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/src/ScArticulationMimicJointSim.h
+++ b/engine/third_party/physx/source/simulationcontroller/src/ScArticulationMimicJointSim.h
@@ -0,0 +1,85 @@
+// 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_ARTICULATION_MIMIC_JOINT_SIM_H
+#define SC_ARTICULATION_MIMIC_JOINT_SIM_H
+
+#include "foundation/PxUserAllocated.h"
+#include "PxArticulationReducedCoordinate.h"
+#include "DyFeatherstoneArticulation.h"
+#include "DyArticulationMimicJointCore.h"
+
+namespace physx
+{
+namespace Sc
+{
+class Scene;
+class ArticulationMimicJointCore;
+class ArticulationCore;
+class ArticulationSim;
+
+class ArticulationMimicJointSim : public PxUserAllocated
+{
+
+	PX_NOCOPY(ArticulationMimicJointSim)
+
+	
+public:
+	ArticulationMimicJointSim(Sc::ArticulationMimicJointCore& core, Sc::Scene& scene);
+
+	~ArticulationMimicJointSim();
+
+	PX_FORCE_INLINE Sc::Scene& getScene() { return mScene; }
+	PX_FORCE_INLINE const Sc::Scene& getScene() const { return mScene; }
+
+	PX_FORCE_INLINE void setLowLevelIndex(const PxU32 llIndex) { mLLIndex = llIndex;}
+	PX_FORCE_INLINE PxU32 getLowLevelIndex() const { return mLLIndex; }
+	
+	PX_FORCE_INLINE Sc::ArticulationMimicJointCore& getCore() { return mCore; }
+	PX_FORCE_INLINE const Sc::ArticulationMimicJointCore& getCore() const { return mCore; }
+
+	PX_FORCE_INLINE Dy::ArticulationMimicJointCore& getLLMimicJoint() { return mLLMimicJoint; }
+
+	void setGearRatio(const PxReal gearRatio);
+	void setOffset(const PxReal offset);
+	void setNaturalFrequency(const PxReal naturalFrequency);
+	void setDampingRatio(const PxReal dampingRatio);
+
+	Sc::Scene&							mScene;
+	Sc::ArticulationMimicJointCore&		mCore;
+	Sc::ArticulationSim*				mArticulationSim;
+	Dy::ArticulationMimicJointCore		mLLMimicJoint;
+	PxU32								mLLIndex;
+};
+
+}
+}
+
+#endif //SC_ARTICULATION_MIMIC_JOINT_SIM_H
+
+