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/lowleveldynamics/include/DyConstraintWriteBack.h
+++ b/engine/third_party/physx/source/lowleveldynamics/include/DyConstraintWriteBack.h
@@ -0,0 +1,87 @@
+// 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 DY_CONSTRAINT_WRITE_BACK_H
+#define DY_CONSTRAINT_WRITE_BACK_H
+
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "PxvDynamics.h"
+
+namespace physx
+{
+	namespace Dy
+	{
+
+		PX_ALIGN_PREFIX(16)
+		struct ConstraintWriteback
+		{
+			void initialize()
+			{
+				linearImpulse = PxVec3(0);
+				angularImpulse = PxVec3(0);
+				residualPosIter = 0.0f;
+				residual = 0.0f;
+			}
+
+			PxVec3	linearImpulse;
+		private:
+			union
+			{
+				PxU32	broken;
+				PxReal	residualPosIter;
+			};
+		public:
+			PxVec3  angularImpulse;
+			PxReal	residual;
+
+			PX_FORCE_INLINE PxU32 setBit(PxU32 value, PxU32 bitLocation, bool bitState)
+			{
+				if (bitState)
+					return value | (1 << bitLocation);
+				else
+					return value & (~(1 << bitLocation));
+			}
+
+			PX_FORCE_INLINE bool isBroken() const { return broken & PX_SIGN_BITMASK; }
+			
+			PX_FORCE_INLINE PxReal getPositionIterationResidual() const { return PxAbs(residualPosIter); }
+			
+			PX_FORCE_INLINE void setCombined(bool isBroken, PxReal positionIterationResidual)
+			{
+				residualPosIter = positionIterationResidual;
+				broken = setBit(broken, 31, isBroken);
+			}
+
+		}
+		PX_ALIGN_SUFFIX(16);
+
+	}
+}
+
+#endif