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/DyVArticulation.h
+++ b/engine/third_party/physx/source/lowleveldynamics/include/DyVArticulation.h
@@ -0,0 +1,134 @@
+// 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_V_ARTICULATION_H
+#define DY_V_ARTICULATION_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxQuat.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxVecMath.h"
+#include "foundation/PxUtilities.h"
+#include "CmUtils.h"
+#include "CmSpatialVector.h"
+#include "foundation/PxMemory.h"
+#include "DyArticulationCore.h"
+#include "DyArticulationJointCore.h"
+#include "DyArticulationMimicJointCore.h"
+
+namespace physx
+{
+	struct PxsBodyCore;
+	class PxsConstraintBlockManager;
+	class PxsContactManagerOutputIterator;
+	struct PxSolverConstraintDesc;
+	struct PxSolverBodyData;
+	struct PxTGSSolverBodyData;
+	struct PxTGSSolverBodyTxInertia;
+	struct PxSolverConstraintDesc;
+
+	namespace Dy
+	{
+		
+		struct SpatialSubspaceMatrix;
+		
+		struct ConstraintWriteback;
+		class ThreadContext;
+
+		static const size_t DY_ARTICULATION_TENDON_MAX_SIZE = 64;
+	
+		struct Constraint;
+		class Context;
+		class ArticulationSpatialTendon;
+		class ArticulationFixedTendon;
+		class ArticulationTendonJoint;
+
+		typedef PxU64 ArticulationBitField;
+
+		struct ArticulationLoopConstraint
+		{
+		public:
+			PxU32 linkIndex0;
+			PxU32 linkIndex1;
+			Dy::Constraint* constraint;
+		};
+
+#define DY_ARTICULATION_LINK_NONE 0xffffffff
+
+		struct ArticulationLink
+		{
+			PxU32						mPathToRootStartIndex;
+			PxU32						mChildrenStartIndex;
+			PxU16						mPathToRootCount;
+			PxU16						mNumChildren;
+			PxsBodyCore*				bodyCore;
+			ArticulationJointCore*		inboundJoint;
+			PxU32						parent;
+			PxReal						cfm;
+		};
+
+		class FeatherstoneArticulation;
+
+		struct ArticulationSolverDesc
+		{
+			void	initData(ArticulationCore* core_, const PxArticulationFlags* flags_)
+			{
+				articulation			= NULL;
+				links					= NULL;
+				motionVelocity			= NULL;
+				acceleration			= NULL;
+				poses					= NULL;
+				deltaQ					= NULL;
+	
+				core					= core_;
+				flags					= flags_;
+				linkCount				= 0;
+				numInternalConstraints	= 0;
+				
+			}
+
+			FeatherstoneArticulation*	articulation;
+			ArticulationLink*			links;
+			Cm::SpatialVectorV*			motionVelocity;
+			Cm::SpatialVector*			acceleration;
+			PxTransform*				poses;
+			PxQuat*						deltaQ;
+	
+			ArticulationCore*			core;
+			const PxArticulationFlags*	flags;	// PT: PX-1399
+
+			PxU8						linkCount;
+			PxU8						numInternalConstraints;
+			
+		};
+
+	}
+
+}
+
+#endif