feat(physics): wire physx sdk into build

This commit is contained in:
2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions

View File

@@ -0,0 +1,108 @@
## 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.
cmake_minimum_required(VERSION 3.16)
# PROJECT(CUDA) will enable building CUDA files ( .cu )
PROJECT(PhysX C CXX CUDA)
IF(DEFINED ENV{PM_winsdk_PATH} AND NOT "$ENV{PM_winsdk_PATH}" STREQUAL "" AND DEFINED ENV{PM_msvc_PATH} AND NOT "$ENV{PM_msvc_PATH}" STREQUAL "")
SET(CMAKE_VS_SDK_INCLUDE_DIRECTORIES "$ENV{PM_winsdk_PATH}/include/ucrt;$ENV{PM_winsdk_PATH}/include/um;$ENV{PM_winsdk_PATH}/include/shared")
SET(CMAKE_VS_SDK_LIBRARY_DIRECTORIES "$ENV{PM_winsdk_PATH}/lib/ucrt/x64;$ENV{PM_winsdk_PATH}/lib/um/x64;$ENV{VCToolsInstallDir}/lib/x64;$ENV{VCToolsInstallDir}/atlmfc/lib/x64")
ENDIF()
OPTION(PX_GENERATE_GPU_STATIC_LIBRARIES "Generate PhysXGPU static libraries" OFF)
OPTION(PX_GENERATE_GPU_REDUCED_ARCHITECTURES "Generate only a reduced number of GPU architectures for faster compilation" OFF)
CMAKE_POLICY(SET CMP0057 NEW) # Enable IN_LIST
# This is required to be defined by external callers!
IF(NOT DEFINED PHYSX_ROOT_DIR)
MESSAGE(FATAL_ERROR "PHYSX_ROOT_DIR variable wasn't set.")
ENDIF()
IF(NOT EXISTS ${PHYSX_ROOT_DIR})
MESSAGE(FATAL_ERROR "PHYSX_ROOT_DIR variable was invalid.")
ENDIF()
INCLUDE(NvidiaBuildOptions)
INCLUDE(SetCudaArch)
SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
IF(CMAKE_CONFIGURATION_TYPES)
SET(CMAKE_CONFIGURATION_TYPES debug checked profile release)
SET(CMAKE_CONFIGURATION_TYPES "${CMAKE_CONFIGURATION_TYPES}" CACHE STRING
"Reset config to what we need"
FORCE)
# Need to define these at least once.
SET(CMAKE_SHARED_LINKER_FLAGS_CHECKED "/DEBUG")
SET(CMAKE_SHARED_LINKER_FLAGS_PROFILE "/DEBUG")
SET(CMAKE_EXE_LINKER_FLAGS_PROFILE "/DEBUG")
SET(CMAKE_EXE_LINKER_FLAGS_CHECKED "/DEBUG")
ENDIF()
SET(PROJECT_CMAKE_FILES_DIR source/compiler/cmakegpu)
SET(PLATFORM_CMAKELISTS ${PHYSX_ROOT_DIR}/${PROJECT_CMAKE_FILES_DIR}/${TARGET_BUILD_PLATFORM}/CMakeLists.txt)
IF(NOT EXISTS ${PLATFORM_CMAKELISTS})
MESSAGE(FATAL_ERROR "Unable to find platform CMakeLists.txt for ${TARGET_BUILD_PLATFORM} at ${PLATFORM_CMAKELISTS}")
ENDIF()
SET(SOURCE_DISTRO_FILE_LIST "")
# CUDA Flags that are common to all platforms:
# Note: We need to compile to sass for all architectures we want to support.
# However, to enable forward compatibility with new architectures,
# we need to compile ptx for the latest arch supported by the cuda toolkit.
# This will allow the jit compiler in the driver to compile ptx to sass of the newer arch.
# No need to set --generate-code=arch=compute_75,code=[compute_75,sm_75]
# since that's the default set in: compiler\internal\CMakeLists.txt (using CMAKE_CUDA_ARCHITECTURES)
# see policy CMP0104
IF(PX_GENERATE_GPU_REDUCED_ARCHITECTURES)
GENERATE_ARCH_CODE_LIST(SASS "80,86,89,90,100,120" PTX "120")
ELSE()
# Volta is the minimum compute arch required because NGC supports V100
GENERATE_ARCH_CODE_LIST(SASS "70,80,86,89,90,100,120" PTX "120")
ENDIF()
# Force response files off because clangd does not parse them
set(CMAKE_CUDA_USE_RESPONSE_FILE_FOR_INCLUDES 0)
set(CMAKE_CUDA_USE_RESPONSE_FILE_FOR_LIBRARIES 0)
set(CMAKE_CUDA_USE_RESPONSE_FILE_FOR_OBJECTS 0)
# Cuda setup that is the same for all platforms and sub-projects
SET(PHYSX_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Werror=all-warnings -use_fast_math -ftz=true -prec-div=false -prec-sqrt=false -t0 -D_CONSOLE" CACHE INTERNAL "PhysX CUDA")
# Include the platform specific CMakeLists (The other CUDA flags that are specific to each platform are defined there)
INCLUDE(${PHYSX_ROOT_DIR}/${PROJECT_CMAKE_FILES_DIR}/${TARGET_BUILD_PLATFORM}/CMakeLists.txt)
IF(PX_GENERATE_SOURCE_DISTRO)
FOREACH(FILE_NAME ${SOURCE_DISTRO_FILE_LIST})
FILE(APPEND "${CMAKE_CURRENT_BINARY_DIR}/source_distro_list.txt" "${FILE_NAME}\n")
ENDFOREACH()
ENDIF()

View File

@@ -0,0 +1,102 @@
## 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.
IF(NOT DEFINED PHYSX_LINUX_COMPILE_DEFS)
MESSAGE(FATAL ERROR "Snippets uses the PhysX compile defs, and they're not defined when they need to be.")
ENDIF()
IF (NOT DEFINED PHYSX_CXX_FLAGS)
MESSAGE(FATAL ERROR "Snippets uses the PhysX CXX flags, and they're not defined when they need to be.")
ENDIF()
# Get the CXX Flags from the Cached variables set by the PhysX CMakeLists
SET(CMAKE_CXX_FLAGS "${PHYSX_CXX_FLAGS}")
SET(CMAKE_CXX_FLAGS_DEBUG "${PHYSX_CXX_FLAGS_DEBUG}")
SET(CMAKE_CXX_FLAGS_CHECKED ${PHYSX_CXX_FLAGS_CHECKED})
SET(CMAKE_CXX_FLAGS_PROFILE ${PHYSX_CXX_FLAGS_PROFILE})
SET(CMAKE_CXX_FLAGS_RELEASE ${PHYSX_CXX_FLAGS_RELEASE})
# CUDA flags specific to Linux:
IF(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
SET(MSSE2_OPTIONS "")
# Add the diagnostic suppression flag specifically for aarch64
SET(AARCH64_DIAG_SUPPRESS_FLAGS "-diag-suppress 20054")
ELSE()
SET(MSSE2_OPTIONS "-msse2,-mfpmath=sse,-m64,")
SET(AARCH64_DIAG_SUPPRESS_FLAGS "")
ENDIF()
# CUDA flags specific to linux:
SET(CUDA_SUPPRESS_WARNINGS "-Wno-unused-function -Wno-inconsistent-missing-override -Wno-parentheses -Wno-unknown-warning-option")
SET(PHYSX_CUDA_FLAGS "${PHYSX_CUDA_FLAGS} ${CUDA_SUPPRESS_WARNINGS} ${AARCH64_DIAG_SUPPRESS_FLAGS}")
SET(PHYSX_CUDA_FLAGS_DEBUG "${CUDA_DEBUG_FLAG} --compiler-options=-Wall,-O3,-fPIC,${MSSE2_OPTIONS}-fvisibility=hidden -G -g" CACHE INTERNAL "PhysX Debug CUDA Flags")
SET(PHYSX_CUDA_FLAGS_CHECKED "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=-Wall,-O3,-fPIC,${MSSE2_OPTIONS}-fvisibility=hidden" CACHE INTERNAL "PhysX Checked CUDA Flags")
SET(PHYSX_CUDA_FLAGS_PROFILE "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=-Wall,-O3,-fPIC,${MSSE2_OPTIONS}-fvisibility=hidden" CACHE INTERNAL "PhysX Profile CUDA Flags")
SET(PHYSX_CUDA_FLAGS_RELEASE "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=-Wall,-O3,-fPIC,${MSSE2_OPTIONS}-fvisibility=hidden" CACHE INTERNAL "PhysX Release CUDA Flags")
# These flags are local to the directory the CMakeLists.txt is in, so don't get carried over to OTHER CMakeLists.txt (thus the CACHE variables above)
SET(CMAKE_CUDA_FLAGS ${PHYSX_CUDA_FLAGS})
SET(CMAKE_CUDA_FLAGS_DEBUG ${PHYSX_CUDA_FLAGS_DEBUG})
SET(CMAKE_CUDA_FLAGS_CHECKED ${PHYSX_CUDA_FLAGS_CHECKED})
SET(CMAKE_CUDA_FLAGS_PROFILE ${PHYSX_CUDA_FLAGS_PROFILE})
SET(CMAKE_CUDA_FLAGS_RELEASE ${PHYSX_CUDA_FLAGS_RELEASE})
# SET(GENERATED_GPU_CUDA_FILES "")
# Include all of the projects
INCLUDE(PhysXBroadphaseGpu.cmake)
INCLUDE(PhysXCommonGpu.cmake)
INCLUDE(PhysXNarrowphaseGpu.cmake)
INCLUDE(PhysXSimulationControllerGpu.cmake)
INCLUDE(PhysXSolverGpu.cmake)
INCLUDE(PhysXCudaContextManager.cmake)
INCLUDE(PhysXArticulationGpu.cmake)
INCLUDE(PhysXGpuDependencies.cmake)
INCLUDE(PhysXGpu.cmake) # must be last
SET_PROPERTY(TARGET PhysXBroadphaseGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXCommonGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXNarrowphaseGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXSimulationControllerGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXArticulationGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXSolverGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXGpuDependencies PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXCudaContextManager PROPERTY FOLDER "PhysX SDK/GPU")
SET(PHYSXDISTRO_LIBS PhysXGpu)
INSTALL(
TARGETS ${PHYSXDISTRO_LIBS}
EXPORT PhysXSDK
DESTINATION $<$<CONFIG:debug>:${PX_ROOT_LIB_DIR}/debug>$<$<CONFIG:release>:${PX_ROOT_LIB_DIR}/release>$<$<CONFIG:checked>:${PX_ROOT_LIB_DIR}/checked>$<$<CONFIG:profile>:${PX_ROOT_LIB_DIR}/profile>
)

View File

@@ -0,0 +1,109 @@
## 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.
IF(NOT DEFINED PHYSX_WINDOWS_COMPILE_DEFS)
MESSAGE(FATAL ERROR "PHYSXGPU uses the PhysX compile defs, and they're not defined when they need to be.")
ENDIF()
IF (NOT DEFINED PHYSX_CXX_FLAGS)
MESSAGE(FATAL ERROR "PHYSXGPU uses the PhysX CXX flags, and they're not defined when they need to be.")
ENDIF()
# Get the CXX Flags from the Cached variables set by the PhysX CMakeLists
SET(CMAKE_CXX_FLAGS "${PHYSX_CXX_FLAGS}")
SET(CMAKE_CXX_FLAGS_DEBUG ${PHYSX_CXX_FLAGS_DEBUG})
SET(CMAKE_CXX_FLAGS_CHECKED ${PHYSX_CXX_FLAGS_CHECKED})
SET(CMAKE_CXX_FLAGS_PROFILE ${PHYSX_CXX_FLAGS_PROFILE})
SET(CMAKE_CXX_FLAGS_RELEASE ${PHYSX_CXX_FLAGS_RELEASE})
# Get the CXX Flags from the Cached variables set by the PhysX CMakeLists
SET(CMAKE_C_FLAGS "${PHYSX_C_FLAGS}")
SET(CMAKE_C_FLAGS_DEBUG ${PHYSX_C_FLAGS_DEBUG})
SET(CMAKE_C_FLAGS_CHECKED ${PHYSX_C_FLAGS_CHECKED})
SET(CMAKE_C_FLAGS_PROFILE ${PHYSX_C_FLAGS_PROFILE})
SET(CMAKE_C_FLAGS_RELEASE ${PHYSX_C_FLAGS_RELEASE})
# CUDA flags specific to windows:
SET(CUDA_SUPPRESS_WARNINGS "-Xptxas -w -ftemplate-backtrace-limit=2")
SET(PHYSX_CUDA_FLAGS "${PHYSX_CUDA_FLAGS} -D_WIN32_WINNT=0x0601 ${CUDA_SUPPRESS_WARNINGS}")
# Build debug info for all configurations
SET(PHYSX_CUDA_FLAGS_DEBUG "${CUDA_DEBUG_FLAG} --compiler-options=/W4,/nologo,/Zi,/Od,/RTC1,/wd4505,/wd4459,/wd4324,/wd4244 -G -g" CACHE INTERNAL "PhysX Debug CUDA Flags")
SET(PHYSX_CUDA_FLAGS_CHECKED "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=/W4,/nologo,/Ot,/Ox,/Zi,/wd4505,/wd4459,/wd4324,/wd4244" CACHE INTERNAL "PhysX Checked CUDA Flags")
SET(PHYSX_CUDA_FLAGS_PROFILE "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=/W4,/nologo,/Ot,/Ox,/Zi,/wd4505,/wd4459,/wd4324,/wd4244" CACHE INTERNAL "PhysX Profile CUDA Flags")
SET(PHYSX_CUDA_FLAGS_RELEASE "${CUDA_NDEBUG_FLAG} -lineinfo --compiler-options=/W4,/nologo,/Ot,/Ox,/Zi,/wd4505,/wd4459,/wd4324,/wd4244" CACHE INTERNAL "PhysX Release CUDA Flags")
# These flags are local to the directory the CMakeLists.txt is in, so don't get carried over to OTHER CMakeLists.txt (thus the CACHE variables above)
SET(CMAKE_CUDA_FLAGS ${PHYSX_CUDA_FLAGS})
SET(CMAKE_CUDA_FLAGS_DEBUG ${PHYSX_CUDA_FLAGS_DEBUG})
SET(CMAKE_CUDA_FLAGS_CHECKED ${PHYSX_CUDA_FLAGS_CHECKED})
SET(CMAKE_CUDA_FLAGS_PROFILE ${PHYSX_CUDA_FLAGS_PROFILE})
SET(CMAKE_CUDA_FLAGS_RELEASE ${PHYSX_CUDA_FLAGS_RELEASE})
IF(PX_GENERATE_GPU_STATIC_LIBRARIES)
SET(PHYSXGPU_LIBTYPE_DEFS "PX_PHYSX_GPU_STATIC;" CACHE INTERNAL "PhysX GPU lib type defs")
ENDIF()
# Build PDBs for all configurations
SET(CMAKE_SHARED_LINKER_FLAGS "/DEBUG /INCREMENTAL:NO")
SET(CMAKE_SHARED_LINKER_FLAGS_DEBUG "/DEBUG /INCREMENTAL:NO")
SET(CMAKE_SHARED_LINKER_FLAGS_CHECKED "/DEBUG /INCREMENTAL:NO /OPT:REF")
SET(CMAKE_SHARED_LINKER_FLAGS_PROFILE "/DEBUG /INCREMENTAL:NO /OPT:REF")
SET(CMAKE_SHARED_LINKER_FLAGS_RELEASE "/DEBUG /INCREMENTAL:NO /OPT:REF")
# SET(GENERATED_GPU_CUDA_FILES "")
# Include all of the GPU projects
INCLUDE(PhysXBroadphaseGpu.cmake)
INCLUDE(PhysXCommonGpu.cmake)
INCLUDE(PhysXNarrowphaseGpu.cmake)
INCLUDE(PhysXSimulationControllerGpu.cmake)
INCLUDE(PhysXSolverGpu.cmake)
INCLUDE(PhysXCudaContextManager.cmake)
INCLUDE(PhysXArticulationGpu.cmake)
INCLUDE(PhysXGpuDependencies.cmake)
INCLUDE(PhysXGpu.cmake) # must be the last PhysXGPU
SET_PROPERTY(TARGET PhysXBroadphaseGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXCommonGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXNarrowphaseGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXSimulationControllerGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXArticulationGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXSolverGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXGpuDependencies PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXGpu PROPERTY FOLDER "PhysX SDK/GPU")
SET_PROPERTY(TARGET PhysXCudaContextManager PROPERTY FOLDER "PhysX SDK/GPU")
SET(PHYSXDISTRO_LIBS PhysXGpu)
INSTALL(
TARGETS ${PHYSXDISTRO_LIBS}
EXPORT PhysXSDK
DESTINATION $<$<CONFIG:debug>:${PX_ROOT_LIB_DIR}/debug>$<$<CONFIG:release>:${PX_ROOT_LIB_DIR}/release>$<$<CONFIG:checked>:${PX_ROOT_LIB_DIR}/checked>$<$<CONFIG:profile>:${PX_ROOT_LIB_DIR}/profile>
)