400 lines
15 KiB
C++
400 lines
15 KiB
C++
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#include "SpuGatheringCollisionTask.h"
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#include "SpuDoubleBuffer.h"
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#include "../SpuCollisionTaskProcess.h"
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#include "../SpuGatheringCollisionDispatcher.h" //for SPU_BATCHSIZE_BROADPHASE_PAIRS
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "SpuContactManifoldCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "SpuContactResult.h"
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "SpuMinkowskiPenetrationDepthSolver.h"
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#include "SpuGjkPairDetector.h"
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#include "SpuVoronoiSimplexSolver.h"
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#include "SpuLocalSupport.h" //definition of SpuConvexPolyhedronVertexData
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#ifdef WIN32
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#define spu_printf printf
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#include <stdio.h>
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#endif
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//int gNumConvexPoints0=0;
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///Make sure no destructors are called on this memory
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struct CollisionTask_LocalStoreMemory
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{
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DoubleBuffer<unsigned char, MIDPHASE_WORKUNIT_PAGE_SIZE> g_workUnitTaskBuffers;
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btBroadphasePair gBroadphasePairs[SPU_BATCHSIZE_BROADPHASE_PAIRS];
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//SpuContactManifoldCollisionAlgorithm gSpuContactManifoldAlgo;
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ATTRIBUTE_ALIGNED16(char gSpuContactManifoldAlgo[sizeof(SpuContactManifoldCollisionAlgorithm)+128]);
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SpuContactManifoldCollisionAlgorithm* getlocalCollisionAlgorithm()
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{
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return (SpuContactManifoldCollisionAlgorithm*)&gSpuContactManifoldAlgo;
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}
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btPersistentManifold gPersistentManifold;
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btBroadphaseProxy gProxy0;
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btBroadphaseProxy gProxy1;
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btCollisionObject gColObj0;
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btCollisionObject gColObj1;
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static const int maxShapeSize = 256;//todo: make some compile-time assert that this is value is larger then sizeof(btCollisionShape)
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ATTRIBUTE_ALIGNED16(char gCollisionShape0[maxShapeSize]);
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ATTRIBUTE_ALIGNED16(char gCollisionShape1[maxShapeSize]);
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ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
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ATTRIBUTE_ALIGNED16(int spuIndices[16]);
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ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
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ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterface);
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///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
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ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
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#define MAX_SPU_SUBTREE_HEADERS 32
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//1024
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ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
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ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
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SpuConvexPolyhedronVertexData* convexVertexData;
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};
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void* createCollisionLocalStoreMemory()
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{
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return new CollisionTask_LocalStoreMemory;
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};
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void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
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{
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#ifdef DEBUG_SPU_COLLISION_DETECTION
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//spu_printf("SPU: ProcessSpuConvexConvexCollision\n");
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#endif //DEBUG_SPU_COLLISION_DETECTION
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//CollisionShape* shape0 = (CollisionShape*)wuInput->m_collisionShapes[0];
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//CollisionShape* shape1 = (CollisionShape*)wuInput->m_collisionShapes[1];
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btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
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bool genericGjk = true;
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if (genericGjk)
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{
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//try generic GJK
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SpuVoronoiSimplexSolver vsSolver;
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SpuMinkowskiPenetrationDepthSolver penetrationSolver;
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void* shape0Ptr = wuInput->m_spuCollisionShapes[0];
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void* shape1Ptr = wuInput->m_spuCollisionShapes[1];
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int shapeType0 = wuInput->m_shapeType0;
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int shapeType1 = wuInput->m_shapeType1;
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float marginA = wuInput->m_collisionMargin0;
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float marginB = wuInput->m_collisionMargin1;
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SpuClosestPointInput cpInput;
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cpInput.m_convexVertexData = lsMemPtr->convexVertexData;
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cpInput.m_transformA = wuInput->m_worldTransform0;
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cpInput.m_transformB = wuInput->m_worldTransform1;
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float sumMargin = (marginA+marginB);
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cpInput.m_maximumDistanceSquared = sumMargin * sumMargin;
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uint64_t manifoldAddress = (uint64_t)manifold;
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btPersistentManifold* spuManifold=&lsMemPtr->gPersistentManifold;
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spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1);
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SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,&penetrationSolver);
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gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
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}
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}
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void processCollisionTask(void* userPtr, void* lsMemPtr)
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{
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SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr;
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SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr;
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CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr;
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CollisionTask_LocalStoreMemory& lsMem = *(colMemPtr);
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SpuContactResult spuContacts;
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uint64_t dmaInPtr = taskDesc.inPtr;
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unsigned int numPages = taskDesc.numPages;
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unsigned int numOnLastPage = taskDesc.numOnLastPage;
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// prefetch first set of inputs and wait
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unsigned int nextNumOnPage = (numPages > 1)? MIDPHASE_NUM_WORKUNITS_PER_PAGE : numOnLastPage;
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lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
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dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
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for (unsigned int i = 0; i < numPages; i++)
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{
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// wait for back buffer dma and swap buffers
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unsigned char *inputPtr = lsMem.g_workUnitTaskBuffers.swapBuffers();
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// number on current page is number prefetched last iteration
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unsigned int numOnPage = nextNumOnPage;
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unsigned int j;
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// prefetch next set of inputs
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if (i < numPages-1)
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{
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nextNumOnPage = (i == numPages-2)? numOnLastPage : MIDPHASE_NUM_WORKUNITS_PER_PAGE;
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lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
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dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
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}
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SpuGatherAndProcessWorkUnitInput* wuInputs = reinterpret_cast<SpuGatherAndProcessWorkUnitInput *>(inputPtr);
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for (j = 0; j < numOnPage; j++)
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{
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#ifdef DEBUG_SPU_COLLISION_DETECTION
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printMidphaseInput(&wuInputs[j]);
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#endif //DEBUG_SPU_COLLISION_DETECTION
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int numPairs = wuInputs[j].m_endIndex - wuInputs[j].m_startIndex;
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// printf("startIndex=%d, endIndex = %d\n",wuInputs[j].m_startIndex,wuInputs[j].m_endIndex);
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if (numPairs)
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{
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{
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int dmaSize = numPairs*sizeof(SpuGatherAndProcessPairsTaskDesc);
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uint64_t dmaPpuAddress = wuInputs[j].m_pairArrayPtr+wuInputs[j].m_startIndex * sizeof(btBroadphasePair);
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cellDmaGet(&lsMem.gBroadphasePairs, dmaPpuAddress , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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for (int p=0;p<numPairs;p++)
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{
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//for each broadphase pair, do something
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btBroadphasePair& pair = lsMem.gBroadphasePairs[p];
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int userInfo = int(pair.m_userInfo);
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if (userInfo == 2 && pair.m_algorithm && pair.m_pProxy0 && pair.m_pProxy1)
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{
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{
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int dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
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uint64_t dmaPpuAddress2 = (uint64_t)pair.m_algorithm;
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cellDmaGet(&lsMem.gSpuContactManifoldAlgo, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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SpuCollisionPairInput collisionPairInput;
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collisionPairInput.m_persistentManifoldPtr = (uint64_t) lsMem.getlocalCollisionAlgorithm()->getContactManifoldPtr();
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#ifdef DEBUG_SPU_COLLISION_DETECTION
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spu_printf("SPU: manifoldPtr: %llx",collisionPairInput->m_persistentManifoldPtr);
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#endif //DEBUG_SPU_COLLISION_DETECTION
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{
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int dmaSize = sizeof(btBroadphaseProxy);
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uint64_t dmaPpuAddress2 = (uint64_t)pair.m_pProxy0;
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cellDmaGet(&lsMem.gProxy0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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{
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int dmaSize = sizeof(btBroadphaseProxy);
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uint64_t dmaPpuAddress2 = (uint64_t)pair.m_pProxy1;
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cellDmaGet(&lsMem.gProxy1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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}
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//btCollisionObject* colObj0 = (btCollisionObject*)gProxy0.m_clientObject;
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//btCollisionObject* colObj1 = (btCollisionObject*)gProxy1.m_clientObject;
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{
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int dmaSize = sizeof(btCollisionObject);
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gProxy0.m_clientObject;
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cellDmaGet(&lsMem.gColObj0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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{
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int dmaSize = sizeof(btCollisionObject);
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gProxy1.m_clientObject;
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cellDmaGet(&lsMem.gColObj1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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}
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///can wait on the combined DMA_MASK, or dma on the same tag
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collisionPairInput.m_shapeType0 = lsMem.getlocalCollisionAlgorithm()->getShapeType0();
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collisionPairInput.m_shapeType1 = lsMem.getlocalCollisionAlgorithm()->getShapeType1();
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collisionPairInput.m_collisionMargin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
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collisionPairInput.m_collisionMargin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
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#ifdef DEBUG_SPU_COLLISION_DETECTION
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spu_printf("SPU collisionPairInput->m_shapeType0 = %d\n",collisionPairInput->m_shapeType0);
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spu_printf("SPU collisionPairInput->m_shapeType1 = %d\n",collisionPairInput->m_shapeType1);
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#endif //DEBUG_SPU_COLLISION_DETECTION
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if (1)
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{
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collisionPairInput.m_worldTransform0 = lsMem.gColObj0.getWorldTransform();
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collisionPairInput.m_worldTransform1 = lsMem.gColObj1.getWorldTransform();
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#ifdef DEBUG_SPU_COLLISION_DETECTION
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spu_printf("SPU worldTrans0.origin = (%f,%f,%f)\n",
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collisionPairInput->m_worldTransform0.getOrigin().getX(),
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collisionPairInput->m_worldTransform0.getOrigin().getY(),
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collisionPairInput->m_worldTransform0.getOrigin().getZ());
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spu_printf("SPU worldTrans1.origin = (%f,%f,%f)\n",
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collisionPairInput->m_worldTransform1.getOrigin().getX(),
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collisionPairInput->m_worldTransform1.getOrigin().getY(),
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collisionPairInput->m_worldTransform1.getOrigin().getZ());
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#endif //DEBUG_SPU_COLLISION_DETECTION
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{
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int dmaSize = sizeof(btPersistentManifold);
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uint64_t dmaPpuAddress2 = collisionPairInput.m_persistentManifoldPtr;
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cellDmaGet(&lsMem.gPersistentManifold, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)
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&& btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
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{
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{
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int dmaSize = lsMem.maxShapeSize;
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
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cellDmaGet(lsMem.gCollisionShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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{
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int dmaSize = lsMem.maxShapeSize;
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj1.getCollisionShape();
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cellDmaGet(lsMem.gCollisionShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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}
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btConvexShape* spuConvexShape0 = (btConvexShape*)lsMem.gCollisionShape0;
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btConvexShape* spuConvexShape1 = (btConvexShape*)lsMem.gCollisionShape1;
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btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
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btVector3 dim1 = spuConvexShape1->getImplicitShapeDimensions();
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collisionPairInput.m_primitiveDimensions0 = dim0;
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collisionPairInput.m_primitiveDimensions1 = dim1;
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collisionPairInput.m_collisionShapes[0] = (uint64_t)lsMem.gColObj0.getCollisionShape();
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collisionPairInput.m_collisionShapes[1] = (uint64_t)lsMem.gColObj1.getCollisionShape();
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collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
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collisionPairInput.m_spuCollisionShapes[1] = spuConvexShape1;
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ProcessSpuConvexConvexCollision(&collisionPairInput,&lsMem, spuContacts);
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} else
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{
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//a non-convex shape is involved
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bool isSwapped = false;
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bool handleConvexConcave = false;
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if (btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType0) &&
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btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
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{
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isSwapped = true;
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spu_printf("SPU convex/concave swapped, unsupported!\n");
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handleConvexConcave = true;
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}
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if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)&&
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btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType1))
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{
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handleConvexConcave = true;
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}
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if (handleConvexConcave && !isSwapped)
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{
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// spu_printf("SPU: non-convex detected\n");
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{
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// uint64_t dmaPpuAddress2 = (uint64_t)gProxy1.m_clientObject;
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// spu_printf("SPU: gColObj1 trimesh = %llx\n",dmaPpuAddress2);
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}
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///dma and initialize the convex object
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{
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int dmaSize = lsMem.maxShapeSize;
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
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cellDmaGet(lsMem.gCollisionShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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///dma and initialize the convex object
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{
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int dmaSize = lsMem.maxShapeSize;
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uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj1.getCollisionShape();
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// spu_printf("SPU: trimesh = %llx\n",dmaPpuAddress2);
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cellDmaGet(lsMem.gCollisionShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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}
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btConvexShape* spuConvexShape0 = (btConvexShape*)lsMem.gCollisionShape0;
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btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)lsMem.gCollisionShape1;
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btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
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collisionPairInput.m_primitiveDimensions0 = dim0;
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collisionPairInput.m_collisionShapes[0] = (uint64_t)lsMem.gColObj0.getCollisionShape();
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collisionPairInput.m_collisionShapes[1] = (uint64_t)lsMem.gColObj1.getCollisionShape();
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collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
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collisionPairInput.m_spuCollisionShapes[1] = trimeshShape;
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btAssert(0);
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//ProcessConvexConcaveSpuCollision(&collisionPairInput,spuContacts);
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}
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}
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spuContacts.flush();
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}
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}
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}
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}
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}
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}
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}
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