fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
Load Diff
@@ -1,74 +1,74 @@
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/*
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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This software is provided 'as-is', without any express or implied warranty.
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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.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#include "MiniCLTask.h"
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "BulletMultiThreaded/SpuFakeDma.h"
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#include "LinearMath/btMinMax.h"
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#include "MiniCLTask.h"
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#include "BulletMultiThreaded/MiniCLTaskScheduler.h"
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#ifdef __SPU__
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#include <spu_printf.h>
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#else
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#include <stdio.h>
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#define spu_printf printf
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#endif
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int gMiniCLNumOutstandingTasks = 0;
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struct MiniCLTask_LocalStoreMemory
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{
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};
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//-- MAIN METHOD
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void processMiniCLTask(void* userPtr, void* lsMemory)
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{
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// BT_PROFILE("processSampleTask");
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MiniCLTask_LocalStoreMemory* localMemory = (MiniCLTask_LocalStoreMemory*)lsMemory;
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MiniCLTaskDesc* taskDescPtr = (MiniCLTaskDesc*)userPtr;
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MiniCLTaskDesc& taskDesc = *taskDescPtr;
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for (unsigned int i=taskDesc.m_firstWorkUnit;i<taskDesc.m_lastWorkUnit;i++)
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{
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taskDesc.m_kernel->m_launcher(&taskDesc, i);
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}
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// printf("Compute Unit[%d] executed kernel %d work items [%d..%d)\n",taskDesc.m_taskId,taskDesc.m_kernelProgramId,taskDesc.m_firstWorkUnit,taskDesc.m_lastWorkUnit);
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}
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#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
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ATTRIBUTE_ALIGNED16(MiniCLTask_LocalStoreMemory gLocalStoreMemory);
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void* createMiniCLLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#else
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void* createMiniCLLocalStoreMemory()
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{
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return new MiniCLTask_LocalStoreMemory;
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};
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#endif
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/*
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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This software is provided 'as-is', without any express or implied warranty.
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||||
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.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#include "MiniCLTask.h"
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "BulletMultiThreaded/SpuFakeDma.h"
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#include "LinearMath/btMinMax.h"
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#include "MiniCLTask.h"
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#include "BulletMultiThreaded/MiniCLTaskScheduler.h"
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#ifdef __SPU__
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#include <spu_printf.h>
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#else
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#include <stdio.h>
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#define spu_printf printf
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#endif
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int gMiniCLNumOutstandingTasks = 0;
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struct MiniCLTask_LocalStoreMemory
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{
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};
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//-- MAIN METHOD
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void processMiniCLTask(void* userPtr, void* lsMemory)
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{
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// BT_PROFILE("processSampleTask");
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MiniCLTask_LocalStoreMemory* localMemory = (MiniCLTask_LocalStoreMemory*)lsMemory;
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MiniCLTaskDesc* taskDescPtr = (MiniCLTaskDesc*)userPtr;
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MiniCLTaskDesc& taskDesc = *taskDescPtr;
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for (unsigned int i=taskDesc.m_firstWorkUnit;i<taskDesc.m_lastWorkUnit;i++)
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{
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taskDesc.m_kernel->m_launcher(&taskDesc, i);
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}
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// printf("Compute Unit[%d] executed kernel %d work items [%d..%d)\n",taskDesc.m_taskId,taskDesc.m_kernelProgramId,taskDesc.m_firstWorkUnit,taskDesc.m_lastWorkUnit);
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}
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#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
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ATTRIBUTE_ALIGNED16(MiniCLTask_LocalStoreMemory gLocalStoreMemory);
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void* createMiniCLLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#else
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void* createMiniCLLocalStoreMemory()
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{
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return new MiniCLTask_LocalStoreMemory;
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};
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#endif
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@@ -1,62 +1,62 @@
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/*
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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||||
|
||||
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.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MINICL__TASK_H
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#define MINICL__TASK_H
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btAlignedAllocator.h"
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#define MINICL_MAX_ARGLENGTH (sizeof(void*))
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#define MINI_CL_MAX_ARG 16
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#define MINI_CL_MAX_KERNEL_NAME 256
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struct MiniCLKernel;
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ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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MiniCLTaskDesc()
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{
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for (int i=0;i<MINI_CL_MAX_ARG;i++)
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{
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m_argSizes[i]=0;
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}
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}
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uint32_t m_taskId;
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uint32_t m_firstWorkUnit;
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uint32_t m_lastWorkUnit;
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MiniCLKernel* m_kernel;
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void* m_argData[MINI_CL_MAX_ARG];
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int m_argSizes[MINI_CL_MAX_ARG];
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};
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extern "C" int gMiniCLNumOutstandingTasks;
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void processMiniCLTask(void* userPtr, void* lsMemory);
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void* createMiniCLLocalStoreMemory();
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#endif //MINICL__TASK_H
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/*
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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This software is provided 'as-is', without any express or implied warranty.
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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.
|
||||
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*/
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#ifndef MINICL__TASK_H
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#define MINICL__TASK_H
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btAlignedAllocator.h"
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#define MINICL_MAX_ARGLENGTH (sizeof(void*))
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#define MINI_CL_MAX_ARG 16
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#define MINI_CL_MAX_KERNEL_NAME 256
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struct MiniCLKernel;
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ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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MiniCLTaskDesc()
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{
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for (int i=0;i<MINI_CL_MAX_ARG;i++)
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{
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m_argSizes[i]=0;
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}
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}
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uint32_t m_taskId;
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uint32_t m_firstWorkUnit;
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uint32_t m_lastWorkUnit;
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MiniCLKernel* m_kernel;
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void* m_argData[MINI_CL_MAX_ARG];
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int m_argSizes[MINI_CL_MAX_ARG];
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};
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extern "C" int gMiniCLNumOutstandingTasks;
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void processMiniCLTask(void* userPtr, void* lsMemory);
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void* createMiniCLLocalStoreMemory();
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#endif //MINICL__TASK_H
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File diff suppressed because it is too large
Load Diff
@@ -1,135 +1,135 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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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.
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*/
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#ifndef FAKE_DMA_H
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#define FAKE_DMA_H
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#include "PlatformDefinitions.h"
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#include "LinearMath/btScalar.h"
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#ifdef __SPU__
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#ifndef USE_LIBSPE2
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#include <cell/dma.h>
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#include <stdint.h>
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#define DMA_TAG(xfer) (xfer + 1)
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#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
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#else // !USE_LIBSPE2
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#define DMA_TAG(xfer) (xfer + 1)
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#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
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#include <spu_mfcio.h>
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#define DEBUG_DMA
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#ifdef DEBUG_DMA
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#define dUASSERT(a,b) if (!(a)) { printf(b);}
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#define uintsize ppu_address_t
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#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
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dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
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dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
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dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
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dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
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dUASSERT(size < 16384, "size too big: "); \
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dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
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dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
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printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
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} \
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mfc_get(ls, ea, size, tag, tid, rid)
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#define cellDmaGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
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dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
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dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
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||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
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dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
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||||
dUASSERT(size < 16384, "size too big: "); \
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||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
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||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
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printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
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||||
} \
|
||||
mfc_get(ls, ea, size, tag, tid, rid)
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#define cellDmaLargePut(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
|
||||
printf("PUT %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ls,(unsigned int)ea,(unsigned int)size); \
|
||||
} \
|
||||
mfc_put(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
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||||
printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
|
||||
} \
|
||||
mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
|
||||
|
||||
#else
|
||||
#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
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||||
#define cellDmaLargePut(ls, ea, size, tag, tid, rid) mfc_put(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
|
||||
#endif // DEBUG_DMA
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif // USE_LIBSPE2
|
||||
#else // !__SPU__
|
||||
//Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc)
|
||||
//Potential to add networked simulation using this interface
|
||||
|
||||
#define DMA_TAG(a) (a)
|
||||
#define DMA_MASK(a) (a)
|
||||
|
||||
/// cellDmaLargeGet Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
/// cellDmaLargePut Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
/// cellDmaWaitTagStatusAll Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
void cellDmaWaitTagStatusAll(int ignore);
|
||||
|
||||
|
||||
#endif //__CELLOS_LV2__
|
||||
|
||||
///stallingUnalignedDmaSmallGet internally uses DMA_TAG(1)
|
||||
int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size);
|
||||
|
||||
|
||||
void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
|
||||
|
||||
#endif //FAKE_DMA_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 FAKE_DMA_H
|
||||
#define FAKE_DMA_H
|
||||
|
||||
|
||||
#include "PlatformDefinitions.h"
|
||||
#include "LinearMath/btScalar.h"
|
||||
|
||||
|
||||
#ifdef __SPU__
|
||||
|
||||
#ifndef USE_LIBSPE2
|
||||
|
||||
#include <cell/dma.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#define DMA_TAG(xfer) (xfer + 1)
|
||||
#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
|
||||
|
||||
#else // !USE_LIBSPE2
|
||||
|
||||
#define DMA_TAG(xfer) (xfer + 1)
|
||||
#define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
|
||||
|
||||
#include <spu_mfcio.h>
|
||||
|
||||
#define DEBUG_DMA
|
||||
#ifdef DEBUG_DMA
|
||||
#define dUASSERT(a,b) if (!(a)) { printf(b);}
|
||||
#define uintsize ppu_address_t
|
||||
|
||||
#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
|
||||
printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
|
||||
} \
|
||||
mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
|
||||
printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
|
||||
} \
|
||||
mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaLargePut(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
|
||||
printf("PUT %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ls,(unsigned int)ea,(unsigned int)size); \
|
||||
} \
|
||||
mfc_put(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \
|
||||
dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \
|
||||
dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \
|
||||
dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \
|
||||
dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \
|
||||
dUASSERT(size < 16384, "size too big: "); \
|
||||
dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \
|
||||
dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\
|
||||
printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\
|
||||
} \
|
||||
mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
|
||||
|
||||
#else
|
||||
#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaLargePut(ls, ea, size, tag, tid, rid) mfc_put(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid)
|
||||
#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all()
|
||||
#endif // DEBUG_DMA
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif // USE_LIBSPE2
|
||||
#else // !__SPU__
|
||||
//Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc)
|
||||
//Potential to add networked simulation using this interface
|
||||
|
||||
#define DMA_TAG(a) (a)
|
||||
#define DMA_MASK(a) (a)
|
||||
|
||||
/// cellDmaLargeGet Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
/// cellDmaLargePut Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
/// cellDmaWaitTagStatusAll Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy)
|
||||
void cellDmaWaitTagStatusAll(int ignore);
|
||||
|
||||
|
||||
#endif //__CELLOS_LV2__
|
||||
|
||||
///stallingUnalignedDmaSmallGet internally uses DMA_TAG(1)
|
||||
int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size);
|
||||
|
||||
|
||||
void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid);
|
||||
|
||||
|
||||
#endif //FAKE_DMA_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,138 +1,138 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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 BTGPU3DGRIDBROADPHASE_H
|
||||
#define BTGPU3DGRIDBROADPHASE_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
|
||||
#include "btGpu3DGridBroadphaseSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
|
||||
|
||||
class btGpu3DGridBroadphase : public btSimpleBroadphase
|
||||
{
|
||||
protected:
|
||||
bool m_bInitialized;
|
||||
unsigned int m_numBodies;
|
||||
unsigned int m_numCells;
|
||||
unsigned int m_maxPairsPerBody;
|
||||
btScalar m_cellFactorAABB;
|
||||
unsigned int m_maxBodiesPerCell;
|
||||
bt3DGridBroadphaseParams m_params;
|
||||
btScalar m_maxRadius;
|
||||
// CPU data
|
||||
unsigned int* m_hBodiesHash;
|
||||
unsigned int* m_hCellStart;
|
||||
unsigned int* m_hPairBuffStartCurr;
|
||||
bt3DGrid3F1U* m_hAABB;
|
||||
unsigned int* m_hPairBuff;
|
||||
unsigned int* m_hPairScan;
|
||||
unsigned int* m_hPairOut;
|
||||
// large proxies
|
||||
int m_numLargeHandles;
|
||||
int m_maxLargeHandles;
|
||||
int m_LastLargeHandleIndex;
|
||||
btSimpleBroadphaseProxy* m_pLargeHandles;
|
||||
void* m_pLargeHandlesRawPtr;
|
||||
int m_firstFreeLargeHandle;
|
||||
int allocLargeHandle()
|
||||
{
|
||||
btAssert(m_numLargeHandles < m_maxLargeHandles);
|
||||
int freeLargeHandle = m_firstFreeLargeHandle;
|
||||
m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
|
||||
m_numLargeHandles++;
|
||||
if(freeLargeHandle > m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex = freeLargeHandle;
|
||||
}
|
||||
return freeLargeHandle;
|
||||
}
|
||||
void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
|
||||
{
|
||||
int handle = int(proxy - m_pLargeHandles);
|
||||
btAssert((handle >= 0) && (handle < m_maxHandles));
|
||||
if(handle == m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex--;
|
||||
}
|
||||
proxy->SetNextFree(m_firstFreeLargeHandle);
|
||||
m_firstFreeLargeHandle = handle;
|
||||
proxy->m_clientObject = 0;
|
||||
m_numLargeHandles--;
|
||||
}
|
||||
bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
bool isLargeProxy(btBroadphaseProxy* proxy);
|
||||
// debug
|
||||
unsigned int m_numPairsAdded;
|
||||
unsigned int m_numPairsRemoved;
|
||||
unsigned int m_numOverflows;
|
||||
//
|
||||
public:
|
||||
btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
|
||||
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
virtual ~btGpu3DGridBroadphase();
|
||||
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
|
||||
|
||||
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
|
||||
virtual void resetPool(btDispatcher* dispatcher);
|
||||
|
||||
protected:
|
||||
void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
void _finalize();
|
||||
void addPairsToCache(btDispatcher* dispatcher);
|
||||
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
|
||||
|
||||
// overrides for CPU version
|
||||
virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
|
||||
virtual void prepareAABB();
|
||||
virtual void calcHashAABB();
|
||||
virtual void sortHash();
|
||||
virtual void findCellStart();
|
||||
virtual void findOverlappingPairs();
|
||||
virtual void findPairsLarge();
|
||||
virtual void computePairCacheChanges();
|
||||
virtual void scanOverlappingPairBuff();
|
||||
virtual void squeezeOverlappingPairBuff();
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif //BTGPU3DGRIDBROADPHASE_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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 BTGPU3DGRIDBROADPHASE_H
|
||||
#define BTGPU3DGRIDBROADPHASE_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
|
||||
#include "btGpu3DGridBroadphaseSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
|
||||
|
||||
class btGpu3DGridBroadphase : public btSimpleBroadphase
|
||||
{
|
||||
protected:
|
||||
bool m_bInitialized;
|
||||
unsigned int m_numBodies;
|
||||
unsigned int m_numCells;
|
||||
unsigned int m_maxPairsPerBody;
|
||||
btScalar m_cellFactorAABB;
|
||||
unsigned int m_maxBodiesPerCell;
|
||||
bt3DGridBroadphaseParams m_params;
|
||||
btScalar m_maxRadius;
|
||||
// CPU data
|
||||
unsigned int* m_hBodiesHash;
|
||||
unsigned int* m_hCellStart;
|
||||
unsigned int* m_hPairBuffStartCurr;
|
||||
bt3DGrid3F1U* m_hAABB;
|
||||
unsigned int* m_hPairBuff;
|
||||
unsigned int* m_hPairScan;
|
||||
unsigned int* m_hPairOut;
|
||||
// large proxies
|
||||
int m_numLargeHandles;
|
||||
int m_maxLargeHandles;
|
||||
int m_LastLargeHandleIndex;
|
||||
btSimpleBroadphaseProxy* m_pLargeHandles;
|
||||
void* m_pLargeHandlesRawPtr;
|
||||
int m_firstFreeLargeHandle;
|
||||
int allocLargeHandle()
|
||||
{
|
||||
btAssert(m_numLargeHandles < m_maxLargeHandles);
|
||||
int freeLargeHandle = m_firstFreeLargeHandle;
|
||||
m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
|
||||
m_numLargeHandles++;
|
||||
if(freeLargeHandle > m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex = freeLargeHandle;
|
||||
}
|
||||
return freeLargeHandle;
|
||||
}
|
||||
void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
|
||||
{
|
||||
int handle = int(proxy - m_pLargeHandles);
|
||||
btAssert((handle >= 0) && (handle < m_maxHandles));
|
||||
if(handle == m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex--;
|
||||
}
|
||||
proxy->SetNextFree(m_firstFreeLargeHandle);
|
||||
m_firstFreeLargeHandle = handle;
|
||||
proxy->m_clientObject = 0;
|
||||
m_numLargeHandles--;
|
||||
}
|
||||
bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
bool isLargeProxy(btBroadphaseProxy* proxy);
|
||||
// debug
|
||||
unsigned int m_numPairsAdded;
|
||||
unsigned int m_numPairsRemoved;
|
||||
unsigned int m_numOverflows;
|
||||
//
|
||||
public:
|
||||
btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
|
||||
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
virtual ~btGpu3DGridBroadphase();
|
||||
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
|
||||
|
||||
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
|
||||
virtual void resetPool(btDispatcher* dispatcher);
|
||||
|
||||
protected:
|
||||
void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
void _finalize();
|
||||
void addPairsToCache(btDispatcher* dispatcher);
|
||||
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
|
||||
|
||||
// overrides for CPU version
|
||||
virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
|
||||
virtual void prepareAABB();
|
||||
virtual void calcHashAABB();
|
||||
virtual void sortHash();
|
||||
virtual void findCellStart();
|
||||
virtual void findOverlappingPairs();
|
||||
virtual void findPairsLarge();
|
||||
virtual void computePairCacheChanges();
|
||||
virtual void scanOverlappingPairBuff();
|
||||
virtual void squeezeOverlappingPairBuff();
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif //BTGPU3DGRIDBROADPHASE_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
@@ -1,430 +1,430 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
// K E R N E L F U N C T I O N S
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate position in uniform grid
|
||||
BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p)
|
||||
{
|
||||
int3 gridPos;
|
||||
gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX);
|
||||
gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY);
|
||||
gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ);
|
||||
return gridPos;
|
||||
} // bt3DGrid_calcGridPos()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate address in grid from position (clamping to edges)
|
||||
BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos)
|
||||
{
|
||||
gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1));
|
||||
gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1));
|
||||
gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1));
|
||||
return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x;
|
||||
} // bt3DGrid_calcGridHash()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate grid hash value for each body using its AABB
|
||||
BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index*2];
|
||||
bt3DGrid3F1U bbMax = pAABB[index*2 + 1];
|
||||
float4 pos;
|
||||
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
|
||||
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
|
||||
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
|
||||
// get address in grid
|
||||
int3 gridPos = bt3DGrid_calcGridPos(pos);
|
||||
uint gridHash = bt3DGrid_calcGridHash(gridPos);
|
||||
// store grid hash and body index
|
||||
pHash[index] = BT_GPU_make_uint2(gridHash, index);
|
||||
} // calcHashAABBD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
// Load hash data into shared memory so that we can look
|
||||
// at neighboring body's hash value without loading
|
||||
// two hash values per thread
|
||||
BT_GPU___shared__ uint sharedHash[257];
|
||||
sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x;
|
||||
if((index > 0) && (BT_GPU_threadIdx.x == 0))
|
||||
{
|
||||
// first thread in block must load neighbor body hash
|
||||
volatile uint2 prevData = pHash[index-1];
|
||||
sharedHash[0] = prevData.x;
|
||||
}
|
||||
BT_GPU___syncthreads();
|
||||
if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x]))
|
||||
{
|
||||
cellStart[sortedData.x] = index;
|
||||
}
|
||||
} // findCellStartD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1)
|
||||
{
|
||||
return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) &&
|
||||
(min0.fy <= max1.fy)&& (min1.fy <= max0.fy) &&
|
||||
(min0.fz <= max1.fz)&& (min1.fz <= max0.fz);
|
||||
} // cudaTestAABBOverlap()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___device__ void findPairsInCell( int3 gridPos,
|
||||
uint index,
|
||||
uint2* pHash,
|
||||
uint* pCellStart,
|
||||
bt3DGrid3F1U* pAABB,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numBodies)
|
||||
{
|
||||
if ( (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1)
|
||||
|| (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1)
|
||||
|| (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1))
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint gridHash = bt3DGrid_calcGridHash(gridPos);
|
||||
// get start of bucket for this cell
|
||||
uint bucketStart = pCellStart[gridHash];
|
||||
if (bucketStart == 0xffffffff)
|
||||
{
|
||||
return; // cell empty
|
||||
}
|
||||
// iterate over bodies in this cell
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
uint handleIndex = min0.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
|
||||
uint curr_max = start_curr_next.x - start - 1;
|
||||
uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell;
|
||||
bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
|
||||
for(uint index2 = bucketStart; index2 < bucketEnd; index2++)
|
||||
{
|
||||
uint2 cellData = pHash[index2];
|
||||
if (cellData.x != gridHash)
|
||||
{
|
||||
break; // no longer in same bucket
|
||||
}
|
||||
uint unsorted_indx2 = cellData.y;
|
||||
if (unsorted_indx2 < unsorted_indx) // check not colliding with self
|
||||
{
|
||||
bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2);
|
||||
bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1);
|
||||
if(cudaTestAABBOverlap(min0, max0, min1, max1))
|
||||
{
|
||||
uint handleIndex2 = min1.uw;
|
||||
uint k;
|
||||
for(k = 0; k < curr; k++)
|
||||
{
|
||||
uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
if(old_pair == handleIndex2)
|
||||
{
|
||||
pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(k == curr)
|
||||
{
|
||||
if(curr >= curr_max)
|
||||
{ // not a good solution, but let's avoid crash
|
||||
break;
|
||||
}
|
||||
pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
|
||||
curr++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
|
||||
return;
|
||||
} // findPairsInCell()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findOverlappingPairsD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart,
|
||||
uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
float4 pos;
|
||||
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
|
||||
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
|
||||
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
|
||||
// get address in grid
|
||||
int3 gridPos = bt3DGrid_calcGridPos(pos);
|
||||
// examine only neighbouring cells
|
||||
for(int z=-1; z<=1; z++) {
|
||||
for(int y=-1; y<=1; y++) {
|
||||
for(int x=-1; x<=1; x++) {
|
||||
findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
|
||||
}
|
||||
}
|
||||
}
|
||||
} // findOverlappingPairsD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findPairsLargeD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
uint handleIndex = min0.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
|
||||
uint curr_max = start_curr_next.x - start - 1;
|
||||
for(uint i = 0; i < numLarge; i++)
|
||||
{
|
||||
uint indx2 = numBodies + i;
|
||||
bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2);
|
||||
bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1);
|
||||
if(cudaTestAABBOverlap(min0, max0, min1, max1))
|
||||
{
|
||||
uint k;
|
||||
uint handleIndex2 = min1.uw;
|
||||
for(k = 0; k < curr; k++)
|
||||
{
|
||||
uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
if(old_pair == handleIndex2)
|
||||
{
|
||||
pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(k == curr)
|
||||
{
|
||||
pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
|
||||
if(curr >= curr_max)
|
||||
{ // not a good solution, but let's avoid crash
|
||||
break;
|
||||
}
|
||||
curr++;
|
||||
}
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
|
||||
return;
|
||||
} // findPairsLargeD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr,
|
||||
uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index * 2];
|
||||
uint handleIndex = bbMin.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint *pInp = pPairBuff + start;
|
||||
uint num_changes = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
|
||||
{
|
||||
num_changes++;
|
||||
}
|
||||
}
|
||||
pPairScan[index+1] = num_changes;
|
||||
} // computePairCacheChangesD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan,
|
||||
uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index * 2];
|
||||
uint handleIndex = bbMin.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint* pInp = pPairBuff + start;
|
||||
uint* pOut = pPairOut + pPairScan[index];
|
||||
uint* pOut2 = pInp;
|
||||
uint num = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
|
||||
{
|
||||
*pOut = *pInp;
|
||||
pOut++;
|
||||
}
|
||||
if((*pInp) & BT_3DGRID_PAIR_ANY_FLG)
|
||||
{
|
||||
*pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
pOut2++;
|
||||
num++;
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num);
|
||||
} // squeezeOverlappingPairBuffD()
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
// E N D O F K E R N E L F U N C T I O N S
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed");
|
||||
} // calcHashAABB()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint)));
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD");
|
||||
} // findCellStart()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies))
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // findOverlappingPairs()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge))
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // findPairsLarge()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
|
||||
} // computePairCacheChanges()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
|
||||
} // btCuda_squeezeOverlappingPairBuff()
|
||||
|
||||
//------------------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//------------------------------------------------------------------------------------------------
|
||||
//------------------------------------------------------------------------------------------------
|
||||
//------------------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
// K E R N E L F U N C T I O N S
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate position in uniform grid
|
||||
BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p)
|
||||
{
|
||||
int3 gridPos;
|
||||
gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX);
|
||||
gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY);
|
||||
gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ);
|
||||
return gridPos;
|
||||
} // bt3DGrid_calcGridPos()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate address in grid from position (clamping to edges)
|
||||
BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos)
|
||||
{
|
||||
gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1));
|
||||
gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1));
|
||||
gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1));
|
||||
return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x;
|
||||
} // bt3DGrid_calcGridHash()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// calculate grid hash value for each body using its AABB
|
||||
BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index*2];
|
||||
bt3DGrid3F1U bbMax = pAABB[index*2 + 1];
|
||||
float4 pos;
|
||||
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
|
||||
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
|
||||
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
|
||||
// get address in grid
|
||||
int3 gridPos = bt3DGrid_calcGridPos(pos);
|
||||
uint gridHash = bt3DGrid_calcGridHash(gridPos);
|
||||
// store grid hash and body index
|
||||
pHash[index] = BT_GPU_make_uint2(gridHash, index);
|
||||
} // calcHashAABBD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
// Load hash data into shared memory so that we can look
|
||||
// at neighboring body's hash value without loading
|
||||
// two hash values per thread
|
||||
BT_GPU___shared__ uint sharedHash[257];
|
||||
sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x;
|
||||
if((index > 0) && (BT_GPU_threadIdx.x == 0))
|
||||
{
|
||||
// first thread in block must load neighbor body hash
|
||||
volatile uint2 prevData = pHash[index-1];
|
||||
sharedHash[0] = prevData.x;
|
||||
}
|
||||
BT_GPU___syncthreads();
|
||||
if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x]))
|
||||
{
|
||||
cellStart[sortedData.x] = index;
|
||||
}
|
||||
} // findCellStartD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1)
|
||||
{
|
||||
return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) &&
|
||||
(min0.fy <= max1.fy)&& (min1.fy <= max0.fy) &&
|
||||
(min0.fz <= max1.fz)&& (min1.fz <= max0.fz);
|
||||
} // cudaTestAABBOverlap()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___device__ void findPairsInCell( int3 gridPos,
|
||||
uint index,
|
||||
uint2* pHash,
|
||||
uint* pCellStart,
|
||||
bt3DGrid3F1U* pAABB,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numBodies)
|
||||
{
|
||||
if ( (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1)
|
||||
|| (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1)
|
||||
|| (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1))
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint gridHash = bt3DGrid_calcGridHash(gridPos);
|
||||
// get start of bucket for this cell
|
||||
uint bucketStart = pCellStart[gridHash];
|
||||
if (bucketStart == 0xffffffff)
|
||||
{
|
||||
return; // cell empty
|
||||
}
|
||||
// iterate over bodies in this cell
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
uint handleIndex = min0.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
|
||||
uint curr_max = start_curr_next.x - start - 1;
|
||||
uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell;
|
||||
bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
|
||||
for(uint index2 = bucketStart; index2 < bucketEnd; index2++)
|
||||
{
|
||||
uint2 cellData = pHash[index2];
|
||||
if (cellData.x != gridHash)
|
||||
{
|
||||
break; // no longer in same bucket
|
||||
}
|
||||
uint unsorted_indx2 = cellData.y;
|
||||
if (unsorted_indx2 < unsorted_indx) // check not colliding with self
|
||||
{
|
||||
bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2);
|
||||
bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1);
|
||||
if(cudaTestAABBOverlap(min0, max0, min1, max1))
|
||||
{
|
||||
uint handleIndex2 = min1.uw;
|
||||
uint k;
|
||||
for(k = 0; k < curr; k++)
|
||||
{
|
||||
uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
if(old_pair == handleIndex2)
|
||||
{
|
||||
pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(k == curr)
|
||||
{
|
||||
if(curr >= curr_max)
|
||||
{ // not a good solution, but let's avoid crash
|
||||
break;
|
||||
}
|
||||
pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
|
||||
curr++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
|
||||
return;
|
||||
} // findPairsInCell()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findOverlappingPairsD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart,
|
||||
uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
float4 pos;
|
||||
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
|
||||
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
|
||||
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
|
||||
// get address in grid
|
||||
int3 gridPos = bt3DGrid_calcGridPos(pos);
|
||||
// examine only neighbouring cells
|
||||
for(int z=-1; z<=1; z++) {
|
||||
for(int y=-1; y<=1; y++) {
|
||||
for(int x=-1; x<=1; x++) {
|
||||
findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
|
||||
}
|
||||
}
|
||||
}
|
||||
} // findOverlappingPairsD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void findPairsLargeD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
uint2 sortedData = pHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
|
||||
bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
|
||||
uint handleIndex = min0.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
|
||||
uint curr_max = start_curr_next.x - start - 1;
|
||||
for(uint i = 0; i < numLarge; i++)
|
||||
{
|
||||
uint indx2 = numBodies + i;
|
||||
bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2);
|
||||
bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1);
|
||||
if(cudaTestAABBOverlap(min0, max0, min1, max1))
|
||||
{
|
||||
uint k;
|
||||
uint handleIndex2 = min1.uw;
|
||||
for(k = 0; k < curr; k++)
|
||||
{
|
||||
uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
if(old_pair == handleIndex2)
|
||||
{
|
||||
pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(k == curr)
|
||||
{
|
||||
pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
|
||||
if(curr >= curr_max)
|
||||
{ // not a good solution, but let's avoid crash
|
||||
break;
|
||||
}
|
||||
curr++;
|
||||
}
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
|
||||
return;
|
||||
} // findPairsLargeD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr,
|
||||
uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index * 2];
|
||||
uint handleIndex = bbMin.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint *pInp = pPairBuff + start;
|
||||
uint num_changes = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
|
||||
{
|
||||
num_changes++;
|
||||
}
|
||||
}
|
||||
pPairScan[index+1] = num_changes;
|
||||
} // computePairCacheChangesD()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan,
|
||||
uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index >= (int)numBodies)
|
||||
{
|
||||
return;
|
||||
}
|
||||
bt3DGrid3F1U bbMin = pAABB[index * 2];
|
||||
uint handleIndex = bbMin.uw;
|
||||
uint2 start_curr = pPairBuffStartCurr[handleIndex];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint* pInp = pPairBuff + start;
|
||||
uint* pOut = pPairOut + pPairScan[index];
|
||||
uint* pOut2 = pInp;
|
||||
uint num = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
|
||||
{
|
||||
*pOut = *pInp;
|
||||
pOut++;
|
||||
}
|
||||
if((*pInp) & BT_3DGRID_PAIR_ANY_FLG)
|
||||
{
|
||||
*pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG);
|
||||
pOut2++;
|
||||
num++;
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num);
|
||||
} // squeezeOverlappingPairBuffD()
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
// E N D O F K E R N E L F U N C T I O N S
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed");
|
||||
} // calcHashAABB()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint)));
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD");
|
||||
} // findCellStart()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies))
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // findOverlappingPairs()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge))
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
|
||||
#if B_CUDA_USE_TEX
|
||||
BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // findPairsLarge()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
|
||||
} // computePairCacheChanges()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies))
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies));
|
||||
BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
|
||||
} // btCuda_squeezeOverlappingPairBuff()
|
||||
|
||||
//------------------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//------------------------------------------------------------------------------------------------
|
||||
//------------------------------------------------------------------------------------------------
|
||||
//------------------------------------------------------------------------------------------------
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared definitions for GPU-based 3D Grid collision detection broadphase
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
#define BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpu3DGridBroadphaseSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
|
||||
|
||||
void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge);
|
||||
|
||||
void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies);
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared definitions for GPU-based 3D Grid collision detection broadphase
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
#define BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpu3DGridBroadphaseSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
|
||||
|
||||
void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge);
|
||||
|
||||
void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies);
|
||||
|
||||
void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies);
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H
|
||||
|
||||
|
||||
@@ -1,67 +1,67 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared definitions for GPU-based 3D Grid collision detection broadphase
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#ifndef BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
#define BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#define BT_3DGRID_PAIR_FOUND_FLG (0x40000000)
|
||||
#define BT_3DGRID_PAIR_NEW_FLG (0x20000000)
|
||||
#define BT_3DGRID_PAIR_ANY_FLG (BT_3DGRID_PAIR_FOUND_FLG | BT_3DGRID_PAIR_NEW_FLG)
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct bt3DGridBroadphaseParams
|
||||
{
|
||||
unsigned int m_gridSizeX;
|
||||
unsigned int m_gridSizeY;
|
||||
unsigned int m_gridSizeZ;
|
||||
unsigned int m_numCells;
|
||||
float m_worldOriginX;
|
||||
float m_worldOriginY;
|
||||
float m_worldOriginZ;
|
||||
float m_cellSizeX;
|
||||
float m_cellSizeY;
|
||||
float m_cellSizeZ;
|
||||
unsigned int m_numBodies;
|
||||
unsigned int m_maxBodiesPerCell;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct bt3DGrid3F1U
|
||||
{
|
||||
float fx;
|
||||
float fy;
|
||||
float fz;
|
||||
unsigned int uw;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif // BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared definitions for GPU-based 3D Grid collision detection broadphase
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#ifndef BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
#define BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#define BT_3DGRID_PAIR_FOUND_FLG (0x40000000)
|
||||
#define BT_3DGRID_PAIR_NEW_FLG (0x20000000)
|
||||
#define BT_3DGRID_PAIR_ANY_FLG (BT_3DGRID_PAIR_FOUND_FLG | BT_3DGRID_PAIR_NEW_FLG)
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct bt3DGridBroadphaseParams
|
||||
{
|
||||
unsigned int m_gridSizeX;
|
||||
unsigned int m_gridSizeY;
|
||||
unsigned int m_gridSizeZ;
|
||||
unsigned int m_numCells;
|
||||
float m_worldOriginX;
|
||||
float m_worldOriginY;
|
||||
float m_worldOriginZ;
|
||||
float m_cellSizeX;
|
||||
float m_cellSizeY;
|
||||
float m_cellSizeZ;
|
||||
unsigned int m_numBodies;
|
||||
unsigned int m_maxBodiesPerCell;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct bt3DGrid3F1U
|
||||
{
|
||||
float fx;
|
||||
float fy;
|
||||
float fz;
|
||||
unsigned int uw;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#endif // BTGPU3DGRIDBROADPHASESHAREDTYPES_H
|
||||
|
||||
|
||||
@@ -1,55 +1,55 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared code for GPU-based utilities
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// will be compiled by both CPU and CUDA compilers
|
||||
// file with definitions of BT_GPU_xxx should be included first
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpuUtilsSharedDefs.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
//Round a / b to nearest higher integer value
|
||||
int BT_GPU_PREF(iDivUp)(int a, int b)
|
||||
{
|
||||
return (a % b != 0) ? (a / b + 1) : (a / b);
|
||||
} // iDivUp()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// compute grid and thread block size for a given number of elements
|
||||
void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads)
|
||||
{
|
||||
numThreads = BT_GPU_min(blockSize, n);
|
||||
numBlocks = BT_GPU_PREF(iDivUp)(n, numThreads);
|
||||
} // computeGridSize()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// Shared code for GPU-based utilities
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// will be compiled by both CPU and CUDA compilers
|
||||
// file with definitions of BT_GPU_xxx should be included first
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpuUtilsSharedDefs.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
//Round a / b to nearest higher integer value
|
||||
int BT_GPU_PREF(iDivUp)(int a, int b)
|
||||
{
|
||||
return (a % b != 0) ? (a / b + 1) : (a / b);
|
||||
} // iDivUp()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
// compute grid and thread block size for a given number of elements
|
||||
void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads)
|
||||
{
|
||||
numThreads = BT_GPU_min(blockSize, n);
|
||||
numBlocks = BT_GPU_PREF(iDivUp)(n, numThreads);
|
||||
} // computeGridSize()
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
@@ -1,52 +1,52 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
// Shared definitions for GPU-based utilities
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
// file with definitions of BT_GPU_xxx should be included first
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
|
||||
#ifndef BTGPUUTILSDHAREDDEFS_H
|
||||
#define BTGPUUTILSDHAREDDEFS_H
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
|
||||
//Round a / b to nearest higher integer value
|
||||
int BT_GPU_PREF(iDivUp)(int a, int b);
|
||||
|
||||
// compute grid and thread block size for a given number of elements
|
||||
void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads);
|
||||
|
||||
void BT_GPU_PREF(allocateArray)(void** devPtr, unsigned int size);
|
||||
void BT_GPU_PREF(freeArray)(void* devPtr);
|
||||
void BT_GPU_PREF(copyArrayFromDevice)(void* host, const void* device, unsigned int size);
|
||||
void BT_GPU_PREF(copyArrayToDevice)(void* device, const void* host, unsigned int size);
|
||||
void BT_GPU_PREF(registerGLBufferObject(unsigned int vbo));
|
||||
void* BT_GPU_PREF(mapGLBufferObject(unsigned int vbo));
|
||||
void BT_GPU_PREF(unmapGLBufferObject(unsigned int vbo));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
#endif // BTGPUUTILSDHAREDDEFS_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
// Shared definitions for GPU-based utilities
|
||||
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
// Keep this file free from Bullet headers
|
||||
// it is included into both CUDA and CPU code
|
||||
// file with definitions of BT_GPU_xxx should be included first
|
||||
//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
|
||||
|
||||
|
||||
#ifndef BTGPUUTILSDHAREDDEFS_H
|
||||
#define BTGPUUTILSDHAREDDEFS_H
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
|
||||
//Round a / b to nearest higher integer value
|
||||
int BT_GPU_PREF(iDivUp)(int a, int b);
|
||||
|
||||
// compute grid and thread block size for a given number of elements
|
||||
void BT_GPU_PREF(computeGridSize)(int n, int blockSize, int &numBlocks, int &numThreads);
|
||||
|
||||
void BT_GPU_PREF(allocateArray)(void** devPtr, unsigned int size);
|
||||
void BT_GPU_PREF(freeArray)(void* devPtr);
|
||||
void BT_GPU_PREF(copyArrayFromDevice)(void* host, const void* device, unsigned int size);
|
||||
void BT_GPU_PREF(copyArrayToDevice)(void* device, const void* host, unsigned int size);
|
||||
void BT_GPU_PREF(registerGLBufferObject(unsigned int vbo));
|
||||
void* BT_GPU_PREF(mapGLBufferObject(unsigned int vbo));
|
||||
void BT_GPU_PREF(unmapGLBufferObject(unsigned int vbo));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
#endif // BTGPUUTILSDHAREDDEFS_H
|
||||
|
||||
|
||||
@@ -1,74 +1,74 @@
|
||||
/*
|
||||
Copyright (C) 2010 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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.
|
||||
|
||||
*/
|
||||
|
||||
#include "btParallelConstraintSolver.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
btParallelConstraintSolver::btParallelConstraintSolver()
|
||||
{
|
||||
|
||||
//initialize MiniCL here
|
||||
|
||||
}
|
||||
|
||||
btParallelConstraintSolver::~btParallelConstraintSolver()
|
||||
{
|
||||
//exit MiniCL
|
||||
|
||||
}
|
||||
|
||||
|
||||
btScalar btParallelConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
|
||||
{
|
||||
{
|
||||
int i;
|
||||
btPersistentManifold* manifold = 0;
|
||||
// btCollisionObject* colObj0=0,*colObj1=0;
|
||||
|
||||
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
manifold = manifoldPtr[i];
|
||||
convertContact(manifold,infoGlobal);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btContactSolverInfo info = infoGlobal;
|
||||
|
||||
|
||||
|
||||
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
||||
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
|
||||
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
|
||||
m_orderTmpConstraintPool.resize(numConstraintPool);
|
||||
m_orderFrictionConstraintPool.resize(numFrictionPool);
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<numConstraintPool;i++)
|
||||
{
|
||||
m_orderTmpConstraintPool[i] = i;
|
||||
}
|
||||
for (i=0;i<numFrictionPool;i++)
|
||||
{
|
||||
m_orderFrictionConstraintPool[i] = i;
|
||||
}
|
||||
}
|
||||
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
/*
|
||||
Copyright (C) 2010 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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.
|
||||
|
||||
*/
|
||||
|
||||
#include "btParallelConstraintSolver.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
||||
|
||||
btParallelConstraintSolver::btParallelConstraintSolver()
|
||||
{
|
||||
|
||||
//initialize MiniCL here
|
||||
|
||||
}
|
||||
|
||||
btParallelConstraintSolver::~btParallelConstraintSolver()
|
||||
{
|
||||
//exit MiniCL
|
||||
|
||||
}
|
||||
|
||||
|
||||
btScalar btParallelConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
|
||||
{
|
||||
{
|
||||
int i;
|
||||
btPersistentManifold* manifold = 0;
|
||||
// btCollisionObject* colObj0=0,*colObj1=0;
|
||||
|
||||
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
manifold = manifoldPtr[i];
|
||||
convertContact(manifold,infoGlobal);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btContactSolverInfo info = infoGlobal;
|
||||
|
||||
|
||||
|
||||
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
||||
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
|
||||
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
|
||||
m_orderTmpConstraintPool.resize(numConstraintPool);
|
||||
m_orderFrictionConstraintPool.resize(numFrictionPool);
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<numConstraintPool;i++)
|
||||
{
|
||||
m_orderTmpConstraintPool[i] = i;
|
||||
}
|
||||
for (i=0;i<numFrictionPool;i++)
|
||||
{
|
||||
m_orderFrictionConstraintPool[i] = i;
|
||||
}
|
||||
}
|
||||
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,42 +1,42 @@
|
||||
/*
|
||||
Copyright (C) 2010 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 __BT_PARALLEL_CONSTRAINT_SOLVER_H
|
||||
#define __BT_PARALLEL_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
|
||||
class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
protected:
|
||||
|
||||
public:
|
||||
|
||||
btParallelConstraintSolver();
|
||||
|
||||
virtual ~btParallelConstraintSolver();
|
||||
|
||||
//virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
|
||||
|
||||
btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*
|
||||
Copyright (C) 2010 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 __BT_PARALLEL_CONSTRAINT_SOLVER_H
|
||||
#define __BT_PARALLEL_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
|
||||
class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
protected:
|
||||
|
||||
public:
|
||||
|
||||
btParallelConstraintSolver();
|
||||
|
||||
virtual ~btParallelConstraintSolver();
|
||||
|
||||
//virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
|
||||
|
||||
btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //__BT_PARALLEL_CONSTRAINT_SOLVER_H
|
||||
@@ -1,225 +1,225 @@
|
||||
/*
|
||||
Copyright (C) 2009 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 _BOOLINVEC_H
|
||||
#define _BOOLINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
namespace Vectormath {
|
||||
|
||||
class floatInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec class
|
||||
//
|
||||
|
||||
class boolInVec
|
||||
{
|
||||
private:
|
||||
unsigned int mData;
|
||||
|
||||
public:
|
||||
// Default constructor; does no initialization
|
||||
//
|
||||
inline boolInVec( ) { };
|
||||
|
||||
// Construct from a value converted from float
|
||||
//
|
||||
inline boolInVec(floatInVec vec);
|
||||
|
||||
// Explicit cast from bool
|
||||
//
|
||||
explicit inline boolInVec(bool scalar);
|
||||
|
||||
// Explicit cast to bool
|
||||
//
|
||||
inline bool getAsBool() const;
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
// Implicit cast to bool
|
||||
//
|
||||
inline operator bool() const;
|
||||
#endif
|
||||
|
||||
// Boolean negation operator
|
||||
//
|
||||
inline const boolInVec operator ! () const;
|
||||
|
||||
// Assignment operator
|
||||
//
|
||||
inline boolInVec& operator = (boolInVec vec);
|
||||
|
||||
// Boolean and assignment operator
|
||||
//
|
||||
inline boolInVec& operator &= (boolInVec vec);
|
||||
|
||||
// Boolean exclusive or assignment operator
|
||||
//
|
||||
inline boolInVec& operator ^= (boolInVec vec);
|
||||
|
||||
// Boolean or assignment operator
|
||||
//
|
||||
inline boolInVec& operator |= (boolInVec vec);
|
||||
|
||||
};
|
||||
|
||||
// Equal operator
|
||||
//
|
||||
inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Not equal operator
|
||||
//
|
||||
inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// And operator
|
||||
//
|
||||
inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Exclusive or operator
|
||||
//
|
||||
inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Or operator
|
||||
//
|
||||
inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Conditionally select between two values
|
||||
//
|
||||
inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
|
||||
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec implementation
|
||||
//
|
||||
|
||||
#include "floatInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(floatInVec vec)
|
||||
{
|
||||
*this = (vec != floatInVec(0.0f));
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(bool scalar)
|
||||
{
|
||||
mData = -(int)scalar;
|
||||
}
|
||||
|
||||
inline
|
||||
bool
|
||||
boolInVec::getAsBool() const
|
||||
{
|
||||
return (mData > 0);
|
||||
}
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
boolInVec::operator bool() const
|
||||
{
|
||||
return getAsBool();
|
||||
}
|
||||
#endif
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
boolInVec::operator ! () const
|
||||
{
|
||||
return boolInVec(!mData);
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator = (boolInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator &= (boolInVec vec)
|
||||
{
|
||||
*this = *this & vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator ^= (boolInVec vec)
|
||||
{
|
||||
*this = *this ^ vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator |= (boolInVec vec)
|
||||
{
|
||||
*this = *this | vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator & (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator | (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator ^ (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // boolInVec_h
|
||||
/*
|
||||
Copyright (C) 2009 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 _BOOLINVEC_H
|
||||
#define _BOOLINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
namespace Vectormath {
|
||||
|
||||
class floatInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec class
|
||||
//
|
||||
|
||||
class boolInVec
|
||||
{
|
||||
private:
|
||||
unsigned int mData;
|
||||
|
||||
public:
|
||||
// Default constructor; does no initialization
|
||||
//
|
||||
inline boolInVec( ) { };
|
||||
|
||||
// Construct from a value converted from float
|
||||
//
|
||||
inline boolInVec(floatInVec vec);
|
||||
|
||||
// Explicit cast from bool
|
||||
//
|
||||
explicit inline boolInVec(bool scalar);
|
||||
|
||||
// Explicit cast to bool
|
||||
//
|
||||
inline bool getAsBool() const;
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
// Implicit cast to bool
|
||||
//
|
||||
inline operator bool() const;
|
||||
#endif
|
||||
|
||||
// Boolean negation operator
|
||||
//
|
||||
inline const boolInVec operator ! () const;
|
||||
|
||||
// Assignment operator
|
||||
//
|
||||
inline boolInVec& operator = (boolInVec vec);
|
||||
|
||||
// Boolean and assignment operator
|
||||
//
|
||||
inline boolInVec& operator &= (boolInVec vec);
|
||||
|
||||
// Boolean exclusive or assignment operator
|
||||
//
|
||||
inline boolInVec& operator ^= (boolInVec vec);
|
||||
|
||||
// Boolean or assignment operator
|
||||
//
|
||||
inline boolInVec& operator |= (boolInVec vec);
|
||||
|
||||
};
|
||||
|
||||
// Equal operator
|
||||
//
|
||||
inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Not equal operator
|
||||
//
|
||||
inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// And operator
|
||||
//
|
||||
inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Exclusive or operator
|
||||
//
|
||||
inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Or operator
|
||||
//
|
||||
inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
|
||||
|
||||
// Conditionally select between two values
|
||||
//
|
||||
inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
|
||||
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// boolInVec implementation
|
||||
//
|
||||
|
||||
#include "floatInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(floatInVec vec)
|
||||
{
|
||||
*this = (vec != floatInVec(0.0f));
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec::boolInVec(bool scalar)
|
||||
{
|
||||
mData = -(int)scalar;
|
||||
}
|
||||
|
||||
inline
|
||||
bool
|
||||
boolInVec::getAsBool() const
|
||||
{
|
||||
return (mData > 0);
|
||||
}
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
boolInVec::operator bool() const
|
||||
{
|
||||
return getAsBool();
|
||||
}
|
||||
#endif
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
boolInVec::operator ! () const
|
||||
{
|
||||
return boolInVec(!mData);
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator = (boolInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator &= (boolInVec vec)
|
||||
{
|
||||
*this = *this & vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator ^= (boolInVec vec)
|
||||
{
|
||||
*this = *this ^ vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
boolInVec&
|
||||
boolInVec::operator |= (boolInVec vec)
|
||||
{
|
||||
*this = *this | vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator & (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator | (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator ^ (boolInVec vec0, boolInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // boolInVec_h
|
||||
|
||||
@@ -1,343 +1,343 @@
|
||||
/*
|
||||
Copyright (C) 2009 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 _FLOATINVEC_H
|
||||
#define _FLOATINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
namespace Vectormath {
|
||||
|
||||
class boolInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec class
|
||||
//
|
||||
|
||||
// A class representing a scalar float value contained in a vector register
|
||||
// This class does not support fastmath
|
||||
class floatInVec
|
||||
{
|
||||
private:
|
||||
float mData;
|
||||
|
||||
public:
|
||||
// Default constructor; does no initialization
|
||||
//
|
||||
inline floatInVec( ) { };
|
||||
|
||||
// Construct from a value converted from bool
|
||||
//
|
||||
inline floatInVec(boolInVec vec);
|
||||
|
||||
// Explicit cast from float
|
||||
//
|
||||
explicit inline floatInVec(float scalar);
|
||||
|
||||
// Explicit cast to float
|
||||
//
|
||||
inline float getAsFloat() const;
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
// Implicit cast to float
|
||||
//
|
||||
inline operator float() const;
|
||||
#endif
|
||||
|
||||
// Post increment (add 1.0f)
|
||||
//
|
||||
inline const floatInVec operator ++ (int);
|
||||
|
||||
// Post decrement (subtract 1.0f)
|
||||
//
|
||||
inline const floatInVec operator -- (int);
|
||||
|
||||
// Pre increment (add 1.0f)
|
||||
//
|
||||
inline floatInVec& operator ++ ();
|
||||
|
||||
// Pre decrement (subtract 1.0f)
|
||||
//
|
||||
inline floatInVec& operator -- ();
|
||||
|
||||
// Negation operator
|
||||
//
|
||||
inline const floatInVec operator - () const;
|
||||
|
||||
// Assignment operator
|
||||
//
|
||||
inline floatInVec& operator = (floatInVec vec);
|
||||
|
||||
// Multiplication assignment operator
|
||||
//
|
||||
inline floatInVec& operator *= (floatInVec vec);
|
||||
|
||||
// Division assignment operator
|
||||
//
|
||||
inline floatInVec& operator /= (floatInVec vec);
|
||||
|
||||
// Addition assignment operator
|
||||
//
|
||||
inline floatInVec& operator += (floatInVec vec);
|
||||
|
||||
// Subtraction assignment operator
|
||||
//
|
||||
inline floatInVec& operator -= (floatInVec vec);
|
||||
|
||||
};
|
||||
|
||||
// Multiplication operator
|
||||
//
|
||||
inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Division operator
|
||||
//
|
||||
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Addition operator
|
||||
//
|
||||
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Subtraction operator
|
||||
//
|
||||
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Less than operator
|
||||
//
|
||||
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Less than or equal operator
|
||||
//
|
||||
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Greater than operator
|
||||
//
|
||||
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Greater than or equal operator
|
||||
//
|
||||
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Equal operator
|
||||
//
|
||||
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Not equal operator
|
||||
//
|
||||
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Conditionally select between two values
|
||||
//
|
||||
inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec implementation
|
||||
//
|
||||
|
||||
#include "boolInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(boolInVec vec)
|
||||
{
|
||||
mData = float(vec.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(float scalar)
|
||||
{
|
||||
mData = scalar;
|
||||
}
|
||||
|
||||
inline
|
||||
float
|
||||
floatInVec::getAsFloat() const
|
||||
{
|
||||
return mData;
|
||||
}
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
floatInVec::operator float() const
|
||||
{
|
||||
return getAsFloat();
|
||||
}
|
||||
#endif
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator ++ (int)
|
||||
{
|
||||
float olddata = mData;
|
||||
operator ++();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator -- (int)
|
||||
{
|
||||
float olddata = mData;
|
||||
operator --();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator ++ ()
|
||||
{
|
||||
*this += floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -- ()
|
||||
{
|
||||
*this -= floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator - () const
|
||||
{
|
||||
return floatInVec(-mData);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator = (floatInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator *= (floatInVec vec)
|
||||
{
|
||||
*this = *this * vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator /= (floatInVec vec)
|
||||
{
|
||||
*this = *this / vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator += (floatInVec vec)
|
||||
{
|
||||
*this = *this + vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -= (floatInVec vec)
|
||||
{
|
||||
*this = *this - vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator * (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator / (floatInVec num, floatInVec den)
|
||||
{
|
||||
return floatInVec(num.getAsFloat() / den.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator + (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator - (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator < (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator <= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 > vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator > (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator >= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 < vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // floatInVec_h
|
||||
/*
|
||||
Copyright (C) 2009 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
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 _FLOATINVEC_H
|
||||
#define _FLOATINVEC_H
|
||||
|
||||
#include <math.h>
|
||||
namespace Vectormath {
|
||||
|
||||
class boolInVec;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec class
|
||||
//
|
||||
|
||||
// A class representing a scalar float value contained in a vector register
|
||||
// This class does not support fastmath
|
||||
class floatInVec
|
||||
{
|
||||
private:
|
||||
float mData;
|
||||
|
||||
public:
|
||||
// Default constructor; does no initialization
|
||||
//
|
||||
inline floatInVec( ) { };
|
||||
|
||||
// Construct from a value converted from bool
|
||||
//
|
||||
inline floatInVec(boolInVec vec);
|
||||
|
||||
// Explicit cast from float
|
||||
//
|
||||
explicit inline floatInVec(float scalar);
|
||||
|
||||
// Explicit cast to float
|
||||
//
|
||||
inline float getAsFloat() const;
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
// Implicit cast to float
|
||||
//
|
||||
inline operator float() const;
|
||||
#endif
|
||||
|
||||
// Post increment (add 1.0f)
|
||||
//
|
||||
inline const floatInVec operator ++ (int);
|
||||
|
||||
// Post decrement (subtract 1.0f)
|
||||
//
|
||||
inline const floatInVec operator -- (int);
|
||||
|
||||
// Pre increment (add 1.0f)
|
||||
//
|
||||
inline floatInVec& operator ++ ();
|
||||
|
||||
// Pre decrement (subtract 1.0f)
|
||||
//
|
||||
inline floatInVec& operator -- ();
|
||||
|
||||
// Negation operator
|
||||
//
|
||||
inline const floatInVec operator - () const;
|
||||
|
||||
// Assignment operator
|
||||
//
|
||||
inline floatInVec& operator = (floatInVec vec);
|
||||
|
||||
// Multiplication assignment operator
|
||||
//
|
||||
inline floatInVec& operator *= (floatInVec vec);
|
||||
|
||||
// Division assignment operator
|
||||
//
|
||||
inline floatInVec& operator /= (floatInVec vec);
|
||||
|
||||
// Addition assignment operator
|
||||
//
|
||||
inline floatInVec& operator += (floatInVec vec);
|
||||
|
||||
// Subtraction assignment operator
|
||||
//
|
||||
inline floatInVec& operator -= (floatInVec vec);
|
||||
|
||||
};
|
||||
|
||||
// Multiplication operator
|
||||
//
|
||||
inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Division operator
|
||||
//
|
||||
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Addition operator
|
||||
//
|
||||
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Subtraction operator
|
||||
//
|
||||
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Less than operator
|
||||
//
|
||||
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Less than or equal operator
|
||||
//
|
||||
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Greater than operator
|
||||
//
|
||||
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Greater than or equal operator
|
||||
//
|
||||
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Equal operator
|
||||
//
|
||||
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Not equal operator
|
||||
//
|
||||
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
|
||||
|
||||
// Conditionally select between two values
|
||||
//
|
||||
inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
|
||||
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// floatInVec implementation
|
||||
//
|
||||
|
||||
#include "boolInVec.h"
|
||||
|
||||
namespace Vectormath {
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(boolInVec vec)
|
||||
{
|
||||
mData = float(vec.getAsBool());
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec::floatInVec(float scalar)
|
||||
{
|
||||
mData = scalar;
|
||||
}
|
||||
|
||||
inline
|
||||
float
|
||||
floatInVec::getAsFloat() const
|
||||
{
|
||||
return mData;
|
||||
}
|
||||
|
||||
#ifndef _VECTORMATH_NO_SCALAR_CAST
|
||||
inline
|
||||
floatInVec::operator float() const
|
||||
{
|
||||
return getAsFloat();
|
||||
}
|
||||
#endif
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator ++ (int)
|
||||
{
|
||||
float olddata = mData;
|
||||
operator ++();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator -- (int)
|
||||
{
|
||||
float olddata = mData;
|
||||
operator --();
|
||||
return floatInVec(olddata);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator ++ ()
|
||||
{
|
||||
*this += floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -- ()
|
||||
{
|
||||
*this -= floatInVec(1.0f);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
floatInVec::operator - () const
|
||||
{
|
||||
return floatInVec(-mData);
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator = (floatInVec vec)
|
||||
{
|
||||
mData = vec.mData;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator *= (floatInVec vec)
|
||||
{
|
||||
*this = *this * vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator /= (floatInVec vec)
|
||||
{
|
||||
*this = *this / vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator += (floatInVec vec)
|
||||
{
|
||||
*this = *this + vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
floatInVec&
|
||||
floatInVec::operator -= (floatInVec vec)
|
||||
{
|
||||
*this = *this - vec;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator * (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator / (floatInVec num, floatInVec den)
|
||||
{
|
||||
return floatInVec(num.getAsFloat() / den.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator + (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
operator - (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator < (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator <= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 > vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator > (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator >= (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 < vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator == (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
|
||||
}
|
||||
|
||||
inline
|
||||
const boolInVec
|
||||
operator != (floatInVec vec0, floatInVec vec1)
|
||||
{
|
||||
return !(vec0 == vec1);
|
||||
}
|
||||
|
||||
inline
|
||||
const floatInVec
|
||||
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
|
||||
{
|
||||
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
|
||||
}
|
||||
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif // floatInVec_h
|
||||
|
||||
Reference in New Issue
Block a user