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/ScConstraintSim.h
+++ b/engine/third_party/physx/source/simulationcontroller/src/ScConstraintSim.h
@@ -0,0 +1,102 @@
+// 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_CONSTRAINT_SIM_H
+#define SC_CONSTRAINT_SIM_H
+
+#include "foundation/PxArray.h"
+#include "PxSimulationEventCallback.h"
+#include "DyConstraint.h"
+
+namespace physx
+{
+namespace Sc
+{
+	class Scene;
+	class ConstraintInteraction;
+	class ConstraintCore;
+	class RigidCore;
+	class BodySim;
+	class RigidSim;
+
+	class ConstraintSim
+	{
+		PX_NOCOPY(ConstraintSim)
+	public:
+		enum Enum
+		{
+			eBREAKABLE					=	(1<<1),	// The constraint can break
+			eCHECK_MAX_FORCE_EXCEEDED	=	(1<<2),	// This constraint will get tested for breakage at the end of the sim step
+			eBROKEN						=	(1<<3)
+		};
+												ConstraintSim(ConstraintCore& core, RigidCore* r0, RigidCore* r1, Scene& scene);
+												~ConstraintSim();
+
+						void					setBodies(RigidCore* r0, RigidCore* r1);
+
+						void					setBreakForceLL(PxReal linear, PxReal angular);
+		PX_FORCE_INLINE	void					setMinResponseThresholdLL(PxReal threshold)	{ mLowLevelConstraint.minResponseThreshold = threshold;	}
+		PX_FORCE_INLINE	const void*				getConstantsLL()					const	{ return mLowLevelConstraint.constantBlock;	}
+
+						void					postFlagChange(PxConstraintFlags oldFlags, PxConstraintFlags newFlags);
+
+		PX_FORCE_INLINE	const Dy::Constraint&	getLowLevelConstraint()				const	{ return mLowLevelConstraint;	}
+		PX_FORCE_INLINE	Dy::Constraint&			getLowLevelConstraint()						{ return mLowLevelConstraint;	}
+		PX_FORCE_INLINE	ConstraintCore&			getCore()							const	{ return mCore;					}
+		PX_FORCE_INLINE	BodySim*				getBody(PxU32 i)					const  // for static actors or world attached constraints NULL is returned
+												{
+													return mBodies[i];
+												}
+
+						void					getForce(PxVec3& force, PxVec3& torque);
+
+		PX_FORCE_INLINE	PxU8					readFlag(PxU8 flag)	const	{ return PxU8(mFlags & flag);						}
+		PX_FORCE_INLINE	void					setFlag(PxU8 flag)			{ mFlags |= flag;									}
+		PX_FORCE_INLINE	void					clearFlag(PxU8 flag)		{ mFlags &= ~flag;									}
+		PX_FORCE_INLINE	PxU32					isBroken()			const	{ return PxU32(mFlags) & ConstraintSim::eBROKEN;	}
+
+		PX_FORCE_INLINE const ConstraintInteraction*	getInteraction() const { return mInteraction; }
+
+						PxConstraintGPUIndex	getGPUIndex() const;
+
+	private:
+						bool					createLLConstraint();
+						void					destroyLLConstraint();
+
+						Dy::Constraint			mLowLevelConstraint;
+						Scene&					mScene;
+						ConstraintCore&			mCore;
+						ConstraintInteraction*	mInteraction;	// PT: why do we have an interaction object here?
+						BodySim*				mBodies[2];
+						PxU8					mFlags;
+	};
+} // namespace Sc
+
+}
+
+#endif