GEEKING

App.BulletPhysics/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp

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+/*
+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

App.BulletPhysics/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h

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+/*
+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.
+
+*/
+
+#ifndef SPU_SAMPLE_TASK_H
+#define SPU_SAMPLE_TASK_H
+
+#include "../PlatformDefinitions.h"
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+
+enum
+{
+	CMD_SAMPLE_INTEGRATE_BODIES = 1,
+	CMD_SAMPLE_PREDICT_MOTION_BODIES
+};
+
+
+
+ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	uint32_t						m_sampleCommand;
+	uint32_t						m_taskId;
+
+	uint64_t 	m_mainMemoryPtr;
+	int			m_sampleValue;
+	
+
+};
+
+
+void	processSampleTask(void* userPtr, void* lsMemory);
+void*	createSampleLocalStoreMemory();
+
+
+#endif //SPU_SAMPLE_TASK_H
+

App.BulletPhysics/BulletMultiThreaded/SpuSampleTask/readme.txt

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+Empty placeholder for future Libspe2 SPU task