~ubuntu-branches/ubuntu/vivid/emscripten/vivid

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#ifndef __SPU_COLLISION_SHAPES_H

#define __SPU_COLLISION_SHAPES_H

#include "../SpuDoubleBuffer.h"

#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"

#include "BulletCollision/CollisionShapes/btCylinderShape.h"

#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"

#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"

#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"

#include "BulletCollision/CollisionShapes/btSphereShape.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"

#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points

#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes

#define MAX_SHAPE_SIZE 256 //@todo: assert on this

ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData

{

void* gSpuConvexShapePtr;

btVector3* gConvexPoints;

int gNumConvexPoints;

int unused;

ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);

};

ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory

{

ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);

};

ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory

{

// Compound data

ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);

ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);

};

ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory

{

//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);

ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);

btOptimizedBvh* getOptimizedBvh()

{

return (btOptimizedBvh*) gOptimizedBvh;

}

ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);

btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;

///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment

ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);

#define MAX_SPU_SUBTREE_HEADERS 32

//1024

ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);

ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);

};

void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);

void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);

void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);

void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);

void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);

int getShapeTypeSize(int shapeType);

void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);

void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);

void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);

void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);

#define USE_BRANCHFREE_TEST 1

#ifdef USE_BRANCHFREE_TEST

SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)

100

{

101

#if defined(__CELLOS_LV2__) && defined (__SPU__)

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vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};

103

vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};

104

vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);

105

return spu_extract(spu_gather(isGt),0)==0;

106

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#else

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return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])

109

& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])

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& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),

111

1, 0);

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#endif

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}

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#else

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SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)

117

{

118

unsigned int overlap = 1;

119

overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;

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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;

121

overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;

122

return overlap;

123

}

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#endif

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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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#endif

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