feat(physics): wire physx sdk into build

engine/third_party/physx/include/PxResidual.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_RESIDUAL_H
+#define PX_RESIDUAL_H
+
+#include "PxPhysXConfig.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+	/**
+	\brief Structure representing residual values.
+
+	This struct holds residual values, typically used in physics simulations to measure error or discrepancy.
+	*/
+	struct PxResidual
+	{
+		PxReal rmsResidual; //!< Root mean square residual value.
+		PxReal maxResidual; //!< Maximum residual value.
+
+		PxResidual() : rmsResidual(0.0f), maxResidual(0.0f) {}
+	};
+
+	/**
+	\brief Structure representing residual values
+
+	This struct holds residual values for both position and velocity iterations.
+	*/
+	struct PxResiduals
+	{
+		PxResidual positionIterationResidual; //!< Residual values for position iteration.
+		PxResidual velocityIterationResidual; //!< Residual values for velocity iteration.
+	};
+
+	typedef PxResiduals PxArticulationResidual;
+	typedef PxResiduals PxSceneResidual;
+
+	/**
+	\brief Structure representing residual values for a constraint.
+
+	This struct holds residual values for both position and velocity iterations specific to a constraint.
+	*/
+	struct PxConstraintResidual
+	{
+		PxReal positionIterationResidual; //!< Residual value for position iteration.
+		PxReal velocityIterationResidual; //!< Residual value for velocity iteration.
+
+		PxConstraintResidual() : positionIterationResidual(0.0f), velocityIterationResidual(0.0f) {}
+	};
+
+#if !PX_DOXYGEN
+}
+#endif
+
+#endif