feat(physics): wire physx sdk into build

engine/third_party/physx/include/geometry/PxTriangleMeshGeometry.h

@@ -0,0 +1,157 @@
+// 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,
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+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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+// 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_TRIANGLE_MESH_GEOMETRY_H
+#define PX_TRIANGLE_MESH_GEOMETRY_H
+#include "geometry/PxGeometry.h"
+#include "geometry/PxMeshScale.h"
+#include "common/PxCoreUtilityTypes.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxTriangleMesh;
+
+/**
+\brief Flags controlling the simulated behavior of the triangle mesh geometry.
+
+Used in ::PxMeshGeometryFlags.
+*/
+struct PxMeshGeometryFlag
+{
+	enum Enum
+	{
+		eTIGHT_BOUNDS = (1<<0),	//!< Use tighter (but more expensive to compute) bounds around the triangle mesh geometry.
+		eDOUBLE_SIDED = (1<<1)	//!< Meshes with this flag set are treated as double-sided.
+								//!< This flag is currently only used for raycasts and sweeps. It is ignored for overlap queries and has no effect on contact generation, i.e. simulation.
+								//!< For detailed specifications of this flag for meshes and heightfields please refer to the Geometry Query section of the user guide.
+								//!< For double-sided collision meshes, consider duplicating their faces with flipped normals.
+	};
+};
+
+/**
+\brief collection of set bits defined in PxMeshGeometryFlag.
+
+\see PxMeshGeometryFlag
+*/
+typedef PxFlags<PxMeshGeometryFlag::Enum,PxU8> PxMeshGeometryFlags;
+PX_FLAGS_OPERATORS(PxMeshGeometryFlag::Enum,PxU8)
+
+/**
+\brief Triangle mesh geometry class.
+
+This class unifies a mesh object with a scaling transform, and 
+lets the combined object be used anywhere a PxGeometry is needed.
+
+The scaling is a transform along arbitrary axes contained in the scale object.
+The vertices of the mesh in geometry (or shape) space is the 
+PxMeshScale::toMat33() transform, multiplied by the vertex space vertices 
+in the PxTriangleMeshGeometry object.
+*/
+class PxTriangleMeshGeometry : public PxGeometry 
+{
+public:
+	/**
+	\brief Constructor. By default creates an empty object with a NULL mesh and identity scale.
+
+	\param[in] mesh		Mesh pointer. May be NULL, though this will not make the object valid for shape construction.
+	\param[in] scaling	Scale factor.
+	\param[in] flags	Mesh flags.
+	*/
+	PX_INLINE PxTriangleMeshGeometry(	PxTriangleMesh* mesh = NULL,
+										const PxMeshScale& scaling = PxMeshScale(),
+										PxMeshGeometryFlags flags = PxMeshGeometryFlags()) :
+		PxGeometry	(PxGeometryType::eTRIANGLEMESH),
+		scale		(scaling),
+		meshFlags	(flags),
+		triangleMesh(mesh)
+	{}
+
+	/**
+	\brief Copy constructor.
+
+	\param[in] that		Other object
+	*/
+	PX_INLINE PxTriangleMeshGeometry(const PxTriangleMeshGeometry& that) :
+		PxGeometry	(that),
+		scale		(that.scale),
+		meshFlags	(that.meshFlags),
+		triangleMesh(that.triangleMesh)
+	{}
+
+	/**
+	\brief Assignment operator
+	*/
+	PX_INLINE void operator=(const PxTriangleMeshGeometry& that)
+	{
+		mType = that.mType;
+		scale = that.scale;
+		meshFlags = that.meshFlags;
+		triangleMesh = that.triangleMesh;
+	}
+
+	/**
+	\brief Returns true if the geometry is valid.
+
+	\return  True if the current settings are valid for shape creation.
+
+	\note A valid triangle mesh has a positive scale value in each direction (scale.scale.x > 0, scale.scale.y > 0, scale.scale.z > 0).
+	It is illegal to call PxPhysics::createShape with a triangle mesh that has zero extents in any direction.
+
+	\see PxPhysics::createShape
+	*/
+	PX_INLINE bool isValid() const;
+
+public:
+	PxMeshScale			scale;				//!< The scaling transformation.
+	PxMeshGeometryFlags	meshFlags;			//!< Mesh flags.
+	PxPadding<3>		paddingFromFlags;	//!< padding for mesh flags
+	PxTriangleMesh*		triangleMesh;		//!< A reference to the mesh object.
+};
+
+PX_INLINE bool PxTriangleMeshGeometry::isValid() const
+{
+	if(mType != PxGeometryType::eTRIANGLEMESH)
+		return false;
+	if(!scale.scale.isFinite() || !scale.rotation.isUnit())
+		return false;
+	if(!scale.isValidForTriangleMesh())
+		return false;
+	if(!triangleMesh)
+		return false;
+
+	return true;
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif