feat(physics): wire physx sdk into build

engine/third_party/physx/source/common/src/CmMatrix34.h

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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.  
+
+#ifndef CM_MATRIX34_H
+#define CM_MATRIX34_H
+
+#include "foundation/PxMat34.h"
+#include "foundation/PxVecMath.h"
+
+namespace physx
+{
+namespace Cm
+{
+
+#if !PX_CUDA_COMPILER
+// PT: similar to PxMat33Padded
+class Matrix34FromTransform : public PxMat34
+{
+public:
+	//! Construct from a PxTransform
+	explicit PX_CUDA_CALLABLE PX_FORCE_INLINE Matrix34FromTransform(const PxTransform& other)
+	{
+		using namespace aos;
+
+		const QuatV qV = V4LoadU(&other.q.x);
+		Vec3V column0V, column1V, column2V;
+		QuatGetMat33V(qV, column0V, column1V, column2V);
+
+		// From "buildFrom"
+		// PT: TODO: investigate if these overlapping stores are a problem
+		V4StoreU(Vec4V_From_Vec3V(column0V), &m.column0.x);
+		V4StoreU(Vec4V_From_Vec3V(column1V), &m.column1.x);
+		V4StoreU(Vec4V_From_Vec3V(column2V), &m.column2.x);
+
+		p = other.p;
+	}
+};
+#endif
+
+} // namespace Cm
+
+}
+
+#endif