IBM CELL SDK 3.0 fixes

Demos/CcdPhysicsDemo/ibmsdk/Makefile

@@ -26,17 +26,6 @@ PROGRAM_ppu	:= CcdPhysicsDemo
 ######################################################################
 OBJS		= CcdPhysicsDemo.o main.o
 
-IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
-
-ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
-        CELL_TOP ?= /opt/cell/sdk
-	CELL_SYSROOT = /opt/cell/sysroot
-        include $(CELL_TOP)/buildutils/make.footer
-else
-        CELL_TOP ?= /opt/ibm/cell-sdk/prototype
-	CELL_SYSROOT = $(CELL_TOP)/sysroot
-        include $(CELL_TOP)/make.footer
-endif
 
 ########################################################################
 #                       Libraries, Include paths,  Defines
@@ -52,6 +41,7 @@ SYS_LIBS	:= -lspe2  -lglut -lGLU -lGL -lm -lXext -lXmu -lX11
 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	
 	
@@ -64,7 +54,17 @@ INSTALL_FILES   = $(PROGRAM_ppu)
 #                       make.footer
 ########################################################################
 
+IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
 
+ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
+        CELL_TOP ?= /opt/cell/sdk
+#	CELL_SYSROOT = $(CELL_TOP);
+        include $(CELL_TOP)/buildutils/make.footer
+else
+        CELL_TOP ?= /opt/ibm/cell-sdk/prototype
+	CELL_SYSROOT = $(CELL_TOP)/sysroot
+        include $(CELL_TOP)/make.footer
+endif
 
 $(PPMS): 
 	cp textures/$@ .

Demos/CellSpuDemo/ibmsdk/Makefile

@@ -39,6 +39,7 @@ SYS_LIBS	:= -lspe2 -lglut -lGLU -lGL -lm -lXext -lXmu -lX11
 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	
 	

Demos/CollisionDemo/ibmsdk/Makefile

@@ -38,6 +38,7 @@ SYS_LIBS	:= -lglut -lGLU -lGL -lm -lXext -lXmu -lX11
 
 IMPORTS		= 	$(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	
 	

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -41,7 +41,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 ///
-#include "btShapeHull.h"
+#include "ConvexHull/btShapeHull.h"
 
 #include "LinearMath/btTransformUtil.h"
 

Demos/OpenGL/ibmsdk/Makefile

@@ -9,6 +9,7 @@ LIBRARY_ppu = bulletopenglsupport.a
 
 #### Compiler flags
 CPPFLAGS        = -DUSE_LIBSPE2		\
+-I$(ROOT)/Extras/		\
 -I$(ROOT)/src/			\
 -I$(SDKINC)			\
 -I$(HOST)

Extras/BulletMultiThreaded/Makefile

@@ -9,14 +9,13 @@ IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
 ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
         CELL_TOP ?= /opt/cell/sdk
 	CELL_SYSROOT := /opt/cell/sysroot
-        include $(CELL_TOP)/buildutils/make.footer
 else
         CELL_TOP ?= /opt/ibm/cell-sdk/prototype
 	CELL_SYSROOT := $(CELL_TOP)/sysroot
-        include $(CELL_TOP)/make.footer
 endif
 
 
+USE_CCACHE=ccache
 RM=rm -f 
 OUTDIR=./out
 DEBUGFLAG=-DNDEBUG
@@ -29,7 +28,7 @@ ifeq "$(__ARCH_BITS__)" "64"
 else
   SPU_DEFFLAGS= -DUSE_LIBSPE2 -D__SPU__
 endif
-SPU_GCC=/usr/bin/spu-gcc
+SPU_GCC=$(USE_CCACHE) /usr/bin/spu-gcc
 SPU_INCLUDEDIR= -I. -I$(CELL_SYSROOT)/usr/spu/include -I../../src -I$(NARROWPHASEDIR)
 #SPU_CFLAGS= $(DEBUGFLAG) -W -Wall -Winline -Os -c -include spu_intrinsics.h -include stdbool.h
 SPU_CFLAGS= $(DEBUGFLAG) -W -Wall -Winline -O3 -mbranch-hints -fomit-frame-pointer -ftree-vectorize -finline-functions -ftree-vect-loop-version -ftree-loop-optimize -ffast-math -fno-rtti -fno-exceptions -c -include spu_intrinsics.h -include stdbool.h
@@ -42,10 +41,10 @@ SYMBOLNAME=spu_program
 
 ifeq "$(__ARCH_BITS__)" "64"
   PPU_DEFFLAGS= -DUSE_LIBSPE2 -DUSE_ADDR64
-  PPU_GCC=/usr/bin/ppu-gcc
+  PPU_GCC=$(USE_CCACHE) /usr/bin/ppu-gcc
 else
   PPU_DEFFLAGS= -DUSE_LIBSPE2
-  PPU_GCC=/usr/bin/ppu32-gcc
+  PPU_GCC=$(USE_CCACHE) /usr/bin/ppu32-gcc
 endif
 
 PPU_CFLAGS= $(ARCHITECTUREFLAG) $(DEBUGFLAG) -W -Wall -Winline -O3 -c -mabi=altivec -maltivec -include altivec.h -include stdbool.h
@@ -67,6 +66,9 @@ SpuFakeDma : MakeOut
 SpuContactManifoldCollisionAlgorithm_spu : MakeOut
 	$(SPU_GCC) $(SPU_DEFFLAGS) $(SPU_CFLAGS) $(SPU_INCLUDEDIR) -o $(OUTDIR)/$@.o SpuContactManifoldCollisionAlgorithm.cpp
 
+SpuCollisionShapes : MakeOut
+	$(SPU_GCC) $(SPU_DEFFLAGS) $(SPU_CFLAGS) $(SPU_INCLUDEDIR) -o $(OUTDIR)/$@.o $(NARROWPHASEDIR)/$@.cpp
+
 SpuContactResult : MakeOut
 	$(SPU_GCC) $(SPU_DEFFLAGS) $(SPU_CFLAGS) $(SPU_INCLUDEDIR) -o $(OUTDIR)/$@.o $(NARROWPHASEDIR)/$@.cpp
 
@@ -130,7 +132,7 @@ SpuSampleTaskProcess : MakeOut
 
 
 spu : SpuFakeDma SpuContactManifoldCollisionAlgorithm_spu SpuContactResult SpuTaskFile \
-      SpuGjkPairDetector SpuMinkowskiPenetrationDepthSolver SpuVoronoiSimplexSolver \
+      SpuGjkPairDetector SpuMinkowskiPenetrationDepthSolver SpuVoronoiSimplexSolver SpuCollisionShapes \
       btPersistentManifold btOptimizedBvh btCollisionObject btTriangleCallback btTriangleIndexVertexArray \
       btStridingMeshInterface btAlignedAllocator
 	$(SPU_GCC) -o $(OUTDIR)/spuCollision.elf \
@@ -138,6 +140,7 @@ spu : SpuFakeDma SpuContactManifoldCollisionAlgorithm_spu SpuContactResult SpuTa
                             $(OUTDIR)/SpuFakeDma.o \
                             $(OUTDIR)/SpuContactManifoldCollisionAlgorithm_spu.o \
                             $(OUTDIR)/SpuContactResult.o \
+                            $(OUTDIR)/SpuCollisionShapes.o \
                             $(OUTDIR)/SpuGjkPairDetector.o \
                             $(OUTDIR)/SpuMinkowskiPenetrationDepthSolver.o \
                             $(OUTDIR)/SpuVoronoiSimplexSolver.o \
@@ -148,7 +151,7 @@ spu : SpuFakeDma SpuContactManifoldCollisionAlgorithm_spu SpuContactResult SpuTa
                             $(OUTDIR)/btAlignedAllocator.o \
                             $(SPU_LFLAGS) $(SPU_LIBRARIES)
 
-spu-embed : spu                            
+spu-embed : spu
 	$(SPU_EMBED) $(ARCHITECTUREFLAG) $(SYMBOLNAME) $(OUTDIR)/spuCollision.elf $(OUTDIR)/$@.o
 	$(SPU_AR) -qcs $(LIBOUTDIR)/libspu.a $(OUTDIR)/$@.o
 
@@ -164,13 +167,9 @@ ppu : SpuGatheringCollisionDispatcher SpuCollisionTaskProcess btThreadSupportInt
                                                           $(OUTDIR)/btThreadSupportInterface.o \
 							  $(OUTDIR)/SpuContactManifoldCollisionAlgorithm.o
 
+all : spu-embed ppu 
 
-all : spu ppu 
+clean:
-
-all-embed : spu-embed ppu
-
-
-clean :
 	$(RM) $(OUTDIR)/* ; $(RM) $(LIBOUTDIR)/libspu.a ; $(RM) $(LIBOUTDIR)/bulletmultithreaded.a
 
 

Extras/BulletMultiThreaded/SpuFakeDma.h

@@ -9,13 +9,15 @@
 
 #ifdef __SPU__
 
+#ifndef USE_LIBSPE2
+
 #include <cell/dma.h>
 #include <stdint.h>
 
 #define DMA_TAG(xfer) (xfer + 1)
 #define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
 
-#elif defined(USE_LIBSPE2)
+#else // !USE_LIBSPE2
 
 #define DMA_TAG(xfer) (xfer + 1)
 #define DMA_MASK(xfer) (1 << DMA_TAG(xfer))
@@ -88,7 +90,8 @@
 		
 		
 		
-#else
+#endif // USE_LIBSPE2
+#else // !__SPU__
 //Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc)
 //Potential to add networked simulation using this interface
 

Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp

@@ -30,8 +30,10 @@
 
 #ifdef __SPU__
 ///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
+#ifndef USE_LIBSPE2
 #define USE_SOFTWARE_CACHE 1
-#endif //__CELLOS_LV2__
+#endif
+#endif //__SPU__
 
 ////////////////////////////////////////////////
 /// software caching

Extras/ConvexHull/ibmsdk/Makefile

@@ -0,0 +1,38 @@
+#### Source code Dirs
+VPATH =	../
+
+ROOT = ../../..
+HOST = /usr/include
+
+#### Library
+LIBRARY_ppu = bulletconvexhull.a
+
+#### Compiler flags
+CPPFLAGS        = -DUSE_LIBSPE2		\
+-I$(ROOT)/Extras/		\
+-I$(ROOT)/src/			\
+-I$(SDKINC)			\
+-I$(HOST)
+
+#### Optimization level flags
+#CC_OPT_LEVEL =  $(CC_OPT_LEVEL_DEBUG)
+CC_OPT_LEVEL =  -O3
+
+##### Objects to be archived in lib
+OBJS = 				\
+btConvexHull.o			\
+btShapeHull.o
+
+#### Install directories
+INSTALL_DIR	= $(ROOT)/lib/ibmsdk/
+INSTALL_FILES	= $(LIBRARY)
+
+IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
+
+ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
+        CELL_TOP ?= /opt/cell/sdk
+        include $(CELL_TOP)/buildutils/make.footer
+else
+        CELL_TOP ?= /opt/ibm/cell-sdk/prototype
+        include $(CELL_TOP)/make.footer
+endif

src/BulletCollision/ibmsdk/Makefile

@@ -49,6 +49,7 @@ btCollisionDispatcher.o				\
 btCollisionObject.o				\
 btCollisionWorld.o				\
 btCompoundCollisionAlgorithm.o			\
+btConvexPlaneCollisionAlgorithm.o		\
 btConvexConcaveCollisionAlgorithm.o		\
 btConvexConvexAlgorithm.o			\
 btEmptyCollisionAlgorithm.o			\