-///Task Description for SPU collision detection
+/////Task Description for SPU collision detection
-struct SpuGatherAndProcessPairsTaskDesc
+//struct SpuGatherAndProcessPairsTaskDesc
-{
+//{
-	uint64_t	inPtr;//m_pairArrayPtr;
+//	uint64_t	inPtr;//m_pairArrayPtr;
-	//mutex variable
+//	//mutex variable
-	uint32_t	m_someMutexVariableInMainMemory;
+//	uint32_t	m_someMutexVariableInMainMemory;
-
+//
-	uint64_t	m_dispatcher;
+//	uint64_t	m_dispatcher;
-
+//
-	uint32_t	numOnLastPage;
+//	uint32_t	numOnLastPage;
-
+//
-	uint16_t numPages;
+//	uint16_t numPages;
-	uint16_t taskId;
+//	uint16_t taskId;
-
+//
 //	struct	CollisionTask_LocalStoreMemory*	m_lsMemory; 
-}
+//}
-#ifdef __CELLOS_LV2__
+//
-__attribute__ ((aligned (16)))
+//#if  defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
-#endif
+//__attribute__ ((aligned (16)))
-;
+//#endif
+//;
 
 
 ///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU.