ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.cpp

@@ -0,0 +1,317 @@
+/*
+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.
+*/
+
+
+//#define DEBUG_SPU_TASK_SCHEDULING 1
+
+
+//class OptimizedBvhNode;
+
+#include "SpuCollisionTaskProcess.h"
+
+
+
+
+void	SpuCollisionTaskProcess::setNumTasks(int maxNumTasks)
+{
+	if (int(m_maxNumOutstandingTasks) != maxNumTasks)
+	{
+		m_maxNumOutstandingTasks = maxNumTasks;
+		m_taskBusy.resize(m_maxNumOutstandingTasks);
+		m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks);
+
+		for (int i = 0; i < m_taskBusy.size(); i++)
+		{
+			m_taskBusy[i] = false;
+		}
+
+		///re-allocate task memory buffers
+		if (m_workUnitTaskBuffers != 0)
+		{
+			btAlignedFree(m_workUnitTaskBuffers);
+		}
+		
+		m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128);
+	}
+	
+}
+
+
+
+SpuCollisionTaskProcess::SpuCollisionTaskProcess(class	btThreadSupportInterface*	threadInterface, unsigned int	maxNumOutstandingTasks)
+:m_threadInterface(threadInterface),
+m_maxNumOutstandingTasks(0)
+{
+	m_workUnitTaskBuffers = (unsigned char *)0;
+	setNumTasks(maxNumOutstandingTasks);
+	m_numBusyTasks = 0;
+	m_currentTask = 0;
+	m_currentPage = 0;
+	m_currentPageEntry = 0;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+	m_initialized = false;
+#endif
+
+	m_threadInterface->startSPU();
+
+	//printf("sizeof vec_float4: %d\n", sizeof(vec_float4));
+	printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", int(sizeof(SpuGatherAndProcessWorkUnitInput)));
+
+}
+
+SpuCollisionTaskProcess::~SpuCollisionTaskProcess()
+{
+	
+	if (m_workUnitTaskBuffers != 0)
+	{
+		btAlignedFree(m_workUnitTaskBuffers);
+		m_workUnitTaskBuffers = 0;
+	}
+	
+
+
+	m_threadInterface->stopSPU();
+	
+}
+
+
+
+void SpuCollisionTaskProcess::initialize2(bool useEpa)
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+	printf("SpuCollisionTaskProcess::initialize()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+	
+	for (int i = 0; i < int (m_maxNumOutstandingTasks); i++)
+	{
+		m_taskBusy[i] = false;
+	}
+	m_numBusyTasks = 0;
+	m_currentTask = 0;
+	m_currentPage = 0;
+	m_currentPageEntry = 0;
+	m_useEpa = useEpa;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+	m_initialized = true;
+	btAssert(MIDPHASE_NUM_WORKUNITS_PER_TASK*sizeof(SpuGatherAndProcessWorkUnitInput) <= MIDPHASE_WORKUNIT_TASK_SIZE);
+#endif
+}
+
+
+void SpuCollisionTaskProcess::issueTask2()
+{
+
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+	printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\n)", m_currentTask);
+#endif //DEBUG_SPU_TASK_SCHEDULING
+
+	m_taskBusy[m_currentTask] = true;
+	m_numBusyTasks++;
+
+
+	SpuGatherAndProcessPairsTaskDesc& taskDesc = m_spuGatherTaskDesc[m_currentTask];
+	taskDesc.m_useEpa = m_useEpa;
+
+	{
+		// send task description in event message
+		// no error checking here...
+		// but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS.
+	
+		taskDesc.m_inPairPtr = reinterpret_cast<uint64_t>(MIDPHASE_TASK_PTR(m_currentTask));
+	
+		taskDesc.taskId = m_currentTask;
+		taskDesc.numPages = m_currentPage+1;
+		taskDesc.numOnLastPage = m_currentPageEntry;
+	}
+
+
+
+	m_threadInterface->sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc,m_currentTask);
+
+	// if all tasks busy, wait for spu event to clear the task.
+	
+
+	if (m_numBusyTasks >= m_maxNumOutstandingTasks)
+	{
+		unsigned int taskId;
+		unsigned int outputSize;
+
+		
+		for (int i=0;i<int (m_maxNumOutstandingTasks);i++)
+		  {
+			  if (m_taskBusy[i])
+			  {
+				  taskId = i;
+				  break;
+			  }
+		  }
+
+	  btAssert(taskId>=0);
+
+	  
+		m_threadInterface->waitForResponse(&taskId, &outputSize);
+
+//		printf("issueTask taskId %d completed, numBusy=%d\n",taskId,m_numBusyTasks);
+
+		//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
+
+		//postProcess(taskId, outputSize);
+
+		m_taskBusy[taskId] = false;
+
+		m_numBusyTasks--;
+	}
+	
+}
+
+void SpuCollisionTaskProcess::addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex)
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+	printf("#");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+	
+#ifdef DEBUG_SpuCollisionTaskProcess
+	btAssert(m_initialized);
+	btAssert(m_workUnitTaskBuffers);
+
+#endif
+
+	bool batch = true;
+
+	if (batch)
+	{
+		if (m_currentPageEntry == MIDPHASE_NUM_WORKUNITS_PER_PAGE)
+		{
+			if (m_currentPage == MIDPHASE_NUM_WORKUNIT_PAGES-1)
+			{
+				// task buffer is full, issue current task.
+				// if all task buffers busy, this waits until SPU is done.
+				issueTask2();
+
+				// find new task buffer
+				for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
+				{
+					if (!m_taskBusy[i])
+					{
+						m_currentTask = i;
+						//init the task data
+
+						break;
+					}
+				}
+
+				m_currentPage = 0;
+			}
+			else
+			{
+				m_currentPage++;
+			}
+
+			m_currentPageEntry = 0;
+		}
+	}
+
+	{
+
+
+
+		SpuGatherAndProcessWorkUnitInput &wuInput = 
+			*(reinterpret_cast<SpuGatherAndProcessWorkUnitInput*>
+			(MIDPHASE_ENTRY_PTR(m_currentTask, m_currentPage, m_currentPageEntry)));
+		
+		wuInput.m_pairArrayPtr = reinterpret_cast<uint64_t>(pairArrayPtr);
+		wuInput.m_startIndex = startIndex;
+		wuInput.m_endIndex = endIndex;
+
+		
+	
+		m_currentPageEntry++;
+
+		if (!batch)
+		{
+			issueTask2();
+
+			// find new task buffer
+			for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++)
+			{
+				if (!m_taskBusy[i])
+				{
+					m_currentTask = i;
+					//init the task data
+
+					break;
+				}
+			}
+
+			m_currentPage = 0;
+			m_currentPageEntry =0;
+		}
+	}
+}
+
+
+void 
+SpuCollisionTaskProcess::flush2()
+{
+#ifdef DEBUG_SPU_TASK_SCHEDULING
+	printf("\nSpuCollisionTaskProcess::flush()\n");
+#endif //DEBUG_SPU_TASK_SCHEDULING
+	
+	// if there's a partially filled task buffer, submit that task
+	if (m_currentPage > 0 || m_currentPageEntry > 0)
+	{
+		issueTask2();
+	}
+
+
+	// all tasks are issued, wait for all tasks to be complete
+	while(m_numBusyTasks > 0)
+	{
+	  // Consolidating SPU code
+	  unsigned int taskId=-1;
+	  unsigned int outputSize;
+	  
+	  for (int i=0;i<int (m_maxNumOutstandingTasks);i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
+
+	  btAssert(taskId>=0);
+
+	
+	  {
+			
+		// SPURS support.
+		  m_threadInterface->waitForResponse(&taskId, &outputSize);
+	  }
+//		 printf("flush2 taskId %d completed, numBusy =%d \n",taskId,m_numBusyTasks);
+		//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
+
+		//postProcess(taskId, outputSize);
+
+		m_taskBusy[taskId] = false;
+
+		m_numBusyTasks--;
+	}
+
+
+}

data/deps/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h

@@ -0,0 +1,163 @@
+/*
+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.
+*/
+
+#ifndef BT_SPU_COLLISION_TASK_PROCESS_H
+#define BT_SPU_COLLISION_TASK_PROCESS_H
+
+#include <assert.h>
+
+#include "LinearMath/btScalar.h"
+
+#include "PlatformDefinitions.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory
+
+#include "btThreadSupportInterface.h"
+
+
+//#include "SPUAssert.h"
+#include <string.h>
+
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+#include <stdio.h>
+
+
+#define DEBUG_SpuCollisionTaskProcess 1
+
+
+#define CMD_GATHER_AND_PROCESS_PAIRLIST	1
+
+class btCollisionObject;
+class btPersistentManifold;
+class btDispatcher;
+
+
+/////Task Description for SPU collision detection
+//struct SpuGatherAndProcessPairsTaskDesc
+//{
+//	uint64_t	inPtr;//m_pairArrayPtr;
+//	//mutex variable
+//	uint32_t	m_someMutexVariableInMainMemory;
+//
+//	uint64_t	m_dispatcher;
+//
+//	uint32_t	numOnLastPage;
+//
+//	uint16_t numPages;
+//	uint16_t taskId;
+//
+//	struct	CollisionTask_LocalStoreMemory*	m_lsMemory; 
+//}
+//
+//#if  defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
+//__attribute__ ((aligned (16)))
+//#endif
+//;
+
+
+///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU.
+ATTRIBUTE_ALIGNED16(struct) SpuGatherAndProcessWorkUnitInput
+{
+	uint64_t m_pairArrayPtr;
+	int		m_startIndex;
+	int		m_endIndex;
+};
+
+
+
+
+/// SpuCollisionTaskProcess handles SPU processing of collision pairs.
+/// Maintains a set of task buffers.
+/// When the task is full, the task is issued for SPUs to process.  Contact output goes into btPersistentManifold
+/// associated with each task.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class SpuCollisionTaskProcess
+{
+
+  unsigned char  *m_workUnitTaskBuffers;
+
+
+	// track task buffers that are being used, and total busy tasks
+	btAlignedObjectArray<bool>	m_taskBusy;
+	btAlignedObjectArray<SpuGatherAndProcessPairsTaskDesc>	m_spuGatherTaskDesc;
+
+	class	btThreadSupportInterface*	m_threadInterface;
+
+	unsigned int	m_maxNumOutstandingTasks;
+
+	unsigned int   m_numBusyTasks;
+
+	// the current task and the current entry to insert a new work unit
+	unsigned int   m_currentTask;
+	unsigned int   m_currentPage;
+	unsigned int   m_currentPageEntry;
+
+	bool m_useEpa;
+
+#ifdef DEBUG_SpuCollisionTaskProcess
+	bool m_initialized;
+#endif
+	void issueTask2();
+	//void postProcess(unsigned int taskId, int outputSize);
+
+public:
+	SpuCollisionTaskProcess(btThreadSupportInterface*	threadInterface, unsigned int maxNumOutstandingTasks);
+	
+	~SpuCollisionTaskProcess();
+	
+	///call initialize in the beginning of the frame, before addCollisionPairToTask
+	void initialize2(bool useEpa = false);
+
+	///batch up additional work to a current task for SPU processing. When batch is full, it issues the task.
+	void addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex);
+
+	///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+	void flush2();
+
+	/// set the maximum number of SPU tasks allocated
+	void	setNumTasks(int maxNumTasks);
+
+	int		getNumTasks() const
+	{
+		return m_maxNumOutstandingTasks;
+	}
+};
+
+
+
+#define MIDPHASE_TASK_PTR(task) (&m_workUnitTaskBuffers[0] + MIDPHASE_WORKUNIT_TASK_SIZE*task)
+#define MIDPHASE_ENTRY_PTR(task,page,entry) (MIDPHASE_TASK_PTR(task) + MIDPHASE_WORKUNIT_PAGE_SIZE*page + sizeof(SpuGatherAndProcessWorkUnitInput)*entry)
+#define MIDPHASE_OUTPUT_PTR(task) (&m_contactOutputBuffers[0] + MIDPHASE_MAX_CONTACT_BUFFER_SIZE*task)
+#define MIDPHASE_TREENODES_PTR(task) (&m_complexShapeBuffers[0] + MIDPHASE_COMPLEX_SHAPE_BUFFER_SIZE*task)
+
+
+#define MIDPHASE_WORKUNIT_PAGE_SIZE (16)
+//#define MIDPHASE_WORKUNIT_PAGE_SIZE (128)
+
+#define MIDPHASE_NUM_WORKUNIT_PAGES 1
+#define MIDPHASE_WORKUNIT_TASK_SIZE (MIDPHASE_WORKUNIT_PAGE_SIZE*MIDPHASE_NUM_WORKUNIT_PAGES)
+#define MIDPHASE_NUM_WORKUNITS_PER_PAGE (MIDPHASE_WORKUNIT_PAGE_SIZE / sizeof(SpuGatherAndProcessWorkUnitInput))
+#define MIDPHASE_NUM_WORKUNITS_PER_TASK (MIDPHASE_NUM_WORKUNITS_PER_PAGE*MIDPHASE_NUM_WORKUNIT_PAGES)
+
+
+#endif // BT_SPU_COLLISION_TASK_PROCESS_H
+

data/deps/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp

@@ -0,0 +1,69 @@
+/*
+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 "SpuContactManifoldCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+
+
+
+
+void SpuContactManifoldCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	btAssert(0);
+}
+
+btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	btAssert(0);
+	return 1.f;
+}
+
+#ifndef __SPU__
+SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
+:btCollisionAlgorithm(ci)
+#ifdef USE_SEPDISTANCE_UTIL
+,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())
+#endif //USE_SEPDISTANCE_UTIL
+{
+	m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+	m_shapeType0 = body0->getCollisionShape()->getShapeType();
+	m_shapeType1 = body1->getCollisionShape()->getShapeType();
+	m_collisionMargin0 = body0->getCollisionShape()->getMargin();
+	m_collisionMargin1 = body1->getCollisionShape()->getMargin();
+	m_collisionObject0 = body0;
+	m_collisionObject1 = body1;
+
+	if (body0->getCollisionShape()->isPolyhedral())
+	{
+		btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape();
+		m_shapeDimensions0 = convex0->getImplicitShapeDimensions();
+	}
+	if (body1->getCollisionShape()->isPolyhedral())
+	{
+		btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape();
+		m_shapeDimensions1 = convex1->getImplicitShapeDimensions();
+	}
+}
+#endif //__SPU__
+
+
+SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm()
+{
+	if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+}

data/deps/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h

@@ -0,0 +1,120 @@
+/*
+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.
+*/
+
+#ifndef BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
+#define BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "LinearMath/btTransformUtil.h"
+
+class btPersistentManifold;
+
+//#define USE_SEPDISTANCE_UTIL 1
+
+/// SpuContactManifoldCollisionAlgorithm  provides contact manifold and should be processed on SPU.
+ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
+{
+	btVector3	m_shapeDimensions0;
+	btVector3	m_shapeDimensions1;
+	btPersistentManifold*	m_manifoldPtr;
+	int		m_shapeType0;
+	int		m_shapeType1;
+	float	m_collisionMargin0;
+	float	m_collisionMargin1;
+
+	btCollisionObject*	m_collisionObject0;
+	btCollisionObject*	m_collisionObject1;
+	
+	
+
+	
+public:
+	
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	
+	SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+#ifdef USE_SEPDISTANCE_UTIL
+	btConvexSeparatingDistanceUtil	m_sepDistance;
+#endif //USE_SEPDISTANCE_UTIL
+
+	virtual ~SpuContactManifoldCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
+
+	btPersistentManifold*	getContactManifoldPtr()
+	{
+		return m_manifoldPtr;
+	}
+
+	btCollisionObject*	getCollisionObject0()
+	{
+		return m_collisionObject0;
+	}
+	
+	btCollisionObject*	getCollisionObject1()
+	{
+		return m_collisionObject1;
+	}
+
+	int		getShapeType0() const
+	{
+		return m_shapeType0;
+	}
+
+	int		getShapeType1() const
+	{
+		return m_shapeType1;
+	}
+	float	getCollisionMargin0() const
+	{
+		return m_collisionMargin0;
+	}
+	float	getCollisionMargin1() const
+	{
+		return m_collisionMargin1;
+	}
+
+	const btVector3&	getShapeDimensions0() const
+	{
+		return m_shapeDimensions0;
+	}
+
+	const btVector3&	getShapeDimensions1() const
+	{
+		return m_shapeDimensions1;
+	}
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
+			return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
+		}
+	};
+
+};
+
+#endif //BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H