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/physxcharacterkinematic/src/CctController.h
+++ b/engine/third_party/physx/source/physxcharacterkinematic/src/CctController.h
@@ -0,0 +1,129 @@
+// 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 CCT_CONTROLLER
+#define CCT_CONTROLLER
+
+/* Exclude from documentation */
+/** \cond */
+
+#include "CctCharacterController.h"
+#include "foundation/PxUserAllocated.h"
+#include "foundation/PxMutex.h"
+
+namespace physx
+{
+
+class PxPhysics;
+class PxScene;
+class PxRigidDynamic;
+class PxGeometry;
+class PxMaterial;
+
+namespace Cct
+{
+	class CharacterControllerManager;
+
+	class Controller : public PxUserAllocated
+	{
+		PX_NOCOPY(Controller)
+	public:
+													Controller(const PxControllerDesc& desc, PxScene* scene);
+		virtual										~Controller();
+
+					void							releaseInternal();
+					void							getInternalState(PxControllerState& state)	const;
+					void							getInternalStats(PxControllerStats& stats)	const;					
+
+		virtual		PxF32							getHalfHeightInternal()				const	= 0;
+		virtual		bool							getWorldBox(PxExtendedBounds3& box)	const	= 0;
+		virtual		PxController*					getPxController()							= 0;
+
+					void							onOriginShift(const PxVec3& shift);
+
+					void							onRelease(const PxBase& observed);
+
+					void							setCctManager(CharacterControllerManager* cm)
+													{
+														mManager = cm;
+														mCctModule.setCctManager(cm);
+													}
+
+	PX_FORCE_INLINE	CharacterControllerManager*		getCctManager()				{ return mManager;		}
+	PX_FORCE_INLINE	PxU64							getContextId()		const	{ return PxU64(mScene);	}
+
+					PxControllerShapeType::Enum		mType;
+		// User params
+					CCTParams						mUserParams;
+					PxUserControllerHitReport*		mReportCallback;
+					PxControllerBehaviorCallback*	mBehaviorCallback;
+					void*							mUserData;
+		// Internal data
+					SweepTest						mCctModule;			// Internal CCT object. Optim test for Ubi.
+					PxRigidDynamic*					mKineActor;			// Associated kinematic actor
+					PxExtendedVec3					mPosition;			// Current position
+					PxVec3							mDeltaXP;
+					PxVec3							mOverlapRecover;
+					PxScene*						mScene;				// Handy scene owner
+					PxU32							mPreviousSceneTimestamp;					
+					PxF64							mGlobalTime;
+					PxF64							mPreviousGlobalTime;
+					PxF32							mProxyDensity;		// Density for proxy actor
+					PxF32							mProxyScaleCoeff;	// Scale coeff for proxy actor
+					PxControllerCollisionFlags		mCollisionFlags;	// Last known collision flags (PxControllerCollisionFlag)
+					bool							mCachedStandingOnMoving;
+					bool							mRegisterDeletionListener;
+		mutable		PxMutex							mWriteLock;			// Lock used for guarding touched pointers and cache data from overwriting 
+																			// during onRelease call.
+	protected:
+		// Internal methods
+					void							setUpDirectionInternal(const PxVec3& up);
+					PxShape*						getKineShape()	const;
+					bool							createProxyActor(PxPhysics& sdk, const PxGeometry& geometry, const PxMaterial& material, PxClientID clientID);
+					bool							setPos(const PxExtendedVec3& pos);
+					void							findTouchedObject(const PxControllerFilters& filters, const PxObstacleContext* obstacleContext, const PxVec3& upDirection);
+					bool							rideOnTouchedObject(SweptVolume& volume, const PxVec3& upDirection, PxVec3& disp, const PxObstacleContext* obstacleContext);
+					PxControllerCollisionFlags		move(SweptVolume& volume, const PxVec3& disp, PxF32 minDist, PxF32 elapsedTime, const PxControllerFilters& filters, const PxObstacleContext* obstacles, bool constrainedClimbingMode);
+					bool							filterTouchedShape(const PxControllerFilters& filters);
+
+	PX_FORCE_INLINE	float							computeTimeCoeff()
+													{
+														const float elapsedTime = float(mGlobalTime - mPreviousGlobalTime);
+														mPreviousGlobalTime = mGlobalTime;
+														return 1.0f / elapsedTime;
+													}
+
+					CharacterControllerManager*		mManager;			// Owner manager
+	};
+
+} // namespace Cct
+
+}
+
+/** \endcond */
+#endif