feat(physics): wire physx sdk into build
This commit is contained in:
170
engine/third_party/physx/source/lowleveldynamics/src/DySolverContact4.h
vendored
Normal file
170
engine/third_party/physx/source/lowleveldynamics/src/DySolverContact4.h
vendored
Normal file
@@ -0,0 +1,170 @@
|
||||
// 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_CONTACT4_H
|
||||
#define DY_SOLVER_CONTACT4_H
|
||||
|
||||
#include "foundation/PxSimpleTypes.h"
|
||||
#include "foundation/PxVec3.h"
|
||||
#include "PxvConfig.h"
|
||||
#include "foundation/PxVecMath.h"
|
||||
#include "DySolverContact.h"
|
||||
|
||||
namespace physx
|
||||
{
|
||||
|
||||
namespace Sc
|
||||
{
|
||||
class ShapeInteraction;
|
||||
}
|
||||
|
||||
namespace Dy
|
||||
{
|
||||
|
||||
/**
|
||||
\brief Batched SOA contact data. Note, we don't support batching with extended contacts for the simple reason that handling multiple articulations would be complex.
|
||||
*/
|
||||
struct SolverContactHeader4
|
||||
{
|
||||
enum
|
||||
{
|
||||
eHAS_MAX_IMPULSE = 1 << 0,
|
||||
eHAS_TARGET_VELOCITY = 1 << 1
|
||||
};
|
||||
|
||||
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
|
||||
PxU8 numNormalConstr;
|
||||
PxU8 numFrictionConstr;
|
||||
PxU8 flag;
|
||||
|
||||
PxU8 flags[4];
|
||||
//These counts are the max of the 4 sets of data.
|
||||
//When certain pairs have fewer patches/contacts than others, they are padded with 0s so that no work is performed but
|
||||
//calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
|
||||
|
||||
//KS - used for write-back only
|
||||
PxU8 numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
|
||||
PxU8 numFrictionConstr0, numFrictionConstr1, numFrictionConstr2, numFrictionConstr3;
|
||||
|
||||
Vec4V restitution;
|
||||
Vec4V staticFriction;
|
||||
Vec4V dynamicFriction;
|
||||
//Technically, these mass properties could be pulled out into a new structure and shared. For multi-manifold contacts,
|
||||
//this would save 64 bytes per-manifold after the cost of the first manifold
|
||||
Vec4V invMass0D0;
|
||||
Vec4V invMass1D1;
|
||||
Vec4V angDom0;
|
||||
Vec4V angDom1;
|
||||
//Normal is shared between all contacts in the batch. This will save some memory!
|
||||
Vec4V normalX;
|
||||
Vec4V normalY;
|
||||
Vec4V normalZ;
|
||||
|
||||
Sc::ShapeInteraction* shapeInteraction[4]; //192 or 208
|
||||
};
|
||||
|
||||
#if !PX_P64_FAMILY
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 192);
|
||||
#else
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 208);
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief This represents a batch of 4 contacts with static rolled into a single structure
|
||||
*/
|
||||
struct SolverContactBatchPointBase4
|
||||
{
|
||||
Vec4V raXnX;
|
||||
Vec4V raXnY;
|
||||
Vec4V raXnZ;
|
||||
Vec4V velMultiplier;
|
||||
Vec4V scaledBias;
|
||||
Vec4V biasedErr;
|
||||
Vec4V impulseMultiplier;
|
||||
};
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointBase4) == 112);
|
||||
|
||||
/**
|
||||
\brief Contains the additional data required to represent 4 contacts between 2 dynamic bodies
|
||||
\see SolverContactBatchPointBase4
|
||||
*/
|
||||
struct SolverContactBatchPointDynamic4 : public SolverContactBatchPointBase4
|
||||
{
|
||||
Vec4V rbXnX;
|
||||
Vec4V rbXnY;
|
||||
Vec4V rbXnZ;
|
||||
};
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointDynamic4) == 160);
|
||||
|
||||
/**
|
||||
\brief This represents the shared information of a batch of 4 friction constraints
|
||||
*/
|
||||
struct SolverFrictionSharedData4
|
||||
{
|
||||
BoolV broken;
|
||||
PxU8* frictionBrokenWritebackByte[4];
|
||||
Vec4V normalX[2];
|
||||
Vec4V normalY[2];
|
||||
Vec4V normalZ[2];
|
||||
};
|
||||
#if !PX_P64_FAMILY
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionSharedData4) == 128);
|
||||
#endif
|
||||
|
||||
/**
|
||||
\brief This represents a batch of 4 friction constraints with static rolled into a single structure
|
||||
*/
|
||||
struct SolverContactFrictionBase4
|
||||
{
|
||||
Vec4V raXnX;
|
||||
Vec4V raXnY;
|
||||
Vec4V raXnZ;
|
||||
Vec4V scaledBias;
|
||||
Vec4V velMultiplier;
|
||||
Vec4V targetVelocity;
|
||||
};
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionBase4) == 96);
|
||||
|
||||
/**
|
||||
\brief Contains the additional data required to represent 4 friction constraints between 2 dynamic bodies
|
||||
\see SolverContactFrictionBase4
|
||||
*/
|
||||
struct SolverContactFrictionDynamic4 : public SolverContactFrictionBase4
|
||||
{
|
||||
Vec4V rbXnX;
|
||||
Vec4V rbXnY;
|
||||
Vec4V rbXnZ;
|
||||
};
|
||||
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionDynamic4) == 144);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user