Undefined reference to `PxSetPhysXGpuProfilerCallback'

[MihaiAnca13]

Hi. I've built the 104.1-physx-5.1.2 version of PhysX and added it to my project.

The following code runs fine:

    PxFoundation* mFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gDefaultAllocatorCallback,
                                     gDefaultErrorCallback);

However, as soon as I call PxPvd* mPvd = PxCreatePvd(*mFoundation);, I get the following error:

: && /usr/bin/clang++-10 -Os -D_GLIBCXX_USE_CXX11_ABI=1 -O3 -DNDEBUG  CMakeFiles/c_ml.dir/trying_physics.cpp.o -o c_ml  -Wl,-rpath,/usr/local/cuda-11.8/lib64:/home/mihai/CLionProjects/c_ml/libs/libtorch/lib:/usr/local/cuda-11.8/lib64/stubs:/home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release  -ldl  -lssl  -lcrypto  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libkineto.a  /usr/local/cuda-11.8/lib64/stubs/libcuda.so  /usr/local/cuda-11.8/lib64/libnvrtc.so  /usr/local/cuda-11.8/lib64/libnvToolsExt.so  /usr/local/cuda-11.8/lib64/libcudart.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10_cuda.so  /usr/local/lib/libglfw3.a  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda_cpp.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cpu.so" -Wl,--as-needed  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10_cuda.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10.so  /usr/local/cuda-11.8/lib64/libcudart.so  /usr/local/cuda-11.8/lib64/libnvToolsExt.so  /usr/local/cuda-11.8/lib64/libcufft.so  /usr/local/cuda-11.8/lib64/libcurand.so  /usr/local/cuda-11.8/lib64/libcublas.so  /usr/local/cuda-11.8/lib64/libcudnn.so  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda_cu.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch.so" -Wl,--as-needed  -pthread  /usr/lib/x86_64-linux-gnu/librt.so  -lm  -ldl  /usr/lib/x86_64-linux-gnu/libGLX.so  /usr/lib/x86_64-linux-gnu/libOpenGL.so  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXExtensions_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysX_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXPvdSDK_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXVehicle_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXVehicle2_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXCharacterKinematic_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXCooking_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXCommon_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXFoundation_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPVDRuntime_64.so && :
/usr/bin/ld: /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXPvdSDK_static_64.a(PxPvdImpl.cpp.o): in function `physx::pvdsdk::PvdImpl::~PvdImpl()':
PxPvdImpl.cpp:(.text._ZN5physx6pvdsdk7PvdImplD2Ev+0x3b): undefined reference to `PxSetPhysXGpuProfilerCallback'
/usr/bin/ld: /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/release/libPhysXPvdSDK_static_64.a(PxPvdImpl.cpp.o): in function `physx::pvdsdk::PvdImpl::connect(physx::PxPvdTransport&, physx::PxFlags<physx::PxPvdInstrumentationFlag::Enum, unsigned char>)':
PxPvdImpl.cpp:(.text._ZN5physx6pvdsdk7PvdImpl7connectERNS_14PxPvdTransportENS_7PxFlagsINS_24PxPvdInstrumentationFlag4EnumEhEE+0x514): undefined reference to `PxSetPhysXGpuProfilerCallback'

I've also tried 104.1-physx-5.1.3, but no change. Do you have any ideas about what I'm doing wrong, please?

[pdherasciec]

I see you are running this in release build (at least I think so) in which case PVD is not supported, could you maybe try debug/checked/profile builds instead?

[MihaiAnca13]

Thank you for your quick reply!

I've re-compiled it with checked, but I still get the same error:

: && /usr/bin/clang++-10 -Os -D_GLIBCXX_USE_CXX11_ABI=1 -O3 -DNDEBUG  CMakeFiles/c_ml.dir/trying_physics.cpp.o -o c_ml  -Wl,-rpath,/usr/local/cuda-11.8/lib64:/home/mihai/CLionProjects/c_ml/libs/libtorch/lib:/usr/local/cuda-11.8/lib64/stubs:/home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked  -ldl  -lssl  -lcrypto  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libkineto.a  /usr/local/cuda-11.8/lib64/stubs/libcuda.so  /usr/local/cuda-11.8/lib64/libnvrtc.so  /usr/local/cuda-11.8/lib64/libnvToolsExt.so  /usr/local/cuda-11.8/lib64/libcudart.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10_cuda.so  /usr/local/lib/libglfw3.a  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda_cpp.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cpu.so" -Wl,--as-needed  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10_cuda.so  /home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libc10.so  /usr/local/cuda-11.8/lib64/libcudart.so  /usr/local/cuda-11.8/lib64/libnvToolsExt.so  /usr/local/cuda-11.8/lib64/libcufft.so  /usr/local/cuda-11.8/lib64/libcurand.so  /usr/local/cuda-11.8/lib64/libcublas.so  /usr/local/cuda-11.8/lib64/libcudnn.so  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch_cuda_cu.so" -Wl,--as-needed  -Wl,--no-as-needed,"/home/mihai/CLionProjects/c_ml/libs/libtorch/lib/libtorch.so" -Wl,--as-needed  -pthread  /usr/lib/x86_64-linux-gnu/librt.so  -lm  -ldl  /usr/lib/x86_64-linux-gnu/libGLX.so  /usr/lib/x86_64-linux-gnu/libOpenGL.so  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXExtensions_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysX_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXPvdSDK_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXVehicle_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXVehicle2_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXCharacterKinematic_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXCooking_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXCommon_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXFoundation_static_64.a  /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPVDRuntime_64.so && :
/usr/bin/ld: /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXPvdSDK_static_64.a(PxPvdImpl.cpp.o): in function `~PvdImpl':
/home/mihai/CLionProjects/PhysX/physx/source/pvd/src/PxPvdImpl.cpp:108: undefined reference to `PxSetPhysXGpuProfilerCallback'
/usr/bin/ld: /home/mihai/CLionProjects/c_ml/libs/PhysX/bin/linux.clang/checked/libPhysXPvdSDK_static_64.a(PxPvdImpl.cpp.o): in function `physx::pvdsdk::PvdImpl::connect(physx::PxPvdTransport&, physx::PxFlags<physx::PxPvdInstrumentationFlag::Enum, unsigned char>)':
/home/mihai/CLionProjects/PhysX/physx/source/pvd/src/PxPvdImpl.cpp:172: undefined reference to `PxSetPhysXGpuProfilerCallback'

Here are my CMakeLists.txt, in case it helps:

# Include directories
include_directories(
        ${CMAKE_CURRENT_SOURCE_DIR}/include
        ${CMAKE_CURRENT_SOURCE_DIR}/pvdruntime/include
        ${CMAKE_CURRENT_SOURCE_DIR}/source/fastxml/include)

set(PhysXLIBS
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXExtensions_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysX_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXPvdSDK_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXVehicle_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXVehicle2_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXCharacterKinematic_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXCooking_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXCommon_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPhysXFoundation_static_64.a
        ${CMAKE_CURRENT_SOURCE_DIR}/bin/linux.clang/checked/libPVDRuntime_64.so
        )

# add_library(PhysX STATIC)
add_library(PhysX INTERFACE)
target_link_libraries(PhysX INTERFACE ${PhysXLIBS})
target_include_directories(PhysX INTERFACE include)

and

add_subdirectory(PhysX)

add_library(third_party INTERFACE)

target_link_libraries(third_party INTERFACE PhysX)
target_include_directories(third_party INTERFACE PhysX)

finally, I have something like this:

set(ALL_LIBS
        third_party
        )

target_link_libraries(c_ml PUBLIC ${ALL_LIBS})

[pdherasciec]

Thanks, much appreciated! I have never set up a CMake file from scratch for PhysX but maybe you need to also include a dependency to the PhysXGpu library?

As seen here https://github.com/NVIDIA-Omniverse/PhysX/blob/release/104.2/physx/dependencies.xml

[MihaiAnca13]

I'm not really sure how to do that. I tried adding the /include/gpu/PxGpu.h either to the .cpp or to the cmake, but to no avail.

Are you using it with Visual Studio?

[MihaiAnca13]

Found the issue!

After make && make install, you get a folder called install inside PhysX/physx, however, it forgot to copy the PhysX/physx/bin/linux.clang/checked/libPhysXGpu_64.so over. Once I copied that over and added it to my CMakeLists.txt, it worked!

[pdherasciec]

Nice! Glad you got it working!