feat(physics): wire physx sdk into build

engine/third_party/physx/snippets/snippetjointdrive/SnippetJointDriveRender.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"
+
+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 void renderText();
+
+namespace
+{
+Snippets::Camera* sCamera;
+
+void renderCallback()
+{
+	stepPhysics(true);
+
+	Snippets::startRender(sCamera);
+
+	PxScene* scene;
+	PxGetPhysics().getScenes(&scene,1);
+	PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
+	if(nbActors)
+	{
+		const PxVec3 dynColor(1.0f, 0.5f, 0.25f);
+
+		PxArray<PxRigidActor*> actors(nbActors);
+		scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
+		Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true, dynColor);
+	}
+
+	{
+		const PxRenderBuffer& renderBuffer = scene->getRenderBuffer();
+		const PxDebugLine* lines = renderBuffer.getLines();
+		const PxU32 nbLines = renderBuffer.getNbLines();
+		for(PxU32 i=0;i<nbLines;i++)
+		{
+			const float b = float((lines[i].color0 & 0xff))/255.0f;
+			const float g = float(((lines[i].color0>>8) & 0xff))/255.0f;
+			const float r = float(((lines[i].color0>>16) & 0xff))/255.0f;
+
+			Snippets::DrawLine(lines[i].pos0, lines[i].pos1, PxVec3(r, g, b));
+		}
+	}
+
+	renderText();
+
+	Snippets::finishRender();
+}
+
+void cleanup()
+{
+	delete sCamera;
+	cleanupPhysics(true);
+}
+
+void exitCallback()
+{
+}
+}
+
+void renderLoop()
+{
+	sCamera = new Snippets::Camera(PxVec3(1.847750f, 2.8f, -15.241850f), PxVec3(-0.219386f, -0.289038f, -0.931841f));
+
+	Snippets::setupDefault("PhysX Snippet Joint Drive", sCamera, keyPress, renderCallback, exitCallback);
+
+	initPhysics(true);
+	glutMainLoop();
+
+	cleanup();
+}
+#endif