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.
2007-06-13 01:04:43 +00:00
parent a0c6adf5d6
commit 6f26aa1591
34 changed files with 5508 additions and 0 deletions
--- a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
+++ b/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
@@ -0,0 +1,101 @@
+#ifndef SPU_CONTACT_RESULT2_H
+#define SPU_CONTACT_RESULT2_H
+
+
+#ifndef WIN32
+#include <stdint.h>
+#endif
+
+
+
+#ifdef WIN32
+#include "SpuDoubleBuffer.h"
+#else
+#include "SPU_Common/SpuDefines.h"
+#include "SPU_Common/SpuDoubleBuffer.h"
+#include <spu_printf.h>
+#endif //WIN32
+
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btPoint3.h"
+
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+
+struct SpuCollisionPairInput
+{
+	uint64_t m_collisionShapes[2];
+	void*	m_spuCollisionShapes[2];
+
+	uint64_t m_persistentManifoldPtr;
+	btVector3	m_primitiveDimensions0;
+	btVector3	m_primitiveDimensions1;
+	int		m_shapeType0;
+	int		m_shapeType1;	
+	float	m_collisionMargin0;
+	float	m_collisionMargin1;
+
+	btTransform	m_worldTransform0;
+	btTransform m_worldTransform1;
+	
+	bool	m_isSwapped;
+
+
+	
+};
+
+
+struct SpuClosestPointInput
+{
+    SpuClosestPointInput()
+        :m_maximumDistanceSquared(float(1e30)),
+        m_stackAlloc(0)
+    {
+    }
+
+    btTransform m_transformA;
+    btTransform m_transformB;
+    float	m_maximumDistanceSquared;
+    class	btStackAlloc* m_stackAlloc;
+	struct SpuConvexPolyhedronVertexData* m_convexVertexData;
+};
+
+///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
+///So when an existing contact point is duplicated, no transfer/refresh is performed.
+class SpuContactResult
+{
+    btTransform		m_rootWorldTransform0;
+	btTransform		m_rootWorldTransform1;
+	uint64_t	m_manifoldAddress;
+
+    btPersistentManifold* m_spuManifold;
+	bool m_RequiresWriteBack;
+
+	DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
+
+	public:
+		SpuContactResult();
+		virtual ~SpuContactResult();
+
+		btPersistentManifold*	GetSpuManifold() const
+		{
+			return m_spuManifold;
+		}
+
+		virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1);
+
+        void	setContactInfo(btPersistentManifold* spuManifold, uint64_t	manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1);
+
+        void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
+
+        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth);
+
+		void flush();
+};
+
+
+
+#endif //SPU_CONTACT_RESULT2_H
+