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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/geomutils/src/GuAABBTreeQuery.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 GU_AABBTREEQUERY_H
#define GU_AABBTREEQUERY_H
#include "GuBVHTestsSIMD.h"
#include "GuAABBTreeBounds.h"
#include "foundation/PxInlineArray.h"
#include "GuAABBTreeNode.h"
namespace physx
{
namespace Gu
{
#define RAW_TRAVERSAL_STACK_SIZE 256
//////////////////////////////////////////////////////////////////////////
static PX_FORCE_INLINE void getBoundsTimesTwo(Vec4V& center, Vec4V& extents, const PxBounds3* bounds, PxU32 poolIndex)
{
const PxBounds3* objectBounds = bounds + poolIndex;
// PT: it's safe to V4LoadU because the pointer comes from the AABBTreeBounds class
const Vec4V minV = V4LoadU(&objectBounds->minimum.x);
const Vec4V maxV = V4LoadU(&objectBounds->maximum.x);
center = V4Add(maxV, minV);
extents = V4Sub(maxV, minV);
}
//////////////////////////////////////////////////////////////////////////
template<const bool tHasIndices, typename Test, typename Node, typename QueryCallback>
static PX_FORCE_INLINE bool doOverlapLeafTest(const Test& test, const Node* node, const PxBounds3* bounds, const PxU32* indices, QueryCallback& visitor)
{
PxU32 nbPrims = node->getNbPrimitives();
const bool doBoxTest = nbPrims > 1;
const PxU32* prims = tHasIndices ? node->getPrimitives(indices) : NULL;
while(nbPrims--)
{
const PxU32 primIndex = tHasIndices ? *prims++ : node->getPrimitiveIndex();
if(doBoxTest)
{
Vec4V center2, extents2;
getBoundsTimesTwo(center2, extents2, bounds, primIndex);
const float half = 0.5f;
const FloatV halfV = FLoad(half);
const Vec4V extents_ = V4Scale(extents2, halfV);
const Vec4V center_ = V4Scale(center2, halfV);
if(!test(Vec3V_From_Vec4V(center_), Vec3V_From_Vec4V(extents_)))
continue;
}
if(!visitor.invoke(primIndex))
return false;
}
return true;
}
template<const bool tHasIndices, typename Test, typename Tree, typename Node, typename QueryCallback>
class AABBTreeOverlap
{
public:
bool operator()(const AABBTreeBounds& treeBounds, const Tree& tree, const Test& test, QueryCallback& visitor)
{
const PxBounds3* bounds = treeBounds.getBounds();
PxInlineArray<const Node*, RAW_TRAVERSAL_STACK_SIZE> stack;
stack.forceSize_Unsafe(RAW_TRAVERSAL_STACK_SIZE);
const Node* const nodeBase = tree.getNodes();
stack[0] = nodeBase;
PxU32 stackIndex = 1;
while(stackIndex > 0)
{
const Node* node = stack[--stackIndex];
Vec3V center, extents;
node->getAABBCenterExtentsV(&center, &extents);
while(test(center, extents))
{
if(node->isLeaf())
{
if(!doOverlapLeafTest<tHasIndices, Test, Node>(test, node, bounds, tree.getIndices(), visitor))
return false;
break;
}
const Node* children = node->getPos(nodeBase);
node = children;
stack[stackIndex++] = children + 1;
if(stackIndex == stack.capacity())
stack.resizeUninitialized(stack.capacity() * 2);
node->getAABBCenterExtentsV(&center, &extents);
}
}
return true;
}
};
//////////////////////////////////////////////////////////////////////////
template <const bool tInflate, const bool tHasIndices, typename Node, typename QueryCallback> // use inflate=true for sweeps, inflate=false for raycasts
static PX_FORCE_INLINE bool doLeafTest( const Node* node, Gu::RayAABBTest& test, const PxBounds3* bounds, const PxU32* indices, PxReal& maxDist, QueryCallback& pcb)
{
PxU32 nbPrims = node->getNbPrimitives();
const bool doBoxTest = nbPrims > 1;
const PxU32* prims = tHasIndices ? node->getPrimitives(indices) : NULL;
while(nbPrims--)
{
const PxU32 primIndex = tHasIndices ? *prims++ : node->getPrimitiveIndex();
if(doBoxTest)
{
Vec4V center_, extents_;
getBoundsTimesTwo(center_, extents_, bounds, primIndex);
if(!test.check<tInflate>(Vec3V_From_Vec4V(center_), Vec3V_From_Vec4V(extents_)))
continue;
}
// PT:
// - 'maxDist' is the current best distance. It can be seen as a "maximum allowed distance" (as passed to the
// template by users initially) but also as the "current minimum impact distance", so the name is misleading.
// Either way this is where we write & communicate the final/best impact distance to users.
//
// - the invoke function also takes a distance parameter, and this one is in/out. In input we must pass the
// current best distance to the leaf node, so that subsequent leaf-level queries can cull things away as
// much as possible. In output users return a shrunk distance value if they found a hit. We need to pass a
// copy of 'maxDist' ('md') since it would be too dangerous to rely on the arbitrary user code to always do
// the right thing. In particular if we'd pass 'maxDist' to invoke directly, and the called code would NOT
// respect the passed max value, it could potentially return a hit further than the best 'maxDist'. At which
// point the '(md < oldMaxDist)' test would fail but the damage would have already been done ('maxDist' would
// have already been overwritten with a larger value than before). Hence, we need 'md'.
//
// - now 'oldMaxDist' however is more subtle. In theory we wouldn't need it and we could just use '(md < maxDist)'
// in the test below. But that opens the door to subtle bugs: 'maxDist' is a reference to some value somewhere
// in the user's code, and we call the same user in invoke. It turns out that the invoke code can access and
// modify 'maxDist' on their side, even if we do not pass it to invoke. It's basically the same problem as
// before, but much more difficult to see. It does happen with the current PhysX implementations of the invoke
// functions: they modify the 'md' that we send them, but *also* 'maxDist' without the code below knowing
// about it. So the subsequent test fails again because md == maxDist. A potential solution would have been to
// work on a local copy of 'maxDist' in operator(), only writing out the final distance when returning from the
// function. Another solution used below is to introduce that local copy just here in the leaf code: that's
// where 'oldMaxDist' comes from.
PxReal oldMaxDist = maxDist;
PxReal md = maxDist;
if(!pcb.invoke(md, primIndex))
return false;
if(md < oldMaxDist)
{
maxDist = md;
test.setDistance(md);
}
}
return true;
}
//////////////////////////////////////////////////////////////////////////
template <const bool tInflate, const bool tHasIndices, typename Tree, typename Node, typename QueryCallback> // use inflate=true for sweeps, inflate=false for raycasts
class AABBTreeRaycast
{
public:
bool operator()(
const AABBTreeBounds& treeBounds, const Tree& tree,
const PxVec3& origin, const PxVec3& unitDir, PxReal& maxDist, const PxVec3& inflation,
QueryCallback& pcb)
{
const PxBounds3* bounds = treeBounds.getBounds();
// PT: we will pass center*2 and extents*2 to the ray-box code, to save some work per-box
// So we initialize the test with values multiplied by 2 as well, to get correct results
Gu::RayAABBTest test(origin*2.0f, unitDir*2.0f, maxDist, inflation*2.0f);
PxInlineArray<const Node*, RAW_TRAVERSAL_STACK_SIZE> stack;
stack.forceSize_Unsafe(RAW_TRAVERSAL_STACK_SIZE);
const Node* const nodeBase = tree.getNodes();
stack[0] = nodeBase;
PxU32 stackIndex = 1;
while(stackIndex--)
{
const Node* node = stack[stackIndex];
Vec3V center, extents;
node->getAABBCenterExtentsV2(&center, &extents);
if(test.check<tInflate>(center, extents)) // TODO: try timestamp ray shortening to skip this
{
while(!node->isLeaf())
{
const Node* children = node->getPos(nodeBase);
Vec3V c0, e0;
children[0].getAABBCenterExtentsV2(&c0, &e0);
const PxU32 b0 = test.check<tInflate>(c0, e0);
Vec3V c1, e1;
children[1].getAABBCenterExtentsV2(&c1, &e1);
const PxU32 b1 = test.check<tInflate>(c1, e1);
if(b0 && b1) // if both intersect, push the one with the further center on the stack for later
{
// & 1 because FAllGrtr behavior differs across platforms
const PxU32 bit = FAllGrtr(V3Dot(V3Sub(c1, c0), test.mDir), FZero()) & 1;
stack[stackIndex++] = children + bit;
node = children + (1 - bit);
if(stackIndex == stack.capacity())
stack.resizeUninitialized(stack.capacity() * 2);
}
else if(b0)
node = children;
else if(b1)
node = children + 1;
else
goto skip_leaf_code;
}
if(!doLeafTest<tInflate, tHasIndices, Node>(node, test, bounds, tree.getIndices(), maxDist, pcb))
return false;
skip_leaf_code:;
}
}
return true;
}
};
struct TraversalControl
{
enum Enum {
eDontGoDeeper,
eGoDeeper,
eGoDeeperNegFirst,
eAbort
};
};
template<typename T>
void traverseBVH(const Gu::BVHNode* nodes, T& traversalController, PxI32 rootNodeIndex = 0)
{
PxI32 index = rootNodeIndex;
PxInlineArray<PxI32, RAW_TRAVERSAL_STACK_SIZE> todoStack;
while (true)
{
const Gu::BVHNode& a = nodes[index];
TraversalControl::Enum control = traversalController.analyze(a, index);
if (control == TraversalControl::eAbort)
return;
if (!a.isLeaf() && (control == TraversalControl::eGoDeeper || control == TraversalControl::eGoDeeperNegFirst))
{
if (control == TraversalControl::eGoDeeperNegFirst)
{
todoStack.pushBack(a.getPosIndex());
index = a.getNegIndex(); //index gets processed next - assign negative index to it
}
else
{
todoStack.pushBack(a.getNegIndex());
index = a.getPosIndex(); //index gets processed next - assign positive index to it
}
continue;
}
if (todoStack.empty()) break;
index = todoStack.popBack();
}
}
}
}
#endif // SQ_AABBTREEQUERY_H