Added multi-threaded collision detection. Original code is written for Cell SPU, but wrappers are provided to run on multi-core using Win32 Threads.

SpuLibspe2Support is on the todo list, so it can run on Cell Blade & PS3 Linux.

Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h

@@ -0,0 +1,58 @@
+/*
+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.
+*/
+#ifndef SPU_GATHERING_COLLISION__DISPATCHER_H
+#define SPU_GATHERING_COLLISION__DISPATCHER_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+
+
+///Tuning value to optimized SPU utilization 
+///Too small value means Task overhead is large compared to computation (too fine granularity)
+///Too big value might render some SPUs are idle, while a few other SPUs are doing all work.
+//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16
+#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256
+
+
+class SpuCollisionTaskProcess;
+
+///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection
+///Time of Impact, Closest Points and Penetration Depth.
+class SpuGatheringCollisionDispatcher : public btCollisionDispatcher
+{
+	
+	SpuCollisionTaskProcess*	m_spuCollisionTaskProcess;
+	
+
+public:
+
+	//can be used by SPU collision algorithms	
+	SpuCollisionTaskProcess*	getSpuCollisionTaskProcess()
+	{
+			return m_spuCollisionTaskProcess;
+	}
+	
+	SpuGatheringCollisionDispatcher ();
+
+	virtual ~SpuGatheringCollisionDispatcher();
+
+	bool	supportsDispatchPairOnSpu(int proxyType0,int proxyType1);
+
+	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
+
+};
+
+
+
+#endif //SPU_GATHERING_COLLISION__DISPATCHER_H