feat(physics): wire physx sdk into build

engine/third_party/physx/include/vehicle2/physxConstraints/PxVehiclePhysXConstraintFunctions.h

@@ -0,0 +1,88 @@
+// 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.  
+
+#pragma once
+
+
+#include "foundation/PxVec3.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+namespace vehicle2
+{
+#endif
+
+struct PxVehicleSuspensionParams;
+struct PxVehiclePhysXSuspensionLimitConstraintParams;
+struct PxVehicleSuspensionState;
+struct PxVehicleSuspensionComplianceState;
+struct PxVehicleTireDirectionState;
+struct PxVehicleTireStickyState;
+struct PxVehicleRigidBodyState;
+struct PxVehiclePhysXConstraintState;
+
+/**
+\brief Read constraint data from the vehicle's internal state for a single wheel and write it to a 
+structure that will be read by the associated PxScene and used to impose the constraints during the next 
+PxScene::simulate() step.
+\param[in] suspensionParams describes the suspension frame.
+\param[in] suspensionLimitParams describes the restitution value applied to any constraint triggered by 
+the suspension travel limit.
+\param[in] suspensionState describes the excess suspension compression beyond the suspension travel limit that will be 
+resolved with a constraint.
+\param[in] suspensionComplianceState describes the effect of suspension compliance on the effective application point
+of the suspension force.
+\param[in] groundPlaneNormal The normal direction of the ground plane the wheel is driving on. A normalized vector is
+           expected.
+\param[in] tireStickyDampingLong The damping coefficient to use in the constraint to approach a zero target velocity
+           along the longitudinal tire axis.
+\param[in] tireStickyDampingLat Same concept as tireStickyDampingLong but for the lateral tire axis.
+\param[in] tireDirectionState describes the longitudinal and lateral directions of the tire in the world frame.
+\param[in] tireStickyState describes the low speed state of the tire in the longitudinal and lateral directions.
+\param[in] rigidBodyState describes the pose of the rigid body.
+\param[out] constraintState is the data structure that will be read by the associated PxScene in the next call to 
+PxScene::simulate().
+\note Constraints include suspension constraints to account for suspension travel limit and sticky 
+tire constraints that bring the vehicle to rest at low longitudinal and lateral speed.
+*/
+void PxVehiclePhysXConstraintStatesUpdate
+(const PxVehicleSuspensionParams& suspensionParams,
+ const PxVehiclePhysXSuspensionLimitConstraintParams& suspensionLimitParams,
+ const PxVehicleSuspensionState& suspensionState, const PxVehicleSuspensionComplianceState& suspensionComplianceState,
+ const PxVec3& groundPlaneNormal,
+ const PxReal tireStickyDampingLong, const PxReal tireStickyDampingLat, 
+ const PxVehicleTireDirectionState& tireDirectionState, const PxVehicleTireStickyState& tireStickyState,
+ const PxVehicleRigidBodyState& rigidBodyState,
+ PxVehiclePhysXConstraintState& constraintState);
+
+#if !PX_DOXYGEN
+} // namespace vehicle2
+} // namespace physx
+#endif
+