feat(physics): wire physx sdk into build

engine/third_party/physx/snippets/snippetpbdinflatable/SnippetPBDInflatableRender.cpp

@@ -0,0 +1,165 @@
+// 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.  
+
+#ifdef RENDER_SNIPPET
+
+#include "PxPhysicsAPI.h"
+#include "cudamanager/PxCudaContext.h"
+#include "cudamanager/PxCudaContextManager.h"
+
+#include "../snippetrender/SnippetRender.h"
+#include "../snippetrender/SnippetCamera.h"
+
+#define CUDA_SUCCESS 0
+#define SHOW_SOLID_SDF_SLICE 0
+#define IDX(i, j, k, offset) ((i) + dimX * ((j) + dimY * ((k) + dimZ * (offset))))
+using namespace physx;
+
+extern void initPhysics(bool interactive);
+extern void stepPhysics(bool interactive);	
+extern void cleanupPhysics(bool interactive);
+extern void keyPress(unsigned char key, const PxTransform& camera);
+extern PxPBDParticleSystem* getParticleSystem(); 
+extern PxParticleClothBuffer* getUserClothBuffer();
+
+
+namespace
+{
+Snippets::Camera* sCamera;
+
+Snippets::SharedGLBuffer sPosBuffer;
+
+void onBeforeRenderParticles()
+{
+	PxPBDParticleSystem* particleSystem = getParticleSystem();
+	if (particleSystem) 
+	{
+		PxParticleClothBuffer* userBuffer = getUserClothBuffer();
+		PxVec4* positions = userBuffer->getPositionInvMasses();
+		const PxU32 numParticles = userBuffer->getNbActiveParticles();
+
+		PxScene* scene;
+		PxGetPhysics().getScenes(&scene, 1);
+		PxCudaContextManager* cudaContextManager = scene->getCudaContextManager();
+
+		cudaContextManager->acquireContext();
+
+		PxCudaContext* cudaContext = cudaContextManager->getCudaContext();
+		cudaContext->memcpyDtoH(sPosBuffer.map(), CUdeviceptr(positions), sizeof(PxVec4) * numParticles);
+
+		cudaContextManager->releaseContext();
+#if SHOW_SOLID_SDF_SLICE
+		particleSystem->copySparseGridData(sSparseGridSolidSDFBufferD, PxSparseGridDataFlag::eGRIDCELL_SOLID_GRADIENT_AND_SDF);
+#endif
+	}
+	
+}
+
+void renderParticles()
+{
+	sPosBuffer.unmap();
+	
+	PxVec3 color(1.f, 0.75f, 0);
+	Snippets::DrawPoints(sPosBuffer.vbo, sPosBuffer.size / sizeof(PxVec4), color, 2.f);
+	Snippets::DrawFrame(PxVec3(0, 0, 0));
+}
+
+void allocParticleBuffers()
+{
+	PxScene* scene;
+	PxGetPhysics().getScenes(&scene, 1);
+	PxCudaContextManager* cudaContextManager = scene->getCudaContextManager();
+	if (cudaContextManager != NULL)
+	{
+		PxParticleClothBuffer* userBuffer = getUserClothBuffer();
+
+		PxU32 maxParticles = userBuffer->getMaxParticles();
+
+		sPosBuffer.initialize(cudaContextManager);
+		sPosBuffer.allocate(maxParticles * sizeof(PxVec4));
+	}
+}
+
+void clearupParticleBuffers()
+{
+	sPosBuffer.release();
+}
+
+void renderCallback()
+{
+	onBeforeRenderParticles();
+
+	stepPhysics(true);
+
+	Snippets::startRender(sCamera);
+
+	PxScene* scene;
+	PxGetPhysics().getScenes(&scene,1);
+	PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
+	if(nbActors)
+	{
+		PxArray<PxRigidActor*> actors(nbActors);
+		scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
+		Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
+	}
+	
+	renderParticles();
+
+	Snippets::showFPS();
+
+	Snippets::finishRender();
+}
+
+void cleanup()
+{
+	delete sCamera;
+	clearupParticleBuffers();
+	cleanupPhysics(true);
+}
+
+void exitCallback()
+{
+}
+}
+
+void renderLoop()
+{
+	sCamera = new Snippets::Camera(PxVec3(15.0f, 10.0f, 15.0f), PxVec3(-0.6f,-0.2f,-0.6f));
+
+	Snippets::setupDefault("PhysX Snippet PBDInflatable", sCamera, keyPress, renderCallback, exitCallback);
+
+	initPhysics(true);
+	Snippets::initFPS();
+
+	allocParticleBuffers();
+
+	glutMainLoop();
+
+	cleanup();
+}
+#endif