mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 17:30:12 +00:00
Refactored SpuGatheringCollisionTask to use code in SpuCollisionShapes.
More work on SpuBatchRaycaster. It is working now on the PS3 and Windows.
This commit is contained in:
johnmccutchan
parent
6ba6805b43
commit
be0beaf7bd
@ -21,6 +21,8 @@ ADD_LIBRARY(LibBulletMultiThreaded
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SpuSampleTaskProcess.h
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SpuSampleTaskProcess.cpp
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SpuCollisionObjectWrapper.cpp
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SpuCollisionObjectWrapper.h
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SpuCollisionTaskProcess.h
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SpuCollisionTaskProcess.cpp
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SpuGatheringCollisionDispatcher.h
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@ -39,15 +41,20 @@ ADD_LIBRARY(LibBulletMultiThreaded
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SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h
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SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp
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SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h
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SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
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SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
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SpuParallelSolver.cpp
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SpuParallelSolver.h
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SpuSolverTask/SpuParallellSolverTask.cpp
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SpuSolverTask/SpuParallellSolverTask.h
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# SpuRaycastTaskProcess.cpp
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# SpuRaycastTaskProcess.h
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# SpuRaycastTask/SpuRaycastTask.cpp
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# SpuRaycastTask/SpuRaycastTask.h
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SpuBatchRaycaster.cpp
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SpuBatchRaycaster.h
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SpuRaycastTaskProcess.cpp
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SpuRaycastTaskProcess.h
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SpuRaycastTask/SpuRaycastTask.cpp
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SpuRaycastTask/SpuRaycastTask.h
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SpuRaycastTask/SpuSubSimplexConvexCast.cpp
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SpuRaycastTask/SpuSubSimplexConvexCast.h
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)
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@ -55,7 +55,6 @@ void SequentialThreadSupport::sendRequest(uint32_t uiCommand, uint32_t uiArgumen
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}
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///check for messages from SPUs
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void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
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{
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@ -65,8 +64,6 @@ void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsign
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*puiArgument1 = spuStatus.m_status;
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}
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void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo)
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{
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m_activeSpuStatus.resize(1);
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@ -78,7 +75,7 @@ void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& thr
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spuStatus.m_status = 0;
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spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
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spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
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printf("STS: Created local store at %p for function %p\n",spuStatus.m_lsMemory, spuStatus.m_userThreadFunc);
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printf("STS: Created local store at %p for task %s\n", spuStatus.m_lsMemory, threadConstructionInfo.m_uniqueName);
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}
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void SequentialThreadSupport::startSPU()
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@ -39,7 +39,7 @@ void
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SpuBatchRaycaster::addRay (const btVector3& rayFrom, const btVector3& rayTo)
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{
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SpuRaycastTaskWorkUnitOut workUnitOut;
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workUnitOut.hitFraction = 0.99;
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workUnitOut.hitFraction = 1.0;
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workUnitOut.hitNormal = btVector3(0.0, 1.0, 0.0);
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rayBatchOutput.push_back (workUnitOut);
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@ -16,7 +16,7 @@ subject to the following restrictions:
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#include "PlatformDefinitions.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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class SpuCollisionObjectWrapper
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ATTRIBUTE_ALIGNED16(class) SpuCollisionObjectWrapper
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{
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protected:
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int m_shapeType;
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@ -1,221 +1,221 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#include "SpuCollisionShapes.h"
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btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
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{
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switch (shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btPoint3(0,0,0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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// spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n");
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btConvexInternalShape* convexShape = (btConvexInternalShape*)shape;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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return btPoint3(
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localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
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localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
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localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
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btVector3* vertices = (btVector3*)shape;
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btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
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btVector3 sup = vertices[dots.maxAxis()];
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return btPoint3(sup.getX(),sup.getY(),sup.getZ());
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)shape;
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//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
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btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
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btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
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int cylinderUpAxis = cylShape->getUpAxis();
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int XX(1),YY(0),ZZ(2);
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switch (cylinderUpAxis)
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{
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case 0:
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{
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XX = 1;
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YY = 0;
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ZZ = 2;
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break;
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}
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case 1:
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{
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XX = 0;
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YY = 1;
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ZZ = 2;
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break;
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}
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case 2:
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{
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XX = 0;
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YY = 2;
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ZZ = 1;
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break;
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}
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default:
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btAssert(0);
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//printf("SPU:localGetSupportingVertexWithoutMargin unknown Cylinder up-axis\n");
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};
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btScalar radius = halfExtents[XX];
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btScalar halfHeight = halfExtents[cylinderUpAxis];
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btVector3 tmp;
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btScalar d ;
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btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
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if (s != btScalar(0.0))
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{
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d = radius / s;
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tmp[XX] = v[XX] * d;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = v[ZZ] * d;
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return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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else
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{
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tmp[XX] = radius;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = btScalar(0.0);
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return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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//spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n");
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btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
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btConvexInternalShape* cnvxShape = (btConvexInternalShape*)shape;
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btVector3 halfExtents = cnvxShape->getImplicitShapeDimensions();
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btScalar halfHeight = halfExtents.getY();
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btScalar radius = halfExtents.getX();
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btVector3 supVec(0,0,0);
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btScalar maxDot(btScalar(-1e30));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0,halfHeight,0);
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vtx = pos +vec*(radius);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0,-halfHeight,0);
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vtx = pos +vec*(radius);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
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break;
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};
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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//spu_printf("SPU: todo: getSupport CONVEX_HULL_SHAPE_PROXYTYPE\n");
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btPoint3* points = 0;
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int numPoints = 0;
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points = convexVertexData->gConvexPoints;
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numPoints = convexVertexData->gNumConvexPoints;
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// spu_printf("numPoints = %d\n",numPoints);
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btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
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btScalar newDot,maxDot = btScalar(-1e30);
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btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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for (int i=0;i<numPoints;i++)
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{
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btPoint3 vtx = points[i];// * m_localScaling;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
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break;
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};
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default:
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//spu_printf("SPU:(type %i) missing support function\n",shapeType);
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#if __ASSERT
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spu_printf("localGetSupportingVertexWithoutMargin() - Unsupported bound type: %d.\n", shapeType);
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#endif // __ASSERT
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return btPoint3(0.f, 0.f, 0.f);
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}
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}
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#include "SpuCollisionShapes.h"
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btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
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{
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switch (shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btPoint3(0,0,0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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// spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n");
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btConvexInternalShape* convexShape = (btConvexInternalShape*)shape;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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return btPoint3(
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localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
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localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
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localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
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btVector3* vertices = (btVector3*)shape;
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btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
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btVector3 sup = vertices[dots.maxAxis()];
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return btPoint3(sup.getX(),sup.getY(),sup.getZ());
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)shape;
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//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
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btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
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btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
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int cylinderUpAxis = cylShape->getUpAxis();
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int XX(1),YY(0),ZZ(2);
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switch (cylinderUpAxis)
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{
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case 0:
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{
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XX = 1;
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YY = 0;
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ZZ = 2;
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break;
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}
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case 1:
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{
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XX = 0;
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YY = 1;
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ZZ = 2;
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break;
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}
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case 2:
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{
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XX = 0;
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YY = 2;
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ZZ = 1;
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break;
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}
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default:
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btAssert(0);
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//printf("SPU:localGetSupportingVertexWithoutMargin unknown Cylinder up-axis\n");
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};
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btScalar radius = halfExtents[XX];
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btScalar halfHeight = halfExtents[cylinderUpAxis];
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btVector3 tmp;
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btScalar d ;
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btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
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if (s != btScalar(0.0))
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{
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d = radius / s;
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tmp[XX] = v[XX] * d;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = v[ZZ] * d;
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return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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else
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{
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tmp[XX] = radius;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = btScalar(0.0);
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return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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//spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n");
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btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
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btConvexInternalShape* cnvxShape = (btConvexInternalShape*)shape;
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btVector3 halfExtents = cnvxShape->getImplicitShapeDimensions();
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btScalar halfHeight = halfExtents.getY();
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btScalar radius = halfExtents.getX();
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btVector3 supVec(0,0,0);
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btScalar maxDot(btScalar(-1e30));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0,halfHeight,0);
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vtx = pos +vec*(radius);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0,-halfHeight,0);
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vtx = pos +vec*(radius);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
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break;
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};
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
|
||||
//spu_printf("SPU: todo: getSupport CONVEX_HULL_SHAPE_PROXYTYPE\n");
|
||||
|
||||
|
||||
|
||||
btPoint3* points = 0;
|
||||
int numPoints = 0;
|
||||
points = convexVertexData->gConvexPoints;
|
||||
numPoints = convexVertexData->gNumConvexPoints;
|
||||
|
||||
// spu_printf("numPoints = %d\n",numPoints);
|
||||
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
btScalar newDot,maxDot = btScalar(-1e30);
|
||||
|
||||
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<numPoints;i++)
|
||||
{
|
||||
btPoint3 vtx = points[i];// * m_localScaling;
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
|
||||
|
||||
break;
|
||||
};
|
||||
|
||||
default:
|
||||
|
||||
//spu_printf("SPU:(type %i) missing support function\n",shapeType);
|
||||
|
||||
|
||||
#if __ASSERT
|
||||
spu_printf("localGetSupportingVertexWithoutMargin() - Unsupported bound type: %d.\n", shapeType);
|
||||
#endif // __ASSERT
|
||||
return btPoint3(0.f, 0.f, 0.f);
|
||||
}
|
||||
}
|
||||
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, btTransform xform)
|
||||
{
|
||||
//calculate the aabb, given the types...
|
||||
@ -390,7 +390,6 @@ void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btCon
|
||||
register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btPoint3);
|
||||
ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getPoints();
|
||||
cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU , dmaSize, DMA_TAG(2), 0, 0);
|
||||
|
||||
}
|
||||
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType)
|
||||
@ -422,6 +421,7 @@ void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex)
|
||||
{
|
||||
|
||||
|
||||
@ -1,36 +1,36 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
@ -50,179 +50,179 @@ inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar rest
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
//potential TODO: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->AddManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
uint64_t mmAddr = (uint32_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
//potential TODO: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->AddManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
uint64_t mmAddr = (uint32_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btPoint3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -35,10 +35,10 @@ subject to the following restrictions:
|
||||
|
||||
struct SpuCollisionPairInput
|
||||
{
|
||||
uint64_t m_collisionShapes[2];
|
||||
ppu_address_t m_collisionShapes[2];
|
||||
void* m_spuCollisionShapes[2];
|
||||
|
||||
uint64_t m_persistentManifoldPtr;
|
||||
ppu_address_t m_persistentManifoldPtr;
|
||||
btVector3 m_primitiveDimensions0;
|
||||
btVector3 m_primitiveDimensions1;
|
||||
int m_shapeType0;
|
||||
@ -50,9 +50,6 @@ struct SpuCollisionPairInput
|
||||
btTransform m_worldTransform1;
|
||||
|
||||
bool m_isSwapped;
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -68,7 +65,7 @@ struct SpuClosestPointInput
|
||||
btTransform m_transformB;
|
||||
float m_maximumDistanceSquared;
|
||||
class btStackAlloc* m_stackAlloc;
|
||||
struct SpuConvexPolyhedronVertexData* m_convexVertexData;
|
||||
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
|
||||
};
|
||||
|
||||
///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
|
||||
@ -77,7 +74,7 @@ class SpuContactResult
|
||||
{
|
||||
btTransform m_rootWorldTransform0;
|
||||
btTransform m_rootWorldTransform1;
|
||||
uint64_t m_manifoldAddress;
|
||||
ppu_address_t m_manifoldAddress;
|
||||
|
||||
btPersistentManifold* m_spuManifold;
|
||||
bool m_RequiresWriteBack;
|
||||
@ -99,7 +96,7 @@ class SpuContactResult
|
||||
|
||||
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1);
|
||||
|
||||
void setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
|
||||
void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
|
||||
|
||||
|
||||
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
|
||||
|
||||
@ -39,7 +39,8 @@ public:
|
||||
btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btPoint3& pa, btPoint3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexData
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataB
|
||||
) const = 0;
|
||||
|
||||
|
||||
|
||||
@ -26,7 +26,7 @@
|
||||
#include "SpuGjkPairDetector.h"
|
||||
#include "SpuVoronoiSimplexSolver.h"
|
||||
|
||||
#include "SpuLocalSupport.h" //definition of SpuConvexPolyhedronVertexData
|
||||
#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
|
||||
|
||||
#ifdef __CELLOS_LV2__
|
||||
///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
|
||||
@ -92,16 +92,11 @@ int g_CacheHits=0;
|
||||
#include <stdio.h>
|
||||
#endif
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
//int gNumConvexPoints0=0;
|
||||
|
||||
|
||||
|
||||
///Make sure no destructors are called on this memory
|
||||
struct CollisionTask_LocalStoreMemory
|
||||
{
|
||||
|
||||
ATTRIBUTE_ALIGNED16(char bufferProxy0[16]);
|
||||
ATTRIBUTE_ALIGNED16(char bufferProxy1[16]);
|
||||
|
||||
@ -138,41 +133,16 @@ struct CollisionTask_LocalStoreMemory
|
||||
}
|
||||
btPersistentManifold gPersistentManifold;
|
||||
|
||||
ATTRIBUTE_ALIGNED16(char gCollisionShape0[MAX_SHAPE_SIZE]);
|
||||
ATTRIBUTE_ALIGNED16(char gCollisionShape1[MAX_SHAPE_SIZE]);
|
||||
CollisionShape_LocalStoreMemory gCollisionShapes[2];
|
||||
|
||||
ATTRIBUTE_ALIGNED16(int spuIndices[16]);
|
||||
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
|
||||
SpuConvexPolyhedronVertexData convexVertexData;
|
||||
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES*2]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES*2][MAX_SHAPE_SIZE]);
|
||||
|
||||
bvhMeshShape_LocalStoreMemory bvhShapeData;
|
||||
SpuConvexPolyhedronVertexData convexVertexData[2];
|
||||
CompoundShape_LocalStoreMemory compoundShapeData[2];
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
|
||||
|
||||
ATTRIBUTE_ALIGNED16(CollisionTask_LocalStoreMemory gLocalStoreMemory);
|
||||
@ -189,73 +159,8 @@ void* createCollisionLocalStoreMemory()
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts);
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
}
|
||||
#else
|
||||
|
||||
unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex)
|
||||
{
|
||||
|
||||
int curIndex = startNodeIndex;
|
||||
int walkIterations = 0;
|
||||
int subTreeSize = endNodeIndex - startNodeIndex;
|
||||
|
||||
int escapeIndex;
|
||||
|
||||
unsigned int aabbOverlap, isLeafNode;
|
||||
|
||||
while (curIndex < endNodeIndex)
|
||||
{
|
||||
//catch bugs in tree data
|
||||
assert (walkIterations < subTreeSize);
|
||||
|
||||
walkIterations++;
|
||||
aabbOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
|
||||
isLeafNode = rootNode->isLeafNode();
|
||||
|
||||
if (isLeafNode && aabbOverlap)
|
||||
{
|
||||
//printf("overlap with node %d\n",rootNode->getTriangleIndex());
|
||||
nodeCallback->processNode(0,rootNode->getTriangleIndex());
|
||||
// spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
|
||||
}
|
||||
|
||||
if (aabbOverlap || isLeafNode)
|
||||
{
|
||||
rootNode++;
|
||||
curIndex++;
|
||||
} else
|
||||
{
|
||||
escapeIndex = rootNode->getEscapeIndex();
|
||||
rootNode += escapeIndex;
|
||||
curIndex += escapeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t size)
|
||||
{
|
||||
@ -271,7 +176,6 @@ SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t s
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
|
||||
void* ls1, ppu_address_t ea1,
|
||||
void* ls2, ppu_address_t ea2,
|
||||
@ -326,7 +230,7 @@ class spuNodeCallback : public btNodeOverlapCallback
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btVector3 spuTriangleVertices[3]);
|
||||
ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
|
||||
ATTRIBUTE_ALIGNED16(int spuIndices[16]);
|
||||
//ATTRIBUTE_ALIGNED16(int spuIndices[16]);
|
||||
|
||||
|
||||
public:
|
||||
@ -346,7 +250,7 @@ public:
|
||||
|
||||
|
||||
|
||||
int* indexBasePtr = (int*)(m_lsMemPtr->gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->gIndexMesh.m_triangleIndexStride);
|
||||
int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
|
||||
|
||||
small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
|
||||
&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
|
||||
@ -358,13 +262,13 @@ public:
|
||||
// spu_printf("SPU index2=%d ,",spuIndices[2]);
|
||||
// spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
|
||||
|
||||
const btVector3& meshScaling = m_lsMemPtr->gTriangleMeshInterfacePtr->getScaling();
|
||||
const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
|
||||
for (int j=2;btLikely( j>=0 );j--)
|
||||
{
|
||||
int graphicsindex = m_lsMemPtr->spuIndices[j];
|
||||
|
||||
// spu_printf("SPU index=%d ,",graphicsindex);
|
||||
btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->gIndexMesh.m_vertexStride);
|
||||
btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
|
||||
// spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
|
||||
|
||||
|
||||
@ -405,38 +309,18 @@ public:
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
////////////////////////
|
||||
/// Convex versus Concave triangle mesh collision detection (handles concave triangle mesh versus sphere, box, cylinder, triangle, cone, convex polyhedron etc)
|
||||
///////////////////
|
||||
void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
|
||||
{
|
||||
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
|
||||
|
||||
|
||||
register int dmaSize;
|
||||
register ppu_address_t dmaPpuAddress2;
|
||||
|
||||
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1];
|
||||
//need the mesh interface, for access to triangle vertices
|
||||
|
||||
dmaSize = sizeof(btTriangleIndexVertexArray);
|
||||
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(trimeshShape->getMeshInterface());
|
||||
// spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
|
||||
lsMemPtr->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&lsMemPtr->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
///now DMA over the BVH
|
||||
|
||||
dmaSize = sizeof(btOptimizedBvh);
|
||||
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(trimeshShape->getOptimizedBvh());
|
||||
//spu_printf("trimeshShape->getOptimizedBvh() == %llx\n",dmaPpuAddress2);
|
||||
cellDmaGet(&lsMemPtr->gOptimizedBvh, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
dmaBvhShapeData (&lsMemPtr->bvhShapeData, trimeshShape);
|
||||
|
||||
btVector3 aabbMin(-1,-400,-1);
|
||||
btVector3 aabbMax(1,400,1);
|
||||
@ -446,82 +330,9 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
|
||||
btTransform convexInTriangleSpace;
|
||||
convexInTriangleSpace = wuInput->m_worldTransform1.inverse() * wuInput->m_worldTransform0;
|
||||
btConvexInternalShape* convexShape = (btConvexInternalShape*)wuInput->m_spuCollisionShapes[0];
|
||||
//calculate the aabb, given the types...
|
||||
switch (wuInput->m_shapeType0)
|
||||
{
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
float margin=convexShape->getMarginNV();
|
||||
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
|
||||
btTransform& t = convexInTriangleSpace;
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btPoint3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
|
||||
abs_b[1].dot(halfExtents),
|
||||
abs_b[2].dot(halfExtents));
|
||||
extent += btVector3(margin,margin,margin);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
break;
|
||||
}
|
||||
computeAabb (aabbMin, aabbMax, convexShape, wuInput->m_collisionShapes[0], wuInput->m_shapeType0, convexInTriangleSpace);
|
||||
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
float margin=convexShape->getMarginNV();
|
||||
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
|
||||
//add the radius to y-axis to get full height
|
||||
btScalar radius = halfExtents[0];
|
||||
halfExtents[1] += radius;
|
||||
btTransform& t = convexInTriangleSpace;
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btPoint3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
|
||||
abs_b[1].dot(halfExtents),
|
||||
abs_b[2].dot(halfExtents));
|
||||
extent += btVector3(margin,margin,margin);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
float radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
|
||||
float margin = radius + convexShape->getMarginNV();
|
||||
btTransform& t = convexInTriangleSpace;
|
||||
const btVector3& center = t.getOrigin();
|
||||
btVector3 extent(margin,margin,margin);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
break;
|
||||
}
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
dmaSize = sizeof(btConvexHullShape);
|
||||
dmaPpuAddress2 = wuInput->m_collisionShapes[0];
|
||||
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
|
||||
|
||||
cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
|
||||
btTransform& t = convexInTriangleSpace;
|
||||
|
||||
btScalar margin = convexShape->getMarginNV();
|
||||
|
||||
localPtr->getNonvirtualAabb(t,aabbMin,aabbMax,margin);
|
||||
|
||||
//spu_printf("SPU convex aabbMin=%f,%f,%f=\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
|
||||
//spu_printf("SPU convex aabbMax=%f,%f,%f=\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
spu_printf("SPU: unsupported shapetype %d in AABB calculation\n");
|
||||
};
|
||||
|
||||
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
|
||||
//convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
|
||||
@ -531,51 +342,38 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
|
||||
// aabbMax += extra;
|
||||
// aabbMin -= extra;
|
||||
|
||||
|
||||
|
||||
///quantize query AABB
|
||||
unsigned short int quantizedQueryAabbMin[3];
|
||||
unsigned short int quantizedQueryAabbMax[3];
|
||||
lsMemPtr->getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
|
||||
lsMemPtr->getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
|
||||
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
|
||||
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
|
||||
|
||||
QuantizedNodeArray& nodeArray = lsMemPtr->getOptimizedBvh()->getQuantizedNodeArray();
|
||||
QuantizedNodeArray& nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray();
|
||||
//spu_printf("SPU: numNodes = %d\n",nodeArray.size());
|
||||
|
||||
BvhSubtreeInfoArray& subTrees = lsMemPtr->getOptimizedBvh()->getSubtreeInfoArray();
|
||||
BvhSubtreeInfoArray& subTrees = lsMemPtr->bvhShapeData.getOptimizedBvh()->getSubtreeInfoArray();
|
||||
|
||||
spuNodeCallback nodeCallback(wuInput,lsMemPtr,spuContacts);
|
||||
IndexedMeshArray& indexArray = lsMemPtr->gTriangleMeshInterfacePtr->getIndexedMeshArray();
|
||||
IndexedMeshArray& indexArray = lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getIndexedMeshArray();
|
||||
//spu_printf("SPU:indexArray.size() = %d\n",indexArray.size());
|
||||
|
||||
|
||||
// spu_printf("SPU: numSubTrees = %d\n",subTrees.size());
|
||||
//not likely to happen
|
||||
if (subTrees.size() && indexArray.size() == 1)
|
||||
{
|
||||
///DMA in the index info
|
||||
|
||||
dmaSize = sizeof(btIndexedMesh);
|
||||
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(&indexArray[0]);
|
||||
cellDmaGet(&lsMemPtr->gIndexMesh, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
dmaBvhIndexedMesh (&lsMemPtr->bvhShapeData.gIndexMesh, indexArray, 0 /* index into indexArray */, 1 /* dmaTag */);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
//spu_printf("SPU gIndexMesh dma finished\n");
|
||||
|
||||
//display the headers
|
||||
int numBatch = subTrees.size();
|
||||
for (int i=0;i<numBatch;)
|
||||
{
|
||||
|
||||
// BEN: TODO - can reorder DMA transfers for less stall
|
||||
int remaining = subTrees.size() - i;
|
||||
int nextBatch = remaining < MAX_SPU_SUBTREE_HEADERS ? remaining : MAX_SPU_SUBTREE_HEADERS;
|
||||
|
||||
dmaSize = nextBatch* sizeof(btBvhSubtreeInfo);
|
||||
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(&subTrees[i]);
|
||||
// spu_printf("&subtree[i]=%llx, dmaSize = %d\n",dmaPpuAddress2,dmaSize);
|
||||
cellDmaGet(&lsMemPtr->gSubtreeHeaders[0], dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
dmaBvhSubTreeHeaders (&lsMemPtr->bvhShapeData.gSubtreeHeaders[0], (ppu_address_t)(&subTrees[i]), nextBatch, 1);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
@ -583,7 +381,7 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
|
||||
|
||||
for (int j=0;j<nextBatch;j++)
|
||||
{
|
||||
const btBvhSubtreeInfo& subtree = lsMemPtr->gSubtreeHeaders[j];
|
||||
const btBvhSubtreeInfo& subtree = lsMemPtr->bvhShapeData.gSubtreeHeaders[j];
|
||||
|
||||
unsigned int overlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
|
||||
if (overlap)
|
||||
@ -591,23 +389,15 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
|
||||
btAssert(subtree.m_subtreeSize);
|
||||
|
||||
//dma the actual nodes of this subtree
|
||||
|
||||
dmaSize = subtree.m_subtreeSize* sizeof(btQuantizedBvhNode);
|
||||
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(&nodeArray[subtree.m_rootNodeIndex]);
|
||||
cellDmaGet(&lsMemPtr->gSubtreeNodes[0], dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
dmaBvhSubTreeNodes (&lsMemPtr->bvhShapeData.gSubtreeNodes[0], subtree, nodeArray, 2);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
|
||||
|
||||
|
||||
|
||||
/* Walk this subtree */
|
||||
spuWalkStacklessQuantizedTree(&nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
|
||||
&lsMemPtr->gSubtreeNodes[0],
|
||||
&lsMemPtr->bvhShapeData.gSubtreeNodes[0],
|
||||
0,
|
||||
subtree.m_subtreeSize);
|
||||
|
||||
}
|
||||
|
||||
|
||||
// spu_printf("subtreeSize = %d\n",gSubtreeHeaders[j].m_subtreeSize);
|
||||
}
|
||||
|
||||
@ -619,73 +409,10 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
|
||||
}
|
||||
|
||||
//pre-fetch first tree, then loop and double buffer
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck
|
||||
SIMD_FORCE_INLINE int getShapeTypeSize(int shapeType)
|
||||
{
|
||||
|
||||
|
||||
switch (shapeType)
|
||||
{
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btCylinderShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btBoxShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btSphereShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btBvhTriangleMeshShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btCapsuleShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btConvexHullShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
|
||||
case COMPOUND_SHAPE_PROXYTYPE:
|
||||
{
|
||||
int shapeSize = sizeof(btCompoundShape);
|
||||
btAssert(shapeSize < MAX_SHAPE_SIZE);
|
||||
return shapeSize;
|
||||
}
|
||||
|
||||
default:
|
||||
btAssert(0);
|
||||
//unsupported shapetype, please add here
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
////////////////////////
|
||||
@ -693,8 +420,6 @@ SIMD_FORCE_INLINE int getShapeTypeSize(int shapeType)
|
||||
///////////////////
|
||||
void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
|
||||
{
|
||||
|
||||
|
||||
register int dmaSize;
|
||||
register ppu_address_t dmaPpuAddress2;
|
||||
|
||||
@ -705,12 +430,8 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
|
||||
//CollisionShape* shape1 = (CollisionShape*)wuInput->m_collisionShapes[1];
|
||||
btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
|
||||
|
||||
|
||||
|
||||
bool genericGjk = true;
|
||||
|
||||
|
||||
|
||||
if (genericGjk)
|
||||
{
|
||||
//try generic GJK
|
||||
@ -718,8 +439,6 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
|
||||
SpuVoronoiSimplexSolver vsSolver;
|
||||
SpuMinkowskiPenetrationDepthSolver penetrationSolver;
|
||||
|
||||
|
||||
|
||||
///DMA in the vertices for convex shapes
|
||||
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
|
||||
ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
|
||||
@ -735,12 +454,8 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
|
||||
//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];
|
||||
@ -748,68 +463,31 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
|
||||
|
||||
|
||||
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
|
||||
{
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
|
||||
|
||||
lsMemPtr->convexVertexData.gNumConvexPoints0 = localPtr->getNumPoints();
|
||||
if (lsMemPtr->convexVertexData.gNumConvexPoints0>MAX_NUM_SPU_CONVEX_POINTS)
|
||||
{
|
||||
btAssert(0);
|
||||
spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,lsMemPtr->convexVertexData.gNumConvexPoints0);
|
||||
return;
|
||||
}
|
||||
|
||||
dmaSize = lsMemPtr->convexVertexData.gNumConvexPoints0*sizeof(btPoint3);
|
||||
dmaPpuAddress2 = (ppu_address_t) localPtr->getPoints();
|
||||
cellDmaGet(&lsMemPtr->convexVertexData.g_convexPointBuffer0, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
|
||||
lsMemPtr->convexVertexData.gSpuConvexShapePtr0 = wuInput->m_spuCollisionShapes[0];
|
||||
|
||||
|
||||
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));
|
||||
btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape1;
|
||||
|
||||
lsMemPtr->convexVertexData.gNumConvexPoints1 = localPtr->getNumPoints();
|
||||
if (lsMemPtr->convexVertexData.gNumConvexPoints1>MAX_NUM_SPU_CONVEX_POINTS)
|
||||
{
|
||||
btAssert(0);
|
||||
spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,lsMemPtr->convexVertexData.gNumConvexPoints1);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
dmaSize = lsMemPtr->convexVertexData.gNumConvexPoints1*sizeof(btPoint3);
|
||||
dmaPpuAddress2 = (ppu_address_t) localPtr->getPoints();
|
||||
cellDmaGet(&lsMemPtr->convexVertexData.g_convexPointBuffer1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
|
||||
lsMemPtr->convexVertexData.gSpuConvexShapePtr1 = wuInput->m_spuCollisionShapes[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.gConvexPoints0 = &lsMemPtr->convexVertexData.g_convexPointBuffer0[0];
|
||||
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.gConvexPoints1 = &lsMemPtr->convexVertexData.g_convexPointBuffer1[0];
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
|
||||
}
|
||||
|
||||
|
||||
@ -821,7 +499,8 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
|
||||
float marginB = wuInput->m_collisionMargin1;
|
||||
|
||||
SpuClosestPointInput cpInput;
|
||||
cpInput.m_convexVertexData = &lsMemPtr->convexVertexData;
|
||||
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());
|
||||
@ -858,27 +537,18 @@ SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collis
|
||||
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);
|
||||
|
||||
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();
|
||||
|
||||
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -894,26 +564,11 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)
|
||||
&& btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1))
|
||||
{
|
||||
|
||||
//dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
|
||||
|
||||
if (dmaShapes)
|
||||
{
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType0);
|
||||
//uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
|
||||
dmaPpuAddress2 = collisionShape0Ptr;
|
||||
cellDmaGet(collisionShape0Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType1);
|
||||
dmaPpuAddress2 = collisionShape1Ptr;
|
||||
cellDmaGet(collisionShape1Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
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;
|
||||
@ -935,82 +590,41 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
{
|
||||
//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
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType0);
|
||||
dmaPpuAddress2 = collisionShape0Ptr;
|
||||
cellDmaGet(collisionShape0Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType1);
|
||||
dmaPpuAddress2 = collisionShape1Ptr;
|
||||
cellDmaGet(collisionShape1Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
|
||||
|
||||
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();
|
||||
|
||||
// dma the first list of child shapes
|
||||
|
||||
dmaSize = childShapeCount0 * sizeof(btCompoundShapeChild);
|
||||
dmaPpuAddress2 = (ppu_address_t)spuCompoundShape0->getChildList();
|
||||
cellDmaGet(lsMem.gSubshapes, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
// dma the second list of child shapes
|
||||
|
||||
dmaSize = childShapeCount1 * sizeof(btCompoundShapeChild);
|
||||
dmaPpuAddress2 = (ppu_address_t)spuCompoundShape1->getChildList();
|
||||
cellDmaGet(&lsMem.gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES], dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
|
||||
int i;
|
||||
|
||||
// DMA all the subshapes
|
||||
for ( i = 0; i < childShapeCount0; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape = lsMem.gSubshapes[i];
|
||||
|
||||
dmaSize = getShapeTypeSize(childShape.m_childShapeType);
|
||||
dmaPpuAddress2 = (ppu_address_t)childShape.m_childShape;
|
||||
cellDmaGet(lsMem.gSubshapeShape[i], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
for ( i = 0; i < childShapeCount1; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape = lsMem.gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES+i];
|
||||
|
||||
dmaSize = getShapeTypeSize(childShape.m_childShapeType);
|
||||
dmaPpuAddress2 = (ppu_address_t)childShape.m_childShape;
|
||||
|
||||
cellDmaGet(lsMem.gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES+i], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
// Start the N^2
|
||||
for ( i = 0; i < childShapeCount0; ++i)
|
||||
for (int i = 0; i < childShapeCount0; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape0 = lsMem.gSubshapes[i];
|
||||
btCompoundShapeChild& childShape0 = lsMem.compoundShapeData[0].gSubshapes[i];
|
||||
|
||||
for (int j = 0; j < childShapeCount1; ++j)
|
||||
{
|
||||
btCompoundShapeChild& childShape1 = lsMem.gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES+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;
|
||||
@ -1018,10 +632,10 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
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.gSubshapeShape[i],
|
||||
(ppu_address_t)childShape1.m_childShape, lsMem.gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES+i], false);
|
||||
(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.
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1029,55 +643,32 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
{
|
||||
//snPause();
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType0);
|
||||
dmaPpuAddress2 = collisionShape0Ptr;
|
||||
cellDmaGet(collisionShape0Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType1);
|
||||
dmaPpuAddress2 = collisionShape1Ptr;
|
||||
cellDmaGet(collisionShape1Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
// cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
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();
|
||||
|
||||
// dma the list of child shapes
|
||||
|
||||
dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
|
||||
|
||||
dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
|
||||
|
||||
cellDmaGet(lsMem.gSubshapes, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
for (int i = 0; i < childShapeCount; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape = lsMem.gSubshapes[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));
|
||||
|
||||
dmaSize = getShapeTypeSize(childShape.m_childShapeType);
|
||||
dmaPpuAddress2 = (ppu_address_t)childShape.m_childShape;
|
||||
|
||||
cellDmaGet(lsMem.gSubshapeShape[i], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
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.gSubshapeShape[i],
|
||||
(ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i],
|
||||
collisionShape1Ptr, collisionShape1Loc, false);
|
||||
}
|
||||
}
|
||||
@ -1085,57 +676,30 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
{
|
||||
//snPause();
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType0);
|
||||
dmaPpuAddress2 = collisionShape0Ptr;
|
||||
cellDmaGet(collisionShape0Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType1);
|
||||
dmaPpuAddress2 = collisionShape1Ptr;
|
||||
|
||||
cellDmaGet(collisionShape1Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
|
||||
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();
|
||||
|
||||
// dma the list of child shapes
|
||||
|
||||
dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
|
||||
|
||||
dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
|
||||
|
||||
cellDmaGet(lsMem.gSubshapes, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
for (int i = 0; i < childShapeCount; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape = lsMem.gSubshapes[i];
|
||||
|
||||
btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i];
|
||||
// Dma the child shape
|
||||
|
||||
dmaSize = getShapeTypeSize(childShape.m_childShapeType);
|
||||
dmaPpuAddress2 = (ppu_address_t)childShape.m_childShape;
|
||||
|
||||
cellDmaGet(lsMem.gSubshapeShape[i], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
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.gSubshapeShape[i], false);
|
||||
|
||||
(ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], false);
|
||||
}
|
||||
|
||||
}
|
||||
@ -1166,29 +730,11 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
}
|
||||
if (handleConvexConcave)
|
||||
{
|
||||
|
||||
if (dmaShapes)
|
||||
{
|
||||
///dma and initialize the convex object
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType0);
|
||||
//uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
|
||||
|
||||
dmaPpuAddress2 = collisionShape0Ptr;
|
||||
|
||||
cellDmaGet(collisionShape0Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
///dma and initialize the concave object
|
||||
|
||||
dmaSize = getShapeTypeSize(collisionPairInput.m_shapeType1);
|
||||
|
||||
dmaPpuAddress2 = collisionShape1Ptr;
|
||||
|
||||
cellDmaGet(collisionShape1Loc, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
//cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
||||
|
||||
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;
|
||||
@ -1210,7 +756,6 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
|
||||
}
|
||||
|
||||
|
||||
|
||||
void processCollisionTask(void* userPtr, void* lsMemPtr)
|
||||
{
|
||||
|
||||
@ -1225,7 +770,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
|
||||
|
||||
////////////////////
|
||||
|
||||
uint64_t dmaInPtr = taskDesc.inPtr;
|
||||
ppu_address_t dmaInPtr = taskDesc.inPtr;
|
||||
unsigned int numPages = taskDesc.numPages;
|
||||
unsigned int numOnLastPage = taskDesc.numOnLastPage;
|
||||
|
||||
@ -1336,7 +881,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
|
||||
lsMem.gProxyPtr0 = (btBroadphaseProxy*) lsMem.bufferProxy0;
|
||||
stallingUnalignedDmaSmallGet(lsMem.gProxyPtr0, dmaPpuAddress2 , dmaSize);
|
||||
|
||||
collisionPairInput.m_persistentManifoldPtr = (uint64_t) lsMem.gSpuContactManifoldAlgo.getContactManifoldPtr();
|
||||
collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.gSpuContactManifoldAlgo.getContactManifoldPtr();
|
||||
collisionPairInput.m_isSwapped = false;
|
||||
|
||||
|
||||
@ -1387,10 +932,10 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
|
||||
dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
|
||||
|
||||
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
|
||||
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), lsMem.gCollisionShape0,
|
||||
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), lsMem.gCollisionShape1);
|
||||
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
|
||||
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -23,11 +23,11 @@ subject to the following restrictions:
|
||||
///Task Description for SPU collision detection
|
||||
struct SpuGatherAndProcessPairsTaskDesc
|
||||
{
|
||||
uint64_t inPtr;//m_pairArrayPtr;
|
||||
ppu_address_t inPtr;//m_pairArrayPtr;
|
||||
//mutex variable
|
||||
uint32_t m_someMutexVariableInMainMemory;
|
||||
|
||||
uint64_t m_dispatcher;
|
||||
ppu_address_t m_dispatcher;
|
||||
|
||||
uint32_t numOnLastPage;
|
||||
|
||||
|
||||
@ -15,7 +15,7 @@ subject to the following restrictions:
|
||||
|
||||
#include "SpuGjkPairDetector.h"
|
||||
#include "SpuConvexPenetrationDepthSolver.h"
|
||||
#include "SpuLocalSupport.h"
|
||||
#include "SpuCollisionShapes.h"
|
||||
|
||||
|
||||
|
||||
@ -106,8 +106,8 @@ void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuC
|
||||
// btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
|
||||
// btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
|
||||
|
||||
btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData);//, &featureIndexA);
|
||||
btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData);//, &featureIndexB);
|
||||
btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
|
||||
btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
|
||||
|
||||
|
||||
btPoint3 pWorld = localTransA(pInA);
|
||||
@ -250,7 +250,7 @@ void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuC
|
||||
marginA, marginB,
|
||||
localTransA,localTransB,
|
||||
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
|
||||
0,input.m_stackAlloc,input.m_convexVertexData
|
||||
0,input.m_stackAlloc,input.m_convexVertexData[0], input.m_convexVertexData[1]
|
||||
);
|
||||
|
||||
if (isValid2)
|
||||
|
||||
@ -16,233 +16,4 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
|
||||
|
||||
struct SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr0;
|
||||
void* gSpuConvexShapePtr1;
|
||||
btPoint3* gConvexPoints0;
|
||||
btPoint3* gConvexPoints1;
|
||||
int gNumConvexPoints0;
|
||||
int gNumConvexPoints1;
|
||||
ATTRIBUTE_ALIGNED16(btPoint3 g_convexPointBuffer0[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
ATTRIBUTE_ALIGNED16(btPoint3 g_convexPointBuffer1[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
|
||||
};
|
||||
|
||||
|
||||
inline btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
|
||||
{
|
||||
switch (shapeType)
|
||||
{
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
return btPoint3(0,0,0);
|
||||
}
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
// spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n");
|
||||
btConvexInternalShape* convexShape = (btConvexInternalShape*)shape;
|
||||
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
|
||||
|
||||
return btPoint3(
|
||||
localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
|
||||
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
|
||||
localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
|
||||
}
|
||||
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
|
||||
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
|
||||
btVector3* vertices = (btVector3*)shape;
|
||||
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
|
||||
btVector3 sup = vertices[dots.maxAxis()];
|
||||
return btPoint3(sup.getX(),sup.getY(),sup.getZ());
|
||||
break;
|
||||
}
|
||||
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCylinderShape* cylShape = (btCylinderShape*)shape;
|
||||
|
||||
//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
|
||||
|
||||
btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
|
||||
btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
|
||||
|
||||
int cylinderUpAxis = cylShape->getUpAxis();
|
||||
int XX(1),YY(0),ZZ(2);
|
||||
|
||||
switch (cylinderUpAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
XX = 1;
|
||||
YY = 0;
|
||||
ZZ = 2;
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
XX = 0;
|
||||
YY = 1;
|
||||
ZZ = 2;
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
XX = 0;
|
||||
YY = 2;
|
||||
ZZ = 1;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
btAssert(0);
|
||||
//printf("SPU:localGetSupportingVertexWithoutMargin unknown Cylinder up-axis\n");
|
||||
};
|
||||
|
||||
btScalar radius = halfExtents[XX];
|
||||
btScalar halfHeight = halfExtents[cylinderUpAxis];
|
||||
|
||||
btVector3 tmp;
|
||||
btScalar d ;
|
||||
|
||||
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
||||
if (s != btScalar(0.0))
|
||||
{
|
||||
d = radius / s;
|
||||
tmp[XX] = v[XX] * d;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = v[ZZ] * d;
|
||||
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
|
||||
}
|
||||
else
|
||||
{
|
||||
tmp[XX] = radius;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = btScalar(0.0);
|
||||
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
|
||||
}
|
||||
}
|
||||
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
//spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n");
|
||||
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
|
||||
|
||||
btConvexInternalShape* cnvxShape = (btConvexInternalShape*)shape;
|
||||
btVector3 halfExtents = cnvxShape->getImplicitShapeDimensions();
|
||||
btScalar halfHeight = halfExtents.getY();
|
||||
btScalar radius = halfExtents.getX();
|
||||
btVector3 supVec(0,0,0);
|
||||
|
||||
btScalar maxDot(btScalar(-1e30));
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
btVector3 vtx;
|
||||
btScalar newDot;
|
||||
{
|
||||
btVector3 pos(0,halfHeight,0);
|
||||
vtx = pos +vec*(radius);
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
{
|
||||
btVector3 pos(0,-halfHeight,0);
|
||||
vtx = pos +vec*(radius);
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
|
||||
break;
|
||||
};
|
||||
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
//spu_printf("SPU: todo: getSupport CONVEX_HULL_SHAPE_PROXYTYPE\n");
|
||||
|
||||
|
||||
|
||||
btPoint3* points = 0;
|
||||
int numPoints = 0;
|
||||
if (shape==convexVertexData->gSpuConvexShapePtr0)
|
||||
{
|
||||
points = convexVertexData->gConvexPoints0;
|
||||
numPoints = convexVertexData->gNumConvexPoints0;
|
||||
}
|
||||
if (shape == convexVertexData->gSpuConvexShapePtr1)
|
||||
{
|
||||
points = convexVertexData->gConvexPoints1;
|
||||
numPoints = convexVertexData->gNumConvexPoints1;
|
||||
}
|
||||
|
||||
// spu_printf("numPoints = %d\n",numPoints);
|
||||
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
btScalar newDot,maxDot = btScalar(-1e30);
|
||||
|
||||
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<numPoints;i++)
|
||||
{
|
||||
btPoint3 vtx = points[i];// * m_localScaling;
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
|
||||
|
||||
break;
|
||||
};
|
||||
|
||||
default:
|
||||
|
||||
//spu_printf("SPU:(type %i) missing support function\n",shapeType);
|
||||
|
||||
|
||||
#if __ASSERT
|
||||
spu_printf("localGetSupportingVertexWithoutMargin() - Unsupported bound type: %d.\n", shapeType);
|
||||
#endif // __ASSERT
|
||||
return btPoint3(0.f, 0.f, 0.f);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@ subject to the following restrictions:
|
||||
#include "SpuPreferredPenetrationDirections.h"
|
||||
|
||||
|
||||
#include "SpuLocalSupport.h"
|
||||
#include "SpuCollisionShapes.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
@ -74,7 +74,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
|
||||
btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btPoint3& pa, btPoint3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexData
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataB
|
||||
) const
|
||||
{
|
||||
|
||||
@ -241,8 +242,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
|
||||
seperatingAxisInA = (-norm)* transA.getBasis();
|
||||
seperatingAxisInB = norm* transB.getBasis();
|
||||
|
||||
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexData);//, NULL);
|
||||
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexData);//, NULL);
|
||||
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexDataA);//, NULL);
|
||||
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexDataB);//, NULL);
|
||||
|
||||
// pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
|
||||
// qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
|
||||
@ -299,7 +300,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
|
||||
|
||||
|
||||
SpuClosestPointInput input;
|
||||
input.m_convexVertexData = convexVertexData;
|
||||
input.m_convexVertexData[0] = convexVertexDataA;
|
||||
input.m_convexVertexData[1] = convexVertexDataB;
|
||||
btVector3 newOrg = transA.getOrigin() + offset;
|
||||
|
||||
btTransform displacedTrans = transA;
|
||||
|
||||
@ -35,7 +35,8 @@ public:
|
||||
btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btPoint3& pa, btPoint3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexData
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataB
|
||||
) const;
|
||||
|
||||
|
||||
|
||||
@ -1,10 +1,21 @@
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
#include "SpuRaycastTask.h"
|
||||
#include "SpuCollisionObjectWrapper.h"
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
|
||||
|
||||
/* Future optimization strategies:
|
||||
1. BBOX prune before loading shape data
|
||||
2. When doing bvh tree traversal do it once for entire batch of rays.
|
||||
*/
|
||||
|
||||
/* Future work:
|
||||
1. support first hit, closest hit, etc rather than just closest hit.
|
||||
2. support compound objects
|
||||
*/
|
||||
|
||||
struct RaycastTask_LocalStoreMemory
|
||||
{
|
||||
@ -14,7 +25,7 @@ struct RaycastTask_LocalStoreMemory
|
||||
return (btCollisionObject*) gColObj;
|
||||
}
|
||||
|
||||
SpuCollisionObjectWrapper gCollisionObjectWrapper;
|
||||
ATTRIBUTE_ALIGNED16(SpuCollisionObjectWrapper gCollisionObjectWrapper);
|
||||
SpuCollisionObjectWrapper* getCollisionObjectWrapper ()
|
||||
{
|
||||
return &gCollisionObjectWrapper;
|
||||
@ -41,7 +52,7 @@ void* createRaycastLocalStoreMemory()
|
||||
}
|
||||
#endif
|
||||
|
||||
void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData& gatheredObjectData, RaycastTask_LocalStoreMemory& lsMem, ppu_address_t objectWrapper)
|
||||
void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData* gatheredObjectData, RaycastTask_LocalStoreMemory* lsMemPtr, ppu_address_t objectWrapper)
|
||||
{
|
||||
register int dmaSize;
|
||||
register ppu_address_t dmaPpuAddress2;
|
||||
@ -49,27 +60,32 @@ void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData& gatheredObjec
|
||||
/* DMA Collision object wrapper into local store */
|
||||
dmaSize = sizeof(SpuCollisionObjectWrapper);
|
||||
dmaPpuAddress2 = objectWrapper;
|
||||
cellDmaGet(&lsMem.gCollisionObjectWrapper, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaGet(&lsMemPtr->gCollisionObjectWrapper, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
/* DMA Collision object into local store */
|
||||
dmaSize = sizeof(btCollisionObject);
|
||||
dmaPpuAddress2 = lsMem.getCollisionObjectWrapper()->getCollisionObjectPtr();
|
||||
cellDmaGet(&lsMem.gColObj, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
dmaPpuAddress2 = lsMemPtr->getCollisionObjectWrapper()->getCollisionObjectPtr();
|
||||
cellDmaGet(&lsMemPtr->gColObj, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
|
||||
/* Gather information about collision object and shape */
|
||||
gatheredObjectData.m_worldTransform = lsMem.getColObj()->getWorldTransform();
|
||||
gatheredObjectData.m_collisionMargin = lsMem.getCollisionObjectWrapper()->getCollisionMargin ();
|
||||
gatheredObjectData.m_shapeType = lsMem.getCollisionObjectWrapper()->getShapeType ();
|
||||
gatheredObjectData.m_collisionShape = (ppu_address_t)lsMem.getColObj()->getCollisionShape();
|
||||
gatheredObjectData.m_spuCollisionShape = (void*)&lsMem.gCollisionShape.collisionShape[0];
|
||||
gatheredObjectData->m_worldTransform = lsMemPtr->getColObj()->getWorldTransform();
|
||||
gatheredObjectData->m_collisionMargin = lsMemPtr->getCollisionObjectWrapper()->getCollisionMargin ();
|
||||
gatheredObjectData->m_shapeType = lsMemPtr->getCollisionObjectWrapper()->getShapeType ();
|
||||
gatheredObjectData->m_collisionShape = (ppu_address_t)lsMemPtr->getColObj()->getCollisionShape();
|
||||
gatheredObjectData->m_spuCollisionShape = (void*)&lsMemPtr->gCollisionShape.collisionShape;
|
||||
|
||||
/* DMA shape data */
|
||||
dmaCollisionShape (gatheredObjectData.m_spuCollisionShape, gatheredObjectData.m_collisionShape, 1, gatheredObjectData.m_shapeType);
|
||||
dmaCollisionShape (gatheredObjectData->m_spuCollisionShape, gatheredObjectData->m_collisionShape, 1, gatheredObjectData->m_shapeType);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
btConvexInternalShape* spuConvexShape = (btConvexInternalShape*)gatheredObjectData.m_spuCollisionShape;
|
||||
gatheredObjectData.m_primitiveDimensions = spuConvexShape->getImplicitShapeDimensions ();
|
||||
if (btBroadphaseProxy::isConvex (gatheredObjectData->m_shapeType))
|
||||
{
|
||||
btConvexInternalShape* spuConvexShape = (btConvexInternalShape*)gatheredObjectData->m_spuCollisionShape;
|
||||
gatheredObjectData->m_primitiveDimensions = spuConvexShape->getImplicitShapeDimensions ();
|
||||
} else {
|
||||
gatheredObjectData->m_primitiveDimensions = btVector3(1.0, 1.0, 1.0);
|
||||
}
|
||||
}
|
||||
|
||||
void dmaLoadRayOutput (ppu_address_t rayOutputAddr, SpuRaycastTaskWorkUnitOut* rayOutput, uint32_t dmaTag)
|
||||
@ -82,6 +98,366 @@ void dmaStoreRayOutput (ppu_address_t rayOutputAddr, const SpuRaycastTaskWorkUni
|
||||
cellDmaLargePut (rayOutput, rayOutputAddr, sizeof(*rayOutput), DMA_TAG(dmaTag), 0, 0);
|
||||
}
|
||||
|
||||
#if 0
|
||||
SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t size)
|
||||
{
|
||||
#if USE_SOFTWARE_CACHE
|
||||
// Check for alignment requirements. We need to make sure the entire request fits within one cache line,
|
||||
// so the first and last bytes should fall on the same cache line
|
||||
btAssert((ea & ~SPE_CACHELINE_MASK) == ((ea + size - 1) & ~SPE_CACHELINE_MASK));
|
||||
|
||||
void* ls = spe_cache_read(ea);
|
||||
memcpy(buffer, ls, size);
|
||||
#else
|
||||
stallingUnalignedDmaSmallGet(buffer,ea,size);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
void small_cache_read_triple( void* ls0, ppu_address_t ea0,
|
||||
void* ls1, ppu_address_t ea1,
|
||||
void* ls2, ppu_address_t ea2,
|
||||
size_t size)
|
||||
{
|
||||
btAssert(size<16);
|
||||
ATTRIBUTE_ALIGNED16(char tmpBuffer0[32]);
|
||||
ATTRIBUTE_ALIGNED16(char tmpBuffer1[32]);
|
||||
ATTRIBUTE_ALIGNED16(char tmpBuffer2[32]);
|
||||
|
||||
uint32_t i;
|
||||
|
||||
|
||||
///make sure last 4 bits are the same, for cellDmaSmallGet
|
||||
char* localStore0 = (char*)ls0;
|
||||
uint32_t last4BitsOffset = ea0 & 0x0f;
|
||||
char* tmpTarget0 = tmpBuffer0 + last4BitsOffset;
|
||||
tmpTarget0 = (char*)cellDmaSmallGetReadOnly(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
|
||||
|
||||
|
||||
char* localStore1 = (char*)ls1;
|
||||
last4BitsOffset = ea1 & 0x0f;
|
||||
char* tmpTarget1 = tmpBuffer1 + last4BitsOffset;
|
||||
tmpTarget1 = (char*)cellDmaSmallGetReadOnly(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
|
||||
|
||||
char* localStore2 = (char*)ls2;
|
||||
last4BitsOffset = ea2 & 0x0f;
|
||||
char* tmpTarget2 = tmpBuffer2 + last4BitsOffset;
|
||||
tmpTarget2 = (char*)cellDmaSmallGetReadOnly(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
|
||||
|
||||
|
||||
cellDmaWaitTagStatusAll( DMA_MASK(1) );
|
||||
|
||||
//this is slowish, perhaps memcpy on SPU is smarter?
|
||||
for (i=0; btLikely( i<size );i++)
|
||||
{
|
||||
localStore0[i] = tmpTarget0[i];
|
||||
localStore1[i] = tmpTarget1[i];
|
||||
localStore2[i] = tmpTarget2[i];
|
||||
}
|
||||
}
|
||||
|
||||
void performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr);
|
||||
|
||||
class spuRaycastNodeCallback : public btNodeOverlapCallback
|
||||
{
|
||||
RaycastGatheredObjectData* m_gatheredObjectData;
|
||||
const SpuRaycastTaskWorkUnit& m_workUnit;
|
||||
SpuRaycastTaskWorkUnitOut* m_workUnitOut;
|
||||
RaycastTask_LocalStoreMemory* m_lsMemPtr;
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btVector3 spuTriangleVertices[3]);
|
||||
ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
|
||||
//ATTRIBUTE_ALIGNED16(int spuIndices[16]);
|
||||
public:
|
||||
spuRaycastNodeCallback(RaycastGatheredObjectData* gatheredObjectData,const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
|
||||
: m_gatheredObjectData(gatheredObjectData),
|
||||
m_workUnit(workUnit),
|
||||
m_workUnitOut(workUnitOut),
|
||||
m_lsMemPtr (lsMemPtr)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void processNode(int subPart, int triangleIndex)
|
||||
{
|
||||
///Create a triangle on the stack, call process collision, with GJK
|
||||
///DMA the vertices, can benefit from software caching
|
||||
|
||||
// spu_printf("processNode with triangleIndex %d\n",triangleIndex);
|
||||
|
||||
int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
|
||||
|
||||
small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
|
||||
&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
|
||||
&m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2],
|
||||
sizeof(int));
|
||||
//printf("%d %d %d\n", m_lsMemPtr->spuIndices[0], m_lsMemPtr->spuIndices[1], m_lsMemPtr->spuIndices[2]);
|
||||
// spu_printf("SPU index0=%d ,",spuIndices[0]);
|
||||
// spu_printf("SPU index1=%d ,",spuIndices[1]);
|
||||
// spu_printf("SPU index2=%d ,",spuIndices[2]);
|
||||
// spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
|
||||
|
||||
const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
|
||||
|
||||
for (int j=2;btLikely( j>=0 );j--)
|
||||
{
|
||||
int graphicsindex = m_lsMemPtr->spuIndices[j];
|
||||
|
||||
//spu_printf("SPU index=%d ,",graphicsindex);
|
||||
btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
|
||||
|
||||
// spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
|
||||
|
||||
|
||||
///handle un-aligned vertices...
|
||||
|
||||
//another DMA for each vertex
|
||||
small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0],
|
||||
&spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1],
|
||||
&spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
|
||||
sizeof(btScalar));
|
||||
|
||||
//printf("%f %f %f\n", spuUnscaledVertex[0],spuUnscaledVertex[1],spuUnscaledVertex[2]);
|
||||
spuTriangleVertices[j] = btVector3(
|
||||
spuUnscaledVertex[0]*meshScaling.getX(),
|
||||
spuUnscaledVertex[1]*meshScaling.getY(),
|
||||
spuUnscaledVertex[2]*meshScaling.getZ());
|
||||
|
||||
//spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z());
|
||||
}
|
||||
|
||||
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
|
||||
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
|
||||
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
|
||||
|
||||
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
|
||||
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
|
||||
//printf("%f %f %f\n", spuTriangleVertices[2][0],spuTriangleVertices[2][1],spuTriangleVertices[2][2]);
|
||||
SpuRaycastTaskWorkUnitOut out;
|
||||
out.hitFraction = 1.0;
|
||||
|
||||
performRaycastAgainstConvex (&triangleGatheredObjectData, m_workUnit, &out, m_lsMemPtr);
|
||||
/* XXX: For now only take the closest hit */
|
||||
if (out.hitFraction < m_workUnitOut->hitFraction)
|
||||
{
|
||||
m_workUnitOut->hitFraction = out.hitFraction;
|
||||
m_workUnitOut->hitNormal = out.hitNormal;
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
void spuWalkStacklessQuantizedTreeAgainstRay(RaycastTask_LocalStoreMemory* lsMemPtr, btNodeOverlapCallback* nodeCallback,const btVector3& raySource, const btVector3& rayTarget,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode, int startNodeIndex,int endNodeIndex)
|
||||
{
|
||||
|
||||
int curIndex = startNodeIndex;
|
||||
int walkIterations = 0;
|
||||
int subTreeSize = endNodeIndex - startNodeIndex;
|
||||
|
||||
int escapeIndex;
|
||||
|
||||
unsigned int boxBoxOverlap, rayBoxOverlap;
|
||||
unsigned int isLeafNode;
|
||||
#define RAYAABB2
|
||||
#ifdef RAYAABB2
|
||||
btScalar lambda_max = 1.0;
|
||||
btVector3 rayFrom = raySource;
|
||||
btVector3 rayDirection = (rayTarget-raySource);
|
||||
rayDirection.normalize ();
|
||||
lambda_max = rayDirection.dot(rayTarget-raySource);
|
||||
rayDirection[0] = btScalar(1.0) / rayDirection[0];
|
||||
rayDirection[1] = btScalar(1.0) / rayDirection[1];
|
||||
rayDirection[2] = btScalar(1.0) / rayDirection[2];
|
||||
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
|
||||
#endif
|
||||
|
||||
while (curIndex < endNodeIndex)
|
||||
{
|
||||
//catch bugs in tree data
|
||||
assert (walkIterations < subTreeSize);
|
||||
|
||||
walkIterations++;
|
||||
boxBoxOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
|
||||
isLeafNode = rootNode->isLeafNode();
|
||||
|
||||
rayBoxOverlap = 0;
|
||||
btScalar param = 1.0;
|
||||
btVector3 normal;
|
||||
if (boxBoxOverlap)
|
||||
{
|
||||
btVector3 bounds[2];
|
||||
bounds[0] = lsMemPtr->bvhShapeData.getOptimizedBvh()->unQuantize(rootNode->m_quantizedAabbMin);
|
||||
bounds[1] = lsMemPtr->bvhShapeData.getOptimizedBvh()->unQuantize(rootNode->m_quantizedAabbMax);
|
||||
#ifdef RAYAABB2
|
||||
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
|
||||
#else
|
||||
rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
|
||||
#endif
|
||||
}
|
||||
|
||||
if (isLeafNode && rayBoxOverlap)
|
||||
{
|
||||
//printf("overlap with node %d\n",rootNode->getTriangleIndex());
|
||||
nodeCallback->processNode(0,rootNode->getTriangleIndex());
|
||||
// spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
|
||||
}
|
||||
|
||||
if (rayBoxOverlap || isLeafNode)
|
||||
{
|
||||
rootNode++;
|
||||
curIndex++;
|
||||
} else
|
||||
{
|
||||
escapeIndex = rootNode->getEscapeIndex();
|
||||
rootNode += escapeIndex;
|
||||
curIndex += escapeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
|
||||
{
|
||||
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
|
||||
register int dmaSize;
|
||||
register ppu_address_t dmaPpuAddress2;
|
||||
|
||||
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)gatheredObjectData->m_spuCollisionShape;
|
||||
|
||||
//need the mesh interface, for access to triangle vertices
|
||||
dmaBvhShapeData (&(lsMemPtr->bvhShapeData), trimeshShape);
|
||||
|
||||
btVector3 aabbMin;
|
||||
btVector3 aabbMax;
|
||||
|
||||
/* Calculate the AABB for the ray in the triangle mesh shape */
|
||||
btTransform rayInTriangleSpace;
|
||||
rayInTriangleSpace = gatheredObjectData->m_worldTransform.inverse();
|
||||
|
||||
btVector3 rayFromInTriangleSpace = rayInTriangleSpace(workUnit.rayFrom);
|
||||
btVector3 rayToInTriangleSpace = rayInTriangleSpace(workUnit.rayTo);
|
||||
|
||||
aabbMin = rayFromInTriangleSpace;
|
||||
aabbMin.setMin (rayToInTriangleSpace);
|
||||
aabbMax = rayFromInTriangleSpace;
|
||||
aabbMax.setMax (rayToInTriangleSpace);
|
||||
|
||||
unsigned short int quantizedQueryAabbMin[3];
|
||||
unsigned short int quantizedQueryAabbMax[3];
|
||||
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
|
||||
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
|
||||
|
||||
QuantizedNodeArray& nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray();
|
||||
//spu_printf("SPU: numNodes = %d\n",nodeArray.size());
|
||||
|
||||
BvhSubtreeInfoArray& subTrees = lsMemPtr->bvhShapeData.getOptimizedBvh()->getSubtreeInfoArray();
|
||||
|
||||
spuRaycastNodeCallback nodeCallback (gatheredObjectData, workUnit, workUnitOut, lsMemPtr);
|
||||
|
||||
IndexedMeshArray& indexArray = lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getIndexedMeshArray();
|
||||
|
||||
//spu_printf("SPU:indexArray.size() = %d\n",indexArray.size());
|
||||
// spu_printf("SPU: numSubTrees = %d\n",subTrees.size());
|
||||
//not likely to happen
|
||||
if (subTrees.size() && indexArray.size() == 1)
|
||||
{
|
||||
///DMA in the index info
|
||||
dmaBvhIndexedMesh (&lsMemPtr->bvhShapeData.gIndexMesh, indexArray, 0 /* index into indexArray */, 1 /* dmaTag */);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
//display the headers
|
||||
int numBatch = subTrees.size();
|
||||
for (int i=0;i<numBatch;)
|
||||
{
|
||||
// BEN: TODO - can reorder DMA transfers for less stall
|
||||
int remaining = subTrees.size() - i;
|
||||
int nextBatch = remaining < MAX_SPU_SUBTREE_HEADERS ? remaining : MAX_SPU_SUBTREE_HEADERS;
|
||||
|
||||
dmaBvhSubTreeHeaders (&lsMemPtr->bvhShapeData.gSubtreeHeaders[0], (ppu_address_t)(&subTrees[i]), nextBatch, 1);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
|
||||
// spu_printf("nextBatch = %d\n",nextBatch);
|
||||
|
||||
for (int j=0;j<nextBatch;j++)
|
||||
{
|
||||
const btBvhSubtreeInfo& subtree = lsMemPtr->bvhShapeData.gSubtreeHeaders[j];
|
||||
|
||||
unsigned int overlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
|
||||
if (overlap)
|
||||
{
|
||||
btAssert(subtree.m_subtreeSize);
|
||||
|
||||
//dma the actual nodes of this subtree
|
||||
dmaBvhSubTreeNodes (&lsMemPtr->bvhShapeData.gSubtreeNodes[0], subtree, nodeArray, 2);
|
||||
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(2));
|
||||
|
||||
/* Walk this subtree */
|
||||
spuWalkStacklessQuantizedTreeAgainstRay(lsMemPtr, &nodeCallback,rayFromInTriangleSpace, rayToInTriangleSpace, quantizedQueryAabbMin,quantizedQueryAabbMax,
|
||||
&lsMemPtr->bvhShapeData.gSubtreeNodes[0],
|
||||
0,
|
||||
subtree.m_subtreeSize);
|
||||
}
|
||||
// spu_printf("subtreeSize = %d\n",gSubtreeHeaders[j].m_subtreeSize);
|
||||
}
|
||||
|
||||
// unsigned short int m_quantizedAabbMin[3];
|
||||
// unsigned short int m_quantizedAabbMax[3];
|
||||
// int m_rootNodeIndex;
|
||||
// int m_subtreeSize;
|
||||
i+=nextBatch;
|
||||
}
|
||||
|
||||
//pre-fetch first tree, then loop and double buffer
|
||||
}
|
||||
}
|
||||
|
||||
void performRaycastAgainstCompound (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
|
||||
{
|
||||
spu_printf ("Currently no support for ray. vs compound objects. Support coming soon.\n");
|
||||
}
|
||||
|
||||
void
|
||||
performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
|
||||
{
|
||||
SpuVoronoiSimplexSolver simplexSolver;
|
||||
|
||||
btTransform rayFromTrans, rayToTrans;
|
||||
rayFromTrans.setIdentity ();
|
||||
rayFromTrans.setOrigin (workUnit.rayFrom);
|
||||
rayToTrans.setIdentity ();
|
||||
rayToTrans.setOrigin (workUnit.rayTo);
|
||||
|
||||
SpuCastResult result;
|
||||
|
||||
/* Load the vertex data if the shape is a convex hull */
|
||||
/* XXX: We might be loading the shape twice */
|
||||
ATTRIBUTE_ALIGNED16(char convexHullShape[sizeof(btConvexHullShape)]);
|
||||
if (gatheredObjectData->m_shapeType == CONVEX_HULL_SHAPE_PROXYTYPE)
|
||||
{
|
||||
register int dmaSize;
|
||||
register ppu_address_t dmaPpuAddress2;
|
||||
dmaSize = sizeof(btConvexHullShape);
|
||||
dmaPpuAddress2 = gatheredObjectData->m_collisionShape;
|
||||
cellDmaGet(&convexHullShape, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
dmaConvexVertexData (&lsMemPtr->convexVertexData, (btConvexHullShape*)&convexHullShape);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(2)); // dmaConvexVertexData uses dma channel 2!
|
||||
lsMemPtr->convexVertexData.gSpuConvexShapePtr = gatheredObjectData->m_spuCollisionShape;
|
||||
lsMemPtr->convexVertexData.gConvexPoints = &lsMemPtr->convexVertexData.g_convexPointBuffer[0];
|
||||
}
|
||||
|
||||
/* performRaycast */
|
||||
SpuSubsimplexRayCast caster (gatheredObjectData->m_spuCollisionShape, &lsMemPtr->convexVertexData, gatheredObjectData->m_shapeType, 0.0, &simplexSolver);
|
||||
bool r = caster.calcTimeOfImpact (rayFromTrans, rayToTrans, gatheredObjectData->m_worldTransform, gatheredObjectData->m_worldTransform,result);
|
||||
|
||||
if (r)
|
||||
{
|
||||
workUnitOut->hitFraction = result.m_fraction;
|
||||
workUnitOut->hitNormal = result.m_normal;
|
||||
}
|
||||
}
|
||||
|
||||
void processRaycastTask(void* userPtr, void* lsMemory)
|
||||
{
|
||||
RaycastTask_LocalStoreMemory* localMemory = (RaycastTask_LocalStoreMemory*)lsMemory;
|
||||
@ -95,22 +471,36 @@ void processRaycastTask(void* userPtr, void* lsMemory)
|
||||
for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
|
||||
{
|
||||
RaycastGatheredObjectData gatheredObjectData;
|
||||
GatherCollisionObjectAndShapeData (gatheredObjectData, *localMemory, (ppu_address_t)&cows[objectId]);
|
||||
GatherCollisionObjectAndShapeData (&gatheredObjectData, localMemory, (ppu_address_t)&cows[objectId]);
|
||||
/* load initial collision shape */
|
||||
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
|
||||
{
|
||||
SpuRaycastTaskWorkUnitOut rayOut;
|
||||
|
||||
dmaLoadRayOutput ((ppu_address_t)taskDesc.workUnits[rayId].output, &rayOut, 1);
|
||||
const SpuRaycastTaskWorkUnit& workUnit = taskDesc.workUnits[rayId];
|
||||
ATTRIBUTE_ALIGNED16(SpuRaycastTaskWorkUnitOut workUnitOut);
|
||||
dmaLoadRayOutput ((ppu_address_t)workUnit.output, &workUnitOut, 1);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
|
||||
float t = (float)rayId/(float)taskDesc.numWorkUnits;
|
||||
/* performRaycast */
|
||||
rayOut.hitFraction = 0.1f * t;
|
||||
rayOut.hitNormal = btVector3(1.0, 0.0, 0.0);
|
||||
|
||||
SpuRaycastTaskWorkUnitOut tWorkUnitOut;
|
||||
tWorkUnitOut.hitFraction = 1.0;
|
||||
|
||||
if (btBroadphaseProxy::isConvex (gatheredObjectData.m_shapeType))
|
||||
{
|
||||
//performRaycastAgainstConvex (&gatheredObjectData, workUnit, &tWorkUnitOut, localMemory);
|
||||
} else if (btBroadphaseProxy::isCompound (gatheredObjectData.m_shapeType)) {
|
||||
performRaycastAgainstCompound (&gatheredObjectData, workUnit, &tWorkUnitOut, localMemory);
|
||||
} else if (btBroadphaseProxy::isConcave (gatheredObjectData.m_shapeType)) {
|
||||
performRaycastAgainstConcave (&gatheredObjectData, workUnit, &tWorkUnitOut, localMemory);
|
||||
}
|
||||
|
||||
/* XXX Only support taking the closest hit for now */
|
||||
if (tWorkUnitOut.hitFraction < workUnitOut.hitFraction)
|
||||
{
|
||||
workUnitOut.hitFraction = tWorkUnitOut.hitFraction;
|
||||
workUnitOut.hitNormal = tWorkUnitOut.hitNormal;
|
||||
}
|
||||
|
||||
/* write ray cast data back */
|
||||
dmaStoreRayOutput ((ppu_address_t)taskDesc.workUnits[rayId].output, &rayOut, 1);
|
||||
dmaStoreRayOutput ((ppu_address_t)workUnit.output, &workUnitOut, 1);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
||||
}
|
||||
}
|
||||
|
||||
@ -16,7 +16,7 @@ struct RaycastGatheredObjectData
|
||||
btTransform m_worldTransform;
|
||||
};
|
||||
|
||||
struct SpuRaycastTaskWorkUnitOut
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnitOut
|
||||
{
|
||||
btVector3 hitNormal; /* out */
|
||||
btScalar hitFraction; /* out */
|
||||
@ -24,14 +24,14 @@ struct SpuRaycastTaskWorkUnitOut
|
||||
};
|
||||
|
||||
/* Perform a raycast on collision object */
|
||||
struct SpuRaycastTaskWorkUnit
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuRaycastTaskWorkUnit
|
||||
{
|
||||
btVector3 rayFrom; /* in */
|
||||
btVector3 rayTo; /* in */
|
||||
SpuRaycastTaskWorkUnitOut* output; /* out */
|
||||
};
|
||||
|
||||
#define SPU_RAYCAST_WORK_UNITS_PER_TASK 16
|
||||
#define SPU_RAYCAST_WORK_UNITS_PER_TASK 4
|
||||
|
||||
struct SpuRaycastTaskDesc
|
||||
{
|
||||
|
||||
@ -13,19 +13,17 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
|
||||
SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
|
||||
const void* convexB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_convexA(convexA),m_convexB(convexB)
|
||||
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
|
||||
{
|
||||
}
|
||||
|
||||
@ -37,27 +35,33 @@ SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
|
||||
#define MAX_ITERATIONS 32
|
||||
#endif
|
||||
|
||||
bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
|
||||
const btTransform& toA,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
/* Returns the support point of the minkowski sum:
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
btVector3 supportPoint (btTransform xform, int shapeType, const void* shape, SpuConvexPolyhedronVertexData* convexVertexData, btVector3 seperatingAxis)
|
||||
{
|
||||
//localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);
|
||||
#if 0
|
||||
btMinkowskiSumShape combi(m_convexA,m_convexB);
|
||||
btMinkowskiSumShape* convex = &combi;
|
||||
btVector3 SupportPellet = btVector3(0.0, 0.0, 0.0);
|
||||
btVector3 rotatedSeperatingAxis = seperatingAxis * xform.getBasis();
|
||||
btVector3 SupportShape = xform(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
|
||||
return SupportPellet + SupportShape;
|
||||
}
|
||||
|
||||
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
{
|
||||
btTransform rayFromLocalA;
|
||||
btTransform rayToLocalA;
|
||||
|
||||
rayFromLocalA = fromA.inverse()* fromB;
|
||||
rayToLocalA = toA.inverse()* toB;
|
||||
|
||||
rayFromLocalA = fromRay.inverse()* fromB;
|
||||
rayToLocalA = toRay.inverse()* toB;
|
||||
|
||||
m_simplexSolver->reset();
|
||||
|
||||
convex->setTransformB(btTransform(rayFromLocalA.getBasis()));
|
||||
|
||||
btTransform bXform = btTransform(rayFromLocalA.getBasis());
|
||||
|
||||
//btScalar radius = btScalar(0.01);
|
||||
|
||||
@ -69,8 +73,7 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
|
||||
btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
|
||||
btVector3 x = s;
|
||||
btVector3 v;
|
||||
btVector3 arbitraryPoint = convex->localGetSupportingVertex(r);
|
||||
|
||||
btVector3 arbitraryPoint = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, r);
|
||||
v = x - arbitraryPoint;
|
||||
|
||||
int maxIter = MAX_ITERATIONS;
|
||||
@ -82,7 +85,6 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
|
||||
|
||||
btScalar lastLambda = lambda;
|
||||
|
||||
|
||||
btScalar dist2 = v.length2();
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
@ -94,8 +96,8 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
|
||||
|
||||
while ( (dist2 > epsilon) && maxIter--)
|
||||
{
|
||||
p = convex->localGetSupportingVertex( v);
|
||||
w = x - p;
|
||||
p = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, v);
|
||||
w = x - p;
|
||||
|
||||
btScalar VdotW = v.dot(w);
|
||||
|
||||
@ -136,8 +138,6 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
|
||||
result.m_fraction = lambda;
|
||||
result.m_normal = n;
|
||||
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -14,43 +14,47 @@ subject to the following restrictions:
|
||||
*/
|
||||
|
||||
|
||||
#ifndef SPU_SUBSIMPLEX_CONVEX_CAST_H
|
||||
#define SPU_SUBSIMPLEX_CONVEX_CAST_H
|
||||
#ifndef SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
#define SPU_SUBSIMPLEX_RAY_CAST_H
|
||||
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
|
||||
#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
|
||||
#include "SpuRaycastTask.h"
|
||||
|
||||
class btConvexShape;
|
||||
|
||||
struct SpuCastResult
|
||||
{
|
||||
float m_fraction;
|
||||
btVector3 m_normal;
|
||||
};
|
||||
|
||||
/// btSubsimplexConvexCast implements Gino van den Bergens' paper
|
||||
///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
|
||||
/// GJK based Ray Cast, optimized version
|
||||
/// Objects should not start in overlap, otherwise results are not defined.
|
||||
class SpuSubsimplexConvexCast
|
||||
class SpuSubsimplexRayCast
|
||||
{
|
||||
SpuVoronoiSimplexSolver* m_simplexSolver;
|
||||
const void* m_convexA;
|
||||
const void* m_convexB;
|
||||
RaycastGatheredObjectData* m_dataB;
|
||||
public:
|
||||
void* m_shapeB;
|
||||
SpuConvexPolyhedronVertexData* m_convexDataB;
|
||||
int m_shapeTypeB;
|
||||
float m_marginB;
|
||||
|
||||
SpuSubsimplexConvexCast (const void* shapeA,
|
||||
const void* shapeB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver);
|
||||
public:
|
||||
SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver);
|
||||
|
||||
//virtual ~btSubsimplexConvexCast();
|
||||
|
||||
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
|
||||
///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
|
||||
bool calcTimeOfImpact(const btTransform& fromA,
|
||||
const btTransform& toA,
|
||||
bool calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result);
|
||||
|
||||
};
|
||||
|
||||
#endif //SUBSIMPLEX_CONVEX_CAST_H
|
||||
#endif //SUBSIMPLEX_RAY_CAST_H
|
||||
|
||||
@ -1,172 +1,172 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#include "SpuRaycastTaskProcess.h"
|
||||
|
||||
SpuRaycastTaskProcess::SpuRaycastTaskProcess(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks)
|
||||
:m_threadInterface(threadInterface),
|
||||
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
|
||||
{
|
||||
m_workUnitTaskBuffers = (unsigned char *)0;
|
||||
m_taskBusy.resize(m_maxNumOutstandingTasks);
|
||||
m_spuRaycastTaskDesc.resize(m_maxNumOutstandingTasks);
|
||||
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
m_threadInterface->startSPU();
|
||||
|
||||
//printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
|
||||
//printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", sizeof(SpuGatherAndProcessWorkUnitInput));
|
||||
|
||||
}
|
||||
|
||||
SpuRaycastTaskProcess::~SpuRaycastTaskProcess()
|
||||
{
|
||||
|
||||
if (m_workUnitTaskBuffers != 0)
|
||||
{
|
||||
btAlignedFree(m_workUnitTaskBuffers);
|
||||
m_workUnitTaskBuffers = 0;
|
||||
}
|
||||
|
||||
m_threadInterface->stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::initialize2(void* spuCollisionObjectsWrappers, int numSpuCollisionObjectWrappers)
|
||||
{
|
||||
m_spuCollisionObjectWrappers = spuCollisionObjectsWrappers;
|
||||
m_numSpuCollisionObjectWrappers = numSpuCollisionObjectWrappers;
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
#ifdef DEBUG_SpuRaycastTaskProcess
|
||||
m_initialized = true;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::issueTask2()
|
||||
{
|
||||
m_taskBusy[m_currentTask] = true;
|
||||
m_numBusyTasks++;
|
||||
|
||||
SpuRaycastTaskDesc& taskDesc = m_spuRaycastTaskDesc[m_currentTask];
|
||||
|
||||
taskDesc.taskId = m_currentTask;
|
||||
m_threadInterface->sendRequest(1, (uint32_t) &taskDesc,m_currentTask);
|
||||
//printf("send thread requested for task %d\n", m_currentTask);
|
||||
// if all tasks busy, wait for spu event to clear the task.
|
||||
if (m_numBusyTasks >= m_maxNumOutstandingTasks)
|
||||
{
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
|
||||
//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
} else {
|
||||
//printf("Sent request, not enough busy tasks\n");
|
||||
}
|
||||
}
|
||||
|
||||
void SpuRaycastTaskProcess::addWorkToTask(SpuRaycastTaskWorkUnit workunit)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].workUnits[m_currentWorkUnitInTask] = workunit;
|
||||
m_currentWorkUnitInTask++;
|
||||
if (m_currentWorkUnitInTask == SPU_RAYCAST_WORK_UNITS_PER_TASK)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
//printf("Task buffer full, issuing\n");
|
||||
issueTask2 ();
|
||||
//printf("Returned from issueTask2()\n");
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
// find new task buffer
|
||||
for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
if (!m_taskBusy[i])
|
||||
{
|
||||
m_currentTask = i;
|
||||
//init the task data
|
||||
break;
|
||||
}
|
||||
}
|
||||
//printf("next task = %d\n", m_currentTask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SpuRaycastTaskProcess::flush2()
|
||||
{
|
||||
#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("\nSpuRaycastTaskProcess::flush()\n");
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
|
||||
|
||||
// if there's a partially filled task buffer, submit that task
|
||||
//printf("Flushing... %d remaining\n", m_currentWorkUnitInTask);
|
||||
if (m_currentWorkUnitInTask > 0)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
issueTask2();
|
||||
m_currentWorkUnitInTask = 0;
|
||||
}
|
||||
|
||||
|
||||
// all tasks are issued, wait for all tasks to be complete
|
||||
while(m_numBusyTasks > 0)
|
||||
{
|
||||
// Consolidating SPU code
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
//printf("Busy tasks... %d\n", m_numBusyTasks);
|
||||
|
||||
{
|
||||
// SPURS support.
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
}
|
||||
|
||||
//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
//postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuRaycastTaskProcess.h"
|
||||
|
||||
|
||||
SpuRaycastTaskProcess::SpuRaycastTaskProcess(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks)
|
||||
:m_threadInterface(threadInterface),
|
||||
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
|
||||
{
|
||||
m_workUnitTaskBuffers = (unsigned char *)0;
|
||||
m_taskBusy.resize(m_maxNumOutstandingTasks);
|
||||
m_spuRaycastTaskDesc.resize(m_maxNumOutstandingTasks);
|
||||
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
m_threadInterface->startSPU();
|
||||
|
||||
//printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
|
||||
//printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", sizeof(SpuGatherAndProcessWorkUnitInput));
|
||||
|
||||
}
|
||||
|
||||
SpuRaycastTaskProcess::~SpuRaycastTaskProcess()
|
||||
{
|
||||
|
||||
if (m_workUnitTaskBuffers != 0)
|
||||
{
|
||||
btAlignedFree(m_workUnitTaskBuffers);
|
||||
m_workUnitTaskBuffers = 0;
|
||||
}
|
||||
|
||||
m_threadInterface->stopSPU();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::initialize2(void* spuCollisionObjectsWrappers, int numSpuCollisionObjectWrappers)
|
||||
{
|
||||
m_spuCollisionObjectWrappers = spuCollisionObjectsWrappers;
|
||||
m_numSpuCollisionObjectWrappers = numSpuCollisionObjectWrappers;
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
m_taskBusy[i] = false;
|
||||
}
|
||||
m_numBusyTasks = 0;
|
||||
m_currentTask = 0;
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
#ifdef DEBUG_SpuRaycastTaskProcess
|
||||
m_initialized = true;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void SpuRaycastTaskProcess::issueTask2()
|
||||
{
|
||||
m_taskBusy[m_currentTask] = true;
|
||||
m_numBusyTasks++;
|
||||
|
||||
SpuRaycastTaskDesc& taskDesc = m_spuRaycastTaskDesc[m_currentTask];
|
||||
|
||||
taskDesc.taskId = m_currentTask;
|
||||
m_threadInterface->sendRequest(1, (uint32_t) &taskDesc,m_currentTask);
|
||||
//printf("send thread requested for task %d\n", m_currentTask);
|
||||
// if all tasks busy, wait for spu event to clear the task.
|
||||
if (m_numBusyTasks >= m_maxNumOutstandingTasks)
|
||||
{
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
|
||||
//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
} else {
|
||||
//printf("Sent request, not enough busy tasks\n");
|
||||
}
|
||||
}
|
||||
|
||||
void SpuRaycastTaskProcess::addWorkToTask(SpuRaycastTaskWorkUnit workunit)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].workUnits[m_currentWorkUnitInTask] = workunit;
|
||||
m_currentWorkUnitInTask++;
|
||||
if (m_currentWorkUnitInTask == SPU_RAYCAST_WORK_UNITS_PER_TASK)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
//printf("Task buffer full, issuing\n");
|
||||
issueTask2 ();
|
||||
//printf("Returned from issueTask2()\n");
|
||||
m_currentWorkUnitInTask = 0;
|
||||
|
||||
// find new task buffer
|
||||
for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
if (!m_taskBusy[i])
|
||||
{
|
||||
m_currentTask = i;
|
||||
//init the task data
|
||||
break;
|
||||
}
|
||||
}
|
||||
//printf("next task = %d\n", m_currentTask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SpuRaycastTaskProcess::flush2()
|
||||
{
|
||||
#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("\nSpuRaycastTaskProcess::flush()\n");
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
|
||||
|
||||
// if there's a partially filled task buffer, submit that task
|
||||
//printf("Flushing... %d remaining\n", m_currentWorkUnitInTask);
|
||||
if (m_currentWorkUnitInTask > 0)
|
||||
{
|
||||
m_spuRaycastTaskDesc[m_currentTask].numWorkUnits = m_currentWorkUnitInTask;
|
||||
m_spuRaycastTaskDesc[m_currentTask].numSpuCollisionObjectWrappers = m_numSpuCollisionObjectWrappers;
|
||||
m_spuRaycastTaskDesc[m_currentTask].spuCollisionObjectsWrappers = m_spuCollisionObjectWrappers;
|
||||
issueTask2();
|
||||
m_currentWorkUnitInTask = 0;
|
||||
}
|
||||
|
||||
|
||||
// all tasks are issued, wait for all tasks to be complete
|
||||
while(m_numBusyTasks > 0)
|
||||
{
|
||||
// Consolidating SPU code
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
//printf("Busy tasks... %d\n", m_numBusyTasks);
|
||||
|
||||
{
|
||||
// SPURS support.
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
}
|
||||
|
||||
//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
//postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
}
|
||||
|
||||
@ -17,6 +17,7 @@ Written by: Marten Svanfeldt
|
||||
|
||||
#define IN_PARALLELL_SOLVER 1
|
||||
|
||||
|
||||
#include "SpuParallellSolverTask.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
|
||||
Loading…
Reference in New Issue
Block a user