1 files changed, 248 insertions, 0 deletions
diff --git a/tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp b/tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
new file mode 100644
index 00000000..bd71373c
--- /dev/null
+++ b/tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
@@ -0,0 +1,248 @@
+/*
+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 "SpuContactResult.h"
+
+//#define DEBUG_SPU_COLLISION_DETECTION 1
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+#ifndef __SPU__
+#include <stdio.h>
+#define spu_printf printf
+#endif
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+SpuContactResult::SpuContactResult()
+{
+	m_manifoldAddress = 0;
+	m_spuManifold = NULL;
+	m_RequiresWriteBack = false;
+}
+
+ SpuContactResult::~SpuContactResult()
+{
+	g_manifoldDmaExport.swapBuffers();
+}
+
+ 	///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+inline btScalar	calculateCombinedFriction(btScalar friction0,btScalar friction1)
+{
+	btScalar friction = friction0*friction1;
+
+	const btScalar MAX_FRICTION  = btScalar(10.);
+
+	if (friction < -MAX_FRICTION)
+		friction = -MAX_FRICTION;
+	if (friction > MAX_FRICTION)
+		friction = MAX_FRICTION;
+	return friction;
+
+}
+
+inline btScalar	calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
+{
+	return restitution0*restitution1;
+}
+
+
+
+ void	SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t	manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
+ {
+	//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
+	m_rootWorldTransform0 = worldTrans0;
+	m_rootWorldTransform1 = worldTrans1;
+	m_manifoldAddress = manifoldAddress;    
+	m_spuManifold = spuManifold;
+
+	m_combinedFriction = calculateCombinedFriction(friction0,friction1);
+	m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
+	m_isSwapped = isSwapped;
+ }
+
+ void SpuContactResult::setShapeIdentifiersA(int partId0,int index0)
+ {
+	
+ }
+
+ void SpuContactResult::setShapeIdentifiersB(int partId1,int index1)
+ {
+	
+ }
+
+
+
+ ///return true if it requires a dma transfer back
+bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
+								   const btVector3& pointInWorld,
+								   float depth,
+								   btPersistentManifold* manifoldPtr,
+								   btTransform& transA,
+								   btTransform& transB,
+									btScalar	combinedFriction,
+									btScalar	combinedRestitution,
+								   bool isSwapped)
+{
+	
+//	float contactTreshold = manifoldPtr->getContactBreakingThreshold();
+
+	//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+	spu_printf("SPU: contactTreshold %f\n",contactTreshold);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+	//if (depth > manifoldPtr->getContactBreakingThreshold())
+	//	return false;
+
+	if (depth > manifoldPtr->getContactProcessingThreshold())
+		return false;
+
+
+
+	btVector3 pointA;
+	btVector3 localA;
+	btVector3 localB;
+	btVector3 normal;
+
+
+	if (isSwapped)
+	{
+		normal = normalOnBInWorld * -1;
+		pointA = pointInWorld + normal * depth;
+		localA = transA.invXform(pointA );
+		localB = transB.invXform(pointInWorld);
+	}
+	else
+	{
+		normal = normalOnBInWorld;
+		pointA = pointInWorld + normal * depth;
+		localA = transA.invXform(pointA );
+		localB = transB.invXform(pointInWorld);
+	}
+
+	btManifoldPoint newPt(localA,localB,normal,depth);
+	newPt.m_positionWorldOnA = pointA;
+	newPt.m_positionWorldOnB = pointInWorld;
+
+	newPt.m_combinedFriction = combinedFriction;
+	newPt.m_combinedRestitution = combinedRestitution;
+
+
+	int insertIndex = manifoldPtr->getCacheEntry(newPt);
+	if (insertIndex >= 0)
+	{
+		// we need to replace the current contact point, otherwise small errors will accumulate (spheres start rolling etc)
+		manifoldPtr->replaceContactPoint(newPt,insertIndex);
+		return true;
+		
+	} else
+	{
+
+		/*
+		///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
+		//User can override friction and/or restitution
+		if (gContactAddedCallback &&
+			//and if either of the two bodies requires custom material
+			 ((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
+			   (m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
+		{
+			//experimental feature info, for per-triangle material etc.
+			(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
+		}
+		*/
+
+		manifoldPtr->addManifoldPoint(newPt);
+		return true;
+
+	}
+	return false;
+	
+}
+
+
+void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
+{
+	///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
+	///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
+#if defined (__SPU__) || defined (USE_LIBSPE2)
+    memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
+
+    g_manifoldDmaExport.swapBuffers();
+    ppu_address_t mmAddr = (ppu_address_t)mmManifold;
+    g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
+	// Should there be any kind of wait here?  What if somebody tries to use this tag again?  What if we call this function again really soon?
+	//no, the swapBuffers does the wait
+#endif
+}
+
+void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+{
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+	spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
+	spu_printf("*** normal = %f,%f,%f\n",normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
+	spu_printf("*** position = %f,%f,%f\n",pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
+#endif //DEBUG_SPU_COLLISION_DETECTION
+	
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+ //   int sman = sizeof(rage::phManifold);
+//	spu_printf("sizeof_manifold = %i\n",sman);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+
+	btPersistentManifold* localManifold = m_spuManifold;
+
+	btVector3	normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
+	btVector3	pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
+
+	//process the contact point
+	const bool retVal = ManifoldResultAddContactPoint(normalB,
+		pointWrld,
+		depth,
+		localManifold,
+		m_rootWorldTransform0,
+		m_rootWorldTransform1,
+		m_combinedFriction,
+		m_combinedRestitution,
+		m_isSwapped);
+	m_RequiresWriteBack = m_RequiresWriteBack || retVal;
+}
+
+void SpuContactResult::flush()
+{
+
+	if (m_spuManifold && m_spuManifold->getNumContacts())
+	{
+		m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
+		m_RequiresWriteBack = true;
+	}
+
+
+	if (m_RequiresWriteBack)
+	{
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
+		spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
+		spu_printf("Manifold address: %llu\n", m_manifoldAddress);
+#endif //DEBUG_SPU_COLLISION_DETECTION
+	//	spu_printf("writeDoubleBufferedManifold\n");
+		writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("SPU: Finished (Put) DMA\n");
+#endif //DEBUG_SPU_COLLISION_DETECTION
+	}
+	m_spuManifold = NULL;
+	m_RequiresWriteBack = false;
+}
+
+