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

Extras/PhysicsEffects/include/physics_effects/low_level/broadphase/pfx_broadphase.h

@@ -0,0 +1,124 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_BROADPHASE_H_
+#define _SCE_PFX_BROADPHASE_H_
+
+#include "../../base_level/broadphase/pfx_broadphase_pair.h"
+#include "../../base_level/broadphase/pfx_broadphase_proxy.h"
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/collision/pfx_collidable.h"
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Update Broadphase Proxies
+
+#define SCE_PFX_OUT_OF_WORLD_BEHAVIOR_FIX_MOTION   0x01
+#define SCE_PFX_OUT_OF_WORLD_BEHAVIOR_REMOVE_PROXY 0x02
+
+struct PfxUpdateBroadphaseProxiesParam {
+	void *workBuff;
+	PfxUInt32 workBytes;
+	PfxBroadphaseProxy *proxiesX;
+	PfxBroadphaseProxy *proxiesY;
+	PfxBroadphaseProxy *proxiesZ;
+	PfxBroadphaseProxy *proxiesXb;
+	PfxBroadphaseProxy *proxiesYb;
+	PfxBroadphaseProxy *proxiesZb;
+	PfxRigidState *offsetRigidStates;
+	PfxCollidable *offsetCollidables;
+	PfxUInt32 numRigidBodies;
+	PfxUInt32 outOfWorldBehavior;
+	PfxVector3 worldCenter;
+	PfxVector3 worldExtent;
+	
+	PfxUpdateBroadphaseProxiesParam() : outOfWorldBehavior(0) {}
+};
+
+struct PfxUpdateBroadphaseProxiesResult {
+	PfxInt32 numOutOfWorldProxies;
+};
+
+PfxUInt32 pfxGetWorkBytesOfUpdateBroadphaseProxies(PfxUInt32 numRigidBodies);
+
+PfxUInt32 pfxGetWorkBytesOfUpdateBroadphaseProxies(PfxUInt32 numRigidBodies,PfxUInt32 maxTasks);
+
+PfxInt32 pfxUpdateBroadphaseProxies(PfxUpdateBroadphaseProxiesParam &param,PfxUpdateBroadphaseProxiesResult &result);
+
+PfxInt32 pfxUpdateBroadphaseProxies(PfxUpdateBroadphaseProxiesParam &param,PfxUpdateBroadphaseProxiesResult &result,PfxTaskManager *taskManager);
+
+///////////////////////////////////////////////////////////////////////////////
+// Find Pairs
+
+struct PfxFindPairsParam {
+	void *workBuff;
+	PfxUInt32 workBytes;
+	void *pairBuff;
+	PfxUInt32 pairBytes;
+	PfxBroadphaseProxy *proxies;
+	PfxUInt32 numProxies;
+	PfxUInt32 maxPairs;
+	int axis;
+};
+
+struct PfxFindPairsResult {
+	PfxBroadphasePair *pairs;
+	PfxUInt32 numPairs;
+};
+
+PfxUInt32 pfxGetWorkBytesOfFindPairs(PfxUInt32 maxPairs,PfxUInt32 maxTasks=1);
+PfxUInt32 pfxGetPairBytesOfFindPairs(PfxUInt32 maxPairs);
+
+PfxInt32 pfxFindPairs(PfxFindPairsParam &param,PfxFindPairsResult &result);
+
+PfxInt32 pfxFindPairs(PfxFindPairsParam &param,PfxFindPairsResult &result,PfxTaskManager *taskManager);
+
+///////////////////////////////////////////////////////////////////////////////
+// Decompose Pairs
+
+struct PfxDecomposePairsParam {
+	void *workBuff;
+	PfxUInt32 workBytes;
+	void *pairBuff;
+	PfxUInt32 pairBytes;
+	PfxBroadphasePair *previousPairs;
+	PfxUInt32 numPreviousPairs;
+	PfxBroadphasePair *currentPairs;
+	PfxUInt32 numCurrentPairs;
+};
+
+struct PfxDecomposePairsResult {
+	PfxBroadphasePair *outNewPairs;
+	PfxUInt32 numOutNewPairs;
+	PfxBroadphasePair *outKeepPairs;
+	PfxUInt32 numOutKeepPairs;
+	PfxBroadphasePair *outRemovePairs;
+	PfxUInt32 numOutRemovePairs;
+};
+
+PfxUInt32 pfxGetWorkBytesOfDecomposePairs(PfxUInt32 numPreviousPairs,PfxUInt32 numCurrentPairs,int maxTasks=1);
+PfxUInt32 pfxGetPairBytesOfDecomposePairs(PfxUInt32 numPreviousPairs,PfxUInt32 numCurrentPairs);
+
+PfxInt32 pfxDecomposePairs(PfxDecomposePairsParam &param,PfxDecomposePairsResult &result);
+
+PfxInt32 pfxDecomposePairs(PfxDecomposePairsParam &param,PfxDecomposePairsResult &result,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif /* _SCE_PFX_BROADPHASE_H_ */

Extras/PhysicsEffects/include/physics_effects/low_level/collision/pfx_batched_ray_cast.h

@@ -0,0 +1,38 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_BATCHED_RAY_CAST_H
+#define _SCE_PFX_BATCHED_RAY_CAST_H
+
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/collision/pfx_collidable.h"
+#include "../../base_level/broadphase/pfx_broadphase_proxy.h"
+#include "../task/pfx_task_manager.h"
+#include "pfx_ray_cast.h"
+
+///////////////////////////////////////////////////////////////////////////////
+// Batched RayCast
+namespace sce {
+namespace PhysicsEffects {
+
+void pfxCastRays(PfxRayInput *rayInputs,PfxRayOutput *rayOutputs,int numRays,PfxRayCastParam &param);
+
+void pfxCastRays(PfxRayInput *rayInputs,PfxRayOutput *rayOutputs,int numRays,PfxRayCastParam &param,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_BATCHED_RAY_CAST_H

Extras/PhysicsEffects/include/physics_effects/low_level/collision/pfx_collision_detection.h

@@ -0,0 +1,48 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_COLLISION_DETECTION_H_
+#define _SCE_PFX_COLLISION_DETECTION_H_
+
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/collision/pfx_collidable.h"
+#include "../../base_level/collision/pfx_contact_manifold.h"
+#include "../../base_level/solver/pfx_constraint_pair.h"
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Detect Collision
+
+struct PfxDetectCollisionParam {
+	PfxConstraintPair *contactPairs;
+	PfxUInt32 numContactPairs;
+	PfxContactManifold *offsetContactManifolds;
+	PfxRigidState *offsetRigidStates;
+	PfxCollidable *offsetCollidables;
+	PfxUInt32 numRigidBodies;
+};
+
+PfxInt32 pfxDetectCollision(PfxDetectCollisionParam &param);
+
+PfxInt32 pfxDetectCollision(PfxDetectCollisionParam &param,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif /* _SCE_PFX_COLLISION_DETECTION_H_ */

Extras/PhysicsEffects/include/physics_effects/low_level/collision/pfx_island_generation.h

@@ -0,0 +1,78 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_ISLAND_GENERATION_H_
+#define _SCE_PFX_ISLAND_GENERATION_H_
+
+#include "../../base_level/solver/pfx_constraint_pair.h"
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Island Generation
+
+struct PfxIsland;
+struct PfxIslandUnit;
+
+struct PfxGenerateIslandParam {
+	void *islandBuff;
+	PfxUInt32 islandBytes;
+	PfxConstraintPair *pairs;
+	PfxUInt32 numPairs;
+	PfxUInt32 numObjects;
+};
+
+struct PfxGenerateIslandResult {
+	PfxIsland *island;
+};
+
+//J	アイランド情報を使い終わるまでislandBuffを破棄しないでください
+//E Keep islandBuff while the island is used
+PfxUInt32 pfxGetIslandBytesOfGenerateIsland(PfxUInt32 numObjects);
+
+PfxInt32 pfxGenerateIsland(PfxGenerateIslandParam &param,PfxGenerateIslandResult &result);
+
+//E Access to island information
+//J	アイランド情報へのアクセス
+
+//E Get the number of islands
+//J アイランド数を取得する
+PfxUInt32 pfxGetNumIslands(const PfxIsland *islands);
+
+//E Get a island unit in a island
+//J 指定したアイランドに含まれるユニット（剛体）にアクセス
+PfxIslandUnit *pfxGetFirstUnitInIsland(const PfxIsland *islands,PfxUInt32 islandId);
+PfxIslandUnit *pfxGetNextUnitInIsland(const PfxIslandUnit *islandUnit);
+PfxUInt32 pfxGetUnitId(const PfxIslandUnit *islandUnit);
+
+//E Get an index of an island which includes a specific unit
+//J 指定したユニット（剛体）のアイランドインデックスを取得する
+PfxUInt32 pfxGetIslandId(const PfxIsland *islands,PfxUInt32 unitId);
+
+//E Add pairs and construct islands
+//J アイランドにペアを追加する
+PfxInt32 pfxAppendPairs(PfxIsland *island,PfxConstraintPair *pairs,PfxUInt32 numPairs);
+
+//E Reset islands
+//J	アイランドリセット
+void pfxResetIsland(PfxIsland *island);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif /* _SCE_PFX_ISLAND_GENERATION_H_ */

Extras/PhysicsEffects/include/physics_effects/low_level/collision/pfx_ray_cast.h

@@ -0,0 +1,50 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_RAY_CAST_H
+#define _SCE_PFX_RAY_CAST_H
+
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/collision/pfx_collidable.h"
+#include "../../base_level/collision/pfx_ray.h"
+#include "../../base_level/broadphase/pfx_broadphase_proxy.h"
+
+///////////////////////////////////////////////////////////////////////////////
+// RayCast
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxRayCastParam {
+	PfxRigidState *offsetRigidStates;
+	PfxCollidable *offsetCollidables;
+	PfxBroadphaseProxy *proxiesX;
+	PfxBroadphaseProxy *proxiesY;
+	PfxBroadphaseProxy *proxiesZ;
+	PfxBroadphaseProxy *proxiesXb;
+	PfxBroadphaseProxy *proxiesYb;
+	PfxBroadphaseProxy *proxiesZb;
+	PfxUInt32 numProxies;
+	SCE_PFX_PADDING(1,12)
+	PfxVector3 rangeCenter;
+	PfxVector3 rangeExtent;
+};
+
+void pfxCastSingleRay(const PfxRayInput &rayInput,PfxRayOutput &rayOutput,const PfxRayCastParam &param);
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_RAY_CAST_H

Extras/PhysicsEffects/include/physics_effects/low_level/collision/pfx_refresh_contacts.h

@@ -0,0 +1,46 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_REFRESH_CONTACTS_H
+#define _SCE_PFX_REFRESH_CONTACTS_H
+
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/solver/pfx_constraint_pair.h"
+#include "../../base_level/collision/pfx_contact_manifold.h"
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Refresh Contacts
+
+struct PfxRefreshContactsParam {
+	PfxConstraintPair *contactPairs;
+	PfxUInt32 numContactPairs;
+	PfxContactManifold *offsetContactManifolds;
+	PfxRigidState *offsetRigidStates;
+	PfxUInt32 numRigidBodies;
+};
+
+PfxInt32 pfxRefreshContacts(PfxRefreshContactsParam &param);
+
+PfxInt32 pfxRefreshContacts(PfxRefreshContactsParam &param,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_REFRESH_CONTACTS_H

Extras/PhysicsEffects/include/physics_effects/low_level/pfx_low_level_include.h

@@ -0,0 +1,46 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_LOW_LEVEL_INCLUDE_H
+#define _SCE_PFX_LOW_LEVEL_INCLUDE_H
+
+///////////////////////////////////////////////////////////////////////////////
+// Physics Effects Low Level Headers
+
+// Include base level headers
+#include "../base_level/pfx_base_level_include.h"
+
+// Include low level headers
+#include "broadphase/pfx_broadphase.h"
+
+#include "collision/pfx_collision_detection.h"
+#include "collision/pfx_refresh_contacts.h"
+#include "collision/pfx_batched_ray_cast.h"
+#include "collision/pfx_ray_cast.h"
+#include "collision/pfx_island_generation.h"
+
+#include "solver/pfx_constraint_solver.h"
+#include "solver/pfx_update_rigid_states.h"
+
+#include "sort/pfx_parallel_sort.h"
+
+// ARA begin insert new code 
+#ifdef USE_PTHREADS
+#include "task/pfx_pthreads.h"
+#endif
+// ARA end
+
+#endif // _SCE_PFX_LOW_LEVEL_INCLUDE_H

Extras/PhysicsEffects/include/physics_effects/low_level/solver/pfx_constraint_solver.h

@@ -0,0 +1,123 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_CONSTRAINT_SOLVER_H
+#define _SCE_PFX_CONSTRAINT_SOLVER_H
+
+#include "../../base_level/rigidbody/pfx_rigid_body.h"
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/solver/pfx_solver_body.h"
+#include "../../base_level/solver/pfx_constraint_pair.h"
+#include "../../base_level/solver/pfx_joint.h"
+#include "../../base_level/collision/pfx_contact_manifold.h"
+
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Setup Solver Bodies
+
+struct PfxSetupSolverBodiesParam {
+	PfxRigidState *states;
+	PfxRigidBody *bodies;
+	PfxSolverBody *solverBodies;
+	PfxUInt32 numRigidBodies;
+};
+
+PfxInt32 pfxSetupSolverBodies(PfxSetupSolverBodiesParam &param);
+
+PfxInt32 pfxSetupSolverBodies(PfxSetupSolverBodiesParam &param,PfxTaskManager *taskManager);
+
+///////////////////////////////////////////////////////////////////////////////
+// Setup Constraints
+
+struct PfxSetupContactConstraintsParam {
+	PfxConstraintPair *contactPairs;
+	PfxUInt32 numContactPairs;
+	PfxContactManifold *offsetContactManifolds;
+	PfxRigidState *offsetRigidStates;
+	PfxRigidBody *offsetRigidBodies;
+	PfxSolverBody *offsetSolverBodies;
+	PfxUInt32 numRigidBodies;
+	PfxFloat timeStep;
+	PfxFloat separateBias;
+	
+	PfxSetupContactConstraintsParam()
+	{
+		timeStep = 0.016f;
+		separateBias = 0.2f;
+	}
+};
+
+PfxInt32 pfxSetupContactConstraints(PfxSetupContactConstraintsParam &param);
+
+PfxInt32 pfxSetupContactConstraints(PfxSetupContactConstraintsParam &param,PfxTaskManager *taskManager);
+
+struct PfxSetupJointConstraintsParam {
+	PfxConstraintPair *jointPairs;
+	PfxUInt32 numJointPairs;
+	PfxJoint *offsetJoints;
+	PfxRigidState *offsetRigidStates;
+	PfxRigidBody *offsetRigidBodies;
+	PfxSolverBody *offsetSolverBodies;
+	PfxUInt32 numRigidBodies;
+	PfxFloat timeStep;
+
+	PfxSetupJointConstraintsParam()
+	{
+		timeStep = 0.016f;
+	}
+};
+
+PfxInt32 pfxSetupJointConstraints(PfxSetupJointConstraintsParam &param);
+
+PfxInt32 pfxSetupJointConstraints(PfxSetupJointConstraintsParam &param,PfxTaskManager *taskManager);
+
+///////////////////////////////////////////////////////////////////////////////
+// Solve Constraints
+
+struct PfxSolveConstraintsParam {
+	void *workBuff;
+	PfxUInt32 workBytes;
+	PfxConstraintPair *contactPairs;
+	PfxUInt32 numContactPairs;
+	PfxContactManifold *offsetContactManifolds;
+	PfxConstraintPair *jointPairs;
+	PfxUInt32 numJointPairs;
+	PfxJoint *offsetJoints;
+	PfxRigidState *offsetRigidStates;
+	PfxSolverBody *offsetSolverBodies;
+	PfxUInt32 numRigidBodies;
+	PfxUInt32 iteration;
+	
+	PfxSolveConstraintsParam()
+	{
+		iteration = 5;
+	}
+};
+
+PfxUInt32 pfxGetWorkBytesOfSolveConstraints(PfxUInt32 numRigidBodies,PfxUInt32 numContactPairs,PfxUInt32 numJointPairs,PfxUInt32 maxTasks=1);
+
+PfxInt32 pfxSolveConstraints(PfxSolveConstraintsParam &param);
+
+PfxInt32 pfxSolveConstraints(PfxSolveConstraintsParam &param,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_CONSTRAINT_SOLVER_H
+

Extras/PhysicsEffects/include/physics_effects/low_level/solver/pfx_joint_constraint_func.h

@@ -0,0 +1,69 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_JOINT_CONSTRAINT_FUNC_H_
+#define _SCE_PFX_JOINT_CONSTRAINT_FUNC_H_
+
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+#include "../../base_level/solver/pfx_solver_body.h"
+#include "../../base_level/solver/pfx_joint.h"
+#include "../../base_level/solver/pfx_joint_constraint.h"
+
+namespace sce {
+namespace PhysicsEffects {
+///////////////////////////////////////////////////////////////////////////////
+// Setup Joint Constraint Func
+
+typedef void (*PfxSetupJointConstraintFunc)(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB,
+	PfxFloat timeStep);
+
+PfxSetupJointConstraintFunc pfxGetSetupJointConstraintFunc(PfxUInt8 jointType);
+
+int pfxSetSetupJointConstraintFunc(PfxUInt8 jointType,PfxSetupJointConstraintFunc func);
+
+///////////////////////////////////////////////////////////////////////////////
+// Warm Start Joint Constraint Func
+
+typedef void (*PfxWarmStartJointConstraintFunc)(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+PfxWarmStartJointConstraintFunc pfxGetWarmStartJointConstraintFunc(PfxUInt8 jointType);
+
+int pfxSetWarmStartJointConstraintFunc(PfxUInt8 jointType,PfxWarmStartJointConstraintFunc func);
+
+///////////////////////////////////////////////////////////////////////////////
+// Solve Joint Constraint Func
+
+typedef void (*PfxSolveJointConstraintFunc)(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+PfxSolveJointConstraintFunc pfxGetSolveJointConstraintFunc(PfxUInt8 jointType);
+
+int pfxSetSolveJointConstraintFunc(PfxUInt8 jointType,PfxSolveJointConstraintFunc func);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif /* _PFX_JOINT_CONSTRAINT_FUNC_H_ */

Extras/PhysicsEffects/include/physics_effects/low_level/solver/pfx_update_rigid_states.h

@@ -0,0 +1,45 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_UPDATE_RIGID_STATES_H_
+#define _SCE_PFX_UPDATE_RIGID_STATES_H_
+
+#include "../../base_level/rigidbody/pfx_rigid_body.h"
+#include "../../base_level/rigidbody/pfx_rigid_state.h"
+
+#include "../task/pfx_task_manager.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Update Rigid Body States
+
+struct PfxUpdateRigidStatesParam {
+	PfxRigidState *states;
+	PfxRigidBody *bodies;
+	PfxUInt32 numRigidBodies;
+	PfxFloat timeStep;
+};
+
+PfxInt32 pfxUpdateRigidStates(PfxUpdateRigidStatesParam &param);
+
+PfxInt32 pfxUpdateRigidStates(PfxUpdateRigidStatesParam &param,PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif /* _SCE_PFX_UPDATE_RIGID_STATES_H_ */

Extras/PhysicsEffects/include/physics_effects/low_level/sort/pfx_parallel_sort.h

@@ -0,0 +1,40 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_PARALLEL_SORT_H
+#define _SCE_PFX_PARALLEL_SORT_H
+
+#include "../../base_level/sort/pfx_sort_data.h"
+#include "../task/pfx_task_manager.h"
+
+///////////////////////////////////////////////////////////////////////////////
+// Parallel Sort
+namespace sce {
+namespace PhysicsEffects {
+
+PfxInt32 pfxParallelSort(PfxSortData16 *data,PfxUInt32 numData,void *workBuff,PfxUInt32 workBytes);
+
+PfxInt32 pfxParallelSort(PfxSortData32 *data,PfxUInt32 numData,void *workBuff,PfxUInt32 workBytes);
+
+PfxInt32 pfxParallelSort(PfxSortData16 *data,PfxUInt32 numData,void *workBuff,PfxUInt32 workBytes,
+	PfxTaskManager *taskManager);
+
+PfxInt32 pfxParallelSort(PfxSortData32 *data,PfxUInt32 numData,void *workBuff,PfxUInt32 workBytes,
+	PfxTaskManager *taskManager);
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_PARALLEL_SORT_H

Extras/PhysicsEffects/include/physics_effects/low_level/task/pfx_pthreads.h

@@ -0,0 +1,55 @@
+/*
+ Applied Research Associates Inc. (c)2011
+
+ Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Applied Research Associates Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _SCE_PFX_PTHREADS_H
+#define _SCE_PFX_PTHREADS_H
+
+#include "../../base_level/base/pfx_common.h"
+#include <errno.h>
+
+namespace sce {
+namespace PhysicsEffects {
+
+class PfxBarrier;
+class PfxCriticalSection;
+class PfxTaskManager;
+
+#define SCE_PFX_CHECK_PTHREADS_OUTCOME(result) \
+    if(0 != result) \
+	{ \
+        SCE_PFX_PRINTF("pthreads problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, result, errno); \
+    }
+
+PfxBarrier *PfxCreateBarrierPthreads(int n);
+PfxCriticalSection *PfxCreateCriticalSectionPthreads();
+PfxTaskManager *PfxCreateTaskManagerPthreads(PfxUInt32 numTasks,PfxUInt32 maxTasks,void *workBuff,PfxUInt32 workBytes);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_PTHREADS_H

Extras/PhysicsEffects/include/physics_effects/low_level/task/pfx_sync_components.h

@@ -0,0 +1,53 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_SYNC_COMPONENTS_H
+#define _SCE_PFX_SYNC_COMPONENTS_H
+
+#include "../../base_level/base/pfx_common.h"
+
+//J スレッド間の同期をとるための同期コンポネント
+//E Components for threads sychronization
+namespace sce {
+namespace PhysicsEffects {
+
+class PfxBarrier {
+public:
+	PfxBarrier() {}
+	virtual ~PfxBarrier() {}
+
+	virtual void sync() = 0;
+	virtual void setMaxCount(int n) = 0;
+	virtual int  getMaxCount() = 0;
+};
+
+class PfxCriticalSection {
+public:
+	PfxCriticalSection() {}
+	virtual ~PfxCriticalSection() {}
+
+PfxUInt32 m_commonBuff[32];
+
+	virtual PfxUInt32 getSharedParam(int i) = 0;
+	virtual void setSharedParam(int i,PfxUInt32 p) = 0;
+
+	virtual void lock() = 0;
+	virtual void unlock() = 0;
+};
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_SYNC_COMPONENTS_H

Extras/PhysicsEffects/include/physics_effects/low_level/task/pfx_task_manager.h

@@ -0,0 +1,96 @@
+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#ifndef _SCE_PFX_TASK_MANAGER_H
+#define _SCE_PFX_TASK_MANAGER_H
+
+#include "../../base_level/base/pfx_common.h"
+#include "../../base_level/base/pfx_heap_manager.h"
+#include "pfx_sync_components.h"
+
+#define SCE_PFX_IO_BUFF_BYTES 1048576
+namespace sce {
+namespace PhysicsEffects {
+
+//J 並列処理するためのタスクマネージャクラス
+//E Task manager class for parallel computation
+
+struct PfxTaskArg
+{
+	int taskId;
+	int maxTasks;
+	PfxBarrier *barrier;
+	PfxCriticalSection *criticalSection;
+	void *io;
+	PfxUInt32 data[4];
+};
+
+typedef void (*PfxTaskEntry)(PfxTaskArg *arg);
+
+class PfxTaskManager
+{
+protected:
+	PfxUInt32 m_numTasks;
+	PfxUInt32 m_maxTasks;
+	SCE_PFX_PADDING(1,4)
+	PfxUInt8 SCE_PFX_ALIGNED(16) m_ioBuff[SCE_PFX_IO_BUFF_BYTES];
+	PfxHeapManager m_pool;
+	PfxHeapManager m_ioPool;
+	PfxTaskEntry m_taskEntry;
+	PfxTaskArg *m_taskArg;
+	SCE_PFX_PADDING(2,8)
+
+	PfxTaskManager() : m_pool(NULL,0),m_ioPool(NULL,0) {}
+
+public:
+	void *allocate(size_t bytes) {return m_ioPool.allocate(bytes);}
+	void deallocate(void *p) {m_ioPool.deallocate(p);}
+	void clearPool() {m_ioPool.clear();}
+
+	virtual PfxUInt32 getSharedParam(int i) = 0;
+	virtual void setSharedParam(int i,PfxUInt32 p) = 0;
+
+	virtual void startTask(int taskId,void *io,PfxUInt32 data1,PfxUInt32 data2,PfxUInt32 data3,PfxUInt32 data4) = 0;
+	virtual void waitTask(int &taskId,PfxUInt32 &data1,PfxUInt32 &data2,PfxUInt32 &data3,PfxUInt32 &data4) = 0;
+
+	virtual void setTaskEntry(void *entry) {m_taskEntry = (PfxTaskEntry)entry;}
+
+public:
+	PfxTaskManager(PfxUInt32 numTasks,PfxUInt32 maxTasks,void *workBuff,PfxUInt32 workBytes)
+		: m_pool((unsigned char*)workBuff,workBytes),m_ioPool(m_ioBuff,SCE_PFX_IO_BUFF_BYTES)
+	{
+		SCE_PFX_ASSERT(numTasks>0);
+		SCE_PFX_ASSERT(numTasks<=maxTasks);
+		m_numTasks = numTasks;
+		m_maxTasks = maxTasks;
+		m_taskArg = (PfxTaskArg*)m_pool.allocate(sizeof(PfxTaskArg)*m_maxTasks);
+	}
+
+	virtual ~PfxTaskManager()
+	{
+		m_pool.clear();
+	}
+	
+	virtual PfxUInt32 getNumTasks() const {return m_numTasks;}
+	virtual void setNumTasks(PfxUInt32 tasks) {m_numTasks = SCE_PFX_MIN(tasks,m_maxTasks);}
+	
+	virtual void initialize() = 0;
+	virtual void finalize() = 0;
+};
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_TASK_MANAGER_H