feat(physics): wire physx sdk into build
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161
engine/third_party/physx/source/physxvehicle/src/physxConstraints/VhPhysXConstraintFunctions.cpp
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161
engine/third_party/physx/source/physxvehicle/src/physxConstraints/VhPhysXConstraintFunctions.cpp
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "vehicle2/PxVehicleParams.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintFunctions.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintHelpers.h"
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#include "vehicle2/rigidBody/PxVehicleRigidBodyStates.h"
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#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
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#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
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#include "vehicle2/tire/PxVehicleTireStates.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintParams.h"
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namespace physx
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{
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namespace vehicle2
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{
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PX_FORCE_INLINE PxVec3 computeAngular
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(const PxVehicleSuspensionParams& suspParams,
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const PxVehicleSuspensionComplianceState& suspComplianceState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxVec3& direction)
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{
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const PxVec3 cmOffset = rigidBodyState.pose.rotate(suspParams.suspensionAttachment.transform(suspComplianceState.tireForceAppPoint));
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const PxVec3 angular = cmOffset.cross(direction);
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// note: not normalized on purpose. The angular component should hold the raw cross product as that
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// is needed for the type of constraint we want to set up (see vehicleConstraintSolverPrep).
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return angular;
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}
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PX_FORCE_INLINE PxVec3 computeTireAngular
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(const PxVehicleSuspensionParams& suspParams,
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const PxVehicleSuspensionComplianceState& suspComplianceState, const PxVehicleTireDirectionState& trDirState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxVehicleTireDirectionModes::Enum direction)
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{
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return computeAngular(suspParams, suspComplianceState, rigidBodyState, trDirState.directions[direction]);
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}
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PX_FORCE_INLINE PxVec3 computeSuspAngular
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(const PxVehicleSuspensionParams& suspParams,
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const PxVehicleSuspensionComplianceState& suspComplianceState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxVec3& direction)
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{
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return computeAngular(suspParams, suspComplianceState, rigidBodyState, direction);
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}
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void PxVehiclePhysXConstraintStatesUpdate
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(const PxVehicleSuspensionParams& suspParams,
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const PxVehiclePhysXSuspensionLimitConstraintParams& suspensionLimitParams,
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const PxVehicleSuspensionState& suspState, const PxVehicleSuspensionComplianceState& suspComplianceState,
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const PxVec3& groundPlaneNormal,
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const PxReal tireStickyDampingLong, const PxReal tireStickyDampingLat,
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const PxVehicleTireDirectionState& trDirState, const PxVehicleTireStickyState& trStickyState,
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const PxVehicleRigidBodyState& rigidBodyState,
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PxVehiclePhysXConstraintState& cnstrtState)
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{
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cnstrtState.setToDefault();
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//Sticky tire longitudinal
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{
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const bool isActive = trStickyState.activeStatus[PxVehicleTireDirectionModes::eLONGITUDINAL];
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cnstrtState.tireActiveStatus[PxVehicleTireDirectionModes::eLONGITUDINAL] = isActive;
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if (isActive)
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{
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cnstrtState.tireLinears[PxVehicleTireDirectionModes::eLONGITUDINAL] = trDirState.directions[PxVehicleTireDirectionModes::eLONGITUDINAL];
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cnstrtState.tireAngulars[PxVehicleTireDirectionModes::eLONGITUDINAL] = computeTireAngular(suspParams, suspComplianceState, trDirState, rigidBodyState, PxVehicleTireDirectionModes::eLONGITUDINAL);
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cnstrtState.tireDamping[PxVehicleTireDirectionModes::eLONGITUDINAL] = tireStickyDampingLong;
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}
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}
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//Sticky tire lateral
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{
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const bool isActive = trStickyState.activeStatus[PxVehicleTireDirectionModes::eLATERAL];
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cnstrtState.tireActiveStatus[PxVehicleTireDirectionModes::eLATERAL] = isActive;
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if (isActive)
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{
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cnstrtState.tireLinears[PxVehicleTireDirectionModes::eLATERAL] = trDirState.directions[PxVehicleTireDirectionModes::eLATERAL];
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cnstrtState.tireAngulars[PxVehicleTireDirectionModes::eLATERAL] = computeTireAngular(suspParams, suspComplianceState, trDirState, rigidBodyState, PxVehicleTireDirectionModes::eLATERAL);
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cnstrtState.tireDamping[PxVehicleTireDirectionModes::eLATERAL] = tireStickyDampingLat;
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}
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}
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//Suspension limit
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{
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if (suspState.separation >= 0.0f || PxVehiclePhysXSuspensionLimitConstraintParams::eNONE == suspensionLimitParams.directionForSuspensionLimitConstraint)
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{
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cnstrtState.suspActiveStatus = false;
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}
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else
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{
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// To maintain the wheel on the ground plane, the suspension is required to compress beyond the suspension compression limit
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// or expand beyond maximum droop (for example, top of wheel being in collision with something).
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// We manage the compression up to the limit with a suspension force.
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// Everything beyond the limits is managed with an impulse applied to the rigid body via a constraint.
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// The constraint attempts to resolve the geometric error declared in the separation state.
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// We have two choices:
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// 1) apply the impulse along the suspension dir (more like the effect of a bump stop spring)
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// 2) apply the impulse along the ground normal (more like the effect of a real tire's contact wtih the ground).
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if (PxVehiclePhysXSuspensionLimitConstraintParams::eROAD_GEOMETRY_NORMAL == suspensionLimitParams.directionForSuspensionLimitConstraint)
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{
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cnstrtState.suspActiveStatus = true;
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cnstrtState.suspGeometricError = suspState.separation;
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cnstrtState.suspLinear = groundPlaneNormal;
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cnstrtState.suspAngular = computeSuspAngular(suspParams, suspComplianceState, rigidBodyState, groundPlaneNormal);
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cnstrtState.restitution = suspensionLimitParams.restitution;
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}
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else
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{
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const PxVec3 suspDirWorldFrame = rigidBodyState.pose.rotate(suspParams.suspensionTravelDir);
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const PxF32 projection = groundPlaneNormal.dot(suspDirWorldFrame);
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if (projection != 0.0f)
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{
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cnstrtState.suspActiveStatus = true;
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cnstrtState.suspGeometricError = suspState.separation;
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const PxVec3 suspLinear = suspDirWorldFrame * PxSign(projection);
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cnstrtState.suspLinear = suspLinear;
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cnstrtState.suspAngular = computeSuspAngular(suspParams, suspComplianceState, rigidBodyState, suspLinear);
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cnstrtState.restitution = suspensionLimitParams.restitution;
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}
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else
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{
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cnstrtState.suspActiveStatus = false;
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}
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}
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}
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}
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}
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} //namespace vehicle2
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} //namespace physx
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112
engine/third_party/physx/source/physxvehicle/src/physxConstraints/VhPhysXConstraintHelpers.cpp
vendored
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112
engine/third_party/physx/source/physxvehicle/src/physxConstraints/VhPhysXConstraintHelpers.cpp
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@@ -0,0 +1,112 @@
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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||||
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxAllocator.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintHelpers.h"
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#include "vehicle2/physxActor/PxVehiclePhysXActorStates.h"
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#include "PxConstraintDesc.h"
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#include "PxConstraint.h"
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#include "PxPhysics.h"
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#include "PxRigidDynamic.h"
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#include "PxArticulationLink.h"
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namespace physx
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{
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namespace vehicle2
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{
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PxConstraintShaderTable gVehicleConstraintTable =
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{
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vehicleConstraintSolverPrep,
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visualiseVehicleConstraint,
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PxConstraintFlag::Enum(0)
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};
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void PxVehicleConstraintsCreate(
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const PxVehicleAxleDescription& axleDescription,
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PxPhysics& physics, PxRigidBody& physxActor,
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PxVehiclePhysXConstraints& vehicleConstraints)
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{
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vehicleConstraints.setToDefault();
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//Each PxConstraint has a limit of 12 1d constraints.
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//Each wheel has longitudinal, lateral and suspension limit degrees of freedom.
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//This sums up to 3 dofs per wheel and 12 dofs per 4 wheels.
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//4 wheels therefore equals 1 PxConstraint
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//Iterate over each block of 4 wheels and create a PxConstraints for each block of 4.
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PxU32 constraintIndex = 0;
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for(PxU32 i = 0; i < axleDescription.getNbWheels(); i+= PxVehiclePhysXConstraintLimits::eNB_WHEELS_PER_PXCONSTRAINT)
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{
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void* memory = PX_ALLOC(sizeof(PxVehicleConstraintConnector), PxVehicleConstraintConnector);
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PxVehicleConstraintConnector* pxConnector = PX_PLACEMENT_NEW(memory, PxVehicleConstraintConnector)(vehicleConstraints.constraintStates + i);
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PxConstraint* pxConstraint = physics.createConstraint(&physxActor, NULL, *pxConnector, gVehicleConstraintTable, sizeof(PxVehiclePhysXConstraintState)*PxVehiclePhysXConstraintLimits::eNB_WHEELS_PER_PXCONSTRAINT);
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vehicleConstraints.constraints[constraintIndex] = pxConstraint;
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vehicleConstraints.constraintConnectors[constraintIndex] = pxConnector;
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constraintIndex++;
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}
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}
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void PxVehicleConstraintsDirtyStateUpdate
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(PxVehiclePhysXConstraints& vehicleConstraints)
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{
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for (PxU32 i = 0; i < PxVehiclePhysXConstraintLimits::eNB_CONSTRAINTS_PER_VEHICLE; i++)
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{
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if (vehicleConstraints.constraints[i])
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{
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vehicleConstraints.constraints[i]->markDirty();
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}
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}
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}
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void PxVehicleConstraintsDestroy(
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PxVehiclePhysXConstraints& vehicleConstraints)
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{
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for (PxU32 i = 0; i < PxVehiclePhysXConstraintLimits::eNB_CONSTRAINTS_PER_VEHICLE; i++)
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{
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if (vehicleConstraints.constraints[i])
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{
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vehicleConstraints.constraints[i]->release();
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vehicleConstraints.constraints[i] = NULL;
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}
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if (vehicleConstraints.constraintConnectors[i])
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{
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vehicleConstraints.constraintConnectors[i]->~PxVehicleConstraintConnector();
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PX_FREE(vehicleConstraints.constraintConnectors[i]);
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vehicleConstraints.constraintConnectors[i] = NULL;
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}
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}
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}
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} //namespace vehicle2
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} //namespace physx
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