a93a661b94
The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587
130 lines
3.9 KiB
C++
130 lines
3.9 KiB
C++
/*
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Copyright (C) 2010 Sony Computer Entertainment Inc.
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All rights reserved.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef __BT_LOW_LEVEL_CONSTRAINT_SOLVER_H
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#define __BT_LOW_LEVEL_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 "BulletMultiThreaded/PlatformDefinitions.h"
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#include "physics_effects/low_level/pfx_low_level_include.h"
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#include "../src/low_level/solver/pfx_parallel_group.h"
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using namespace sce::PhysicsEffects;
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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 btLowLevelConstraintSolver 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 btLowLevelConstraintSolver : 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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btLowLevelConstraintSolver(class btThreadSupportInterface* solverThreadSupport);
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virtual ~btLowLevelConstraintSolver();
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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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#endif //__BT_LOW_LEVEL_CONSTRAINT_SOLVER_H
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