source: code/branches/physics/src/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp @ 1967

/*
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"




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 == 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 == COMPOUND_SHAPE_PROXYTYPE)
                );

        return supported0 && supported1;
}



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

#include "stdio.h"



///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
///this is useful for the collision dispatcher.
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
                {
                        ///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
                        if (!collisionPair.m_userInfo)
                        {
                                collisionPair.m_userInfo = (void*) 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();
                                        if (m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1))
                                        {
                                                int so = sizeof(SpuContactManifoldCollisionAlgorithm);
                                                void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
                                                collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
                                                collisionPair.m_userInfo = (void*) 2;
                                        } else
                                        {
                                                collisionPair.m_algorithm = m_dispatcher->findAlgorithm(colObj0,colObj1);
                                                collisionPair.m_userInfo = (void*)3;
                                        }
                                } 
                        }
                }
                return false;
        }
};

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

        if (dispatchInfo.m_enableSPU)
        {
                if (!m_spuCollisionTaskProcess)
                        m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
        
                m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
        
                ///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
                {
                        btSpuCollisionPairCallback      collisionCallback(dispatchInfo,this);

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

                //send one big batch
                int numTotalPairs = pairCache->getNumOverlappingPairs();
                btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
                int i;
                for (i=0;i<numTotalPairs;)
                {
                        //Performance Hint: tweak this number during benchmarking
                        static const int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
                        int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
                        m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
                        i = endIndex;
                }

                //handle PPU fallback pairs
                for (i=0;i<numTotalPairs;i++)
                {
                        btBroadphasePair& collisionPair = pairPtr[i];
                        if (collisionPair.m_userInfo == (void*)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))
                                        {
                                                btManifoldResult contactPointResult(colObj0,colObj1);
                                                
                                                if (dispatchInfo.m_dispatchFunc ==              btDispatcherInfo::DISPATCH_DISCRETE)
                                                {
                                                        //discrete collision detection query
                                                        collisionPair.m_algorithm->processCollision(colObj0,colObj1,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;

                                                }
                                        }
                                }
                        }
                }

                //make sure all SPU work is done
                m_spuCollisionTaskProcess->flush2();

        } else
        {
                ///PPU fallback
                ///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
                btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
        }
}