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/simulationcontroller/include/ScIterators.h
+++ b/engine/third_party/physx/source/simulationcontroller/include/ScIterators.h
@@ -0,0 +1,123 @@
+// 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 SC_ITERATORS_H
+#define SC_ITERATORS_H
+
+#include "foundation/PxVec3.h"
+#include "PxContact.h"
+
+namespace physx
+{
+class PxShape;
+class PxsContactManagerOutputIterator;
+
+namespace Sc
+{
+	class ShapeSimBase;
+	class ElementSimInteraction;
+	class ActorSim;
+	
+	struct Contact
+	{
+		Contact() 
+			: normal(0.0f)
+			, point(0.0f)
+			, separation(0.0f)
+			, normalForce(0.0f)
+		{}
+
+		PxVec3 normal;
+		PxVec3 point;
+		PxShape* shape0;
+		PxShape* shape1;
+		PxReal separation;
+		PxReal normalForce;
+		PxU32 faceIndex0;  // these are the external indices
+		PxU32 faceIndex1;
+		bool normalForceAvailable;
+	};
+
+	struct FrictionAnchor
+	{
+		PxVec3 normal;
+		PxVec3 point;
+		PxVec3 impulse;
+	};
+
+	class ContactIterator
+	{
+		public:		
+
+			class Pair
+			{
+			public:
+				Pair() : mIter(NULL, NULL, NULL, 0, 0), mAnchorIter(NULL, NULL, 0) {}
+				Pair(const void*& contactPatches, const void*& contactPoints, const void*& frictionPatches, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSimBase& shape0, ShapeSimBase& shape1, ActorSim* actor0, ActorSim* actor1);
+				Contact* getNextContact();
+				FrictionAnchor* getNextFrictionAnchor();
+				PxActor* getActor0() { return mActor0; }
+				PxActor* getActor1() { return mActor1; }
+
+			private:
+				PxU32						mIndex;
+				PxU32						mNumContacts;
+				PxContactStreamIterator		mIter;
+				PxFrictionAnchorStreamIterator	mAnchorIter;
+				const PxReal*				mForces;
+				Contact						mCurrentContact;
+				FrictionAnchor				mCurrentAnchor;
+				PxActor*					mActor0;
+				PxActor*					mActor1;
+			};
+
+			ContactIterator() {}
+			explicit ContactIterator(ElementSimInteraction** first, ElementSimInteraction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs)
+			{
+				if ((!first) || (!last) || (first == last))
+				{
+					mCurrent = NULL;
+					mLast = NULL;
+				}
+			}
+			Pair* getNextPair();			
+		private:
+			ElementSimInteraction**			mCurrent;
+			ElementSimInteraction**			mLast;
+			Pair							mCurrentPair;
+			PxU32							mOffset;
+			PxsContactManagerOutputIterator* mOutputs;
+
+	private:
+	};
+
+}  // namespace Sc
+
+}
+
+#endif