feat(physics): wire physx sdk into build

2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
--- a/engine/third_party/physx/source/gpucommon/include/PxgCudaUtils.h
+++ b/engine/third_party/physx/source/gpucommon/include/PxgCudaUtils.h
@@ -0,0 +1,116 @@
+// 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_CUDA_UTILS_H
+#define PXG_CUDA_UTILS_H
+
+#include "cuda.h"
+
+#include "foundation/PxErrors.h"
+#include "foundation/PxAssert.h"
+#include "foundation/PxFoundation.h"
+#include "foundation/PxPreprocessor.h"
+#include "foundation/PxTime.h"
+
+#include "cudamanager/PxCudaContext.h"
+
+namespace physx
+{
+
+	/**
+	Utility function to synchronize 2 streams. This causes dependentStream to wait for parentStream to complete its current queued workload before proceeding further.
+	*/
+	PX_INLINE void synchronizeStreams(PxCudaContext* cudaContext, const CUstream& parentStream, const CUstream& dependentStream)
+	{
+		CUevent ev = 0;
+		cudaContext->eventCreate(&ev, CU_EVENT_DISABLE_TIMING);
+
+		CUresult result = cudaContext->eventRecord(ev, parentStream);		
+
+		if (result != CUDA_SUCCESS)
+			PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "SynchronizeStreams cuEventRecord failed with error %i\n", result);
+		PX_ASSERT(result == CUDA_SUCCESS);
+
+		result = cudaContext->streamWaitEvent(dependentStream, ev);		
+
+		if (result != CUDA_SUCCESS)
+			PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "SynchronizeStreams cuStreamWaitEvent failed with error %i\n", result);
+		PX_ASSERT(result == CUDA_SUCCESS);
+
+		cudaContext->eventDestroy(ev);
+	}
+
+	/**
+	Utility function to synchronize 2 streams. This causes dependentStream to wait for parentStream to complete its current queued workload before proceeding further.
+	*/
+	PX_INLINE void synchronizeStreams(PxCudaContext* cudaContext, CUstream& parentStream, CUstream& dependentStream, CUevent& ev)
+	{
+		//CUevent ev;
+		//mCudaContext->eventCreate(&ev, CU_EVENT_DISABLE_TIMING);
+
+		CUresult result = cudaContext->eventRecord(ev, parentStream);
+		if (result != CUDA_SUCCESS)
+			PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "SynchronizeStreams cuEventRecord failed with error %i\n", result);
+
+		PX_ASSERT(result == CUDA_SUCCESS);
+
+		result = cudaContext->streamWaitEvent(dependentStream, ev);
+		if (result != CUDA_SUCCESS)
+			PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "SynchronizeStreams cuStreamWaitEvent failed with error %i\n", result);
+
+		PX_ASSERT(result == CUDA_SUCCESS);
+
+		
+		//mCudaContext->eventDestroy(ev);
+	}
+
+	PX_FORCE_INLINE void* getMappedDevicePtr(PxCudaContext* cudaContext, void* cpuPtr)
+	{
+		CUdeviceptr dPtr = 0;
+		cudaContext->memHostGetDevicePointer(&dPtr, cpuPtr, 0);
+		return reinterpret_cast<void*>(dPtr);
+	}
+
+	PX_FORCE_INLINE const void* getMappedDeviceConstPtr(PxCudaContext* cudaContext, const void* cpuPtr)
+	{
+		return getMappedDevicePtr(cudaContext, const_cast<void*>(cpuPtr));
+	}
+
+	PX_FORCE_INLINE bool spinWait(volatile PxU32& waitValue, const PxReal timeoutValue)
+	{
+		PxTime time;
+		while (waitValue == 0)
+		{
+			if (PxReal(time.peekElapsedSeconds()) >= timeoutValue)
+				return false;
+		}
+		return true;
+	}
+}
+
+#endif