Add PhysicsEffects to Extras. The build is only tested on Windows and Android.

The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587
2012-03-05 04:59:58 +00:00
parent 6cf8dfc202
commit a93a661b94
462 changed files with 86626 additions and 0 deletions
--- a/Extras/PhysicsEffects/include/BulletPhysicsEffects/btLowLevelConstraintSolver.h
+++ b/Extras/PhysicsEffects/include/BulletPhysicsEffects/btLowLevelConstraintSolver.h
@@ -0,0 +1,130 @@
+/*
+   Copyright (C) 2010 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 __BT_LOW_LEVEL_CONSTRAINT_SOLVER_H
+#define __BT_LOW_LEVEL_CONSTRAINT_SOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+
+
+
+
+#include "LinearMath/btScalar.h"
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+#include "physics_effects/low_level/pfx_low_level_include.h"
+#include "../src/low_level/solver/pfx_parallel_group.h"
+
+using namespace sce::PhysicsEffects;
+
+
+class btPersistentManifold;
+
+enum {
+	PFX_CONSTRAINT_SOLVER_CMD_SETUP_SOLVER_BODIES,
+	PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS,
+	PFX_CONSTRAINT_SOLVER_CMD_SETUP_JOINT_CONSTRAINTS,
+	PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS,
+	PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER
+};
+
+
+struct PfxSetupContactConstraintsIO {
+	PfxConstraintPair *offsetContactPairs;
+	uint32_t numContactPairs1;
+	class TrbState *offsetRigStates;
+	struct PfxSolverBody *offsetSolverBodies;
+	uint32_t numRigidBodies;
+	float separateBias;
+	float timeStep;
+	class btCriticalSection* criticalSection;
+};
+
+
+
+struct PfxSolveConstraintsIO {
+	PfxParallelGroup *contactParallelGroup;
+	PfxParallelBatch *contactParallelBatches;
+	PfxConstraintPair *contactPairs;
+	uint32_t numContactPairs;
+	btPersistentManifold *offsetContactManifolds;
+	PfxParallelGroup *jointParallelGroup;
+	PfxParallelBatch *jointParallelBatches;
+	PfxConstraintPair *jointPairs;
+	uint32_t numJointPairs;
+	TrbState *offsetRigStates;
+	PfxSolverBody *offsetSolverBodies;
+	uint32_t numRigidBodies;
+	uint32_t iteration;
+
+	uint32_t	taskId;
+	
+	class btBarrier* barrier;
+
+};
+
+struct PfxPostSolverIO {
+	TrbState *states;
+	PfxSolverBody *solverBodies;
+	uint32_t numRigidBodies;
+};
+
+ATTRIBUTE_ALIGNED16(struct) btConstraintSolverIO {
+	uint8_t cmd;
+	union {
+		PfxSetupContactConstraintsIO setupContactConstraints;
+		PfxSolveConstraintsIO solveConstraints;
+		PfxPostSolverIO postSolver;
+	};
+	
+	//SPU only
+	uint32_t barrierAddr2;
+	uint32_t criticalsectionAddr2;
+	uint32_t maxTasks1;
+};
+
+
+
+
+void	SolverThreadFunc(void* userPtr,void* lsMemory);
+void*	SolverlsMemoryFunc();
+///The btLowLevelConstraintSolver performs computations on constraint rows in parallel
+///Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs
+class btLowLevelConstraintSolver : public btSequentialImpulseConstraintSolver
+{
+	
+protected:
+	struct btParallelSolverMemoryCache*	m_memoryCache;
+
+	class btThreadSupportInterface*	m_solverThreadSupport;
+
+	struct btConstraintSolverIO* m_solverIO;
+	class btBarrier*			m_barrier;
+	class btCriticalSection*	m_criticalSection;
+
+
+public:
+
+	btLowLevelConstraintSolver(class btThreadSupportInterface* solverThreadSupport);
+	
+	virtual ~btLowLevelConstraintSolver();
+
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+
+};
+
+
+
+#endif //__BT_LOW_LEVEL_CONSTRAINT_SOLVER_H