minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,93 +1,93 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SequentialThreadSupport.h"
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#include "SpuCollisionTaskProcess.h"
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#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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SequentialThreadSupport::SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo)
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{
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startThreads(threadConstructionInfo);
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}
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///cleanup/shutdown Libspe2
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SequentialThreadSupport::~SequentialThreadSupport()
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{
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stopSPU();
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}
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#include <stdio.h>
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///send messages to SPUs
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void SequentialThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
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{
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switch (uiCommand)
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{
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case CMD_GATHER_AND_PROCESS_PAIRLIST:
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{
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btSpuStatus& spuStatus = m_activeSpuStatus[0];
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spuStatus.m_userPtr=(void*)uiArgument0;
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spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
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}
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break;
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default:
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{
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///not implemented
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btAssert(0 && "Not implemented");
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}
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};
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}
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///check for messages from SPUs
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void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
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{
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btAssert(m_activeSpuStatus.size());
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btSpuStatus& spuStatus = m_activeSpuStatus[0];
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*puiArgument0 = spuStatus.m_taskId;
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*puiArgument1 = spuStatus.m_status;
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}
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void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo)
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{
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m_activeSpuStatus.resize(1);
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printf("STS: Not starting any threads\n");
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btSpuStatus& spuStatus = m_activeSpuStatus[0];
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spuStatus.m_userPtr = 0;
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spuStatus.m_taskId = 0;
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spuStatus.m_commandId = 0;
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spuStatus.m_status = 0;
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spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
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spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
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printf("STS: Created local store at %p for task %s\n", spuStatus.m_lsMemory, threadConstructionInfo.m_uniqueName);
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}
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void SequentialThreadSupport::startSPU()
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{
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}
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||||
|
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void SequentialThreadSupport::stopSPU()
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{
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m_activeSpuStatus.clear();
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}
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void SequentialThreadSupport::setNumTasks(int numTasks)
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{
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printf("SequentialThreadSupport::setNumTasks(%d) is not implemented and has no effect\n",numTasks);
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}
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SequentialThreadSupport.h"
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|
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|
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#include "SpuCollisionTaskProcess.h"
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#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
SequentialThreadSupport::SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo)
|
||||
{
|
||||
startThreads(threadConstructionInfo);
|
||||
}
|
||||
|
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///cleanup/shutdown Libspe2
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SequentialThreadSupport::~SequentialThreadSupport()
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||||
{
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||||
stopSPU();
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||||
}
|
||||
|
||||
#include <stdio.h>
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///send messages to SPUs
|
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void SequentialThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
|
||||
{
|
||||
switch (uiCommand)
|
||||
{
|
||||
case CMD_GATHER_AND_PROCESS_PAIRLIST:
|
||||
{
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[0];
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spuStatus.m_userPtr=(void*)uiArgument0;
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spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
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}
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break;
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default:
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||||
{
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||||
///not implemented
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btAssert(0 && "Not implemented");
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}
|
||||
|
||||
};
|
||||
|
||||
|
||||
}
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||||
|
||||
///check for messages from SPUs
|
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void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
|
||||
{
|
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btAssert(m_activeSpuStatus.size());
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btSpuStatus& spuStatus = m_activeSpuStatus[0];
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||||
*puiArgument0 = spuStatus.m_taskId;
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*puiArgument1 = spuStatus.m_status;
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}
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||||
|
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void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo)
|
||||
{
|
||||
m_activeSpuStatus.resize(1);
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printf("STS: Not starting any threads\n");
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btSpuStatus& spuStatus = m_activeSpuStatus[0];
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||||
spuStatus.m_userPtr = 0;
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spuStatus.m_taskId = 0;
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spuStatus.m_commandId = 0;
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spuStatus.m_status = 0;
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spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
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||||
spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
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||||
printf("STS: Created local store at %p for task %s\n", spuStatus.m_lsMemory, threadConstructionInfo.m_uniqueName);
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||||
}
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||||
|
||||
void SequentialThreadSupport::startSPU()
|
||||
{
|
||||
}
|
||||
|
||||
void SequentialThreadSupport::stopSPU()
|
||||
{
|
||||
m_activeSpuStatus.clear();
|
||||
}
|
||||
|
||||
void SequentialThreadSupport::setNumTasks(int numTasks)
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||||
{
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||||
printf("SequentialThreadSupport::setNumTasks(%d) is not implemented and has no effect\n",numTasks);
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||||
}
|
||||
|
||||
@@ -1,87 +1,87 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btScalar.h"
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#include "PlatformDefinitions.h"
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||||
|
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|
||||
#ifndef SEQUENTIAL_THREAD_SUPPORT_H
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#define SEQUENTIAL_THREAD_SUPPORT_H
|
||||
|
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btThreadSupportInterface.h"
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typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory);
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||||
typedef void* (*SequentiallsMemorySetupFunc)();
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||||
|
||||
|
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|
||||
///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
|
||||
///This is useful for debugging and porting SPU Tasks to other platforms.
|
||||
class SequentialThreadSupport : public btThreadSupportInterface
|
||||
{
|
||||
public:
|
||||
struct btSpuStatus
|
||||
{
|
||||
uint32_t m_taskId;
|
||||
uint32_t m_commandId;
|
||||
uint32_t m_status;
|
||||
|
||||
SequentialThreadFunc m_userThreadFunc;
|
||||
|
||||
void* m_userPtr; //for taskDesc etc
|
||||
void* m_lsMemory; //initialized using SequentiallsMemorySetupFunc
|
||||
};
|
||||
private:
|
||||
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
|
||||
btAlignedObjectArray<void*> m_completeHandles;
|
||||
public:
|
||||
struct SequentialThreadConstructionInfo
|
||||
{
|
||||
SequentialThreadConstructionInfo (char* uniqueName,
|
||||
SequentialThreadFunc userThreadFunc,
|
||||
SequentiallsMemorySetupFunc lsMemoryFunc
|
||||
)
|
||||
:m_uniqueName(uniqueName),
|
||||
m_userThreadFunc(userThreadFunc),
|
||||
m_lsMemoryFunc(lsMemoryFunc)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
char* m_uniqueName;
|
||||
SequentialThreadFunc m_userThreadFunc;
|
||||
SequentiallsMemorySetupFunc m_lsMemoryFunc;
|
||||
};
|
||||
|
||||
SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo);
|
||||
virtual ~SequentialThreadSupport();
|
||||
void startThreads(SequentialThreadConstructionInfo& threadInfo);
|
||||
///send messages to SPUs
|
||||
virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
|
||||
///check for messages from SPUs
|
||||
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
|
||||
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
|
||||
virtual void startSPU();
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
virtual void stopSPU();
|
||||
|
||||
virtual void setNumTasks(int numTasks);
|
||||
|
||||
};
|
||||
|
||||
#endif //SEQUENTIAL_THREAD_SUPPORT_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "PlatformDefinitions.h"
|
||||
|
||||
|
||||
#ifndef SEQUENTIAL_THREAD_SUPPORT_H
|
||||
#define SEQUENTIAL_THREAD_SUPPORT_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#include "btThreadSupportInterface.h"
|
||||
|
||||
typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory);
|
||||
typedef void* (*SequentiallsMemorySetupFunc)();
|
||||
|
||||
|
||||
|
||||
///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
|
||||
///This is useful for debugging and porting SPU Tasks to other platforms.
|
||||
class SequentialThreadSupport : public btThreadSupportInterface
|
||||
{
|
||||
public:
|
||||
struct btSpuStatus
|
||||
{
|
||||
uint32_t m_taskId;
|
||||
uint32_t m_commandId;
|
||||
uint32_t m_status;
|
||||
|
||||
SequentialThreadFunc m_userThreadFunc;
|
||||
|
||||
void* m_userPtr; //for taskDesc etc
|
||||
void* m_lsMemory; //initialized using SequentiallsMemorySetupFunc
|
||||
};
|
||||
private:
|
||||
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
|
||||
btAlignedObjectArray<void*> m_completeHandles;
|
||||
public:
|
||||
struct SequentialThreadConstructionInfo
|
||||
{
|
||||
SequentialThreadConstructionInfo (char* uniqueName,
|
||||
SequentialThreadFunc userThreadFunc,
|
||||
SequentiallsMemorySetupFunc lsMemoryFunc
|
||||
)
|
||||
:m_uniqueName(uniqueName),
|
||||
m_userThreadFunc(userThreadFunc),
|
||||
m_lsMemoryFunc(lsMemoryFunc)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
char* m_uniqueName;
|
||||
SequentialThreadFunc m_userThreadFunc;
|
||||
SequentiallsMemorySetupFunc m_lsMemoryFunc;
|
||||
};
|
||||
|
||||
SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo);
|
||||
virtual ~SequentialThreadSupport();
|
||||
void startThreads(SequentialThreadConstructionInfo& threadInfo);
|
||||
///send messages to SPUs
|
||||
virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
|
||||
///check for messages from SPUs
|
||||
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
|
||||
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
|
||||
virtual void startSPU();
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
virtual void stopSPU();
|
||||
|
||||
virtual void setNumTasks(int numTasks);
|
||||
|
||||
};
|
||||
|
||||
#endif //SEQUENTIAL_THREAD_SUPPORT_H
|
||||
|
||||
|
||||
@@ -1,69 +1,69 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactManifoldCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
|
||||
|
||||
|
||||
|
||||
|
||||
void SpuContactManifoldCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btAssert(0);
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
|
||||
:btCollisionAlgorithm(ci)
|
||||
#ifdef USE_SEPDISTANCE_UTIL
|
||||
,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())
|
||||
#endif //USE_SEPDISTANCE_UTIL
|
||||
{
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
|
||||
m_shapeType0 = body0->getCollisionShape()->getShapeType();
|
||||
m_shapeType1 = body1->getCollisionShape()->getShapeType();
|
||||
m_collisionMargin0 = body0->getCollisionShape()->getMargin();
|
||||
m_collisionMargin1 = body1->getCollisionShape()->getMargin();
|
||||
m_collisionObject0 = body0;
|
||||
m_collisionObject1 = body1;
|
||||
|
||||
if (body0->getCollisionShape()->isPolyhedral())
|
||||
{
|
||||
btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape();
|
||||
m_shapeDimensions0 = convex0->getImplicitShapeDimensions();
|
||||
}
|
||||
if (body1->getCollisionShape()->isPolyhedral())
|
||||
{
|
||||
btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape();
|
||||
m_shapeDimensions1 = convex1->getImplicitShapeDimensions();
|
||||
}
|
||||
}
|
||||
#endif //__SPU__
|
||||
|
||||
|
||||
SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm()
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactManifoldCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
|
||||
|
||||
|
||||
|
||||
|
||||
void SpuContactManifoldCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btAssert(0);
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
|
||||
:btCollisionAlgorithm(ci)
|
||||
#ifdef USE_SEPDISTANCE_UTIL
|
||||
,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())
|
||||
#endif //USE_SEPDISTANCE_UTIL
|
||||
{
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
|
||||
m_shapeType0 = body0->getCollisionShape()->getShapeType();
|
||||
m_shapeType1 = body1->getCollisionShape()->getShapeType();
|
||||
m_collisionMargin0 = body0->getCollisionShape()->getMargin();
|
||||
m_collisionMargin1 = body1->getCollisionShape()->getMargin();
|
||||
m_collisionObject0 = body0;
|
||||
m_collisionObject1 = body1;
|
||||
|
||||
if (body0->getCollisionShape()->isPolyhedral())
|
||||
{
|
||||
btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape();
|
||||
m_shapeDimensions0 = convex0->getImplicitShapeDimensions();
|
||||
}
|
||||
if (body1->getCollisionShape()->isPolyhedral())
|
||||
{
|
||||
btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape();
|
||||
m_shapeDimensions1 = convex1->getImplicitShapeDimensions();
|
||||
}
|
||||
}
|
||||
#endif //__SPU__
|
||||
|
||||
|
||||
SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm()
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
|
||||
@@ -1,120 +1,120 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
#define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
//#define USE_SEPDISTANCE_UTIL 1
|
||||
|
||||
/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU.
|
||||
ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btVector3 m_shapeDimensions0;
|
||||
btVector3 m_shapeDimensions1;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
int m_shapeType0;
|
||||
int m_shapeType1;
|
||||
float m_collisionMargin0;
|
||||
float m_collisionMargin1;
|
||||
|
||||
btCollisionObject* m_collisionObject0;
|
||||
btCollisionObject* m_collisionObject1;
|
||||
|
||||
|
||||
|
||||
|
||||
public:
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
|
||||
SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
#ifdef USE_SEPDISTANCE_UTIL
|
||||
btConvexSeparatingDistanceUtil m_sepDistance;
|
||||
#endif //USE_SEPDISTANCE_UTIL
|
||||
|
||||
virtual ~SpuContactManifoldCollisionAlgorithm();
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
btPersistentManifold* getContactManifoldPtr()
|
||||
{
|
||||
return m_manifoldPtr;
|
||||
}
|
||||
|
||||
btCollisionObject* getCollisionObject0()
|
||||
{
|
||||
return m_collisionObject0;
|
||||
}
|
||||
|
||||
btCollisionObject* getCollisionObject1()
|
||||
{
|
||||
return m_collisionObject1;
|
||||
}
|
||||
|
||||
int getShapeType0() const
|
||||
{
|
||||
return m_shapeType0;
|
||||
}
|
||||
|
||||
int getShapeType1() const
|
||||
{
|
||||
return m_shapeType1;
|
||||
}
|
||||
float getCollisionMargin0() const
|
||||
{
|
||||
return m_collisionMargin0;
|
||||
}
|
||||
float getCollisionMargin1() const
|
||||
{
|
||||
return m_collisionMargin1;
|
||||
}
|
||||
|
||||
const btVector3& getShapeDimensions0() const
|
||||
{
|
||||
return m_shapeDimensions0;
|
||||
}
|
||||
|
||||
const btVector3& getShapeDimensions1() const
|
||||
{
|
||||
return m_shapeDimensions1;
|
||||
}
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
|
||||
return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
#define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
//#define USE_SEPDISTANCE_UTIL 1
|
||||
|
||||
/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU.
|
||||
ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btVector3 m_shapeDimensions0;
|
||||
btVector3 m_shapeDimensions1;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
int m_shapeType0;
|
||||
int m_shapeType1;
|
||||
float m_collisionMargin0;
|
||||
float m_collisionMargin1;
|
||||
|
||||
btCollisionObject* m_collisionObject0;
|
||||
btCollisionObject* m_collisionObject1;
|
||||
|
||||
|
||||
|
||||
|
||||
public:
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
|
||||
SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
#ifdef USE_SEPDISTANCE_UTIL
|
||||
btConvexSeparatingDistanceUtil m_sepDistance;
|
||||
#endif //USE_SEPDISTANCE_UTIL
|
||||
|
||||
virtual ~SpuContactManifoldCollisionAlgorithm();
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
btPersistentManifold* getContactManifoldPtr()
|
||||
{
|
||||
return m_manifoldPtr;
|
||||
}
|
||||
|
||||
btCollisionObject* getCollisionObject0()
|
||||
{
|
||||
return m_collisionObject0;
|
||||
}
|
||||
|
||||
btCollisionObject* getCollisionObject1()
|
||||
{
|
||||
return m_collisionObject1;
|
||||
}
|
||||
|
||||
int getShapeType0() const
|
||||
{
|
||||
return m_shapeType0;
|
||||
}
|
||||
|
||||
int getShapeType1() const
|
||||
{
|
||||
return m_shapeType1;
|
||||
}
|
||||
float getCollisionMargin0() const
|
||||
{
|
||||
return m_collisionMargin0;
|
||||
}
|
||||
float getCollisionMargin1() const
|
||||
{
|
||||
return m_collisionMargin1;
|
||||
}
|
||||
|
||||
const btVector3& getShapeDimensions0() const
|
||||
{
|
||||
return m_shapeDimensions0;
|
||||
}
|
||||
|
||||
const btVector3& getShapeDimensions1() const
|
||||
{
|
||||
return m_shapeDimensions1;
|
||||
}
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
|
||||
return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
|
||||
|
||||
@@ -1,209 +1,209 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuFakeDma.h"
|
||||
#include <LinearMath/btScalar.h> //for btAssert
|
||||
//Disabling memcpy sometimes helps debugging DMA
|
||||
|
||||
#define USE_MEMCPY 1
|
||||
#ifdef USE_MEMCPY
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
cellDmaLargeGet(ls,ea,size,tag,tid,rid);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
mfc_get(ls,ea,size,tag,0,0);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
cellDmaGet(ls,ea,size,tag,tid,rid);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
///this unalignedDma should not be frequently used, only for small data. It handles alignment and performs check on size (<16 bytes)
|
||||
int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size)
|
||||
{
|
||||
|
||||
btAssert(size<32);
|
||||
|
||||
ATTRIBUTE_ALIGNED16(char tmpBuffer[32]);
|
||||
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
uint32_t i;
|
||||
|
||||
|
||||
///make sure last 4 bits are the same, for cellDmaSmallGet
|
||||
uint32_t last4BitsOffset = ea & 0x0f;
|
||||
char* tmpTarget = tmpBuffer + last4BitsOffset;
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
|
||||
int remainingSize = size;
|
||||
|
||||
//#define FORCE_cellDmaUnalignedGet 1
|
||||
#ifdef FORCE_cellDmaUnalignedGet
|
||||
cellDmaUnalignedGet(tmpTarget,ea,size,DMA_TAG(1),0,0);
|
||||
#else
|
||||
char* remainingTmpTarget = tmpTarget;
|
||||
uint64_t remainingEa = ea;
|
||||
|
||||
while (remainingSize)
|
||||
{
|
||||
switch (remainingSize)
|
||||
{
|
||||
case 1:
|
||||
case 2:
|
||||
case 4:
|
||||
case 8:
|
||||
case 16:
|
||||
{
|
||||
mfc_get(remainingTmpTarget,remainingEa,remainingSize,DMA_TAG(1),0,0);
|
||||
remainingSize=0;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//spu_printf("unaligned DMA with non-natural size:%d\n",remainingSize);
|
||||
int actualSize = 0;
|
||||
|
||||
if (remainingSize > 16)
|
||||
actualSize = 16;
|
||||
else
|
||||
if (remainingSize >8)
|
||||
actualSize=8;
|
||||
else
|
||||
if (remainingSize >4)
|
||||
actualSize=4;
|
||||
else
|
||||
if (remainingSize >2)
|
||||
actualSize=2;
|
||||
mfc_get(remainingTmpTarget,remainingEa,actualSize,DMA_TAG(1),0,0);
|
||||
remainingSize-=actualSize;
|
||||
remainingTmpTarget+=actualSize;
|
||||
remainingEa += actualSize;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif//FORCE_cellDmaUnalignedGet
|
||||
|
||||
#else
|
||||
//copy into final destination
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(tmpTarget,mainMem,size);
|
||||
#else
|
||||
for ( i=0;i<size;i++)
|
||||
{
|
||||
tmpTarget[i] = mainMem[i];
|
||||
}
|
||||
#endif //USE_MEMCPY
|
||||
|
||||
#endif
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
//this is slowish, perhaps memcpy on SPU is smarter?
|
||||
for (i=0; btLikely( i<size );i++)
|
||||
{
|
||||
localStore[i] = tmpTarget[i];
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
#else
|
||||
|
||||
int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(localStore,mainMem,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
localStore[i] = mainMem[i];
|
||||
}
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(localStore,mainMem,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
localStore[i] = mainMem[i];
|
||||
}
|
||||
#endif //#ifdef USE_MEMCPY
|
||||
return 0;
|
||||
}
|
||||
|
||||
int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
const char* localStore = (const char*)ls;
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(mainMem,localStore,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
mainMem[i] = localStore[i];
|
||||
}
|
||||
#endif //#ifdef USE_MEMCPY
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void cellDmaWaitTagStatusAll(int ignore)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuFakeDma.h"
|
||||
#include <LinearMath/btScalar.h> //for btAssert
|
||||
//Disabling memcpy sometimes helps debugging DMA
|
||||
|
||||
#define USE_MEMCPY 1
|
||||
#ifdef USE_MEMCPY
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
cellDmaLargeGet(ls,ea,size,tag,tid,rid);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
mfc_get(ls,ea,size,tag,0,0);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
cellDmaGet(ls,ea,size,tag,tid,rid);
|
||||
return ls;
|
||||
#else
|
||||
return (void*)(uint32_t)ea;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
///this unalignedDma should not be frequently used, only for small data. It handles alignment and performs check on size (<16 bytes)
|
||||
int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size)
|
||||
{
|
||||
|
||||
btAssert(size<32);
|
||||
|
||||
ATTRIBUTE_ALIGNED16(char tmpBuffer[32]);
|
||||
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
uint32_t i;
|
||||
|
||||
|
||||
///make sure last 4 bits are the same, for cellDmaSmallGet
|
||||
uint32_t last4BitsOffset = ea & 0x0f;
|
||||
char* tmpTarget = tmpBuffer + last4BitsOffset;
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
|
||||
int remainingSize = size;
|
||||
|
||||
//#define FORCE_cellDmaUnalignedGet 1
|
||||
#ifdef FORCE_cellDmaUnalignedGet
|
||||
cellDmaUnalignedGet(tmpTarget,ea,size,DMA_TAG(1),0,0);
|
||||
#else
|
||||
char* remainingTmpTarget = tmpTarget;
|
||||
uint64_t remainingEa = ea;
|
||||
|
||||
while (remainingSize)
|
||||
{
|
||||
switch (remainingSize)
|
||||
{
|
||||
case 1:
|
||||
case 2:
|
||||
case 4:
|
||||
case 8:
|
||||
case 16:
|
||||
{
|
||||
mfc_get(remainingTmpTarget,remainingEa,remainingSize,DMA_TAG(1),0,0);
|
||||
remainingSize=0;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//spu_printf("unaligned DMA with non-natural size:%d\n",remainingSize);
|
||||
int actualSize = 0;
|
||||
|
||||
if (remainingSize > 16)
|
||||
actualSize = 16;
|
||||
else
|
||||
if (remainingSize >8)
|
||||
actualSize=8;
|
||||
else
|
||||
if (remainingSize >4)
|
||||
actualSize=4;
|
||||
else
|
||||
if (remainingSize >2)
|
||||
actualSize=2;
|
||||
mfc_get(remainingTmpTarget,remainingEa,actualSize,DMA_TAG(1),0,0);
|
||||
remainingSize-=actualSize;
|
||||
remainingTmpTarget+=actualSize;
|
||||
remainingEa += actualSize;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif//FORCE_cellDmaUnalignedGet
|
||||
|
||||
#else
|
||||
//copy into final destination
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(tmpTarget,mainMem,size);
|
||||
#else
|
||||
for ( i=0;i<size;i++)
|
||||
{
|
||||
tmpTarget[i] = mainMem[i];
|
||||
}
|
||||
#endif //USE_MEMCPY
|
||||
|
||||
#endif
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
//this is slowish, perhaps memcpy on SPU is smarter?
|
||||
for (i=0; btLikely( i<size );i++)
|
||||
{
|
||||
localStore[i] = tmpTarget[i];
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
#else
|
||||
|
||||
int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(localStore,mainMem,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
localStore[i] = mainMem[i];
|
||||
}
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
char* localStore = (char*)ls;
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(localStore,mainMem,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
localStore[i] = mainMem[i];
|
||||
}
|
||||
#endif //#ifdef USE_MEMCPY
|
||||
return 0;
|
||||
}
|
||||
|
||||
int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid)
|
||||
{
|
||||
char* mainMem = (char*)ea;
|
||||
const char* localStore = (const char*)ls;
|
||||
#ifdef USE_MEMCPY
|
||||
memcpy(mainMem,localStore,size);
|
||||
#else
|
||||
for (uint32_t i=0;i<size;i++)
|
||||
{
|
||||
mainMem[i] = localStore[i];
|
||||
}
|
||||
#endif //#ifdef USE_MEMCPY
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void cellDmaWaitTagStatusAll(int ignore)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,69 +1,69 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
#define SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
|
||||
|
||||
///Tuning value to optimized SPU utilization
|
||||
///Too small value means Task overhead is large compared to computation (too fine granularity)
|
||||
///Too big value might render some SPUs are idle, while a few other SPUs are doing all work.
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 8
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16
|
||||
#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024
|
||||
|
||||
|
||||
|
||||
class SpuCollisionTaskProcess;
|
||||
|
||||
///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection
|
||||
///Time of Impact, Closest Points and Penetration Depth.
|
||||
class SpuGatheringCollisionDispatcher : public btCollisionDispatcher
|
||||
{
|
||||
|
||||
SpuCollisionTaskProcess* m_spuCollisionTaskProcess;
|
||||
|
||||
protected:
|
||||
|
||||
class btThreadSupportInterface* m_threadInterface;
|
||||
|
||||
unsigned int m_maxNumOutstandingTasks;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//can be used by SPU collision algorithms
|
||||
SpuCollisionTaskProcess* getSpuCollisionTaskProcess()
|
||||
{
|
||||
return m_spuCollisionTaskProcess;
|
||||
}
|
||||
|
||||
SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~SpuGatheringCollisionDispatcher();
|
||||
|
||||
bool supportsDispatchPairOnSpu(int proxyType0,int proxyType1);
|
||||
|
||||
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
#define SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
|
||||
|
||||
///Tuning value to optimized SPU utilization
|
||||
///Too small value means Task overhead is large compared to computation (too fine granularity)
|
||||
///Too big value might render some SPUs are idle, while a few other SPUs are doing all work.
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 8
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16
|
||||
#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256
|
||||
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024
|
||||
|
||||
|
||||
|
||||
class SpuCollisionTaskProcess;
|
||||
|
||||
///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection
|
||||
///Time of Impact, Closest Points and Penetration Depth.
|
||||
class SpuGatheringCollisionDispatcher : public btCollisionDispatcher
|
||||
{
|
||||
|
||||
SpuCollisionTaskProcess* m_spuCollisionTaskProcess;
|
||||
|
||||
protected:
|
||||
|
||||
class btThreadSupportInterface* m_threadInterface;
|
||||
|
||||
unsigned int m_maxNumOutstandingTasks;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//can be used by SPU collision algorithms
|
||||
SpuCollisionTaskProcess* getSpuCollisionTaskProcess()
|
||||
{
|
||||
return m_spuCollisionTaskProcess;
|
||||
}
|
||||
|
||||
SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~SpuGatheringCollisionDispatcher();
|
||||
|
||||
bool supportsDispatchPairOnSpu(int proxyType0,int proxyType1);
|
||||
|
||||
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //SPU_GATHERING_COLLISION__DISPATCHER_H
|
||||
|
||||
@@ -1 +1 @@
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
|
||||
@@ -1,164 +1,164 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2008 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 __BOX_H__
|
||||
#define __BOX_H__
|
||||
|
||||
|
||||
#ifndef PE_REF
|
||||
#define PE_REF(a) a&
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
#include <vectormath_aos.h>
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
enum FeatureType { F, E, V };
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// Box
|
||||
//----------------------------------------------------------------------------
|
||||
///The Box is an internal class used by the boxBoxDistance calculation.
|
||||
class Box
|
||||
{
|
||||
public:
|
||||
Vector3 half;
|
||||
|
||||
inline Box()
|
||||
{}
|
||||
inline Box(PE_REF(Vector3) half_);
|
||||
inline Box(float hx, float hy, float hz);
|
||||
|
||||
inline void Set(PE_REF(Vector3) half_);
|
||||
inline void Set(float hx, float hy, float hz);
|
||||
|
||||
inline Vector3 GetAABB(const Matrix3& rotation) const;
|
||||
};
|
||||
|
||||
inline
|
||||
Box::Box(PE_REF(Vector3) half_)
|
||||
{
|
||||
Set(half_);
|
||||
}
|
||||
|
||||
inline
|
||||
Box::Box(float hx, float hy, float hz)
|
||||
{
|
||||
Set(hx, hy, hz);
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
Box::Set(PE_REF(Vector3) half_)
|
||||
{
|
||||
half = half_;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
Box::Set(float hx, float hy, float hz)
|
||||
{
|
||||
half = Vector3(hx, hy, hz);
|
||||
}
|
||||
|
||||
inline
|
||||
Vector3
|
||||
Box::GetAABB(const Matrix3& rotation) const
|
||||
{
|
||||
return absPerElem(rotation) * half;
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// BoxPoint
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
|
||||
///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
|
||||
class BoxPoint
|
||||
{
|
||||
public:
|
||||
BoxPoint() : localPoint(0.0f) {}
|
||||
|
||||
Point3 localPoint;
|
||||
FeatureType featureType;
|
||||
int featureIdx;
|
||||
|
||||
inline void setVertexFeature(int plusX, int plusY, int plusZ);
|
||||
inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
|
||||
inline void setFaceFeature(int dim, int plus);
|
||||
|
||||
inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
|
||||
inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
|
||||
inline void getFaceFeature(int & dim, int & plus) const;
|
||||
};
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
|
||||
{
|
||||
featureType = V;
|
||||
featureIdx = plusX << 2 | plusY << 1 | plusZ;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
|
||||
{
|
||||
featureType = E;
|
||||
|
||||
if (dim0 > dim1) {
|
||||
featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
|
||||
} else {
|
||||
featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
|
||||
}
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setFaceFeature(int dim, int plus)
|
||||
{
|
||||
featureType = F;
|
||||
featureIdx = plus << 2 | dim;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
|
||||
{
|
||||
plusX = featureIdx >> 2;
|
||||
plusY = featureIdx >> 1 & 1;
|
||||
plusZ = featureIdx & 1;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
|
||||
{
|
||||
plus0 = featureIdx >> 5;
|
||||
dim0 = featureIdx >> 3 & 3;
|
||||
plus1 = featureIdx >> 2 & 1;
|
||||
dim1 = featureIdx & 3;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getFaceFeature(int & dim, int & plus) const
|
||||
{
|
||||
plus = featureIdx >> 2;
|
||||
dim = featureIdx & 3;
|
||||
}
|
||||
|
||||
#endif /* __BOX_H__ */
|
||||
/*
|
||||
Copyright (C) 2006, 2008 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 __BOX_H__
|
||||
#define __BOX_H__
|
||||
|
||||
|
||||
#ifndef PE_REF
|
||||
#define PE_REF(a) a&
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
#include <vectormath_aos.h>
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
enum FeatureType { F, E, V };
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// Box
|
||||
//----------------------------------------------------------------------------
|
||||
///The Box is an internal class used by the boxBoxDistance calculation.
|
||||
class Box
|
||||
{
|
||||
public:
|
||||
Vector3 half;
|
||||
|
||||
inline Box()
|
||||
{}
|
||||
inline Box(PE_REF(Vector3) half_);
|
||||
inline Box(float hx, float hy, float hz);
|
||||
|
||||
inline void Set(PE_REF(Vector3) half_);
|
||||
inline void Set(float hx, float hy, float hz);
|
||||
|
||||
inline Vector3 GetAABB(const Matrix3& rotation) const;
|
||||
};
|
||||
|
||||
inline
|
||||
Box::Box(PE_REF(Vector3) half_)
|
||||
{
|
||||
Set(half_);
|
||||
}
|
||||
|
||||
inline
|
||||
Box::Box(float hx, float hy, float hz)
|
||||
{
|
||||
Set(hx, hy, hz);
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
Box::Set(PE_REF(Vector3) half_)
|
||||
{
|
||||
half = half_;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
Box::Set(float hx, float hy, float hz)
|
||||
{
|
||||
half = Vector3(hx, hy, hz);
|
||||
}
|
||||
|
||||
inline
|
||||
Vector3
|
||||
Box::GetAABB(const Matrix3& rotation) const
|
||||
{
|
||||
return absPerElem(rotation) * half;
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// BoxPoint
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
|
||||
///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
|
||||
class BoxPoint
|
||||
{
|
||||
public:
|
||||
BoxPoint() : localPoint(0.0f) {}
|
||||
|
||||
Point3 localPoint;
|
||||
FeatureType featureType;
|
||||
int featureIdx;
|
||||
|
||||
inline void setVertexFeature(int plusX, int plusY, int plusZ);
|
||||
inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
|
||||
inline void setFaceFeature(int dim, int plus);
|
||||
|
||||
inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
|
||||
inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
|
||||
inline void getFaceFeature(int & dim, int & plus) const;
|
||||
};
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
|
||||
{
|
||||
featureType = V;
|
||||
featureIdx = plusX << 2 | plusY << 1 | plusZ;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
|
||||
{
|
||||
featureType = E;
|
||||
|
||||
if (dim0 > dim1) {
|
||||
featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
|
||||
} else {
|
||||
featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
|
||||
}
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::setFaceFeature(int dim, int plus)
|
||||
{
|
||||
featureType = F;
|
||||
featureIdx = plus << 2 | dim;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
|
||||
{
|
||||
plusX = featureIdx >> 2;
|
||||
plusY = featureIdx >> 1 & 1;
|
||||
plusZ = featureIdx & 1;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
|
||||
{
|
||||
plus0 = featureIdx >> 5;
|
||||
dim0 = featureIdx >> 3 & 3;
|
||||
plus1 = featureIdx >> 2 & 1;
|
||||
dim1 = featureIdx & 3;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
BoxPoint::getFaceFeature(int & dim, int & plus) const
|
||||
{
|
||||
plus = featureIdx >> 2;
|
||||
dim = featureIdx & 3;
|
||||
}
|
||||
|
||||
#endif /* __BOX_H__ */
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,125 +1,125 @@
|
||||
/*
|
||||
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 __SPU_COLLISION_SHAPES_H
|
||||
#define __SPU_COLLISION_SHAPES_H
|
||||
|
||||
#include "../SpuDoubleBuffer.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
|
||||
|
||||
struct SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr;
|
||||
btVector3* gConvexPoints;
|
||||
int gNumConvexPoints;
|
||||
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
};
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
struct CollisionShape_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct CompoundShape_LocalStoreMemory
|
||||
{
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct bvhMeshShape_LocalStoreMemory
|
||||
{
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
};
|
||||
|
||||
|
||||
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
|
||||
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
|
||||
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
|
||||
|
||||
int getShapeTypeSize(int shapeType);
|
||||
void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
|
||||
void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
#if defined(__CELLOS_LV2__) && defined (__SPU__)
|
||||
vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
|
||||
vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
|
||||
vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
|
||||
return spu_extract(spu_gather(isGt),0)==0;
|
||||
|
||||
#else
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
|
||||
|
||||
#endif
|
||||
/*
|
||||
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 __SPU_COLLISION_SHAPES_H
|
||||
#define __SPU_COLLISION_SHAPES_H
|
||||
|
||||
#include "../SpuDoubleBuffer.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
|
||||
|
||||
struct SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr;
|
||||
btVector3* gConvexPoints;
|
||||
int gNumConvexPoints;
|
||||
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
};
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
struct CollisionShape_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct CompoundShape_LocalStoreMemory
|
||||
{
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct bvhMeshShape_LocalStoreMemory
|
||||
{
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
};
|
||||
|
||||
|
||||
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
|
||||
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
|
||||
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
|
||||
|
||||
int getShapeTypeSize(int shapeType);
|
||||
void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
|
||||
void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
#if defined(__CELLOS_LV2__) && defined (__SPU__)
|
||||
vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
|
||||
vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
|
||||
vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
|
||||
return spu_extract(spu_gather(isGt),0)==0;
|
||||
|
||||
#else
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,231 +1,231 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
btScalar friction = friction0*friction1;
|
||||
|
||||
const btScalar MAX_FRICTION = btScalar(10.);
|
||||
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
|
||||
///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
ppu_address_t mmAddr = (ppu_address_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
#endif
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
btScalar friction = friction0*friction1;
|
||||
|
||||
const btScalar MAX_FRICTION = btScalar(10.);
|
||||
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
|
||||
///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
ppu_address_t mmAddr = (ppu_address_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
#endif
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,66 +1,66 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2008 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 __BOXBOXDISTANCE_H__
|
||||
#define __BOXBOXDISTANCE_H__
|
||||
|
||||
|
||||
#include "Box.h"
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// boxBoxDistance:
|
||||
//
|
||||
// description:
|
||||
// this computes info that can be used for the collision response of two boxes. when the boxes
|
||||
// do not overlap, the points are set to the closest points of the boxes, and a positive
|
||||
// distance between them is returned. if the boxes do overlap, a negative distance is returned
|
||||
// and the points are set to two points that would touch after the boxes are translated apart.
|
||||
// the contact normal gives the direction to repel or separate the boxes when they touch or
|
||||
// overlap (it's being approximated here as one of the 15 "separating axis" directions).
|
||||
//
|
||||
// returns:
|
||||
// positive or negative distance between two boxes.
|
||||
//
|
||||
// args:
|
||||
// Vector3& normal: set to a unit contact normal pointing from box A to box B.
|
||||
//
|
||||
// BoxPoint& boxPointA, BoxPoint& boxPointB:
|
||||
// set to a closest point or point of penetration on each box.
|
||||
//
|
||||
// Box boxA, Box boxB:
|
||||
// boxes, represented as 3 half-widths
|
||||
//
|
||||
// const Transform3& transformA, const Transform3& transformB:
|
||||
// box transformations, in world coordinates
|
||||
//
|
||||
// float distanceThreshold:
|
||||
// the algorithm will exit early if it finds that the boxes are more distant than this
|
||||
// threshold, and not compute a contact normal or points. if this distance returned
|
||||
// exceeds the threshold, all the other output data may not have been computed. by
|
||||
// default, this is set to MAX_FLOAT so it will have no effect.
|
||||
//
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
float
|
||||
boxBoxDistance(Vector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const Transform3 & transformA, PE_REF(Box) boxB,
|
||||
const Transform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
/*
|
||||
Copyright (C) 2006, 2008 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 __BOXBOXDISTANCE_H__
|
||||
#define __BOXBOXDISTANCE_H__
|
||||
|
||||
|
||||
#include "Box.h"
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// boxBoxDistance:
|
||||
//
|
||||
// description:
|
||||
// this computes info that can be used for the collision response of two boxes. when the boxes
|
||||
// do not overlap, the points are set to the closest points of the boxes, and a positive
|
||||
// distance between them is returned. if the boxes do overlap, a negative distance is returned
|
||||
// and the points are set to two points that would touch after the boxes are translated apart.
|
||||
// the contact normal gives the direction to repel or separate the boxes when they touch or
|
||||
// overlap (it's being approximated here as one of the 15 "separating axis" directions).
|
||||
//
|
||||
// returns:
|
||||
// positive or negative distance between two boxes.
|
||||
//
|
||||
// args:
|
||||
// Vector3& normal: set to a unit contact normal pointing from box A to box B.
|
||||
//
|
||||
// BoxPoint& boxPointA, BoxPoint& boxPointB:
|
||||
// set to a closest point or point of penetration on each box.
|
||||
//
|
||||
// Box boxA, Box boxB:
|
||||
// boxes, represented as 3 half-widths
|
||||
//
|
||||
// const Transform3& transformA, const Transform3& transformB:
|
||||
// box transformations, in world coordinates
|
||||
//
|
||||
// float distanceThreshold:
|
||||
// the algorithm will exit early if it finds that the boxes are more distant than this
|
||||
// threshold, and not compute a contact normal or points. if this distance returned
|
||||
// exceeds the threshold, all the other output data may not have been computed. by
|
||||
// default, this is set to MAX_FLOAT so it will have no effect.
|
||||
//
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
float
|
||||
boxBoxDistance(Vector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const Transform3 & transformA, PE_REF(Box) boxB,
|
||||
const Transform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
|
||||
@@ -1 +1 @@
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,50 +1,50 @@
|
||||
#ifndef __SPU_RAYCAST_TASK_H
|
||||
#define __SPU_RAYCAST_TASK_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "../PlatformDefinitions.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) RaycastGatheredObjectData
|
||||
{
|
||||
ppu_address_t m_collisionShape;
|
||||
void* m_spuCollisionShape;
|
||||
btVector3 m_primitiveDimensions;
|
||||
int m_shapeType;
|
||||
float m_collisionMargin;
|
||||
btTransform m_worldTransform;
|
||||
};
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnitOut
|
||||
{
|
||||
btVector3 hitNormal; /* out */
|
||||
btScalar hitFraction; /* out */
|
||||
btCollisionWorld::LocalShapeInfo shapeInfo; /* out */
|
||||
};
|
||||
|
||||
/* Perform a raycast on collision object */
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnit
|
||||
{
|
||||
btVector3 rayFrom; /* in */
|
||||
btVector3 rayTo; /* in */
|
||||
SpuRaycastTaskWorkUnitOut* output; /* out */
|
||||
};
|
||||
|
||||
#define SPU_RAYCAST_WORK_UNITS_PER_TASK 16
|
||||
|
||||
ATTRIBUTE_ALIGNED128(struct) SpuRaycastTaskDesc
|
||||
{
|
||||
SpuRaycastTaskWorkUnit workUnits[SPU_RAYCAST_WORK_UNITS_PER_TASK];
|
||||
unsigned int numWorkUnits;
|
||||
void* spuCollisionObjectsWrappers;
|
||||
unsigned int numSpuCollisionObjectWrappers;
|
||||
int taskId;
|
||||
};
|
||||
|
||||
|
||||
void processRaycastTask (void* userPtr, void* lsMemory);
|
||||
void* createRaycastLocalStoreMemory ();
|
||||
|
||||
#endif
|
||||
#ifndef __SPU_RAYCAST_TASK_H
|
||||
#define __SPU_RAYCAST_TASK_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "../PlatformDefinitions.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) RaycastGatheredObjectData
|
||||
{
|
||||
ppu_address_t m_collisionShape;
|
||||
void* m_spuCollisionShape;
|
||||
btVector3 m_primitiveDimensions;
|
||||
int m_shapeType;
|
||||
float m_collisionMargin;
|
||||
btTransform m_worldTransform;
|
||||
};
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnitOut
|
||||
{
|
||||
btVector3 hitNormal; /* out */
|
||||
btScalar hitFraction; /* out */
|
||||
btCollisionWorld::LocalShapeInfo shapeInfo; /* out */
|
||||
};
|
||||
|
||||
/* Perform a raycast on collision object */
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnit
|
||||
{
|
||||
btVector3 rayFrom; /* in */
|
||||
btVector3 rayTo; /* in */
|
||||
SpuRaycastTaskWorkUnitOut* output; /* out */
|
||||
};
|
||||
|
||||
#define SPU_RAYCAST_WORK_UNITS_PER_TASK 16
|
||||
|
||||
ATTRIBUTE_ALIGNED128(struct) SpuRaycastTaskDesc
|
||||
{
|
||||
SpuRaycastTaskWorkUnit workUnits[SPU_RAYCAST_WORK_UNITS_PER_TASK];
|
||||
unsigned int numWorkUnits;
|
||||
void* spuCollisionObjectsWrappers;
|
||||
unsigned int numSpuCollisionObjectWrappers;
|
||||
int taskId;
|
||||
};
|
||||
|
||||
|
||||
void processRaycastTask (void* userPtr, void* lsMemory);
|
||||
void* createRaycastLocalStoreMemory ();
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,152 +1,152 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
|
||||
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
|
||||
{
|
||||
}
|
||||
|
||||
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
|
||||
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define MAX_ITERATIONS 64
|
||||
#else
|
||||
#define MAX_ITERATIONS 32
|
||||
#endif
|
||||
|
||||
/* Returns the support point of the minkowski sum:
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
void supportPoints (const btTransform& xformRay,
|
||||
const btTransform& xformB,
|
||||
const int shapeType,
|
||||
const void* shape,
|
||||
SpuConvexPolyhedronVertexData* convexVertexData,
|
||||
const btScalar marginB,
|
||||
const btVector3& seperatingAxis,
|
||||
btVector3& w,
|
||||
btVector3& supVertexRay,
|
||||
btVector3& supVertexB)
|
||||
{
|
||||
btVector3 saUnit = seperatingAxis;
|
||||
saUnit.normalize();
|
||||
btVector3 SupportPellet = xformRay(0.0001 * -saUnit);
|
||||
btVector3 rotatedSeperatingAxis = seperatingAxis * xformB.getBasis();
|
||||
btVector3 SupportShape = xformB(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
|
||||
SupportShape += saUnit * marginB;
|
||||
w = SupportPellet - SupportShape;
|
||||
supVertexRay = SupportPellet;
|
||||
supVertexB = SupportShape;
|
||||
}
|
||||
|
||||
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
{
|
||||
m_simplexSolver->reset();
|
||||
|
||||
btVector3 linVelRay, linVelB;
|
||||
linVelRay = toRay.getOrigin() - fromRay.getOrigin();
|
||||
linVelB = toB.getOrigin() - fromB.getOrigin ();
|
||||
|
||||
btScalar lambda = btScalar(0.);
|
||||
|
||||
btTransform interpolatedTransRay = fromRay;
|
||||
btTransform interpolatedTransB = fromB;
|
||||
|
||||
btVector3 r = (linVelRay-linVelB);
|
||||
btVector3 supVertexRay;
|
||||
btVector3 supVertexB;
|
||||
btVector3 v;
|
||||
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, r, v, supVertexRay, supVertexB);
|
||||
|
||||
btVector3 n;
|
||||
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
bool hasResult = false;
|
||||
btVector3 c;
|
||||
int maxIter = MAX_ITERATIONS;
|
||||
|
||||
btScalar lastLambda = lambda;
|
||||
|
||||
btScalar dist2 = v.length2();
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#else
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
btVector3 w,p;
|
||||
btScalar VdotR;
|
||||
|
||||
while ( (dist2 > epsilon) && maxIter--)
|
||||
{
|
||||
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, v, w, supVertexRay, supVertexB);
|
||||
|
||||
btScalar VdotW = v.dot(w);
|
||||
|
||||
if (lambda > btScalar(1.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( VdotW > btScalar(0.))
|
||||
{
|
||||
VdotR = v.dot(r);
|
||||
|
||||
if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
lambda = lambda - VdotW / VdotR;
|
||||
interpolatedTransRay.getOrigin().setInterpolate3(fromRay.getOrigin(), toRay.getOrigin(), lambda);
|
||||
interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
|
||||
lastLambda = lambda;
|
||||
n = v;
|
||||
hasResult = true;
|
||||
}
|
||||
}
|
||||
m_simplexSolver->addVertex(w, supVertexRay, supVertexB);
|
||||
if (m_simplexSolver->closest(v))
|
||||
{
|
||||
dist2 = v.length2();
|
||||
hasResult = true;
|
||||
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
|
||||
//printf("DIST2=%f\n",dist2);
|
||||
//printf("numverts = %i\n",m_simplexSolver->numVertices());
|
||||
} else
|
||||
{
|
||||
dist2 = btScalar(0.);
|
||||
}
|
||||
}
|
||||
|
||||
result.m_fraction = lambda;
|
||||
result.m_normal = n;
|
||||
btVector3 hitRay, hitB;
|
||||
m_simplexSolver->compute_points (hitRay, hitB);
|
||||
/* TODO: We could output hit point here (hitB) */
|
||||
return true;
|
||||
}
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
|
||||
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
|
||||
{
|
||||
}
|
||||
|
||||
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
|
||||
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define MAX_ITERATIONS 64
|
||||
#else
|
||||
#define MAX_ITERATIONS 32
|
||||
#endif
|
||||
|
||||
/* Returns the support point of the minkowski sum:
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
void supportPoints (const btTransform& xformRay,
|
||||
const btTransform& xformB,
|
||||
const int shapeType,
|
||||
const void* shape,
|
||||
SpuConvexPolyhedronVertexData* convexVertexData,
|
||||
const btScalar marginB,
|
||||
const btVector3& seperatingAxis,
|
||||
btVector3& w,
|
||||
btVector3& supVertexRay,
|
||||
btVector3& supVertexB)
|
||||
{
|
||||
btVector3 saUnit = seperatingAxis;
|
||||
saUnit.normalize();
|
||||
btVector3 SupportPellet = xformRay(0.0001 * -saUnit);
|
||||
btVector3 rotatedSeperatingAxis = seperatingAxis * xformB.getBasis();
|
||||
btVector3 SupportShape = xformB(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
|
||||
SupportShape += saUnit * marginB;
|
||||
w = SupportPellet - SupportShape;
|
||||
supVertexRay = SupportPellet;
|
||||
supVertexB = SupportShape;
|
||||
}
|
||||
|
||||
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
{
|
||||
m_simplexSolver->reset();
|
||||
|
||||
btVector3 linVelRay, linVelB;
|
||||
linVelRay = toRay.getOrigin() - fromRay.getOrigin();
|
||||
linVelB = toB.getOrigin() - fromB.getOrigin ();
|
||||
|
||||
btScalar lambda = btScalar(0.);
|
||||
|
||||
btTransform interpolatedTransRay = fromRay;
|
||||
btTransform interpolatedTransB = fromB;
|
||||
|
||||
btVector3 r = (linVelRay-linVelB);
|
||||
btVector3 supVertexRay;
|
||||
btVector3 supVertexB;
|
||||
btVector3 v;
|
||||
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, r, v, supVertexRay, supVertexB);
|
||||
|
||||
btVector3 n;
|
||||
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
bool hasResult = false;
|
||||
btVector3 c;
|
||||
int maxIter = MAX_ITERATIONS;
|
||||
|
||||
btScalar lastLambda = lambda;
|
||||
|
||||
btScalar dist2 = v.length2();
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#else
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
btVector3 w,p;
|
||||
btScalar VdotR;
|
||||
|
||||
while ( (dist2 > epsilon) && maxIter--)
|
||||
{
|
||||
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, v, w, supVertexRay, supVertexB);
|
||||
|
||||
btScalar VdotW = v.dot(w);
|
||||
|
||||
if (lambda > btScalar(1.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( VdotW > btScalar(0.))
|
||||
{
|
||||
VdotR = v.dot(r);
|
||||
|
||||
if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
lambda = lambda - VdotW / VdotR;
|
||||
interpolatedTransRay.getOrigin().setInterpolate3(fromRay.getOrigin(), toRay.getOrigin(), lambda);
|
||||
interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
|
||||
lastLambda = lambda;
|
||||
n = v;
|
||||
hasResult = true;
|
||||
}
|
||||
}
|
||||
m_simplexSolver->addVertex(w, supVertexRay, supVertexB);
|
||||
if (m_simplexSolver->closest(v))
|
||||
{
|
||||
dist2 = v.length2();
|
||||
hasResult = true;
|
||||
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
|
||||
//printf("DIST2=%f\n",dist2);
|
||||
//printf("numverts = %i\n",m_simplexSolver->numVertices());
|
||||
} else
|
||||
{
|
||||
dist2 = btScalar(0.);
|
||||
}
|
||||
}
|
||||
|
||||
result.m_fraction = lambda;
|
||||
result.m_normal = n;
|
||||
btVector3 hitRay, hitB;
|
||||
m_simplexSolver->compute_points (hitRay, hitB);
|
||||
/* TODO: We could output hit point here (hitB) */
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -1,60 +1,60 @@
|
||||
/*
|
||||
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 SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
#define SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
|
||||
#include "../SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
|
||||
#include "../SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
|
||||
#include "SpuRaycastTask.h"
|
||||
|
||||
class btConvexShape;
|
||||
|
||||
struct SpuCastResult
|
||||
{
|
||||
float m_fraction;
|
||||
btVector3 m_normal;
|
||||
};
|
||||
|
||||
/// btSubsimplexConvexCast implements Gino van den Bergens' paper
|
||||
///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
|
||||
/// GJK based Ray Cast, optimized version
|
||||
/// Objects should not start in overlap, otherwise results are not defined.
|
||||
class SpuSubsimplexRayCast
|
||||
{
|
||||
SpuVoronoiSimplexSolver* m_simplexSolver;
|
||||
void* m_shapeB;
|
||||
SpuConvexPolyhedronVertexData* m_convexDataB;
|
||||
int m_shapeTypeB;
|
||||
float m_marginB;
|
||||
|
||||
public:
|
||||
SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver);
|
||||
|
||||
//virtual ~btSubsimplexConvexCast();
|
||||
|
||||
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
|
||||
///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
|
||||
bool calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result);
|
||||
|
||||
};
|
||||
|
||||
#endif //SUBSIMPLEX_RAY_CAST_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 SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
#define SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
|
||||
#include "../SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
|
||||
#include "../SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
|
||||
#include "SpuRaycastTask.h"
|
||||
|
||||
class btConvexShape;
|
||||
|
||||
struct SpuCastResult
|
||||
{
|
||||
float m_fraction;
|
||||
btVector3 m_normal;
|
||||
};
|
||||
|
||||
/// btSubsimplexConvexCast implements Gino van den Bergens' paper
|
||||
///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
|
||||
/// GJK based Ray Cast, optimized version
|
||||
/// Objects should not start in overlap, otherwise results are not defined.
|
||||
class SpuSubsimplexRayCast
|
||||
{
|
||||
SpuVoronoiSimplexSolver* m_simplexSolver;
|
||||
void* m_shapeB;
|
||||
SpuConvexPolyhedronVertexData* m_convexDataB;
|
||||
int m_shapeTypeB;
|
||||
float m_marginB;
|
||||
|
||||
public:
|
||||
SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver);
|
||||
|
||||
//virtual ~btSubsimplexConvexCast();
|
||||
|
||||
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
|
||||
///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
|
||||
bool calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result);
|
||||
|
||||
};
|
||||
|
||||
#endif //SUBSIMPLEX_RAY_CAST_H
|
||||
|
||||
@@ -1,189 +1,189 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuRaycastTaskProcess.h"
|
||||
|
||||
|
||||
SpuRaycastTaskProcess::SpuRaycastTaskProcess(class btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks)
|
||||
:m_threadInterface(threadInterface),
|
||||
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
|
||||
{
|
||||
m_workUnitTaskBuffers = (unsigned char *)0;
|
||||
m_taskBusy.resize(m_maxNumOutstandingTasks);
|
||||
m_spuRaycastTaskDesc.resize(m_maxNumOutstandingTasks);
|
||||
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
m_threadInterface->startSPU();
|
||||
|
||||
//printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
|
||||
//printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", sizeof(SpuGatherAndProcessWorkUnitInput));
|
||||
|
||||
}
|
||||
|
||||
SpuRaycastTaskProcess::~SpuRaycastTaskProcess()
|
||||
{
|
||||
|
||||
if (m_workUnitTaskBuffers != 0)
|
||||
{
|
||||
btAlignedFree(m_workUnitTaskBuffers);
|
||||
m_workUnitTaskBuffers = 0;
|
||||
}
|
||||
|
||||
m_threadInterface->stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::initialize2(void* spuCollisionObjectsWrappers, int numSpuCollisionObjectWrappers)
|
||||
{
|
||||
m_spuCollisionObjectWrappers = spuCollisionObjectsWrappers;
|
||||
m_numSpuCollisionObjectWrappers = numSpuCollisionObjectWrappers;
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
#ifdef DEBUG_SpuRaycastTaskProcess
|
||||
m_initialized = true;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::issueTask2()
|
||||
{
|
||||
m_taskBusy[m_currentTask] = true;
|
||||
m_numBusyTasks++;
|
||||
|
||||
SpuRaycastTaskDesc& taskDesc = m_spuRaycastTaskDesc[m_currentTask];
|
||||
|
||||
taskDesc.taskId = m_currentTask;
|
||||
m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc,m_currentTask);
|
||||
//printf("send thread requested for task %d\n", m_currentTask);
|
||||
// if all tasks busy, wait for spu event to clear the task.
|
||||
if (m_numBusyTasks >= m_maxNumOutstandingTasks)
|
||||
{
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
|
||||
//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
} else {
|
||||
//printf("Sent request, not enough busy tasks\n");
|
||||
}
|
||||
}
|
||||
|
||||
void SpuRaycastTaskProcess::addWorkToTask(SpuRaycastTaskWorkUnit& workunit)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].workUnits[m_currentWorkUnitInTask] = workunit;
|
||||
m_currentWorkUnitInTask++;
|
||||
if (m_currentWorkUnitInTask == SPU_RAYCAST_WORK_UNITS_PER_TASK)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
//printf("Task buffer full, issuing\n");
|
||||
issueTask2 ();
|
||||
//printf("Returned from issueTask2()\n");
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
// find new task buffer
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
if (!m_taskBusy[i])
|
||||
{
|
||||
m_currentTask = i;
|
||||
//init the task data
|
||||
break;
|
||||
}
|
||||
}
|
||||
//printf("next task = %d\n", m_currentTask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SpuRaycastTaskProcess::flush2()
|
||||
{
|
||||
#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("\nSpuRaycastTaskProcess::flush()\n");
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
|
||||
|
||||
// if there's a partially filled task buffer, submit that task
|
||||
//printf("Flushing... %d remaining\n", m_currentWorkUnitInTask);
|
||||
if (m_currentWorkUnitInTask > 0)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
issueTask2();
|
||||
m_currentWorkUnitInTask = 0;
|
||||
}
|
||||
|
||||
|
||||
// all tasks are issued, wait for all tasks to be complete
|
||||
while(m_numBusyTasks > 0)
|
||||
{
|
||||
// Consolidating SPU code
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//printf("Busy tasks... %d\n", m_numBusyTasks);
|
||||
|
||||
{
|
||||
// SPURS support.
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
}
|
||||
|
||||
//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
//postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuRaycastTaskProcess.h"
|
||||
|
||||
|
||||
SpuRaycastTaskProcess::SpuRaycastTaskProcess(class btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks)
|
||||
:m_threadInterface(threadInterface),
|
||||
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
|
||||
{
|
||||
m_workUnitTaskBuffers = (unsigned char *)0;
|
||||
m_taskBusy.resize(m_maxNumOutstandingTasks);
|
||||
m_spuRaycastTaskDesc.resize(m_maxNumOutstandingTasks);
|
||||
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
m_threadInterface->startSPU();
|
||||
|
||||
//printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
|
||||
//printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", sizeof(SpuGatherAndProcessWorkUnitInput));
|
||||
|
||||
}
|
||||
|
||||
SpuRaycastTaskProcess::~SpuRaycastTaskProcess()
|
||||
{
|
||||
|
||||
if (m_workUnitTaskBuffers != 0)
|
||||
{
|
||||
btAlignedFree(m_workUnitTaskBuffers);
|
||||
m_workUnitTaskBuffers = 0;
|
||||
}
|
||||
|
||||
m_threadInterface->stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::initialize2(void* spuCollisionObjectsWrappers, int numSpuCollisionObjectWrappers)
|
||||
{
|
||||
m_spuCollisionObjectWrappers = spuCollisionObjectsWrappers;
|
||||
m_numSpuCollisionObjectWrappers = numSpuCollisionObjectWrappers;
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
#ifdef DEBUG_SpuRaycastTaskProcess
|
||||
m_initialized = true;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::issueTask2()
|
||||
{
|
||||
m_taskBusy[m_currentTask] = true;
|
||||
m_numBusyTasks++;
|
||||
|
||||
SpuRaycastTaskDesc& taskDesc = m_spuRaycastTaskDesc[m_currentTask];
|
||||
|
||||
taskDesc.taskId = m_currentTask;
|
||||
m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc,m_currentTask);
|
||||
//printf("send thread requested for task %d\n", m_currentTask);
|
||||
// if all tasks busy, wait for spu event to clear the task.
|
||||
if (m_numBusyTasks >= m_maxNumOutstandingTasks)
|
||||
{
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
|
||||
//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
} else {
|
||||
//printf("Sent request, not enough busy tasks\n");
|
||||
}
|
||||
}
|
||||
|
||||
void SpuRaycastTaskProcess::addWorkToTask(SpuRaycastTaskWorkUnit& workunit)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].workUnits[m_currentWorkUnitInTask] = workunit;
|
||||
m_currentWorkUnitInTask++;
|
||||
if (m_currentWorkUnitInTask == SPU_RAYCAST_WORK_UNITS_PER_TASK)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
//printf("Task buffer full, issuing\n");
|
||||
issueTask2 ();
|
||||
//printf("Returned from issueTask2()\n");
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
// find new task buffer
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
if (!m_taskBusy[i])
|
||||
{
|
||||
m_currentTask = i;
|
||||
//init the task data
|
||||
break;
|
||||
}
|
||||
}
|
||||
//printf("next task = %d\n", m_currentTask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SpuRaycastTaskProcess::flush2()
|
||||
{
|
||||
#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("\nSpuRaycastTaskProcess::flush()\n");
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
|
||||
|
||||
// if there's a partially filled task buffer, submit that task
|
||||
//printf("Flushing... %d remaining\n", m_currentWorkUnitInTask);
|
||||
if (m_currentWorkUnitInTask > 0)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
issueTask2();
|
||||
m_currentWorkUnitInTask = 0;
|
||||
}
|
||||
|
||||
|
||||
// all tasks are issued, wait for all tasks to be complete
|
||||
while(m_numBusyTasks > 0)
|
||||
{
|
||||
// Consolidating SPU code
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//printf("Busy tasks... %d\n", m_numBusyTasks);
|
||||
|
||||
{
|
||||
// SPURS support.
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
}
|
||||
|
||||
//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
//postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,214 +1,214 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
|
||||
|
||||
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 "SpuSampleTask.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "../PlatformDefinitions.h"
|
||||
#include "../SpuFakeDma.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
#ifdef __SPU__
|
||||
#include <spu_printf.h>
|
||||
#else
|
||||
#include <stdio.h>
|
||||
#define spu_printf printf
|
||||
#endif
|
||||
|
||||
#define MAX_NUM_BODIES 8192
|
||||
|
||||
struct SampleTask_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]);
|
||||
ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]);
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
//-- MAIN METHOD
|
||||
void processSampleTask(void* userPtr, void* lsMemory)
|
||||
{
|
||||
// BT_PROFILE("processSampleTask");
|
||||
|
||||
SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory;
|
||||
|
||||
SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr;
|
||||
SpuSampleTaskDesc& taskDesc = *taskDescPtr;
|
||||
|
||||
switch (taskDesc.m_sampleCommand)
|
||||
{
|
||||
case CMD_SAMPLE_INTEGRATE_BODIES:
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
|
||||
|
||||
int batchSize = taskDesc.m_sampleValue;
|
||||
if (batchSize>MAX_NUM_BODIES)
|
||||
{
|
||||
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
|
||||
break;
|
||||
}
|
||||
int dmaArraySize = batchSize*sizeof(void*);
|
||||
|
||||
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
|
||||
|
||||
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
|
||||
|
||||
if (dmaArraySize>=16)
|
||||
{
|
||||
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
} else
|
||||
{
|
||||
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
|
||||
}
|
||||
|
||||
|
||||
for ( int i=0;i<batchSize;i++)
|
||||
{
|
||||
///DMA rigid body
|
||||
|
||||
void* localPtr = &localMemory->gLocalRigidBody[0];
|
||||
void* shortAdd = localMemory->gPointerArray[i];
|
||||
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
|
||||
|
||||
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
|
||||
|
||||
int dmaBodySize = sizeof(btRigidBody);
|
||||
|
||||
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
float timeStep = 1.f/60.f;
|
||||
|
||||
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
void* ptr = (void*)localPtr;
|
||||
// spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
|
||||
|
||||
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
case CMD_SAMPLE_PREDICT_MOTION_BODIES:
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
|
||||
|
||||
int batchSize = taskDesc.m_sampleValue;
|
||||
int dmaArraySize = batchSize*sizeof(void*);
|
||||
|
||||
if (batchSize>MAX_NUM_BODIES)
|
||||
{
|
||||
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
|
||||
break;
|
||||
}
|
||||
|
||||
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
|
||||
|
||||
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
|
||||
|
||||
if (dmaArraySize>=16)
|
||||
{
|
||||
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
} else
|
||||
{
|
||||
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
|
||||
}
|
||||
|
||||
|
||||
for ( int i=0;i<batchSize;i++)
|
||||
{
|
||||
///DMA rigid body
|
||||
|
||||
void* localPtr = &localMemory->gLocalRigidBody[0];
|
||||
void* shortAdd = localMemory->gPointerArray[i];
|
||||
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
|
||||
|
||||
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
|
||||
|
||||
int dmaBodySize = sizeof(btRigidBody);
|
||||
|
||||
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
float timeStep = 1.f/60.f;
|
||||
|
||||
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (!body->isStaticOrKinematicObject())
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->integrateVelocities( timeStep);
|
||||
//damping
|
||||
body->applyDamping(timeStep);
|
||||
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
|
||||
void* ptr = (void*)localPtr;
|
||||
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
|
||||
|
||||
ATTRIBUTE_ALIGNED16(SampleTask_LocalStoreMemory gLocalStoreMemory);
|
||||
|
||||
void* createSampleLocalStoreMemory()
|
||||
{
|
||||
return &gLocalStoreMemory;
|
||||
}
|
||||
#else
|
||||
void* createSampleLocalStoreMemory()
|
||||
{
|
||||
return new SampleTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
|
||||
|
||||
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 "SpuSampleTask.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "../PlatformDefinitions.h"
|
||||
#include "../SpuFakeDma.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
#ifdef __SPU__
|
||||
#include <spu_printf.h>
|
||||
#else
|
||||
#include <stdio.h>
|
||||
#define spu_printf printf
|
||||
#endif
|
||||
|
||||
#define MAX_NUM_BODIES 8192
|
||||
|
||||
struct SampleTask_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]);
|
||||
ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]);
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
//-- MAIN METHOD
|
||||
void processSampleTask(void* userPtr, void* lsMemory)
|
||||
{
|
||||
// BT_PROFILE("processSampleTask");
|
||||
|
||||
SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory;
|
||||
|
||||
SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr;
|
||||
SpuSampleTaskDesc& taskDesc = *taskDescPtr;
|
||||
|
||||
switch (taskDesc.m_sampleCommand)
|
||||
{
|
||||
case CMD_SAMPLE_INTEGRATE_BODIES:
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
|
||||
|
||||
int batchSize = taskDesc.m_sampleValue;
|
||||
if (batchSize>MAX_NUM_BODIES)
|
||||
{
|
||||
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
|
||||
break;
|
||||
}
|
||||
int dmaArraySize = batchSize*sizeof(void*);
|
||||
|
||||
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
|
||||
|
||||
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
|
||||
|
||||
if (dmaArraySize>=16)
|
||||
{
|
||||
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
} else
|
||||
{
|
||||
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
|
||||
}
|
||||
|
||||
|
||||
for ( int i=0;i<batchSize;i++)
|
||||
{
|
||||
///DMA rigid body
|
||||
|
||||
void* localPtr = &localMemory->gLocalRigidBody[0];
|
||||
void* shortAdd = localMemory->gPointerArray[i];
|
||||
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
|
||||
|
||||
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
|
||||
|
||||
int dmaBodySize = sizeof(btRigidBody);
|
||||
|
||||
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
float timeStep = 1.f/60.f;
|
||||
|
||||
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
||||
{
|
||||
body->predictIntegratedTransform(timeStep, predictedTrans);
|
||||
body->proceedToTransform( predictedTrans);
|
||||
void* ptr = (void*)localPtr;
|
||||
// spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
|
||||
|
||||
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
case CMD_SAMPLE_PREDICT_MOTION_BODIES:
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
|
||||
|
||||
int batchSize = taskDesc.m_sampleValue;
|
||||
int dmaArraySize = batchSize*sizeof(void*);
|
||||
|
||||
if (batchSize>MAX_NUM_BODIES)
|
||||
{
|
||||
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
|
||||
break;
|
||||
}
|
||||
|
||||
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
|
||||
|
||||
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
|
||||
|
||||
if (dmaArraySize>=16)
|
||||
{
|
||||
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
} else
|
||||
{
|
||||
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
|
||||
}
|
||||
|
||||
|
||||
for ( int i=0;i<batchSize;i++)
|
||||
{
|
||||
///DMA rigid body
|
||||
|
||||
void* localPtr = &localMemory->gLocalRigidBody[0];
|
||||
void* shortAdd = localMemory->gPointerArray[i];
|
||||
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
|
||||
|
||||
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
|
||||
|
||||
int dmaBodySize = sizeof(btRigidBody);
|
||||
|
||||
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
float timeStep = 1.f/60.f;
|
||||
|
||||
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
|
||||
if (body)
|
||||
{
|
||||
if (!body->isStaticOrKinematicObject())
|
||||
{
|
||||
if (body->isActive())
|
||||
{
|
||||
body->integrateVelocities( timeStep);
|
||||
//damping
|
||||
body->applyDamping(timeStep);
|
||||
|
||||
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
|
||||
|
||||
void* ptr = (void*)localPtr;
|
||||
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
|
||||
|
||||
ATTRIBUTE_ALIGNED16(SampleTask_LocalStoreMemory gLocalStoreMemory);
|
||||
|
||||
void* createSampleLocalStoreMemory()
|
||||
{
|
||||
return &gLocalStoreMemory;
|
||||
}
|
||||
#else
|
||||
void* createSampleLocalStoreMemory()
|
||||
{
|
||||
return new SampleTask_LocalStoreMemory;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,54 +1,54 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef SPU_SAMPLE_TASK_H
|
||||
#define SPU_SAMPLE_TASK_H
|
||||
|
||||
#include "../PlatformDefinitions.h"
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
enum
|
||||
{
|
||||
CMD_SAMPLE_INTEGRATE_BODIES = 1,
|
||||
CMD_SAMPLE_PREDICT_MOTION_BODIES
|
||||
};
|
||||
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
uint32_t m_sampleCommand;
|
||||
uint32_t m_taskId;
|
||||
|
||||
uint64_t m_mainMemoryPtr;
|
||||
int m_sampleValue;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
void processSampleTask(void* userPtr, void* lsMemory);
|
||||
void* createSampleLocalStoreMemory();
|
||||
|
||||
|
||||
#endif //SPU_SAMPLE_TASK_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef SPU_SAMPLE_TASK_H
|
||||
#define SPU_SAMPLE_TASK_H
|
||||
|
||||
#include "../PlatformDefinitions.h"
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
enum
|
||||
{
|
||||
CMD_SAMPLE_INTEGRATE_BODIES = 1,
|
||||
CMD_SAMPLE_PREDICT_MOTION_BODIES
|
||||
};
|
||||
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
uint32_t m_sampleCommand;
|
||||
uint32_t m_taskId;
|
||||
|
||||
uint64_t m_mainMemoryPtr;
|
||||
int m_sampleValue;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
void processSampleTask(void* userPtr, void* lsMemory);
|
||||
void* createSampleLocalStoreMemory();
|
||||
|
||||
|
||||
#endif //SPU_SAMPLE_TASK_H
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
|
||||
@@ -1,259 +1,259 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "Win32ThreadSupport.h"
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
#include <windows.h>
|
||||
|
||||
#include "SpuCollisionTaskProcess.h"
|
||||
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
|
||||
|
||||
///The number of threads should be equal to the number of available cores
|
||||
///@todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
|
||||
|
||||
///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
|
||||
///Setup and initialize SPU/CELL/Libspe2
|
||||
Win32ThreadSupport::Win32ThreadSupport(const Win32ThreadConstructionInfo & threadConstructionInfo)
|
||||
{
|
||||
startThreads(threadConstructionInfo);
|
||||
}
|
||||
|
||||
///cleanup/shutdown Libspe2
|
||||
Win32ThreadSupport::~Win32ThreadSupport()
|
||||
{
|
||||
stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
DWORD WINAPI Thread_no_1( LPVOID lpParam )
|
||||
{
|
||||
|
||||
Win32ThreadSupport::btSpuStatus* status = (Win32ThreadSupport::btSpuStatus*)lpParam;
|
||||
|
||||
|
||||
while (1)
|
||||
{
|
||||
WaitForSingleObject(status->m_eventStartHandle,INFINITE);
|
||||
|
||||
void* userPtr = status->m_userPtr;
|
||||
|
||||
if (userPtr)
|
||||
{
|
||||
btAssert(status->m_status);
|
||||
status->m_userThreadFunc(userPtr,status->m_lsMemory);
|
||||
status->m_status = 2;
|
||||
SetEvent(status->m_eventCompletetHandle);
|
||||
} else
|
||||
{
|
||||
//exit Thread
|
||||
status->m_status = 3;
|
||||
SetEvent(status->m_eventCompletetHandle);
|
||||
printf("Thread with taskId %i with handle %p exiting\n",status->m_taskId, status->m_threadHandle);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
printf("Thread TERMINATED\n");
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
///send messages to SPUs
|
||||
void Win32ThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
|
||||
{
|
||||
/// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc);
|
||||
|
||||
///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
|
||||
|
||||
|
||||
|
||||
switch (uiCommand)
|
||||
{
|
||||
case CMD_GATHER_AND_PROCESS_PAIRLIST:
|
||||
{
|
||||
|
||||
|
||||
//#define SINGLE_THREADED 1
|
||||
#ifdef SINGLE_THREADED
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[0];
|
||||
spuStatus.m_userPtr=(void*)uiArgument0;
|
||||
spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
|
||||
HANDLE handle =0;
|
||||
#else
|
||||
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[taskId];
|
||||
btAssert(taskId>=0);
|
||||
btAssert(taskId<m_activeSpuStatus.size());
|
||||
|
||||
spuStatus.m_commandId = uiCommand;
|
||||
spuStatus.m_status = 1;
|
||||
spuStatus.m_userPtr = (void*)uiArgument0;
|
||||
|
||||
///fire event to start new task
|
||||
SetEvent(spuStatus.m_eventStartHandle);
|
||||
|
||||
#endif //CollisionTask_LocalStoreMemory
|
||||
|
||||
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
///not implemented
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
///check for messages from SPUs
|
||||
void Win32ThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
|
||||
{
|
||||
///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
|
||||
|
||||
///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
|
||||
|
||||
|
||||
btAssert(m_activeSpuStatus.size());
|
||||
|
||||
int last = -1;
|
||||
#ifndef SINGLE_THREADED
|
||||
DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
|
||||
btAssert(res != WAIT_FAILED);
|
||||
last = res - WAIT_OBJECT_0;
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[last];
|
||||
btAssert(spuStatus.m_threadHandle);
|
||||
btAssert(spuStatus.m_eventCompletetHandle);
|
||||
|
||||
//WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
btAssert(spuStatus.m_status > 1);
|
||||
spuStatus.m_status = 0;
|
||||
|
||||
///need to find an active spu
|
||||
btAssert(last>=0);
|
||||
|
||||
#else
|
||||
last=0;
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[last];
|
||||
#endif //SINGLE_THREADED
|
||||
|
||||
|
||||
|
||||
*puiArgument0 = spuStatus.m_taskId;
|
||||
*puiArgument1 = spuStatus.m_status;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
|
||||
{
|
||||
|
||||
m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads);
|
||||
m_completeHandles.resize(threadConstructionInfo.m_numThreads);
|
||||
|
||||
for (int i=0;i<threadConstructionInfo.m_numThreads;i++)
|
||||
{
|
||||
printf("starting thread %d\n",i);
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[i];
|
||||
|
||||
LPSECURITY_ATTRIBUTES lpThreadAttributes=NULL;
|
||||
SIZE_T dwStackSize=threadConstructionInfo.m_threadStackSize;
|
||||
LPTHREAD_START_ROUTINE lpStartAddress=&Thread_no_1;
|
||||
LPVOID lpParameter=&spuStatus;
|
||||
DWORD dwCreationFlags=0;
|
||||
LPDWORD lpThreadId=0;
|
||||
|
||||
spuStatus.m_userPtr=0;
|
||||
|
||||
sprintf(spuStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
|
||||
spuStatus.m_eventStartHandle = CreateEvent(0,false,false,spuStatus.m_eventStartHandleName);
|
||||
|
||||
sprintf(spuStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
|
||||
spuStatus.m_eventCompletetHandle = CreateEvent(0,false,false,spuStatus.m_eventCompletetHandleName);
|
||||
|
||||
m_completeHandles[i] = spuStatus.m_eventCompletetHandle;
|
||||
|
||||
HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter, dwCreationFlags,lpThreadId);
|
||||
SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
|
||||
//SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
|
||||
|
||||
SetThreadAffinityMask(handle, 1<<i);
|
||||
|
||||
spuStatus.m_taskId = i;
|
||||
spuStatus.m_commandId = 0;
|
||||
spuStatus.m_status = 0;
|
||||
spuStatus.m_threadHandle = handle;
|
||||
spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
|
||||
spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
|
||||
|
||||
printf("started thread %d with threadHandle %p\n",i,handle);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Win32ThreadSupport::startSPU()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
void Win32ThreadSupport::stopSPU()
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<m_activeSpuStatus.size();i++)
|
||||
{
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[i];
|
||||
if (spuStatus.m_status>0)
|
||||
{
|
||||
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
}
|
||||
|
||||
|
||||
spuStatus.m_userPtr = 0;
|
||||
SetEvent(spuStatus.m_eventStartHandle);
|
||||
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
|
||||
CloseHandle(spuStatus.m_eventCompletetHandle);
|
||||
CloseHandle(spuStatus.m_eventStartHandle);
|
||||
CloseHandle(spuStatus.m_threadHandle);
|
||||
}
|
||||
|
||||
m_activeSpuStatus.clear();
|
||||
m_completeHandles.clear();
|
||||
|
||||
}
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "Win32ThreadSupport.h"
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
|
||||
#include <windows.h>
|
||||
|
||||
#include "SpuCollisionTaskProcess.h"
|
||||
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
||||
|
||||
|
||||
|
||||
///The number of threads should be equal to the number of available cores
|
||||
///@todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
|
||||
|
||||
///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
|
||||
///Setup and initialize SPU/CELL/Libspe2
|
||||
Win32ThreadSupport::Win32ThreadSupport(const Win32ThreadConstructionInfo & threadConstructionInfo)
|
||||
{
|
||||
startThreads(threadConstructionInfo);
|
||||
}
|
||||
|
||||
///cleanup/shutdown Libspe2
|
||||
Win32ThreadSupport::~Win32ThreadSupport()
|
||||
{
|
||||
stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
DWORD WINAPI Thread_no_1( LPVOID lpParam )
|
||||
{
|
||||
|
||||
Win32ThreadSupport::btSpuStatus* status = (Win32ThreadSupport::btSpuStatus*)lpParam;
|
||||
|
||||
|
||||
while (1)
|
||||
{
|
||||
WaitForSingleObject(status->m_eventStartHandle,INFINITE);
|
||||
|
||||
void* userPtr = status->m_userPtr;
|
||||
|
||||
if (userPtr)
|
||||
{
|
||||
btAssert(status->m_status);
|
||||
status->m_userThreadFunc(userPtr,status->m_lsMemory);
|
||||
status->m_status = 2;
|
||||
SetEvent(status->m_eventCompletetHandle);
|
||||
} else
|
||||
{
|
||||
//exit Thread
|
||||
status->m_status = 3;
|
||||
SetEvent(status->m_eventCompletetHandle);
|
||||
printf("Thread with taskId %i with handle %p exiting\n",status->m_taskId, status->m_threadHandle);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
printf("Thread TERMINATED\n");
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
///send messages to SPUs
|
||||
void Win32ThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId)
|
||||
{
|
||||
/// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc);
|
||||
|
||||
///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
|
||||
|
||||
|
||||
|
||||
switch (uiCommand)
|
||||
{
|
||||
case CMD_GATHER_AND_PROCESS_PAIRLIST:
|
||||
{
|
||||
|
||||
|
||||
//#define SINGLE_THREADED 1
|
||||
#ifdef SINGLE_THREADED
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[0];
|
||||
spuStatus.m_userPtr=(void*)uiArgument0;
|
||||
spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory);
|
||||
HANDLE handle =0;
|
||||
#else
|
||||
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[taskId];
|
||||
btAssert(taskId>=0);
|
||||
btAssert(taskId<m_activeSpuStatus.size());
|
||||
|
||||
spuStatus.m_commandId = uiCommand;
|
||||
spuStatus.m_status = 1;
|
||||
spuStatus.m_userPtr = (void*)uiArgument0;
|
||||
|
||||
///fire event to start new task
|
||||
SetEvent(spuStatus.m_eventStartHandle);
|
||||
|
||||
#endif //CollisionTask_LocalStoreMemory
|
||||
|
||||
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
///not implemented
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
///check for messages from SPUs
|
||||
void Win32ThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
|
||||
{
|
||||
///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
|
||||
|
||||
///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
|
||||
|
||||
|
||||
btAssert(m_activeSpuStatus.size());
|
||||
|
||||
int last = -1;
|
||||
#ifndef SINGLE_THREADED
|
||||
DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, INFINITE);
|
||||
btAssert(res != WAIT_FAILED);
|
||||
last = res - WAIT_OBJECT_0;
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[last];
|
||||
btAssert(spuStatus.m_threadHandle);
|
||||
btAssert(spuStatus.m_eventCompletetHandle);
|
||||
|
||||
//WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
btAssert(spuStatus.m_status > 1);
|
||||
spuStatus.m_status = 0;
|
||||
|
||||
///need to find an active spu
|
||||
btAssert(last>=0);
|
||||
|
||||
#else
|
||||
last=0;
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[last];
|
||||
#endif //SINGLE_THREADED
|
||||
|
||||
|
||||
|
||||
*puiArgument0 = spuStatus.m_taskId;
|
||||
*puiArgument1 = spuStatus.m_status;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
|
||||
{
|
||||
|
||||
m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads);
|
||||
m_completeHandles.resize(threadConstructionInfo.m_numThreads);
|
||||
|
||||
for (int i=0;i<threadConstructionInfo.m_numThreads;i++)
|
||||
{
|
||||
printf("starting thread %d\n",i);
|
||||
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[i];
|
||||
|
||||
LPSECURITY_ATTRIBUTES lpThreadAttributes=NULL;
|
||||
SIZE_T dwStackSize=threadConstructionInfo.m_threadStackSize;
|
||||
LPTHREAD_START_ROUTINE lpStartAddress=&Thread_no_1;
|
||||
LPVOID lpParameter=&spuStatus;
|
||||
DWORD dwCreationFlags=0;
|
||||
LPDWORD lpThreadId=0;
|
||||
|
||||
spuStatus.m_userPtr=0;
|
||||
|
||||
sprintf(spuStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
|
||||
spuStatus.m_eventStartHandle = CreateEvent(0,false,false,spuStatus.m_eventStartHandleName);
|
||||
|
||||
sprintf(spuStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
|
||||
spuStatus.m_eventCompletetHandle = CreateEvent(0,false,false,spuStatus.m_eventCompletetHandleName);
|
||||
|
||||
m_completeHandles[i] = spuStatus.m_eventCompletetHandle;
|
||||
|
||||
HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter, dwCreationFlags,lpThreadId);
|
||||
SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
|
||||
//SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
|
||||
|
||||
SetThreadAffinityMask(handle, 1<<i);
|
||||
|
||||
spuStatus.m_taskId = i;
|
||||
spuStatus.m_commandId = 0;
|
||||
spuStatus.m_status = 0;
|
||||
spuStatus.m_threadHandle = handle;
|
||||
spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
|
||||
spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
|
||||
|
||||
printf("started thread %d with threadHandle %p\n",i,handle);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Win32ThreadSupport::startSPU()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
void Win32ThreadSupport::stopSPU()
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<m_activeSpuStatus.size();i++)
|
||||
{
|
||||
btSpuStatus& spuStatus = m_activeSpuStatus[i];
|
||||
if (spuStatus.m_status>0)
|
||||
{
|
||||
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
}
|
||||
|
||||
|
||||
spuStatus.m_userPtr = 0;
|
||||
SetEvent(spuStatus.m_eventStartHandle);
|
||||
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
|
||||
|
||||
CloseHandle(spuStatus.m_eventCompletetHandle);
|
||||
CloseHandle(spuStatus.m_eventStartHandle);
|
||||
CloseHandle(spuStatus.m_threadHandle);
|
||||
}
|
||||
|
||||
m_activeSpuStatus.clear();
|
||||
m_completeHandles.clear();
|
||||
|
||||
}
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
|
||||
@@ -1,125 +1,125 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "PlatformDefinitions.h"
|
||||
|
||||
#ifdef USE_WIN32_THREADING //platform specific defines are defined in PlatformDefinitions.h
|
||||
|
||||
#ifndef WIN32_THREAD_SUPPORT_H
|
||||
#define WIN32_THREAD_SUPPORT_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#include "btThreadSupportInterface.h"
|
||||
|
||||
|
||||
typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
|
||||
typedef void* (*Win32lsMemorySetupFunc)();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
|
||||
class Win32ThreadSupport : public btThreadSupportInterface
|
||||
{
|
||||
public:
|
||||
///placeholder, until libspe2 support is there
|
||||
struct btSpuStatus
|
||||
{
|
||||
uint32_t m_taskId;
|
||||
uint32_t m_commandId;
|
||||
uint32_t m_status;
|
||||
|
||||
Win32ThreadFunc m_userThreadFunc;
|
||||
void* m_userPtr; //for taskDesc etc
|
||||
void* m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc
|
||||
|
||||
void* m_threadHandle; //this one is calling 'Win32ThreadFunc'
|
||||
|
||||
void* m_eventStartHandle;
|
||||
char m_eventStartHandleName[32];
|
||||
|
||||
void* m_eventCompletetHandle;
|
||||
char m_eventCompletetHandleName[32];
|
||||
|
||||
|
||||
};
|
||||
private:
|
||||
|
||||
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
|
||||
btAlignedObjectArray<void*> m_completeHandles;
|
||||
|
||||
public:
|
||||
///Setup and initialize SPU/CELL/Libspe2
|
||||
|
||||
struct Win32ThreadConstructionInfo
|
||||
{
|
||||
Win32ThreadConstructionInfo(char* uniqueName,
|
||||
Win32ThreadFunc userThreadFunc,
|
||||
Win32lsMemorySetupFunc lsMemoryFunc,
|
||||
int numThreads=1,
|
||||
int threadStackSize=65535
|
||||
)
|
||||
:m_uniqueName(uniqueName),
|
||||
m_userThreadFunc(userThreadFunc),
|
||||
m_lsMemoryFunc(lsMemoryFunc),
|
||||
m_numThreads(numThreads),
|
||||
m_threadStackSize(threadStackSize)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
char* m_uniqueName;
|
||||
Win32ThreadFunc m_userThreadFunc;
|
||||
Win32lsMemorySetupFunc m_lsMemoryFunc;
|
||||
int m_numThreads;
|
||||
int m_threadStackSize;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo);
|
||||
|
||||
///cleanup/shutdown Libspe2
|
||||
virtual ~Win32ThreadSupport();
|
||||
|
||||
void startThreads(const Win32ThreadConstructionInfo& threadInfo);
|
||||
|
||||
|
||||
///send messages to SPUs
|
||||
virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
|
||||
|
||||
///check for messages from SPUs
|
||||
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
|
||||
|
||||
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
|
||||
virtual void startSPU();
|
||||
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
virtual void stopSPU();
|
||||
|
||||
virtual void setNumTasks(int numTasks)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //WIN32_THREAD_SUPPORT_H
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "PlatformDefinitions.h"
|
||||
|
||||
#ifdef USE_WIN32_THREADING //platform specific defines are defined in PlatformDefinitions.h
|
||||
|
||||
#ifndef WIN32_THREAD_SUPPORT_H
|
||||
#define WIN32_THREAD_SUPPORT_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#include "btThreadSupportInterface.h"
|
||||
|
||||
|
||||
typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
|
||||
typedef void* (*Win32lsMemorySetupFunc)();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
|
||||
class Win32ThreadSupport : public btThreadSupportInterface
|
||||
{
|
||||
public:
|
||||
///placeholder, until libspe2 support is there
|
||||
struct btSpuStatus
|
||||
{
|
||||
uint32_t m_taskId;
|
||||
uint32_t m_commandId;
|
||||
uint32_t m_status;
|
||||
|
||||
Win32ThreadFunc m_userThreadFunc;
|
||||
void* m_userPtr; //for taskDesc etc
|
||||
void* m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc
|
||||
|
||||
void* m_threadHandle; //this one is calling 'Win32ThreadFunc'
|
||||
|
||||
void* m_eventStartHandle;
|
||||
char m_eventStartHandleName[32];
|
||||
|
||||
void* m_eventCompletetHandle;
|
||||
char m_eventCompletetHandleName[32];
|
||||
|
||||
|
||||
};
|
||||
private:
|
||||
|
||||
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
|
||||
btAlignedObjectArray<void*> m_completeHandles;
|
||||
|
||||
public:
|
||||
///Setup and initialize SPU/CELL/Libspe2
|
||||
|
||||
struct Win32ThreadConstructionInfo
|
||||
{
|
||||
Win32ThreadConstructionInfo(char* uniqueName,
|
||||
Win32ThreadFunc userThreadFunc,
|
||||
Win32lsMemorySetupFunc lsMemoryFunc,
|
||||
int numThreads=1,
|
||||
int threadStackSize=65535
|
||||
)
|
||||
:m_uniqueName(uniqueName),
|
||||
m_userThreadFunc(userThreadFunc),
|
||||
m_lsMemoryFunc(lsMemoryFunc),
|
||||
m_numThreads(numThreads),
|
||||
m_threadStackSize(threadStackSize)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
char* m_uniqueName;
|
||||
Win32ThreadFunc m_userThreadFunc;
|
||||
Win32lsMemorySetupFunc m_lsMemoryFunc;
|
||||
int m_numThreads;
|
||||
int m_threadStackSize;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo);
|
||||
|
||||
///cleanup/shutdown Libspe2
|
||||
virtual ~Win32ThreadSupport();
|
||||
|
||||
void startThreads(const Win32ThreadConstructionInfo& threadInfo);
|
||||
|
||||
|
||||
///send messages to SPUs
|
||||
virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
|
||||
|
||||
///check for messages from SPUs
|
||||
virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
|
||||
|
||||
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
|
||||
virtual void startSPU();
|
||||
|
||||
///tell the task scheduler we are done with the SPU tasks
|
||||
virtual void stopSPU();
|
||||
|
||||
virtual void setNumTasks(int numTasks)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //WIN32_THREAD_SUPPORT_H
|
||||
|
||||
#endif //USE_WIN32_THREADING
|
||||
|
||||
@@ -1,73 +1,73 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
#define AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
|
||||
#include <vectormath_aos.h>
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec)
|
||||
{
|
||||
return Vectormath::Aos::Vector3(bulletVec.getX(),bulletVec.getY(),bulletVec.getZ());
|
||||
}
|
||||
|
||||
inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec)
|
||||
{
|
||||
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
|
||||
}
|
||||
inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec)
|
||||
{
|
||||
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
|
||||
}
|
||||
|
||||
inline Vectormath::Aos::Quat getVmQuat(const btQuaternion& bulletQuat)
|
||||
{
|
||||
Vectormath::Aos::Quat vmQuat(bulletQuat.getX(),bulletQuat.getY(),bulletQuat.getZ(),bulletQuat.getW());
|
||||
return vmQuat;
|
||||
}
|
||||
|
||||
inline btQuaternion getBtQuat(const Vectormath::Aos::Quat& vmQuat)
|
||||
{
|
||||
return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW());
|
||||
}
|
||||
|
||||
inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat)
|
||||
{
|
||||
Vectormath::Aos::Matrix3 mat(
|
||||
getVmVector3(btMat.getColumn(0)),
|
||||
getVmVector3(btMat.getColumn(1)),
|
||||
getVmVector3(btMat.getColumn(2)));
|
||||
return mat;
|
||||
}
|
||||
|
||||
|
||||
#endif //AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
#define AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
|
||||
#include <vectormath_aos.h>
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec)
|
||||
{
|
||||
return Vectormath::Aos::Vector3(bulletVec.getX(),bulletVec.getY(),bulletVec.getZ());
|
||||
}
|
||||
|
||||
inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec)
|
||||
{
|
||||
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
|
||||
}
|
||||
inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec)
|
||||
{
|
||||
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
|
||||
}
|
||||
|
||||
inline Vectormath::Aos::Quat getVmQuat(const btQuaternion& bulletQuat)
|
||||
{
|
||||
Vectormath::Aos::Quat vmQuat(bulletQuat.getX(),bulletQuat.getY(),bulletQuat.getZ(),bulletQuat.getW());
|
||||
return vmQuat;
|
||||
}
|
||||
|
||||
inline btQuaternion getBtQuat(const Vectormath::Aos::Quat& vmQuat)
|
||||
{
|
||||
return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW());
|
||||
}
|
||||
|
||||
inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat)
|
||||
{
|
||||
Vectormath::Aos::Matrix3 mat(
|
||||
getVmVector3(btMat.getColumn(0)),
|
||||
getVmVector3(btMat.getColumn(1)),
|
||||
getVmVector3(btMat.getColumn(2)));
|
||||
return mat;
|
||||
}
|
||||
|
||||
|
||||
#endif //AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
|
||||
Reference in New Issue
Block a user