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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/gjk/GuGJKSimplex.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_GJKSIMPLEX_H
#define GU_GJKSIMPLEX_H
#include "foundation/PxVecMath.h"
#include "GuBarycentricCoordinates.h"
#if (defined __GNUC__ && defined _DEBUG)
#define PX_GJK_INLINE PX_INLINE
#define PX_GJK_FORCE_INLINE PX_INLINE
#else
#define PX_GJK_INLINE PX_INLINE
#define PX_GJK_FORCE_INLINE PX_FORCE_INLINE
#endif
namespace physx
{
namespace Gu
{
PX_NOALIAS aos::Vec3V closestPtPointTetrahedron(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* PX_RESTRICT A, aos::Vec3V* PX_RESTRICT B, PxU32& size);
PX_NOALIAS aos::Vec3V closestPtPointTetrahedron(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* PX_RESTRICT A, aos::Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd,
PxU32& size);
PX_NOALIAS PX_FORCE_INLINE aos::BoolV PointOutsideOfPlane4(const aos::Vec3VArg _a, const aos::Vec3VArg _b, const aos::Vec3VArg _c, const aos::Vec3VArg _d)
{
using namespace aos;
const Vec4V zero = V4Load(0.f);
const Vec3V ab = V3Sub(_b, _a);
const Vec3V ac = V3Sub(_c, _a);
const Vec3V ad = V3Sub(_d, _a);
const Vec3V bd = V3Sub(_d, _b);
const Vec3V bc = V3Sub(_c, _b);
const Vec3V v0 = V3Cross(ab, ac);
const Vec3V v1 = V3Cross(ac, ad);
const Vec3V v2 = V3Cross(ad, ab);
const Vec3V v3 = V3Cross(bd, bc);
const FloatV signa0 = V3Dot(v0, _a);
const FloatV signa1 = V3Dot(v1, _a);
const FloatV signa2 = V3Dot(v2, _a);
const FloatV signd3 = V3Dot(v3, _a);
const FloatV signd0 = V3Dot(v0, _d);
const FloatV signd1 = V3Dot(v1, _b);
const FloatV signd2 = V3Dot(v2, _c);
const FloatV signa3 = V3Dot(v3, _b);
const Vec4V signa = V4Merge(signa0, signa1, signa2, signa3);
const Vec4V signd = V4Merge(signd0, signd1, signd2, signd3);
return V4IsGrtrOrEq(V4Mul(signa, signd), zero);//same side, outside of the plane
}
PX_NOALIAS PX_FORCE_INLINE aos::Vec3V closestPtPointSegment(aos::Vec3V* PX_RESTRICT Q, PxU32& size)
{
using namespace aos;
const Vec3V a = Q[0];
const Vec3V b = Q[1];
//const Vec3V origin = V3Zero();
const FloatV zero = FZero();
const FloatV one = FOne();
//Test degenerated case
const Vec3V ab = V3Sub(b, a);
const FloatV denom = V3Dot(ab, ab);
const Vec3V ap = V3Neg(a);//V3Sub(origin, a);
const FloatV nom = V3Dot(ap, ab);
const BoolV con = FIsGrtrOrEq(FEps(), denom);//FIsEq(denom, zero);
//TODO - can we get rid of this branch? The problem is size, which isn't a vector!
if(BAllEqTTTT(con))
{
size = 1;
return Q[0];
}
/* const PxU32 count = BAllEq(con, bTrue);
size = 2 - count;*/
const FloatV tValue = FClamp(FDiv(nom, denom), zero, one);
return V3ScaleAdd(ab, tValue, a);
}
PX_FORCE_INLINE void getClosestPoint(const aos::Vec3V* PX_RESTRICT Q, const aos::Vec3V* PX_RESTRICT A, const aos::Vec3V* PX_RESTRICT B, const aos::Vec3VArg closest, aos::Vec3V& closestA, aos::Vec3V& closestB, const PxU32 size)
{
using namespace aos;
switch(size)
{
case 1:
{
closestA = A[0];
closestB = B[0];
break;
}
case 2:
{
FloatV v;
barycentricCoordinates(closest, Q[0], Q[1], v);
const Vec3V av = V3Sub(A[1], A[0]);
const Vec3V bv = V3Sub(B[1], B[0]);
closestA = V3ScaleAdd(av, v, A[0]);
closestB = V3ScaleAdd(bv, v, B[0]);
break;
}
case 3:
{
//calculate the Barycentric of closest point p in the mincowsky sum
FloatV v, w;
barycentricCoordinates(closest, Q[0], Q[1], Q[2], v, w);
const Vec3V av0 = V3Sub(A[1], A[0]);
const Vec3V av1 = V3Sub(A[2], A[0]);
const Vec3V bv0 = V3Sub(B[1], B[0]);
const Vec3V bv1 = V3Sub(B[2], B[0]);
closestA = V3Add(A[0], V3Add(V3Scale(av0, v), V3Scale(av1, w)));
closestB = V3Add(B[0], V3Add(V3Scale(bv0, v), V3Scale(bv1, w)));
}
};
}
PX_NOALIAS PX_GJK_FORCE_INLINE aos::FloatV closestPtPointTriangleBaryCentric(const aos::Vec3VArg a, const aos::Vec3VArg b, const aos::Vec3VArg c,
PxU32* PX_RESTRICT indices, PxU32& size, aos::Vec3V& closestPt)
{
using namespace aos;
size = 3;
const FloatV zero = FZero();
const FloatV eps = FEps();
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V n = V3Cross(ab, ac);
//ML: if the shape is oblong, the degeneracy test sometime can't catch the degeneracy in the tetraheron. Therefore, we need to make sure we still can ternimate with the previous
//triangle by returning the maxinum distance.
const FloatV nn = V3Dot(n, n);
if (FAllEq(nn, zero))
return FMax();
//const FloatV va = FNegScaleSub(d5, d4, FMul(d3, d6));//edge region of BC
//const FloatV vb = FNegScaleSub(d1, d6, FMul(d5, d2));//edge region of AC
//const FloatV vc = FNegScaleSub(d3, d2, FMul(d1, d4));//edge region of AB
//const FloatV va = V3Dot(n, V3Cross(b, c));//edge region of BC, signed area rbc, u = S(rbc)/S(abc) for a
//const FloatV vb = V3Dot(n, V3Cross(c, a));//edge region of AC, signed area rac, v = S(rca)/S(abc) for b
//const FloatV vc = V3Dot(n, V3Cross(a, b));//edge region of AB, signed area rab, w = S(rab)/S(abc) for c
const VecCrossV crossA = V3PrepareCross(a);
const VecCrossV crossB = V3PrepareCross(b);
const VecCrossV crossC = V3PrepareCross(c);
const Vec3V bCrossC = V3Cross(crossB, crossC);
const Vec3V cCrossA = V3Cross(crossC, crossA);
const Vec3V aCrossB = V3Cross(crossA, crossB);
const FloatV va = V3Dot(n, bCrossC);//edge region of BC, signed area rbc, u = S(rbc)/S(abc) for a
const FloatV vb = V3Dot(n, cCrossA);//edge region of AC, signed area rac, v = S(rca)/S(abc) for b
const FloatV vc = V3Dot(n, aCrossB);//edge region of AB, signed area rab, w = S(rab)/S(abc) for c
const BoolV isFacePoints = BAnd(FIsGrtrOrEq(va, zero), BAnd(FIsGrtrOrEq(vb, zero), FIsGrtrOrEq(vc, zero)));
//face region
if(BAllEqTTTT(isFacePoints))
{
const FloatV t = FDiv(V3Dot(n, a), nn);
const Vec3V q = V3Scale(n, t);
closestPt = q;
return V3Dot(q, q);
}
const Vec3V ap = V3Neg(a);
const Vec3V bp = V3Neg(b);
const Vec3V cp = V3Neg(c);
const FloatV d1 = V3Dot(ab, ap); // snom
const FloatV d2 = V3Dot(ac, ap); // tnom
const FloatV d3 = V3Dot(ab, bp); // -sdenom
const FloatV d4 = V3Dot(ac, bp); // unom = d4 - d3
const FloatV d5 = V3Dot(ab, cp); // udenom = d5 - d6
const FloatV d6 = V3Dot(ac, cp); // -tdenom
const FloatV unom = FSub(d4, d3);
const FloatV udenom = FSub(d5, d6);
size = 2;
//check if p in edge region of AB
const BoolV con30 = FIsGrtrOrEq(zero, vc);
const BoolV con31 = FIsGrtrOrEq(d1, zero);
const BoolV con32 = FIsGrtrOrEq(zero, d3);
const BoolV con3 = BAnd(con30, BAnd(con31, con32));//edge AB region
if(BAllEqTTTT(con3))
{
const FloatV toRecipAB = FSub(d1, d3);
const FloatV recipAB = FSel(FIsGrtr(FAbs(toRecipAB), eps), FRecip(toRecipAB), zero);
const FloatV t = FMul(d1, recipAB);
const Vec3V q = V3ScaleAdd(ab, t, a);
closestPt = q;
return V3Dot(q, q);
}
//check if p in edge region of BC
const BoolV con40 = FIsGrtrOrEq(zero, va);
const BoolV con41 = FIsGrtrOrEq(d4, d3);
const BoolV con42 = FIsGrtrOrEq(d5, d6);
const BoolV con4 = BAnd(con40, BAnd(con41, con42)); //edge BC region
if(BAllEqTTTT(con4))
{
const Vec3V bc = V3Sub(c, b);
const FloatV toRecipBC = FAdd(unom, udenom);
const FloatV recipBC = FSel(FIsGrtr(FAbs(toRecipBC), eps), FRecip(toRecipBC), zero);
const FloatV t = FMul(unom, recipBC);
indices[0] = indices[1];
indices[1] = indices[2];
const Vec3V q = V3ScaleAdd(bc, t, b);
closestPt = q;
return V3Dot(q, q);
}
//check if p in edge region of AC
const BoolV con50 = FIsGrtrOrEq(zero, vb);
const BoolV con51 = FIsGrtrOrEq(d2, zero);
const BoolV con52 = FIsGrtrOrEq(zero, d6);
const BoolV con5 = BAnd(con50, BAnd(con51, con52));//edge AC region
if(BAllEqTTTT(con5))
{
const FloatV toRecipAC = FSub(d2, d6);
const FloatV recipAC = FSel(FIsGrtr(FAbs(toRecipAC), eps), FRecip(toRecipAC), zero);
const FloatV t = FMul(d2, recipAC);
indices[1]=indices[2];
const Vec3V q = V3ScaleAdd(ac, t, a);
closestPt = q;
return V3Dot(q, q);
}
size = 1;
//check if p in vertex region outside a
const BoolV con00 = FIsGrtrOrEq(zero, d1); // snom <= 0
const BoolV con01 = FIsGrtrOrEq(zero, d2); // tnom <= 0
const BoolV con0 = BAnd(con00, con01); // vertex region a
if(BAllEqTTTT(con0))
{
closestPt = a;
return V3Dot(a, a);
}
//check if p in vertex region outside b
const BoolV con10 = FIsGrtrOrEq(d3, zero);
const BoolV con11 = FIsGrtrOrEq(d3, d4);
const BoolV con1 = BAnd(con10, con11); // vertex region b
if(BAllEqTTTT(con1))
{
indices[0] = indices[1];
closestPt = b;
return V3Dot(b, b);
}
//p is in vertex region outside c
indices[0] = indices[2];
closestPt = c;
return V3Dot(c, c);
}
PX_NOALIAS PX_GJK_FORCE_INLINE aos::Vec3V closestPtPointTriangle(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* A, aos::Vec3V* B, PxU32& size)
{
using namespace aos;
size = 3;
const FloatV eps2 = FLoad(PX_EPS_REAL * PX_EPS_REAL);
const Vec3V a = Q[0];
const Vec3V b = Q[1];
const Vec3V c = Q[2];
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V signArea = V3Cross(ab, ac);//0.5*(abXac)
const FloatV area = V3Dot(signArea, signArea);
if(FAllGrtrOrEq(eps2, area))
{
//degenerate
size = 2;
return closestPtPointSegment(Q, size);
}
PxU32 _size;
PxU32 indices[3]={0, 1, 2};
Vec3V closestPt;
closestPtPointTriangleBaryCentric(a, b, c, indices, _size, closestPt);
if(_size != 3)
{
const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]];
const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]];
const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]];
Q[0] = q0; Q[1] = q1;
A[0] = a0; A[1] = a1;
B[0] = b0; B[1] = b1;
size = _size;
}
return closestPt;
}
PX_NOALIAS PX_GJK_FORCE_INLINE aos::Vec3V closestPtPointTriangle(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* A, aos::Vec3V* B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd,
PxU32& size)
{
using namespace aos;
size = 3;
const FloatV eps2 = FLoad(PX_EPS_REAL * PX_EPS_REAL);
const Vec3V a = Q[0];
const Vec3V b = Q[1];
const Vec3V c = Q[2];
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V signArea = V3Cross(ab, ac);//0.5*(abXac)
const FloatV area = V3Dot(signArea, signArea);
if(FAllGrtrOrEq(eps2, area))
{
//degenerate
size = 2;
return closestPtPointSegment(Q, size);
}
PxU32 _size;
PxU32 indices[3]={0, 1, 2};
Vec3V closestPt;
closestPtPointTriangleBaryCentric(a, b, c, indices, _size, closestPt);
if(_size != 3)
{
const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]];
const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]];
const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]];
const PxI32 aInd0 = aInd[indices[0]]; const PxI32 aInd1 = aInd[indices[1]];
const PxI32 bInd0 = bInd[indices[0]]; const PxI32 bInd1 = bInd[indices[1]];
Q[0] = q0; Q[1] = q1;
A[0] = a0; A[1] = a1;
B[0] = b0; B[1] = b1;
aInd[0] = aInd0; aInd[1] = aInd1;
bInd[0] = bInd0; bInd[1] = bInd1;
size = _size;
}
return closestPt;
}
PX_NOALIAS PX_FORCE_INLINE aos::Vec3V GJKCPairDoSimplex(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* PX_RESTRICT A, aos::Vec3V* PX_RESTRICT B, const aos::Vec3VArg support,
PxU32& size)
{
using namespace aos;
//const PxU32 tempSize = size;
//calculate a closest from origin to the simplex
switch(size)
{
case 1:
{
return support;
}
case 2:
{
return closestPtPointSegment(Q, size);
}
case 3:
{
return closestPtPointTriangle(Q, A, B, size);
}
case 4:
return closestPtPointTetrahedron(Q, A, B, size);
default:
PX_ASSERT(0);
}
return support;
}
PX_NOALIAS PX_FORCE_INLINE aos::Vec3V GJKCPairDoSimplex(aos::Vec3V* PX_RESTRICT Q, aos::Vec3V* PX_RESTRICT A, aos::Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd,
const aos::Vec3VArg support, PxU32& size)
{
using namespace aos;
//const PxU32 tempSize = size;
//calculate a closest from origin to the simplex
switch(size)
{
case 1:
{
return support;
}
case 2:
{
return closestPtPointSegment(Q, size);
}
case 3:
{
return closestPtPointTriangle(Q, A, B, aInd, bInd, size);
}
case 4:
return closestPtPointTetrahedron(Q, A, B, aInd, bInd, size);
default:
PX_ASSERT(0);
}
return support;
}
}
}
#endif