feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/GuMaverickNode.cpp

@@ -0,0 +1,146 @@
+// 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 "GuMaverickNode.h"
+
+using namespace physx;
+using namespace Gu;
+
+const PxU32 MaverickNode::mIndices[16] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15};
+
+bool MaverickNode::addObject(const PrunerPayload& object, PrunerHandle handle, const PxBounds3& worldAABB, const PxTransform& transform, PxU32 timeStamp)
+{
+	if(mNbFree<FREE_PRUNER_SIZE)
+	{
+		const PxU32 index		= mNbFree++;
+		mFreeObjects[index]		= object;
+		mFreeHandles[index]		= handle;
+		mFreeBounds[index]		= worldAABB;
+		mFreeTransforms[index]	= transform;
+		mFreeStamps[index]		= timeStamp;
+		return true;
+	}
+	return false;
+}
+
+bool MaverickNode::updateObject(const PrunerPayload& object, const PxBounds3& worldAABB, const PxTransform& transform)
+{
+	for(PxU32 i=0;i<mNbFree;i++)
+	{
+		if(mFreeObjects[i]==object)
+		{
+			mFreeBounds[i]		= worldAABB;
+			mFreeTransforms[i]	= transform;
+			return true;
+		}
+	}
+	return false;
+}
+
+bool MaverickNode::updateObject(PrunerHandle handle, const PxBounds3& worldAABB, const PxTransform& transform)
+{
+	for(PxU32 i=0;i<mNbFree;i++)
+	{
+		if(mFreeHandles[i]==handle)
+		{
+			mFreeBounds[i]		= worldAABB;
+			mFreeTransforms[i]	= transform;
+			return true;
+		}
+	}
+	return false;
+}
+
+void MaverickNode::remove(PxU32 index)
+{
+	mNbFree--;
+	if(index!=mNbFree)
+	{
+		mFreeBounds[index]		= mFreeBounds[mNbFree];
+		mFreeTransforms[index]	= mFreeTransforms[mNbFree];
+		mFreeObjects[index]		= mFreeObjects[mNbFree];
+		mFreeHandles[index]		= mFreeHandles[mNbFree];
+		mFreeStamps[index]		= mFreeStamps[mNbFree];
+	}
+}
+
+bool MaverickNode::removeObject(const PrunerPayload& object, PxU32& timeStamp)
+{
+	for(PxU32 i=0;i<mNbFree;i++)
+	{
+		if(mFreeObjects[i]==object)
+		{
+			// We found the object we want to remove. Close the gap as usual.
+			timeStamp = mFreeStamps[i];
+			remove(i);
+			return true;
+		}
+	}
+	return false;
+}
+
+bool MaverickNode::removeObject(PrunerHandle handle, PxU32& timeStamp)
+{
+	for(PxU32 i=0;i<mNbFree;i++)
+	{
+		if(mFreeHandles[i]==handle)
+		{
+			// We found the object we want to remove. Close the gap as usual.
+			timeStamp = mFreeStamps[i];
+			remove(i);
+			return true;
+		}
+	}
+	return false;
+}
+
+PxU32 MaverickNode::removeMarkedObjects(PxU32 timeStamp)
+{
+	PxU32 nbRemoved=0;
+	PxU32 i=0;
+	while(i<mNbFree)
+	{
+		if(mFreeStamps[i]==timeStamp)
+		{
+			nbRemoved++;
+			remove(i);
+		}
+		else i++;
+	}
+	return nbRemoved;
+}
+
+void MaverickNode::shiftOrigin(const PxVec3& shift)
+{
+	for(PxU32 i=0;i<mNbFree;i++)
+	{
+		mFreeBounds[i].minimum -= shift;
+		mFreeBounds[i].maximum -= shift;
+		mFreeTransforms[i].p -= shift;
+	}
+}