feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/GuMTD.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 GU_MTD_H
+#define GU_MTD_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxTransform.h"
+#include "geometry/PxGeometry.h"
+
+namespace physx
+{
+namespace Gu
+{
+	// PT: we use a define to be able to quickly change the signature of all MTD functions.
+	// (this also ensures they all use consistent names for passed parameters).
+	// \param[out]	mtd		computed depenetration dir
+	// \param[out]	depth	computed depenetration depth
+	// \param[in]	geom0	first geometry object
+	// \param[in]	pose0	pose of first geometry object
+	// \param[in]	geom1	second geometry object
+	// \param[in]	pose1	pose of second geometry object
+	// \param[in]	cache	optional cached data for triggers
+	#define GU_MTD_FUNC_PARAMS	PxVec3& mtd, PxF32& depth,								\
+								const PxGeometry& geom0, const PxTransform32& pose0,	\
+								const PxGeometry& geom1, const PxTransform32& pose1
+
+	// PT: function pointer for Geom-indexed MTD functions
+	// See GU_MTD_FUNC_PARAMS for function parameters details.
+	// \return		true if an overlap was found, false otherwise
+	// \note		depenetration vector D is equal to mtd * depth. It should be applied to the 1st object, to get out of the 2nd object.
+	typedef bool (*GeomMTDFunc)	(GU_MTD_FUNC_PARAMS);
+
+	PX_FORCE_INLINE PxF32 manualNormalize(PxVec3& mtd, const PxVec3& normal, PxReal lenSq)
+	{
+		const PxF32 len = PxSqrt(lenSq);
+
+		// We do a *manual* normalization to check for singularity condition
+		if(lenSq < 1e-6f)
+			mtd = PxVec3(1.0f, 0.0f, 0.0f);			// PT: zero normal => pick up random one
+		else
+			mtd = normal * 1.0f / len;
+
+		return len;
+	}
+}
+}
+
+#endif