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feat(physics): wire physx sdk into build

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ssdfasd
2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
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engine/third_party/physx/snippets/snippetutils/SnippetImmUtils.cpp vendored Normal file
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// 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.
#include "SnippetImmUtils.h"

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// 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.
#include "PxPhysXConfig.h"
#include "foundation/PxArray.h"
#include "foundation/PxUserAllocated.h"
#include "collision/PxCollisionDefs.h"
#include "solver/PxSolverDefs.h"
namespace physx
{
namespace SnippetImmUtils
{
class BlockBasedAllocator
{
struct AllocationPage : PxUserAllocated
{
static const PxU32 PageSize = 32 * 1024;
PxU8 mPage[PageSize];
PxU32 currentIndex;
AllocationPage() : currentIndex(0){}
PxU8* allocate(const PxU32 size)
{
PxU32 alignedSize = (size + 15)&(~15);
if ((currentIndex + alignedSize) < PageSize)
{
PxU8* ret = &mPage[currentIndex];
currentIndex += alignedSize;
return ret;
}
return NULL;
}
};
AllocationPage* currentPage;
PxArray<AllocationPage*> mAllocatedBlocks;
PxU32 mCurrentIndex;
public:
BlockBasedAllocator() : currentPage(NULL), mCurrentIndex(0)
{
}
virtual PxU8* allocate(const PxU32 byteSize)
{
if (currentPage)
{
PxU8* data = currentPage->allocate(byteSize);
if (data)
return data;
}
if (mCurrentIndex < mAllocatedBlocks.size())
{
currentPage = mAllocatedBlocks[mCurrentIndex++];
currentPage->currentIndex = 0;
return currentPage->allocate(byteSize);
}
currentPage = PX_NEW(AllocationPage);
mAllocatedBlocks.pushBack(currentPage);
mCurrentIndex = mAllocatedBlocks.size();
return currentPage->allocate(byteSize);
}
void release()
{
for (PxU32 a = 0; a < mAllocatedBlocks.size(); ++a)
PX_DELETE(mAllocatedBlocks[a]);
mAllocatedBlocks.clear();
currentPage = NULL;
mCurrentIndex = 0;
}
void reset()
{
currentPage = NULL;
mCurrentIndex = 0;
}
virtual ~BlockBasedAllocator()
{
release();
}
};
class TestCacheAllocator : public PxCacheAllocator
{
BlockBasedAllocator mAllocator[2];
PxU32 currIdx;
public:
TestCacheAllocator() : currIdx(0)
{
}
virtual PxU8* allocateCacheData(const PxU32 byteSize)
{
return mAllocator[currIdx].allocate(byteSize);
}
void release() { currIdx = 1 - currIdx; mAllocator[currIdx].release(); }
void reset() { currIdx = 1 - currIdx; mAllocator[currIdx].reset(); }
virtual ~TestCacheAllocator(){}
};
class TestConstraintAllocator : public PxConstraintAllocator
{
BlockBasedAllocator mConstraintAllocator;
BlockBasedAllocator mFrictionAllocator[2];
PxU32 currIdx;
public:
TestConstraintAllocator() : currIdx(0)
{
}
virtual PxU8* reserveConstraintData(const PxU32 byteSize){ return mConstraintAllocator.allocate(byteSize); }
virtual PxU8* reserveFrictionData(const PxU32 byteSize){ return mFrictionAllocator[currIdx].allocate(byteSize); }
void release() { currIdx = 1 - currIdx; mConstraintAllocator.release(); mFrictionAllocator[currIdx].release(); }
virtual ~TestConstraintAllocator() {}
};
}
}

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// 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.
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
namespace physx
{
namespace SnippetUtils
{
/////
class BasicRandom
{
public:
BasicRandom(PxU32 seed=0) : mRnd(seed) {}
~BasicRandom() {}
PX_FORCE_INLINE void setSeed(PxU32 seed) { mRnd = seed; }
PX_FORCE_INLINE PxU32 getCurrentValue() const { return mRnd; }
PxU32 randomize() { mRnd = mRnd * 2147001325 + 715136305; return mRnd; }
PX_FORCE_INLINE PxU32 rand() { return randomize() & 0xffff; }
PX_FORCE_INLINE PxU32 rand32() { return randomize() & 0xffffffff; }
PxF32 rand(PxF32 a, PxF32 b)
{
const PxF32 r = rand32()/(static_cast<PxF32>(0xffffffff));
return r*(b-a) + a;
}
PxI32 rand(PxI32 a, PxI32 b)
{
return a + static_cast<PxI32>(rand32()%(b-a));
}
PxF32 randomFloat()
{
return rand()/(static_cast<PxF32>(0xffff)) - 0.5f;
}
PxF32 randomFloat32()
{
return rand32()/(static_cast<PxF32>(0xffffffff)) - 0.5f;
}
PxF32 randomFloat32(PxReal a, PxReal b) { return rand32()/PxF32(0xffffffff)*(b-a)+a; }
void unitRandomPt(physx::PxVec3& v);
void unitRandomQuat(physx::PxQuat& v);
PxVec3 unitRandomPt();
PxQuat unitRandomQuat();
private:
PxU32 mRnd;
};
/////
PxU32 Bunny_getNbVerts();
PxU32 Bunny_getNbFaces();
const PxVec3* Bunny_getVerts();
const PxU32* Bunny_getFaces();
/////
/* Increment the specified location. Return the incremented value. */
PxI32 atomicIncrement(volatile PxI32* val);
/* Decrement the specified location. Return the decremented value. */
PxI32 atomicDecrement(volatile PxI32* val);
//******************************************************************************//
/* Return the number of physical cores (does not include hyper-threaded cores), returns 0 on failure. */
PxU32 getNbPhysicalCores();
//******************************************************************************//
/* Return the id of a thread. */
PxU32 getThreadId();
//******************************************************************************//
/* Return the current time */
PxU64 getCurrentTimeCounterValue();
/* Convert to milliseconds an elapsed time computed from the difference of the times returned from two calls to getCurrentTimeCounterValue. */
PxReal getElapsedTimeInMilliseconds(const PxU64 elapsedTime);
/* Convert to microseconds an elapsed time computed from the difference of the times returned from two calls to getCurrentTimeCounterValue. */
PxReal getElapsedTimeInMicroSeconds(const PxU64 elapsedTime);
//******************************************************************************//
struct Sync;
/* Create a sync object. Returns a unique handle to the sync object so that it may be addressed through syncWait etc. */
Sync* syncCreate();
/* Wait indefinitely until the specified sync object is signaled. */
void syncWait(Sync* sync);
/* Signal the specified synchronization object, waking all threads waiting on it. */
void syncSet(Sync* sync);
/** Reset the specified synchronization object. */
void syncReset(Sync* sync);
/* Release the specified sync object so that it may be reused with syncCreate. */
void syncRelease(Sync* sync);
//******************************************************************************//
struct Thread;
/* Prototype of callback passed to threadCreate. */
typedef void (*ThreadEntryPoint)(void*);
/* Create a thread object and return a unique handle to the thread object so that it may be addressed through threadStart etc.
entryPoint implements ThreadEntryPoint and data will be passed as a function argument, POSIX-style. */
Thread* threadCreate(ThreadEntryPoint entryPoint, void* data);
/* Cleanly shut down the specified thread. Called in the context of the spawned thread. */
void threadQuit(Thread* thread);
/* Stop the specified thread. Signals the spawned thread that it should stop, so the
thread should check regularly. */
void threadSignalQuit(Thread* thread);
/* Wait for the specified thread to stop. Should be called in the context of the spawning
thread. Returns false if the thread has not been started.*/
bool threadWaitForQuit(Thread* thread);
/* Check whether the thread is signalled to quit. Called in the context of the
spawned thread. */
bool threadQuitIsSignalled(Thread* thread);
/* Release the specified thread object so that it may be reused with threadCreate. */
void threadRelease(Thread* thread);
//******************************************************************************//
struct Mutex;
/* Create a mutex object and return a unique handle to the mutex object so that it may be addressed through mutexLock etc. */
Mutex* mutexCreate();
/* Acquire (lock) the specified mutex. If the mutex is already locked by another thread, this method blocks until the mutex is unlocked.*/
void mutexLock(Mutex* mutex);
/* Release (unlock) the specified mutex, the calling thread must have previously called lock() or method will error. */
void mutexUnlock(Mutex* mutex);
/* Release the specified mutex so that it may be reused with mutexCreate. */
void mutexRelease(Mutex* mutex);
}
}