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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/DySolverContact.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
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// 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_CONTACT_H
#define DY_SOLVER_CONTACT_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "foundation/PxVecMath.h"
namespace physx
{
using namespace aos;
namespace Sc
{
class ShapeInteraction;
}
/**
\brief A header to represent a friction patch for the solver.
*/
namespace Dy
{
struct SolverContactHeader
{
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
Vec4V staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W; //32
//KS - minAppliedImpulseForFrictionW is non-zero only for articulations. This is a workaround for a case in articulations where
//the impulse is propagated such that many links do not apply friction because their normal forces were corrected by the solver in a previous
//link. This results in some links sliding unnaturally. This occurs with prismatic or revolute joints where the impulse propagation one one link
//resolves the normal constraint on all links
Vec4V normal_minAppliedImpulseForFrictionW; //48
PxReal invMass1; //52
PxU32 broken; //56
PxU8* frictionBrokenWritebackByte; //60 64
Sc::ShapeInteraction* shapeInteraction; //64 72
#if PX_P64_FAMILY
PxU32 pad[2]; //64 80
#endif // PX_X64
PX_FORCE_INLINE void setStaticFriction(const FloatV f) { staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDynamicFriction(const FloatV f) { staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDominance0(const FloatV f) { staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDominance1(const FloatV f) { staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE FloatV getStaticFriction() const { return V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE FloatV getDynamicFriction() const { return V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE FloatV getDominance0() const { return V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE FloatV getDominance1() const { return V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE void setStaticFriction(PxF32 f) { V4WriteX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDynamicFriction(PxF32 f) { V4WriteY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDominance0(PxF32 f) { V4WriteZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE void setDominance1(PxF32 f) { V4WriteW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f); }
PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const { return V4ReadX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE PxF32 getDynamicFrictionPxF32() const { return V4ReadY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE PxF32 getDominance0PxF32() const { return V4ReadZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
PX_FORCE_INLINE PxF32 getDominance1PxF32() const { return V4ReadW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W); }
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 64);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 80);
#endif
/**
\brief A single rigid body contact point for the solver.
*/
struct SolverContactPoint
{
Vec4V raXn_velMultiplierW;
Vec4V rbXn_maxImpulseW;
PxF32 biasedErr;
PxF32 unbiasedErr;
PxF32 impulseMultiplier;
PxU32 pad;
PX_FORCE_INLINE FloatV getVelMultiplier() const { return V4GetW(raXn_velMultiplierW); }
PX_FORCE_INLINE FloatV getImpulseMultiplier() const { return FLoad(impulseMultiplier); }
PX_FORCE_INLINE FloatV getBiasedErr() const { return FLoad(biasedErr); }
PX_FORCE_INLINE FloatV getMaxImpulse() const { return V4GetW(rbXn_maxImpulseW); }
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPoint) == 48);
/**
\brief A single extended articulation contact point for the solver.
*/
struct SolverContactPointExt : public SolverContactPoint
{
Vec3V linDeltaVA;
Vec3V angDeltaVA;
Vec3V linDeltaVB;
Vec3V angDeltaVB;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPointExt) == 112);
/**
\brief A single friction constraint for the solver.
*/
struct SolverContactFriction
{
// PT: TODO: there's room for 3 floats in the padding bytes so we could just stick appliedForce / velMultiplier / bias there
// and avoid doing all the data packing / unpacking for these members...
Vec4V normalXYZ_appliedForceW; //16
Vec4V raXnXYZ_velMultiplierW; //32
Vec4V rbXnXYZ_biasW; //48
PxReal targetVel; //52
PxU32 mPad[3]; //64
PX_FORCE_INLINE void setAppliedForce(const FloatV f) { normalXYZ_appliedForceW = V4SetW(normalXYZ_appliedForceW,f); }
PX_FORCE_INLINE void setBias(const FloatV f) { rbXnXYZ_biasW = V4SetW(rbXnXYZ_biasW,f); }
PX_FORCE_INLINE Vec3V getNormal() const { return Vec3V_From_Vec4V(normalXYZ_appliedForceW); }
PX_FORCE_INLINE FloatV getAppliedForce() const { return V4GetW(normalXYZ_appliedForceW); }
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFriction) == 64);
/**
\brief A single extended articulation friction constraint for the solver.
*/
struct SolverContactFrictionExt : public SolverContactFriction
{
Vec3V linDeltaVA;
Vec3V angDeltaVA;
Vec3V linDeltaVB;
Vec3V angDeltaVB;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionExt) == 128);
}
}
#endif