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
@@ -1,214 +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
|
||||
|
||||
Reference in New Issue
Block a user