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/gpusimulationcontroller/include/PxgConstraintIdMap.h
+++ b/engine/third_party/physx/source/gpusimulationcontroller/include/PxgConstraintIdMap.h
@@ -0,0 +1,84 @@
+// 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_CONSTRAINT_ID_MAP_H
+#define PXG_CONSTRAINT_ID_MAP_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxAssert.h"
+
+#if PX_CUDA_COMPILER
+#include "assert.h"
+#endif
+
+namespace physx
+{
+	// maps the constraint/joint ID to the internal joint data ID. This is used for direct GPU API
+	// operations to use the same constraint/joint ID on the public interface level as long as the
+	// constraint/joint stays in the same scene. In particular, changing actors of a constraint/joint
+	// should be transparent to users and can be achieved using this map.
+	class PxgConstraintIdMapEntry
+	{
+	public:
+		static const PxU32 eINVALID_ID = 0xffffFFFF;
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE PxgConstraintIdMapEntry()
+			: mJointDataId(eINVALID_ID)
+		{
+		}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE void invalidate()
+		{
+			mJointDataId = eINVALID_ID;
+		}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE void setJointDataId(PxU32 jointDataId)
+		{
+#if PX_CUDA_COMPILER
+			assert(jointDataId < eINVALID_ID);  // until PX_ASSERT works on GPU (see PX-4133)
+#else
+			PX_ASSERT(jointDataId < eINVALID_ID);
+#endif
+			mJointDataId = jointDataId;
+		}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getJointDataId() const
+		{
+			return mJointDataId;
+		}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE bool isJointDataIdValid() const { return (mJointDataId != eINVALID_ID); }
+
+	private:
+		// maps the constraint/joint ID to the internal GPU joint data ID. eINVALID_ID is used if the 
+		// joint/constraint is unmapped/removed or inactive.
+		PxU32 mJointDataId;
+	};
+}
+
+#endif  // PXG_CONSTRAINT_ID_MAP_H