feat(physics): wire physx sdk into build
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167
engine/third_party/physx/source/simulationcontroller/src/ScActorSim.cpp
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167
engine/third_party/physx/source/simulationcontroller/src/ScActorSim.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 "ScActorSim.h"
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#include "ScActorCore.h"
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#include "ScElementSim.h"
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#include "ScScene.h"
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#include "ScInteraction.h"
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using namespace physx;
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using namespace Sc;
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static const PxFilterObjectType::Enum gFilterType[PxActorType::eACTOR_COUNT] =
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{
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PxFilterObjectType::eRIGID_STATIC, // PxActorType::eRIGID_STATIC
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PxFilterObjectType::eRIGID_DYNAMIC, // PxActorType::eRIGID_DYNAMIC
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PxFilterObjectType::eARTICULATION, // PxActorType::eARTICULATION_LINK
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PxFilterObjectType::eDEFORMABLE_SURFACE,// PxActorType::eDEFORMABLE_SURFACE
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PxFilterObjectType::eDEFORMABLE_VOLUME, // PxActorType::eDEFORMABLE_VOLUME
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PxFilterObjectType::ePARTICLESYSTEM, // PxActorType::ePBD_PARTICLESYSTEM
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};
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static const PxU32 gFilterFlagEx[PxActorType::eACTOR_COUNT] =
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{
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PxFilterObjectFlagEx::eRIGID_STATIC, // PxActorType::eRIGID_STATIC
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PxFilterObjectFlagEx::eRIGID_DYNAMIC, // PxActorType::eRIGID_DYNAMIC
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PxFilterObjectFlagEx::eRIGID_DYNAMIC, // PxActorType::eARTICULATION_LINK
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PxFilterObjectFlagEx::eNON_RIGID|PxFilterObjectFlagEx::eDEFORMABLE_SURFACE, // PxActorType::eDEFORMABLE_SURFACE
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PxFilterObjectFlagEx::eNON_RIGID|PxFilterObjectFlagEx::eDEFORMABLE_VOLUME, // PxActorType::eDEFORMABLE_VOLUME
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PxFilterObjectFlagEx::eNON_RIGID|PxFilterObjectFlagEx::ePARTICLESYSTEM, // PxActorType::ePBD_PARTICLESYSTEM
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};
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// PT: if this breaks, you need to update the above table
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PX_COMPILE_TIME_ASSERT(PxActorType::eACTOR_COUNT==6);
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// PT: make sure that the highest flag fits into 16bit
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PX_COMPILE_TIME_ASSERT(PxFilterObjectFlagEx::eLAST<=0xffff);
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Sc::ActorSim::ActorSim(Scene& scene, ActorCore& core) :
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mScene (scene),
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mCore (core),
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mActiveListIndex (SC_NOT_IN_SCENE_INDEX),
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mActiveCompoundListIndex(SC_NOT_IN_SCENE_INDEX),
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mNodeIndex (PX_INVALID_NODE),
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mInternalFlags (0)
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{
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core.setSim(this);
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mId = scene.getActorIDTracker().createID();
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{
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PX_ASSERT(gFilterType[PxActorType::eRIGID_STATIC] == PxFilterObjectType::eRIGID_STATIC);
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PX_ASSERT(gFilterType[PxActorType::eRIGID_DYNAMIC] == PxFilterObjectType::eRIGID_DYNAMIC);
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PX_ASSERT(gFilterType[PxActorType::eARTICULATION_LINK] == PxFilterObjectType::eARTICULATION);
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PX_ASSERT(gFilterType[PxActorType::eDEFORMABLE_SURFACE] == PxFilterObjectType::eDEFORMABLE_SURFACE);
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PX_ASSERT(gFilterType[PxActorType::eDEFORMABLE_VOLUME] == PxFilterObjectType::eDEFORMABLE_VOLUME);
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PX_ASSERT(gFilterType[PxActorType::ePBD_PARTICLESYSTEM] == PxFilterObjectType::ePARTICLESYSTEM);
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const PxActorType::Enum actorType = getActorType();
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PxFilterObjectAttributes filterAttr = 0;
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setFilterObjectAttributeType(filterAttr, gFilterType[actorType]);
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filterAttr |= gFilterFlagEx[actorType];
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mFilterFlags = PxTo16(filterAttr);
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}
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}
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Sc::ActorSim::~ActorSim()
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{
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mInteractions.releaseMem(*this);
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mScene.getActorIDTracker().releaseID(mId);
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}
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void Sc::ActorSim::registerInteractionInActor(Interaction* interaction)
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{
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const PxU32 id = mInteractions.size();
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mInteractions.pushBack(interaction, *this);
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interaction->setActorId(this, id);
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}
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void Sc::ActorSim::unregisterInteractionFromActor(Interaction* interaction)
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{
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const PxU32 i = interaction->getActorId(this);
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PX_ASSERT(i < mInteractions.size());
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mInteractions.replaceWithLast(i);
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if(i<mInteractions.size())
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{
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if(mInteractions[i]) // ### DEFENSIVE PT: for OM-122969
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mInteractions[i]->setActorId(this, i);
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else
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PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "Sc::ActorSim::unregisterInteractionFromActor: found null interaction!");
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}
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}
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void Sc::ActorSim::reallocInteractions(Sc::Interaction**& mem, PxU32& capacity, PxU32 size, PxU32 requiredMinCapacity)
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{
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Interaction** newMem;
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PxU32 newCapacity;
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if(requiredMinCapacity==0)
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{
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newCapacity = 0;
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newMem = 0;
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}
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else if(requiredMinCapacity<=INLINE_INTERACTION_CAPACITY)
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{
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newCapacity = INLINE_INTERACTION_CAPACITY;
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newMem = mInlineInteractionMem;
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}
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else
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{
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newCapacity = PxNextPowerOfTwo(requiredMinCapacity-1);
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newMem = reinterpret_cast<Interaction**>(mScene.allocatePointerBlock(newCapacity));
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}
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PX_ASSERT(newCapacity >= requiredMinCapacity && requiredMinCapacity>=size);
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if(mem)
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{
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PxMemCopy(newMem, mem, size*sizeof(Interaction*));
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if(mem!=mInlineInteractionMem)
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mScene.deallocatePointerBlock(reinterpret_cast<void**>(mem), capacity);
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}
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capacity = newCapacity;
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mem = newMem;
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}
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void Sc::ActorSim::setActorsInteractionsDirty(InteractionDirtyFlag::Enum flag, const ActorSim* other, PxU8 interactionFlag)
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{
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PxU32 size = getActorInteractionCount();
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Interaction** interactions = getActorInteractions();
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while(size--)
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{
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Interaction* interaction = *interactions++;
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if((!other || other == &interaction->getActorSim0() || other == &interaction->getActorSim1()) && (interaction->readInteractionFlag(interactionFlag)))
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interaction->setDirty(flag);
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}
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}
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