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/physxextensions/src/ExtDeformableSkinning.cpp
+++ b/engine/third_party/physx/source/physxextensions/src/ExtDeformableSkinning.cpp
@@ -0,0 +1,112 @@
+// 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.  
+
+#include "extensions/PxDeformableSkinningExt.h"
+#include "GuAABBTree.h"
+#include "foundation/PxMathUtils.h"
+#include "foundation/PxFPU.h"
+
+using namespace physx;
+
+
+void PxDeformableSkinningExt::initializeInterpolatedVertices(
+	PxTriangleMeshEmbeddingInfo* embeddingInfo,
+	const PxVec3* guideVertices, const PxVec3* guideNormals,
+	const PxU32* guideTriangles, PxU32 numGuideTriangles, const PxVec3* embeddedVertices,
+	PxU32 numEmbeddedVertices)
+{
+	PX_UNUSED(guideNormals); //The guideNormals could be used for higher quality embedding infos
+
+	PX_SIMD_GUARD
+
+	Gu::TinyBVH bvh;
+	Gu::TinyBVH::constructFromTriangles(guideTriangles, numGuideTriangles, guideVertices, bvh);
+
+	Gu::ClosestDistanceToTrimeshTraversalController traversalController(guideTriangles, guideVertices, bvh.mTree.begin());
+
+	//Implements to most basic variant - lots of room for improvements
+	for (PxU32 i = 0; i < numEmbeddedVertices; ++i)
+	{
+		traversalController.setQueryPoint(embeddedVertices[i]);
+		bvh.Traverse(traversalController);
+
+		const PxU32 closestTriangleid = traversalController.getClosestTriId();
+
+		const PxU32* tri = &guideTriangles[3 * closestTriangleid];
+		const PxVec3& v0 = guideVertices[tri[0]];
+		const PxVec3& v1 = guideVertices[tri[1]];
+		const PxVec3& v2 = guideVertices[tri[2]];
+
+		const PxVec3 closestPoint = traversalController.getClosestPoint();
+
+		PxVec3 triNormal = (v1 - v0).cross(v2 - v0);
+		triNormal.normalize();
+
+		PxVec3 distVec = (embeddedVertices[i] - closestPoint);
+
+		PxReal normalOffset = distVec.dot(triNormal);
+		PxVec3 projPoint = embeddedVertices[i] - normalOffset*triNormal;
+
+		PxVec4 barycentric;
+		PxComputeBarycentric(v0, v1, v2, projPoint, barycentric);
+
+		embeddingInfo[i] = PxTriangleMeshEmbeddingInfo(PxVec2(barycentric.x, barycentric.y), normalOffset, closestTriangleid);
+	}
+}
+
+void PxDeformableSkinningExt::initializeInterpolatedVertices(
+	PxTetrahedronMeshEmbeddingInfo* embeddingInfo,
+	const PxVec3* guideVertices,
+	const PxU32* guideTetrahedra, PxU32 numGuideTetrahedra, const PxVec3* embeddedVertices,
+	PxU32 numEmbeddedVertices	)
+{
+	PX_SIMD_GUARD
+
+	Gu::TinyBVH bvh;
+	Gu::TinyBVH::constructFromTetrahedra(guideTetrahedra, numGuideTetrahedra, guideVertices, bvh);
+
+	Gu::ClosestDistanceToTetmeshTraversalController traversalController(guideTetrahedra, guideVertices, bvh.mTree.begin());
+
+	//Implements to most basic variant - lots of room for improvements
+	for (PxU32 i = 0; i < numEmbeddedVertices; ++i)
+	{
+		traversalController.setQueryPoint(embeddedVertices[i]);
+		bvh.Traverse(traversalController);
+
+		const PxU32 closestTetid = traversalController.getClosestTetId();
+
+		const PxU32* tet = &guideTetrahedra[4 * closestTetid];
+
+		const PxVec3 closestPoint = traversalController.getClosestPoint();
+		PxVec4 barycentric;
+		PxComputeBarycentric(guideVertices[tet[0]], guideVertices[tet[1]], guideVertices[tet[2]], guideVertices[tet[3]], closestPoint, barycentric);
+
+		embeddingInfo[i] = PxTetrahedronMeshEmbeddingInfo(barycentric.getXYZ(), closestTetid);
+	}
+}
+