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/src/DyArticulationContactPrep.h
+++ b/engine/third_party/physx/source/lowleveldynamics/src/DyArticulationContactPrep.h
@@ -0,0 +1,100 @@
+// 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_ARTICULATION_CONTACT_PREP_H
+#define DY_ARTICULATION_CONTACT_PREP_H
+
+#include "DySolverExt.h"
+#include "foundation/PxVecMath.h"
+
+namespace physx
+{
+struct PxcNpWorkUnit;
+class PxContactBuffer;
+struct PxContactPoint;
+
+namespace Dy
+{
+
+	struct CorrelationBuffer;
+
+	PxReal getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVector& impulse0, Cm::SpatialVector& deltaV0, PxReal dom0, PxReal angDom0,
+		const SolverExtBody& b1, const Cm::SpatialVector& impulse1, Cm::SpatialVector& deltaV1, PxReal dom1, PxReal angDom1,
+		bool allowSelfCollision = false);
+
+	aos::FloatV getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVectorV& impulse0, Cm::SpatialVectorV& deltaV0, const aos::FloatV& dom0, const aos::FloatV& angDom0,
+		const SolverExtBody& b1, const Cm::SpatialVectorV& impulse1, Cm::SpatialVectorV& deltaV1, const aos::FloatV& dom1, const aos::FloatV& angDom1,
+		bool allowSelfCollision = false);
+
+	Cm::SpatialVector createImpulseResponseVector(const PxVec3& linear, const PxVec3& angular, const SolverExtBody& body);
+	Cm::SpatialVectorV createImpulseResponseVector(const aos::Vec3V& linear, const aos::Vec3V& angular, const SolverExtBody& body);
+
+	void setupFinalizeExtSolverContacts(
+		const PxContactPoint* buffer,
+		const CorrelationBuffer& c,
+		const PxTransform& bodyFrame0,
+		const PxTransform& bodyFrame1,
+		PxU8* workspace,
+		const SolverExtBody& b0,
+		const SolverExtBody& b1,
+		const PxReal invDtF32,
+		const PxReal dtF32,
+		PxReal bounceThresholdF32,
+		PxReal invMassScale0, PxReal invInertiaScale0,
+		PxReal invMassScale1, PxReal invInertiaScale1,
+		PxReal restDistance, PxU8* frictionDataPtr,
+		PxReal ccdMaxContactDist,
+		Cm::SpatialVectorF* Z,
+		const PxReal offsetSlop);
+
+
+	bool setupFinalizeExtSolverContactsCoulomb(
+		const PxContactBuffer& buffer,
+		const CorrelationBuffer& c,
+		const PxTransform& bodyFrame0,
+		const PxTransform& bodyFrame1,
+		PxU8* workspace,
+		PxReal invDt,
+		PxReal dtF32,
+		PxReal bounceThreshold,
+		const SolverExtBody& b0,
+		const SolverExtBody& b1,
+		PxU32 frictionCountPerPoint,
+		PxReal invMassScale0, PxReal invInertiaScale0,
+		PxReal invMassScale1, PxReal invInertiaScale1,
+		PxReal restDist,
+		PxReal ccdMaxContactDist,
+		Cm::SpatialVectorF* Z,
+		const PxReal solverOffsetSlop);
+
+} //namespace Dy
+
+}
+
+#endif
+