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/gpusolver/include/PxgConstraintPrep.h
+++ b/engine/third_party/physx/source/gpusolver/include/PxgConstraintPrep.h
@@ -0,0 +1,125 @@
+// 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_PREP_H
+#define PXG_CONSTRAINT_PREP_H
+
+#include "PxConstraintDesc.h"
+#include "PxgSolverConstraintDesc.h"
+#include "PxgD6JointData.h"
+#include "AlignedTransform.h"
+
+#include "PxcNpWorkUnit.h"
+
+namespace physx
+{
+	typedef PxcNpWorkUnitFlag	PxgNpWorkUnitFlag;
+
+	struct PxgSolverBody;
+	struct PxgSolverBodyData;
+	struct PxgSolverConstraintDesc;
+
+	//This structure can update everyframe
+	struct PxgConstraintPrePrep
+	{
+	public:
+		PxNodeIndex mNodeIndexA;	//8		8
+		PxNodeIndex mNodeIndexB;	//16	8
+		PxU32 mFlags;				//20	4
+		float mLinBreakForce;		//24	4
+		float mAngBreakForce;		//28	4
+	};
+
+	struct PxgConstraintData
+	{
+		PxgConstraintInvMassScale mInvMassScale;	//16
+		float4 mRaWorld_linBreakForceW;				//16
+		float4 mRbWorld_angBreakForceW;				//16
+		uint4 mNumRows_Flags_StartIndex;			//16
+	};
+
+	struct PxgBlockConstraint1DData
+	{
+		PX_ALIGN(256, PxgConstraintInvMassScale mInvMassScale[32]);		//512			512
+		PX_ALIGN(256, float4 mRAWorld_linBreakForce[32]);				//1024			512
+		PX_ALIGN(256, float4 mRBWorld_AngBreakForce[32]);				//1152			128
+		PX_ALIGN(128, PxU32 mNumRows[32]);								//1284			128
+		PX_ALIGN(128, PxU32 mFlags[32]);								//1412			128
+	};
+
+	struct PxgConstraint1DData
+	{
+		PxgConstraintInvMassScale	mInvMassScale;						//16	16						
+		float4						mBody0WorldOffset_linBreakForce;	//16	32					
+		float						mAngBreakForce;						//4		36				
+		PxU32						mNumRows;							//4		40					
+		PxU32						mFlags;								//4		44
+		PxU32						mPadding;							//4		48
+	};
+
+	struct /*__device_builtin__*/ __builtin_align__(16) PxgMaterialContactData
+	{
+		PxReal restDistance;				//4		4
+		PxReal staticFriction;				//8		4
+		PxReal dynamicFriction;				//12	4
+		PxU8 mNumContacts;					//13	1
+		PxU8 mSolverFlags;					//14	1
+		PxU8 prevFrictionPatchCount;		//15	1
+		PxU8 pad;							//16	1
+	};
+
+	struct PxgBlockContactData
+	{
+		PX_ALIGN(128,	PxgConstraintInvMassScale	mInvMassScale[32]);				//512	512		
+		PX_ALIGN(128,	float4						normal_restitutionW[32]);		//1024	512
+		PX_ALIGN(128,	PxgMaterialContactData		contactData[32]);				//1536	512
+		PX_ALIGN(128,	PxReal						damping[32]);					//1664	128
+	};
+
+	//This is for articulation contact
+	struct PxgContactData
+	{
+		PxgConstraintInvMassScale mInvMassScale;
+		float4 normal_restitutionW;
+		PxgMaterialContactData contactData;
+	};
+
+	struct PxgBlockContactPoint
+	{
+		PX_ALIGN(256,	float4	point_separationW[32]);
+		PX_ALIGN(256,	float4	targetVel_maxImpulseW[32]);
+	};
+
+	struct PxgContactPoint
+	{
+		float4	point_separationW;
+		float4	targetVel_maxImpulseW;
+	};
+}
+
+#endif