feat(physics): wire physx sdk into build

2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
--- a/engine/third_party/physx/source/geomutils/src/GuInternal.cpp
+++ b/engine/third_party/physx/source/geomutils/src/GuInternal.cpp
@@ -0,0 +1,124 @@
+// 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.  
+
+#include "foundation/PxBounds3.h"
+#include "geometry/PxCapsuleGeometry.h"
+#include "foundation/PxIntrinsics.h"
+#include "GuInternal.h"
+#include "GuBox.h"
+#include "GuVecPlane.h"
+#include "foundation/PxVecMath.h"
+
+using namespace physx;
+using namespace aos;
+
+/**
+Computes the aabb points.
+\param		pts	[out] 8 box points
+*/
+void Gu::computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts)
+{
+	PX_ASSERT(pts);
+
+	// Get box corners
+	const PxVec3& minimum = bounds.minimum;
+	const PxVec3& maximum = bounds.maximum;
+
+	//     7+------+6			0 = ---
+	//     /|     /|			1 = +--
+	//    / |    / |			2 = ++-
+	//   / 4+---/--+5			3 = -+-
+	// 3+------+2 /    y   z	4 = --+
+	//  | /    | /     |  /		5 = +-+
+	//  |/     |/      |/		6 = +++
+	// 0+------+1      *---x	7 = -++
+
+	// Generate 8 corners of the bbox
+	pts[0] = PxVec3(minimum.x, minimum.y, minimum.z);
+	pts[1] = PxVec3(maximum.x, minimum.y, minimum.z);
+	pts[2] = PxVec3(maximum.x, maximum.y, minimum.z);
+	pts[3] = PxVec3(minimum.x, maximum.y, minimum.z);
+	pts[4] = PxVec3(minimum.x, minimum.y, maximum.z);
+	pts[5] = PxVec3(maximum.x, minimum.y, maximum.z);
+	pts[6] = PxVec3(maximum.x, maximum.y, maximum.z);
+	pts[7] = PxVec3(minimum.x, maximum.y, maximum.z);
+}
+
+PxPlane Gu::getPlane(const PxTransform& pose)
+{ 
+	const PxVec3 n = pose.q.getBasisVector0();
+	return PxPlane(n, -pose.p.dot(n)); 
+}
+
+void Gu::computeSweptBox(Gu::Box& dest, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, PxReal distance)
+{
+	PxVec3 R1, R2;
+	PxComputeBasisVectors(unitDir, R1, R2);
+
+	PxReal dd[3];
+	dd[0] = PxAbs(rot.column0.dot(unitDir));
+	dd[1] = PxAbs(rot.column1.dot(unitDir));
+	dd[2] = PxAbs(rot.column2.dot(unitDir));
+	PxReal dmax = dd[0];
+	PxU32 ax0=1;
+	PxU32 ax1=2;
+	if(dd[1]>dmax)
+	{
+		dmax=dd[1];
+		ax0=0;
+		ax1=2;
+	}
+	if(dd[2]>dmax)
+	{
+		dmax=dd[2];
+		ax0=0;
+		ax1=1;
+	}
+	if(dd[ax1]<dd[ax0])
+		PxSwap(ax0, ax1);
+
+	R1 = rot[ax0];
+	R1 -= (R1.dot(unitDir))*unitDir;	// Project to plane whose normal is dir
+	R1.normalize();
+	R2 = unitDir.cross(R1);
+
+	dest.setAxes(unitDir, R1, R2);
+
+	PxReal offset[3];
+	offset[0] = distance;
+	offset[1] = distance*(unitDir.dot(R1));
+	offset[2] = distance*(unitDir.dot(R2));
+
+	for(PxU32 r=0; r<3; r++)
+	{
+		const PxVec3& R = dest.rot[r];
+		dest.extents[r] = offset[r]*0.5f + PxAbs(rot.column0.dot(R))*extents.x + PxAbs(rot.column1.dot(R))*extents.y + PxAbs(rot.column2.dot(R))*extents.z;
+	}
+
+	dest.center = center + unitDir*distance*0.5f;
+}