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/ScShapeSimBase.h
+++ b/engine/third_party/physx/source/simulationcontroller/src/ScShapeSimBase.h
@@ -0,0 +1,126 @@
+// 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. 
+
+#ifndef SC_SHAPESIM_BASE_H
+#define SC_SHAPESIM_BASE_H
+
+#include "ScElementSim.h"
+#include "ScShapeCore.h"
+#include "ScRigidSim.h"
+
+namespace physx
+{
+	namespace Sc
+	{
+		PX_FORCE_INLINE PxU32 isBroadPhase(PxShapeFlags flags) { return PxU32(flags) & PxU32(PxShapeFlag::eTRIGGER_SHAPE | PxShapeFlag::eSIMULATION_SHAPE); }
+
+		class ShapeCore;
+
+		class ShapeSimBase : public ElementSim
+		{
+			PX_NOCOPY(ShapeSimBase)
+		public:
+													ShapeSimBase(ActorSim& owner, const ShapeCore* core) :
+														ElementSim	(owner),
+														mSqBoundsId	(PX_INVALID_U32),
+														mPrunerIndex(PX_INVALID_U32)
+																							{ setCore(core);	}
+													~ShapeSimBase()							{					}
+
+			PX_FORCE_INLINE void					setCore(const ShapeCore* core);
+			PX_FORCE_INLINE const ShapeCore&		getCore()						const;
+			PX_FORCE_INLINE	bool					isPxsCoreValid()				const	{ return mShapeCore != NULL; }
+
+			PX_INLINE		PxGeometryType::Enum	getGeometryType()				const	{ return getCore().getGeometryType();	}
+
+			// This is just for getting a reference for the user, so we cast away const-ness
+
+			PX_INLINE		PxShape*				getPxShape()					const	{ return const_cast<PxShape*>(getCore().getPxShape()); }
+
+			PX_FORCE_INLINE	PxReal					getRestOffset()					const	{ return getCore().getRestOffset();					}
+			PX_FORCE_INLINE	PxReal					getTorsionalPatchRadius()		const	{ return getCore().getTorsionalPatchRadius();		}
+			PX_FORCE_INLINE	PxReal					getMinTorsionalPatchRadius()	const	{ return getCore().getMinTorsionalPatchRadius();	}
+			PX_FORCE_INLINE	PxU32					getFlags()						const	{ return getCore().getFlags();						}
+			PX_FORCE_INLINE	PxReal					getContactOffset()				const	{ return getCore().getContactOffset();				}
+
+			PX_FORCE_INLINE	PxU32					getTransformCacheID()			const	{ return getElementID();	}
+
+			PX_FORCE_INLINE PxU32					getSqBoundsId()					const	{ return mSqBoundsId;		}
+			PX_FORCE_INLINE void					setSqBoundsId(PxU32 id)					{ mSqBoundsId = id;			}
+
+			PX_FORCE_INLINE PxU32					getSqPrunerIndex()				const	{ return mPrunerIndex;		}
+			PX_FORCE_INLINE void					setSqPrunerIndex(PxU32 index)			{ mPrunerIndex = index;		}
+
+			PX_FORCE_INLINE PxsShapeCore*			getPxsShapeCore()						{ return mShapeCore;		}
+
+							void					onFilterDataChange();
+							void					onRestOffsetChange();
+							void					onFlagChange(PxShapeFlags oldFlags);
+							void					onResetFiltering();
+							void					onVolumeOrTransformChange();
+							void					onContactOffsetChange();
+							void					markBoundsForUpdate();
+							void					reinsertBroadPhase();
+							void					removeFromBroadPhase(bool wakeOnLostTouch);
+							void					getAbsPoseAligned(PxTransform* PX_RESTRICT globalPose)	const;
+							PxNodeIndex				getActorNodeIndex()		const;
+
+			PX_FORCE_INLINE	RigidSim&				getRbSim()				const { return static_cast<RigidSim&>(getActor()); }
+							BodySim*				getBodySim()			const;
+
+							PxsRigidCore&			getPxsRigidCore()		const;
+
+							void					createSqBounds();
+							void					destroySqBounds();
+
+							void					updateCached(PxU32 transformCacheFlags, PxBitMapPinned* shapeChangedMap);
+							void					updateCached(PxsTransformCache& transformCache, Bp::BoundsArray& boundsArray);
+							void					updateBPGroup();
+		protected:
+
+			PX_FORCE_INLINE	void					internalAddToBroadPhase();
+			PX_FORCE_INLINE	bool					internalRemoveFromBroadPhase(bool wakeOnLostTouch = true);
+							void					initSubsystemsDependingOnElementID(PxU32 indexFrom);
+							
+							PxsShapeCore*			mShapeCore;
+							PxU32					mSqBoundsId;
+							PxU32					mPrunerIndex;
+		};
+
+		PX_FORCE_INLINE void ShapeSimBase::setCore(const ShapeCore* core)
+		{
+			mShapeCore = core ? const_cast<PxsShapeCore*>(&core->getCore()) : NULL;
+		}
+
+		PX_FORCE_INLINE const ShapeCore& ShapeSimBase::getCore() const
+		{
+			return Sc::ShapeCore::getCore(*mShapeCore);
+		}
+
+	} // namespace Sc
+}
+
+#endif