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/SpuLibspe2Support.h

@@ -0,0 +1,102 @@
+/*
+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.
+*/
+
+///USE_LIBSPE2: this define should be in the build system, or in <LinearMath/btScalar.h>
+//#define USE_LIBSPE2 1
+#ifdef USE_LIBSPE2
+
+#ifndef SPU_LIBSPE2_SUPPORT_H
+#define SPU_LIBSPE2_SUPPORT_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+/**
+ * Note:
+ * The order of elements in this enum are important, that's why each one is explicitly
+ * given a value.  They will correspond to the .elf names/addresses that will be
+ * loaded into Libspe2.
+ * Mixing up these values will cause the wrong code to execute, for instance, the
+ * solver may be asked to do a collision detection job.
+ */
+typedef enum {
+	SPU_ELF_COLLISION_DETECTION=0,
+	SPU_ELF_SAMPLE,
+//SPU_ELF_INTEGRATION,
+//SPU_ELF_SOLVER,
+	SPU_ELF_LAST,
+} SpuLibspe2ElfId_t;
+
+#ifdef WIN32
+#include <malloc.h>
+#define memalign(alignment, size) malloc(size);
+#else
+#include <stdlib.h>
+#endif // WIN32
+
+
+
+#include <LinearMath/btScalar.h> //for uint32_t etc.
+
+///placeholder, until libspe2 support is there
+struct	btSpuStatus
+{
+	uint32_t m_taskId;
+	uint32_t	m_commandId;
+	uint32_t m_status;
+
+	struct SpuGatherAndProcessPairsTaskDesc* m_taskDesc;
+
+	void*	m_threadHandle;
+	void*	m_lsMemory;
+
+	void*	m_eventStartHandle;
+	char	m_eventStartHandleName[32];
+
+	void*	m_eventCompletetHandle;
+	char	m_eventCompletetHandleName[32];
+	
+
+};
+
+///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class SpuLibspe2Support {
+
+	btAlignedObjectArray<btSpuStatus>	m_activeSpuStatus;
+
+public:
+	///Setup and initialize SPU/CELL/Libspe2
+	SpuLibspe2Support(SpuLibspe2ElfId_t elfId,int numThreads);
+
+///cleanup/shutdown Libspe2
+	~SpuLibspe2Support();
+
+///send messages to SPUs
+	void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0);
+
+///check for messages from SPUs
+	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)
+	void startSPUs(int numThreads);
+
+///tell the task scheduler we are done with the SPU tasks
+	void stopSPUs();
+
+};
+
+#endif //SPU_LIBSPE2_SUPPORT_H
+
+#endif //USE_LIBSPE2