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/ExtGearJoint.h
+++ b/engine/third_party/physx/source/physxextensions/src/ExtGearJoint.h
@@ -0,0 +1,89 @@
+// 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 EXT_GEAR_JOINT_H
+#define EXT_GEAR_JOINT_H
+
+#include "extensions/PxGearJoint.h"
+#include "ExtJoint.h"
+#include "CmUtils.h"
+
+namespace physx
+{
+struct PxGearJointGeneratedValues;
+namespace Ext
+{
+	struct GearJointData : public JointData
+	{
+		const PxBase*	hingeJoint0; //either PxJoint or PxArticulationJointReducedCoordinate
+		const PxBase*	hingeJoint1; //either PxJoint or PxArticulationJointReducedCoordinate
+		float			gearRatio;
+		float			error;
+	};
+
+	typedef JointT<PxGearJoint, GearJointData, PxGearJointGeneratedValues> GearJointT;
+
+	class GearJoint : public GearJointT
+	{
+	public:
+// PX_SERIALIZATION
+										GearJoint(PxBaseFlags baseFlags) : GearJointT(baseFlags) {}
+				void					resolveReferences(PxDeserializationContext& context);
+		static	GearJoint*				createObject(PxU8*& address, PxDeserializationContext& context)	{ return createJointObject<GearJoint>(address, context);	}
+//~PX_SERIALIZATION
+										GearJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
+		// PxGearJoint
+		virtual	bool					setHinges(const PxBase* hinge0, const PxBase* hinge1)	PX_OVERRIDE;
+		virtual	void					getHinges(const PxBase*& hinge0, const PxBase*& hinge1)	const	PX_OVERRIDE;
+		virtual	void					setGearRatio(float ratio)	PX_OVERRIDE;
+		virtual	float					getGearRatio()	const	PX_OVERRIDE;
+		//~PxGearJoint
+
+		// PxConstraintConnector
+		virtual	void*					prepareData()	PX_OVERRIDE
+										{
+											updateError();
+											return mData;
+										}
+		virtual PxConstraintSolverPrep	getPrep()	const	PX_OVERRIDE;
+		//~PxConstraintConnector
+	private:
+				float					mVirtualAngle0;
+				float					mVirtualAngle1;
+				float					mPersistentAngle0;
+				float					mPersistentAngle1;
+				bool					mInitDone;
+
+				void					updateError();
+				void					resetError();
+	};
+} // namespace Ext
+
+}
+
+#endif