feat(physics): wire physx sdk into build

engine/third_party/physx/include/PxDeformableSkinning.h

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+// 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) 2008-2025 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_DEFORMABLE_SKINNING_H
+#define PX_DEFORMABLE_SKINNING_H
+
+#include "foundation/PxPreprocessor.h"
+#include "foundation/PxVec2.h"
+#include "foundation/PxVec3.h"
+#include "foundation/PxFlags.h"
+#include "PxNodeIndex.h"
+#include "cudamanager/PxCudaContextManager.h"
+#include "common/PxCoreUtilityTypes.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+    /**
+    \brief Structure for triangle mesh skinning embedding information.
+    */
+    PX_ALIGN_PREFIX(16)
+        struct PxTriangleMeshEmbeddingInfo
+    {
+        /**
+        \brief UV coordinates for skinning.
+        */
+        PxVec2 uv;
+
+        /**
+        \brief Offset along the interpolated normal.
+        */
+        PxReal offsetAlongInterpolatedNormal;
+
+        /**
+        \brief ID of the guide triangle.
+        */
+        PxU32 guideTriangleId;
+
+        /**
+        \brief Constructor for PxTriangleMeshEmbeddingInfo.
+        \param uv_ UV coordinates.
+        \param offsetAlongInterpolatedNormal_ Offset along the interpolated normal.
+        \param guideTriangleId_ ID of the guide triangle.
+        */
+        PxTriangleMeshEmbeddingInfo(
+            const PxVec2& uv_,
+            PxReal offsetAlongInterpolatedNormal_, PxU32 guideTriangleId_) :
+            uv(uv_), offsetAlongInterpolatedNormal(offsetAlongInterpolatedNormal_), guideTriangleId(guideTriangleId_)
+        {}
+    } PX_ALIGN_SUFFIX(16);
+
+    /**
+    \brief Structure for tetrahedron mesh skinning embedding information.
+    */
+    PX_ALIGN_PREFIX(16)
+        struct PxTetrahedronMeshEmbeddingInfo
+    {
+        /**
+        \brief UVW coordinates for skinning.
+        */
+        PxVec3 uvw;
+
+        /**
+        \brief ID of the guide tetrahedron.
+        */
+        PxU32 guideTetrahedronId;
+
+        /**
+        \brief Constructor for PxTetrahedronMeshEmbeddingInfo.
+        \param uvw_ UVW coordinates.
+        \param guideTetrahedronId_ ID of the guide tetrahedron.
+        */
+        PxTetrahedronMeshEmbeddingInfo(const PxVec3& uvw_, PxU32 guideTetrahedronId_) :
+            uvw(uvw_), guideTetrahedronId(guideTetrahedronId_)
+        {}
+    } PX_ALIGN_SUFFIX(16);
+
+#if PX_SUPPORT_GPU_PHYSX
+    /**
+    \brief Structure for GPU data related to tetmesh skinning.
+    */
+    struct PxTetmeshSkinningGpuData
+    {
+        /**
+        \brief Pointer to guide vertices data on the GPU.
+        */
+        PxTypedBoundedData<PxVec3> guideVerticesD;
+
+        /**
+        \brief Pointer to guide tetrahedra data on the GPU.
+        */
+        PxU32* guideTetrahedraD;
+
+        /**
+        \brief Pointer to skinning information per vertex on the GPU.
+        */
+        PxTetrahedronMeshEmbeddingInfo* skinningInfoPerVertexD;
+
+        /**
+        \brief Pointer to embedded vertices data on the GPU.
+        */
+        PxTypedBoundedData<PxVec3> skinnedVerticesD;
+    };
+
+    /**
+    \brief Structure for GPU data related to trimesh skinning.
+    */
+    struct PxTrimeshSkinningGpuData
+    {
+        /**
+        \brief Pointer to guide vertices data on the GPU.
+        */
+        PxTypedBoundedData<PxVec3> guideVerticesD;
+
+        /**
+        \brief Pointer to guide normals data on the GPU.
+        */
+        PxTypedBoundedData<PxVec3> guideNormalsD;
+
+        /**
+        \brief Pointer to guide triangles data on the GPU.
+        */
+        PxU32* guideTrianglesD;
+
+        /**
+        \brief Pointer to skinning information per vertex on the GPU.
+        */
+        PxTriangleMeshEmbeddingInfo* skinningInfoPerVertexD;
+
+        /**
+        \brief Pointer to skinned vertices data on the GPU.
+        */
+        PxTypedBoundedData<PxVec3> skinnedVerticesD;
+
+        /**
+        \brief Half of the deformable surface thickness.
+        */
+        PxReal halfSurfaceThickness;
+
+        /**
+        \brief Number of guide triangles.
+        */
+        PxU32 nbGuideTriangles;
+    };
+
+    /**
+    \brief Abstract base class for deformable skinning operations.
+    */
+    class PxDeformableSkinning
+    {
+    public:
+        /**
+        \brief Computes normal vectors for cloth skinning data.
+        \param skinningDataArrayD Array of cloth skinning data structures.
+        \param arrayLength The number of elements in the skinning data array.
+        \param stream CUDA stream to be used for computation.
+        \param nbGpuThreads Number of GPU threads to use per cloth (default is 8192).
+        */
+        virtual void computeNormalVectors(
+            PxTrimeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
+            CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
+
+        /**
+        \brief Evaluates interpolated deformable surface vertices.
+        \param skinningDataArrayD Array of deformable surface skinning data structures.
+        \param arrayLength The number of elements in the skinning data array.
+        \param stream CUDA stream to be used for computation.
+        \param nbGpuThreads Number of GPU threads to use per deformable surface (default is 8192).
+        */
+        virtual void evaluateVerticesEmbeddedIntoSurface(
+            PxTrimeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
+            CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
+
+        /**
+        \brief Evaluates interpolated deformable volume vertices.
+        \param skinningDataArrayD Array of deformable volume skinning data structures.
+        \param arrayLength Length of the skinning data array.
+        \param stream CUDA stream to be used for computation.
+        \param nbGpuThreads Number of GPU threads to use per deformable volume (default is 8192).
+        */
+        virtual void evaluateVerticesEmbeddedIntoVolume(
+            PxTetmeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
+            CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
+
+        /**
+        \brief Virtual destructor for PxDeformableSkinning.
+        */
+        virtual ~PxDeformableSkinning() { }
+    };
+#endif
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif