eeb78b8d45
move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time) fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima) work-in-progress (update projectfiles etc)
970 lines
35 KiB
C++
970 lines
35 KiB
C++
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#include "SpuGatheringCollisionTask.h"
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//#define DEBUG_SPU_COLLISION_DETECTION 1
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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/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.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 "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
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#ifdef __SPU__
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///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
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#define USE_SOFTWARE_CACHE 1
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#endif //__CELLOS_LV2__
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////////////////////////////////////////////////
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/// software caching
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#if USE_SOFTWARE_CACHE
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#include <spu_intrinsics.h>
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#include <sys/spu_thread.h>
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#include <sys/spu_event.h>
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#include <stdint.h>
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#define SPE_CACHE_NWAY 4
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//#define SPE_CACHE_NSETS 32, 16
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#define SPE_CACHE_NSETS 8
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//#define SPE_CACHELINE_SIZE 512
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#define SPE_CACHELINE_SIZE 128
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#define SPE_CACHE_SET_TAGID(set) 15
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///make sure that spe_cache.h is below those defines!
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#include "spe_cache.h"
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int g_CacheMisses=0;
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int g_CacheHits=0;
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#if 0 // Added to allow cache misses and hits to be tracked, change this to 1 to restore unmodified version
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#define spe_cache_read(ea) _spe_cache_lookup_xfer_wait_(ea, 0, 1)
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#else
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#define spe_cache_read(ea) \
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({ \
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int set, idx, line, byte; \
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_spe_cache_nway_lookup_(ea, set, idx); \
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\
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if (btUnlikely(idx < 0)) { \
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++g_CacheMisses; \
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idx = _spe_cache_miss_(ea, set, -1); \
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spu_writech(22, SPE_CACHE_SET_TAGMASK(set)); \
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spu_mfcstat(MFC_TAG_UPDATE_ALL); \
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} \
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else \
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{ \
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++g_CacheHits; \
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} \
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line = _spe_cacheline_num_(set, idx); \
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byte = _spe_cacheline_byte_offset_(ea); \
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(void *) &spe_cache_mem[line + byte]; \
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})
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#endif
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#endif // USE_SOFTWARE_CACHE
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#ifdef USE_SN_TUNER
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#include <LibSN_SPU.h>
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#endif //USE_SN_TUNER
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#if defined (__CELLOS_LV2__) || defined (USE_LIBSPE2)
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#else
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#define IGNORE_ALIGNMENT 1
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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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ATTRIBUTE_ALIGNED16(char bufferProxy0[16]);
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ATTRIBUTE_ALIGNED16(char bufferProxy1[16]);
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ATTRIBUTE_ALIGNED16(btBroadphaseProxy* gProxyPtr0);
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ATTRIBUTE_ALIGNED16(btBroadphaseProxy* gProxyPtr1);
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//ATTRIBUTE_ALIGNED16(btCollisionObject gColObj0);
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//ATTRIBUTE_ALIGNED16(btCollisionObject gColObj1);
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ATTRIBUTE_ALIGNED16(char gColObj0 [sizeof(btCollisionObject)+16]);
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ATTRIBUTE_ALIGNED16(char gColObj1 [sizeof(btCollisionObject)+16]);
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btCollisionObject* getColObj0()
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{
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return (btCollisionObject*) gColObj0;
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}
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btCollisionObject* getColObj1()
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{
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return (btCollisionObject*) gColObj1;
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}
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DoubleBuffer<unsigned char, MIDPHASE_WORKUNIT_PAGE_SIZE> g_workUnitTaskBuffers;
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ATTRIBUTE_ALIGNED16(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 gSpuContactManifoldAlgo;
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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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CollisionShape_LocalStoreMemory gCollisionShapes[2];
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///we reserve 32bit integer indices, even though they might be 16bit
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ATTRIBUTE_ALIGNED16(int spuIndices[16]);
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bvhMeshShape_LocalStoreMemory bvhShapeData;
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SpuConvexPolyhedronVertexData convexVertexData[2];
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CompoundShape_LocalStoreMemory compoundShapeData[2];
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};
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#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
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ATTRIBUTE_ALIGNED16(CollisionTask_LocalStoreMemory gLocalStoreMemory);
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void* createCollisionLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#else
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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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#endif
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void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts);
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SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t size)
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{
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#if USE_SOFTWARE_CACHE
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// Check for alignment requirements. We need to make sure the entire request fits within one cache line,
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// so the first and last bytes should fall on the same cache line
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btAssert((ea & ~SPE_CACHELINE_MASK) == ((ea + size - 1) & ~SPE_CACHELINE_MASK));
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void* ls = spe_cache_read(ea);
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memcpy(buffer, ls, size);
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#else
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stallingUnalignedDmaSmallGet(buffer,ea,size);
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#endif
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}
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SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
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void* ls1, ppu_address_t ea1,
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void* ls2, ppu_address_t ea2,
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size_t size)
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{
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btAssert(size<16);
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ATTRIBUTE_ALIGNED16(char tmpBuffer0[32]);
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ATTRIBUTE_ALIGNED16(char tmpBuffer1[32]);
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ATTRIBUTE_ALIGNED16(char tmpBuffer2[32]);
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uint32_t i;
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///make sure last 4 bits are the same, for cellDmaSmallGet
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char* localStore0 = (char*)ls0;
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uint32_t last4BitsOffset = ea0 & 0x0f;
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char* tmpTarget0 = tmpBuffer0 + last4BitsOffset;
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tmpTarget0 = (char*)cellDmaSmallGetReadOnly(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
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char* localStore1 = (char*)ls1;
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last4BitsOffset = ea1 & 0x0f;
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char* tmpTarget1 = tmpBuffer1 + last4BitsOffset;
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tmpTarget1 = (char*)cellDmaSmallGetReadOnly(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
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char* localStore2 = (char*)ls2;
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last4BitsOffset = ea2 & 0x0f;
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char* tmpTarget2 = tmpBuffer2 + last4BitsOffset;
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tmpTarget2 = (char*)cellDmaSmallGetReadOnly(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
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cellDmaWaitTagStatusAll( DMA_MASK(1) );
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//this is slowish, perhaps memcpy on SPU is smarter?
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for (i=0; btLikely( i<size );i++)
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{
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localStore0[i] = tmpTarget0[i];
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localStore1[i] = tmpTarget1[i];
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localStore2[i] = tmpTarget2[i];
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}
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}
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class spuNodeCallback : public btNodeOverlapCallback
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{
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SpuCollisionPairInput* m_wuInput;
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SpuContactResult& m_spuContacts;
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CollisionTask_LocalStoreMemory* m_lsMemPtr;
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ATTRIBUTE_ALIGNED16(btVector3 spuTriangleVertices[3]);
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ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
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public:
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spuNodeCallback(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts)
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: m_wuInput(wuInput),
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m_lsMemPtr(lsMemPtr),
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m_spuContacts(spuContacts)
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{
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}
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virtual void processNode(int subPart, int triangleIndex)
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{
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///Create a triangle on the stack, call process collision, with GJK
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///DMA the vertices, can benefit from software caching
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// spu_printf("processNode with triangleIndex %d\n",triangleIndex);
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///TODO: add switch between short int, and int indices, based on indexType
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// ugly solution to support both 16bit and 32bit indices
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if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
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{
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short int* indexBasePtr = (short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
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ATTRIBUTE_ALIGNED16(short int tmpIndices[3]);
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small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
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&tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
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&tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
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sizeof(short int));
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m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
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m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
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m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
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} else
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{
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int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
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small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
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&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
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&m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2],
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sizeof(int));
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}
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// spu_printf("SPU index0=%d ,",spuIndices[0]);
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// spu_printf("SPU index1=%d ,",spuIndices[1]);
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// spu_printf("SPU index2=%d ,",spuIndices[2]);
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// spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
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const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
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for (int j=2;btLikely( j>=0 );j--)
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{
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int graphicsindex = m_lsMemPtr->spuIndices[j];
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// spu_printf("SPU index=%d ,",graphicsindex);
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btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
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// spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
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///handle un-aligned vertices...
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//another DMA for each vertex
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small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0],
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&spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1],
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&spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
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sizeof(btScalar));
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spuTriangleVertices[j] = btVector3(
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spuUnscaledVertex[0]*meshScaling.getX(),
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spuUnscaledVertex[1]*meshScaling.getY(),
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spuUnscaledVertex[2]*meshScaling.getZ());
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// spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z());
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}
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//btTriangleShape tmpTriangleShape(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
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SpuCollisionPairInput triangleConcaveInput(*m_wuInput);
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triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
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triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
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m_spuContacts.setShapeIdentifiers(-1,-1,subPart,triangleIndex);
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// m_spuContacts.flush();
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ProcessSpuConvexConvexCollision(&triangleConcaveInput, m_lsMemPtr,m_spuContacts);
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///this flush should be automatic
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// m_spuContacts.flush();
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}
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};
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////////////////////////
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/// Convex versus Concave triangle mesh collision detection (handles concave triangle mesh versus sphere, box, cylinder, triangle, cone, convex polyhedron etc)
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///////////////////
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void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
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{
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//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
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register int dmaSize;
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register ppu_address_t dmaPpuAddress2;
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btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1];
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//need the mesh interface, for access to triangle vertices
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dmaBvhShapeData (&lsMemPtr->bvhShapeData, trimeshShape);
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btVector3 aabbMin(-1,-400,-1);
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btVector3 aabbMax(1,400,1);
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//recalc aabbs
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btTransform convexInTriangleSpace;
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convexInTriangleSpace = wuInput->m_worldTransform1.inverse() * wuInput->m_worldTransform0;
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btConvexInternalShape* convexShape = (btConvexInternalShape*)wuInput->m_spuCollisionShapes[0];
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computeAabb (aabbMin, aabbMax, convexShape, wuInput->m_collisionShapes[0], wuInput->m_shapeType0, convexInTriangleSpace);
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//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
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//convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
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// btScalar extraMargin = collisionMarginTriangle;
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// btVector3 extra(extraMargin,extraMargin,extraMargin);
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// aabbMax += extra;
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// aabbMin -= extra;
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///quantize query AABB
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unsigned short int quantizedQueryAabbMin[3];
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unsigned short int quantizedQueryAabbMax[3];
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lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
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lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
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QuantizedNodeArray& nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray();
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//spu_printf("SPU: numNodes = %d\n",nodeArray.size());
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BvhSubtreeInfoArray& subTrees = lsMemPtr->bvhShapeData.getOptimizedBvh()->getSubtreeInfoArray();
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spuNodeCallback nodeCallback(wuInput,lsMemPtr,spuContacts);
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IndexedMeshArray& indexArray = lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getIndexedMeshArray();
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//spu_printf("SPU:indexArray.size() = %d\n",indexArray.size());
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// spu_printf("SPU: numSubTrees = %d\n",subTrees.size());
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//not likely to happen
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if (subTrees.size() && indexArray.size() == 1)
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{
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///DMA in the index info
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dmaBvhIndexedMesh (&lsMemPtr->bvhShapeData.gIndexMesh, indexArray, 0 /* index into indexArray */, 1 /* dmaTag */);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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//display the headers
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int numBatch = subTrees.size();
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for (int i=0;i<numBatch;)
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{
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// BEN: TODO - can reorder DMA transfers for less stall
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int remaining = subTrees.size() - i;
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int nextBatch = remaining < MAX_SPU_SUBTREE_HEADERS ? remaining : MAX_SPU_SUBTREE_HEADERS;
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dmaBvhSubTreeHeaders (&lsMemPtr->bvhShapeData.gSubtreeHeaders[0], (ppu_address_t)(&subTrees[i]), nextBatch, 1);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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// spu_printf("nextBatch = %d\n",nextBatch);
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for (int j=0;j<nextBatch;j++)
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{
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const btBvhSubtreeInfo& subtree = lsMemPtr->bvhShapeData.gSubtreeHeaders[j];
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unsigned int overlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
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if (overlap)
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{
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btAssert(subtree.m_subtreeSize);
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//dma the actual nodes of this subtree
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dmaBvhSubTreeNodes (&lsMemPtr->bvhShapeData.gSubtreeNodes[0], subtree, nodeArray, 2);
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cellDmaWaitTagStatusAll(DMA_MASK(2));
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/* Walk this subtree */
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spuWalkStacklessQuantizedTree(&nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
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&lsMemPtr->bvhShapeData.gSubtreeNodes[0],
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0,
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subtree.m_subtreeSize);
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}
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// spu_printf("subtreeSize = %d\n",gSubtreeHeaders[j].m_subtreeSize);
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}
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// unsigned short int m_quantizedAabbMin[3];
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// unsigned short int m_quantizedAabbMax[3];
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// int m_rootNodeIndex;
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// int m_subtreeSize;
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i+=nextBatch;
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}
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//pre-fetch first tree, then loop and double buffer
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}
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}
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////////////////////////
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/// Convex versus Convex collision detection (handles collision between sphere, box, cylinder, triangle, cone, convex polyhedron etc)
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///////////////////
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void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
|
|
{
|
|
register int dmaSize;
|
|
register ppu_address_t dmaPpuAddress2;
|
|
|
|
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
|
//spu_printf("SPU: ProcessSpuConvexConvexCollision\n");
|
|
#endif //DEBUG_SPU_COLLISION_DETECTION
|
|
//CollisionShape* shape0 = (CollisionShape*)wuInput->m_collisionShapes[0];
|
|
//CollisionShape* shape1 = (CollisionShape*)wuInput->m_collisionShapes[1];
|
|
btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
|
|
|
|
bool genericGjk = true;
|
|
|
|
if (genericGjk)
|
|
{
|
|
//try generic GJK
|
|
|
|
SpuVoronoiSimplexSolver vsSolver;
|
|
SpuMinkowskiPenetrationDepthSolver penetrationSolver;
|
|
|
|
///DMA in the vertices for convex shapes
|
|
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
|
|
ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
|
|
|
|
if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
// spu_printf("SPU: DMA btConvexHullShape\n");
|
|
|
|
dmaSize = sizeof(btConvexHullShape);
|
|
dmaPpuAddress2 = wuInput->m_collisionShapes[0];
|
|
|
|
cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
|
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
// spu_printf("SPU: DMA btConvexHullShape\n");
|
|
dmaSize = sizeof(btConvexHullShape);
|
|
dmaPpuAddress2 = wuInput->m_collisionShapes[1];
|
|
cellDmaGet(&convexHullShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
|
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0);
|
|
lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0];
|
|
}
|
|
|
|
|
|
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1);
|
|
lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1];
|
|
}
|
|
|
|
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
|
lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0];
|
|
}
|
|
|
|
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
|
{
|
|
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
|
lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
|
|
}
|
|
|
|
|
|
void* shape0Ptr = wuInput->m_spuCollisionShapes[0];
|
|
void* shape1Ptr = wuInput->m_spuCollisionShapes[1];
|
|
int shapeType0 = wuInput->m_shapeType0;
|
|
int shapeType1 = wuInput->m_shapeType1;
|
|
float marginA = wuInput->m_collisionMargin0;
|
|
float marginB = wuInput->m_collisionMargin1;
|
|
|
|
SpuClosestPointInput cpInput;
|
|
cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0];
|
|
cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1];
|
|
cpInput.m_transformA = wuInput->m_worldTransform0;
|
|
cpInput.m_transformB = wuInput->m_worldTransform1;
|
|
float sumMargin = (marginA+marginB+lsMemPtr->gPersistentManifold.getContactBreakingThreshold());
|
|
cpInput.m_maximumDistanceSquared = sumMargin * sumMargin;
|
|
|
|
ppu_address_t manifoldAddress = (ppu_address_t)manifold;
|
|
|
|
btPersistentManifold* spuManifold=&lsMemPtr->gPersistentManifold;
|
|
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
|
|
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
|
|
lsMemPtr->getColObj1()->getWorldTransform(),
|
|
lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
|
|
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
|
|
wuInput->m_isSwapped);
|
|
|
|
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,&penetrationSolver);
|
|
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
template<typename T> void DoSwap(T& a, T& b)
|
|
{
|
|
char tmp[sizeof(T)];
|
|
memcpy(tmp, &a, sizeof(T));
|
|
memcpy(&a, &b, sizeof(T));
|
|
memcpy(&b, tmp, sizeof(T));
|
|
}
|
|
|
|
SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem)
|
|
{
|
|
register int dmaSize;
|
|
register ppu_address_t dmaPpuAddress2;
|
|
|
|
dmaSize = sizeof(btCollisionObject);
|
|
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.gProxyPtr0->m_clientObject;
|
|
cellDmaGet(&lsMem.gColObj0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
|
|
|
dmaSize = sizeof(btCollisionObject);
|
|
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.gProxyPtr1->m_clientObject;
|
|
cellDmaGet(&lsMem.gColObj1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
|
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
collisionPairInput.m_worldTransform0 = lsMem.getColObj0()->getWorldTransform();
|
|
collisionPairInput.m_worldTransform1 = lsMem.getColObj1()->getWorldTransform();
|
|
}
|
|
|
|
|
|
|
|
void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem,
|
|
SpuContactResult &spuContacts,
|
|
ppu_address_t collisionShape0Ptr, void* collisionShape0Loc,
|
|
ppu_address_t collisionShape1Ptr, void* collisionShape1Loc, bool dmaShapes = true)
|
|
{
|
|
register int dmaSize;
|
|
register ppu_address_t dmaPpuAddress2;
|
|
|
|
if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)
|
|
&& btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
|
|
{
|
|
if (dmaShapes)
|
|
{
|
|
dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
|
|
dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
}
|
|
|
|
btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
|
|
btConvexInternalShape* spuConvexShape1 = (btConvexInternalShape*)collisionShape1Loc;
|
|
|
|
btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
|
|
btVector3 dim1 = spuConvexShape1->getImplicitShapeDimensions();
|
|
|
|
collisionPairInput.m_primitiveDimensions0 = dim0;
|
|
collisionPairInput.m_primitiveDimensions1 = dim1;
|
|
collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
|
|
collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
|
|
collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
|
|
collisionPairInput.m_spuCollisionShapes[1] = spuConvexShape1;
|
|
ProcessSpuConvexConvexCollision(&collisionPairInput,&lsMem,spuContacts);
|
|
}
|
|
else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) &&
|
|
btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1))
|
|
{
|
|
//snPause();
|
|
|
|
dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
|
|
dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
// Both are compounds, do N^2 CD for now
|
|
// TODO: add some AABB-based pruning
|
|
|
|
btCompoundShape* spuCompoundShape0 = (btCompoundShape*)collisionShape0Loc;
|
|
btCompoundShape* spuCompoundShape1 = (btCompoundShape*)collisionShape1Loc;
|
|
|
|
dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
|
|
dmaCompoundShapeInfo (&lsMem.compoundShapeData[1], spuCompoundShape1, 2);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
|
|
dmaCompoundSubShapes (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
dmaCompoundSubShapes (&lsMem.compoundShapeData[1], spuCompoundShape1, 1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
int childShapeCount0 = spuCompoundShape0->getNumChildShapes();
|
|
int childShapeCount1 = spuCompoundShape1->getNumChildShapes();
|
|
|
|
// Start the N^2
|
|
for (int i = 0; i < childShapeCount0; ++i)
|
|
{
|
|
btCompoundShapeChild& childShape0 = lsMem.compoundShapeData[0].gSubshapes[i];
|
|
|
|
for (int j = 0; j < childShapeCount1; ++j)
|
|
{
|
|
btCompoundShapeChild& childShape1 = lsMem.compoundShapeData[1].gSubshapes[j];
|
|
|
|
/* Create a new collision pair input struct using the two child shapes */
|
|
SpuCollisionPairInput cinput (collisionPairInput);
|
|
|
|
cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape0.m_transform;
|
|
cinput.m_shapeType0 = childShape0.m_childShapeType;
|
|
cinput.m_collisionMargin0 = childShape0.m_childMargin;
|
|
|
|
cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape1.m_transform;
|
|
cinput.m_shapeType1 = childShape1.m_childShapeType;
|
|
cinput.m_collisionMargin1 = childShape1.m_childMargin;
|
|
/* Recursively call handleCollisionPair () with new collision pair input */
|
|
handleCollisionPair(cinput, lsMem, spuContacts,
|
|
(ppu_address_t)childShape0.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i],
|
|
(ppu_address_t)childShape1.m_childShape, lsMem.compoundShapeData[1].gSubshapeShape[j], false); // bug fix: changed index to j.
|
|
}
|
|
}
|
|
}
|
|
else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) )
|
|
{
|
|
//snPause();
|
|
|
|
dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
|
|
dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
// object 0 compound, object 1 non-compound
|
|
btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape0Loc;
|
|
dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
int childShapeCount = spuCompoundShape->getNumChildShapes();
|
|
|
|
for (int i = 0; i < childShapeCount; ++i)
|
|
{
|
|
btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i];
|
|
|
|
// Dma the child shape
|
|
dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
SpuCollisionPairInput cinput (collisionPairInput);
|
|
cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape.m_transform;
|
|
cinput.m_shapeType0 = childShape.m_childShapeType;
|
|
cinput.m_collisionMargin0 = childShape.m_childMargin;
|
|
|
|
handleCollisionPair(cinput, lsMem, spuContacts,
|
|
(ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i],
|
|
collisionShape1Ptr, collisionShape1Loc, false);
|
|
}
|
|
}
|
|
else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1) )
|
|
{
|
|
//snPause();
|
|
|
|
dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
|
|
dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
// object 0 non-compound, object 1 compound
|
|
btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape1Loc;
|
|
dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
int childShapeCount = spuCompoundShape->getNumChildShapes();
|
|
|
|
for (int i = 0; i < childShapeCount; ++i)
|
|
{
|
|
btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i];
|
|
// Dma the child shape
|
|
dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
SpuCollisionPairInput cinput (collisionPairInput);
|
|
cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape.m_transform;
|
|
cinput.m_shapeType1 = childShape.m_childShapeType;
|
|
cinput.m_collisionMargin1 = childShape.m_childMargin;
|
|
handleCollisionPair(cinput, lsMem, spuContacts,
|
|
collisionShape0Ptr, collisionShape0Loc,
|
|
(ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], false);
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
//a non-convex shape is involved
|
|
bool handleConvexConcave = false;
|
|
|
|
//snPause();
|
|
|
|
if (btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType0) &&
|
|
btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
|
|
{
|
|
// Swap stuff
|
|
DoSwap(collisionShape0Ptr, collisionShape1Ptr);
|
|
DoSwap(collisionShape0Loc, collisionShape1Loc);
|
|
DoSwap(collisionPairInput.m_shapeType0, collisionPairInput.m_shapeType1);
|
|
DoSwap(collisionPairInput.m_worldTransform0, collisionPairInput.m_worldTransform1);
|
|
DoSwap(collisionPairInput.m_collisionMargin0, collisionPairInput.m_collisionMargin1);
|
|
|
|
collisionPairInput.m_isSwapped = true;
|
|
}
|
|
|
|
if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)&&
|
|
btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType1))
|
|
{
|
|
handleConvexConcave = true;
|
|
}
|
|
if (handleConvexConcave)
|
|
{
|
|
if (dmaShapes)
|
|
{
|
|
dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
|
|
dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
}
|
|
|
|
btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
|
|
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)collisionShape1Loc;
|
|
|
|
btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
|
|
collisionPairInput.m_primitiveDimensions0 = dim0;
|
|
collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
|
|
collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
|
|
collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
|
|
collisionPairInput.m_spuCollisionShapes[1] = trimeshShape;
|
|
|
|
ProcessConvexConcaveSpuCollision(&collisionPairInput,&lsMem,spuContacts);
|
|
}
|
|
|
|
}
|
|
|
|
spuContacts.flush();
|
|
}
|
|
|
|
|
|
void processCollisionTask(void* userPtr, void* lsMemPtr)
|
|
{
|
|
|
|
SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr;
|
|
SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr;
|
|
CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr;
|
|
CollisionTask_LocalStoreMemory& lsMem = *(colMemPtr);
|
|
|
|
// spu_printf("taskDescPtr=%llx\n",taskDescPtr);
|
|
|
|
SpuContactResult spuContacts;
|
|
|
|
////////////////////
|
|
|
|
ppu_address_t dmaInPtr = taskDesc.inPtr;
|
|
unsigned int numPages = taskDesc.numPages;
|
|
unsigned int numOnLastPage = taskDesc.numOnLastPage;
|
|
|
|
// prefetch first set of inputs and wait
|
|
lsMem.g_workUnitTaskBuffers.init();
|
|
|
|
unsigned int nextNumOnPage = (numPages > 1)? MIDPHASE_NUM_WORKUNITS_PER_PAGE : numOnLastPage;
|
|
lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
|
|
dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
|
|
|
|
|
|
register unsigned char *inputPtr;
|
|
register unsigned int numOnPage;
|
|
register unsigned int j;
|
|
SpuGatherAndProcessWorkUnitInput* wuInputs;
|
|
register int dmaSize;
|
|
register ppu_address_t dmaPpuAddress;
|
|
register ppu_address_t dmaPpuAddress2;
|
|
|
|
int userInfo;
|
|
int numPairs;
|
|
register int p;
|
|
SpuCollisionPairInput collisionPairInput;
|
|
|
|
for (unsigned int i = 0; btLikely(i < numPages); i++)
|
|
{
|
|
|
|
// wait for back buffer dma and swap buffers
|
|
inputPtr = lsMem.g_workUnitTaskBuffers.swapBuffers();
|
|
|
|
// number on current page is number prefetched last iteration
|
|
numOnPage = nextNumOnPage;
|
|
|
|
|
|
// prefetch next set of inputs
|
|
#if MIDPHASE_NUM_WORKUNIT_PAGES > 2
|
|
if ( btLikely( i < numPages-1 ) )
|
|
#else
|
|
if ( btUnlikely( i < numPages-1 ) )
|
|
#endif
|
|
{
|
|
nextNumOnPage = (i == numPages-2)? numOnLastPage : MIDPHASE_NUM_WORKUNITS_PER_PAGE;
|
|
lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3));
|
|
dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE;
|
|
}
|
|
|
|
wuInputs = reinterpret_cast<SpuGatherAndProcessWorkUnitInput *>(inputPtr);
|
|
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for (j = 0; btLikely( 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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numPairs = wuInputs[j].m_endIndex - wuInputs[j].m_startIndex;
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if ( btLikely( numPairs ) )
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{
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dmaSize = numPairs*sizeof(btBroadphasePair);
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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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for (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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#ifdef DEBUG_SPU_COLLISION_DETECTION
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spu_printf("pair->m_userInfo = %d\n",pair.m_userInfo);
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spu_printf("pair->m_algorithm = %d\n",pair.m_algorithm);
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spu_printf("pair->m_pProxy0 = %d\n",pair.m_pProxy0);
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spu_printf("pair->m_pProxy1 = %d\n",pair.m_pProxy1);
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#endif //DEBUG_SPU_COLLISION_DETECTION
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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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dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
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dmaPpuAddress2 = (ppu_address_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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//snPause();
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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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dmaSize = sizeof(btBroadphaseProxy);
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dmaPpuAddress2 = (ppu_address_t)pair.m_pProxy0;
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lsMem.gProxyPtr0 = (btBroadphaseProxy*) lsMem.bufferProxy0;
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stallingUnalignedDmaSmallGet(lsMem.gProxyPtr0, dmaPpuAddress2 , dmaSize);
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collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.gSpuContactManifoldAlgo.getContactManifoldPtr();
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collisionPairInput.m_isSwapped = false;
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dmaSize = sizeof(btBroadphaseProxy);
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dmaPpuAddress2 = (ppu_address_t)pair.m_pProxy1;
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lsMem.gProxyPtr1 = (btBroadphaseProxy*) lsMem.bufferProxy1;
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stallingUnalignedDmaSmallGet(lsMem.gProxyPtr1, dmaPpuAddress2 , dmaSize);
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//btCollisionObject* colObj0 = (btCollisionObject*)gProxy0.m_clientObject;
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//btCollisionObject* colObj1 = (btCollisionObject*)gProxy1.m_clientObject;
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if (1)
|
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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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#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
|
|
|
|
|
|
dmaSize = sizeof(btPersistentManifold);
|
|
|
|
dmaPpuAddress2 = collisionPairInput.m_persistentManifoldPtr;
|
|
cellDmaGet(&lsMem.gPersistentManifold, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
|
|
|
collisionPairInput.m_shapeType0 = lsMem.gSpuContactManifoldAlgo.getShapeType0();
|
|
collisionPairInput.m_shapeType1 = lsMem.gSpuContactManifoldAlgo.getShapeType1();
|
|
collisionPairInput.m_collisionMargin0 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin0();
|
|
collisionPairInput.m_collisionMargin1 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin1();
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|
|
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|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
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|
|
if (1)
|
|
{
|
|
//snPause();
|
|
|
|
// Get the collision objects
|
|
dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
|
|
|
|
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
|
|
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
|
|
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
} //end for (j = 0; j < numOnPage; j++)
|
|
|
|
}// for
|
|
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|
|
|
return;
|
|
}
|