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feat(physics): wire physx sdk into build

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2026-04-15 12:22:15 +08:00
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engine/third_party/physx/source/common/src/CmConeLimitHelper.h 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.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef CM_CONE_LIMIT_HELPER_H
#define CM_CONE_LIMIT_HELPER_H
// This class contains methods for supporting the tan-quarter swing limit - that
// is the, ellipse defined by tanQ(theta)^2/tanQ(thetaMax)^2 + tanQ(phi)^2/tanQ(phiMax)^2 = 1
//
// Angles are passed as an PxVec3 swing vector with x = 0 and y and z the swing angles
// around the y and z axes
#include "foundation/PxMathUtils.h"
namespace physx
{
namespace Cm
{
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal tanAdd(PxReal tan1, PxReal tan2)
{
PX_ASSERT(PxAbs(1.0f-tan1*tan2)>1e-6f);
return (tan1+tan2)/(1.0f-tan1*tan2);
}
PX_CUDA_CALLABLE PX_FORCE_INLINE float computeAxisAndError(const PxVec3& r, const PxVec3& d, const PxVec3& twistAxis, PxVec3& axis)
{
// the point on the cone defined by the tanQ swing vector r
// this code is equal to quatFromTanQVector(r).rotate(PxVec3(1.0f, 0.0f, 0.0f);
const PxVec3 p(1.0f, 0.0f, 0.0f);
const PxReal r2 = r.dot(r), a = 1.0f - r2, b = 1.0f/(1.0f+r2), b2 = b*b;
const PxReal v1 = 2.0f * a * b2;
const PxVec3 v2(a, 2.0f * r.z, -2.0f * r.y); // a*p + 2*r.cross(p);
const PxVec3 coneLine = v1 * v2 - p; // already normalized
// the derivative of coneLine in the direction d
const PxReal rd = r.dot(d);
const PxReal dv1 = -4.0f * rd * (3.0f - r2)*b2*b;
const PxVec3 dv2(-2.0f * rd, 2.0f * d.z, -2.0f * d.y);
const PxVec3 coneNormal = v1 * dv2 + dv1 * v2;
axis = coneLine.cross(coneNormal)/coneNormal.magnitude();
return coneLine.cross(axis).dot(twistAxis);
}
// this is here because it's used in both LL and Extensions. However, it
// should STAY IN THE SDK CODE BASE because it's SDK-specific
class ConeLimitHelper
{
public:
PX_CUDA_CALLABLE ConeLimitHelper(PxReal tanQSwingY, PxReal tanQSwingZ, PxReal tanQPadding)
: mTanQYMax(tanQSwingY), mTanQZMax(tanQSwingZ), mTanQPadding(tanQPadding) {}
// whether the point is inside the (inwardly) padded cone - if it is, there's no limit
// constraint
PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& tanQSwing) const
{
const PxReal tanQSwingYPadded = tanAdd(PxAbs(tanQSwing.y),mTanQPadding);
const PxReal tanQSwingZPadded = tanAdd(PxAbs(tanQSwing.z),mTanQPadding);
return PxSqr(tanQSwingYPadded/mTanQYMax)+PxSqr(tanQSwingZPadded/mTanQZMax) <= 1;
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 clamp(const PxVec3& tanQSwing, PxVec3& normal) const
{
const PxVec3 p = PxEllipseClamp(tanQSwing, PxVec3(0.0f, mTanQYMax, mTanQZMax));
normal = PxVec3(0.0f, p.y/PxSqr(mTanQYMax), p.z/PxSqr(mTanQZMax));
#ifdef PX_PARANOIA_ELLIPSE_CHECK
PxReal err = PxAbs(PxSqr(p.y/mTanQYMax) + PxSqr(p.z/mTanQZMax) - 1);
PX_ASSERT(err<1e-3);
#endif
return p;
}
// input is a swing quat, such that swing.x = twist.y = twist.z = 0, q = swing * twist
// The routine is agnostic to the sign of q.w (i.e. we don't need the minimal-rotation swing)
// output is an axis such that positive rotation increases the angle outward from the
// limit (i.e. the image of the x axis), the error is the sine of the angular difference,
// positive if the twist axis is inside the cone
PX_CUDA_CALLABLE bool getLimit(const PxQuat& swing, PxVec3& axis, PxReal& error) const
{
PX_ASSERT(swing.w>0.0f);
const PxVec3 twistAxis = swing.getBasisVector0();
const PxVec3 tanQSwing = PxVec3(0.0f, PxTanHalf(swing.z,swing.w), -PxTanHalf(swing.y,swing.w));
if(contains(tanQSwing))
return false;
PxVec3 normal, clamped = clamp(tanQSwing, normal);
// rotation vector and ellipse normal
const PxVec3 r(0.0f, -clamped.z, clamped.y), d(0.0f, -normal.z, normal.y);
error = computeAxisAndError(r, d, twistAxis, axis);
PX_ASSERT(PxAbs(axis.magnitude()-1)<1e-5f);
#ifdef PX_PARANOIA_ELLIPSE_CHECK
bool inside = PxSqr(tanQSwing.y/mTanQYMax) + PxSqr(tanQSwing.z/mTanQZMax) <= 1;
PX_ASSERT(inside && error>-1e-4f || !inside && error<1e-4f);
#endif
return true;
}
private:
PxReal mTanQYMax, mTanQZMax, mTanQPadding;
};
class ConeLimitHelperTanLess
{
public:
PX_CUDA_CALLABLE ConeLimitHelperTanLess(PxReal swingY, PxReal swingZ)
: mYMax(swingY), mZMax(swingZ) {}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 clamp(const PxVec3& swing, PxVec3& normal) const
{
// finds the closest point on the ellipse to a given point
const PxVec3 p = PxEllipseClamp(swing, PxVec3(0.0f, mYMax, mZMax));
// normal to the point on ellipse
normal = PxVec3(0.0f, p.y/PxSqr(mYMax), p.z/PxSqr(mZMax));
#ifdef PX_PARANOIA_ELLIPSE_CHECK
PxReal err = PxAbs(PxSqr(p.y/mYMax) + PxSqr(p.z/mZMax) - 1);
PX_ASSERT(err<1e-3);
#endif
return p;
}
// input is a swing quat, such that swing.x = twist.y = twist.z = 0, q = swing * twist
// The routine is agnostic to the sign of q.w (i.e. we don't need the minimal-rotation swing)
// output is an axis such that positive rotation increases the angle outward from the
// limit (i.e. the image of the x axis), the error is the sine of the angular difference,
// positive if the twist axis is inside the cone
PX_CUDA_CALLABLE void getLimit(const PxQuat& swing, PxVec3& axis, PxReal& error) const
{
PX_ASSERT(swing.w>0.0f);
const PxVec3 twistAxis = swing.getBasisVector0();
// get the angles from the swing quaternion
const PxVec3 swingAngle(0.0f, 4.0f * PxAtan2(swing.y, 1.0f + swing.w), 4.0f * PxAtan2(swing.z, 1.0f + swing.w));
PxVec3 normal, clamped = clamp(swingAngle, normal);
// rotation vector and ellipse normal
const PxVec3 r(0.0f, PxTan(clamped.y/4.0f), PxTan(clamped.z/4.0f)), d(0.0f, normal.y, normal.z);
error = computeAxisAndError(r, d, twistAxis, axis);
PX_ASSERT(PxAbs(axis.magnitude()-1.0f)<1e-5f);
}
private:
PxReal mYMax, mZMax;
};
} // namespace Cm
}
#endif