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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp')
| -rw-r--r-- | extern/bullet2/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp | 214 |
1 files changed, 214 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp b/extern/bullet2/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp new file mode 100644 index 00000000000..fe61955572f --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp @@ -0,0 +1,214 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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 "SpuSampleTask.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "../PlatformDefinitions.h" +#include "../SpuFakeDma.h" +#include "LinearMath/btMinMax.h" + +#ifdef __SPU__ +#include <spu_printf.h> +#else +#include <stdio.h> +#define spu_printf printf +#endif + +#define MAX_NUM_BODIES 8192 + +struct SampleTask_LocalStoreMemory +{ + ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]); + ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]); + +}; + + + + +//-- MAIN METHOD +void processSampleTask(void* userPtr, void* lsMemory) +{ + // BT_PROFILE("processSampleTask"); + + SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory; + + SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr; + SpuSampleTaskDesc& taskDesc = *taskDescPtr; + + switch (taskDesc.m_sampleCommand) + { + case CMD_SAMPLE_INTEGRATE_BODIES: + { + btTransform predictedTrans; + btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr; + + int batchSize = taskDesc.m_sampleValue; + if (batchSize>MAX_NUM_BODIES) + { + spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n"); + break; + } + int dmaArraySize = batchSize*sizeof(void*); + + uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr); + + // spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize); + + if (dmaArraySize>=16) + { + cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } else + { + stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize); + } + + + for ( int i=0;i<batchSize;i++) + { + ///DMA rigid body + + void* localPtr = &localMemory->gLocalRigidBody[0]; + void* shortAdd = localMemory->gPointerArray[i]; + uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd); + + // spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr); + + int dmaBodySize = sizeof(btRigidBody); + + cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + float timeStep = 1.f/60.f; + + btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj); + if (body) + { + if (body->isActive() && (!body->isStaticOrKinematicObject())) + { + body->predictIntegratedTransform(timeStep, predictedTrans); + body->proceedToTransform( predictedTrans); + void* ptr = (void*)localPtr; + // spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress); + + cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + } + } + + } + break; + } + + + case CMD_SAMPLE_PREDICT_MOTION_BODIES: + { + btTransform predictedTrans; + btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr; + + int batchSize = taskDesc.m_sampleValue; + int dmaArraySize = batchSize*sizeof(void*); + + if (batchSize>MAX_NUM_BODIES) + { + spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n"); + break; + } + + uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr); + + // spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize); + + if (dmaArraySize>=16) + { + cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } else + { + stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize); + } + + + for ( int i=0;i<batchSize;i++) + { + ///DMA rigid body + + void* localPtr = &localMemory->gLocalRigidBody[0]; + void* shortAdd = localMemory->gPointerArray[i]; + uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd); + + // spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr); + + int dmaBodySize = sizeof(btRigidBody); + + cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + float timeStep = 1.f/60.f; + + btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj); + if (body) + { + if (!body->isStaticOrKinematicObject()) + { + if (body->isActive()) + { + body->integrateVelocities( timeStep); + //damping + body->applyDamping(timeStep); + + body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); + + void* ptr = (void*)localPtr; + cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + } + } + + } + break; + } + + + + default: + { + + } + }; +} + + +#if defined(__CELLOS_LV2__) || defined (LIBSPE2) + +ATTRIBUTE_ALIGNED16(SampleTask_LocalStoreMemory gLocalStoreMemory); + +void* createSampleLocalStoreMemory() +{ + return &gLocalStoreMemory; +} +#else +void* createSampleLocalStoreMemory() +{ + return new SampleTask_LocalStoreMemory; +}; + +#endif |