Merge branch 'physx_fixes2' into 'master'

Physx fixes2

See merge request iMSTK/iMSTK!389

CMake/External/External_PhysX.cmake

@@ -12,6 +12,8 @@ else()
   set(PHYSX_TARGET_BUILD_PLATFORM linux)
 endif()
 
+string(TOLOWER ${${PROJECT_NAME}_PHYSX_CONFIGURATION} PHYSX_CONFIGURATION)
+
 set(PHYSX_iMSTK_INSTALL "${CMAKE_COMMAND}"
   -DPhysX_INSTALL_DIR=${PhysX_BINARY_DIR}/install
   -DiMSTK_INSTALL_DIR=${CMAKE_INSTALL_PREFIX}
@@ -23,8 +25,9 @@ imstk_add_external_project( PhysX
   #URL_MD5 32fdaddc4ad4e7e637faa86311eb1803
   #DOWNLOAD_DIR ${PhysX_TMP_DIR}
   GIT_REPOSITORY https://gitlab.kitware.com/iMSTK/PhysX.git
-  GIT_TAG 78481093a259101c2a1846370f749ea35cae80e2
+  GIT_TAG f21d30499f9bcf1f165c208bc489e624c94e413e 
   GIT_SHALLOW TRUE
+  GIT_CONFIG status.showUntrackedFiles=no
   SOURCE_SUBDIR ./physx/compiler/public
   CMAKE_CACHE_ARGS
     -DCMAKE_INSTALL_PREFIX:PATH=${PhysX_BINARY_DIR}/install
@@ -48,15 +51,9 @@ imstk_add_external_project( PhysX
     -DNV_APPEND_CONFIG_NAME:BOOL=TRUE
     #VERBOSE
   BUILD_COMMAND
-    COMMAND "${CMAKE_COMMAND}" --build . --config release
-    COMMAND "${CMAKE_COMMAND}" --build . --config profile
-    COMMAND "${CMAKE_COMMAND}" --build . --config checked
-    COMMAND "${CMAKE_COMMAND}" --build . --config debug
+    COMMAND "${CMAKE_COMMAND}" --build . --config ${PHYSX_CONFIGURATION}
   INSTALL_COMMAND
-    COMMAND "${CMAKE_COMMAND}" --build . --target install --config release
-    COMMAND "${CMAKE_COMMAND}" --build . --target install --config profile
-    COMMAND "${CMAKE_COMMAND}" --build . --target install --config checked
-    COMMAND "${CMAKE_COMMAND}" --build . --target install --config debug
+    COMMAND "${CMAKE_COMMAND}" --build . --target install --config ${PHYSX_CONFIGURATION}
     COMMAND ${PHYSX_iMSTK_INSTALL}
 )
 

CMake/External/Patches/physx.cmake

@@ -22,7 +22,8 @@ file(GLOB dir_list RELATIVE ${PhysX_INSTALL_DIR}/bin/ ${PhysX_INSTALL_DIR}/bin/*
       string_starts_with(${dir} "win." is_win_)
       string_starts_with(${dir} "mac." is_mac_)
       string_starts_with(${dir} "linux." is_linux_)
-      if( ${is_win_} OR ${is_mac_} OR ${is_linux_} )
+      string_starts_with(${dir} "UNKNOWN" is_unknown_)
+      if( ${is_win_} OR ${is_mac_} OR ${is_linux_} OR ${is_unknown_})
         set(physx_platform_folder_ ${PhysX_INSTALL_DIR}/bin/${dir})
         break()
       endif()

CMake/FindPhysX.cmake

@@ -10,11 +10,11 @@ endif()
 
 imstk_find_header(PhysX PxPhysicsAPI.h physx)
 # NOTE: Link order matters on linux!
-imstk_find_libary(PhysX PhysXExtensions _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
-imstk_find_libary(PhysX PhysXPvdSDK _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysX _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
+imstk_find_libary(PhysX PhysXExtensions _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysXCooking _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysXCommon _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
+imstk_find_libary(PhysX PhysXPvdSDK _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysXFoundation _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysXCharacterKinematic _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes
 imstk_find_libary(PhysX PhysXVehicle _static${physx_release_type}_64 _staticDEBUG_64)#Different release and debug postfixes

Source/DynamicalModels/ObjectModels/imstkRigidBodyWorld.h

@@ -25,7 +25,19 @@
 #define PhysX_RELEASE(x)        if (x) { x->release(); x = NULL; }
 
 #include "physx/PxConfig.h"
+#if !defined(NDEBUG) && !defined(_DEBUG)
+// PhysX tests for _DEBUG preprocessor definition in a debug build
+// On Windows, MSVC defines this automatically
+// ( https://docs.microsoft.com/en-us/cpp/c-runtime-library/debug?view=vs-2019)
+  # define _DEBUG 1
+  # define imstkPxPhysXAPI_DEBUG
+#endif
 #include "physx/PxPhysicsAPI.h"
+#ifdef imstkPxPhysXAPI_DEBUG
+  #undef _DEBUG
+  #undef imstkPxPhysXAPI_DEBUG
+#endif
+#include "physx/extensions/PxDefaultErrorCallback.h"
 
 #include "imstkDynamicalModel.h"
 #include "imstkRigidBodyState.h"
@@ -81,4 +93,4 @@ private:
 };
 } // imstk
 
-#endif // imstkRigidBodyWorld_h
\ No newline at end of file
+#endif // imstkRigidBodyWorld_h