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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/physxextensions/src/ExtFixedJoint.cpp 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
// 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 "ExtFixedJoint.h"
#include "ExtConstraintHelper.h"
#include "omnipvd/ExtOmniPvdSetData.h"
using namespace physx;
using namespace Ext;
FixedJoint::FixedJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
FixedJointT(PxJointConcreteType::eFIXED, actor0, localFrame0, actor1, localFrame1, "FixedJointData")
{
// FixedJointData* data = static_cast<FixedJointData*>(mData);
}
static void FixedJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
{
if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
{
const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
PxTransform32 cA2w, cB2w;
joint::computeJointFrames(cA2w, cB2w, data, body0Transform, body1Transform);
viz.visualizeJointFrames(cA2w, cB2w);
}
}
//TAG:solverprepshader
static PxU32 FixedJointSolverPrep(Px1DConstraint* constraints,
PxVec3p& body0WorldOffset,
PxU32 /*maxConstraints*/,
PxConstraintInvMassScale& invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w,
bool /*useExtendedLimits*/,
PxVec3p& cA2wOut, PxVec3p& cB2wOut)
{
const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
PxTransform32 cA2w, cB2w;
joint::ConstraintHelper ch(constraints, invMassScale, cA2w, cB2w, body0WorldOffset, data, bA2w, bB2w);
joint::applyNeighborhoodOperator(cA2w, cB2w);
PxVec3 ra, rb;
ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, 7, ra, rb);
cA2wOut = ra + bA2w.p;
cB2wOut = rb + bB2w.p;
return ch.getCount();
}
///////////////////////////////////////////////////////////////////////////////
static PxConstraintShaderTable gFixedJointShaders = { FixedJointSolverPrep, FixedJointVisualize, PxConstraintFlag::Enum(0) };
PxConstraintSolverPrep FixedJoint::getPrep() const { return gFixedJointShaders.solverPrep; }
PxFixedJoint* physx::PxFixedJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1)
{
PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxFixedJointCreate: local frame 0 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxFixedJointCreate: local frame 1 is not a valid transform");
PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxFixedJointCreate: at least one actor must be dynamic");
PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxFixedJointCreate: actors must be different");
return createJointT<FixedJoint, FixedJointData>(physics, actor0, localFrame0, actor1, localFrame1, gFixedJointShaders);
}
// PX_SERIALIZATION
void FixedJoint::resolveReferences(PxDeserializationContext& context)
{
mPxConstraint = resolveConstraintPtr(context, mPxConstraint, this, gFixedJointShaders);
}
//~PX_SERIALIZATION
#if PX_SUPPORT_OMNI_PVD
template<>
void physx::Ext::omniPvdInitJoint<FixedJoint>(FixedJoint& joint)
{
PxFixedJoint& j = static_cast<PxFixedJoint&>(joint);
OMNI_PVD_CREATE(OMNI_PVD_CONTEXT_HANDLE, PxFixedJoint, j);
omniPvdSetBaseJointParams(static_cast<PxJoint&>(joint), PxJointConcreteType::eFIXED);
}
#endif