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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()
{