feat(physics): wire physx sdk into build
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engine/third_party/physx/include/extensions/PxGjkQueryExt.h
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engine/third_party/physx/include/extensions/PxGjkQueryExt.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_GJK_QUERY_EXT_H
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#define PX_GJK_QUERY_EXT_H
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#include "geometry/PxGjkQuery.h"
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#include "geometry/PxGeometry.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxSphereGeometry;
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class PxCapsuleGeometry;
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class PxBoxGeometry;
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class PxConvexCoreGeometry;
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class PxConvexMeshGeometry;
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class PxContactBuffer;
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class PxConvexMesh;
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/**
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\brief Pre-made support mapping for built-in convex geometry types.
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*/
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class PxGjkQueryExt
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{
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public:
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/**
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\brief Pre-made support mapping for a sphere
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*/
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struct SphereSupport : PxGjkQuery::Support
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{
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PxReal radius;
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/**
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\brief Default constructor
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*/
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SphereSupport();
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/**
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\brief Constructs a SphereSupport for a sphere radius
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*/
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SphereSupport(PxReal radius);
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/**
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\brief Constructs a SphereSupport for a PxSphereGeometry
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*/
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SphereSupport(const PxSphereGeometry& geom);
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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};
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/**
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\brief Pre-made support mapping for a capsule
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*/
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struct CapsuleSupport : PxGjkQuery::Support
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{
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PxReal radius, halfHeight;
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/**
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\brief Default constructor
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*/
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CapsuleSupport();
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/**
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\brief Constructs a CapsuleSupport for capsule radius and halfHeight
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*/
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CapsuleSupport(PxReal radius, PxReal halfHeight);
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/**
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\brief Constructs a CapsuleSupport for a PxCapsuleGeometry
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*/
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CapsuleSupport(const PxCapsuleGeometry& geom);
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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};
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/**
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\brief Pre-made support mapping for a box
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*/
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struct BoxSupport : PxGjkQuery::Support
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{
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PxVec3 halfExtents;
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PxReal margin;
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/**
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\brief Default constructor
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*/
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BoxSupport();
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/**
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\brief Constructs a BoxSupport for a box halfExtents with optional margin
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*/
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BoxSupport(const PxVec3& halfExtents, PxReal margin = 0);
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/**
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\brief Constructs a BoxSupport for a PxBoxGeometry
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*/
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BoxSupport(const PxBoxGeometry& box, PxReal margin = 0);
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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};
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/**
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\brief Pre-made support mapping for a convex core
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*/
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struct ConvexCoreSupport : PxGjkQuery::Support
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{
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PxU64 shapeData[10];
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/**
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\brief Default constructor
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*/
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ConvexCoreSupport();
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/**
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\brief Constructs a ConvexCoreSupport for a PxConvexCoreGeometry
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*/
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ConvexCoreSupport(const PxConvexCoreGeometry& geom, PxReal margin = 0);
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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};
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/**
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\brief Pre-made support mapping for a convex mesh
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*/
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struct ConvexMeshSupport : PxGjkQuery::Support
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{
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const PxConvexMesh* convexMesh;
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PxVec3 scale;
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PxQuat scaleRotation;
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PxReal margin;
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/**
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\brief Default constructor
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*/
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ConvexMeshSupport();
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/**
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\brief Constructs a BoxSupport for a PxConvexMesh
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*/
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ConvexMeshSupport(const PxConvexMesh& convexMesh, const PxVec3& scale = PxVec3(1), const PxQuat& scaleRotation = PxQuat(PxIdentity), PxReal margin = 0);
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/**
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\brief Constructs a BoxSupport for a PxConvexMeshGeometry
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*/
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ConvexMeshSupport(const PxConvexMeshGeometry& convexMesh, PxReal margin = 0);
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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};
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/**
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\brief Pre-made support mapping for any PhysX's convex geometry (sphere, capsule, box, convex mesh)
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*/
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struct ConvexGeomSupport : PxGjkQuery::Support
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{
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/**
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\brief Default constructor
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*/
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ConvexGeomSupport();
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/**
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\brief Constructs a BoxSupport for a PxGeometry
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*/
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ConvexGeomSupport(const PxGeometry& geom, PxReal margin = 0);
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/**
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\brief Destructor
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*/
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~ConvexGeomSupport();
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/**
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\brief Returns false if ConvexGeomSupport was constructed from non-convex geometry
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*/
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bool isValid() const;
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virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
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virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
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private:
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PxGeometryType::Enum mType;
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union {
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void* alignment;
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PxU8 sphere[sizeof(SphereSupport)];
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PxU8 capsule[sizeof(CapsuleSupport)];
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PxU8 box[sizeof(BoxSupport)];
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PxU8 convexCore[sizeof(ConvexCoreSupport)];
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PxU8 convexMesh[sizeof(ConvexMeshSupport)];
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} mSupport;
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};
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/**
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\brief Generates a contact point between two shapes using GJK-EPA algorithm
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\param[in] a Shape A support mapping
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\param[in] b Shape B support mapping
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\param[in] poseA Shape A transformation
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\param[in] poseB Shape B transformation
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\param[in] contactDistance The distance at which contacts begin to be generated between the shapes
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\param[in] toleranceLength The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
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\param[out] contactBuffer A buffer to store the contact
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\return True if there is a contact.
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*/
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static bool generateContacts(const PxGjkQuery::Support& a, const PxGjkQuery::Support& b, const PxTransform& poseA, const PxTransform& poseB,
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PxReal contactDistance, PxReal toleranceLength, PxContactBuffer& contactBuffer);
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};
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#if !PX_DOXYGEN
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}
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#endif
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#endif
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