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more work on IBM Cell SDK 3.1 build

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This commit is contained in:
erwin.coumans
2008-11-02 10:34:24 +00:00
parent c34a4a0f71
commit 8f181b5604
5 changed files with 46 additions and 58 deletions
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72
Demos/CellSpuDemo/BasicDemo2.cpp
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@@ -15,8 +15,7 @@ subject to the following restrictions:
//#define USE_GROUND_BOX 1
//#define PRINT_CONTACT_STATISTICS 1
//#define CHECK_MEMORY_LEAKS 1
#define PRINT_CONTACT_STATISTICS 1
#define USE_PARALLEL_DISPATCHER 1
@@ -27,19 +26,16 @@ int gNumObjects = 120;
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
btScalar deltaTime = btScalar(1./60.);
btScalar gCollisionMargin = btScalar(0.05);
#include "BasicDemo2.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
#include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#include "BulletMultiThreaded/SpuLibspe2Support.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif//USE_PARALLEL_DISPATCHER
@@ -47,12 +43,6 @@ btScalar gCollisionMargin = btScalar(0.05);
////////////////////////////////////
GLDebugDrawer debugDrawer;
class myTest
{
};
@@ -61,15 +51,12 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(btScalar(50.));
#ifdef CHECK_MEMORY_LEAKS
int i;
for (i=0;i<1000;i++)
ccdDemo.clientMoveAndDisplay();
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}
@@ -81,7 +68,6 @@ extern int gTotalContactPoints;
void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMicroseconds();
@@ -93,9 +79,6 @@ void BasicDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
renderme();
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
@@ -104,27 +87,11 @@ void BasicDemo::clientMoveAndDisplay()
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
void BasicDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->updateAabbs();
renderme();
glFlush();
glutSwapBuffers();
}
void BasicDemo::initPhysics()
@@ -146,7 +113,7 @@ void BasicDemo::initPhysics()
spe_program_handle_t * program_handle;
#ifndef USE_CESOF
char* spuFileName = "../../../Extras/BulletMultiThreaded/out/spuCollision.elf";
char* spuFileName = "../../../src/BulletMultiThreaded/out/spuCollision.elf";
program_handle = spe_image_open (spuFileName);
if (program_handle == NULL)
@@ -193,18 +160,11 @@ void BasicDemo::initPhysics()
m_solver = sol;
#ifdef USE_SIMPLE_DYNAMICS_WORLD
//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
#else
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
#endif //USE_SIMPLE_DYNAMICS_WORLD
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
///create a few basic rigid bodies
@@ -248,10 +208,22 @@ void BasicDemo::initPhysics()
localCreateRigidBody(btScalar(1.),trans,sphereShape);
}
clientResetScene();
//clientResetScene();
}
btRigidBody* BasicDemo::localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape)
{
btVector3 inertia(0,0,0);
if (mass)
colShape->calculateLocalInertia(mass,inertia);
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,colShape,inertia);
rbci.m_startWorldTransform = startTrans;
btRigidBody* body = new btRigidBody(rbci);
m_dynamicsWorld->addRigidBody(body);
return body;
}
void BasicDemo::exitPhysics()
{

12
Demos/CellSpuDemo/BasicDemo2.h
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@@ -15,9 +15,9 @@ subject to the following restrictions:
#ifndef BASIC_DEMO_H
#define BASIC_DEMO_H
#include "DemoApplication.h"
#include "LinearMath/btQuickprof.h"
class btDiscreteDynamicsworld;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
@@ -25,8 +25,9 @@ class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
///BasicDemo is good starting point for learning the code base and porting.
class BasicDemo : public DemoApplication
class BasicDemo
{
btClock m_clock;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -36,11 +37,15 @@ class BasicDemo : public DemoApplication
btCollisionDispatcher* m_dispatcher;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btConstraintSolver* m_solver;
btDiscreteDynamicsWorld* m_dynamicsWorld;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
btRigidBody* localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape);
public:
void initPhysics();
@@ -49,7 +54,6 @@ class BasicDemo : public DemoApplication
virtual void clientMoveAndDisplay();
virtual void displayCallback();
};

4
Demos/CellSpuDemo/ibmsdk/Makefile
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@@ -34,12 +34,10 @@ INCLUDE = -DUSE_LIBSPE2 \
-I$(ROOT)/src \
-I$(ROOT)/Demos/OpenGL \
-I$(HOSTINC)
SYS_LIBS := -lspe2 -lglut -lGLU -lGL -lm -lXext -lXmu -lX11
SYS_LIBS := -lspe2 -lm
IMPORTS = $(ROOT)/lib/ibmsdk/bulletmultithreaded.a \
$(ROOT)/lib/ibmsdk/bulletopenglsupport.a \
$(ROOT)/lib/ibmsdk/bulletdynamics.a \
$(ROOT)/lib/ibmsdk/bulletconvexhull.a \
$(ROOT)/lib/ibmsdk/bulletcollision.a \
$(ROOT)/lib/ibmsdk/bulletmath.a

9
src/BulletCollision/ibmsdk/Makefile
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@@ -28,15 +28,19 @@ CC_OPT_LEVEL = -O3
OBJS = \
btAxisSweep3.o \
btQuantizedBvh.o \
btBroadphaseProxy.o \
btCollisionAlgorithm.o \
btDispatcher.o \
btOverlappingPairCache.o \
btDbvtBroadphase.o \
btDbvt.o \
btOverlappingPairCache.o \
btSimpleBroadphase.o \
btContinuousConvexCollision.o \
btConvexCast.o \
btGjkConvexCast.o \
btGjkEpa.o \
btGjkEpa2.o \
btGjkEpaPenetrationDepthSolver.o \
btGjkPairDetector.o \
btDefaultCollisionConfiguration.o \
@@ -49,9 +53,12 @@ btCollisionDispatcher.o \
btCollisionObject.o \
btCollisionWorld.o \
btCompoundCollisionAlgorithm.o \
btBoxBoxCollisionAlgorithm.o \
btBoxBoxDetector.o \
btConvexPlaneCollisionAlgorithm.o \
btConvexConcaveCollisionAlgorithm.o \
btConvexConvexAlgorithm.o \
btDefaultCollisionConfiguration.o \
btEmptyCollisionAlgorithm.o \
btManifoldResult.o \
btSimulationIslandManager.o \

7
src/BulletMultiThreaded/SpuLibspe2Support.h
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@@ -152,10 +152,17 @@ public:
//tell the task scheduler we are done with the SPU tasks
virtual void stopSPU();
virtual void setNumTasks(int numTasks)
{
//changing the number of tasks after initialization is not implemented (yet)
}
private:
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
void internal_startSPU();
int numThreads;