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/DyArticulationPImpl.h
+++ b/engine/third_party/physx/source/lowleveldynamics/src/DyArticulationPImpl.h
@@ -0,0 +1,107 @@
+// 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_INTERFACE_H
+#define DY_ARTICULATION_INTERFACE_H
+
+#include "DyFeatherstoneArticulation.h"
+
+namespace physx
+{
+namespace Dy
+{
+	struct ArticulationSolverDesc;
+
+class ArticulationPImpl
+{
+public:
+
+	static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
+											PxReal dt,
+											PxU32& acCount,
+											const PxVec3& gravity, 
+											const PxReal invLengthScale)
+	{
+		return FeatherstoneArticulation::computeUnconstrainedVelocities(desc, dt, acCount, gravity, invLengthScale);
+	}
+
+	static void	updateBodies(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
+						 PxReal dt)
+	{
+		FeatherstoneArticulation::updateBodies(desc, tempDeltaV, dt);
+	}
+
+	static void	updateBodiesTGS(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
+		PxReal dt)
+	{
+		FeatherstoneArticulation::updateBodiesTGS(desc, tempDeltaV, dt);
+	}
+
+	static void	saveVelocity(FeatherstoneArticulation* articulation, Cm::SpatialVectorF* tempDeltaV)
+	{
+		FeatherstoneArticulation::saveVelocity(articulation, tempDeltaV);
+	}
+
+	static void	saveVelocityTGS(FeatherstoneArticulation* articulation, PxReal invDtF32)
+	{
+		FeatherstoneArticulation::saveVelocityTGS(articulation, invDtF32);
+	}
+
+	static void computeUnconstrainedVelocitiesTGS(const ArticulationSolverDesc& desc,
+		PxReal dt,
+		const PxVec3& gravity,
+		PxReal invLengthScale,
+		bool externalForcesEveryTgsIterationEnabled)
+	{
+		FeatherstoneArticulation::computeUnconstrainedVelocitiesTGS(desc, dt, gravity, invLengthScale, externalForcesEveryTgsIterationEnabled);
+	}
+
+	static void	updateDeltaMotion(const ArticulationSolverDesc& desc, const PxReal dt, Cm::SpatialVectorF* DeltaV, const PxReal totalInvDt)
+	{
+		FeatherstoneArticulation::recordDeltaMotion(desc, dt, DeltaV, totalInvDt);
+	}
+
+	static void	deltaMotionToMotionVel(const ArticulationSolverDesc& desc, const PxReal invDt)
+	{
+		FeatherstoneArticulation::deltaMotionToMotionVelocity(desc, invDt);
+	}
+
+	static PxU32 setupSolverInternalConstraintsTGS(const ArticulationSolverDesc& desc,
+		PxReal dt,
+		PxReal invDt,
+		PxReal totalDt)
+	{
+		return FeatherstoneArticulation::setupSolverConstraintsTGS(desc, dt, invDt, totalDt);
+	}
+};
+
+
+}
+}
+#endif
+