feat(physics): wire physx sdk into build

engine/third_party/physx/source/common/src/CmTransformUtils.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_TRANSFORM_UTILS_H
+#define CM_TRANSFORM_UTILS_H
+
+#include "foundation/PxVecMath.h"
+
+namespace
+{
+
+using namespace physx::aos;
+
+// V3PrepareCross would help here, but it's not on all platforms yet...
+
+PX_FORCE_INLINE void transformFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
+							   const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb, 
+							   FloatV& wo, Vec3V& vo, Vec3V& po)
+{
+	wo = FSub(FMul(wa, wb), V3Dot(va, vb));
+	vo = V3ScaleAdd(va, wb, V3ScaleAdd(vb, wa, V3Cross(va, vb)));
+
+	const Vec3V t1 = V3Scale(pb, FScaleAdd(wa, wa, FLoad(-0.5f)));
+	const Vec3V t2 = V3ScaleAdd(V3Cross(va, pb), wa, t1);
+	const Vec3V t3 = V3ScaleAdd(va, V3Dot(va, pb), t2);
+
+	po = V3ScaleAdd(t3, FLoad(2.f), pa);
+}
+
+PX_FORCE_INLINE void transformInvFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
+								      const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb, 
+								      FloatV& wo, Vec3V& vo, Vec3V& po)
+{
+	wo = FScaleAdd(wa, wb, V3Dot(va, vb));
+	vo = V3NegScaleSub(va, wb, V3ScaleAdd(vb, wa, V3Cross(vb, va)));
+
+	const Vec3V pt = V3Sub(pb, pa);
+	const Vec3V t1 = V3Scale(pt, FScaleAdd(wa, wa, FLoad(-0.5f)));
+	const Vec3V t2 = V3ScaleAdd(V3Cross(pt, va), wa, t1);
+	const Vec3V t3 = V3ScaleAdd(va, V3Dot(va, pt), t2);
+	po = V3Add(t3,t3);
+}
+
+}
+
+namespace physx
+{
+namespace Cm
+{
+
+// PT: actor2World * shape2Actor
+PX_FORCE_INLINE void getStaticGlobalPoseAligned(const PxTransform& actor2World, const PxTransform& shape2Actor, PxTransform& outTransform)
+{
+	using namespace aos;
+
+	PX_ASSERT((size_t(&actor2World)&15) == 0);
+	PX_ASSERT((size_t(&shape2Actor)&15) == 0);
+	PX_ASSERT((size_t(&outTransform)&15) == 0);
+
+	const Vec3V actor2WorldPos = V3LoadA(actor2World.p);
+	const QuatV actor2WorldRot = QuatVLoadA(&actor2World.q.x);
+
+	const Vec3V shape2ActorPos = V3LoadA(shape2Actor.p);
+	const QuatV shape2ActorRot = QuatVLoadA(&shape2Actor.q.x);
+	
+	Vec3V v,p;
+	FloatV w; 
+
+	transformFast(V4GetW(actor2WorldRot), Vec3V_From_Vec4V(actor2WorldRot), actor2WorldPos,
+				  V4GetW(shape2ActorRot), Vec3V_From_Vec4V(shape2ActorRot), shape2ActorPos,
+				  w, v, p);
+
+	V3StoreA(p, outTransform.p);
+	V4StoreA(V4SetW(v,w), &outTransform.q.x);
+}
+
+// PT: body2World * body2Actor.getInverse() * shape2Actor
+PX_FORCE_INLINE void getDynamicGlobalPoseAligned(const PxTransform& body2World, const PxTransform& shape2Actor, const PxTransform& body2Actor, PxTransform& outTransform)
+{
+	PX_ASSERT((size_t(&body2World)&15) == 0);
+	PX_ASSERT((size_t(&shape2Actor)&15) == 0);
+	PX_ASSERT((size_t(&body2Actor)&15) == 0);
+	PX_ASSERT((size_t(&outTransform)&15) == 0);
+
+	using namespace aos;
+
+	const Vec3V shape2ActorPos = V3LoadA(shape2Actor.p);
+	const QuatV shape2ActorRot = QuatVLoadA(&shape2Actor.q.x);
+
+	const Vec3V body2ActorPos = V3LoadA(body2Actor.p);
+	const QuatV body2ActorRot = QuatVLoadA(&body2Actor.q.x);
+
+	const Vec3V body2WorldPos = V3LoadA(body2World.p);
+	const QuatV body2WorldRot = QuatVLoadA(&body2World.q.x);
+
+	Vec3V v1, p1, v2, p2;
+	FloatV w1, w2; 
+
+	transformInvFast(V4GetW(body2ActorRot), Vec3V_From_Vec4V(body2ActorRot), body2ActorPos,
+					 V4GetW(shape2ActorRot), Vec3V_From_Vec4V(shape2ActorRot), shape2ActorPos,
+					 w1, v1, p1);
+
+	transformFast(V4GetW(body2WorldRot), Vec3V_From_Vec4V(body2WorldRot), body2WorldPos,
+			      w1, v1, p1,
+			      w2, v2, p2);
+
+	V3StoreA(p2, outTransform.p);
+	V4StoreA(V4SetW(v2, w2), &outTransform.q.x);
+}
+
+}
+}
+
+#endif