编译

源码链接：

https://github.com/NVIDIAGameWorks/PhysX-3.4

使用随附的 Makefile 构建源代码：

Makefiles 在 /PhysX_3.4/Source/compiler
进入/PhysX-3.4/PhysX_3.4/Source/compiler/选择对应的系统环境
这里使用的是：linux64
清洁解决方案：make clean
构建所有配置：make
构建具体配置：make (debug|checked|profile|release)
（踩坑：此处gcc、g++版本需为7.X）

使用随附的 Makefile 构建例子：

Makefiles 在 Snippets/compiler/
清洁解决方案：make clean
构建所有配置和代码片段：make
使用 -j[x] 的并行构建可能会失败。
构建所有片段的特定配置：make (debug|checked|profile|release)
生成的可执行文件可以在 Bin/

构建和运行代码段所需的软件包：

PhysX SDK: build as described above.
libxxf86vm-dev
libgl1-mesa-dev
libglu1-mesa-dev
libglut
gcc-multilib
g+±multilib
ia32-libs
freeglut3-dev
CUDA 8.0 compatible display drivers to run with GPU PhysX acceleration.

Linux环境搭建

进入/PhysX_3.4/Source/compiler/linux64
构建 .a 和 .so文件： make
等待生成完成:
.so路径：
PhysX-3.4/PhysX_3.4/Bin/linux64
PhysX3.4/PhysX-3.4/PxShared/bin/linux64
.a路径：
PhysX-3.4/PhysX_3.4/Lib/linux64
PhysX3.4/PhysX-3.4/PxShared/lib/linux64
在cmake中链接上：

target_link_libraries(${PROJECT_NAME}LowLevelLowLevelAABBLowLevelClothLowLevelDynamicsLowLevelParticlesPhysX3ExtensionsPhysX3VehicleSceneQuerySimulationControllerPsFastXmlPxTask
)
target_link_libraries(${PROJECT_NAME} libPhysX3CharacterKinematic_x64.so  libPhysX3GpuDEBUG_x64.solibPhysX3Common_x64.so             libPhysX3GpuPROFILE_x64.solibPhysX3Cooking_x64.so             libPhysX3Gpu_x64.solibPhysX3GpuCHECKED_x64.so          libPhysX3_x64.solibPxFoundation_x64.so libPxPvdSDK_x64.so)// 这里可能会需要pthread，需要的话添加如下target_link_libraries(${PROJECT_NAME}pthreaddl)

例子

借用一下大佬的示例代码：（仓库配置为mac环境）
github地址：https://github.com/THISISAGOODNAME/physxOpenGL

/*
=====================================================================Book              : Learning Physics Modeling with PhysX (ISBN: 978-1-84969-814-6)
Author              : Krishna Kumar
Compiler used       : Visual C++ 2010 Express
PhysX SDK version   : 3.3.0
Source code name    : ch2_1_HelloPhysx
Reference Chapter   : Chapter-2: Basic ConceptsDescription          : This example demonstrates the initialization, stepping and shutdown of PhysX SDK version 3.3.0It is more like 'Hello World' program for PhysX SDK and contains minimal code. It mainly containsthree function which are as follows;void InitPhysX();        //Initialize the PhysX SDK and create two actors. void StepPhysX();     //Step PhysX simulation 300 times.void ShutdownPhysX(); // Shutdown PhysX SDKConnectPVD();          //Function for the visualization of PhysX simulation (Optional) This example code itself doesn't provide any implementation for rendering the PhysX objects.However you can use PVD software to visualize the simulation. PVD can only be used in 'Debug' mode(configuration).Please refer to last chapter (PhysX Visual Debugger) for more information.=====================================================================
*//*
=====================================================================Author                : Yanjun Yang
Compiler used       : Apple LLVM version 8.1.0 (clang-802.0.42)clang llvm
PhysX SDK version   : 3.4.0
Reference Chapter   : Chapter-2: Basic Concepts=====================================================================
*/#define _DEBUG 1#include <iostream>
#include <PxPhysicsAPI.h> //Single header file to include all features of PhysX APIusing namespace std;
using namespace physx; //--------------Global variables--------------//
static PxPhysics*               gPhysicsSDK = NULL;            //Instance of PhysX SDK
static PxFoundation*            gFoundation = NULL;            //Instance of singleton foundation SDK class
static PxDefaultErrorCallback   gDefaultErrorCallback;      //Instance of default implementation of the error callback
static PxDefaultAllocator       gDefaultAllocatorCallback;  //Instance of default implementation of the allocator interface required by the SDKPxScene*                     gScene = NULL;             //Instance of PhysX Scene
PxReal                          gTimeStep = 1.0f/60.0f;        //Time-step value for PhysX simulation
PxRigidDynamic                  *gBox = NULL;              //Instance of box actor //-----------PhysX function prototypes------------//
void InitPhysX();       //Initialize the PhysX SDK and create two actors.
void StepPhysX();       //Step PhysX simulation 300 times.
void ShutdownPhysX();   //Shutdown PhysX SDKint main()
{InitPhysX();  //Initialize PhysX then create scene and actors//ConnectPVD(); //Uncomment this function to visualize  the simulation in PVD//Simulate PhysX 300 timesfor(int i=0; i<=300; i++) {//Step PhysX simulationif(gScene) StepPhysX(); //Get current position of actor(box) and print itPxVec3 boxPos = gBox->getGlobalPose().p;cout<<"Box current Position ("<<boxPos.x <<" "<<boxPos.y <<" "<<boxPos.z<<")\n";}cout<<"\nSimulation is done, shutting down PhysX!\n";//Shut down PhysXShutdownPhysX();return EXIT_SUCCESS;
}void InitPhysX()
{//Creating foundation for PhysXgFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);//Creating instance of PhysX SDKgPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale() );if(gPhysicsSDK == NULL) {cerr<<"Error creating PhysX3 device, Exiting..."<<endl;exit(1);}//Creating scenePxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale()); //Descriptor class for scenes sceneDesc.gravity     = PxVec3(0.0f, -9.8f, 0.0f);       //Setting gravitysceneDesc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);    //Creates default CPU dispatcher for the scenesceneDesc.filterShader  = PxDefaultSimulationFilterShader;   //Creates default collision filter shader for the scenegScene = gPhysicsSDK->createScene(sceneDesc);                //Creates a scene //Creating PhysX materialPxMaterial* material = gPhysicsSDK->createMaterial(0.5,0.5,0.5); //Creating a PhysX material//---------Creating actors-----------]//1-Creating static plane   PxTransform planePos =    PxTransform(PxVec3(0.0f),PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));   //Position and orientation(transform) for plane actor  PxRigidStatic* plane =  gPhysicsSDK->createRigidStatic(planePos);                                //Creating rigid static actor   plane->createShape(PxPlaneGeometry(), *material);                                                //Defining geometry for plane actorgScene->addActor(*plane);                                                                     //Adding plane actor to PhysX scene//2-Creating dynamic cube                                                                         PxTransform        boxPos(PxVec3(0.0f, 10.0f, 0.0f));                                              //Position and orientation(transform) for box actor PxBoxGeometry   boxGeometry(PxVec3(2,2,2));                                         //Defining geometry for box actorgBox = PxCreateDynamic(*gPhysicsSDK, boxPos, boxGeometry, *material, 1.0f);       //Creating rigid static actorgScene->addActor(*gBox);                                                        //Adding box actor to PhysX scene}void StepPhysX()                  //Stepping PhysX
{ gScene->simulate(gTimeStep);   //Advances the simulation by 'gTimeStep' timegScene->fetchResults(true);       //Block until the simulation run is completed
} void ShutdownPhysX()              //Shutdown PhysX
{gPhysicsSDK->release();         //Removes any actors,  particle systems, and constraint shaders from this scenegFoundation->release();           //Destroys the instance of foundation SDK
}

带有openGL的例子：
main.cpp

/*
=====================================================================Book              : Learning Physics Modeling with PhysX (ISBN: 978-1-84969-814-6)
Author              : Krishna Kumar
Compiler used       : Visual C++ 2010 Express
PhysX SDK version   : 3.3.0
Source code name    : ch3_1_Rigidbody
Reference Chapter   : Chapter-3: Rigid Body DynamicsDescription         : This example demonstrates how to change the properties of dynamic rigid body in PhysX.A dynamic rigid body can have properties like- mass, density, velocity, accelerationangular-motion and so on. This program also uses 'Freeglut' library which is a cross-platformwindowing toolkit that provides us OpenGL rendering context as well as keyboard and mouse events.Freeglut can be downloaded from http://freeglut.sourceforge.net=====================================================================
*//*
=====================================================================Author                : Yanjun Yang
Compiler used       : Apple LLVM version 8.1.0 (clang-802.0.42)clang llvm
PhysX SDK version   : 3.4.0
Reference Chapter   : Chapter-3: Rigid Body Dynamics=====================================================================
*/#include <iostream>
#include <PxPhysicsAPI.h> //Single header file to include all features of PhysX API
#include <GL/freeglut.h>  //OpenGL window tool kit
#include "RenderBuffer.h" //Used for rendering PhysX objetcsausing namespace std;
using namespace physx;//--------------Global variables--------------//
static PxPhysics*               gPhysicsSDK = NULL;            //Instance of PhysX SDK
static PxFoundation*            gFoundation = NULL;            //Instance of singleton foundation SDK class
static PxDefaultErrorCallback   gDefaultErrorCallback;      //Instance of default implementation of the error callback
static PxDefaultAllocator       gDefaultAllocatorCallback;  //Instance of default implementation of the allocator interface required by the SDKPxScene*                     gScene = NULL;             //Instance of PhysX Scene
PxReal                          gTimeStep = 1.0f/60.0f;        //Time-step value for PhysX simulationPxRigidDynamic*       gBox = NULL;               //Instance of box actor
PxRigidDynamic*     gConnectedBox = NULL;float gCamRoateX = 15;
float gCamRoateY = 0;
float gCamDistance  = -50;int gWindowWidth  = 800;
int gWindowHeight = 600;//-----------PhysX function prototypes------------//
void InitPhysX();       //Initialize the PhysX SDK and create actors.
void StepPhysX();       //Step PhysX simulation
void ShutdownPhysX();   //Shutdown PhysX SDK//Functions for glut callbacks
void OnRender();            //Display callback for the current glut window
void OnIdle();              //Called whenever the application is idle
void OnReshape(int, int);   //Called whenever the application window is resized
void OnShutdown();          //Called on application exitint main(int argc, char** argv)
{glutInit(&argc, argv);                         // Initialize GLUTglutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA); //Enable double bufferingglutSetOption(GLUT_MULTISAMPLE, 16);glutInitWindowSize(gWindowWidth, gWindowHeight);   //Set window's initial width & heightglutCreateWindow("PhysX and openGL"); // Create a window with the given titleInitPhysX();glutDisplayFunc(OnRender); //Display callback for the current glut windowglutIdleFunc(OnIdle);     //Called whenever the application is idleglutReshapeFunc(OnReshape); //Called whenever the app window is resized//glutMouseFunc(Mouse);     //Called on mouse button event//glutMotionFunc(Motion); //Called on mouse motion eventglutMainLoop();               //Enter the event-processing loopatexit(OnShutdown);            //Called on application exitreturn EXIT_SUCCESS;
}void InitPhysX()
{//Creating foundation for PhysXgFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);//Creating instance of PhysX SDKgPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale() );if(gPhysicsSDK == NULL){cerr<<"Error creating PhysX3 device, Exiting..."<<endl;exit(1);}//Creating scenePxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());  //Descriptor class for scenessceneDesc.gravity      = PxVec3(0.0f, -9.8f, 0.0f);       //Setting gravitysceneDesc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);    //Creates default CPU dispatcher for the scenesceneDesc.filterShader  = PxDefaultSimulationFilterShader;   //Creates default collision filter shader for the scenegScene = gPhysicsSDK->createScene(sceneDesc);                //Creates a scene//This will enable basic visualization of PhysX objects like- actors collision shapes and it's axis.//The function PxScene::getRenderBuffer() is used to render any active visualization for scene.gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE,             1.0);   //Global visualization scale which gets multiplied with the individual scalesgScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES,  1.0f);  //Enable visualization of actor's shapegScene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES,     1.0f);  //Enable visualization of actor's axisgScene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LIMITS,        1.0f);gScene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES,1.0f);//Creating PhysX material (staticFriction, dynamicFriction, restitution)PxMaterial* material = gPhysicsSDK->createMaterial(0.5f,0.5f,0.5f);//---------Creating actors-----------]//1-Creating static planePxTransform planePos =    PxTransform(PxVec3(0.0f),PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));   //Position and orientation(transform) for plane actorPxRigidStatic* plane =  gPhysicsSDK->createRigidStatic(planePos);                              //Creating rigid static actorplane->createShape(PxPlaneGeometry(), *material);                                               //Defining geometry for plane actorgScene->addActor(*plane);                                                                     //Adding plane actor to PhysX scene//2-Creating dynamic cube//We will apply a force on this created actor in 'OnRender()' function{PxMaterial* mat = gPhysicsSDK->createMaterial(0.2f,0.2f,0.2f);PxTransform      boxPos(PxVec3(0.0f, 10.0f, 30.0f));PxBoxGeometry    boxGeometry(PxVec3(1.5f,1.5f,1.5f));gBox = PxCreateDynamic(*gPhysicsSDK, boxPos, boxGeometry, *mat, 1.0f);gScene->addActor(*gBox);}//3-Creating dynamic cube//We will apply initial linear velocity on the actor that will push actor upward for a while{PxTransform        boxPos(PxVec3(5.0f, 0.1f, 0.0f));PxBoxGeometry  boxGeometry(PxVec3(1.5f,1.5f,1.5f));PxRigidDynamic* box2 = PxCreateDynamic(*gPhysicsSDK, boxPos, boxGeometry, *material, 1.0f);box2->setMass(1);                            //Setting mass of the actorbox2->setLinearVelocity(PxVec3(0,25,0));  //Setting initial linear velocity on the actor (This will push actor upward for a while)gScene->addActor(*box2);}//4-Creating a box actor attached with a static actor that is free to rotate around y axis.//The box actor will keep rotating around y axis because we are applying angular velocity on it in 'OnRender()' function{PxVec3 pos = PxVec3(10,15,25);PxVec3 offset = PxVec3(0,1.5,0);PxRigidActor* staticActor = PxCreateStatic(*gPhysicsSDK, PxTransform(pos), PxSphereGeometry(0.5f), *material);gConnectedBox = PxCreateDynamic(*gPhysicsSDK, PxTransform(PxVec3(0),PxQuat(PxHalfPi,PxVec3(0,0,1))), PxBoxGeometry(0.5,0.5,4), *material, 1.0f);PxD6Joint* d6Joint = PxD6JointCreate(*gPhysicsSDK, staticActor, PxTransform(-offset), gConnectedBox, PxTransform(offset));d6Joint->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);d6Joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);gScene->addActor(*staticActor);gScene->addActor(*gConnectedBox);}}void StepPhysX()                 //Stepping PhysX
{gScene->simulate(gTimeStep);    //Advances the simulation by 'gTimeStep' timegScene->fetchResults(true);       //Block until the simulation run is completed
}void ShutdownPhysX()               //Shutdown PhysX
{gPhysicsSDK->release();         //Removes any actors,  particle systems, and constraint shaders from this scenegFoundation->release();           //Destroys the instance of foundation SDK
}void OnRender()
{//Update PhysXif(gScene)StepPhysX();glClear(GL_COLOR_BUFFER_BIT);glLoadIdentity();glTranslatef(0,0,gCamDistance);glRotatef(gCamRoateX,1,0,0);glRotatef(gCamRoateY,0,1,0);RenderData(gScene->getRenderBuffer());gConnectedBox->setAngularVelocity(PxVec3(0,1,0)); //Applying angular velocity to the actorgBox->addForce(PxVec3(0,0,-180));                  //Applying force to the actorglutSwapBuffers();}void OnReshape(int w, int h)
{glViewport(0,0,w,h);glMatrixMode(GL_PROJECTION);glLoadIdentity();gluPerspective(60, (GLfloat)w / (GLfloat)h, 0.1f, 100000.0f);glMatrixMode(GL_MODELVIEW);
}void OnIdle()
{glutPostRedisplay();
}void OnShutdown()
{ShutdownPhysX();
}

RenderBuffer.h

/*
=====================================================================File Name   : RenderBuffer.hDescription     : Functions in this header file are used for rendering the PhysX scene objects.It mainly renders primitives like- points, lines and triangles returned bythe function 'PxScene::getRenderBuffer()'.=====================================================================
*/#pragma once  #include <PxPhysicsAPI.h> //Single header file to include all features of PhysX API
#include <GL/freeglut.h>  //OpenGL window tool kit using namespace physx; void RenderBuffer(float* pVertList, float* pColorList, int type, int num);
void RenderData(const PxRenderBuffer & data);void RenderBuffer(float* pVertList, float* pColorList, int type, int num)
{glEnableClientState(GL_VERTEX_ARRAY);glVertexPointer(3,GL_FLOAT, 0, pVertList);glEnableClientState(GL_COLOR_ARRAY);glColorPointer(4, GL_FLOAT, 0, pColorList);glDrawArrays(type, 0, num);glDisableClientState(GL_COLOR_ARRAY);glDisableClientState(GL_VERTEX_ARRAY);
}void RenderData(const PxRenderBuffer & data)
{glLineWidth(1.0f);glDisable(GL_LIGHTING);//----------Render Points------------------unsigned int NbPoints = data.getNbPoints();if(NbPoints){float* pVertList = new float[NbPoints*3];float* pColorList = new float[NbPoints*4];int vertIndex = 0;int colorIndex = 0;const PxDebugPoint* Points = data.getPoints();while(NbPoints--){pVertList[vertIndex++] = Points->pos.x;pVertList[vertIndex++] = Points->pos.y;pVertList[vertIndex++] = Points->pos.z;pColorList[colorIndex++] = (float)((Points->color>>16)&0xff)/255.0f;pColorList[colorIndex++] = (float)((Points->color>>8)&0xff)/255.0f;pColorList[colorIndex++] = (float)(Points->color&0xff)/255.0f;pColorList[colorIndex++] = 1.0f;Points++;}RenderBuffer(pVertList, pColorList, GL_POINTS, data.getNbPoints());delete[] pVertList;delete[] pColorList;}//----------Render Lines------------------unsigned int NbLines = data.getNbLines();if(NbLines){float* pVertList = new float[NbLines*3*2];float* pColorList = new float[NbLines*4*2];int vertIndex = 0;int colorIndex = 0;const PxDebugLine* Lines = data.getLines();while(NbLines--){pVertList[vertIndex++] = Lines->pos0.x;pVertList[vertIndex++] = Lines->pos0.y;pVertList[vertIndex++] = Lines->pos0.z;pColorList[colorIndex++] = (float)((Lines->color0>>16)&0xff)/255.0f;pColorList[colorIndex++] = (float)((Lines->color0>>8)&0xff)/255.0f;pColorList[colorIndex++] = (float)(Lines->color0&0xff)/255.0f;pColorList[colorIndex++] = 1.0f;pVertList[vertIndex++] = Lines->pos1.x;pVertList[vertIndex++] = Lines->pos1.y;pVertList[vertIndex++] = Lines->pos1.z;pColorList[colorIndex++] = (float)((Lines->color0>>16)&0xff)/255.0f;pColorList[colorIndex++] = (float)((Lines->color0>>8)&0xff)/255.0f;pColorList[colorIndex++] = (float)(Lines->color0&0xff)/255.0f;pColorList[colorIndex++] = 1.0f;Lines++;}RenderBuffer(pVertList, pColorList, GL_LINES, data.getNbLines()*2);delete[] pVertList;delete[] pColorList;}//----------Render Triangles------------------unsigned int NbTris = data.getNbTriangles();if(NbTris){float* pVertList = new float[NbTris*3*3];float* pColorList = new float[NbTris*4*3];int vertIndex = 0;int colorIndex = 0;const PxDebugTriangle* Triangles = data.getTriangles();while(NbTris--){pVertList[vertIndex++] = Triangles->pos0.x;pVertList[vertIndex++] = Triangles->pos0.y;pVertList[vertIndex++] = Triangles->pos0.z;pVertList[vertIndex++] = Triangles->pos1.x;pVertList[vertIndex++] = Triangles->pos1.y;pVertList[vertIndex++] = Triangles->pos1.z;pVertList[vertIndex++] = Triangles->pos2.x;pVertList[vertIndex++] = Triangles->pos2.y;pVertList[vertIndex++] = Triangles->pos2.z;for(int i=0;i<3;i++){pColorList[colorIndex++] = (float)((Triangles->color0>>16)&0xff)/255.0f;pColorList[colorIndex++] = (float)((Triangles->color0>>8)&0xff)/255.0f;pColorList[colorIndex++] = (float)(Triangles->color0&0xff)/255.0f;pColorList[colorIndex++] = 1.0f;}Triangles++;}RenderBuffer(pVertList, pColorList, GL_TRIANGLES, data.getNbTriangles()*3);delete[] pVertList;delete[] pColorList;}glEnable(GL_LIGHTING);glColor4f(1.0f,1.0f,1.0f,1.0f);
}

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Linux下PhysX3.4编译和环境搭建

编译