feat(physics): wire physx sdk into build
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engine/third_party/physx/include/gpu/PxPhysicsGpu.h
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engine/third_party/physx/include/gpu/PxPhysicsGpu.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_PHYSICS_GPU_H
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#define PX_PHYSICS_GPU_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 "PxParticleSystem.h"
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#include "foundation/PxArray.h"
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#include "PxParticleGpu.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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#if PX_SUPPORT_GPU_PHYSX
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class PxSceneDesc;
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class PxIsosurfaceExtractor;
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class PxSparseGridIsosurfaceExtractor;
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class PxAnisotropyGenerator;
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class PxSmoothedPositionGenerator;
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class PxParticleNeighborhoodProvider;
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class PxArrayConverter;
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class PxSDFBuilder;
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class PxDeformableSkinning;
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struct PxIsosurfaceParams;
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struct PxSparseGridParams;
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class PxPhysicsGpu
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{
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public:
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/**
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\brief Creates an isosurface extractor operating on a dense grid
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\param[in] cudaContextManager A cuda context manager
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\param[in] worldBounds The bounds of the internally used dense grid. The isosurface can only be generated inside those bounds.
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\param[in] cellSize The size of a single grid cell
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\param[in] isosurfaceParams The isosurface parameters to control the isolevel etc.
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\param[in] maxNumParticles The maximal number of particles that can be processed
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\param[in] maxNumVertices The maximal number of vertices the output buffer can hold
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\param[in] maxNumTriangles The maximal number of triangles the output buffer can hold
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*/
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virtual PxIsosurfaceExtractor* createDenseGridIsosurfaceExtractor(PxCudaContextManager* cudaContextManager, const PxBounds3& worldBounds,
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PxReal cellSize, const PxIsosurfaceParams& isosurfaceParams, PxU32 maxNumParticles, PxU32 maxNumVertices = 512 * 1024, PxU32 maxNumTriangles = 1024 * 1024) = 0;
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/**
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\brief Creates an isosurface extractor operating on a sparse grid
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\param[in] cudaContextManager A cuda context manager
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\param[in] sparseGridParams The sparse grid parameters defining the cell size etc.
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\param[in] isosurfaceParams The isosurface parameters to control the isolevel etc.
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\param[in] maxNumParticles The maximal number of particles that can be processed
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\param[in] maxNumVertices The maximal number of vertices the output buffer can hold
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\param[in] maxNumTriangles The maximal number of triangles the output buffer can hold
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*/
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virtual PxSparseGridIsosurfaceExtractor* createSparseGridIsosurfaceExtractor(PxCudaContextManager* cudaContextManager, const PxSparseGridParams& sparseGridParams,
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const PxIsosurfaceParams& isosurfaceParams, PxU32 maxNumParticles, PxU32 maxNumVertices = 512 * 1024, PxU32 maxNumTriangles = 1024 * 1024) = 0;
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/**
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\brief Creates an anisotropy generator
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\param[in] cudaContextManager A cuda context manager
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\param[in] maxNumParticles The number of particles
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\param[in] anisotropyScale A uniform scaling factor to increase or decrease anisotropy
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\param[in] minAnisotropy The minimum scaling factor in any dimension that anisotropy can have
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\param[in] maxAnisotropy The maximum scaling factor in any dimension that anisotropy can have
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*/
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virtual PxAnisotropyGenerator* createAnisotropyGenerator(PxCudaContextManager* cudaContextManager, PxU32 maxNumParticles,
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PxReal anisotropyScale = 1.0f, PxReal minAnisotropy = 0.1f, PxReal maxAnisotropy = 2.0f) = 0;
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/**
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\brief Creates a smoothed position generator
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\param[in] cudaContextManager A cuda context manager
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\param[in] maxNumParticles The number of particles
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\param[in] smoothingStrength Controls the strength of the smoothing effect
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*/
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virtual PxSmoothedPositionGenerator* createSmoothedPositionGenerator(PxCudaContextManager* cudaContextManager, PxU32 maxNumParticles, PxReal smoothingStrength = 0.5f) = 0;
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/**
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\brief Creates a neighborhood provider
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\param[in] cudaContextManager A cuda context manager
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\param[in] maxNumParticles The number of particles
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\param[in] cellSize The grid cell size. Should be equal to 2*contactOffset for PBD particle systems.
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\param[in] maxNumSparseGridCells The maximal number of cells the internally used sparse grid can provide
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*/
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virtual PxParticleNeighborhoodProvider* createParticleNeighborhoodProvider(PxCudaContextManager* cudaContextManager, const PxU32 maxNumParticles,
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const PxReal cellSize, const PxU32 maxNumSparseGridCells = 262144) = 0;
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/**
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\brief Creates an array converter. If not used anymore, the caller needs to delete the returned pointer.
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\param[in] cudaContextManager A cuda context manager
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*/
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virtual PxArrayConverter* createArrayConverter(PxCudaContextManager* cudaContextManager) = 0;
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/**
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\brief Creates sdf builder to construct sdfs quickly on the GPU. If not used anymore, the caller needs to delete the returned pointer.
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\param[in] cudaContextManager A cuda context manager
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\return Pointer to a new instance of a PxSDFBuilder
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*/
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virtual PxSDFBuilder* createSDFBuilder(PxCudaContextManager* cudaContextManager) = 0;
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/**
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\brief Creates a deformable skinning instance to perform skinning operations on the GPU. If not used anymore, the caller needs to delete the returned pointer.
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\param[in] cudaContextManager A cuda context manager
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\return Pointer to a new instance of a PxDeformableSkinning
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*/
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virtual PxDeformableSkinning* createDeformableSkinning(PxCudaContextManager* cudaContextManager) = 0;
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virtual void release() = 0;
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virtual ~PxPhysicsGpu() {}
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};
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#endif
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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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