ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h

@@ -0,0 +1,167 @@
+/*
+   Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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.
+
+*/
+
+#ifndef __BOX_H__
+#define __BOX_H__
+
+
+#ifndef PE_REF
+#define PE_REF(a) a&
+#endif
+
+#include <math.h>
+
+
+#include "../PlatformDefinitions.h"
+
+
+
+
+enum FeatureType { F, E, V };
+
+//----------------------------------------------------------------------------
+// Box
+//----------------------------------------------------------------------------
+///The Box is an internal class used by the boxBoxDistance calculation.
+class Box
+{
+public:
+	vmVector3 mHalf;
+
+	inline Box()
+	{}
+	inline Box(PE_REF(vmVector3) half_);
+	inline Box(float hx, float hy, float hz);
+
+	inline void Set(PE_REF(vmVector3) half_);
+	inline void Set(float hx, float hy, float hz);
+
+	inline vmVector3 GetAABB(const vmMatrix3& rotation) const;
+};
+
+inline
+Box::Box(PE_REF(vmVector3) half_)
+{
+	Set(half_);
+}
+
+inline
+Box::Box(float hx, float hy, float hz)
+{
+	Set(hx, hy, hz);
+}
+
+inline
+void
+Box::Set(PE_REF(vmVector3) half_)
+{
+	mHalf = half_;
+}
+
+inline
+void
+Box::Set(float hx, float hy, float hz)
+{
+	mHalf = vmVector3(hx, hy, hz);
+}
+
+inline
+vmVector3
+Box::GetAABB(const vmMatrix3& rotation) const
+{
+	return absPerElem(rotation) * mHalf;
+}
+
+//-------------------------------------------------------------------------------------------------
+// BoxPoint
+//-------------------------------------------------------------------------------------------------
+
+///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
+class BoxPoint
+{
+public:
+	BoxPoint() : localPoint(0.0f) {}
+
+	vmPoint3      localPoint;
+	FeatureType featureType;
+	int         featureIdx;
+
+	inline void setVertexFeature(int plusX, int plusY, int plusZ);
+	inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
+	inline void setFaceFeature(int dim, int plus);
+
+	inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
+	inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
+	inline void getFaceFeature(int & dim, int & plus) const;
+};
+
+inline
+void
+BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
+{
+	featureType = V;
+	featureIdx = plusX << 2 | plusY << 1 | plusZ;
+}
+
+inline
+void
+BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
+{
+	featureType = E;
+
+	if (dim0 > dim1) {
+		featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
+	} else {
+		featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
+	}
+}
+
+inline
+void
+BoxPoint::setFaceFeature(int dim, int plus)
+{
+	featureType = F;
+	featureIdx = plus << 2 | dim;
+}
+
+inline
+void
+BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
+{
+	plusX = featureIdx >> 2;
+	plusY = featureIdx >> 1 & 1;
+	plusZ = featureIdx & 1;
+}
+
+inline
+void
+BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
+{
+	plus0 = featureIdx >> 5;
+	dim0 = featureIdx >> 3 & 3;
+	plus1 = featureIdx >> 2 & 1;
+	dim1 = featureIdx & 3;
+}
+
+inline
+void
+BoxPoint::getFaceFeature(int & dim, int & plus) const
+{
+	plus = featureIdx >> 2;
+	dim = featureIdx & 3;
+}
+
+#endif /* __BOX_H__ */

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h

@@ -0,0 +1,128 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+#ifndef __SPU_COLLISION_SHAPES_H
+#define __SPU_COLLISION_SHAPES_H
+
+#include "../SpuDoubleBuffer.h"
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+
+#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points
+#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes
+#define MAX_SHAPE_SIZE 256 //@todo: assert on this
+
+ATTRIBUTE_ALIGNED16(struct)	SpuConvexPolyhedronVertexData
+{
+	void*	gSpuConvexShapePtr;
+	btVector3* gConvexPoints;
+	int gNumConvexPoints;
+	int unused;
+	ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
+};
+
+
+
+ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory
+{
+	ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
+};
+
+ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory
+{
+	// Compound data
+
+	ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
+	ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
+};
+
+ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory
+{
+	//ATTRIBUTE_ALIGNED16(btOptimizedBvh	gOptimizedBvh);
+	ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
+	btOptimizedBvh*	getOptimizedBvh()
+	{
+		return (btOptimizedBvh*) gOptimizedBvh;
+	}
+
+	ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray	gTriangleMeshInterfaceStorage);
+	btTriangleIndexVertexArray*	gTriangleMeshInterfacePtr;
+	///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment 
+	ATTRIBUTE_ALIGNED16(btIndexedMesh	gIndexMesh);
+	#define MAX_SPU_SUBTREE_HEADERS 32
+	//1024
+	ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo	gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
+	ATTRIBUTE_ALIGNED16(btQuantizedBvhNode	gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
+};
+
+
+void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
+void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
+void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
+void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
+void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray&	nodeArray, int dmaTag);
+
+int  getShapeTypeSize(int shapeType);
+void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
+void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
+void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
+void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
+
+
+#define USE_BRANCHFREE_TEST 1
+#ifdef USE_BRANCHFREE_TEST
+SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+{		
+#if defined(__CELLOS_LV2__) && defined (__SPU__)
+	vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
+	vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
+	vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
+	return spu_extract(spu_gather(isGt),0)==0;
+
+#else
+	return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+		& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+		& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+		1, 0);
+#endif
+}
+#else
+
+SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int*  aabbMax2)
+{
+	unsigned int overlap = 1;
+	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
+	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
+	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
+	return overlap;
+}
+#endif
+
+void	spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
+
+#endif

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h

@@ -0,0 +1,106 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef SPU_CONTACT_RESULT2_H
+#define SPU_CONTACT_RESULT2_H
+
+
+#ifndef _WIN32
+#include <stdint.h>
+#endif
+
+
+
+#include "../SpuDoubleBuffer.h"
+
+
+#include "LinearMath/btTransform.h"
+
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+class btCollisionShape;
+
+
+struct SpuCollisionPairInput
+{
+	ppu_address_t m_collisionShapes[2];
+	btCollisionShape*	m_spuCollisionShapes[2];
+
+	ppu_address_t m_persistentManifoldPtr;
+	btVector3	m_primitiveDimensions0;
+	btVector3	m_primitiveDimensions1;
+	int		m_shapeType0;
+	int		m_shapeType1;	
+	float	m_collisionMargin0;
+	float	m_collisionMargin1;
+
+	btTransform	m_worldTransform0;
+	btTransform m_worldTransform1;
+	
+	bool	m_isSwapped;
+	bool    m_useEpa;
+};
+
+
+struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
+{
+	struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
+};
+
+///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
+///So when an existing contact point is duplicated, no transfer/refresh is performed.
+class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
+{
+    btTransform		m_rootWorldTransform0;
+	btTransform		m_rootWorldTransform1;
+	ppu_address_t	m_manifoldAddress;
+
+    btPersistentManifold* m_spuManifold;
+	bool m_RequiresWriteBack;
+	btScalar	m_combinedFriction;
+	btScalar	m_combinedRestitution;
+	
+	bool m_isSwapped;
+
+	DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
+
+	public:
+		SpuContactResult();
+		virtual ~SpuContactResult();
+
+		btPersistentManifold*	GetSpuManifold() const
+		{
+			return m_spuManifold;
+		}
+
+		virtual void setShapeIdentifiersA(int partId0,int index0);
+		virtual void setShapeIdentifiersB(int partId1,int index1);
+
+		void	setContactInfo(btPersistentManifold* spuManifold, ppu_address_t	manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
+
+
+        void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
+
+        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
+
+		void flush();
+};
+
+
+
+#endif //SPU_CONTACT_RESULT2_H
+

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h

@@ -0,0 +1,51 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+#ifndef SPU_CONVEX_PENETRATION_DEPTH_H
+#define SPU_CONVEX_PENETRATION_DEPTH_H
+
+
+
+class btStackAlloc;
+class btIDebugDraw;
+#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
+
+#include "LinearMath/btTransform.h"
+
+
+///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
+class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
+{
+public:	
+	
+	virtual ~SpuConvexPenetrationDepthSolver() {};
+	virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
+	        void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
+            btTransform& transA,const btTransform& transB,
+			btVector3& v, btVector3& pa, btVector3& pb,
+			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
+			struct SpuConvexPolyhedronVertexData* convexVertexDataA,
+			struct SpuConvexPolyhedronVertexData* convexVertexDataB
+			) const = 0;
+
+
+};
+
+
+
+#endif //SPU_CONVEX_PENETRATION_DEPTH_H
+

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h

@@ -0,0 +1,140 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef SPU_GATHERING_COLLISION_TASK_H
+#define SPU_GATHERING_COLLISION_TASK_H
+
+#include "../PlatformDefinitions.h"
+//#define DEBUG_SPU_COLLISION_DETECTION 1
+
+
+///Task Description for SPU collision detection
+struct SpuGatherAndProcessPairsTaskDesc 
+{
+	ppu_address_t	m_inPairPtr;//m_pairArrayPtr;
+	//mutex variable
+	uint32_t	m_someMutexVariableInMainMemory;
+
+	ppu_address_t	m_dispatcher;
+
+	uint32_t	numOnLastPage;
+
+	uint16_t numPages;
+	uint16_t taskId;
+	bool m_useEpa;
+
+	struct	CollisionTask_LocalStoreMemory*	m_lsMemory; 
+}
+
+#if  defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
+__attribute__ ((aligned (128)))
+#endif
+;
+
+
+void	processCollisionTask(void* userPtr, void* lsMemory);
+
+void*	createCollisionLocalStoreMemory();
+
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+//#define DEBUG_LIBSPE2_SPU_TASK
+
+
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+	printf("SPU: hello \n");
+	
+	ATTRIBUTE_ALIGNED128(btSpuStatus status);
+	ATTRIBUTE_ALIGNED16( SpuGatherAndProcessPairsTaskDesc taskDesc ) ;
+	unsigned int received_message = Spu_Mailbox_Event_Nothing;
+    bool shutdown = false;
+
+	cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+	status.m_status = Spu_Status_Free;
+	status.m_lsMemory.p = createCollisionLocalStoreMemory();
+
+	cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+	
+	
+	while ( btLikely( !shutdown ) )
+	{
+		
+		received_message = spu_read_in_mbox();
+		
+		if( btLikely( received_message == Spu_Mailbox_Event_Task ))
+		{
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+			printf("SPU: received Spu_Mailbox_Event_Task\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+
+			// refresh the status
+			cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+		
+			btAssert(status.m_status==Spu_Status_Occupied);
+			
+			cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuGatherAndProcessPairsTaskDesc), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+#ifdef DEBUG_LIBSPE2_SPU_TASK		
+			printf("SPU:processCollisionTask\n");	
+#endif //DEBUG_LIBSPE2_SPU_TASK
+			processCollisionTask((void*)&taskDesc, taskDesc.m_lsMemory);
+			
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+			printf("SPU:finished processCollisionTask\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+		}
+		else
+		{
+#ifdef DEBUG_LIBSPE2_SPU_TASK
+			printf("SPU: received ShutDown\n");
+#endif //DEBUG_LIBSPE2_SPU_TASK
+			if( btLikely( received_message == Spu_Mailbox_Event_Shutdown ) )
+			{
+				shutdown = true;
+			}
+			else
+			{
+				//printf("SPU - Sth. recieved\n");
+			}
+		}
+
+		// set to status free and wait for next task
+		status.m_status = Spu_Status_Free;
+		cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+		cellDmaWaitTagStatusAll(DMA_MASK(3));		
+				
+		
+  	}
+
+	printf("SPU: shutdown\n");
+  	return 0;
+}
+#endif // USE_LIBSPE2
+
+
+#endif //SPU_GATHERING_COLLISION_TASK_H
+
+

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h

@@ -0,0 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+
+
+

data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h

@@ -0,0 +1,48 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+
+
+#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
+
+class btStackAlloc;
+class btIDebugDraw;
+class btVoronoiSimplexSolver;
+class btConvexShape;
+
+///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
+///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
+class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
+{
+public:
+	SpuMinkowskiPenetrationDepthSolver() {}
+	virtual ~SpuMinkowskiPenetrationDepthSolver() {};
+
+		virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
+		const btConvexShape* convexA,const btConvexShape* convexB,
+					const btTransform& transA,const btTransform& transB,
+				btVector3& v, btVector3& pa, btVector3& pb,
+				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+				);
+
+
+};
+
+
+#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+