feat(physics): wire physx sdk into build

2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
--- a/engine/third_party/physx/include/vehicle2/wheel/PxVehicleWheelComponents.h
+++ b/engine/third_party/physx/include/vehicle2/wheel/PxVehicleWheelComponents.h
@@ -0,0 +1,116 @@
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#pragma once
+
+
+#include "vehicle2/PxVehicleParams.h"
+#include "vehicle2/PxVehicleComponent.h"
+
+#include "vehicle2/commands/PxVehicleCommandHelpers.h"
+#include "vehicle2/tire/PxVehicleTireStates.h"
+
+#include "PxVehicleWheelFunctions.h"
+#include "PxVehicleWheelHelpers.h"
+
+#include "common/PxProfileZone.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+namespace vehicle2
+{
+#endif
+
+class PxVehicleWheelComponent : public PxVehicleComponent
+{
+public:
+
+	PxVehicleWheelComponent() : PxVehicleComponent() {}
+	virtual ~PxVehicleWheelComponent() {}
+
+	virtual void getDataForWheelComponent(
+		const PxVehicleAxleDescription*& axleDescription,
+		PxVehicleArrayData<const PxReal>& steerResponseStates,
+		PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
+		PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
+		PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
+		PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
+		PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
+		PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
+		PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
+  	    PxVehicleArrayData<PxVehicleWheelLocalPose>& wheelLocalPoses) = 0;
+
+	virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
+	{
+		PX_PROFILE_ZONE("PxVehicleWheelComponent::update", 0);
+
+		const PxVehicleAxleDescription* axleDescription;
+		PxVehicleArrayData<const PxReal> steerResponseStates;
+		PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
+		PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
+		PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
+		PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
+		PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
+		PxVehicleArrayData<const PxVehicleTireSpeedState> tireSpeedStates;
+		PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
+		PxVehicleArrayData<PxVehicleWheelLocalPose> wheelLocalPoses;
+
+		getDataForWheelComponent(axleDescription, steerResponseStates,
+			wheelParams, suspensionParams, actuationStates, suspensionStates,
+			suspensionComplianceStates, tireSpeedStates, wheelRigidBody1dStates,
+			wheelLocalPoses);
+
+		for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
+		{
+			const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
+
+			PxVehicleWheelRotationAngleUpdate(
+				wheelParams[wheelId], 
+				actuationStates[wheelId], suspensionStates[wheelId], 
+				tireSpeedStates[wheelId], 
+				context.thresholdForwardSpeedForWheelAngleIntegration, dt, 
+				wheelRigidBody1dStates[wheelId]);
+
+			wheelLocalPoses[wheelId].localPose = PxVehicleComputeWheelLocalPose(context.frame, 
+				suspensionParams[wheelId],
+				suspensionStates[wheelId], 
+				suspensionComplianceStates[wheelId],
+				steerResponseStates[wheelId],
+				wheelRigidBody1dStates[wheelId]);
+		}
+
+		return true;
+	}
+};
+
+#if !PX_DOXYGEN
+} // namespace vehicle2
+} // namespace physx
+#endif
+