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/ScArticulationTendonSim.h
+++ b/engine/third_party/physx/source/simulationcontroller/src/ScArticulationTendonSim.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_ARTICULATION_TENDON_SIM_H
+#define SC_ARTICULATION_TENDON_SIM_H
+
+#include "foundation/PxUserAllocated.h"
+#include "DyArticulationTendon.h"
+
+namespace physx
+{
+namespace Sc
+{
+
+	class ArticulationFixedTendonCore;
+	class ArticulationTendonJointCore;
+	class ArticulationSpatialTendonCore;
+	class ArticulationAttachmentCore;
+	class Scene;
+	class ArticulationJointCore;
+	class ArticulationSim;
+
+	class ArticulationSpatialTendonSim : public PxUserAllocated
+	{
+		PX_NOCOPY(ArticulationSpatialTendonSim)
+	public:
+		ArticulationSpatialTendonSim(ArticulationSpatialTendonCore& tendon, Scene& scene);
+
+		virtual ~ArticulationSpatialTendonSim();
+
+		void							setStiffness(const PxReal stiffness);
+		PxReal							getStiffness() const;
+
+		void							setDamping(const PxReal damping);
+		PxReal							getDamping() const;
+
+		void							setLimitStiffness(const PxReal stiffness);
+		PxReal							getLimitStiffness() const;
+
+		void							setOffset(const PxReal offset);
+		PxReal							getOffset() const;
+
+
+		void							setAttachmentCoefficient(ArticulationAttachmentCore& core, const PxReal coefficient);
+		void							setAttachmentRelativeOffset(ArticulationAttachmentCore& core, const PxVec3& offset);
+		void							setAttachmentLimits(ArticulationAttachmentCore& core, const PxReal lowLimit, const PxReal highLimit);
+		void							setAttachmentRestLength(ArticulationAttachmentCore& core, const PxReal restLength);
+		void addAttachment(ArticulationAttachmentCore& core);
+		void removeAttachment(ArticulationAttachmentCore& core);
+
+		Dy::ArticulationSpatialTendon						mLLTendon;
+		ArticulationSpatialTendonCore&						mTendonCore;
+
+		ArticulationSim*									mArtiSim;
+		Scene& mScene;
+
+	};
+
+	class ArticulationFixedTendonSim : public PxUserAllocated
+	{
+		PX_NOCOPY(ArticulationFixedTendonSim)
+	public:
+		ArticulationFixedTendonSim(ArticulationFixedTendonCore& tendon, Scene& scene);
+
+		virtual ~ArticulationFixedTendonSim();
+
+		void							setStiffness(const PxReal stiffness);
+		PxReal							getStiffness() const;
+
+		void							setDamping(const PxReal damping);
+		PxReal							getDamping() const;
+
+		void							setLimitStiffness(const PxReal stiffness);
+		PxReal							getLimitStiffness() const;
+
+		void							setOffset(const PxReal offset);
+		PxReal							getOffset() const;
+
+		void							setSpringRestLength(const PxReal restLength);
+		PxReal							getSpringRestLength() const;
+
+		void							setLimitRange(const PxReal lowLimit, const PxReal highLimit);
+		void							getLimitRange(PxReal& lowLimit, PxReal& highLimit) const;
+
+		void addTendonJoint(ArticulationTendonJointCore& tendonJointCore);
+		void removeTendonJoint(ArticulationTendonJointCore& core);
+
+		void							setTendonJointCoefficient(ArticulationTendonJointCore& core, const PxArticulationAxis::Enum axis, const float coefficient, const float recipCoefficient);
+
+		Dy::ArticulationFixedTendon						mLLTendon; 
+		ArticulationFixedTendonCore&					mTendonCore;
+
+		ArticulationSim*								mArtiSim;
+		Scene& mScene;
+	};
+}//namespace Sc
+}//namespace physx
+#endif