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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/gpusolver/include/PxgConstraint.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_CONSTRAINT_H
#define PXG_CONSTRAINT_H
#include "PxvConfig.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "vector_types.h"
namespace physx
{
struct PxgSolverBodyData;
struct PxConstraintInvMassScale;
struct PxgSolverContactHeader
{
float4 invMass0_1_angDom0_1;
float4 normal_staticFriction;
PxU32 flags;
PxU32 numNormalConstr;
PxU32 forceWritebackOffset;
PxReal accumNormalForce;
};
PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverContactHeader) == 48);
/**
\brief A single articulation contact point for the solver.
*/
struct PxgSolverContactPointExt
{
PxVec3 angDeltaVA; //12 12
PxVec3 linDeltaVA; //12 24
PxVec3 angDeltaVB; //12 36
PxVec3 linDeltaVB; //12 48
PxVec3 raXn; //12 60
PxVec3 rbXn; //12 72
PxReal velMultiplier; //4 76
PxReal maxImpulse; //4 80
PxReal biasedErr; //4 84
PxReal unbiasedErr; //4 88
PxReal appliedForce; //4 92
PxU32 padding; //4 96
};
PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverContactPointExt) == 96);
struct PxgSolverFrictionHeader
{
float4 frictionNormals[2];
PxU32 numFrictionConstr;
PxReal dynamicFriction;
PxU32 broken;
};
/**
\brief A single articulation friction constraint for the solver.
*/
#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4324)
#endif
struct PX_ALIGN_PREFIX(16) PxgSolverContactFrictionExt
{
PxVec3 angDeltaVA; //12 12
PxVec3 linDeltaVA; //12 24
PxVec3 angDeltaVB; //12 36
PxVec3 linDeltaVB; //12 48
PxVec3 raXn; //12 60
PxVec3 rbXn; //12 72
PxReal velMultiplier; //4 76
PxReal targetVel; //4 80
PxReal bias; //4 84
PxReal appliedForce; //4 88
PxU32 padding[2]; //8 96
} PX_ALIGN_SUFFIX(16);
#if PX_VC
#pragma warning(pop)
#endif
struct PxgContactParams
{
PxgSolverContactHeader* contactHeader;
PxgSolverFrictionHeader* frictionHeader;
PxgSolverContactPointExt* solverContacts;
PxgSolverContactFrictionExt* solverFrictions;
};
PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverContactFrictionExt) == 96);
struct PxgTGSSolverContactHeader
{
float4 dom0_1_angDom0_1; //16
float4 normal_maxPenBias; //32
PxReal staticFriction;
PxReal dynamicFriction;
PxReal minNormalForce;
PxU32 flags; //48
PxU16 numNormalConstr;
PxU16 numFrictionConstr;
PxU32 forceWritebackOffset;
PxU32 broken;
PxU32 pad; //64
};
PX_COMPILE_TIME_ASSERT(sizeof(PxgTGSSolverContactHeader) == 64);
struct PxgTGSSolverContactPointExt
{
//Grouped together in contiguous memory so we can load all 48 bytes in a single instruction
PxVec3 angDeltaVA; //12 12
PxVec3 linDeltaVA; //12 24
PxVec3 angDeltaVB; //12 36
PxVec3 linDeltaVB; //12 48
//Grouped so we can load 24 bytes in single instruction
PxVec3 raXn; //12 60
PxVec3 rbXn; //12 72
//All the loose items - loaded incoherently
PxReal separation; //4 76
PxReal velMultiplier; //4 80
PxReal targetVelocity; //4 84
PxReal biasCoefficient; //4 88
PxReal maxImpulse; //4 92
PxReal appliedForce; //4 96
};
struct PxgTGSSolverFrictionExt
{
//Grouped together in contiguous memory so we can load all 48 bytes in a single instruction
PxVec3 angDeltaVA; //12 12
PxVec3 linDeltaVA; //12 24
PxVec3 angDeltaVB; //12 36
PxVec3 linDeltaVB; //12 48
//Grouped so we can load 24 bytes in single instruction
PxVec3 raXn; //12 60
PxVec3 rbXn; //12 72
//Loose items - loaded incoherently
PxVec3 normal; //12 84
PxReal error; //4 88
PxReal targetVel; //4 92
PxReal velMultiplier; //4 96
PxReal biasScale; //4 100
PxReal frictionScale; //4 104
PxReal appliedForce; //4 108
PxU32 pad; //4 112
};
struct PxgTGSContactParams
{
PxgTGSSolverContactHeader* contactHeader;
PxgTGSSolverContactPointExt* solverContacts;
PxgTGSSolverFrictionExt* solverFrictions;
};
}
#endif