branch with experimental PyBullet support for PhysX

see otherPhysicsEngine in examples/pybullet/examples folder for example usage

src/PhysX/physx/include/extensions/PxDefaultAllocator.h

@@ -0,0 +1,110 @@
+//
+// 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) 2008-2018 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 PX_DEFAULT_ALLOCATOR_H
+#define PX_DEFAULT_ALLOCATOR_H
+/** \addtogroup extensions
+  @{
+*/
+
+#include "foundation/PxAllocatorCallback.h"
+#include "foundation/PxAssert.h"
+#include "common/PxPhysXCommonConfig.h"
+
+#include <stdlib.h>
+
+#if PX_WINDOWS || PX_LINUX_FAMILY || PX_SWITCH
+#include <malloc.h>
+#endif
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+#if PX_WINDOWS
+// on win32 we only have 8-byte alignment guaranteed, but the CRT provides special aligned allocation fns
+PX_FORCE_INLINE void* platformAlignedAlloc(size_t size)
+{
+	return _aligned_malloc(size, 16);
+}
+
+PX_FORCE_INLINE void platformAlignedFree(void* ptr)
+{
+	_aligned_free(ptr);
+}
+#elif PX_LINUX_FAMILY || PX_SWITCH
+PX_FORCE_INLINE void* platformAlignedAlloc(size_t size)
+{
+	return ::memalign(16, size);
+}
+
+PX_FORCE_INLINE void platformAlignedFree(void* ptr)
+{
+	::free(ptr);
+}
+#else
+// on all other platforms we get 16-byte alignment by default
+PX_FORCE_INLINE void* platformAlignedAlloc(size_t size)
+{
+	return ::malloc(size);	
+}
+
+PX_FORCE_INLINE void platformAlignedFree(void* ptr)
+{
+	::free(ptr);
+}
+#endif
+
+/**
+\brief default implementation of the allocator interface required by the SDK
+*/
+class PxDefaultAllocator : public PxAllocatorCallback
+{
+public:
+	void* allocate(size_t size, const char*, const char*, int)
+	{
+		void* ptr = platformAlignedAlloc(size);
+		PX_ASSERT((reinterpret_cast<size_t>(ptr) & 15)==0);
+		return ptr;
+	}
+
+	void deallocate(void* ptr)
+	{
+		platformAlignedFree(ptr);
+	}
+};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif