feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/GuIncrementalAABBTree.h
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engine/third_party/physx/source/geomutils/src/GuIncrementalAABBTree.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef GU_INCREMENTAL_AABB_TREE_H
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#define GU_INCREMENTAL_AABB_TREE_H
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#include "foundation/PxBounds3.h"
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#include "foundation/PxUserAllocated.h"
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#include "foundation/PxHashMap.h"
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#include "foundation/PxVecMath.h"
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#include "foundation/PxPool.h"
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#include "common/PxPhysXCommonConfig.h"
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#include "GuAABBTree.h"
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#include "GuPrunerTypedef.h"
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namespace physx
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{
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using namespace aos;
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namespace Gu
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{
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struct BVHNode;
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class BVH;
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#define INCR_NB_OBJECTS_PER_NODE 4
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// tree indices, can change in runtime
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struct AABBTreeIndices
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{
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PX_FORCE_INLINE AABBTreeIndices(PoolIndex index) : nbIndices(1)
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{
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indices[0] = index;
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for(PxU32 i=1; i<INCR_NB_OBJECTS_PER_NODE; i++)
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indices[i] = 0;
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}
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PxU32 nbIndices;
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PoolIndex indices[INCR_NB_OBJECTS_PER_NODE];
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};
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// tree node, has parent information
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class IncrementalAABBTreeNode : public PxUserAllocated
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{
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public:
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PX_FORCE_INLINE IncrementalAABBTreeNode() : mParent(NULL)
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{
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mChilds[0] = NULL;
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mChilds[1] = NULL;
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}
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PX_FORCE_INLINE IncrementalAABBTreeNode(AABBTreeIndices* indices) : mParent(NULL)
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{
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mIndices = indices;
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mChilds[1] = NULL;
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}
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PX_FORCE_INLINE ~IncrementalAABBTreeNode() {}
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PX_FORCE_INLINE PxU32 isLeaf() const { return PxU32(mChilds[1]==0); }
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PX_FORCE_INLINE const PxU32* getPrimitives(const PxU32*) const { return &mIndices->indices[0]; }
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PX_FORCE_INLINE PxU32* getPrimitives(PxU32*) { return &mIndices->indices[0]; }
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PX_FORCE_INLINE PxU32 getNbPrimitives() const { return mIndices->nbIndices; }
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PX_FORCE_INLINE PxU32 getPrimitiveIndex() const { return PX_INVALID_U32; }
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PX_FORCE_INLINE const IncrementalAABBTreeNode* getPos(const IncrementalAABBTreeNode*) const { return mChilds[0]; }
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PX_FORCE_INLINE const IncrementalAABBTreeNode* getNeg(const IncrementalAABBTreeNode*) const { return mChilds[1]; }
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PX_FORCE_INLINE IncrementalAABBTreeNode* getPos(IncrementalAABBTreeNode*) { return mChilds[0]; }
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PX_FORCE_INLINE IncrementalAABBTreeNode* getNeg(IncrementalAABBTreeNode*) { return mChilds[1]; }
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// PT: TODO: these functions are duplicates from the regular AABB tree node
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PX_FORCE_INLINE void getAABBCenterExtentsV(physx::aos::Vec3V* center, physx::aos::Vec3V* extents) const
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{
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const float half = 0.5f;
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const FloatV halfV = FLoad(half);
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*extents = Vec3V_From_Vec4V((V4Scale(V4Sub(mBVMax, mBVMin), halfV)));
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*center = Vec3V_From_Vec4V((V4Scale(V4Add(mBVMax, mBVMin), halfV)));
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}
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PX_FORCE_INLINE void getAABBCenterExtentsV2(physx::aos::Vec3V* center, physx::aos::Vec3V* extents) const
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{
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*extents = Vec3V_From_Vec4V((V4Sub(mBVMax, mBVMin)));
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*center = Vec3V_From_Vec4V((V4Add(mBVMax, mBVMin)));
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}
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Vec4V mBVMin; // Global bounding-volume min enclosing all the node-related primitives
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Vec4V mBVMax; // Global bounding-volume max enclosing all the node-related primitives
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IncrementalAABBTreeNode* mParent; // node parent
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union
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{
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IncrementalAABBTreeNode* mChilds[2]; // childs of node if not a leaf
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AABBTreeIndices* mIndices; // if leaf, indices information
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};
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};
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struct IncrementalAABBTreeNodePair
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{
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IncrementalAABBTreeNode mNode0;
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IncrementalAABBTreeNode mNode1;
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};
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typedef PxArray<IncrementalAABBTreeNode*> NodeList;
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// incremental AABB tree, all changes are immediatelly reflected to the tree
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class IncrementalAABBTree : public PxUserAllocated
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{
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public:
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PX_PHYSX_COMMON_API IncrementalAABBTree();
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PX_PHYSX_COMMON_API ~IncrementalAABBTree();
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// Build the tree for the first time
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PX_PHYSX_COMMON_API bool build(const AABBTreeBuildParams& params, PxArray<IncrementalAABBTreeNode*>& mapping);
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// insert a new index into the tree
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PX_PHYSX_COMMON_API IncrementalAABBTreeNode* insert(const PoolIndex index, const PxBounds3* bounds, NodeList& changedLeaf);
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// update the object in the tree - full update insert/remove
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PX_PHYSX_COMMON_API IncrementalAABBTreeNode* update(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds, NodeList& changedLeaf);
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// update the object in the tree, faster method, that may unbalance the tree
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PX_PHYSX_COMMON_API IncrementalAABBTreeNode* updateFast(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds, NodeList& changedLeaf);
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// remove object from the tree
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PX_PHYSX_COMMON_API IncrementalAABBTreeNode* remove(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds);
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// fixup the tree indices, if we swapped the objects in the pruning pool
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PX_PHYSX_COMMON_API void fixupTreeIndices(IncrementalAABBTreeNode* node, const PoolIndex index, const PoolIndex newIndex);
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// origin shift
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PX_PHYSX_COMMON_API void shiftOrigin(const PxVec3& shift);
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// get the tree root node
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PX_FORCE_INLINE const IncrementalAABBTreeNode* getNodes() const { return mRoot; }
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// define this function so we can share the scene query code with regular AABBTree
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PX_FORCE_INLINE const PxU32* getIndices() const { return NULL; }
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// paranoia checks
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PX_PHYSX_COMMON_API void hierarchyCheck(PoolIndex maxIndex, const PxBounds3* bounds);
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PX_PHYSX_COMMON_API void hierarchyCheck(const PxBounds3* bounds);
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PX_PHYSX_COMMON_API void checkTreeLeaf(IncrementalAABBTreeNode* leaf, PoolIndex h);
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PX_PHYSX_COMMON_API PxU32 getTreeLeafDepth(IncrementalAABBTreeNode* leaf);
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PX_PHYSX_COMMON_API void release();
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PX_PHYSX_COMMON_API void copy(const BVH& bvh, PxArray<IncrementalAABBTreeNode*>& mapping);
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private:
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// clone the tree from the generic AABB tree that was built
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void clone(PxArray<IncrementalAABBTreeNode*>& mapping, const PxU32* indices, IncrementalAABBTreeNode** treeNodes);
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void copyNode(IncrementalAABBTreeNode& destNode, const BVHNode& sourceNode, const BVHNode* nodeBase,
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IncrementalAABBTreeNode* parent, const PxU32* primitivesBase, PxArray<IncrementalAABBTreeNode*>& mapping);
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// split leaf node, the newly added object does not fit in
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IncrementalAABBTreeNode* splitLeafNode(IncrementalAABBTreeNode* node, const PoolIndex index, const Vec4V& minV, const Vec4V& maxV, const PxBounds3* bounds);
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void rotateTree(IncrementalAABBTreeNode* node, NodeList& changedLeaf, PxU32 largesRotateNode, const PxBounds3* bounds, bool rotateAgain);
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void releaseNode(IncrementalAABBTreeNode* node);
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PxPool<AABBTreeIndices> mIndicesPool;
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PxPool<IncrementalAABBTreeNodePair> mNodesPool;
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IncrementalAABBTreeNode* mRoot;
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NodeAllocator mNodeAllocator;
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};
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}
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}
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#endif
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