feat(physics): wire physx sdk into build

engine/third_party/physx/include/foundation/PxTransform.h

@@ -0,0 +1,261 @@
+// 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_TRANSFORM_H
+#define PX_TRANSFORM_H
+
+#include "foundation/PxQuat.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+
+template<class Type> class PxMat44T;
+
+/*!
+\brief class representing a rigid euclidean transform as a quaternion and a vector
+*/
+
+template<class Type>
+class PxTransformT
+{
+  public:
+	PxQuatT<Type>	q;
+	PxVec3T<Type>	p;
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT()
+	{
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(PxIDENTITY) : q(PxIdentity), p(PxZero)
+	{
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxVec3T<Type>& position) : q(PxIdentity), p(position)
+	{
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxQuatT<Type>& orientation) : q(orientation), p(Type(0))
+	{
+		PX_ASSERT(orientation.isSane());
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(Type x, Type y, Type z, PxQuatT<Type> aQ = PxQuatT<Type>(PxIdentity)) : q(aQ), p(x, y, z)
+	{
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxVec3T<Type>& p0, const PxQuatT<Type>& q0) : q(q0), p(p0)
+	{
+		PX_ASSERT(q0.isSane());
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransformT(const PxMat44T<Type>& m); // defined in PxMat44.h
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT(const PxTransformT& other)
+	{
+		p = other.p;
+		q = other.q;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(const PxTransformT& other)
+	{
+		p = other.p;
+		q = other.q;
+	}
+
+	/**
+	\brief returns true if the two transforms are exactly equal
+	*/
+	PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransformT& t) const
+	{
+		return p == t.p && q == t.q;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT operator*(const PxTransformT& x) const
+	{
+		PX_ASSERT(x.isSane());
+		return transform(x);
+	}
+
+	//! Equals matrix multiplication
+	PX_CUDA_CALLABLE PX_INLINE PxTransformT& operator*=(const PxTransformT& other)
+	{
+		*this = *this * other;
+		return *this;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getInverse() const
+	{
+		PX_ASSERT(isFinite());
+		return PxTransformT(q.rotateInv(-p), q.getConjugate());
+	}
+
+	/**
+	\brief return a normalized transform (i.e. one in which the quaternion has unit magnitude)
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT getNormalized() const
+	{
+		return PxTransformT(p, q.getNormalized());
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transform(const PxVec3T<Type>& input) const
+	{
+		PX_ASSERT(isFinite());
+		return q.rotate(input) + p;
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> transformInv(const PxVec3T<Type>& input) const
+	{
+		PX_ASSERT(isFinite());
+		return q.rotateInv(input - p);
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotate(const PxVec3T<Type>& input) const
+	{
+		PX_ASSERT(isFinite());
+		return q.rotate(input);
+	}
+
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T<Type> rotateInv(const PxVec3T<Type>& input) const
+	{
+		PX_ASSERT(isFinite());
+		return q.rotateInv(input);
+	}
+
+	//! Transform transform to parent (returns compound transform: first src, then *this)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transform(const PxTransformT& src) const
+	{
+		PX_ASSERT(src.isSane());
+		PX_ASSERT(isSane());
+		// src = [srct, srcr] -> [r*srct + t, r*srcr]
+		return PxTransformT(q.rotate(src.p) + p, q * src.q);
+	}
+
+	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransformT transformInv(const PxTransformT& src) const
+	{
+		PX_ASSERT(src.isSane());
+		PX_ASSERT(isFinite());
+		// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
+		const PxQuatT<Type> qinv = q.getConjugate();
+		return PxTransformT(qinv.rotate(src.p - p), qinv * src.q);
+	}
+
+	/**
+	\brief returns true if finite and q is a unit quaternion
+	*/
+	PX_CUDA_CALLABLE bool isValid() const
+	{
+		return p.isFinite() && q.isFinite() && q.isUnit();
+	}
+
+	/**
+	\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
+	vs isValid
+	*/
+	PX_CUDA_CALLABLE bool isSane() const
+	{
+		return isFinite() && q.isSane();
+	}
+
+	/**
+	\brief returns true if all elems are finite (not NAN or INF, etc.)
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const
+	{
+		return p.isFinite() && q.isFinite();
+	}
+};
+
+typedef PxTransformT<float>		PxTransform;
+typedef PxTransformT<double>	PxTransformd;
+
+/*!
+\brief	A generic padded & aligned transform class.
+
+This can be used for safe faster loads & stores, and faster address computations
+(the default PxTransformT often generating imuls for this otherwise). Padding bytes
+can be reused to store useful data if needed.
+*/
+struct PX_ALIGN_PREFIX(16) PxTransformPadded : PxTransform
+{
+	PX_FORCE_INLINE PxTransformPadded()
+	{
+	}
+
+	PX_FORCE_INLINE PxTransformPadded(const PxTransformPadded& other) : PxTransform(other)
+	{
+	}
+
+	PX_FORCE_INLINE explicit PxTransformPadded(const PxTransform& other) : PxTransform(other)
+	{
+	}
+
+	PX_FORCE_INLINE explicit PxTransformPadded(PxIDENTITY) : PxTransform(PxIdentity)
+	{
+	}
+
+	PX_FORCE_INLINE explicit PxTransformPadded(const PxVec3& position) : PxTransform(position)
+	{
+	}
+
+	PX_FORCE_INLINE explicit PxTransformPadded(const PxQuat& orientation) : PxTransform(orientation)
+	{
+	}
+
+	PX_FORCE_INLINE PxTransformPadded(const PxVec3& p0, const PxQuat& q0) : PxTransform(p0, q0)
+	{
+	}
+
+	PX_FORCE_INLINE void operator=(const PxTransformPadded& other)
+	{
+		p = other.p;
+		q = other.q;
+	}
+
+	PX_FORCE_INLINE void operator=(const PxTransform& other)
+	{
+		p = other.p;
+		q = other.q;
+	}
+
+	PxU32		padding;
+}
+PX_ALIGN_SUFFIX(16);
+PX_COMPILE_TIME_ASSERT(sizeof(PxTransformPadded)==32);
+
+typedef PxTransformPadded	PxTransform32;
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif
+