1 files changed, 302 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
new file mode 100644
index 00000000000..dfcd8426695
--- /dev/null
+++ b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
@@ -0,0 +1,302 @@
+/*
+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 "SpuCollisionShapes.h"
+
+///not supported on IBM SDK, until we fix the alignment of btVector3
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#include <spu_intrinsics.h>
+static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+{
+    vec_float4 result;
+    result = spu_mul( vec0, vec1 );
+    result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
+    return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+}
+#endif //__SPU__
+
+
+void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform)
+{
+	//calculate the aabb, given the types...
+	switch (shapeType)
+	{
+	case CYLINDER_SHAPE_PROXYTYPE:
+		/* fall through */
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btScalar margin=convexShape->getMarginNV();
+		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+		halfExtents += btVector3(margin,margin,margin);
+		const btTransform& t = xform;
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
+		
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btScalar margin=convexShape->getMarginNV();
+		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+		//add the radius to y-axis to get full height
+		btScalar radius = halfExtents[0];
+		halfExtents[1] += radius;
+		halfExtents += btVector3(margin,margin,margin);
+#if 0
+		int capsuleUpAxis = convexShape->getUpAxis();
+		btScalar halfHeight = convexShape->getHalfHeight();
+		btScalar radius = convexShape->getRadius();
+		halfExtents[capsuleUpAxis] = radius + halfHeight;
+#endif
+		const btTransform& t = xform;
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
+		
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+		btScalar margin = radius + convexShape->getMarginNV();
+		const btTransform& t = xform;
+		const btVector3& center = t.getOrigin();
+		btVector3 extent(margin,margin,margin);
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
+		cellDmaGet(&convexHullShape0, convexShapePtr  , sizeof(btConvexHullShape), DMA_TAG(1), 0, 0);
+		cellDmaWaitTagStatusAll(DMA_MASK(1));
+		btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
+		const btTransform& t = xform;
+		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");
+		}
+	};
+}
+
+void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape)
+{
+	register int dmaSize;
+	register ppu_address_t	dmaPpuAddress2;
+
+	dmaSize = sizeof(btTriangleIndexVertexArray);
+	dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getMeshInterface());
+	//	spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
+#ifdef __SPU__
+	cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+	bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage;
+#else
+	bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2  , dmaSize, DMA_TAG(1), 0, 0);
+#endif
+
+	//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(&bvhMeshShape->gOptimizedBvh, dmaPpuAddress2  , dmaSize, DMA_TAG(2), 0, 0);
+	//cellDmaWaitTagStatusAll(DMA_MASK(2));
+	cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
+}
+
+void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag)
+{		
+	cellDmaGet(IndexMesh, (ppu_address_t)&indexArray[index]  , sizeof(btIndexedMesh), DMA_TAG(dmaTag), 0, 0);
+	
+}
+
+void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag)
+{
+	cellDmaGet(subTreeHeaders, subTreePtr, batchSize * sizeof(btBvhSubtreeInfo), DMA_TAG(dmaTag), 0, 0);
+}
+
+void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray&	nodeArray, int dmaTag)
+{
+	cellDmaGet(nodes, reinterpret_cast<ppu_address_t>(&nodeArray[subtree.m_rootNodeIndex]) , subtree.m_subtreeSize* sizeof(btQuantizedBvhNode), DMA_TAG(2), 0, 0);
+}
+
+///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck
+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;
+		}
+	case STATIC_PLANE_PROXYTYPE:
+		{
+			int shapeSize = sizeof(btStaticPlaneShape);
+			btAssert(shapeSize < MAX_SHAPE_SIZE);
+			return shapeSize;
+		}
+
+	default:
+		btAssert(0);
+		//unsupported shapetype, please add here
+		return 0;
+	}
+}
+
+void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU)
+{
+	convexVertexData->gNumConvexPoints = convexShapeSPU->getNumPoints();
+	if (convexVertexData->gNumConvexPoints>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,convexVertexData->gNumConvexPoints);
+		return;
+	}
+			
+	register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3);
+	ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getUnscaledPoints();
+	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)
+{
+	register int dmaSize = getShapeTypeSize(shapeType);
+	cellDmaGet(collisionShapeLocation, collisionShapePtr  , dmaSize, DMA_TAG(dmaTag), 0, 0);
+	//cellDmaGetReadOnly(collisionShapeLocation, collisionShapePtr  , dmaSize, DMA_TAG(dmaTag), 0, 0);
+	//cellDmaWaitTagStatusAll(DMA_MASK(dmaTag));
+}
+
+void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
+{
+	register int dmaSize;
+	register	ppu_address_t	dmaPpuAddress2;
+	int childShapeCount = spuCompoundShape->getNumChildShapes();
+	dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
+	dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
+	cellDmaGet(&compoundShapeLocation->gSubshapes[0], dmaPpuAddress2, dmaSize, DMA_TAG(dmaTag), 0, 0);
+}
+
+void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
+{
+	int childShapeCount = spuCompoundShape->getNumChildShapes();
+	int i;
+	// DMA all the subshapes 
+	for ( i = 0; i < childShapeCount; ++i)
+	{
+		btCompoundShapeChild& childShape = compoundShapeLocation->gSubshapes[i];
+		dmaCollisionShape (&compoundShapeLocation->gSubshapeShape[i],(ppu_address_t)childShape.m_childShape, dmaTag, childShape.m_childShapeType);
+	}
+}
+
+
+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;
+#ifdef BT_DEBUG
+	int subTreeSize = endNodeIndex - startNodeIndex;
+#endif
+
+	int escapeIndex;
+
+	unsigned int aabbOverlap, isLeafNode;
+
+	while (curIndex < endNodeIndex)
+	{
+		//catch bugs in tree data
+		btAssert (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;
+		}
+	}
+
+}