path: root/tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp

/*
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 "SpuGatheringCollisionTask.h"

//#define DEBUG_SPU_COLLISION_DETECTION 1
#include "../SpuDoubleBuffer.h"

#include "../SpuCollisionTaskProcess.h"
#include "../SpuGatheringCollisionDispatcher.h" //for SPU_BATCHSIZE_BROADPHASE_PAIRS

#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "../SpuContactManifoldCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "SpuContactResult.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"

#include "BulletCollision/CollisionShapes/btCapsuleShape.h"

#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"

#include "SpuMinkowskiPenetrationDepthSolver.h"
//#include "SpuEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"


#include "boxBoxDistance.h"
#include "BulletMultiThreaded/vectormath2bullet.h"
#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"

#ifdef __SPU__
///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
#ifndef USE_LIBSPE2
//#define USE_SOFTWARE_CACHE 1
#endif
#endif //__SPU__

int gSkippedCol = 0;
int gProcessedCol = 0;

////////////////////////////////////////////////
/// software caching
#if USE_SOFTWARE_CACHE
#include <spu_intrinsics.h>
#include <sys/spu_thread.h>
#include <sys/spu_event.h>
#include <stdint.h>
#define SPE_CACHE_NWAY   		4
//#define SPE_CACHE_NSETS 		32, 16
#define SPE_CACHE_NSETS 		8
//#define SPE_CACHELINE_SIZE 		512
#define SPE_CACHELINE_SIZE 		128
#define SPE_CACHE_SET_TAGID(set) 	15
///make sure that spe_cache.h is below those defines!
#include "../Extras/software_cache/cache/include/spe_cache.h"


int g_CacheMisses=0;
int g_CacheHits=0;

#if 0 // Added to allow cache misses and hits to be tracked, change this to 1 to restore unmodified version
#define spe_cache_read(ea)		_spe_cache_lookup_xfer_wait_(ea, 0, 1)
#else
#define spe_cache_read(ea)		\
({								\