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/PxgSolverConstraint1D.h
+++ b/engine/third_party/physx/source/gpusolver/include/PxgSolverConstraint1D.h
@@ -0,0 +1,159 @@
+// 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_CONSTRAINT_1D_H
+#define PXG_SOLVER_CONSTRAINT_1D_H
+
+#include "foundation/PxVec3.h"
+#include "PxConstraintDesc.h"
+#include "PxgSolverConstraintDesc.h"
+#include "DySolverConstraintTypes.h"
+#include "CmSpatialVector.h"
+
+namespace physx
+{
+
+struct PxgSolverConstraint1DHeader
+{
+	float4		body0WorldOffset_linBreakImpulse;
+	//Strict ordering required - invInertiaScale0->invMassScale0->invInertiaScale1->invMassScale1. Do not change!
+	PxReal		invInertiaScale0;
+	PxReal		invMassScale0;
+	PxReal		invInertiaScale1;
+	PxReal		invMassScale1;
+	
+
+	PxU32		rowCounts;								// numbers of rows each 1D constraints 
+	PxU32		breakable;											// indicate whether the constraint are breakable or not 
+	PxReal		angBreakImpulse;
+	PxU32		writeBackOffset;
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverConstraint1DHeader) == 48);
+
+PX_ALIGN_PREFIX(16)
+struct PxgSolverConstraint1DCon
+{
+	PxVec3 ang0;							//12	12
+	PxVec3 lin0;							//12	24
+	PxVec3 ang1;							//12	36
+	PxVec3 lin1;							//12	48
+	Cm::UnAlignedSpatialVector deltaVA;		//24	72
+	Cm::UnAlignedSpatialVector deltaVB;		//24	96
+	PxReal minImpulse;						//4		100
+	PxReal maxImpulse;						//4		104
+	PxReal velMultiplier;					//4		108
+	PxReal impulseMultiplier;				//4		112
+
+} PX_ALIGN_SUFFIX(16);
+
+PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverConstraint1DCon) == 112);
+
+struct PxgSolverConstraint1DMod
+{
+	PxVec3	ang0Writeback;					//!< unscaled angular velocity projection (body 0)
+	PxReal	constant;						//!< constant	 
+	PxReal	unbiasedConstant;				//!< unbiased constant
+	PxReal	appliedForce;					//!< applied force to correct velocity+bias
+	PxU32	flags;							
+};
+
+
+
+struct PxgTGSSolverConstraint1DHeader
+{
+	PxU16		rowCounts;								// numbers of rows each 1D constraints 
+	PxU16		breakable;								// indicate whether the constraint are breakable or not 
+	PxReal		linBreakImpulse;
+	PxReal		angBreakImpulse;
+	PxU32		writeBackOffset;
+
+	PxVec4		raWorld;
+	PxVec4		rbWorld;
+
+	//Strict ordering required - invInertiaScale0->invMassScale0->invInertiaScale1->invMassScale1. Do not change!
+	PxReal		invInertiaScale0;
+	PxReal		invMassScale0;
+	PxReal		invInertiaScale1;
+	PxReal		invMassScale1;
+	
+
+	//There is no orthogonalization with articulation constraints, so we do not need to
+	//add anything to reflect that in this code!
+};
+
+PX_ALIGN_PREFIX(16)
+struct PxgTGSSolverConstraint1DCon
+{
+	PxVec3 ang0;							//12	12
+	PxVec3 lin0;							//12	24
+	PxVec3 ang1;							//12	36
+	PxVec3 lin1;							//12	48
+	Cm::UnAlignedSpatialVector deltaVA;		//24	72
+	Cm::UnAlignedSpatialVector deltaVB;		//24	96
+
+	PxReal minImpulse;						//4		100
+	PxReal maxImpulse;						//4		104
+	PxReal velMultiplier;					//4		108
+	PxReal impulseMultiplier;				//4		112
+
+	PxReal error;							//4		116
+	PxReal velTarget;						//4		120
+	PxReal recipResponse;					//4		124
+	PxReal angularErrorScale;				//4		128
+
+} PX_ALIGN_SUFFIX(16);
+
+PX_COMPILE_TIME_ASSERT(sizeof(PxgTGSSolverConstraint1DCon) == 128);
+
+struct PxgTGSSolverConstraint1DMod
+{
+	PxReal	appliedForce;					//!< applied force to correct velocity+bias
+	PxReal	maxBias;
+	PxReal	biasScale;						
+	PxU32	flags;
+};
+
+struct PxgJointParams
+{
+	PxgSolverConstraint1DHeader* jointHeader;
+	PxgSolverConstraint1DCon* jointCon;
+	PxgSolverConstraint1DMod* jointMod;
+};
+
+struct PxgTGSJointParams
+{
+	PxgTGSSolverConstraint1DHeader* jointHeader;
+	PxgTGSSolverConstraint1DCon* jointCon;
+	PxgTGSSolverConstraint1DMod* jointMod;
+};
+
+
+}
+
+#endif