SpuGatheringCollisionDispatcher.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com

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 "SpuGatheringCollisionDispatcher.h"
#include "SpuCollisionTaskProcess.h"


#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "SpuContactManifoldCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "LinearMath/btQuickprof.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"




SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class  btThreadSupportInterface*       threadInterface, unsigned int   maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration)
:btCollisionDispatcher(collisionConfiguration),
m_spuCollisionTaskProcess(0),
m_threadInterface(threadInterface),
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
{
        
}


bool    SpuGatheringCollisionDispatcher::supportsDispatchPairOnSpu(int proxyType0,int proxyType1)
{
        bool supported0 = (
                (proxyType0 == BOX_SHAPE_PROXYTYPE) ||
                (proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) ||
                (proxyType0 == SPHERE_SHAPE_PROXYTYPE) ||
                (proxyType0 == CAPSULE_SHAPE_PROXYTYPE) ||
                (proxyType0 == CYLINDER_SHAPE_PROXYTYPE) ||
//              (proxyType0 == CONE_SHAPE_PROXYTYPE) ||
                (proxyType0 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
                (proxyType0 == CONVEX_HULL_SHAPE_PROXYTYPE)||
                (proxyType0 == STATIC_PLANE_PROXYTYPE)||
                (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
                );

        bool supported1 = (
                (proxyType1 == BOX_SHAPE_PROXYTYPE) ||
                (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE) ||
                (proxyType1 == SPHERE_SHAPE_PROXYTYPE) ||
                (proxyType1 == CAPSULE_SHAPE_PROXYTYPE) ||
                (proxyType1 == CYLINDER_SHAPE_PROXYTYPE) ||
//              (proxyType1 == CONE_SHAPE_PROXYTYPE) ||
                (proxyType1 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
                (proxyType1 == CONVEX_HULL_SHAPE_PROXYTYPE) ||
                (proxyType1 == STATIC_PLANE_PROXYTYPE) ||
                (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
                );

        
        return supported0 && supported1;
}



SpuGatheringCollisionDispatcher::~SpuGatheringCollisionDispatcher()
{
        if (m_spuCollisionTaskProcess)
                delete m_spuCollisionTaskProcess;
        
}

#include "stdio.h"



class btSpuCollisionPairCallback : public btOverlapCallback
{
        const btDispatcherInfo& m_dispatchInfo;
        SpuGatheringCollisionDispatcher*        m_dispatcher;

public:

        btSpuCollisionPairCallback(const btDispatcherInfo& dispatchInfo, SpuGatheringCollisionDispatcher*       dispatcher)
        :m_dispatchInfo(dispatchInfo),
        m_dispatcher(dispatcher)
        {
        }

        virtual bool    processOverlap(btBroadphasePair& collisionPair)
        {


                //PPU version
                //(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);

                //only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
                btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);

                //by default, Bullet will use this near callback
                {
                        if (!collisionPair.m_internalTmpValue)
                        {
                                collisionPair.m_internalTmpValue = 1;
                        }
                        if (!collisionPair.m_algorithm)
                        {
                                btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
                                btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;

                                btCollisionAlgorithmConstructionInfo ci;
                                ci.m_dispatcher1 = m_dispatcher;
                                ci.m_manifold = 0;

                                if (m_dispatcher->needsCollision(colObj0,colObj1))
                                {
                                        int     proxyType0 = colObj0->getCollisionShape()->getShapeType();
                                        int     proxyType1 = colObj1->getCollisionShape()->getShapeType();
                                        bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1) 
                                                && ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0)
                                                && ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0);

                                        if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
                                        {
                                                btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape();
                                                if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
                                                {
                                                        //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
                                                        supportsSpuDispatch = false;
                                                }
                                        }

                                        if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
                                        {
                                                btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape();
                                                if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
                                                {
                                                        //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
                                                        supportsSpuDispatch = false;
                                                }
                                        }

                                        if (supportsSpuDispatch)
                                        {

                                                int so = sizeof(SpuContactManifoldCollisionAlgorithm);
#ifdef ALLOCATE_SEPARATELY
                                                void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
#else
                                                void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
#endif
                                                collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
                                                collisionPair.m_internalTmpValue =  2;
                                        } else
                                        {
                                                btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
                                                btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);

                                                collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
                                                collisionPair.m_internalTmpValue = 3;
                                        }
                                } 
                        }
                }
                return false;
        }
};

void    SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) 
{

        if (dispatchInfo.m_enableSPU)
        {
                m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();

                {
                        BT_PROFILE("processAllOverlappingPairs");

                        if (!m_spuCollisionTaskProcess)
                                m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
                
                        m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
        //              printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);

                        m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
                        
                
                        {
                                btSpuCollisionPairCallback      collisionCallback(dispatchInfo,this);

                                pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
                        }
                }

                //send one big batch
                int numTotalPairs = pairCache->getNumOverlappingPairs();
                if (numTotalPairs)
                {
                        btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
                        int i;
                        {
                                int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
                                if (numTotalPairs < (m_spuCollisionTaskProcess->getNumTasks()*SPU_BATCHSIZE_BROADPHASE_PAIRS))
                                {
                                        pairRange = (numTotalPairs/m_spuCollisionTaskProcess->getNumTasks())+1;
                                }
        
                                BT_PROFILE("addWorkToTask");
                                for (i=0;i<numTotalPairs;)
                                {
                                        //Performance Hint: tweak this number during benchmarking
                                        
                                        int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
                                        m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
                                        i = endIndex;
                                }
                        }
                        {
                                BT_PROFILE("PPU fallback");
                                //handle PPU fallback pairs
                                for (i=0;i<numTotalPairs;i++)
                                {
                                        btBroadphasePair& collisionPair = pairPtr[i];
                                        if (collisionPair.m_internalTmpValue == 3)
                                        {
                                                if (collisionPair.m_algorithm)
                                                {
                                                        btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
                                                        btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
        
                                                        if (dispatcher->needsCollision(colObj0,colObj1))
                                                        {
                                                        //discrete collision detection query
                                                                btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
                                                                btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);

                                                                btManifoldResult contactPointResult(&ob0,&ob1);
                                                                
                                                                if (dispatchInfo.m_dispatchFunc ==              btDispatcherInfo::DISPATCH_DISCRETE)
                                                                {
                                                                        
                                                                        collisionPair.m_algorithm->processCollision(&ob0,&ob1,dispatchInfo,&contactPointResult);
                                                                } else
                                                                {
                                                                        //continuous collision detection query, time of impact (toi)
                                                                        btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
                                                                        if (dispatchInfo.m_timeOfImpact > toi)
                                                                                dispatchInfo.m_timeOfImpact = toi;
        
                                                                }
                                                        }
                                                }
                                        }
                                }
                        }
                }
                {
                        BT_PROFILE("flush2");
                        //make sure all SPU work is done
                        m_spuCollisionTaskProcess->flush2();
                }

        } else
        {
                btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
        }
}