feat(physics): wire physx sdk into build
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engine/third_party/physx/source/gpusolver/include/PxgFrictionPatch.h
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126
engine/third_party/physx/source/gpusolver/include/PxgFrictionPatch.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec3.h"
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#include "PxvConfig.h"
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#ifndef PXG_FRICTION_PATCH_H
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#define PXG_FRICTION_PATCH_H
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namespace physx
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{
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struct PxgFrictionPatch
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{
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float4 body0Normal;
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float4 body1Normal;
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float4 body0Anchors[2];
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float4 body1Anchors[2];
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PxU32 anchorCount;
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PxU32 broken;
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PxU32 contactID[2];
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PX_CUDA_CALLABLE PX_FORCE_INLINE void operator = (const PxgFrictionPatch& other)
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{
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broken = other.broken;
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anchorCount = other.anchorCount;
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body0Normal = other.body0Normal;
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body1Normal = other.body1Normal;
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body0Anchors[0] = other.body0Anchors[0];
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body0Anchors[1] = other.body0Anchors[1];
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body1Anchors[0] = other.body1Anchors[0];
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body1Anchors[1] = other.body1Anchors[1];
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contactID[0] = other.contactID[0];
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contactID[1] = other.contactID[1];
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}
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxgFrictionPatch)==112);
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struct PxgBlockFrictionPatch
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{
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PX_ALIGN(256, float4 body0Normal[32]);
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PX_ALIGN(256, float4 body1Normal[32]);
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PX_ALIGN(128, PxU32 anchorCount[32]);
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PX_ALIGN(128, PxU32 broken[32]);
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PX_ALIGN(128, PxU32 contactID[2][32]);
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PX_ALIGN(256, float4 anchorPoints[2][32]);
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PX_ALIGN(128, PxU32 patchIndex[32]);
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};
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struct PxgBlockFrictionAnchorPatch
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{
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PX_ALIGN(256, float4 body0Anchors[2][32]); //1024 1024
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PX_ALIGN(256, float4 body1Anchors[2][32]); //2048 1024
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};
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struct PxgFrictionAnchorPatch
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{
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float4 body0Anchors[2];
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float4 body1Anchors[2];
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};
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struct PxgFrictionPatchGPU
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{
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static const PxU32 MAX_ANCHORS = 2; //!< Patch friction anchor max count
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PxVec3 points[MAX_ANCHORS]; //!< Patch friction anchors points
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PxVec3 impulses[MAX_ANCHORS]; //!< Patch friction impulses at anchors
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PxU32 anchors; //!< Patch friction anchor count
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};
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/**
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This class is used for friction correlation using the block friction format. The idea is simple - we have an array of these block friction index objects.
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These objects contain a pointer to the block patch and the index that this particular constraint is in that structure.
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This allows us to allocate individual block friction patches per-block constraint and then index into them.
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Advantage - we can use colaesced memory access patterns for the friction patches, broken flags etc. Can remove the need for multiple pointers to friction patches in constraint descs.
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Disadvantage - one extra level of indirection to access previous friction patches. No guarantees that accessing previous friction patches won't diverge (in practice,
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they should be similar but they could still diverge if new constraints are introduced that change the layout of constraints within a given partition).
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*/
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struct PxgBlockFrictionIndex
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{
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PxU64 mPatchIndex_threadIdxLow;
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PX_CUDA_CALLABLE PxU64 getPatchIndex() const { return mPatchIndex_threadIdxLow >> 5ull; }
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PX_CUDA_CALLABLE PxU32 getThreadIdx() const { return PxU32(mPatchIndex_threadIdxLow&31); }
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PX_CUDA_CALLABLE void createPatchIndex(const PxU32 patchIndex, const PxU32 threadIndexInWarp)
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{
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mPatchIndex_threadIdxLow = (PxU64(patchIndex) << 5ull) | threadIndexInWarp;
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}
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};
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}
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#endif
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