updated to PhysX 5.4.0

fabmax · Jun 2, 2024 · c9a6f10 · c9a6f10
1 parent aa81e20
commit c9a6f10
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Showing 14 changed files with 23 additions and 57 deletions.
diff --git a/PhysX b/PhysX
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -3,7 +3,7 @@ import org.gradle.jvm.tasks.Jar
 
 subprojects {
     group = "de.fabmax"
-    version = "2.3.3-SNAPSHOT"
+    version = "2.4.0-SNAPSHOT"
 
     if (name != "physx-jni-android") {
         apply(plugin = "java-library")

diff --git a/physx-jni-natives-linux-cuda/src/main/java/de/fabmax/physxjni/linux/NativeLibLinux.java b/physx-jni-natives-linux-cuda/src/main/java/de/fabmax/physxjni/linux/NativeLibLinux.java
@@ -7,7 +7,7 @@
 
 public class NativeLibLinux extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("libPhysXJniBindings_64.so");

diff --git a/physx-jni-natives-linux/src/main/java/de/fabmax/physxjni/linux/NativeLibLinux.java b/physx-jni-natives-linux/src/main/java/de/fabmax/physxjni/linux/NativeLibLinux.java
@@ -7,7 +7,7 @@
 
 public class NativeLibLinux extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("libPhysXJniBindings_64.so");

diff --git a/...ni-natives-macos-arm64/src/main/java/de/fabmax/physxjni/macosarm/NativeLibMacosArm64.java b/...ni-natives-macos-arm64/src/main/java/de/fabmax/physxjni/macosarm/NativeLibMacosArm64.java
@@ -7,7 +7,7 @@
 
 public class NativeLibMacosArm64 extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("libPhysXJniBindings_64.dylib");

diff --git a/physx-jni-natives-macos/src/main/java/de/fabmax/physxjni/macos/NativeLibMacos.java b/physx-jni-natives-macos/src/main/java/de/fabmax/physxjni/macos/NativeLibMacos.java
@@ -7,7 +7,7 @@
 
 public class NativeLibMacos extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("libPhysXJniBindings_64.dylib");

diff --git a/...x-jni-natives-windows-cuda/src/main/java/de/fabmax/physxjni/windows/NativeLibWindows.java b/...x-jni-natives-windows-cuda/src/main/java/de/fabmax/physxjni/windows/NativeLibWindows.java
@@ -7,7 +7,7 @@
 
 public class NativeLibWindows extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("PhysX_64.dll");

diff --git a/physx-jni-natives-windows/src/main/java/de/fabmax/physxjni/windows/NativeLibWindows.java b/physx-jni-natives-windows/src/main/java/de/fabmax/physxjni/windows/NativeLibWindows.java
@@ -7,7 +7,7 @@
 
 public class NativeLibWindows extends NativeLib {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final List<String> libraries = new ArrayList<>() {{
         add("PhysX_64.dll");

diff --git a/physx-jni/build.gradle.kts b/physx-jni/build.gradle.kts
@@ -71,15 +71,17 @@ dependencies {
     testRuntimeOnly(project(":physx-jni-natives-macos"))
     testRuntimeOnly(project(":physx-jni-natives-macos-arm64"))
 
-    testImplementation("org.lwjgl:lwjgl:3.3.1")
+    testImplementation("org.lwjgl:lwjgl:3.3.3")
 
     val os = org.gradle.internal.os.OperatingSystem.current()
+    val arch = System.getProperty("os.arch", "unknown")
     val lwjglNatives = when {
         os.isLinux -> "natives-linux"
-        os.isMacOsX -> "natives-macos"
+        os.isMacOsX && arch == "aarch64" -> "natives-macos-arm64"
+        os.isMacOsX && arch != "aarch64" -> "natives-macos"
         else -> "natives-windows"
     }
-    testRuntimeOnly("org.lwjgl:lwjgl:3.3.1:$lwjglNatives")
+    testRuntimeOnly("org.lwjgl:lwjgl:3.3.3:$lwjglNatives")
 }
 
 publishing {

diff --git a/physx-jni/src/main/java/de/fabmax/physxjni/Loader.java b/physx-jni/src/main/java/de/fabmax/physxjni/Loader.java
@@ -6,7 +6,7 @@
 
 public class Loader {
 
-    private static final String version = "2.3.3-SNAPSHOT";
+    private static final String version = "2.4.0-SNAPSHOT";
 
     private static final AtomicBoolean isLoaded = new AtomicBoolean(false);
 

diff --git a/physx-jni/src/main/webidl/common/PxCuda.idl b/physx-jni/src/main/webidl/common/PxCuda.idl
@@ -96,8 +96,8 @@ interface PxCudaContextManagerDesc {
 };
 
 [Platforms="windows;linux", Prefix="physx::"]
-interface PxgDynamicsMemoryConfig {
-    void PxgDynamicsMemoryConfig();
+interface PxGpuDynamicsMemoryConfig {
+    void PxGpuDynamicsMemoryConfig();
     boolean isValid();
     attribute unsigned long tempBufferCapacity;
     attribute unsigned long maxRigidContactCount;
@@ -200,7 +200,6 @@ interface PxParticleBuffer {
     unsigned long getFlatListStartIndex();
     void raiseFlags(PxParticleBufferFlagEnum flags);
     void release();
-    readonly attribute unsigned long bufferIndex;
     readonly attribute unsigned long bufferUniqueId;
 };
 PxParticleBuffer implements PxBase;
@@ -395,9 +394,7 @@ interface PxParticleRigidFilterPair {
 
 [Platforms="windows;linux"]
 enum PxParticleSolverTypeEnum {
-    "PxParticleSolverTypeEnum::ePBD",
-    "PxParticleSolverTypeEnum::eFLIP",
-    "PxParticleSolverTypeEnum::eMPM"
+    "PxParticleSolverTypeEnum::ePBD"
 };
 
 [Platforms="windows;linux", Prefix="physx::", StackAllocatable]

diff --git a/physx-jni/src/main/webidl/physics/PxActor.idl b/physx-jni/src/main/webidl/physics/PxActor.idl
@@ -51,8 +51,6 @@ enum PxActorTypeEnum {
     "PxActorTypeEnum::eSOFTBODY",
     "PxActorTypeEnum::eFEMCLOTH",
     "PxActorTypeEnum::ePBD_PARTICLESYSTEM",
-    "PxActorTypeEnum::eFLIP_PARTICLESYSTEM",
-    "PxActorTypeEnum::eMPM_PARTICLESYSTEM",
     "PxActorTypeEnum::eHAIRSYSTEM"
 };
 

diff --git a/physx-jni/src/main/webidl/physics/PxArticulation.idl b/physx-jni/src/main/webidl/physics/PxArticulation.idl
@@ -41,8 +41,8 @@ interface PxArticulationCache {
     [Value] attribute PxRealPtr jointForce;
     attribute PxSpatialVelocity linkVelocity;
     attribute PxSpatialVelocity linkAcceleration;
+    attribute PxSpatialForce linkIncomingJointForce;
     attribute PxArticulationRootLinkData rootLinkData;
-    attribute PxSpatialForce sensorForces;
     [Value] attribute PxRealPtr coefficientMatrix;
     [Value] attribute PxRealPtr lambda;
     attribute VoidPtr scratchMemory;
@@ -59,8 +59,9 @@ enum PxArticulationCacheFlagEnum {
     "PxArticulationCacheFlagEnum::eLINK_ACCELERATION",
     "PxArticulationCacheFlagEnum::eROOT_TRANSFORM",
     "PxArticulationCacheFlagEnum::eROOT_VELOCITIES",
-    "PxArticulationCacheFlagEnum::eSENSOR_FORCES",
-    "PxArticulationCacheFlagEnum::eJOINT_SOLVER_FORCES",
+    "PxArticulationCacheFlagEnum::eLINK_INCOMING_JOINT_FORCE",
+    "PxArticulationCacheFlagEnum::eJOINT_TARGET_POSITIONS",
+    "PxArticulationCacheFlagEnum::eJOINT_TARGET_VELOCITIES",
     "PxArticulationCacheFlagEnum::eALL"
 };
 
@@ -105,8 +106,7 @@ PxArticulationFixedTendon implements PxArticulationTendon;
 enum PxArticulationFlagEnum {
     "PxArticulationFlagEnum::eFIX_BASE",
     "PxArticulationFlagEnum::eDRIVE_LIMITS_ARE_FORCES",
-    "PxArticulationFlagEnum::eDISABLE_SELF_COLLISION",
-    "PxArticulationFlagEnum::eCOMPUTE_JOINT_FORCES"
+    "PxArticulationFlagEnum::eDISABLE_SELF_COLLISION"
 };
 
 [Prefix="physx::", StackAllocatable]
@@ -271,45 +271,14 @@ interface PxArticulationReducedCoordinate {
     unsigned long getGpuArticulationIndex();
     PxArticulationSpatialTendon createSpatialTendon();
     PxArticulationFixedTendon createFixedTendon();
-    PxArticulationSensor createSensor(PxArticulationLink link, [Const, Ref] PxTransform relativePose);
     //unsigned long getSpatialTendons();
     unsigned long getNbSpatialTendons();
     //unsigned long getFixedTendons();
     unsigned long getNbFixedTendons();
-    //unsigned long getSensors();
-    unsigned long getNbSensors();
     void updateKinematic([Ref] PxArticulationKinematicFlags flags);
 };
 PxArticulationReducedCoordinate implements PxBase;
 
-[Prefix="physx::"]
-interface PxArticulationSensor {
-    [Value] PxSpatialForce getForces();
-    [Value] PxTransform getRelativePose();
-    void setRelativePose([Const, Ref] PxTransform pose);
-    PxArticulationLink getLink();
-    unsigned long getIndex();
-    PxArticulationReducedCoordinate getArticulation();
-    [Value] PxArticulationSensorFlags getFlags();
-    void setFlag(PxArticulationSensorFlagEnum flag, boolean enabled);
-    attribute VoidPtr userData;
-};
-PxArticulationSensor implements PxBase;
-
-enum PxArticulationSensorFlagEnum {
-    "PxArticulationSensorFlagEnum::eFORWARD_DYNAMICS_FORCES",
-    "PxArticulationSensorFlagEnum::eCONSTRAINT_SOLVER_FORCES",
-    "PxArticulationSensorFlagEnum::eWORLD_FRAME"
-};
-
-[Prefix="physx::", StackAllocatable]
-interface PxArticulationSensorFlags {
-    void PxArticulationSensorFlags(octet flags);
-    boolean isSet(PxArticulationSensorFlagEnum flag);
-    void raise(PxArticulationSensorFlagEnum flag);
-    void clear(PxArticulationSensorFlagEnum flag);
-};
-
 [Prefix="physx::"]
 interface PxArticulationSpatialTendon {
     PxArticulationAttachment createAttachment(PxArticulationAttachment parent, float coefficient, [Const, Ref] PxVec3 relativeOffset, PxArticulationLink link);

diff --git a/physx-jni/src/main/webidl/physics/PxScene.idl b/physx-jni/src/main/webidl/physics/PxScene.idl
@@ -175,7 +175,7 @@ interface PxSceneDesc {
     attribute float ccdMaxSeparation;
     attribute float wakeCounterResetValue;
     [Value] attribute PxBounds3 sanityBounds;
-    [Platforms="windows;linux", Value] attribute PxgDynamicsMemoryConfig gpuDynamicsConfig;
+    [Platforms="windows;linux", Value] attribute PxGpuDynamicsMemoryConfig gpuDynamicsConfig;
     attribute unsigned long gpuMaxNumPartitions;
     attribute unsigned long gpuMaxNumStaticPartitions;
     attribute unsigned long gpuComputeVersion;