feat(physics): wire physx sdk into build

engine/third_party/physx/include/vehicle2/physxConstraints/PxVehiclePhysXConstraintHelpers.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/PxPreprocessor.h"
+
+
+#if !PX_DOXYGEN
+namespace physx
+{
+
+class PxPhysics;
+class PxRigidBody;
+
+namespace vehicle2
+{
+#endif
+
+struct PxVehicleAxleDescription;
+struct PxVehiclePhysXConstraints;
+
+/**
+\brief Instantiate the PhysX custom constraints.
+
+Custom constraints will resolve excess suspension compression and velocity constraints that serve as
+a replacement low speed tire model.
+
+\param[in] axleDescription describes the axles of the vehicle and the wheels on each axle.
+\param[in] physics is a PxPhysics instance.
+\param[in] physxActor is the vehicle's PhysX representation as a PxRigidBody
+\param[in] vehicleConstraints is a wrapper class that holds pointers to PhysX objects required to implement the custom constraint.
+*/
+void PxVehicleConstraintsCreate
+(const PxVehicleAxleDescription& axleDescription,
+ PxPhysics& physics, PxRigidBody& physxActor,
+ PxVehiclePhysXConstraints& vehicleConstraints);
+
+/**
+\brief To ensure the constraints are processed by the PhysX scene they are marked as dirty prior to each simulate step.
+
+\param[in] vehicleConstraints is a wrapper class that holds pointers to PhysX objects required to implement the custom constraint.
+
+\see PxVehicleConstraintsCreate
+*/
+void PxVehicleConstraintsDirtyStateUpdate
+(PxVehiclePhysXConstraints& vehicleConstraints);
+
+/**
+\brief Destroy the PhysX custom constraints.
+
+\param[in,out] vehicleConstraints describes the PhysX custom constraints to be released.
+
+\see PxVehicleConstraintsCreate
+*/
+void PxVehicleConstraintsDestroy
+(PxVehiclePhysXConstraints& vehicleConstraints);
+
+#if !PX_DOXYGEN
+} // namespace vehicle2
+} // namespace physx
+#endif
+