1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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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. |
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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | |
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17 | //#define DEBUG_SPU_TASK_SCHEDULING 1 |
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18 | |
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19 | |
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20 | //class OptimizedBvhNode; |
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21 | |
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22 | #include "SpuCollisionTaskProcess.h" |
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23 | |
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24 | |
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25 | |
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26 | |
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27 | |
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28 | |
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29 | SpuCollisionTaskProcess::SpuCollisionTaskProcess(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks) |
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30 | :m_threadInterface(threadInterface), |
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31 | m_maxNumOutstandingTasks(maxNumOutstandingTasks) |
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32 | { |
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33 | m_workUnitTaskBuffers = (unsigned char *)0; |
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34 | m_taskBusy.resize(m_maxNumOutstandingTasks); |
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35 | m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks); |
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36 | |
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37 | for (int i = 0; i < m_maxNumOutstandingTasks; i++) |
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38 | { |
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39 | m_taskBusy[i] = false; |
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40 | } |
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41 | m_numBusyTasks = 0; |
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42 | m_currentTask = 0; |
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43 | m_currentPage = 0; |
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44 | m_currentPageEntry = 0; |
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45 | |
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46 | #ifdef DEBUG_SpuCollisionTaskProcess |
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47 | m_initialized = false; |
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48 | #endif |
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49 | |
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50 | m_threadInterface->startSPU(); |
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51 | |
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52 | //printf("sizeof vec_float4: %d\n", sizeof(vec_float4)); |
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53 | printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", sizeof(SpuGatherAndProcessWorkUnitInput)); |
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54 | |
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55 | } |
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56 | |
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57 | SpuCollisionTaskProcess::~SpuCollisionTaskProcess() |
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58 | { |
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59 | |
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60 | if (m_workUnitTaskBuffers != 0) |
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61 | { |
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62 | btAlignedFree(m_workUnitTaskBuffers); |
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63 | m_workUnitTaskBuffers = 0; |
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64 | } |
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65 | |
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66 | |
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67 | |
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68 | m_threadInterface->stopSPU(); |
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69 | |
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70 | } |
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71 | |
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72 | |
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73 | |
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74 | void SpuCollisionTaskProcess::initialize2(bool useEpa) |
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75 | { |
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76 | |
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77 | #ifdef DEBUG_SPU_TASK_SCHEDULING |
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78 | printf("SpuCollisionTaskProcess::initialize()\n"); |
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79 | #endif //DEBUG_SPU_TASK_SCHEDULING |
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80 | if (!m_workUnitTaskBuffers) |
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81 | { |
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82 | m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128); |
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83 | } |
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84 | |
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85 | |
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86 | for (int i = 0; i < m_maxNumOutstandingTasks; i++) |
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87 | { |
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88 | m_taskBusy[i] = false; |
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89 | } |
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90 | m_numBusyTasks = 0; |
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91 | m_currentTask = 0; |
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92 | m_currentPage = 0; |
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93 | m_currentPageEntry = 0; |
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94 | m_useEpa = useEpa; |
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95 | |
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96 | #ifdef DEBUG_SpuCollisionTaskProcess |
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97 | m_initialized = true; |
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98 | assert(MIDPHASE_NUM_WORKUNITS_PER_TASK*sizeof(SpuGatherAndProcessWorkUnitInput) <= MIDPHASE_WORKUNIT_TASK_SIZE); |
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99 | #endif |
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100 | } |
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101 | |
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102 | |
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103 | void SpuCollisionTaskProcess::issueTask2() |
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104 | { |
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105 | |
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106 | #ifdef DEBUG_SPU_TASK_SCHEDULING |
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107 | printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\n)", m_currentTask); |
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108 | #endif //DEBUG_SPU_TASK_SCHEDULING |
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109 | |
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110 | m_taskBusy[m_currentTask] = true; |
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111 | m_numBusyTasks++; |
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112 | |
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113 | |
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114 | SpuGatherAndProcessPairsTaskDesc& taskDesc = m_spuGatherTaskDesc[m_currentTask]; |
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115 | taskDesc.m_useEpa = m_useEpa; |
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116 | |
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117 | { |
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118 | // send task description in event message |
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119 | // no error checking here... |
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120 | // but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS. |
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121 | |
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122 | taskDesc.inPtr = reinterpret_cast<uint64_t>(MIDPHASE_TASK_PTR(m_currentTask)); |
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123 | |
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124 | taskDesc.taskId = m_currentTask; |
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125 | taskDesc.numPages = m_currentPage+1; |
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126 | taskDesc.numOnLastPage = m_currentPageEntry; |
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127 | } |
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128 | |
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129 | |
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130 | |
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131 | m_threadInterface->sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (uint32_t) &taskDesc,m_currentTask); |
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132 | |
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133 | // if all tasks busy, wait for spu event to clear the task. |
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134 | |
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135 | |
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136 | if (m_numBusyTasks >= m_maxNumOutstandingTasks) |
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137 | { |
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138 | unsigned int taskId; |
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139 | unsigned int outputSize; |
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140 | |
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141 | |
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142 | for (int i=0;i<m_maxNumOutstandingTasks;i++) |
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143 | { |
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144 | if (m_taskBusy[i]) |
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145 | { |
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146 | taskId = i; |
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147 | break; |
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148 | } |
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149 | } |
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150 | |
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151 | btAssert(taskId>=0); |
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152 | |
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153 | |
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154 | m_threadInterface->waitForResponse(&taskId, &outputSize); |
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155 | |
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156 | // printf("issueTask taskId %d completed, numBusy=%d\n",taskId,m_numBusyTasks); |
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157 | |
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158 | //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize); |
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159 | |
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160 | //postProcess(taskId, outputSize); |
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161 | |
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162 | m_taskBusy[taskId] = false; |
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163 | |
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164 | m_numBusyTasks--; |
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165 | } |
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166 | |
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167 | } |
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168 | |
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169 | void SpuCollisionTaskProcess::addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex) |
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170 | { |
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171 | #ifdef DEBUG_SPU_TASK_SCHEDULING |
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172 | printf("#"); |
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173 | #endif //DEBUG_SPU_TASK_SCHEDULING |
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174 | |
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175 | #ifdef DEBUG_SpuCollisionTaskProcess |
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176 | assert(m_initialized); |
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177 | assert(m_workUnitTaskBuffers); |
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178 | |
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179 | #endif |
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180 | |
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181 | bool batch = true; |
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182 | |
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183 | if (batch) |
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184 | { |
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185 | if (m_currentPageEntry == MIDPHASE_NUM_WORKUNITS_PER_PAGE) |
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186 | { |
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187 | if (m_currentPage == MIDPHASE_NUM_WORKUNIT_PAGES-1) |
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188 | { |
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189 | // task buffer is full, issue current task. |
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190 | // if all task buffers busy, this waits until SPU is done. |
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191 | issueTask2(); |
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192 | |
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193 | // find new task buffer |
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194 | for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++) |
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195 | { |
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196 | if (!m_taskBusy[i]) |
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197 | { |
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198 | m_currentTask = i; |
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199 | //init the task data |
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200 | |
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201 | break; |
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202 | } |
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203 | } |
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204 | |
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205 | m_currentPage = 0; |
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206 | } |
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207 | else |
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208 | { |
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209 | m_currentPage++; |
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210 | } |
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211 | |
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212 | m_currentPageEntry = 0; |
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213 | } |
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214 | } |
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215 | |
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216 | { |
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217 | |
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218 | |
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219 | |
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220 | SpuGatherAndProcessWorkUnitInput &wuInput = |
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221 | *(reinterpret_cast<SpuGatherAndProcessWorkUnitInput*> |
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222 | (MIDPHASE_ENTRY_PTR(m_currentTask, m_currentPage, m_currentPageEntry))); |
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223 | |
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224 | wuInput.m_pairArrayPtr = reinterpret_cast<uint64_t>(pairArrayPtr); |
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225 | wuInput.m_startIndex = startIndex; |
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226 | wuInput.m_endIndex = endIndex; |
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227 | |
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228 | |
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229 | |
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230 | m_currentPageEntry++; |
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231 | |
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232 | if (!batch) |
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233 | { |
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234 | issueTask2(); |
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235 | |
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236 | // find new task buffer |
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237 | for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++) |
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238 | { |
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239 | if (!m_taskBusy[i]) |
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240 | { |
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241 | m_currentTask = i; |
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242 | //init the task data |
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243 | |
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244 | break; |
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245 | } |
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246 | } |
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247 | |
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248 | m_currentPage = 0; |
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249 | m_currentPageEntry =0; |
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250 | } |
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251 | } |
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252 | } |
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253 | |
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254 | |
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255 | void |
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256 | SpuCollisionTaskProcess::flush2() |
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257 | { |
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258 | #ifdef DEBUG_SPU_TASK_SCHEDULING |
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259 | printf("\nSpuCollisionTaskProcess::flush()\n"); |
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260 | #endif //DEBUG_SPU_TASK_SCHEDULING |
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261 | |
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262 | // if there's a partially filled task buffer, submit that task |
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263 | if (m_currentPage > 0 || m_currentPageEntry > 0) |
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264 | { |
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265 | issueTask2(); |
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266 | } |
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267 | |
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268 | |
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269 | // all tasks are issued, wait for all tasks to be complete |
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270 | while(m_numBusyTasks > 0) |
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271 | { |
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272 | // Consolidating SPU code |
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273 | unsigned int taskId=-1; |
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274 | unsigned int outputSize; |
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275 | |
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276 | for (int i=0;i<m_maxNumOutstandingTasks;i++) |
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277 | { |
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278 | if (m_taskBusy[i]) |
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279 | { |
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280 | taskId = i; |
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281 | break; |
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282 | } |
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283 | } |
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284 | |
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285 | btAssert(taskId>=0); |
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286 | |
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287 | |
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288 | { |
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289 | |
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290 | // SPURS support. |
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291 | m_threadInterface->waitForResponse(&taskId, &outputSize); |
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292 | } |
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293 | // printf("flush2 taskId %d completed, numBusy =%d \n",taskId,m_numBusyTasks); |
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294 | //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize); |
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295 | |
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296 | //postProcess(taskId, outputSize); |
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297 | |
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298 | m_taskBusy[taskId] = false; |
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299 | |
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300 | m_numBusyTasks--; |
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301 | } |
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302 | |
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303 | |
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304 | } |
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