feat(physics): wire physx sdk into build
This commit is contained in:
183
engine/third_party/physx/source/lowlevel/software/include/PxsMaterialCombiner.h
vendored
Normal file
183
engine/third_party/physx/source/lowlevel/software/include/PxsMaterialCombiner.h
vendored
Normal file
@@ -0,0 +1,183 @@
|
||||
// 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 PXS_MATERIAL_COMBINER_H
|
||||
#define PXS_MATERIAL_COMBINER_H
|
||||
|
||||
#include "PxsMaterialCore.h"
|
||||
|
||||
namespace physx
|
||||
{
|
||||
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal combineScalars(PxReal a, PxReal b, PxI32 combineMode)
|
||||
{
|
||||
switch (combineMode)
|
||||
{
|
||||
case PxCombineMode::eAVERAGE:
|
||||
return 0.5f * (a + b);
|
||||
case PxCombineMode::eMIN:
|
||||
return PxMin(a,b);
|
||||
case PxCombineMode::eMULTIPLY:
|
||||
return a * b;
|
||||
case PxCombineMode::eMAX:
|
||||
return PxMax(a,b);
|
||||
default:
|
||||
return PxReal(0);
|
||||
}
|
||||
}
|
||||
|
||||
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxsCombinePxReal(PxReal val0, PxReal val1, PxI32 combineMode)
|
||||
{
|
||||
switch (combineMode)
|
||||
{
|
||||
case PxCombineMode::eAVERAGE:
|
||||
return 0.5f * (val0 + val1);
|
||||
case PxCombineMode::eMIN:
|
||||
return PxMin(val0, val1);
|
||||
case PxCombineMode::eMULTIPLY:
|
||||
return (val0 * val1);
|
||||
case PxCombineMode::eMAX:
|
||||
return PxMax(val0, val1);
|
||||
}
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
|
||||
PX_CUDA_CALLABLE PX_FORCE_INLINE void PxsCombineMaterials(const PxsMaterialData& mat0Data, const PxsMaterialData& mat1Data,
|
||||
PxReal& combinedStaticFriction, PxReal& combinedDynamicFriction,
|
||||
PxReal& combinedRestitution, PxU32& combinedMaterialFlags, PxReal& combinedDamping)
|
||||
{
|
||||
const PxReal r0 = mat0Data.restitution;
|
||||
const PxReal r1 = mat1Data.restitution;
|
||||
const bool compliant0 = r0 < 0.0f;
|
||||
const bool compliant1 = r1 < 0.0f;
|
||||
const bool exactlyOneCompliant = compliant0 ^ compliant1;
|
||||
const bool bothCompliant = compliant0 & compliant1;
|
||||
const bool compliantAcc0 = !!(mat0Data.flags & PxMaterialFlag::eCOMPLIANT_ACCELERATION_SPRING);
|
||||
const bool compliantAcc1 = !!(mat1Data.flags & PxMaterialFlag::eCOMPLIANT_ACCELERATION_SPRING);
|
||||
const bool exactlyOneAccCompliant = compliantAcc0 ^ compliantAcc1;
|
||||
|
||||
// combine restitution
|
||||
{
|
||||
// For rigid-rigid or compliant-compliant interactions, follow the user's choice of combine mode but make sure it stays negative for multiply.
|
||||
// For rigid-compliant interactions, we go with the compliant behavior.
|
||||
// For forceCompliant-accelerationCompliant, we go with the accelerationCompliant behavior
|
||||
|
||||
if (bothCompliant && exactlyOneAccCompliant)
|
||||
{
|
||||
combinedRestitution = compliantAcc0 ? r0 : r1;
|
||||
}
|
||||
else
|
||||
{
|
||||
const PxCombineMode::Enum combineMode =
|
||||
exactlyOneCompliant ? PxCombineMode::eMIN
|
||||
: PxMax(mat0Data.getRestitutionCombineMode(), mat1Data.getRestitutionCombineMode());
|
||||
const PxReal flipSign = (bothCompliant && (combineMode == PxCombineMode::eMULTIPLY)) ? -1.0f : 1.0f;
|
||||
combinedRestitution = flipSign * combineScalars(r0, r1, combineMode);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// combine damping
|
||||
{
|
||||
// For rigid-rigid or compliant-compliant interactions, follow the user's choice of combine mode.
|
||||
// For rigid-compliant interactions, we go with the compliant behavior.
|
||||
// For forceCompliant-accelerationCompliant, we go with the accelerationCompliant behavior
|
||||
|
||||
const PxReal d0 = mat0Data.damping;
|
||||
const PxReal d1 = mat1Data.damping;
|
||||
|
||||
if (bothCompliant && exactlyOneAccCompliant)
|
||||
{
|
||||
combinedDamping = compliantAcc0 ? d0 : d1;
|
||||
}
|
||||
else
|
||||
{
|
||||
const PxCombineMode::Enum combineMode =
|
||||
exactlyOneCompliant ? PxCombineMode::eMAX
|
||||
: PxMax(mat0Data.getDampingCombineMode(), mat1Data.getDampingCombineMode());
|
||||
combinedDamping = combineScalars(d0, d1, combineMode);
|
||||
}
|
||||
}
|
||||
|
||||
// combine isotropic friction
|
||||
{
|
||||
const PxU32 combineFlags = (mat0Data.flags | mat1Data.flags); //& (PxMaterialFlag::eDISABLE_STRONG_FRICTION|PxMaterialFlag::eDISABLE_FRICTION); //eventually set DisStrongFric flag, lower all others.
|
||||
|
||||
if (!(combineFlags & PxMaterialFlag::eDISABLE_FRICTION))
|
||||
{
|
||||
const PxI32 fictionCombineMode = PxMax(mat0Data.getFrictionCombineMode(), mat1Data.getFrictionCombineMode());
|
||||
PxReal dynFriction = 0.0f;
|
||||
PxReal staFriction = 0.0f;
|
||||
|
||||
dynFriction = PxsCombinePxReal(mat0Data.dynamicFriction, mat1Data.dynamicFriction, fictionCombineMode);
|
||||
staFriction = PxsCombinePxReal(mat0Data.staticFriction, mat1Data.staticFriction, fictionCombineMode);
|
||||
|
||||
/*switch (fictionCombineMode)
|
||||
{
|
||||
case PxCombineMode::eAVERAGE:
|
||||
dynFriction = 0.5f * (mat0Data.dynamicFriction + mat1Data.dynamicFriction);
|
||||
staFriction = 0.5f * (mat0Data.staticFriction + mat1Data.staticFriction);
|
||||
break;
|
||||
case PxCombineMode::eMIN:
|
||||
dynFriction = PxMin(mat0Data.dynamicFriction, mat1Data.dynamicFriction);
|
||||
staFriction = PxMin(mat0Data.staticFriction, mat1Data.staticFriction);
|
||||
break;
|
||||
case PxCombineMode::eMULTIPLY:
|
||||
dynFriction = (mat0Data.dynamicFriction * mat1Data.dynamicFriction);
|
||||
staFriction = (mat0Data.staticFriction * mat1Data.staticFriction);
|
||||
break;
|
||||
case PxCombineMode::eMAX:
|
||||
dynFriction = PxMax(mat0Data.dynamicFriction, mat1Data.dynamicFriction);
|
||||
staFriction = PxMax(mat0Data.staticFriction, mat1Data.staticFriction);
|
||||
break;
|
||||
} */
|
||||
|
||||
//isotropic case
|
||||
const PxReal fDynFriction = PxMax(dynFriction, 0.0f);
|
||||
|
||||
#if PX_CUDA_COMPILER
|
||||
const PxReal fStaFriction = (staFriction - fDynFriction) >= 0 ? staFriction : fDynFriction;
|
||||
#else
|
||||
const PxReal fStaFriction = physx::intrinsics::fsel(staFriction - fDynFriction, staFriction, fDynFriction);
|
||||
#endif
|
||||
combinedDynamicFriction = fDynFriction;
|
||||
combinedStaticFriction = fStaFriction;
|
||||
combinedMaterialFlags = combineFlags;
|
||||
}
|
||||
else
|
||||
{
|
||||
combinedMaterialFlags = combineFlags | PxMaterialFlag::eDISABLE_STRONG_FRICTION;
|
||||
combinedDynamicFriction = 0.0f;
|
||||
combinedStaticFriction = 0.0f;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user