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path: root/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp')
-rw-r--r--extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp302
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diff --git a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
deleted file mode 100644
index dfcd8426695..00000000000
--- a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
+++ /dev/null
@@ -1,302 +0,0 @@
-/*
-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;
- }
- }
-
-}
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