feat(physics): wire physx sdk into build

engine/third_party/physx/source/foundation/unix/FdUnixFPU.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.
+#include "foundation/PxFPU.h"
+
+#if !defined(__CYGWIN__)
+#include <fenv.h>
+PX_COMPILE_TIME_ASSERT(8 * sizeof(uint32_t) >= sizeof(fenv_t));
+#endif
+
+#if PX_OSX
+// osx defines SIMD as standard for floating point operations.
+#include <xmmintrin.h>
+#endif
+
+physx::PxFPUGuard::PxFPUGuard()
+{
+#if defined(__CYGWIN__)
+#pragma message "FPUGuard::FPUGuard() is not implemented"
+#elif PX_OSX
+	mControlWords[0] = _mm_getcsr();
+	// set default (disable exceptions: _MM_MASK_MASK) and FTZ (_MM_FLUSH_ZERO_ON), DAZ (_MM_DENORMALS_ZERO_ON: (1<<6))
+	_mm_setcsr(_MM_MASK_MASK | _MM_FLUSH_ZERO_ON | (1 << 6));
+#elif defined(__EMSCRIPTEN__)
+// not supported
+#else
+	PX_COMPILE_TIME_ASSERT(sizeof(fenv_t) <= sizeof(mControlWords));
+
+	fegetenv(reinterpret_cast<fenv_t*>(mControlWords));
+	fesetenv(FE_DFL_ENV);
+
+#if PX_LINUX
+	// need to explicitly disable exceptions because fesetenv does not modify
+	// the sse control word on 32bit linux (64bit is fine, but do it here just be sure)
+	fedisableexcept(FE_ALL_EXCEPT);
+#endif
+
+#endif
+}
+
+physx::PxFPUGuard::~PxFPUGuard()
+{
+#if defined(__CYGWIN__)
+#pragma message "PxFPUGuard::~PxFPUGuard() is not implemented"
+#elif PX_OSX
+	// restore control word and clear exception flags
+	// (setting exception state flags cause exceptions on the first following fp operation)
+	_mm_setcsr(mControlWords[0] & ~_MM_EXCEPT_MASK);
+#elif defined(__EMSCRIPTEN__)
+// not supported
+#else
+	fesetenv(reinterpret_cast<fenv_t*>(mControlWords));
+#endif
+}
+
+PX_FOUNDATION_API void physx::PxEnableFPExceptions()
+{
+#if PX_LINUX && !defined(__EMSCRIPTEN__)
+	feclearexcept(FE_ALL_EXCEPT);
+	feenableexcept(FE_INVALID | FE_DIVBYZERO | FE_OVERFLOW);
+#elif PX_OSX
+	// clear any pending exceptions
+	// (setting exception state flags cause exceptions on the first following fp operation)
+	uint32_t control = _mm_getcsr() & ~_MM_EXCEPT_MASK;
+
+	// enable all fp exceptions except inexact and underflow (common, benign)
+	// note: denorm has to be disabled as well because underflow can create denorms
+	_mm_setcsr((control & ~_MM_MASK_MASK) | _MM_MASK_INEXACT | _MM_MASK_UNDERFLOW | _MM_MASK_DENORM);
+
+#endif
+}
+
+PX_FOUNDATION_API void physx::PxDisableFPExceptions()
+{
+#if PX_LINUX && !defined(__EMSCRIPTEN__)
+	fedisableexcept(FE_ALL_EXCEPT);
+#elif PX_OSX
+	// clear any pending exceptions
+	// (setting exception state flags cause exceptions on the first following fp operation)
+	uint32_t control = _mm_getcsr() & ~_MM_EXCEPT_MASK;
+	_mm_setcsr(control | _MM_MASK_MASK);
+#endif
+}