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feat(physics): wire physx sdk into build

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ssdfasd
2026-04-15 12:22:15 +08:00
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commit 31f40e2cbb
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engine/third_party/physx/source/geomutils/src/mesh/GuBV4.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_BV4_H
#define GU_BV4_H
#include "foundation/PxBounds3.h"
#include "GuBV4Settings.h"
#include "GuCenterExtents.h"
#include "GuTriangle.h"
#include "foundation/PxVecMath.h"
#include "common/PxPhysXCommonConfig.h"
#define V4LoadU_Safe physx::aos::V4LoadU // PT: prefix needed on Linux. Sigh.
#define V4LoadA_Safe V4LoadA
#define V4StoreA_Safe V4StoreA
#define V4StoreU_Safe V4StoreU
namespace physx
{
class PxSerializationContext;
class PxDeserializationContext;
class PxOutputStream;
class PxInputStream;
namespace Gu
{
struct VertexPointers
{
const PxVec3* Vertex[3];
};
struct TetrahedronPointers
{
const PxVec3* Vertex[4];
};
// PT: TODO: make this more generic, rename to IndQuad32, refactor with GRB's int4
class IndTetrahedron32 : public physx::PxUserAllocated
{
public:
public:
PX_FORCE_INLINE IndTetrahedron32() {}
PX_FORCE_INLINE IndTetrahedron32(PxU32 r0, PxU32 r1, PxU32 r2, PxU32 r3) { mRef[0] = r0; mRef[1] = r1; mRef[2] = r2; mRef[3] = r3; }
PX_FORCE_INLINE IndTetrahedron32(const IndTetrahedron32& tetrahedron)
{
mRef[0] = tetrahedron.mRef[0];
mRef[1] = tetrahedron.mRef[1];
mRef[2] = tetrahedron.mRef[2];
mRef[3] = tetrahedron.mRef[3];
}
PX_FORCE_INLINE ~IndTetrahedron32() {}
PxU32 mRef[4];
};
PX_COMPILE_TIME_ASSERT(sizeof(IndTetrahedron32) == 16);
// PT: TODO: make this more generic, rename to IndQuad16
class IndTetrahedron16 : public physx::PxUserAllocated
{
public:
public:
PX_FORCE_INLINE IndTetrahedron16() {}
PX_FORCE_INLINE IndTetrahedron16(PxU16 r0, PxU16 r1, PxU16 r2, PxU16 r3) { mRef[0] = r0; mRef[1] = r1; mRef[2] = r2; mRef[3] = r3; }
PX_FORCE_INLINE IndTetrahedron16(const IndTetrahedron16& tetrahedron)
{
mRef[0] = tetrahedron.mRef[0];
mRef[1] = tetrahedron.mRef[1];
mRef[2] = tetrahedron.mRef[2];
mRef[3] = tetrahedron.mRef[3];
}
PX_FORCE_INLINE ~IndTetrahedron16() {}
PxU16 mRef[4];
};
PX_COMPILE_TIME_ASSERT(sizeof(IndTetrahedron16) == 8);
typedef IndexedTriangle32 IndTri32;
typedef IndexedTriangle16 IndTri16;
PX_FORCE_INLINE void getVertexReferences(PxU32& vref0, PxU32& vref1, PxU32& vref2, PxU32 index, const IndTri32* T32, const IndTri16* T16)
{
if(T32)
{
const IndTri32* PX_RESTRICT tri = T32 + index;
vref0 = tri->mRef[0];
vref1 = tri->mRef[1];
vref2 = tri->mRef[2];
}
else
{
const IndTri16* PX_RESTRICT tri = T16 + index;
vref0 = tri->mRef[0];
vref1 = tri->mRef[1];
vref2 = tri->mRef[2];
}
}
PX_FORCE_INLINE void getVertexReferences(PxU32& vref0, PxU32& vref1, PxU32& vref2, PxU32& vref3, PxU32 index, const IndTetrahedron32* T32, const IndTetrahedron16* T16)
{
if(T32)
{
const IndTetrahedron32* PX_RESTRICT tet = T32 + index;
vref0 = tet->mRef[0];
vref1 = tet->mRef[1];
vref2 = tet->mRef[2];
vref3 = tet->mRef[3];
}
else
{
const IndTetrahedron16* PX_RESTRICT tet = T16 + index;
vref0 = tet->mRef[0];
vref1 = tet->mRef[1];
vref2 = tet->mRef[2];
vref3 = tet->mRef[3];
}
}
class SourceMeshBase : public physx::PxUserAllocated
{
public:
enum MeshType
{
TRI_MESH,
TET_MESH,
FORCE_DWORD = 0x7fffffff
};
SourceMeshBase(MeshType meshType);
virtual ~SourceMeshBase();
SourceMeshBase(const PxEMPTY) {}
PxU32 mNbVerts;
const PxVec3* mVerts;
PX_FORCE_INLINE PxU32 getNbVertices() const { return mNbVerts; }
PX_FORCE_INLINE const PxVec3* getVerts() const { return mVerts; }
PX_FORCE_INLINE void setNbVertices(PxU32 nb) { mNbVerts = nb; }
PX_FORCE_INLINE void initRemap() { mRemap = NULL; }
PX_FORCE_INLINE const PxU32* getRemap() const { return mRemap; }
PX_FORCE_INLINE void releaseRemap() { PX_FREE(mRemap); }
PX_FORCE_INLINE MeshType getMeshType() const { return mType; }
// PT: TODO: check whether adding these vcalls affected build & runtime performance
virtual PxU32 getNbPrimitives() const = 0;
virtual void remapTopology(const PxU32* order) = 0;
virtual void getPrimitiveBox(const PxU32 primitiveInd, physx::aos::Vec4V& minV, physx::aos::Vec4V& maxV) = 0;
virtual void refit(const PxU32 primitiveInd, PxBounds3& refitBox) = 0;
protected:
MeshType mType;
PxU32* mRemap;
};
class SourceMesh : public SourceMeshBase
{
public:
SourceMesh();
virtual ~SourceMesh();
// PX_SERIALIZATION
SourceMesh(const PxEMPTY) : SourceMeshBase(PxEmpty) {}
//~PX_SERIALIZATION
void reset();
void operator = (SourceMesh& v);
PxU32 mNbTris;
IndTri32* mTriangles32;
IndTri16* mTriangles16;
PX_FORCE_INLINE PxU32 getNbTriangles() const { return mNbTris; }
PX_FORCE_INLINE const IndTri32* getTris32() const { return mTriangles32; }
PX_FORCE_INLINE const IndTri16* getTris16() const { return mTriangles16; }
PX_FORCE_INLINE void setNbTriangles(PxU32 nb) { mNbTris = nb; }
// SourceMeshBase
virtual PxU32 getNbPrimitives() const { return getNbTriangles(); }
virtual void remapTopology(const PxU32* order);
virtual void getPrimitiveBox(const PxU32 primitiveInd, physx::aos::Vec4V& minV, physx::aos::Vec4V& maxV);
virtual void refit(const PxU32 primitiveInd, PxBounds3& refitBox);
//~SourceMeshBase
PX_FORCE_INLINE void setPointers(IndTri32* tris32, IndTri16* tris16, const PxVec3* verts)
{
mTriangles32 = tris32;
mTriangles16 = tris16;
mVerts = verts;
}
bool isValid() const;
PX_FORCE_INLINE void getTriangle(VertexPointers& vp, PxU32 index) const
{
PxU32 VRef0, VRef1, VRef2;
getVertexReferences(VRef0, VRef1, VRef2, index, mTriangles32, mTriangles16);
vp.Vertex[0] = mVerts + VRef0;
vp.Vertex[1] = mVerts + VRef1;
vp.Vertex[2] = mVerts + VRef2;
}
};
class TetrahedronSourceMesh : public SourceMeshBase
{
public:
TetrahedronSourceMesh();
virtual ~TetrahedronSourceMesh();
// PX_SERIALIZATION
TetrahedronSourceMesh(const PxEMPTY) : SourceMeshBase(TET_MESH) {}
//~PX_SERIALIZATION
void reset();
void operator = (TetrahedronSourceMesh& v);
PxU32 mNbTetrahedrons;
IndTetrahedron32* mTetrahedrons32;
IndTetrahedron16* mTetrahedrons16;
PX_FORCE_INLINE PxU32 getNbTetrahedrons() const { return mNbTetrahedrons; }
PX_FORCE_INLINE const IndTetrahedron32* getTetrahedrons32() const { return mTetrahedrons32; }
PX_FORCE_INLINE const IndTetrahedron16* getTetrahedrons16() const { return mTetrahedrons16; }
PX_FORCE_INLINE void setNbTetrahedrons(PxU32 nb) { mNbTetrahedrons = nb; }
// SourceMeshBase
virtual PxU32 getNbPrimitives() const { return getNbTetrahedrons(); }
virtual void remapTopology(const PxU32* order);
virtual void getPrimitiveBox(const PxU32 primitiveInd, physx::aos::Vec4V& minV, physx::aos::Vec4V& maxV);
virtual void refit(const PxU32 primitiveInd, PxBounds3& refitBox);
//~SourceMeshBase
PX_FORCE_INLINE void setPointers(IndTetrahedron32* tets32, IndTetrahedron16* tets16, const PxVec3* verts)
{
mTetrahedrons32 = tets32;
mTetrahedrons16 = tets16;
mVerts = verts;
}
bool isValid() const;
PX_FORCE_INLINE void getTetrahedron(TetrahedronPointers& vp, PxU32 index) const
{
PxU32 VRef0, VRef1, VRef2, VRef3;
getVertexReferences(VRef0, VRef1, VRef2, VRef3, index, mTetrahedrons32, mTetrahedrons16);
vp.Vertex[0] = mVerts + VRef0;
vp.Vertex[1] = mVerts + VRef1;
vp.Vertex[2] = mVerts + VRef2;
vp.Vertex[3] = mVerts + VRef3;
}
};
struct LocalBounds
{
// PX_SERIALIZATION
LocalBounds(const PxEMPTY) {}
//~PX_SERIALIZATION
LocalBounds() : mCenter(PxVec3(0.0f)), mExtentsMagnitude(0.0f) {}
PxVec3 mCenter;
float mExtentsMagnitude;
PX_FORCE_INLINE void init(const PxBounds3& bounds)
{
mCenter = bounds.getCenter();
// PT: TODO: compute mag first, then multiplies by 0.5f (TA34704)
mExtentsMagnitude = bounds.getExtents().magnitude();
}
};
class QuantizedAABB
{
public:
struct Data
{
PxU16 mExtents; //!< Quantized extents
PxI16 mCenter; //!< Quantized center
};
Data mData[3];
};
PX_COMPILE_TIME_ASSERT(sizeof(QuantizedAABB)==12);
/////
#define GU_BV4_CHILD_OFFSET_SHIFT_COUNT 11
static PX_FORCE_INLINE PxU32 getChildOffset(PxU32 data) { return data>>GU_BV4_CHILD_OFFSET_SHIFT_COUNT; }
static PX_FORCE_INLINE PxU32 getChildType(PxU32 data) { return (data>>1)&3; }
template<class BoxType>
struct BVDataPackedT
{
BoxType mAABB;
PxU32 mData;
PX_FORCE_INLINE PxU32 isLeaf() const { return mData&1; }
PX_FORCE_INLINE PxU32 getPrimitive() const { return mData>>1; }
PX_FORCE_INLINE PxU32 getChildOffset() const { return mData>>GU_BV4_CHILD_OFFSET_SHIFT_COUNT;}
PX_FORCE_INLINE PxU32 getChildType() const { return (mData>>1)&3; }
PX_FORCE_INLINE PxU32 getChildData() const { return mData; }
PX_FORCE_INLINE void encodePNS(PxU32 code)
{
PX_ASSERT(code<256);
mData |= code<<3;
}
PX_FORCE_INLINE PxU32 decodePNSNoShift() const { return mData; }
};
typedef BVDataPackedT<QuantizedAABB> BVDataPackedQ;
typedef BVDataPackedT<CenterExtents> BVDataPackedNQ;
// PT: TODO: align class to 16? (TA34704)
class BV4Tree : public physx::PxUserAllocated
{
public:
// PX_SERIALIZATION
BV4Tree(const PxEMPTY);
void exportExtraData(PxSerializationContext&);
void importExtraData(PxDeserializationContext& context);
//~PX_SERIALIZATION
BV4Tree();
BV4Tree(SourceMesh* meshInterface, const PxBounds3& localBounds);
~BV4Tree();
bool refit(PxBounds3& globalBounds, float epsilon);
bool load(PxInputStream& stream, bool mismatch);
void reset();
void operator = (BV4Tree& v);
bool init(SourceMeshBase* meshInterface, const PxBounds3& localBounds);
void release();
SourceMeshBase* mMeshInterface;
LocalBounds mLocalBounds;
PxU32 mNbNodes;
void* mNodes; // PT: BVDataPacked / BVDataSwizzled
PxU32 mInitData;
// PT: the dequantization coeffs are only used for quantized trees
PxVec3 mCenterOrMinCoeff; // PT: dequantization coeff, either for Center or Min (depending on AABB format)
PxVec3 mExtentsOrMaxCoeff; // PT: dequantization coeff, either for Extents or Max (depending on AABB format)
bool mUserAllocated; // PT: please keep these 4 bytes right after mCenterOrMinCoeff/mExtentsOrMaxCoeff for safe V4 loading
bool mQuantized; // PT: true for quantized trees
bool mIsEdgeSet; // PT: equivalent to RTree::IS_EDGE_SET
bool mPadding;
};
} // namespace Gu
}
#endif // GU_BV4_H