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/PxgShapeSimManager.h
+++ b/engine/third_party/physx/source/gpusimulationcontroller/include/PxgShapeSimManager.h
@@ -0,0 +1,110 @@
+// 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_SHAPESIM_MANAGER_H
+#define	PXG_SHAPESIM_MANAGER_H
+
+#include "foundation/PxArray.h"
+#include "foundation/PxPinnedArray.h"
+#include "PxgShapeSim.h"
+#include "PxgCudaBuffer.h"
+
+namespace physx
+{
+	namespace Cm
+	{
+		class FlushPool;
+	}
+
+	namespace Sc
+	{
+		class ShapeSimBase;
+	}
+
+	struct PxsShapeCore;
+	class PxBaseTask;
+	class PxgHeapMemoryAllocatorManager;
+	class PxgGpuNarrowphaseCore;
+	class KernelWrangler;
+
+	struct PxgShapeSimData
+	{
+		PxgShapeSimData() : mShapeCore(NULL), mElementIndex_GPU(PX_INVALID_U32)
+		{
+		}
+
+		const PxsShapeCore*	mShapeCore;		//	4 or 8
+
+		// NodeIndex used to look up BodySim in island manager
+		PxNodeIndex		mBodySimIndex_GPU;	//	8 or 12	unique identified for body
+
+		// ElementID - copy of ElementSim's getElementID()
+		PxU32			mElementIndex_GPU;	//	12	or	16	transform cache and bound index
+	};
+
+	class PxgShapeSimManager
+	{
+														PX_NOCOPY(PxgShapeSimManager)
+		public:
+														PxgShapeSimManager(PxgHeapMemoryAllocatorManager* heapMemoryManager);
+
+						void							addPxgShape(Sc::ShapeSimBase* shapeSimBase, const PxsShapeCore* shapeCore, PxNodeIndex nodeIndex, PxU32 index);
+						void							setPxgShapeBodyNodeIndex(PxNodeIndex nodeIndex, PxU32 index);
+						void							removePxgShape(PxU32 index);
+
+		// PT: copies new shapes from CPU memory (mShapeSims) to GPU *host* memory (mPxgShapeSimPool)
+						void							copyToGpuShapeSim(PxgGpuNarrowphaseCore* npCore, PxBaseTask* continuation, Cm::FlushPool& flushPool);
+		// PT: copies new shapes from GPU *host* memory (mPxgShapeSimPool) to GPU device memory (mNewShapeSimBuffer)
+		// and *then* copies from device-to-device memory (mNewShapeSimBuffer => mShapeSimBuffer)
+						void							gpuMemDmaUpShapeSim(PxCudaContext* cudaContext, CUstream stream, KernelWrangler* kernelWrangler);
+
+		// PT: TODO: figure out the difference between mTotalNumShapes and mNbTotalShapeSim
+		// (they both existed in different places and got logically refactored here)
+		PX_FORCE_INLINE	PxU32							getTotalNbShapes()				const	{ return mTotalNumShapes;	}
+		PX_FORCE_INLINE	PxU32							getNbTotalShapeSims()			const	{ return mNbTotalShapeSim;	}
+
+		PX_FORCE_INLINE	CUdeviceptr						getShapeSimsDevicePtr()			const	{ return mShapeSimBuffer.getDevicePtr();	}
+		PX_FORCE_INLINE	const PxgShapeSim*				getShapeSimsDeviceTypedPtr()	const	{ return mShapeSimBuffer.getTypedPtr();		}
+		PX_FORCE_INLINE	Sc::ShapeSimBase**				getShapeSims()							{ return mShapeSimPtrs.begin();				}
+
+		private:
+						PxArray<PxgShapeSimData>		mShapeSims;
+						PxArray<Sc::ShapeSimBase*>		mShapeSimPtrs;
+						PxArray<PxU32>					mNewShapeSims;
+						PxU32							mTotalNumShapes;
+						PxU32							mNbTotalShapeSim;
+
+						PxPinnedArray<PxgNewShapeSim>		mPxgShapeSimPool;
+						PxgTypedCudaBuffer<PxgShapeSim>		mShapeSimBuffer;
+						PxgTypedCudaBuffer<PxgNewShapeSim>	mNewShapeSimBuffer;
+
+		friend class PxgCopyToShapeSimTask;
+	};
+}
+
+#endif