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feat(physics): wire physx sdk into build

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2026-04-15 12:22:15 +08:00
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engine/third_party/physx/source/lowleveldynamics/src/DySolverConstraint1DStep.h vendored Normal file
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// 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_SOLVER_CONSTRAINT_1D_STEP_H
#define DY_SOLVER_CONSTRAINT_1D_STEP_H
#include "CmSpatialVector.h"
#include "foundation/PxVec3.h"
#include "DySolverConstraintTypes.h"
#include "PxConstraintDesc.h"
#include "DyCpuGpu1dConstraint.h"
namespace physx
{
namespace Sc
{
class ShapeInteraction;
}
namespace Dy
{
struct SolverContactHeaderStep
{
enum DySolverContactFlags
{
eHAS_FORCE_THRESHOLDS = 0x1
};
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 flags;
PxU8 numNormalConstr;
PxU8 numFrictionConstr; //4
PxReal angDom0; //8
PxReal angDom1; //12
PxReal invMass0; //16
aos::Vec4V staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W; //32
PxVec3 normal; //48
PxReal maxPenBias; //52
PxReal invMass1; //56
PxReal minNormalForce; //60
PxU32 broken; //64
PxU8* frictionBrokenWritebackByte; //68 72
Sc::ShapeInteraction* shapeInteraction; //72 80
#if !PX_P64_FAMILY
PxU32 pad[2]; //80
#endif
PX_FORCE_INLINE aos::FloatV getStaticFriction() const { return aos::V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE aos::FloatV getDynamicFriction() const { return aos::V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE aos::FloatV getDominance0() const { return aos::V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE aos::FloatV getDominance1() const { return aos::V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
};
struct SolverContactPointStep
{
PxVec3 raXnI;
PxF32 separation;
PxVec3 rbXnI;
PxF32 velMultiplier;
PxF32 targetVelocity;
PxF32 biasCoefficient;
PxF32 recipResponse;
PxF32 maxImpulse;
};
struct SolverContactPointStepExt : public SolverContactPointStep
{
aos::Vec3V linDeltaVA;
aos::Vec3V linDeltaVB;
aos::Vec3V angDeltaVA;
aos::Vec3V angDeltaVB;
};
struct SolverContactFrictionStep
{
aos::Vec4V normalXYZ_ErrorW;
aos::Vec4V raXnI_targetVelW;
aos::Vec4V rbXnI_velMultiplierW;
PxReal biasScale;
PxReal appliedForce;
PxReal frictionScale;
PxU32 pad[1];
PX_FORCE_INLINE void setAppliedForce(const aos::FloatV f) { aos::FStore(f, &appliedForce); }
PX_FORCE_INLINE aos::Vec3V getNormal() const { return aos::Vec3V_From_Vec4V(normalXYZ_ErrorW); }
PX_FORCE_INLINE aos::FloatV getAppliedForce() const { return aos::FLoad(appliedForce); }
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionStep) % 16 == 0);
struct SolverContactFrictionStepExt : public SolverContactFrictionStep
{
aos::Vec3V linDeltaVA;
aos::Vec3V linDeltaVB;
aos::Vec3V angDeltaVA;
aos::Vec3V angDeltaVB;
};
struct SolverConstraint1DHeaderStep
{
PxU8 type; // enum SolverConstraintType - must be first byte
PxU8 count; // count of following 1D constraints
PxU8 dominance;
PxU8 breakable; // indicate whether this constraint is breakable or not
PxReal linBreakImpulse;
PxReal angBreakImpulse;
PxReal invMass0D0;
PxVec3 body0WorldOffset;
PxReal invMass1D1;
PxVec3 rAWorld;
PxReal linearInvMassScale0; // only used by articulations
PxVec3 rBWorld;
PxReal angularInvMassScale0;
PxReal linearInvMassScale1; // only used by articulations
PxReal angularInvMassScale1;
PxU32 pad[2];
//Ortho axes for body 0, recipResponse in W component
PxVec4 angOrthoAxis0_recipResponseW[3];
//Ortho axes for body 1, error of body in W component
PxVec4 angOrthoAxis1_Error[3];
};
PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(SolverConstraint1DHeaderStep, angOrthoAxis0_recipResponseW) % 16 == 0);
PX_FORCE_INLINE void init(SolverConstraint1DHeaderStep& h,
PxU8 count,
bool isExtended,
const PxConstraintInvMassScale& ims)
{
h.type = PxU8(isExtended ? DY_SC_TYPE_EXT_1D : DY_SC_TYPE_RB_1D);
h.count = count;
h.dominance = 0;
h.linearInvMassScale0 = ims.linear0;
h.angularInvMassScale0 = ims.angular0;
h.linearInvMassScale1 = -ims.linear1;
h.angularInvMassScale1 = -ims.angular1;
}
PX_ALIGN_PREFIX(16)
struct SolverConstraint1DStep
{
public:
PxVec3 lin0; //!< linear velocity projection (body 0)
PxReal error; //!< constraint error term - must be scaled by biasScale. Can be adjusted at run-time
PxVec3 lin1; //!< linear velocity projection (body 1)
PxReal biasScale; //!< constraint constant bias scale. Constant
PxVec3 ang0; //!< angular velocity projection (body 0)
PxReal velMultiplier; //!< constraint velocity multiplier
PxVec3 ang1; //!< angular velocity projection (body 1)
PxReal velTarget; //!< Scaled target velocity of the constraint drive
PxReal minImpulse; //!< Lower bound on impulse magnitude
PxReal maxImpulse; //!< Upper bound on impulse magnitude
PxReal appliedForce; //!< applied force to correct velocity+bias
PxReal maxBias;
PxU32 flags;
PxReal recipResponse; //Constant. Only used for articulations;
//PxReal angularErrorScale; //Constant
PxReal residualVelIter;
private:
union
{
PxU32 useAngularError; //Use only the most significant bit (which corresponds to the float's sign bit)
PxReal residualPosIter;
};
public:
void setSolverConstants(const Constraint1dSolverConstantsTGS& desc)
{
biasScale = desc.biasScale;
error = desc.error;
velTarget = desc.targetVel;
velMultiplier = desc.velMultiplier;
}
PX_FORCE_INLINE PxU32 setBit(PxU32 value, PxU32 bitLocation, bool bitState)
{
if (bitState)
return value | (1 << bitLocation);
else
return value & (~(1 << bitLocation));
}
PX_FORCE_INLINE void setUseAngularError(bool b)
{
useAngularError = setBit(useAngularError, 31, b);
}
PX_FORCE_INLINE PxReal getUseAngularError() const
{
return (useAngularError & 0x80000000) ? 1.0f : 0.0f;
}
PX_FORCE_INLINE void setPositionIterationResidual(PxReal residual)
{
bool b = getUseAngularError();
residualPosIter = residual;
setUseAngularError(b);
}
PX_FORCE_INLINE PxReal getPositionIterationResidual() const
{
return PxAbs(residualPosIter);
}
PX_FORCE_INLINE void setVelocityIterationResidual(PxReal residual)
{
residualVelIter = residual;
}
} PX_ALIGN_SUFFIX(16);
struct SolverConstraint1DExtStep : public SolverConstraint1DStep
{
public:
Cm::SpatialVectorV deltaVA;
Cm::SpatialVectorV deltaVB;
};
PX_FORCE_INLINE void init(SolverConstraint1DStep& c,
const PxVec3& _linear0, const PxVec3& _linear1,
const PxVec3& _angular0, const PxVec3& _angular1,
PxReal _minImpulse, PxReal _maxImpulse)
{
PX_ASSERT(_linear0.isFinite());
PX_ASSERT(_linear1.isFinite());
c.lin0 = _linear0;
c.lin1 = _linear1;
c.ang0 = _angular0;
c.ang1 = _angular1;
c.minImpulse = _minImpulse;
c.maxImpulse = _maxImpulse;
c.flags = 0;
c.appliedForce = 0;
c.setUseAngularError(true);
c.residualVelIter = 0.0f;
c.setPositionIterationResidual(0.0f);
}
}//namespace Dy
}
#endif