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feat(physics): wire physx sdk into build

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2026-04-15 12:22:15 +08:00
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commit 31f40e2cbb
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engine/third_party/physx/source/gpusolver/src/PxgDynamicsContext.cpp vendored Normal file
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// 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.
#include "PxgDynamicsContext.h"
#include "PxgKernelWrangler.h"
#include "PxgArticulationCore.h"
#include "PxgCudaSolverCore.h"
namespace physx
{
PxgDynamicsContext::PxgDynamicsContext(Cm::FlushPool& flushPool, PxsKernelWranglerManager* gpuKernelWrangler, PxCudaContextManager* cudaContextManager,
const PxGpuDynamicsMemoryConfig& config, IG::SimpleIslandManager& islandManager, PxU32 maxNumPartitions, PxU32 maxNumStaticPartitions,
bool enableStabilization, bool useEnhancedDeterminism,
PxReal maxBiasCoefficient,
PxvSimStats& simStats, PxgHeapMemoryAllocatorManager* heapMemoryManager,
bool frictionEveryIteration, PxReal lengthScale, bool enableDirectGPUAPI, PxU64 contextID, bool isResidualReportingEnabled)
:
PxgGpuContext(flushPool, islandManager, maxNumPartitions, maxNumStaticPartitions, enableStabilization, useEnhancedDeterminism, maxBiasCoefficient, simStats, heapMemoryManager, lengthScale, enableDirectGPUAPI, contextID, isResidualReportingEnabled, false)
{
mWorldSolverBody.linearVelocity = PxVec3(0);
mWorldSolverBody.angularVelocity = PxVec3(0);
mWorldSolverBodyData.invMass = 0;
mWorldSolverBodyData.reportThreshold = PX_MAX_REAL;
mWorldSolverBodyData.maxImpulse = PX_MAX_REAL;
mWorldSolverBodyData.penBiasClamp = -PX_MAX_REAL;
mWorldSolverBodyData.initialAngVel = mWorldSolverBodyData.initialLinVel = PxVec3(0.f);
mWorldSolverBodyData.body2World = PxAlignedTransform(PxIdentity);
mWorldSolverBodyData.islandNodeIndex = PxNodeIndex(PX_INVALID_NODE);
mWorldSolverBodyData.offsetSlop = 0.f;
mWorldTxIData.sqrtInvInertia = PxMat33(PxZero);
mWorldTxIData.deltaBody2World = PxTransform(PxIdentity);
{
mGpuArticulationCore = PX_NEW(PxgArticulationCore)(static_cast<PxgCudaKernelWranglerManager*>(gpuKernelWrangler), cudaContextManager, heapMemoryManager);
mGpuSolverCore = PX_NEW(PxgCudaSolverCore)(static_cast<PxgCudaKernelWranglerManager*>(gpuKernelWrangler), cudaContextManager, this, heapMemoryManager, config, frictionEveryIteration);
mGpuArticulationCore->setGpuContext(this);
}
mGpuSolverCore->acquireContext();
mGpuSolverCore->createStreams();
createThresholdStream(*heapMemoryManager->mMappedMemoryAllocators);
createForceChangeThresholdStream(*heapMemoryManager->mMappedMemoryAllocators);
mPinnedMemoryAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.tempBufferCapacity);
mCurrentContactStream = 0;
mContactStreamAllocators[0] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxContact));
mContactStreamAllocators[1] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxContact));
mPatchStreamAllocators[0] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxContactPatch));
mPatchStreamAllocators[1] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxContactPatch));
mForceStreamAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxReal) * 2);
mFrictionPatchStreamAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxFrictionPatch));
mContactStreamPool.mDataStream = mContactStreamAllocators[mCurrentContactStream]->mStart;
mContactStreamPool.mDataStreamSize = (PxU32)mContactStreamAllocators[mCurrentContactStream]->mTotalSize;
mContactStreamPool.mSharedDataIndex = 0;
mContactStreamPool.mSharedDataIndexGPU = 0;
mPatchStreamPool.mDataStream = mPatchStreamAllocators[mCurrentContactStream]->mStart;
mPatchStreamPool.mDataStreamSize = (PxU32)mPatchStreamAllocators[mCurrentContactStream]->mTotalSize;
mPatchStreamPool.mSharedDataIndex = 0;
mPatchStreamPool.mSharedDataIndexGPU = 0;
mForceStreamPool.mDataStream = mForceStreamAllocator->mStart;
mForceStreamPool.mDataStreamSize = (PxU32)mForceStreamAllocator->mTotalSize;
mForceStreamPool.mSharedDataIndex = 0;
mForceStreamPool.mSharedDataIndexGPU = 0;
mFrictionPatchStreamPool.mDataStream = mFrictionPatchStreamAllocator->mStart;
mFrictionPatchStreamPool.mDataStreamSize = PxTo32(mFrictionPatchStreamAllocator->mTotalSize);
mFrictionPatchStreamPool.mSharedDataIndex = 0;
mFrictionPatchStreamPool.mSharedDataIndexGPU = 0;
//Arbitrarily-large number to reserve to minimize allocation churn.
mConstraintsPerPartition.reserve(1024);
mArtiConstraintsPerPartition.reserve(1024);
mGpuSolverCore->releaseContext();
}
void PxgDynamicsContext::destroy()
{
this->~PxgDynamicsContext();
PX_FREE_THIS;
}
}