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/PxgD6JointData.h
+++ b/engine/third_party/physx/source/gpusolver/include/PxgD6JointData.h
@@ -0,0 +1,117 @@
+// Redistribution and use in source and binary forms, with or without
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+//  * Neither the name of NVIDIA CORPORATION nor the names of its
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+//    from this software without specific prior written permission.
+//
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+// 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_D6_JOINT_DATA_H
+#define PXG_D6_JOINT_DATA_H
+
+#include "PxConstraintDesc.h"
+#include "PxgD6JointLimit.h"
+#include "AlignedTransform.h"
+#include "PxgSolverConstraintDesc.h"
+
+namespace physx
+{
+	struct PxgJointData
+	{
+		PxgConstraintInvMassScale	invMassScale;
+		PxTransform32				c2b[2];
+	};
+
+	struct PxgD6JointData : public PxgJointData
+	{
+	
+	public:
+
+		PX_CUDA_CALLABLE PxgD6JointData(){}
+
+		static constexpr PxU32 sDriveEntryCapacity = 6;
+
+		PxgD6Motion::Enum			motion[6];
+		PxgJointLinearLimit			distanceLimit;
+		PxgJointLinearLimitPair		linearLimitX;
+		PxgJointLinearLimitPair		linearLimitY;
+		PxgJointLinearLimitPair		linearLimitZ;
+		PxgJointAngularLimitPair	twistLimit;
+		PxgJointLimitCone			swingLimit;
+		PxgJointLimitPyramid		pyramidSwingLimit;
+		
+		PxgD6JointDrive				drive[sDriveEntryCapacity];
+
+		PxTransform					drivePosition;
+		PxVec3						driveLinearVelocity;
+		PxVec3						driveAngularVelocity;
+
+		// derived quantities
+
+		PxU32						locked;		// bitmap of locked DOFs
+		PxU32						limited;	// bitmap of limited DOFs
+		PxU32						driving;	// bitmap of active drives (implies driven DOFs not locked)
+
+		PxReal						distanceMinDist;	// distance limit minimum distance to get a good direction
+
+		// PT: the PxD6Motion values are now shared for both kind of linear limits, so we need
+		// an extra bool to know which one(s) should be actually used.
+		bool						mUseDistanceLimit;
+		bool						mUseNewLinearLimits;
+
+		// PT: the swing limits can now be a cone or a pyramid, so we need
+		// an extra bool to know which one(s) should be actually used.
+		bool						mUseConeLimit;
+		bool						mUsePyramidLimits;
+
+		PxU8						angularDriveConfig;  // stores the angular drive config (PxD6AngularDriveConfig::Enum)
+
+		//Please don't add fields above this line since the layout must match D6JointData
+
+		// forestall compiler complaints about not being able to generate a constructor
+	private:
+		PxgD6JointData(const PxgJointLinearLimit& distance,
+			const PxgJointLinearLimitPair& linearX,
+			const PxgJointLinearLimitPair& linearY,
+			const PxgJointLinearLimitPair& linearZ,
+			const PxgJointAngularLimitPair& twist,
+			const PxgJointLimitCone& swing,
+			const PxgJointLimitPyramid& pyramid):
+			distanceLimit(distance),
+			linearLimitX(linearX),
+			linearLimitY(linearY),
+			linearLimitZ(linearZ),
+			twistLimit(twist),
+			swingLimit(swing),
+			pyramidSwingLimit(pyramid),
+			mUseDistanceLimit(false),
+			mUseNewLinearLimits(false),
+			mUseConeLimit(false),
+			mUsePyramidLimits(false),
+			angularDriveConfig(0)
+		{}
+
+	};
+	PX_COMPILE_TIME_ASSERT(sizeof(PxgD6JointData) <= 512);
+}
+#endif