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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/gpubroadphase/include/PxgBroadPhaseDesc.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 PXG_BROADPHASE_DESC_H
#define PXG_BROADPHASE_DESC_H
#include "foundation/PxSimpleTypes.h"
// PT: the GPU AABB manager apparently DMAs the updated handles' *bitmap* to the GPU directly, bypassing the
// BP API. This creates coupling between the GPU BP and the GPU AABB manager, i.e. the GPU BP cannot be used
// outside of the SDK as a standalone BP. The code controlled by this define tries to undo that and support
// a "regular" update handles array (not a bitmap), like the CPU implementations do.
#define SUPPORT_UPDATE_HANDLES_ARRAY_FOR_GPU
namespace physx
{
class PxgIntegerAABB;
class PxgSapBox1D;
struct PxgBroadPhasePair;
struct PxgHandleRegion;
struct PxgIntegerRegion;
class PxBounds3;
namespace Bp
{
struct VolumeData;
}
typedef PxU64 regionOverlapType;
struct PxgBroadPhaseDesc
{
PxU32* updateData_createdHandles; // PT: copy of updateData buffer in device memory
PxU32 numCreatedHandles;
PxU32* updateData_removedHandles; // PT: copy of updateData buffer in device memory
PxU32 numRemovedHandles;
#ifdef SUPPORT_UPDATE_HANDLES_ARRAY_FOR_GPU
PxU32* updateData_updatedHandles; // PT: copy of updateData buffer in device memory
PxU32 numUpdatedHandles;
#endif
PxU32* aabbMngr_changedHandleMap; // PT: data coming from the AABB manager, creating all the coupling problems
PxU32 aabbMngr_changedHandleBitMapWordCounts; // PT: data coming from the AABB manager, creating all the coupling problems
PxU32* aabbMngr_addedHandleMap; // PT: data coming from the AABB manager, creating all the coupling problems
PxU32* aabbMngr_removedHandleMap; // PT: data coming from the AABB manager, creating all the coupling problems
PxU32* aabbMngr_aggregatedBoundHandles; // PT: data coming from the AABB manager, creating all the coupling problems
PxBounds3* updateData_fpBounds; // PT: copy of updateData buffer in device memory
PxReal* updateData_contactDistances; // PT: copy of updateData buffer in device memory
PxgIntegerAABB* newIntegerBounds; // PT: computed by translateAABBsLaunch kernel.
PxU32* updateData_groups; // PT: copy of updateData buffer in device memory TODO: type could be better
PxU32* updateData_envIDs; // PT: copy of updateData buffer in device memory
PxgIntegerAABB* oldIntegerBounds;
PxgSapBox1D* boxSapBox1D[3];
PxgSapBox1D* boxNewSapBox1D[3];
PxU32* boxProjections[3];
PxU32* boxHandles[2][3];
PxU32 numPreviousHandles;
PxU32 sharedFoundPairIndex;
PxU32 sharedLostPairIndex;
PxU32 sharedFoundAggPairIndex;
PxU32 sharedLostAggPairIndex;
PxgBroadPhasePair* foundPairReport; //device memory for GPU foundReport (include actors and aggregates)
PxgBroadPhasePair* lostPairReport; //device memory for GPU lostReport (include actors and aggregates)
PxgBroadPhasePair* foundAggPairReport; //device memory for GPU aggregate foundReport
PxgBroadPhasePair* lostAggPairReport; //device memory for GPU aggregate lostReport
PxgBroadPhasePair* foundActorPairReport; //device memory for GPU actor foundReport
PxgBroadPhasePair* lostActorPairReport; //device memory for GPU actor lostReport
PxgBroadPhasePair* foundPairReportMap; //mapped address in the GPU for the cpu foundReport for actor pairs (not include aggregate);
PxgBroadPhasePair* lostPairReportMap; //mapped address in the GPU for the cpu lostReport for actor pairs(not include aggregate);
Bp::VolumeData* aabbMngr_volumeData; // PT: data coming from the AABB manager, creating all the coupling problems
PxU32* activeRegionsHistogram; //! Histogram used for active handles, 64 regions and each regions has nbProjections(multiply of 4) elements
PxU32* startRegionsHistogram; //! Histogram for all start handles
PxU32* orderedActiveRegionHandles; //! An ordered list of active handles
PxU32* orderedStartRegionHandles; //! An ordered list of start handles
regionOverlapType* blockOverlapChecksRegion;
regionOverlapType* overlapChecksRegion; //this variable is to store the exclusive scan add overlap checks for each objects
regionOverlapType overlapChecksTotalRegion; //this variable is to store the total number of overlap checks for all objects
PxgHandleRegion* overlapChecksHandleRegiones;
PxgIntegerRegion* regionRange;
PxU32* startRegionAccum;
PxU32* blockStartRegionAccum;
PxU32 startRegionAccumTotal;
PxU32* regionAccum;
PxU32* blockRegionAccum;
PxU32 regionAccumTotal;
PxU32* endPtHistogram[2][3];
PxU32* blockEndPtHistogram[2][3];
PxU32* endPointHandles[2][3];
PxU32* totalEndPtHistogram[3];
PxU32* blockTotalEndPtHistogram[3];
PxU32* startPtHistogram[2][3];
PxU32* blockStartPtHistogram[2][3];
PxU32* startPointHandles[2][3];
PxU32* boxProjectionRanks[3];
PxU32* incrementalComparisons[3];
PxU32* incrementalBlockComparisons[3];
PxU32* aggReportBlock[2];
PxU32* actorReportBlock[2];
PxU32 totalIncrementalComparisons[3];
PxU32 max_found_lost_pairs;
PxU32 max_found_lost_agg_pairs;
bool found_lost_pairs_overflow_flags;
};
PX_FORCE_INLINE PX_CUDA_CALLABLE PxU32 createHandle(const PxU32 handle, const bool isStart, const bool isNew)
{
return (handle << 3) | (PxU32)isStart | (PxU32)isNew << 1;
}
PX_FORCE_INLINE PX_CUDA_CALLABLE PxU32 markDeleted(const PxU32 handle)
{
return handle | (1 << 2);
}
PX_FORCE_INLINE PX_CUDA_CALLABLE PxU32 getHandle(const PxU32 sortedHandle)
{
return sortedHandle >> 3;
}
PX_FORCE_INLINE PX_CUDA_CALLABLE bool isStartProjection(const PxU32 sortedHandle)
{
return !!(sortedHandle & 1);
}
PX_FORCE_INLINE PX_CUDA_CALLABLE bool isNewProjection(const PxU32 sortedHandle)
{
return !!((sortedHandle >> 1) & 1);
}
PX_FORCE_INLINE PX_CUDA_CALLABLE bool isDeletedProjection(const PxU32 sortedHandle)
{
return !!((sortedHandle) & (1 << 2));
}
}
#endif