feat(physics): wire physx sdk into build
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engine/third_party/physx/include/PxSDFBuilder.h
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engine/third_party/physx/include/PxSDFBuilder.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_SDF_BUILDER_H
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#define PX_SDF_BUILDER_H
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#include "cudamanager/PxCudaContext.h"
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#include "cudamanager/PxCudaContextManager.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec4.h"
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#include "foundation/PxArray.h"
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#include "cooking/PxSDFDesc.h"
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#include "cudamanager/PxCudaTypes.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Utility class to compute an SDF on the GPU
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*/
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class PxSDFBuilder
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{
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public:
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/**
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\brief Constructs a dense grid SDF for a triangle mesh using the GPU
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\param[in] vertices The vertices of the triangle mesh
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\param[in] numVertices The number of vertices
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\param[in] indices The triangle indices
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\param[in] numTriangleIndices The number of triangle indices
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\param[in] width The number of samples along the x direction of the resulting SDF volume
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\param[in] height The number of samples along the y direction of the resulting SDF volume
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\param[in] depth The number of samples along the z direction of the resulting SDF volume
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\param[in] minExtents The minimum corner location of the axis aligned box containing the SDF samples
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\param[in] maxExtents The maximum corner location of the axis aligned box containing the SDF samples
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\param[in] cellCenteredSamples Determines if the sample points are located at the center of a SDF cell or at the lower left (=min) corner of a cell
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\param[out] sdf The distance values. Must provide space for width*height*depth distance samples. Negative distance means the sample point is located inside of the triangle mesh
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\param[in] stream The cuda stream on which the conversion is processed. If the default stream (0) is used, a temporary stream will be created internally
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\return A boolean that indicates whether the SDF creation succeeded
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*/
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virtual bool buildSDF(const PxVec3* vertices, PxU32 numVertices, const PxU32* indices, PxU32 numTriangleIndices, PxU32 width, PxU32 height, PxU32 depth,
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const PxVec3& minExtents, const PxVec3& maxExtents, bool cellCenteredSamples, PxReal* sdf, CUstream stream = 0) = 0;
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/**
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\brief Constructs a sparse grid SDF for a triangle mesh using the GPU
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\param[in] vertices The vertices of the triangle mesh
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\param[in] numVertices The number of vertices
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\param[in] indices The triangle indices
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\param[in] numTriangleIndices The number of triangle indices
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\param[in] width The number of samples along the x direction of the resulting SDF volume
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\param[in] height The number of samples along the y direction of the resulting SDF volume
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\param[in] depth The number of samples along the z direction of the resulting SDF volume
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\param[in] minExtents The minimum corner location of the axis aligned box containing the SDF samples
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\param[in] maxExtents The maximum corner location of the axis aligned box containing the SDF samples
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\param[in] narrowBandThickness The thickness of the narrow band
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\param[in] cellsPerSubgrid The number of cells in a sparse subgrid block (full block has mSubgridSize^3 cells and (mSubgridSize+1)^3 samples)
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\param[in] bitsPerSubgridPixel Subgrid pixel compression
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\param[out] sdfCoarse Used to store the lower resolution, dense backround SDF to provide distance information further away from the mesh's surface
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\param[out] sdfSubgridsStartSlots Used to store the subgrids start indices
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\param[out] sdfDataSubgrids Used to store the subgrids
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\param[out] subgridsMinSdfValue Used to store the minimum sdf value over all subgrids
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\param[out] subgridsMaxSdfValue Used to store the maximum sdf value over all subgrids
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\param[out] sdfSubgrids3DTexBlockDimX Used to store x dimension of the texture block that stores the subgrids
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\param[out] sdfSubgrids3DTexBlockDimY Used to store y dimension of the texture block that stores the subgrids
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\param[out] sdfSubgrids3DTexBlockDimZ Used to store z dimension of the texture block that stores the subgrids
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\param[in] stream The cuda stream on which the conversion is processed. If the default stream (0) is used, a temporary stream will be created internally
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\return A boolean that indicates whether the SDF creation succeeded
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*/
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virtual bool buildSparseSDF(const PxVec3* vertices, PxU32 numVertices, const PxU32* indices, PxU32 numTriangleIndices, PxU32 width, PxU32 height, PxU32 depth,
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const PxVec3& minExtents, const PxVec3& maxExtents, PxReal narrowBandThickness, PxU32 cellsPerSubgrid, PxSdfBitsPerSubgridPixel::Enum bitsPerSubgridPixel,
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PxArray<PxReal>& sdfCoarse, PxArray<PxU32>& sdfSubgridsStartSlots, PxArray<PxU8>& sdfDataSubgrids,
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PxReal& subgridsMinSdfValue, PxReal& subgridsMaxSdfValue,
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PxU32& sdfSubgrids3DTexBlockDimX, PxU32& sdfSubgrids3DTexBlockDimY, PxU32& sdfSubgrids3DTexBlockDimZ, CUstream stream = 0) = 0;
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/**
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\brief Releases the memory including the this pointer
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*/
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virtual void release() = 0;
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/**
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\brief Destructor
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*/
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virtual ~PxSDFBuilder() { }
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif
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