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#ifndef BT_SPU_COLLISION_TASK_PROCESS_H

#define BT_SPU_COLLISION_TASK_PROCESS_H

#include <assert.h>

#include "LinearMath/btScalar.h"

#include "PlatformDefinitions.h"

#include "LinearMath/btAlignedObjectArray.h"

#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory

#include "btThreadSupportInterface.h"

//#include "SPUAssert.h"

#include <string.h>

#include "BulletCollision/CollisionDispatch/btCollisionObject.h"

#include "BulletCollision/CollisionShapes/btCollisionShape.h"

#include "BulletCollision/CollisionShapes/btConvexShape.h"

#include "LinearMath/btAlignedAllocator.h"

#include <stdio.h>

#define DEBUG_SpuCollisionTaskProcess 1

#define CMD_GATHER_AND_PROCESS_PAIRLIST 1

class btCollisionObject;

class btPersistentManifold;

class btDispatcher;

/////Task Description for SPU collision detection

//struct SpuGatherAndProcessPairsTaskDesc

//{

// uint64_t inPtr;//m_pairArrayPtr;

// //mutex variable

// uint32_t m_someMutexVariableInMainMemory;

// uint64_t m_dispatcher;

// uint32_t numOnLastPage;

// uint16_t numPages;

// uint16_t taskId;

// struct CollisionTask_LocalStoreMemory* m_lsMemory;

//}

//#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)

//__attribute__ ((aligned (16)))

//#endif

//;

///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU.

ATTRIBUTE_ALIGNED16(struct) SpuGatherAndProcessWorkUnitInput

{

uint64_t m_pairArrayPtr;

int m_startIndex;

int m_endIndex;

};

/// SpuCollisionTaskProcess handles SPU processing of collision pairs.

/// Maintains a set of task buffers.

/// When the task is full, the task is issued for SPUs to process. Contact output goes into btPersistentManifold

/// associated with each task.

/// When PPU issues a task, it will look for completed task buffers

/// PPU will do postprocessing, dependent on workunit output (not likely)

class SpuCollisionTaskProcess

{

unsigned char *m_workUnitTaskBuffers;

// track task buffers that are being used, and total busy tasks

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btAlignedObjectArray<bool> m_taskBusy;

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btAlignedObjectArray<SpuGatherAndProcessPairsTaskDesc> m_spuGatherTaskDesc;

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class btThreadSupportInterface* m_threadInterface;

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unsigned int m_maxNumOutstandingTasks;

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unsigned int m_numBusyTasks;

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// the current task and the current entry to insert a new work unit

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unsigned int m_currentTask;

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unsigned int m_currentPage;

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unsigned int m_currentPageEntry;

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bool m_useEpa;

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#ifdef DEBUG_SpuCollisionTaskProcess

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bool m_initialized;

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#endif

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void issueTask2();

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//void postProcess(unsigned int taskId, int outputSize);

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public:

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SpuCollisionTaskProcess(btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks);

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~SpuCollisionTaskProcess();

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///call initialize in the beginning of the frame, before addCollisionPairToTask

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void initialize2(bool useEpa = false);

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///batch up additional work to a current task for SPU processing. When batch is full, it issues the task.

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void addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex);

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///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished

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void flush2();

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/// set the maximum number of SPU tasks allocated

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void setNumTasks(int maxNumTasks);

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int getNumTasks() const

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{

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return m_maxNumOutstandingTasks;

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}

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};

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#define MIDPHASE_TASK_PTR(task) (&m_workUnitTaskBuffers[0] + MIDPHASE_WORKUNIT_TASK_SIZE*task)

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#define MIDPHASE_ENTRY_PTR(task,page,entry) (MIDPHASE_TASK_PTR(task) + MIDPHASE_WORKUNIT_PAGE_SIZE*page + sizeof(SpuGatherAndProcessWorkUnitInput)*entry)

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#define MIDPHASE_OUTPUT_PTR(task) (&m_contactOutputBuffers[0] + MIDPHASE_MAX_CONTACT_BUFFER_SIZE*task)

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#define MIDPHASE_TREENODES_PTR(task) (&m_complexShapeBuffers[0] + MIDPHASE_COMPLEX_SHAPE_BUFFER_SIZE*task)

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#define MIDPHASE_WORKUNIT_PAGE_SIZE (16)

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//#define MIDPHASE_WORKUNIT_PAGE_SIZE (128)

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#define MIDPHASE_NUM_WORKUNIT_PAGES 1

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#define MIDPHASE_WORKUNIT_TASK_SIZE (MIDPHASE_WORKUNIT_PAGE_SIZE*MIDPHASE_NUM_WORKUNIT_PAGES)

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#define MIDPHASE_NUM_WORKUNITS_PER_PAGE (MIDPHASE_WORKUNIT_PAGE_SIZE / sizeof(SpuGatherAndProcessWorkUnitInput))

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#define MIDPHASE_NUM_WORKUNITS_PER_TASK (MIDPHASE_NUM_WORKUNITS_PER_PAGE*MIDPHASE_NUM_WORKUNIT_PAGES)

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#endif // BT_SPU_COLLISION_TASK_PROCESS_H

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