feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/mesh/GuTetrahedronMeshUtils.cpp

@@ -0,0 +1,134 @@
+// 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.
+
+#include "GuTetrahedronMeshUtils.h"
+#include "GuDistancePointTetrahedron.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+void convertDeformableVolumeCollisionToSimMeshTets(const PxTetrahedronMesh& simMesh, const DeformableVolumeAuxData& simState, const BVTetrahedronMesh& collisionMesh,
+												   PxU32 inTetId, const PxVec4& inTetBarycentric, PxU32& outTetId, PxVec4& outTetBarycentric, bool bClampToClosestPoint)
+{
+	if (inTetId == 0xFFFFFFFF)
+	{
+		outTetId = 0xFFFFFFFF;
+		outTetBarycentric = PxVec4(0.0f);
+		return;
+	}
+
+	// Map from CPU tet ID (corresponds to the ID in the BV4 mesh) to the GPU tet ID (corresponds to the ID in
+	// the BV32 mesh)
+	inTetId = collisionMesh.mGRB_faceRemapInverse[inTetId];
+
+	const PxU32 endIdx = simState.mTetsAccumulatedRemapColToSim[inTetId];
+	const PxU32 startIdx = inTetId != 0 ? simState.mTetsAccumulatedRemapColToSim[inTetId - 1] : 0;
+
+	const PxU32* const tetRemapColToSim = simState.mTetsRemapColToSim;
+
+	typedef PxVec4T<unsigned int> uint4;
+
+	const uint4* const collInds = reinterpret_cast<const uint4*>(collisionMesh.mGRB_tetraIndices /*collisionMesh->mTetrahedrons*/);
+	const uint4* const simInds = reinterpret_cast<const uint4*>(simMesh.getTetrahedrons());
+
+	const PxVec3* const collVerts = collisionMesh.mVertices;
+	const PxVec3* const simVerts = simMesh.getVertices();
+
+	const uint4 ind = collInds[inTetId];
+
+	const PxVec3 point = collVerts[ind.x] * inTetBarycentric.x + collVerts[ind.y] * inTetBarycentric.y +
+	                     collVerts[ind.z] * inTetBarycentric.z + collVerts[ind.w] * inTetBarycentric.w;
+
+	PxReal currDist = PX_MAX_F32;
+
+	for (PxU32 i = startIdx; i < endIdx; ++i)
+	{
+		const PxU32 simTet = tetRemapColToSim[i];
+
+		const uint4 simInd = simInds[simTet];
+
+		const PxVec3 a = simVerts[simInd.x];
+		const PxVec3 b = simVerts[simInd.y];
+		const PxVec3 c = simVerts[simInd.z];
+		const PxVec3 d = simVerts[simInd.w];
+
+		const PxVec3 tmpClosest = closestPtPointTetrahedronWithInsideCheck(point, a, b, c, d);
+		const PxVec3 v = point - tmpClosest;
+		const PxReal tmpDist = v.dot(v);
+		if (tmpDist < currDist)
+		{
+			PxVec4 tmpBarycentric;
+			if (bClampToClosestPoint)
+				PxComputeBarycentric(a, b, c, d, tmpClosest, tmpBarycentric);
+			else
+				PxComputeBarycentric(a, b, c, d, point, tmpBarycentric);
+
+			currDist = tmpDist;
+			outTetId = simTet;
+			outTetBarycentric = tmpBarycentric;
+
+			if (tmpDist < 1e-6f)
+				break;
+		}
+	}
+
+	PX_ASSERT(outTetId != 0xFFFFFFFF);
+}
+
+PxVec4 addAxisToSimMeshBarycentric(const PxTetrahedronMesh& simMesh, const PxU32 simTetId, const PxVec4& simBary, const PxVec3& axis)
+{
+	const PxVec3* simMeshVerts = simMesh.getVertices();
+	PxVec3 tetVerts[4];
+	if(simMesh.getTetrahedronMeshFlags() & PxTetrahedronMeshFlag::e16_BIT_INDICES)
+	{
+		const PxU16* indices = reinterpret_cast<const PxU16*>(simMesh.getTetrahedrons());
+		tetVerts[0] = simMeshVerts[indices[simTetId*4 + 0]];
+		tetVerts[1] = simMeshVerts[indices[simTetId*4 + 1]];
+		tetVerts[2] = simMeshVerts[indices[simTetId*4 + 2]];
+		tetVerts[3] = simMeshVerts[indices[simTetId*4 + 3]];
+	}
+	else
+	{
+		const PxU32* indices = reinterpret_cast<const PxU32*>(simMesh.getTetrahedrons());
+		tetVerts[0] = simMeshVerts[indices[simTetId*4 + 0]];
+		tetVerts[1] = simMeshVerts[indices[simTetId*4 + 1]];
+		tetVerts[2] = simMeshVerts[indices[simTetId*4 + 2]];
+		tetVerts[3] = simMeshVerts[indices[simTetId*4 + 3]];
+	}
+
+	const PxVec3 simPoint = tetVerts[0]*simBary.x + tetVerts[1]*simBary.y + tetVerts[2]*simBary.z + tetVerts[3]*simBary.w;
+	const PxVec3 offsetPoint = simPoint + axis;
+
+	PxVec4 offsetBary;
+	PxComputeBarycentric(tetVerts[0], tetVerts[1], tetVerts[2], tetVerts[3], offsetPoint, offsetBary);
+	return offsetBary;
+}
+
+
+}
+}