virtual void processNode(int subPart, int triangleIndex)
{
///Create a triangle on the stack, call process collision, with GJK
///DMA the vertices, can benefit from software caching
// spu_printf("processNode with triangleIndex %d\n",triangleIndex);
// ugly solution to support both 16bit and 32bit indices
if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
{
short int* indexBasePtr = (short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
ATTRIBUTE_ALIGNED16(short int tmpIndices[3]);
small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
&tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
&tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
sizeof(short int));
m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
} else
{
int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
&m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2],
sizeof(int));
}
//printf("%d %d %d\n", m_lsMemPtr->spuIndices[0], m_lsMemPtr->spuIndices[1], m_lsMemPtr->spuIndices[2]);
// spu_printf("SPU index0=%d ,",spuIndices[0]);
// spu_printf("SPU index1=%d ,",spuIndices[1]);
// spu_printf("SPU index2=%d ,",spuIndices[2]);
// spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
for (int j=2;btLikely( j>=0 );j--)
{
int graphicsindex = m_lsMemPtr->spuIndices[j];
//spu_printf("SPU index=%d ,",graphicsindex);
btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
// spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
///handle un-aligned vertices...
//another DMA for each vertex
small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0],
&spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1],
&spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
sizeof(btScalar));
//printf("%f %f %f\n", spuUnscaledVertex[0],spuUnscaledVertex[1],spuUnscaledVertex[2]);
spuTriangleVertices[j] = btVector3(
spuUnscaledVertex[0]*meshScaling.getX(),
spuUnscaledVertex[1]*meshScaling.getY(),
spuUnscaledVertex[2]*meshScaling.getZ());
//spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z());
}
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
//printf("%f %f %f\n", spuTriangleVertices[2][0],spuTriangleVertices[2][1],spuTriangleVertices[2][2]);
for (int i = 0; i < m_numWorkUnits; i++)
{
SpuRaycastTaskWorkUnitOut out;
out.hitFraction = 1.0;
performRaycastAgainstConvex (&triangleGatheredObjectData, m_workUnits[i], &out, m_lsMemPtr);
/* XXX: For now only take the closest hit */
if (out.hitFraction < m_workUnitsOut[i].hitFraction)
{
m_workUnitsOut[i].hitFraction = out.hitFraction;
m_workUnitsOut[i].hitNormal = out.hitNormal;
}
}
}
virtual void processNode(int subPart, int triangleIndex)
{
///Create a triangle on the stack, call process collision, with GJK
///DMA the vertices, can benefit from software caching
// spu_printf("processNode with triangleIndex %d\n",triangleIndex);
if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
{
unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
ATTRIBUTE_ALIGNED16(unsigned short int tmpIndices[3]);
small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
&tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
&tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
sizeof(unsigned short int));
m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
} else
{
unsigned int* indexBasePtr = (unsigned int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
&m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2],
sizeof(int));
}
// spu_printf("SPU index0=%d ,",spuIndices[0]);
// spu_printf("SPU index1=%d ,",spuIndices[1]);
// spu_printf("SPU index2=%d ,",spuIndices[2]);
// spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr);
const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling();
for (int j=2;btLikely( j>=0 );j--)
{
int graphicsindex = m_lsMemPtr->spuIndices[j];
// spu_printf("SPU index=%d ,",graphicsindex);
btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride);
// spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr);
///handle un-aligned vertices...
//another DMA for each vertex
small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0],
&spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1],
&spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
sizeof(btScalar));
m_tmpTriangleShape.getVertexPtr(j).setValue(spuUnscaledVertex[0]*meshScaling.getX(),
spuUnscaledVertex[1]*meshScaling.getY(),
spuUnscaledVertex[2]*meshScaling.getZ());
// spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z());
}
SpuCollisionPairInput triangleConcaveInput(*m_wuInput);
// triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
triangleConcaveInput.m_spuCollisionShapes[1] = &m_tmpTriangleShape;
triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
m_spuContacts.setShapeIdentifiersB(subPart,triangleIndex);
// m_spuContacts.flush();
ProcessSpuConvexConvexCollision(&triangleConcaveInput, m_lsMemPtr,m_spuContacts);
///this flush should be automatic
// m_spuContacts.flush();
}
