1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "SpuGatheringCollisionDispatcher.h"
17 #include "SpuCollisionTaskProcess.h"
18
19
20 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
21 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
22 #include "SpuContactManifoldCollisionAlgorithm.h"
23 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
24 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
25 #include "LinearMath/btQuickprof.h"
26 #include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
27
28
29
30
31
SpuGatheringCollisionDispatcher(class btThreadSupportInterface * threadInterface,unsigned int maxNumOutstandingTasks,btCollisionConfiguration * collisionConfiguration)32 SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration)
33 :btCollisionDispatcher(collisionConfiguration),
34 m_spuCollisionTaskProcess(0),
35 m_threadInterface(threadInterface),
36 m_maxNumOutstandingTasks(maxNumOutstandingTasks)
37 {
38
39 }
40
41
supportsDispatchPairOnSpu(int proxyType0,int proxyType1)42 bool SpuGatheringCollisionDispatcher::supportsDispatchPairOnSpu(int proxyType0,int proxyType1)
43 {
44 bool supported0 = (
45 (proxyType0 == BOX_SHAPE_PROXYTYPE) ||
46 (proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) ||
47 (proxyType0 == SPHERE_SHAPE_PROXYTYPE) ||
48 (proxyType0 == CAPSULE_SHAPE_PROXYTYPE) ||
49 (proxyType0 == CYLINDER_SHAPE_PROXYTYPE) ||
50 // (proxyType0 == CONE_SHAPE_PROXYTYPE) ||
51 (proxyType0 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
52 (proxyType0 == CONVEX_HULL_SHAPE_PROXYTYPE)||
53 (proxyType0 == STATIC_PLANE_PROXYTYPE)||
54 (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
55 );
56
57 bool supported1 = (
58 (proxyType1 == BOX_SHAPE_PROXYTYPE) ||
59 (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE) ||
60 (proxyType1 == SPHERE_SHAPE_PROXYTYPE) ||
61 (proxyType1 == CAPSULE_SHAPE_PROXYTYPE) ||
62 (proxyType1 == CYLINDER_SHAPE_PROXYTYPE) ||
63 // (proxyType1 == CONE_SHAPE_PROXYTYPE) ||
64 (proxyType1 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
65 (proxyType1 == CONVEX_HULL_SHAPE_PROXYTYPE) ||
66 (proxyType1 == STATIC_PLANE_PROXYTYPE) ||
67 (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
68 );
69
70
71 return supported0 && supported1;
72 }
73
74
75
~SpuGatheringCollisionDispatcher()76 SpuGatheringCollisionDispatcher::~SpuGatheringCollisionDispatcher()
77 {
78 if (m_spuCollisionTaskProcess)
79 delete m_spuCollisionTaskProcess;
80
81 }
82
83 #include "stdio.h"
84
85
86
87 ///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
88 ///this is useful for the collision dispatcher.
89 class btSpuCollisionPairCallback : public btOverlapCallback
90 {
91 const btDispatcherInfo& m_dispatchInfo;
92 SpuGatheringCollisionDispatcher* m_dispatcher;
93
94 public:
95
btSpuCollisionPairCallback(const btDispatcherInfo & dispatchInfo,SpuGatheringCollisionDispatcher * dispatcher)96 btSpuCollisionPairCallback(const btDispatcherInfo& dispatchInfo, SpuGatheringCollisionDispatcher* dispatcher)
97 :m_dispatchInfo(dispatchInfo),
98 m_dispatcher(dispatcher)
99 {
100 }
101
processOverlap(btBroadphasePair & collisionPair)102 virtual bool processOverlap(btBroadphasePair& collisionPair)
103 {
104
105
106 //PPU version
107 //(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
108
109 //only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
110 btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
111
112 //by default, Bullet will use this near callback
113 {
114 ///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
115 if (!collisionPair.m_internalTmpValue)
116 {
117 collisionPair.m_internalTmpValue = 1;
118 }
119 if (!collisionPair.m_algorithm)
120 {
121 btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
122 btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
123
124 btCollisionAlgorithmConstructionInfo ci;
125 ci.m_dispatcher1 = m_dispatcher;
126 ci.m_manifold = 0;
127
128 if (m_dispatcher->needsCollision(colObj0,colObj1))
129 {
130 int proxyType0 = colObj0->getCollisionShape()->getShapeType();
131 int proxyType1 = colObj1->getCollisionShape()->getShapeType();
132 bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1)
133 && ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0)
134 && ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0);
135
136 if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
137 {
138 btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape();
139 if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
140 {
141 //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
142 supportsSpuDispatch = false;
143 }
144 }
145
146 if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
147 {
148 btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape();
149 if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
150 {
151 //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
152 supportsSpuDispatch = false;
153 }
154 }
155
156 if (supportsSpuDispatch)
157 {
158
159 int so = sizeof(SpuContactManifoldCollisionAlgorithm);
160 #ifdef ALLOCATE_SEPARATELY
161 void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
162 #else
163 void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
164 #endif
165 collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
166 collisionPair.m_internalTmpValue = 2;
167 } else
168 {
169 collisionPair.m_algorithm = m_dispatcher->findAlgorithm(colObj0,colObj1);
170 collisionPair.m_internalTmpValue = 3;
171 }
172 }
173 }
174 }
175 return false;
176 }
177 };
178
dispatchAllCollisionPairs(btOverlappingPairCache * pairCache,const btDispatcherInfo & dispatchInfo,btDispatcher * dispatcher)179 void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
180 {
181
182 if (dispatchInfo.m_enableSPU)
183 {
184 m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();
185
186 {
187 BT_PROFILE("processAllOverlappingPairs");
188
189 if (!m_spuCollisionTaskProcess)
190 m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
191
192 m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
193 // printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
194
195 m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
196
197
198 ///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
199 {
200 btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
201
202 pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
203 }
204 }
205
206 //send one big batch
207 int numTotalPairs = pairCache->getNumOverlappingPairs();
208
209 btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
210 int i;
211 {
212 int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
213 if (numTotalPairs < (m_spuCollisionTaskProcess->getNumTasks()*SPU_BATCHSIZE_BROADPHASE_PAIRS))
214 {
215 pairRange = (numTotalPairs/m_spuCollisionTaskProcess->getNumTasks())+1;
216 }
217
218 BT_PROFILE("addWorkToTask");
219 for (i=0;i<numTotalPairs;)
220 {
221 //Performance Hint: tweak this number during benchmarking
222
223 int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
224 m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
225 i = endIndex;
226 }
227 }
228
229 {
230 BT_PROFILE("PPU fallback");
231 //handle PPU fallback pairs
232 for (i=0;i<numTotalPairs;i++)
233 {
234 btBroadphasePair& collisionPair = pairPtr[i];
235 if (collisionPair.m_internalTmpValue == 3)
236 {
237 if (collisionPair.m_algorithm)
238 {
239 btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
240 btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
241
242 if (dispatcher->needsCollision(colObj0,colObj1))
243 {
244 btManifoldResult contactPointResult(colObj0,colObj1);
245
246 if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
247 {
248 //discrete collision detection query
249 collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
250 } else
251 {
252 //continuous collision detection query, time of impact (toi)
253 btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
254 if (dispatchInfo.m_timeOfImpact > toi)
255 dispatchInfo.m_timeOfImpact = toi;
256
257 }
258 }
259 }
260 }
261 }
262 }
263 {
264 BT_PROFILE("flush2");
265 //make sure all SPU work is done
266 m_spuCollisionTaskProcess->flush2();
267 }
268
269 } else
270 {
271 ///PPU fallback
272 ///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
273 btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
274 }
275 }
276