Several changes to sync Bullet trunk with PlayStation 3 spubullet version
Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
@@ -18,22 +18,238 @@ subject to the following restrictions:
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#define __BT_PARALLEL_CONSTRAINT_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "LinearMath/btScalar.h"
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#include "PlatformDefinitions.h"
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#define PFX_MAX_SOLVER_PHASES 64
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#define PFX_MAX_SOLVER_BATCHES 16
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#define PFX_MAX_SOLVER_PAIRS 128
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#define PFX_MIN_SOLVER_PAIRS 16
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#ifdef __CELLOS_LV2__
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ATTRIBUTE_ALIGNED128(struct) PfxParallelBatch {
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#else
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ATTRIBUTE_ALIGNED16(struct) PfxParallelBatch {
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#endif
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uint16_t pairIndices[PFX_MAX_SOLVER_PAIRS];
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};
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#ifdef __CELLOS_LV2__
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ATTRIBUTE_ALIGNED128(struct) PfxParallelGroup {
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#else
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ATTRIBUTE_ALIGNED16(struct) PfxParallelGroup {
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#endif
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uint16_t numPhases;
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uint16_t numBatches[PFX_MAX_SOLVER_PHASES];
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uint16_t numPairs[PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES];
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};
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ATTRIBUTE_ALIGNED16(struct) PfxSortData16 {
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union {
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uint8_t i8data[16];
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uint16_t i16data[8];
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uint32_t i32data[4];
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#ifdef __SPU__
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vec_uint4 vdata;
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#endif
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};
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#ifdef __SPU__
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void set8(int elem,uint8_t data) {vdata=(vec_uint4)spu_insert(data,(vec_uchar16)vdata,elem);}
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void set16(int elem,uint16_t data) {vdata=(vec_uint4)spu_insert(data,(vec_ushort8)vdata,elem);}
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void set32(int elem,uint32_t data) {vdata=(vec_uint4)spu_insert(data,(vec_uint4)vdata,elem);}
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uint8_t get8(int elem) const {return spu_extract((vec_uchar16)vdata,elem);}
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uint16_t get16(int elem) const {return spu_extract((vec_ushort8)vdata,elem);}
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uint32_t get32(int elem) const {return spu_extract((vec_uint4)vdata,elem);}
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#else
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void set8(int elem,uint8_t data) {i8data[elem] = data;}
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void set16(int elem,uint16_t data) {i16data[elem] = data;}
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void set32(int elem,uint32_t data) {i32data[elem] = data;}
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uint8_t get8(int elem) const {return i8data[elem];}
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uint16_t get16(int elem) const {return i16data[elem];}
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uint32_t get32(int elem) const {return i32data[elem];}
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#endif
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};
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typedef PfxSortData16 PfxConstraintPair;
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//J PfxBroadphasePair<69>Ƌ<EFBFBD><C68B><EFBFBD>
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SIMD_FORCE_INLINE void pfxSetConstraintId(PfxConstraintPair &pair,uint32_t i) {pair.set32(2,i);}
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SIMD_FORCE_INLINE void pfxSetNumConstraints(PfxConstraintPair &pair,uint8_t n) {pair.set8(7,n);}
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SIMD_FORCE_INLINE uint32_t pfxGetConstraintId1(const PfxConstraintPair &pair) {return pair.get32(2);}
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SIMD_FORCE_INLINE uint8_t pfxGetNumConstraints(const PfxConstraintPair &pair) {return pair.get8(7);}
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typedef PfxSortData16 PfxBroadphasePair;
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SIMD_FORCE_INLINE void pfxSetRigidBodyIdA(PfxBroadphasePair &pair,uint16_t i) {pair.set16(0,i);}
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SIMD_FORCE_INLINE void pfxSetRigidBodyIdB(PfxBroadphasePair &pair,uint16_t i) {pair.set16(1,i);}
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SIMD_FORCE_INLINE void pfxSetMotionMaskA(PfxBroadphasePair &pair,uint8_t i) {pair.set8(4,i);}
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SIMD_FORCE_INLINE void pfxSetMotionMaskB(PfxBroadphasePair &pair,uint8_t i) {pair.set8(5,i);}
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SIMD_FORCE_INLINE void pfxSetBroadphaseFlag(PfxBroadphasePair &pair,uint8_t f) {pair.set8(6,(pair.get8(6)&0xf0)|(f&0x0f));}
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SIMD_FORCE_INLINE void pfxSetActive(PfxBroadphasePair &pair,bool b) {pair.set8(6,(pair.get8(6)&0x0f)|((b?1:0)<<4));}
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SIMD_FORCE_INLINE void pfxSetContactId(PfxBroadphasePair &pair,uint32_t i) {pair.set32(2,i);}
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SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdA(const PfxBroadphasePair &pair) {return pair.get16(0);}
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SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdB(const PfxBroadphasePair &pair) {return pair.get16(1);}
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SIMD_FORCE_INLINE uint8_t pfxGetMotionMaskA(const PfxBroadphasePair &pair) {return pair.get8(4);}
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SIMD_FORCE_INLINE uint8_t pfxGetMotionMaskB(const PfxBroadphasePair &pair) {return pair.get8(5);}
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SIMD_FORCE_INLINE uint8_t pfxGetBroadphaseFlag(const PfxBroadphasePair &pair) {return pair.get8(6)&0x0f;}
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SIMD_FORCE_INLINE bool pfxGetActive(const PfxBroadphasePair &pair) {return (pair.get8(6)>>4)!=0;}
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SIMD_FORCE_INLINE uint32_t pfxGetContactId1(const PfxBroadphasePair &pair) {return pair.get32(2);}
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#if defined(__PPU__) || defined (__SPU__)
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ATTRIBUTE_ALIGNED128(struct) PfxSolverBody {
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#else
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ATTRIBUTE_ALIGNED16(struct) PfxSolverBody {
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#endif
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vmVector3 mDeltaLinearVelocity;
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vmVector3 mDeltaAngularVelocity;
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vmMatrix3 mInertiaInv;
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vmQuat mOrientation;
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float mMassInv;
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float friction;
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float restitution;
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float unused;
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float unused2;
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float unused3;
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float unused4;
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float unused5;
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};
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#ifdef __PPU__
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#include "SpuDispatch/BulletPE2ConstraintSolverSpursSupport.h"
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#endif
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static SIMD_FORCE_INLINE vmVector3 btReadVector3(const float* p)
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{
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vmVector3 v;
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loadXYZ(v, p);
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return v;
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}
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static SIMD_FORCE_INLINE vmQuat btReadQuat(const float* p)
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{
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vmQuat vq;
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loadXYZW(vq, p);
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return vq;
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}
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static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, float* p)
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{
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vmVector3 v = src;
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storeXYZ(v, p);
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}
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class btPersistentManifold;
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enum {
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PFX_CONSTRAINT_SOLVER_CMD_SETUP_SOLVER_BODIES,
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PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS,
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PFX_CONSTRAINT_SOLVER_CMD_SETUP_JOINT_CONSTRAINTS,
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PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS,
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PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER
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};
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struct PfxSetupContactConstraintsIO {
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PfxConstraintPair *offsetContactPairs;
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uint32_t numContactPairs1;
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class TrbState *offsetRigStates;
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struct PfxSolverBody *offsetSolverBodies;
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uint32_t numRigidBodies;
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float separateBias;
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float timeStep;
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class btCriticalSection* criticalSection;
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};
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struct PfxSolveConstraintsIO {
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PfxParallelGroup *contactParallelGroup;
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PfxParallelBatch *contactParallelBatches;
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PfxConstraintPair *contactPairs;
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uint32_t numContactPairs;
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btPersistentManifold *offsetContactManifolds;
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PfxParallelGroup *jointParallelGroup;
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PfxParallelBatch *jointParallelBatches;
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PfxConstraintPair *jointPairs;
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uint32_t numJointPairs;
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TrbState *offsetRigStates;
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PfxSolverBody *offsetSolverBodies;
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uint32_t numRigidBodies;
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uint32_t iteration;
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uint32_t taskId;
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class btBarrier* barrier;
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};
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struct PfxPostSolverIO {
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TrbState *states;
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PfxSolverBody *solverBodies;
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uint32_t numRigidBodies;
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};
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ATTRIBUTE_ALIGNED16(struct) btConstraintSolverIO {
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uint8_t cmd;
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union {
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PfxSetupContactConstraintsIO setupContactConstraints;
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PfxSolveConstraintsIO solveConstraints;
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PfxPostSolverIO postSolver;
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};
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//SPU only
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uint32_t barrierAddr2;
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uint32_t criticalsectionAddr2;
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uint32_t maxTasks1;
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};
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void SolverThreadFunc(void* userPtr,void* lsMemory);
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void* SolverlsMemoryFunc();
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///The btParallelConstraintSolver performs computations on constraint rows in parallel
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///Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs
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class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver
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{
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protected:
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struct btParallelSolverMemoryCache* m_memoryCache;
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class btThreadSupportInterface* m_solverThreadSupport;
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struct btConstraintSolverIO* m_solverIO;
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class btBarrier* m_barrier;
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class btCriticalSection* m_criticalSection;
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public:
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btParallelConstraintSolver();
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btParallelConstraintSolver(class btThreadSupportInterface* solverThreadSupport);
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virtual ~btParallelConstraintSolver();
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//virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
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btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
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};
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