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/DySolverExt.h
+++ b/engine/third_party/physx/source/lowleveldynamics/src/DySolverExt.h
@@ -0,0 +1,93 @@
+// 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_EXT_H
+#define DY_SOLVER_EXT_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxTransform.h"
+#include "CmSpatialVector.h"
+#include "foundation/PxVecMath.h"
+
+namespace physx
+{
+
+class PxsRigidBody;
+struct PxsBodyCore;
+struct PxSolverBody;
+struct PxSolverBodyData;
+
+
+namespace Dy
+{
+
+
+class FeatherstoneArticulation;
+struct SolverConstraint1D;
+
+class SolverExtBody
+{
+public:
+	union
+	{
+		const FeatherstoneArticulation* mArticulation;
+		const PxSolverBody* mBody;
+	};
+	const PxSolverBodyData* mBodyData;
+
+	PxU32 mLinkIndex;
+
+	SolverExtBody(const void* bodyOrArticulationOrSoftBody, const void* bodyData, PxU32 linkIndex): 
+	  mBody(reinterpret_cast<const PxSolverBody*>(bodyOrArticulationOrSoftBody)),
+	  mBodyData(reinterpret_cast<const PxSolverBodyData*>(bodyData)),
+		  mLinkIndex(linkIndex)
+	  {}
+
+	  void getResponse(const PxVec3& linImpulse, const PxVec3& angImpulse,
+					   PxVec3& linDeltaV, PxVec3& angDeltaV, PxReal dominance) const;
+
+	  void getResponse(const aos::Vec3V& linImpulse, const aos::Vec3V& angImpulse,
+		  aos::Vec3V& linDeltaV, aos::Vec3V& angDeltaV, aos::FloatV dominance) const;
+
+	  PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const;
+	  aos::FloatV projectVelocity(const aos::Vec3V& linear, const aos::Vec3V& angular) const;
+	  PxVec3 getLinVel() const;
+	  PxVec3 getAngVel() const;
+
+	  aos::Vec3V getLinVelV() const;
+	  aos::Vec3V getAngVelV() const;
+
+	  Cm::SpatialVectorV getVelocity() const;
+	  PxReal getCFM() const;
+};
+
+}
+
+}
+
+#endif