xuanchi/XCEngine
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat(physics): wire physx sdk into build

Browse Source
This commit is contained in:
ssdfasd
2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

202
engine/third_party/physx/source/gpusolver/include/PxgSolverBody.h vendored Normal file
View File

@@ -0,0 +1,202 @@
// 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_SOLVER_BODY_H
#define PXG_SOLVER_BODY_H
#include "PxvConfig.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"
#if !PX_CUDA_COMPILER
#include <vector_types.h>
#endif
#include "AlignedMat33.h"
#include "AlignedTransform.h"
#include "PxNodeIndex.h"
#include "PxSpatialMatrix.h"
namespace physx
{
class PxsRigidBody;
struct PxgSolverBody;
class PxgArticulation;
struct PxgSolverTxIData
{
PxTransform deltaBody2World; // 64 body delta transform
PxMat33 sqrtInvInertia; // 36 inverse inertia in world space
};
struct PxgSolverBodyPrepData
{
#if !PX_CUDA_COMPILER
PX_ALIGN(16, PxVec3 initialAngVel); // 12 initial ang vel
PxReal penBiasClamp; // 16 the penetration bias clamp
PxVec3 initialLinVel; // 28 initial lin vel
PxReal invMass; // 32 inverse mass
#else
float4 initialAngVelXYZ_penBiasClamp;
float4 initialLinVelXYZ_invMassW;
#endif
PxAlignedTransform body2World;
#if !PX_CUDA_COMPILER
PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang) const
{
return initialLinVel.dot(lin) + initialAngVel.dot(ang);
}
#else
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang) const
{
//return initialLinVel.dot(lin) + initialAngVel.dot(ang);
PxVec3 initialLinVel(initialLinVelXYZ_invMassW.x, initialLinVelXYZ_invMassW.y, initialLinVelXYZ_invMassW.z);
PxVec3 initialAngVel(initialAngVelXYZ_penBiasClamp.x, initialAngVelXYZ_penBiasClamp.y, initialAngVelXYZ_penBiasClamp.z);
return initialLinVel.dot(lin) + initialAngVel.dot(ang);
}
#endif
};
#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4324)
#endif
struct PxgSolverBodyData : public PxgSolverBodyPrepData
{
PxNodeIndex islandNodeIndex; // 40
PxReal reportThreshold; // 44 contact force threshold
PxReal maxImpulse; // 48
PxU32 flags; // 52 hasSpeculativeCCD etc.
PxReal offsetSlop;
};
#if PX_VC
#pragma warning(pop)
#endif
PX_COMPILE_TIME_ASSERT((sizeof(PxgSolverBodyData)& 0xf) == 0);
class PxgSolverExtBody
{
public:
union
{
const PxgArticulation* articulation;
const PxgSolverBodyData* body;
};
//if linkIndex is 0xffff, the solver body is rigid body, otherwise, it is articulation
PxU16 linkIndex;
PxU16 isKinematic;
PxU32 bodyIndex;
PxU32 islandNodeIndex;
};
struct PxgSolverExtBody2
{
PxSpatialMatrix mSpatialResponse; //144
Cm::UnAlignedSpatialVector velocity; //168
PxTransform body2World; //196
PxReal penBiasClamp; //200
PxReal maxImpulse; //204
PxU16 linkIndex; //206
PxU16 isKinematic; //208
PxU32 bodyIndex; //212
PxNodeIndex islandNodeIndex; //216
PxReal cfm; //220
PxReal offsetSlop; //224
};
//we need to DMA back the sleep data to CPU. PxgBodySim has the same information. However, PxgBodySim is too
//big to dma back.
struct PxgSolverBodySleepData
{
PxReal wakeCounter;
PxU32 internalFlags;
};
#if PX_VC
#pragma warning(push)
#pragma warning (disable : 4201)
#endif
struct PxgSolverBody
{
#if !PX_CUDA_COMPILER
PX_ALIGN(16, PxVec3 linearVelocity); // post-solver linear velocity in world space
PxU32 pad;
PxVec3 angularVelocity; // post-solver angular velocity in world space
PxU32 pad2;
#else
float4 linearVelocity;
float4 angularVelocity;
#endif
};
#if PX_VC
#pragma warning(pop)
#endif
PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverBody) == 32);
#if PX_VC
#pragma warning(push)
#pragma warning (disable : 4201)
#endif
struct PxgTGSSolverBody
{
#if !PX_CUDA_COMPILER
PX_ALIGN(16, PxVec3 linearVelocity); // 12 post-solver linear velocity in world space
PxVec3 angularVelocity; // 24 post-solver angular velocity in world space
PxVec3 linearDelta; // 36 linear delta motion in world space
PxVec3 angularDelta; // 48 angular delta motion in world space
#else
float4 linearVelocityXYZ_angX;
float4 angularVelocityYZ_linDeltaXY;
float4 linDeltaZ_angDeltaXYZ;
#endif
};
#if PX_VC
#pragma warning(pop)
#endif
PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverBody) == 32);
struct PxgSolverReferences
{
PxU32 mRemappedBodyIndex;
};
}
#endif