feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/contact/GuContactMethodImpl.h
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engine/third_party/physx/source/geomutils/src/contact/GuContactMethodImpl.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_CONTACTMETHODIMPL_H
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#define GU_CONTACTMETHODIMPL_H
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#include "foundation/PxAssert.h"
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#include "common/PxPhysXCommonConfig.h"
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#include "collision/PxCollisionDefs.h"
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#include "GuGeometryChecks.h"
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namespace physx
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{
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class PxGeometry;
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class PxRenderOutput;
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class PxContactBuffer;
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namespace Gu
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{
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class PersistentContactManifold;
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class MultiplePersistentContactManifold;
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struct NarrowPhaseParams
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{
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PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
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mContactDistance(contactDistance),
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mMeshContactMargin(meshContactMargin),
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mToleranceLength(toleranceLength) {}
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PxReal mContactDistance;
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const PxReal mMeshContactMargin; // PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
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const PxReal mToleranceLength; // PT: copy of PxTolerancesScale::length
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};
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enum ManifoldFlags
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{
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IS_MANIFOLD = (1<<0),
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IS_MULTI_MANIFOLD = (1<<1)
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};
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struct Cache : public PxCache
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{
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Cache()
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{
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}
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PX_FORCE_INLINE void setManifold(void* manifold)
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{
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PX_ASSERT((size_t(manifold) & 0xF) == 0);
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mCachedData = reinterpret_cast<PxU8*>(manifold);
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mManifoldFlags |= IS_MANIFOLD;
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}
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PX_FORCE_INLINE void setMultiManifold(void* manifold)
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{
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PX_ASSERT((size_t(manifold) & 0xF) == 0);
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mCachedData = reinterpret_cast<PxU8*>(manifold);
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mManifoldFlags |= IS_MANIFOLD|IS_MULTI_MANIFOLD;
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}
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PX_FORCE_INLINE PxU8 isManifold() const
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{
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return PxU8(mManifoldFlags & IS_MANIFOLD);
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}
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PX_FORCE_INLINE PxU8 isMultiManifold() const
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{
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return PxU8(mManifoldFlags & IS_MULTI_MANIFOLD);
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}
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PX_FORCE_INLINE PersistentContactManifold& getManifold()
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{
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PX_ASSERT(isManifold());
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PX_ASSERT(!isMultiManifold());
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PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
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return *reinterpret_cast<PersistentContactManifold*>(mCachedData);
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}
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PX_FORCE_INLINE MultiplePersistentContactManifold& getMultipleManifold()
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{
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PX_ASSERT(isManifold());
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PX_ASSERT(isMultiManifold());
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PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
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return *reinterpret_cast<MultiplePersistentContactManifold*>(mCachedData);
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}
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};
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}
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template<class Geom> PX_CUDA_CALLABLE PX_FORCE_INLINE const Geom& checkedCast(const PxGeometry& geom)
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{
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checkType<Geom>(geom);
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return static_cast<const Geom&>(geom);
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}
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#define GU_CONTACT_METHOD_ARGS \
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const PxGeometry& shape0, \
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const PxGeometry& shape1, \
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const PxTransform32& transform0, \
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const PxTransform32& transform1, \
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const Gu::NarrowPhaseParams& params, \
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Gu::Cache& cache, \
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PxContactBuffer& contactBuffer, \
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PxRenderOutput* renderOutput
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#define GU_CONTACT_METHOD_ARGS_UNUSED \
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const PxGeometry&, \
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const PxGeometry&, \
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const PxTransform32&, \
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const PxTransform32&, \
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const Gu::NarrowPhaseParams&, \
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Gu::Cache&, \
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PxContactBuffer&, \
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PxRenderOutput*
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namespace Gu
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{
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PX_PHYSX_COMMON_API bool contactSphereSphere(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactSphereBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCapsuleBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactBoxBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactBoxConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactSphereMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactBoxMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactSphereHeightfield(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCapsuleHeightfield(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactBoxHeightfield(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexHeightfield(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactSpherePlane(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactPlaneBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactPlaneConvexCore(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactPlaneConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactPlaneMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactMeshMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexCoreConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexCoreTrimesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactConvexCoreHeightfield(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactCustomGeometryGeometry(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool contactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactPlaneConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSpherePlane(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactBoxBox(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactConvexConvex(GU_CONTACT_METHOD_ARGS);
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PX_PHYSX_COMMON_API bool pcmContactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);
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}
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}
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#endif
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