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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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#ifndef MINICL_TASK_SCHEDULER_H
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#define MINICL_TASK_SCHEDULER_H
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "MiniCLTask/MiniCLTask.h"
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//just add your commands here, try to keep them globally unique for debugging purposes
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#define CMD_SAMPLE_TASK_COMMAND 10
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/// MiniCLTaskScheduler handles SPU processing of collision pairs.
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/// When PPU issues a task, it will look for completed task buffers
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/// PPU will do postprocessing, dependent on workunit output (not likely)
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class MiniCLTaskScheduler
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// track task buffers that are being used, and total busy tasks
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btAlignedObjectArray<bool> m_taskBusy;
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btAlignedObjectArray<MiniCLTaskDesc> m_spuSampleTaskDesc;
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btAlignedObjectArray<const MiniCLKernel*> m_kernels;
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// the current task and the current entry to insert a new work unit
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void postProcess(int taskId, int outputSize);
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class btThreadSupportInterface* m_threadInterface;
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int m_maxNumOutstandingTasks;
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MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks);
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~MiniCLTaskScheduler();
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///call initialize in the beginning of the frame, before addCollisionPairToTask
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void issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel);
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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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class btThreadSupportInterface* getThreadSupportInterface()
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return m_threadInterface;
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int findProgramCommandIdByName(const char* programName) const;
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int getMaxNumOutstandingTasks() const
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return m_maxNumOutstandingTasks;
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void registerKernel(MiniCLKernel* kernel)
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m_kernels.push_back(kernel);
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typedef void (*kernelLauncherCB)(MiniCLTaskDesc* taskDesc, int guid);
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MiniCLTaskScheduler* m_scheduler;
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// int m_kernelProgramCommandId;
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char m_name[MINI_CL_MAX_KERNEL_NAME];
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unsigned int m_numArgs;
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kernelLauncherCB m_launcher;
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void updateLauncher();
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MiniCLKernel* registerSelf();
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void* m_argData[MINI_CL_MAX_ARG];
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int m_argSizes[MINI_CL_MAX_ARG];
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#if defined(USE_LIBSPE2) && defined(__SPU__)
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////////////////////MAIN/////////////////////////////
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#include "../SpuLibspe2Support.h"
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#include <spu_intrinsics.h>
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#include <spu_mfcio.h>
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#include <SpuFakeDma.h>
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void * SamplelsMemoryFunc();
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void SampleThreadFunc(void* userPtr,void* lsMemory);
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//#define DEBUG_LIBSPE2_MAINLOOP
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int main(unsigned long long speid, addr64 argp, addr64 envp)
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printf("SPU is up \n");
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ATTRIBUTE_ALIGNED128(btSpuStatus status);
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ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
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unsigned int received_message = Spu_Mailbox_Event_Nothing;
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bool shutdown = false;
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cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(3));
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status.m_status = Spu_Status_Free;
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status.m_lsMemory.p = SamplelsMemoryFunc();
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cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(3));
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received_message = spu_read_in_mbox();
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switch(received_message)
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case Spu_Mailbox_Event_Shutdown:
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case Spu_Mailbox_Event_Task:
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// refresh the status
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#ifdef DEBUG_LIBSPE2_MAINLOOP
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printf("SPU recieved Task \n");
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#endif //DEBUG_LIBSPE2_MAINLOOP
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cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(3));
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btAssert(status.m_status==Spu_Status_Occupied);
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cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(3));
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SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
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case Spu_Mailbox_Event_Nothing:
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// set to status free and wait for next task
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status.m_status = Spu_Status_Free;
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cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(3));
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//////////////////////////////////////////////////////
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#endif // MINICL_TASK_SCHEDULER_H