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/DyFeatherstoneArticulationJointData.h
+++ b/engine/third_party/physx/source/lowleveldynamics/include/DyFeatherstoneArticulationJointData.h
@@ -0,0 +1,111 @@
+// 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_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
+#define DY_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxQuat.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxVecMath.h"
+#include "CmUtils.h"
+#include "CmSpatialVector.h"
+#include "DyVArticulation.h"
+#include "DyFeatherstoneArticulationUtils.h"
+#include "DyArticulationJointCore.h"
+#include <stdio.h>
+
+namespace physx
+{
+	namespace Dy
+	{	
+		class ArticulationJointCoreData
+		{
+		public:
+
+			ArticulationJointCoreData() : jointOffset(0xffffffff)
+			{
+			}
+
+			PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 countJointDofs(ArticulationJointCore* joint) const
+			{
+				PxU8 tDof = 0;
+
+				for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
+				{
+					if (joint->motion[i] != PxArticulationMotion::eLOCKED)
+					{
+						tDof++;
+					}
+				}
+
+				return tDof;
+			}
+
+			PX_FORCE_INLINE PxU8 configureJointDofs(ArticulationJointCore* joint, Cm::UnAlignedSpatialVector* jointAxis)
+			{
+					nbDof = 0;
+					dofLimitMask = 0;
+
+					//KS - no need to zero memory here.
+					//PxMemZero(jointAxis, sizeof(jointAxis));
+
+					for (PxU8 i = 0; i < DY_MAX_DOF; ++i)
+					{
+						if (joint->motion[i] != PxArticulationMotion::eLOCKED)
+						{
+							Cm::UnAlignedSpatialVector axis = Cm::UnAlignedSpatialVector::Zero();
+							//axis is in the local space of joint
+							axis[i] = 1.f;
+
+							jointAxis[nbDof] = axis;
+
+							joint->invDofIds[i] = nbDof;
+							joint->dofIds[nbDof] = i;
+
+							if (joint->motion[i] == PxArticulationMotion::eLIMITED)
+								dofLimitMask |= 1 << nbDof;
+
+							nbDof++;
+						}
+					}
+			
+				return nbDof;
+			}
+
+			PxU32	jointOffset;				//4
+			//degree of freedom
+			PxU8	nbDof;						//1
+			PxU8	dofLimitMask;					//1	
+
+		};
+
+	}//namespace Dy
+}
+
+#endif