implement barrier/critical section for OSX (PosixThreadSupport)

enable Demos/ThreadingDemo for OSX
add cmake build support for VectorAdd_OpenCL for OSX

CMakeLists.txt

@@ -111,9 +111,6 @@ IF(WIN32)
 	ENDIF()
 ENDIF()
 
-OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)"	OFF)
-
-OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU demos"	ON)
 
 
 IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
@@ -123,6 +120,12 @@ ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
 
 ENDIF (WIN32)
 
+OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)"  ON)
+
+OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU demos"        ON)
+
+
+
 OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF)
 IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)

Demos/ParticlesOpenCL/Apple/CMakeLists.txt

@@ -2,7 +2,7 @@
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
-${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared
+${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL
 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
 )
 
@@ -42,15 +42,15 @@ IF (USE_GLUT)
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
-					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.h
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h	
-					${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.h
-					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btOclUtils.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.cpp
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
-					${BULLET_PHYSICS_SOURCE_DIR}/Extras/OpenCL/Shared/btOclCommon.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.cpp
 					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
 	)
 ELSE (USE_GLUT)

Demos/ThreadingDemo/CMakeLists.txt

@@ -12,7 +12,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 ########################################################
 
 #currently this demo has only been tested under Windows 32bit
-IF (WIN32)
+#IF (WIN32)
 
 INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
@@ -42,4 +42,4 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 			SET_TARGET_PROPERTIES(AppThreadingDemo PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
-ENDIF(WIN32)
+#ENDIF(WIN32)

Demos/ThreadingDemo/main.cpp

@@ -20,8 +20,40 @@ subject to the following restrictions:
 /// June 2010 
 /// New: critical section/barriers and non-blocking pollingn for completion, currently Windows only
 
+void	SampleThreadFunc(void* userPtr,void* lsMemory);
+void*	SamplelsMemoryFunc();
+
+
+#ifdef __APPLE__
+#include "BulletMultiThreaded/PosixThreadSupport.h"
+
+btThreadSupportInterface* createThreadSupport(int numThreads)
+{
+	PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
+                                                                SampleThreadFunc,
+                                                                SamplelsMemoryFunc,
+                                                                numThreads);
+    btThreadSupportInterface* threadSupport = new PosixThreadSupport(constructionInfo);
+	
+	return threadSupport;
+	
+}
+
+
+#elif defined( _WIN32)
 #include "BulletMultiThreaded/Win32ThreadSupport.h"
 
+btThreadSupportInterface* createThreadSupport(int numThreads)
+{
+	Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,numThreads);
+	Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+	
+}
+
+#endif
+
+
 struct	SampleArgs
 {
 	btCriticalSection* m_cs;
@@ -64,19 +96,26 @@ void*	SamplelsMemoryFunc()
 
 
 
+
+
+
+
+
+
+
 int main(int argc,char** argv)
 {
 	int numThreads = 4;
 
-	Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",SampleThreadFunc,SamplelsMemoryFunc,numThreads);
+	btThreadSupportInterface* threadSupport = createThreadSupport(numThreads);
 
-	Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
 	
 	threadSupport->startSPU();
 
 	for (int i=0;i<threadSupport->getNumTasks();i++)
 	{
 		SampleThreadLocalStorage* storage = (SampleThreadLocalStorage*)threadSupport->getThreadLocalMemory(i);
+		btAssert(storage);
 		storage->threadId = i;
 	}
 	
@@ -93,7 +132,7 @@ int main(int argc,char** argv)
 		threadSupport->sendRequest(1, (ppu_address_t) &args, i);
 	}
 
-	bool blockingWait = false;
+	bool blockingWait =true;
 	if (blockingWait)
 	{
 		for (i=0;i<numThreads;i++)
@@ -102,6 +141,7 @@ int main(int argc,char** argv)
 		}
 	} else
 	{
+#if 0
 		int numActiveThreads = numThreads;
 		while (numActiveThreads)
 		{
@@ -115,6 +155,7 @@ int main(int argc,char** argv)
 				printf("polling\n");
 			}
 		};
+#endif
 	}
 
 	threadSupport->stopSPU();

Demos/VectorAdd_OpenCL/Apple/CMakeLists.txt

@@ -0,0 +1,25 @@
+# AppVectorAdd is a very basic test OpenCL/MiniCL.
+
+IF (APPLE)
+  FIND_LIBRARY(OPENCL_LIBRARY OpenCL DOC "OpenCL lib for OSX")
+  FIND_PATH(OPENCL_INCLUDE_DIR OpenCL/cl.h DOC "Include for OpenCL on OSX")
+ENDIF (APPLE)
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src 
+)
+
+LINK_LIBRARIES(
+  LinearMath ${OPENCL_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppVectorAdd_Apple
+../MiniCL_VectorAdd.cpp
+../VectorAddKernels.cl
+)
+
+IF (UNIX)
+  TARGET_LINK_LIBRARIES(AppVectorAdd_Apple pthread)
+ENDIF(UNIX)
+

src/BulletMultiThreaded/PosixThreadSupport.cpp

@@ -245,5 +245,143 @@ void PosixThreadSupport::stopSPU()
 	m_activeSpuStatus.clear();
 }
 
+class PosixCriticalSection : public btCriticalSection 
+{
+	pthread_mutex_t m_mutex;
+	
+public:
+	PosixCriticalSection() 
+	{
+		pthread_mutex_init(&m_mutex, NULL);
+	}
+	virtual ~PosixCriticalSection() 
+	{
+		pthread_mutex_destroy(&m_mutex);
+	}
+	
+	ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]);
+	
+	virtual unsigned int getSharedParam(int i)
+	{
+		return mCommonBuff[i];
+	}
+	virtual void setSharedParam(int i,unsigned int p)
+	{
+		mCommonBuff[i] = p;
+	}
+	
+	virtual void lock()
+	{
+		pthread_mutex_lock(&m_mutex);
+	}
+	virtual void unlock()
+	{
+		pthread_mutex_unlock(&m_mutex);
+	}
+};
+
+
+#if defined(_POSIX_BARRIERS) && (_POSIX_BARRIERS - 20012L) >= 0
+/* OK to use barriers on this platform */
+class PosixBarrier : public btBarrier 
+{
+	pthread_barrier_t m_barr;
+	int m_numThreads;
+public:
+	PosixBarrier()
+	:m_numThreads(0)	{	}
+	virtual ~PosixBarrier()	{
+		pthread_barrier_destroy(&m_barr);
+	}
+	
+	virtual void sync()
+	{
+		int rc = pthread_barrier_wait(&m_barr);
+		if(rc != 0 && rc != PTHREAD_BARRIER_SERIAL_THREAD)
+		{
+			printf("Could not wait on barrier\n");
+			exit(-1);
+		}
+	}
+	virtual void setMaxCount(int numThreads)
+	{
+		int result = pthread_barrier_init(&m_barr, NULL, numThreads);
+		m_numThreads = numThreads;
+		btAssert(result==0);
+	}
+	virtual int  getMaxCount()
+	{
+		return m_numThreads;
+	}
+};
+#else
+/* Not OK to use barriers on this platform - insert alternate code here */
+class PosixBarrier : public btBarrier 
+{
+	pthread_mutex_t m_mutex;
+	pthread_cond_t m_cond;
+	
+	int m_numThreads;
+	int	m_called;
+	
+public:
+	PosixBarrier()
+	:m_numThreads(0)
+	{
+	}
+	virtual ~PosixBarrier() 
+	{
+		if (m_numThreads>0)
+		{
+			pthread_mutex_destroy(&m_mutex);
+			pthread_cond_destroy(&m_cond);
+		}
+	}
+	
+	virtual void sync()
+	{		
+		pthread_mutex_lock(&m_mutex);
+		m_called++;
+		if (m_called == m_numThreads) {
+			m_called = 0;
+			pthread_cond_broadcast(&m_cond);
+		} else {
+			pthread_cond_wait(&m_cond,&m_mutex);
+		}
+		pthread_mutex_unlock(&m_mutex);
+		
+	}
+	virtual void setMaxCount(int numThreads)
+	{
+		if (m_numThreads>0)
+		{
+			pthread_mutex_destroy(&m_mutex);
+			pthread_cond_destroy(&m_cond);
+		}
+		m_called = 0;
+		pthread_mutex_init(&m_mutex,NULL);
+		pthread_cond_init(&m_cond,NULL);
+		m_numThreads = numThreads;
+	}
+	virtual int  getMaxCount()
+	{
+		return m_numThreads;
+	}
+};
+
+#endif//_POSIX_BARRIERS
+
+
+
+btBarrier* PosixThreadSupport::createBarrier()
+{
+	return new PosixBarrier();
+}
+
+btCriticalSection* PosixThreadSupport::createCriticalSection()
+{
+	return new PosixCriticalSection();
+}
+
 #endif // USE_PTHREADS
 

src/BulletMultiThreaded/PosixThreadSupport.h

@@ -18,6 +18,7 @@ subject to the following restrictions:
 #include "PlatformDefinitions.h"
 
 #ifdef USE_PTHREADS  //platform specific defines are defined in PlatformDefinitions.h
+#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
 #include <pthread.h>
 #include <semaphore.h>
 
@@ -117,6 +118,16 @@ public:
 	{
 		return m_activeSpuStatus.size();
 	}
+
+	virtual btBarrier* createBarrier();
+
+	virtual btCriticalSection* createCriticalSection();
+	
+	virtual void*	getThreadLocalMemory(int taskId)
+	{
+		return m_activeSpuStatus[taskId].m_lsMemory;
+	}
+
 };
 
 #endif // POSIX_THREAD_SUPPORT_H

src/BulletMultiThreaded/btThreadSupportInterface.h

@@ -77,6 +77,8 @@ public:
 
 	virtual btCriticalSection* createCriticalSection() = 0;
 	
+	virtual void*	getThreadLocalMemory(int taskId) { return 0; }
+
 };
 
 #endif //THREAD_SUPPORT_INTERFACE_H