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/DyDynamicsBase.cpp
+++ b/engine/third_party/physx/source/lowleveldynamics/src/DyDynamicsBase.cpp
@@ -0,0 +1,127 @@
+// 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.  
+
+#include "DyDynamicsBase.h"
+#include "PxsIslandSim.h"
+#include "common/PxProfileZone.h"
+
+using namespace physx;
+using namespace Dy;
+
+DynamicsContextBase::DynamicsContextBase(
+	PxcNpMemBlockPool* memBlockPool,
+	Cm::FlushPool& taskPool,
+	PxvSimStats& simStats,
+	PxVirtualAllocatorCallback* allocatorCallback,
+	PxsMaterialManager* materialManager,
+	IG::SimpleIslandManager& islandManager,
+	PxU64 contextID,
+	PxReal maxBiasCoefficient,
+	PxReal lengthScale,
+	bool enableStabilization,
+	bool useEnhancedDeterminism,
+	bool isResidualReportingEnabled
+	) :
+	Dy::Context			(islandManager, allocatorCallback, simStats, enableStabilization, useEnhancedDeterminism, maxBiasCoefficient, lengthScale, contextID, isResidualReportingEnabled),
+	mThreadContextPool	(memBlockPool),
+	mMaterialManager	(materialManager),
+	mTaskPool			(taskPool),
+	mKinematicCount		(0),
+	mThresholdStreamOut	(0),
+	mCurrentIndex		(0)
+{
+}
+
+DynamicsContextBase::~DynamicsContextBase()
+{
+}
+
+void DynamicsContextBase::resetThreadContexts()
+{
+	PxcThreadCoherentCacheIterator<ThreadContext, PxcNpMemBlockPool> threadContextIt(mThreadContextPool);
+	ThreadContext* threadContext = threadContextIt.getNext();
+
+	while(threadContext != NULL)
+	{
+		threadContext->reset();
+		threadContext = threadContextIt.getNext();
+	}
+}
+
+PxU32 DynamicsContextBase::reserveSharedSolverConstraintsArrays(const IG::IslandSim& islandSim, PxU32 maxArticulationLinks)
+{
+	PX_PROFILE_ZONE("reserveSharedSolverConstraintsArrays", mContextID);
+
+	const PxU32 bodyCount = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
+
+	const PxU32 numArtics = islandSim.getNbActiveNodes(IG::Node::eARTICULATION_TYPE);
+
+	const PxU32 numArticulationConstraints = numArtics * maxArticulationLinks; //Just allocate enough memory to fit worst-case maximum size articulations...
+
+	const PxU32 nbActiveContactManagers = islandSim.getNbActiveEdges(IG::Edge::eCONTACT_MANAGER);
+	const PxU32 nbActiveConstraints = islandSim.getNbActiveEdges(IG::Edge::eCONSTRAINT);
+
+	const PxU32 totalConstraintCount = nbActiveConstraints + nbActiveContactManagers + numArticulationConstraints;
+
+	mContactConstraintBatchHeaders.forceSize_Unsafe(0);
+	mContactConstraintBatchHeaders.reserve((totalConstraintCount + 63) & (~63));
+	mContactConstraintBatchHeaders.forceSize_Unsafe(totalConstraintCount);
+
+	mContactList.forceSize_Unsafe(0);
+	mContactList.reserve((nbActiveContactManagers + 63u) & (~63u));
+	mContactList.forceSize_Unsafe(nbActiveContactManagers);
+
+	mMotionVelocityArray.forceSize_Unsafe(0);
+	mMotionVelocityArray.reserve((bodyCount + 63u) & (~63u));
+	mMotionVelocityArray.forceSize_Unsafe(bodyCount);
+
+	mBodyCoreArray.forceSize_Unsafe(0);
+	mBodyCoreArray.reserve((bodyCount + 63u) & (~63u));
+	mBodyCoreArray.forceSize_Unsafe(bodyCount);
+
+	mRigidBodyArray.forceSize_Unsafe(0);
+	mRigidBodyArray.reserve((bodyCount + 63u) & (~63u));
+	mRigidBodyArray.forceSize_Unsafe(bodyCount);
+
+	mArticulationArray.forceSize_Unsafe(0);
+	mArticulationArray.reserve((numArtics + 63u) & (~63u));
+	mArticulationArray.forceSize_Unsafe(numArtics);
+
+	mNodeIndexArray.forceSize_Unsafe(0);
+	mNodeIndexArray.reserve((bodyCount + 63u) & (~63u));
+	mNodeIndexArray.forceSize_Unsafe(bodyCount);
+
+	ThresholdStream& stream = getThresholdStream();
+	stream.forceSize_Unsafe(0);
+	stream.reserve(PxNextPowerOfTwo(nbActiveContactManagers != 0 ? nbActiveContactManagers - 1 : nbActiveContactManagers));
+
+	//flip exceeded force threshold buffer
+	mCurrentIndex = 1 - mCurrentIndex;
+
+	return totalConstraintCount;
+}