feat(physics): wire physx sdk into build
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engine/third_party/physx/source/simulationcontroller/src/ScBodySim.h
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engine/third_party/physx/source/simulationcontroller/src/ScBodySim.h
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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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#ifndef SC_BODYSIM_H
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#define SC_BODYSIM_H
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#include "foundation/PxUtilities.h"
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#include "foundation/PxIntrinsics.h"
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#include "ScRigidSim.h"
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#include "PxvDynamics.h"
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#include "ScBodyCore.h"
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#include "ScSimStateData.h"
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#include "PxRigidDynamic.h"
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#include "PxsRigidBody.h"
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namespace physx
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{
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namespace Bp
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{
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class BoundsArray;
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}
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struct PxsExternalAccelerationProvider;
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class PxsTransformCache;
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namespace Sc
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{
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class Scene;
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class ArticulationSim;
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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class BodySim : public RigidSim
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{
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public:
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BodySim(Scene&, BodyCore&, bool);
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virtual ~BodySim();
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void switchToKinematic();
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void switchToDynamic();
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PX_FORCE_INLINE const SimStateData* getSimStateData(bool isKinematic) const { return (mSimStateData && (checkSimStateKinematicStatus(isKinematic)) ? mSimStateData : NULL); }
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PX_FORCE_INLINE SimStateData* getSimStateData(bool isKinematic) { return (mSimStateData && (checkSimStateKinematicStatus(isKinematic)) ? mSimStateData : NULL); }
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PX_FORCE_INLINE SimStateData* getSimStateData_Unchecked() const { return mSimStateData; }
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PX_FORCE_INLINE bool checkSimStateKinematicStatus(bool isKinematic) const
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{
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PX_ASSERT(mSimStateData);
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return mSimStateData->isKine() == isKinematic;
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}
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void setKinematicTarget(const PxTransform& p);
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void addSpatialAcceleration(const PxVec3* linAcc, const PxVec3* angAcc);
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void setSpatialAcceleration(const PxVec3* linAcc, const PxVec3* angAcc);
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void clearSpatialAcceleration(bool force, bool torque);
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void addSpatialVelocity(const PxVec3* linVelDelta, const PxVec3* angVelDelta);
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void clearSpatialVelocity(bool force, bool torque);
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void updateCached(PxBitMapPinned* shapeChangedMap);
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void updateCached(PxsTransformCache& transformCache, Bp::BoundsArray& boundsArray);
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void updateContactDistance(PxReal* contactDistance, PxReal dt, const Bp::BoundsArray& boundsArray);
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// hooks for actions in body core when it's attached to a sim object. Generally
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// we get called after the attribute changed.
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virtual void postActorFlagChange(PxU32 oldFlags, PxU32 newFlags) PX_OVERRIDE;
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void postBody2WorldChange();
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void postSetWakeCounter(PxReal t, bool forceWakeUp);
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void postPosePreviewChange(PxU32 posePreviewFlag); // called when PxRigidBodyFlag::eENABLE_POSE_INTEGRATION_PREVIEW changes
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PX_FORCE_INLINE const PxTransform& getBody2World() const { return getBodyCore().getCore().body2World; }
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PX_FORCE_INLINE const PxTransform& getBody2Actor() const { return getBodyCore().getCore().getBody2Actor(); }
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PX_FORCE_INLINE const PxsRigidBody& getLowLevelBody() const { return mLLBody; }
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PX_FORCE_INLINE PxsRigidBody& getLowLevelBody() { return mLLBody; }
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void setActive(bool active, bool asPartOfCreation=false);
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void wakeUp(); // note: for user API call purposes only, i.e., use from BodyCore. For simulation internal purposes there is internalWakeUp().
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void putToSleep();
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void disableCompound();
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static PxU32 getRigidBodyOffset() { return PxU32(PX_OFFSET_OF_RT(BodySim, mLLBody));}
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void activate();
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void deactivate();
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// Kinematics
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PX_FORCE_INLINE bool isKinematic() const { return getBodyCore().getFlags() & PxRigidBodyFlag::eKINEMATIC; }
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PX_FORCE_INLINE bool isArticulationLink() const { return getActorType() == PxActorType::eARTICULATION_LINK; }
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PX_FORCE_INLINE bool hasForcedKinematicNotif() const
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{
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return getBodyCore().getFlags() & (PxRigidBodyFlag::eFORCE_KINE_KINE_NOTIFICATIONS|PxRigidBodyFlag::eFORCE_STATIC_KINE_NOTIFICATIONS);
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}
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void calculateKinematicVelocity(PxReal oneOverDt);
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void updateKinematicPose();
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bool deactivateKinematic();
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// Sleeping
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virtual void internalWakeUp(PxReal wakeCounterValue) PX_OVERRIDE; // PT: TODO: does it need to be virtual?
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void internalWakeUpArticulationLink(PxReal wakeCounterValue); // called by ArticulationSim to wake up this link
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PxReal updateWakeCounter(PxReal dt, PxReal energyThreshold, const Cm::SpatialVector& motionVelocity);
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void notifyReadyForSleeping(); // inform the sleep island generation system that the body is ready for sleeping
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void notifyNotReadyForSleeping(); // inform the sleep island generation system that the body is not ready for sleeping
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PX_FORCE_INLINE bool checkSleepReadinessBesidesWakeCounter(); // for API triggered changes to test sleep readiness
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// PT: TODO: this is only used for the rigid bodies' sleep check, the implementations in derived classes look useless
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virtual void registerCountedInteraction() PX_OVERRIDE { mLLBody.getCore().numCountedInteractions++; PX_ASSERT(mLLBody.getCore().numCountedInteractions); }
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virtual void unregisterCountedInteraction() PX_OVERRIDE { PX_ASSERT(mLLBody.getCore().numCountedInteractions); mLLBody.getCore().numCountedInteractions--; }
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// PT: TODO: this is only used for the rigid bodies' sleep check called from the articulation sim code
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virtual PxU32 getNumCountedInteractions() const PX_OVERRIDE { return mLLBody.getCore().numCountedInteractions; }
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PX_FORCE_INLINE PxIntBool isFrozen() const { return PxIntBool(mLLBody.mInternalFlags & PxsRigidBody::eFROZEN); }
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// External velocity changes - returns true if any forces were applied to this body
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bool updateForces(PxReal dt, PxsRigidBody** updatedBodySims, PxU32* updatedBodyNodeIndices, PxU32& index, Cm::SpatialVector* acceleration,
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PxsExternalAccelerationProvider* externalAccelerations = NULL, PxU32 maxNumExternalAccelerations = 0);
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PX_FORCE_INLINE bool readVelocityModFlag(VelocityModFlags f) { return (mVelModState & f) != 0; }
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// Miscellaneous
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PX_FORCE_INLINE bool notInScene() const { return mActiveListIndex == SC_NOT_IN_SCENE_INDEX; }
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PX_FORCE_INLINE PxU32 getNbShapes() const { return mShapes.getCount(); }
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PX_FORCE_INLINE PxU32 getFlagsFast() const { return getBodyCore().getFlags(); }
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PX_FORCE_INLINE BodyCore& getBodyCore() const { return static_cast<BodyCore&>(getRigidCore()); }
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PX_FORCE_INLINE ArticulationSim* getArticulation() const { return mArticulation; }
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void setArticulation(ArticulationSim* a, PxReal wakeCounter, bool asleep, PxU32 bodyIndex);
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PX_FORCE_INLINE void onConstraintAttach() { raiseInternalFlag(BF_HAS_CONSTRAINTS); registerCountedInteraction(); }
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void onConstraintDetach();
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PX_FORCE_INLINE void onOriginShift(const PxVec3& shift, const bool isKinematic)
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{
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PX_ASSERT(!mSimStateData || checkSimStateKinematicStatus(isKinematic));
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mLLBody.mLastTransform.p -= shift;
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if (mSimStateData && isKinematic && mSimStateData->getKinematicData()->targetValid)
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mSimStateData->getKinematicData()->targetPose.p -= shift;
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}
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PX_FORCE_INLINE bool usingSqKinematicTarget() const
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{
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const PxU32 ktFlags(PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES | PxRigidBodyFlag::eKINEMATIC);
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return (getFlagsFast()&ktFlags) == ktFlags;
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}
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void createSqBounds();
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void destroySqBounds();
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void freezeTransforms(PxBitMapPinned* shapeChangedMap);
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void addToSpeculativeCCDMap();
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void removeFromSpeculativeCCDMap();
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private:
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// Base body
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PxsRigidBody mLLBody;
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// External velocity changes
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// VelocityMod data allocated on the fly when the user applies velocity changes
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// which need to be accumulated.
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// VelMod dirty flags stored in BodySim so we can save ourselves the expense of looking at
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// the separate velmod data if no forces have been set.
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//PxU16 mInternalFlags;
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SimStateData* mSimStateData;
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PxU8 mVelModState;
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// Articulation
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ArticulationSim* mArticulation; // NULL if not in an articulation
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// Joints & joint groups
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bool setupSimStateData(bool isKinematic);
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void tearDownSimStateData(bool isKinematic);
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void raiseVelocityModFlagAndNotify(VelocityModFlags flag);
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PX_FORCE_INLINE void notifyDirtySpatialAcceleration() { raiseVelocityModFlagAndNotify(VMF_ACC_DIRTY); }
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PX_FORCE_INLINE void notifyDirtySpatialVelocity() { raiseVelocityModFlagAndNotify(VMF_VEL_DIRTY); }
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PX_FORCE_INLINE void initKinematicStateBase(BodyCore&, bool asPartOfCreation);
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void notifyWakeUp(); // inform the sleep island generation system that the object got woken up
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void notifyPutToSleep(); // inform the sleep island generation system that the object was put to sleep
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void internalWakeUpBase(PxReal wakeCounterValue);
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PX_FORCE_INLINE void raiseVelocityModFlag(VelocityModFlags f) { mVelModState |= f; }
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PX_FORCE_INLINE void clearVelocityModFlag(VelocityModFlags f) { mVelModState &= ~f; }
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PX_FORCE_INLINE void setForcesToDefaults(bool enableGravity);
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};
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#if PX_VC
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#pragma warning(pop)
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#endif
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} // namespace Sc
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PX_FORCE_INLINE void Sc::BodySim::setForcesToDefaults(bool enableGravity)
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{
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if (!(mLLBody.mCore->mFlags & PxRigidBodyFlag::eRETAIN_ACCELERATIONS))
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{
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SimStateData* simStateData = getSimStateData(false);
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if(simStateData)
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{
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VelocityMod* velmod = simStateData->getVelocityModData();
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velmod->clear();
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}
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if (enableGravity)
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mVelModState = VMF_GRAVITY_DIRTY; // We want to keep the gravity flag to make sure the acceleration gets changed to gravity-only
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// in the next step (unless the application adds new forces of course)
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else
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mVelModState = 0;
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}
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else
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{
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SimStateData* simStateData = getSimStateData(false);
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if (simStateData)
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{
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VelocityMod* velmod = simStateData->getVelocityModData();
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velmod->clearPerStep();
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}
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mVelModState &= (~(VMF_VEL_DIRTY));
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}
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}
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PX_FORCE_INLINE bool Sc::BodySim::checkSleepReadinessBesidesWakeCounter()
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{
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const BodyCore& bodyCore = getBodyCore();
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const SimStateData* simStateData = getSimStateData(false);
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const VelocityMod* velmod = simStateData ? simStateData->getVelocityModData() : NULL;
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bool readyForSleep = bodyCore.getLinearVelocity().isZero() && bodyCore.getAngularVelocity().isZero();
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if (readVelocityModFlag(VMF_ACC_DIRTY))
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{
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readyForSleep = readyForSleep && (!velmod || velmod->getLinearVelModPerSec().isZero());
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readyForSleep = readyForSleep && (!velmod || velmod->getAngularVelModPerSec().isZero());
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}
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if (readVelocityModFlag(VMF_VEL_DIRTY))
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{
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readyForSleep = readyForSleep && (!velmod || velmod->getLinearVelModPerStep().isZero());
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readyForSleep = readyForSleep && (!velmod || velmod->getAngularVelModPerStep().isZero());
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}
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return readyForSleep;
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}
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}
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#endif
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