feat(physics): wire physx sdk into build

engine/third_party/physx/snippets/snippetgeometryquery/SnippetGeometryQueryRender.cpp

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+// 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.  
+
+#ifdef RENDER_SNIPPET
+
+#include "PxPhysicsAPI.h"
+
+#include "../snippetrender/SnippetRender.h"
+#include "../snippetrender/SnippetCamera.h"
+#include "../snippetutils/SnippetUtils.h"
+
+using namespace physx;
+
+extern void initPhysics(bool interactive);
+extern void stepPhysics(bool interactive);	
+extern void cleanupPhysics(bool interactive);
+extern void keyPress(unsigned char key, const PxTransform& camera);
+extern const PxGeometry& getTestGeometry();
+extern void renderText();
+
+namespace
+{
+Snippets::Camera* sCamera;
+
+void renderCallback()
+{
+	stepPhysics(true);
+
+	static float time = 0.0f;
+	time += 0.003f;
+
+	const PxQuat qx = PxGetRotXQuat(time);
+	const PxQuat qy = PxGetRotYQuat(time*1.7f);
+	const PxQuat qz = PxGetRotZQuat(time*1.33f);
+
+	const PxTransform pose(PxVec3(0.0f), qx*qy*qz);
+
+	Snippets::startRender(sCamera);
+
+	const PxGeometry& geom = getTestGeometry();
+	const PxU32 screenWidth = Snippets::getScreenWidth();
+	const PxU32 screenHeight = Snippets::getScreenHeight();
+	const PxVec3 camPos = sCamera->getEye();
+	const PxVec3 camDir = sCamera->getDir();
+	const PxU32	RAYTRACING_RENDER_WIDTH = 256;
+	const PxU32	RAYTRACING_RENDER_HEIGHT = 256;
+
+	const PxU32 textureWidth = RAYTRACING_RENDER_WIDTH;
+	const PxU32 textureHeight = RAYTRACING_RENDER_HEIGHT;
+
+	GLubyte* pixels = new GLubyte[textureWidth*textureHeight*4];
+
+	const float fScreenWidth = float(screenWidth)/float(RAYTRACING_RENDER_WIDTH);
+	const float fScreenHeight = float(screenHeight)/float(RAYTRACING_RENDER_HEIGHT);
+
+	GLubyte* buffer = pixels;
+	for(PxU32 j=0;j<RAYTRACING_RENDER_HEIGHT;j++)
+	{
+		const PxU32 yi = PxU32(fScreenHeight*float(j));
+		for(PxU32 i=0;i<RAYTRACING_RENDER_WIDTH;i++)
+		{
+			const PxU32 xi = PxU32(fScreenWidth*float(i));
+			const PxVec3 dir = Snippets::computeWorldRay(xi, yi, camDir);
+
+			PxGeomRaycastHit hit;
+			if(PxGeometryQuery::raycast(camPos, dir, geom, pose, 5000.0f, PxHitFlag::eDEFAULT, 1, &hit))
+			{
+				buffer[0] = 128+GLubyte(hit.normal.x*127.0f);
+				buffer[1] = 128+GLubyte(hit.normal.y*127.0f);
+				buffer[2] = 128+GLubyte(hit.normal.z*127.0f);
+				buffer[3] = 255;
+			}
+			else
+			{
+				buffer[0] = 0;
+				buffer[1] = 0;
+				buffer[2] = 0;
+				buffer[3] = 255;
+			}
+
+			buffer+=4;
+		}
+	}
+
+	const GLuint texID = Snippets::CreateTexture(textureWidth, textureHeight, pixels, false);
+
+	Snippets::DisplayTexture(texID, RAYTRACING_RENDER_WIDTH, 10);
+
+	delete [] pixels;
+	Snippets::ReleaseTexture(texID);
+
+
+//	Snippets::DrawRectangle(0.0f, 1.0f, 0.0f, 1.0f, PxVec3(0.0f), PxVec3(1.0f), 1.0f, 768, 768, false, false);
+
+//		PxVec3 camPos = sCamera->getEye();
+//		PxVec3 camDir = sCamera->getDir();
+//		printf("camPos: (%ff, %ff, %ff)\n", camPos.x, camPos.y, camPos.z);
+//		printf("camDir: (%ff, %ff, %ff)\n", camDir.x, camDir.y, camDir.z);
+	
+	const PxVec3 color(1.0f, 0.5f, 0.25f);
+	const PxGeometryHolder gh(geom);
+	Snippets::renderGeoms(1, &gh, &pose, false, color);
+
+	renderText();
+
+	Snippets::finishRender();
+}
+
+void exitCallback()
+{
+	delete sCamera;
+	cleanupPhysics(true);
+}
+}
+
+void renderLoop()
+{
+	sCamera = new Snippets::Camera(PxVec3(-1.301793f, 2.118334f, 7.282349f), PxVec3(0.209045f, -0.311980f, -0.926806f));
+
+	Snippets::setupDefault("PhysX Snippet GeometryQuery", sCamera, keyPress, renderCallback, exitCallback);
+
+	initPhysics(true);
+	glutMainLoop();
+}
+#endif