SIMD_FORCE_INLINE void small_cache_read(void* buffer, ppu_address_t ea, size_t size)
{
#if USE_SOFTWARE_CACHE
// Check for alignment requirements. We need to make sure the entire request fits within one cache line,
// so the first and last bytes should fall on the same cache line
btAssert((ea & ~SPE_CACHELINE_MASK) == ((ea + size - 1) & ~SPE_CACHELINE_MASK));
void* ls = spe_cache_read(ea);
memcpy(buffer, ls, size);
#else
stallingUnalignedDmaSmallGet(buffer,ea,size);
#endif
}
//-- MAIN METHOD
void processSampleTask(void* userPtr, void* lsMemory)
{
// BT_PROFILE("processSampleTask");
SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory;
SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr;
SpuSampleTaskDesc& taskDesc = *taskDescPtr;
switch (taskDesc.m_sampleCommand)
{
case CMD_SAMPLE_INTEGRATE_BODIES:
{
btTransform predictedTrans;
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
int batchSize = taskDesc.m_sampleValue;
if (batchSize>MAX_NUM_BODIES)
{
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
break;
}
int dmaArraySize = batchSize*sizeof(void*);
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
if (dmaArraySize>=16)
{
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
} else
{
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
}
for ( int i=0;i<batchSize;i++)
{
///DMA rigid body
void* localPtr = &localMemory->gLocalRigidBody[0];
void* shortAdd = localMemory->gPointerArray[i];
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
int dmaBodySize = sizeof(btRigidBody);
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
float timeStep = 1.f/60.f;
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
if (body)
{
if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
void* ptr = (void*)localPtr;
// spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress);
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
}
}
break;
}
case CMD_SAMPLE_PREDICT_MOTION_BODIES:
{
btTransform predictedTrans;
btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr;
int batchSize = taskDesc.m_sampleValue;
int dmaArraySize = batchSize*sizeof(void*);
if (batchSize>MAX_NUM_BODIES)
{
spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n");
break;
}
uint64_t ppuArrayAddress = reinterpret_cast<uint64_t>(eaPtr);
// spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize);
if (dmaArraySize>=16)
{
cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
} else
{
stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize);
}
for ( int i=0;i<batchSize;i++)
{
///DMA rigid body
void* localPtr = &localMemory->gLocalRigidBody[0];
void* shortAdd = localMemory->gPointerArray[i];
uint64_t ppuRigidBodyAddress = reinterpret_cast<uint64_t>(shortAdd);
// spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr);
int dmaBodySize = sizeof(btRigidBody);
cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
float timeStep = 1.f/60.f;
btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj);
if (body)
{
if (!body->isStaticOrKinematicObject())
{
if (body->isActive())
{
body->integrateVelocities( timeStep);
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
void* ptr = (void*)localPtr;
cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
}
}
}
break;
}
default:
{
}
};
}
