feat(physics): wire physx sdk into build
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175
engine/third_party/physx/source/gpucommon/src/CUDA/updateCacheAndBound.cuh
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175
engine/third_party/physx/source/gpucommon/src/CUDA/updateCacheAndBound.cuh
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef __CU_UPDATE_CACHE_AND_BOUND_CUH__
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#define __CU_UPDATE_CACHE_AND_BOUND_CUH__
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#include "foundation/PxTransform.h"
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#include "PxsTransformCache.h"
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#include "PxgConvexConvexShape.h"
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#include "geometry/PxGeometry.h"
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namespace physx
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{
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static __device__ PxTransform getAbsPose(const PxTransform& body2World, const PxTransform& shape2Actor, const PxTransform& body2Actor)
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{
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PxTransform t0 = body2Actor.transformInv(shape2Actor);
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return body2World.transform(t0);
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}
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static __device__ void setTransformCache(PxsCachedTransform* cacheArray, const PxTransform& transform, const PxU32 flags, const PxU32 index)
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{
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cacheArray[index].transform = transform;
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cacheArray[index].flags = flags;
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}
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static __device__ PxVec3 basisExtent(const PxMat33& basis, const PxVec3& extent)
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{
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// extended basis vectors
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const PxVec3 c0 = basis.column0 * extent.x;
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const PxVec3 c1 = basis.column1 * extent.y;
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const PxVec3 c2 = basis.column2 * extent.z;
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PxVec3 w;
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// find combination of base vectors that produces max. distance for each component = sum of abs()
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w.x = PxAbs(c0.x) + PxAbs(c1.x) + PxAbs(c2.x);
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w.y = PxAbs(c0.y) + PxAbs(c1.y) + PxAbs(c2.y);
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w.z = PxAbs(c0.z) + PxAbs(c1.z) + PxAbs(c2.z);
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return w;
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}
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static __device__ void updateBounds(const PxgShapeSim& shapeSim, const PxgShape* convexShapes, PxBounds3* boundsArray, const PxTransform& pose, const PxU32 index)
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{
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const PxBounds3& localBound = shapeSim.mLocalBounds;
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PxBounds3& updatedBound = boundsArray[index];
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switch (shapeSim.mShapeType)
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{
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case PxGeometryType::eSPHERE:
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{
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updatedBound.minimum = pose.p + localBound.minimum;
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updatedBound.maximum = pose.p + localBound.maximum;
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}
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break;
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case PxGeometryType::eCAPSULE:
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{
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const PxF32 radius = localBound.maximum.y;
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const PxF32 halfHeight = localBound.maximum.x - radius;
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const PxVec3 d = pose.q.getBasisVector0();
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PxVec3 extents;
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for (PxU32 ax = 0; ax < 3; ax++)
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extents[ax] = PxAbs(d[ax]) * halfHeight + radius;
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updatedBound.minimum = pose.p - extents;
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updatedBound.maximum = pose.p + extents;
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}
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break;
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case PxGeometryType::eBOX:
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{
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const PxVec3 halfExtents = localBound.maximum;
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const PxVec3 extents = basisExtent(PxMat33(pose.q), halfExtents);
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updatedBound.minimum = pose.p - extents;
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updatedBound.maximum = pose.p + extents;
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}
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break;
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case PxGeometryType::eCONVEXMESH:
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{
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const PxU32 hullIndex = shapeSim.mHullDataIndex;
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if (hullIndex != 0xFFffFFff)
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{
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const PxgShape& shape = convexShapes[hullIndex];
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PxMat33 rot(pose.q);
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if (!shape.scale.isIdentity())
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rot = rot * shape.scale.toMat33();
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const PxU8* convexPtr = (PxU8*)shape.hullOrMeshPtr;
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const uint4 tmp = *(((uint4*)convexPtr) + 1);
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const float4* pVertices = reinterpret_cast<const float4*>(convexPtr + sizeof(uint4) + sizeof(float4) + sizeof(float4));
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//const PxU32 polyData0_NbEdgesNbHullVerticesNbPolygons = tmp.x;
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const PxU32 nbHullVertices = u16High(u32Low(tmp.x));//getNbHullVertices(polyData0_NbEdgesNbHullVerticesNbPolygons);
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//PxU32 nb = shape.hullData->mNbHullVertices;
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//const PxVec3* v = shape.hullData->getHullVertices();
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PxVec3 minV = PxVec3(PX_MAX_F32);
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PxVec3 maxV = PxVec3(-PX_MAX_F32);
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for (PxU32 i = 0; i < nbHullVertices; ++i)
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{
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const float4 vf = pVertices[i];
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const PxVec3 v = PxVec3(vf.x, vf.y, vf.z);
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const PxVec3 vertexV = rot.transform(v);
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minV = minV.minimum(vertexV);
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maxV = maxV.maximum(vertexV);
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}
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//const Vec4V posV = Vec4V_From_Vec3V(V3LoadU(&pose.p.x));
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maxV += pose.p;
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minV += pose.p;
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updatedBound.minimum = minV;
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updatedBound.maximum = maxV;
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}
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else
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{
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//ML: this is for GPU incompatible type, which is hull vertices >64 and each hull polygon has vertices > 31
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updatedBound = PxBounds3::transformFast(pose, localBound);
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}
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}
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break;
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default:
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{
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//This updates any dynamic meshes or HFs that may be attached to simulation shapes
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updatedBound = PxBounds3::transformFast(pose, localBound);
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}
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break;
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}
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}
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__device__ static inline void updateCacheAndBound(const PxTransform& absPos, const PxgShapeSim& shapeSim, PxU32 index,
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PxsCachedTransform* cacheArray, PxBounds3* boundsArray, const PxgShape* shapes, bool isBP)
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{
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//TODO: port the transform flags
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setTransformCache(cacheArray, absPos, 0, index);
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if (isBP)
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updateBounds(shapeSim, shapes, boundsArray, absPos, index);
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}
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}
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#endif
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