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Engine directory for ticket #1
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DavidWyand-GG
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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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///not supported on IBM SDK, until we fix the alignment of btVector3
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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#include <spu_intrinsics.h>
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static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
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{
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vec_float4 result;
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result = spu_mul( vec0, vec1 );
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result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
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return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
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}
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#endif //__SPU__
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void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform)
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{
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//calculate the aabb, given the types...
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switch (shapeType)
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{
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case CYLINDER_SHAPE_PROXYTYPE:
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/* fall through */
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case BOX_SHAPE_PROXYTYPE:
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{
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btScalar margin=convexShape->getMarginNV();
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btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
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halfExtents += btVector3(margin,margin,margin);
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const btTransform& t = xform;
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btScalar margin=convexShape->getMarginNV();
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btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
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//add the radius to y-axis to get full height
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btScalar radius = halfExtents[0];
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halfExtents[1] += radius;
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halfExtents += btVector3(margin,margin,margin);
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#if 0
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int capsuleUpAxis = convexShape->getUpAxis();
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btScalar halfHeight = convexShape->getHalfHeight();
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btScalar radius = convexShape->getRadius();
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halfExtents[capsuleUpAxis] = radius + halfHeight;
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#endif
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const btTransform& t = xform;
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
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btScalar margin = radius + convexShape->getMarginNV();
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const btTransform& t = xform;
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const btVector3& center = t.getOrigin();
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btVector3 extent(margin,margin,margin);
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aabbMin = center - extent;
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aabbMax = center + extent;
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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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ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
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cellDmaGet(&convexHullShape0, convexShapePtr , sizeof(btConvexHullShape), DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
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const btTransform& t = xform;
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btScalar margin = convexShape->getMarginNV();
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localPtr->getNonvirtualAabb(t,aabbMin,aabbMax,margin);
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//spu_printf("SPU convex aabbMin=%f,%f,%f=\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
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//spu_printf("SPU convex aabbMax=%f,%f,%f=\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
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break;
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}
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default:
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{
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// spu_printf("SPU: unsupported shapetype %d in AABB calculation\n");
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}
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};
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}
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void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape)
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{
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register int dmaSize;
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register ppu_address_t dmaPpuAddress2;
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dmaSize = sizeof(btTriangleIndexVertexArray);
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dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getMeshInterface());
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// spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
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#ifdef __SPU__
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cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage;
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#else
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bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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#endif
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//cellDmaWaitTagStatusAll(DMA_MASK(1));
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///now DMA over the BVH
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dmaSize = sizeof(btOptimizedBvh);
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dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getOptimizedBvh());
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//spu_printf("trimeshShape->getOptimizedBvh() == %llx\n",dmaPpuAddress2);
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cellDmaGet(&bvhMeshShape->gOptimizedBvh, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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//cellDmaWaitTagStatusAll(DMA_MASK(2));
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cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
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}
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void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag)
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{
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cellDmaGet(IndexMesh, (ppu_address_t)&indexArray[index] , sizeof(btIndexedMesh), DMA_TAG(dmaTag), 0, 0);
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}
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void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag)
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{
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cellDmaGet(subTreeHeaders, subTreePtr, batchSize * sizeof(btBvhSubtreeInfo), DMA_TAG(dmaTag), 0, 0);
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}
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void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag)
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{
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cellDmaGet(nodes, reinterpret_cast<ppu_address_t>(&nodeArray[subtree.m_rootNodeIndex]) , subtree.m_subtreeSize* sizeof(btQuantizedBvhNode), DMA_TAG(2), 0, 0);
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}
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///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck
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int getShapeTypeSize(int shapeType)
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{
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switch (shapeType)
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{
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCylinderShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btBoxShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btSphereShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btBvhTriangleMeshShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCapsuleShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btConvexHullShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case COMPOUND_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCompoundShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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default:
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btAssert(0);
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//unsupported shapetype, please add here
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return 0;
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}
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}
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void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU)
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{
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convexVertexData->gNumConvexPoints = convexShapeSPU->getNumPoints();
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if (convexVertexData->gNumConvexPoints>MAX_NUM_SPU_CONVEX_POINTS)
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{
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btAssert(0);
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// spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,convexVertexData->gNumConvexPoints);
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return;
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}
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register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3);
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ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getUnscaledPoints();
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cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU , dmaSize, DMA_TAG(2), 0, 0);
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}
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void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType)
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{
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register int dmaSize = getShapeTypeSize(shapeType);
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cellDmaGet(collisionShapeLocation, collisionShapePtr , dmaSize, DMA_TAG(dmaTag), 0, 0);
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//cellDmaWaitTagStatusAll(DMA_MASK(dmaTag));
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}
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void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
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{
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register int dmaSize;
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register ppu_address_t dmaPpuAddress2;
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int childShapeCount = spuCompoundShape->getNumChildShapes();
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dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
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dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
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cellDmaGet(&compoundShapeLocation->gSubshapes[0], dmaPpuAddress2, dmaSize, DMA_TAG(dmaTag), 0, 0);
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}
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void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
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{
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int childShapeCount = spuCompoundShape->getNumChildShapes();
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int i;
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// DMA all the subshapes
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for ( i = 0; i < childShapeCount; ++i)
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{
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btCompoundShapeChild& childShape = compoundShapeLocation->gSubshapes[i];
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dmaCollisionShape (&compoundShapeLocation->gSubshapeShape[i],(ppu_address_t)childShape.m_childShape, dmaTag, childShape.m_childShapeType);
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}
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}
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void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex)
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{
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int curIndex = startNodeIndex;
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int walkIterations = 0;
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#ifdef BT_DEBUG
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int subTreeSize = endNodeIndex - startNodeIndex;
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#endif
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int escapeIndex;
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unsigned int aabbOverlap, isLeafNode;
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while (curIndex < endNodeIndex)
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{
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//catch bugs in tree data
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btAssert (walkIterations < subTreeSize);
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walkIterations++;
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aabbOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
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isLeafNode = rootNode->isLeafNode();
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if (isLeafNode && aabbOverlap)
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{
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//printf("overlap with node %d\n",rootNode->getTriangleIndex());
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nodeCallback->processNode(0,rootNode->getTriangleIndex());
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// spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
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}
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if (aabbOverlap || isLeafNode)
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{
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rootNode++;
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curIndex++;
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} else
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{
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escapeIndex = rootNode->getEscapeIndex();
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rootNode += escapeIndex;
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curIndex += escapeIndex;
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}
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}
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}
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