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feat(physics): wire physx sdk into build

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ssdfasd
2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
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engine/third_party/physx/source/simulationcontroller/src/ScSqBoundsManager.cpp vendored Normal file
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// 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 "GuPrunerTypedef.h"
#include "ScSqBoundsManager.h"
#include "ScBodySim.h"
#include "ScShapeSim.h"
#include "ScSqBoundsSync.h"
#include "common/PxProfileZone.h"
using namespace physx;
using namespace Sc;
#define INVALID_REF ScPrunerHandle(Gu::INVALID_PRUNERHANDLE)
SqBoundsManager0::SqBoundsManager0() :
mShapes ("SqBoundsManager::mShapes"),
mRefs ("SqBoundsManager::mRefs"),
mBoundsIndices ("SqBoundsManager::mBoundsIndices"),
mRefless ("SqBoundsManager::mRefless")
{
}
void SqBoundsManager0::addSyncShape(ShapeSimBase& shape)
{
PX_ASSERT(shape.getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE);
PX_ASSERT(!shape.getBodySim()->usingSqKinematicTarget());
PX_ASSERT(!shape.getBodySim()->isFrozen());
const PxU32 id = mShapes.size();
PX_ASSERT(id == mRefs.size());
PX_ASSERT(id == mBoundsIndices.size());
shape.setSqBoundsId(id);
// PT: mShapes / mRefs / mBoundsIndices are "parallel arrays". These arrays are persistent.
// mRefless is temporary/transient data to help populate mRefs each frame.
// mRefs / mBoundsIndices will be ultimately passed to updateObjects, whose API dictates the layout here.
// mShapes is not actually used for the sync, it's only here to be able to call setSqBoundsId in removeShape.
mShapes.pushBack(static_cast<Sc::ShapeSim*>(&shape));
mRefs.pushBack(INVALID_REF);
mBoundsIndices.pushBack(shape.getElementID());
mRefless.pushBack(static_cast<Sc::ShapeSim*>(&shape));
}
void SqBoundsManager0::removeSyncShape(ShapeSimBase& shape)
{
const PxU32 id = shape.getSqBoundsId();
PX_ASSERT(id!=PX_INVALID_U32);
shape.setSqBoundsId(PX_INVALID_U32);
mShapes[id] = mShapes.back();
mBoundsIndices[id] = mBoundsIndices.back();
mRefs[id] = mRefs.back();
if(id+1 != mShapes.size())
mShapes[id]->setSqBoundsId(id);
mShapes.popBack();
mRefs.popBack();
mBoundsIndices.popBack();
}
void SqBoundsManager0::syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const PxBounds3* bounds, const PxTransform32* transforms, PxU64 contextID, const PxBitMap& ignoredIndices)
{
PX_PROFILE_ZONE("Sim.sceneQuerySyncBounds", contextID);
PX_UNUSED(contextID);
#if PX_DEBUG
for(PxU32 i=0;i<mShapes.size();i++)
{
const ShapeSimBase& shape = *mShapes[i];
PX_UNUSED(shape);
PX_ASSERT(shape.getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE);
PX_ASSERT(!shape.getBodySim()->usingSqKinematicTarget());
PX_ASSERT(!shape.getBodySim()->isFrozen());
}
#endif
ShapeSimBase*const * shapes = mRefless.begin();
for(PxU32 i=0, size = mRefless.size();i<size;i++)
{
const PxU32 id = shapes[i]->getSqBoundsId();
// PT:
//
// If id == PX_INVALID_U32, the shape has been removed and not re-added. Nothing to do in this case, we just ignore it.
// This case didn't previously exist since mRefless only contained valid (added) shapes. But now we left removed shapes in the
// structure, and these have an id == PX_INVALID_U32.
//
// Now if the id is valid but mRefs[id] == PX_INVALID_U32, this is a regular shape that has been added and not processed yet.
// So we process it.
//
// Finally, if both id and mRefs[id] are not PX_INVALID_U32, this is a shape that has been added, removed, and re-added. The
// array contains the same shape twice and we only need to process it once.
if(id!=PX_INVALID_U32)
{
if(mRefs[id] == INVALID_REF)
{
PxU32 prunerIndex = 0xffffffff;
mRefs[id] = finder.find(static_cast<PxRigidBody*>(shapes[i]->getBodySim()->getPxActor()), shapes[i]->getPxShape(), prunerIndex);
PX_ASSERT(prunerIndex==1);
}
}
}
mRefless.clear();
sync.sync(1, mRefs.begin(), mBoundsIndices.begin(), bounds, transforms, mShapes.size(), ignoredIndices);
}
// PT: we need to change the code so that the shape is added to the proper array during syncBounds, not during addSyncShape,
// because the pruner index is not known in addSyncShape. We could perhaps call the ref-finder directly in addSyncShape, but
// it would impose an order on the calls (the shape would need to be added to the pruners before addSyncShape is called. There's
// no such requirement with the initial code).
//
// Instead we do this:
// - in addSyncShape we just add the shape to a "waiting room", that's all.
// - adding the shape to the proper array is delayed until syncBounds. That way the prunerIndex will be available. Also we could
// then take advantage of batching, since all shapes are processed/added at the same time.
// - the only catch is that we need to ensure the previous edge-cases are still properly handled, i.e. when a shape is added then
// removed before sync is called, etc.
//
SqBoundsManagerEx::SqBoundsManagerEx() :
mWaitingRoom ("SqBoundsManagerEx::mWaitingRoom"),
mPrunerSyncData (NULL),
mPrunerSyncDataSize (0)
{
}
SqBoundsManagerEx::~SqBoundsManagerEx()
{
const PxU32 nbToGo = mPrunerSyncDataSize;
for(PxU32 i=0;i<nbToGo;i++)
{
PrunerSyncData* psd = mPrunerSyncData[i];
PX_DELETE(psd);
}
PX_FREE(mPrunerSyncData);
}
void SqBoundsManagerEx::resize(PxU32 index)
{
PxU32 size = mPrunerSyncDataSize ? mPrunerSyncDataSize*2 : 64;
const PxU32 minSize = index+1;
if(minSize>size)
size = minSize*2;
PrunerSyncData** items = PX_ALLOCATE(PrunerSyncData*, size, "PrunerSyncData");
if(mPrunerSyncData)
PxMemCopy(items, mPrunerSyncData, mPrunerSyncDataSize*sizeof(PrunerSyncData*));
PxMemZero(items+mPrunerSyncDataSize, (size-mPrunerSyncDataSize)*sizeof(PrunerSyncData*));
PX_FREE(mPrunerSyncData);
mPrunerSyncData = items;
mPrunerSyncDataSize = size;
}
void SqBoundsManagerEx::addSyncShape(ShapeSimBase& shape)
{
PX_ASSERT(shape.getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE);
PX_ASSERT(!shape.getBodySim()->usingSqKinematicTarget());
PX_ASSERT(!shape.getBodySim()->isFrozen());
PX_ASSERT(shape.getSqBoundsId()==PX_INVALID_U32);
PX_ASSERT(shape.getSqPrunerIndex()==PX_INVALID_U32);
const PxU32 id = mWaitingRoom.size();
mWaitingRoom.pushBack(&shape);
shape.setSqBoundsId(id);
shape.setSqPrunerIndex(PX_INVALID_U32);
}
void SqBoundsManagerEx::removeSyncShape(ShapeSimBase& shape)
{
const PxU32 id = shape.getSqBoundsId();
const PxU32 prunerIndex = shape.getSqPrunerIndex();
PX_ASSERT(id!=PX_INVALID_U32);
shape.setSqBoundsId(PX_INVALID_U32);
shape.setSqPrunerIndex(PX_INVALID_U32);
if(prunerIndex==PX_INVALID_U32)
{
// PT: this shape is still in the waiting room
PX_ASSERT(mWaitingRoom[id]==&shape);
mWaitingRoom[id] = mWaitingRoom.back();
if(id+1 != mWaitingRoom.size())
mWaitingRoom[id]->setSqBoundsId(id);
mWaitingRoom.popBack();
}
else
{
// PT: this shape is active
PX_ASSERT(prunerIndex<mPrunerSyncDataSize);
PrunerSyncData* psd = mPrunerSyncData[prunerIndex];
PX_ASSERT(psd);
PX_ASSERT(psd->mShapes[id]==&shape);
psd->mShapes[id] = psd->mShapes.back();
psd->mBoundsIndices[id] = psd->mBoundsIndices.back();
psd->mRefs[id] = psd->mRefs.back();
if(id+1 != psd->mShapes.size())
psd->mShapes[id]->setSqBoundsId(id);
psd->mShapes.popBack();
psd->mBoundsIndices.popBack();
psd->mRefs.popBack();
if(!psd->mShapes.size())
{
PX_DELETE(psd);
mPrunerSyncData[prunerIndex] = NULL;
}
}
}
void SqBoundsManagerEx::syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const PxBounds3* bounds, const PxTransform32* transforms, PxU64 contextID, const PxBitMap& ignoredIndices)
{
PX_PROFILE_ZONE("Sim.sceneQuerySyncBounds", contextID);
PX_UNUSED(contextID);
/*
#if PX_DEBUG
for(PxU32 i=0;i<mShapeData.size();i++)
{
const ShapeSQData& shape = mShapeData[i];
PX_UNUSED(shape);
PX_ASSERT(shape.mSim->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE);
PX_ASSERT(!shape.mSim->getBodySim()->usingSqKinematicTarget());
PX_ASSERT(!shape.mSim->getBodySim()->isFrozen());
}
#endif
*/
const PxU32 nbToGo = mWaitingRoom.size();
if(nbToGo)
{
for(PxU32 i=0;i<nbToGo;i++)
{
ShapeSimBase* sim = mWaitingRoom[i];
PX_ASSERT(i==sim->getSqBoundsId());
PX_ASSERT(PX_INVALID_U32==sim->getSqPrunerIndex());
PxU32 prunerIndex = 0xffffffff;
const ScPrunerHandle prunerHandle = finder.find(static_cast<PxRigidBody*>(sim->getBodySim()->getPxActor()), sim->getPxShape(), prunerIndex);
PX_ASSERT(prunerIndex!=0xffffffff);
if(prunerIndex>=mPrunerSyncDataSize)
resize(prunerIndex);
PrunerSyncData* psd = mPrunerSyncData[prunerIndex];
if(!psd)
{
psd = PX_NEW(PrunerSyncData);
mPrunerSyncData[prunerIndex] = psd;
}
PxArray<ShapeSimBase*>& shapes = psd->mShapes;
PxArray<ScPrunerHandle>& refs = psd->mRefs;
PxArray<PxU32>& boundsIndices = psd->mBoundsIndices;
const PxU32 id = shapes.size();
PX_ASSERT(id == refs.size());
PX_ASSERT(id == boundsIndices.size());
sim->setSqBoundsId(id);
sim->setSqPrunerIndex(prunerIndex);
// PT: mShapes / mRefs / mBoundsIndices are "parallel arrays". These arrays are persistent.
// mRefless is temporary/transient data to help populate mRefs each frame.
// mRefs / mBoundsIndices will be ultimately passed to updateObjects, whose API dictates the layout here.
// mShapes is not actually used for the sync, it's only here to be able to call setSqBoundsId in removeShape.
shapes.pushBack(sim);
refs.pushBack(prunerHandle);
boundsIndices.pushBack(sim->getElementID());
}
mWaitingRoom.clear(); // PT: TODO: optimize wasted memory here
}
// PT: TODO: optimize this
{
const PxU32 nb = mPrunerSyncDataSize;
for(PxU32 i=0;i<nb;i++)
{
PrunerSyncData* psd = mPrunerSyncData[i];
if(psd)
sync.sync(i, psd->mRefs.begin(), psd->mBoundsIndices.begin(), bounds, transforms, psd->mRefs.size(), ignoredIndices);
}
}
}