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/ExtRevoluteJoint.h
+++ b/engine/third_party/physx/source/physxextensions/src/ExtRevoluteJoint.h
@@ -0,0 +1,96 @@
+// 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_REVOLUTE_JOINT_H
+#define EXT_REVOLUTE_JOINT_H
+
+#include "extensions/PxRevoluteJoint.h"
+
+#include "ExtJoint.h"
+#include "foundation/PxIntrinsics.h"
+#include "CmUtils.h"
+
+namespace physx
+{
+struct PxRevoluteJointGeneratedValues;
+
+namespace Ext
+{
+	struct RevoluteJointData : public JointData
+	{
+		PxReal					driveVelocity;
+		PxReal					driveForceLimit;
+		PxReal					driveGearRatio;
+
+		PxJointAngularLimitPair	limit;
+							
+		PxRevoluteJointFlags	jointFlags;
+//	private:	// PT: must be public for a benchmark
+		RevoluteJointData(const PxJointAngularLimitPair& pair) : limit(pair)	{}
+	};
+
+    typedef JointT<PxRevoluteJoint, RevoluteJointData, PxRevoluteJointGeneratedValues> RevoluteJointT;
+    
+	class RevoluteJoint : public RevoluteJointT
+	{
+	public:
+// PX_SERIALIZATION
+										RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
+				void					resolveReferences(PxDeserializationContext& context);
+		static	RevoluteJoint*			createObject(PxU8*& address, PxDeserializationContext& context)	{ return createJointObject<RevoluteJoint>(address, context);	}
+//~PX_SERIALIZATION
+										RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
+		// PxRevoluteJoint
+		virtual	PxReal					getAngle() const	PX_OVERRIDE;
+		virtual	PxReal					getVelocity() const	PX_OVERRIDE;
+		virtual	void					setLimit(const PxJointAngularLimitPair& limit)	PX_OVERRIDE;
+		virtual	PxJointAngularLimitPair	getLimit()	const	PX_OVERRIDE;
+		virtual	void					setDriveVelocity(PxReal velocity, bool autowake = true)	PX_OVERRIDE;
+		virtual	PxReal					getDriveVelocity() const	PX_OVERRIDE;
+		virtual	void					setDriveForceLimit(PxReal forceLimit)	PX_OVERRIDE;
+		virtual	PxReal					getDriveForceLimit() const	PX_OVERRIDE;
+		virtual	void					setDriveGearRatio(PxReal gearRatio)	PX_OVERRIDE;
+		virtual	PxReal					getDriveGearRatio() const	PX_OVERRIDE;
+		virtual	void					setRevoluteJointFlags(PxRevoluteJointFlags flags)	PX_OVERRIDE;
+		virtual	void					setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value)	PX_OVERRIDE;
+		virtual	PxRevoluteJointFlags	getRevoluteJointFlags()	const	PX_OVERRIDE;
+		//~PxRevoluteJoint
+	
+		// PxConstraintConnector
+		virtual PxConstraintSolverPrep	getPrep()	const	PX_OVERRIDE;
+#if PX_SUPPORT_OMNI_PVD
+		virtual void updateOmniPvdProperties() const PX_OVERRIDE;
+#endif
+		//~PxConstraintConnector
+	};
+
+} // namespace Ext
+
+} // namespace physx
+
+#endif