feat(physics): wire physx sdk into build

engine/third_party/physx/source/simulationcontroller/src/ScElementSim.cpp

@@ -0,0 +1,178 @@
+// 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.  
+
+#include "ScElementSim.h"
+#include "ScElementSimInteraction.h"
+#include "ScSimStats.h"
+
+using namespace physx;
+using namespace Sc;
+
+static PX_FORCE_INLINE bool interactionHasElement(const Interaction* it, const ElementSim* elem)
+{
+	if(it->readInteractionFlag(InteractionFlag::eRB_ELEMENT))
+	{
+		PX_ASSERT(	(it->getType() == InteractionType::eMARKER) ||
+					(it->getType() == InteractionType::eOVERLAP) ||
+					(it->getType() == InteractionType::eTRIGGER) );
+
+		const ElementSimInteraction* ei = static_cast<const ElementSimInteraction*>(it);
+		if((&ei->getElement0() == elem) || (&ei->getElement1() == elem))
+			return true;
+	}
+	return false;
+}
+
+Sc::ElementSimInteraction* Sc::ElementSim::ElementInteractionIterator::getNext()
+{
+	while(mInteractions!=mInteractionsLast)
+	{
+		Interaction* it = *mInteractions++;
+		if(interactionHasElement(it, mElement))
+			return static_cast<ElementSimInteraction*>(it);
+	}
+	return NULL;
+}
+
+Sc::ElementSimInteraction* Sc::ElementSim::ElementInteractionReverseIterator::getNext()
+{
+	while(mInteractions!=mInteractionsLast)
+	{
+		Interaction* it = *--mInteractionsLast;
+		if(interactionHasElement(it, mElement))
+			return static_cast<ElementSimInteraction*>(it);
+	}
+	return NULL;
+}
+
+namespace
+{
+	class ElemSimPtrTableStorageManager : public Cm::PtrTableStorageManager, public PxUserAllocated
+	{
+		PX_NOCOPY(ElemSimPtrTableStorageManager)
+
+	public:
+		ElemSimPtrTableStorageManager() {}
+		~ElemSimPtrTableStorageManager() {}
+
+		// PtrTableStorageManager
+		virtual	void**	allocate(PxU32 capacity)	PX_OVERRIDE
+		{
+			return PX_ALLOCATE(void*, capacity, "CmPtrTable pointer array");
+		}
+
+		virtual	void	deallocate(void** addr, PxU32 /*capacity*/)	PX_OVERRIDE
+		{
+			PX_FREE(addr);
+		}
+
+		virtual	bool canReuse(PxU32 /*originalCapacity*/, PxU32 /*newCapacity*/)	PX_OVERRIDE
+		{
+			return false;
+		}
+		//~PtrTableStorageManager
+	};
+	ElemSimPtrTableStorageManager gElemSimTableStorageManager;
+}
+
+static PX_FORCE_INLINE void onElementAttach(ElementSim& element, ShapeManager& manager)
+{
+	PX_ASSERT(element.mShapeArrayIndex == 0xffffffff);
+	element.mShapeArrayIndex = manager.mShapes.getCount();
+	manager.mShapes.add(&element, gElemSimTableStorageManager);
+}
+
+void Sc::ShapeManager::onElementDetach(ElementSim& element)
+{
+	const PxU32 index = element.mShapeArrayIndex;
+	PX_ASSERT(index != 0xffffffff);
+	PX_ASSERT(mShapes.getCount());
+	void** ptrs = mShapes.getPtrs();
+	PX_ASSERT(reinterpret_cast<ElementSim*>(ptrs[index]) == &element);
+
+	const PxU32 last = mShapes.getCount() - 1;
+	if (index != last)
+	{
+		ElementSim* moved = reinterpret_cast<ElementSim*>(ptrs[last]);
+		PX_ASSERT(moved->mShapeArrayIndex == last);
+		moved->mShapeArrayIndex = index;
+	}
+	mShapes.replaceWithLast(index, gElemSimTableStorageManager);
+	element.mShapeArrayIndex = 0xffffffff;
+}
+
+Sc::ElementSim::ElementSim(ActorSim& actor) :
+	mActor			(actor),
+	mInBroadPhase	(false),
+	mShapeArrayIndex(0xffffffff)
+{
+	initID();
+
+	onElementAttach(*this, actor);
+}
+
+Sc::ElementSim::~ElementSim()
+{
+	PX_ASSERT(!mInBroadPhase);
+	releaseID();
+	mActor.onElementDetach(*this);
+}
+
+void Sc::ElementSim::addToAABBMgr(PxReal contactDistance, Bp::FilterGroup::Enum group, Bp::ElementType::Enum type)
+{
+	const ActorCore& actorCore = mActor.getActorCore();
+	const PxU32 aggregateID = actorCore.getAggregateID();
+	const PxU32 envID = actorCore.getEnvID();
+
+	Sc::Scene& scene = getScene();
+	if(!scene.getAABBManager()->addBounds(mElementID, contactDistance, group, this, aggregateID, type, envID))
+		return;
+
+	mInBroadPhase = true;
+#if PX_ENABLE_SIM_STATS
+	scene.getStatsInternal().incBroadphaseAdds();
+#else
+	PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
+#endif
+}
+
+bool Sc::ElementSim::removeFromAABBMgr()
+{
+	PX_ASSERT(mInBroadPhase);
+	Sc::Scene& scene = getScene();
+	bool res = scene.getAABBManager()->removeBounds(mElementID);
+	scene.getAABBManager()->getChangedAABBMgActorHandleMap().growAndReset(mElementID);
+
+	mInBroadPhase = false;
+#if PX_ENABLE_SIM_STATS
+	scene.getStatsInternal().incBroadphaseRemoves();
+#else
+	PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
+#endif
+	return res;
+}