feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/GuSweepMTD.h

@@ -0,0 +1,91 @@
+// 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_SWEEP_MTD_H
+#define GU_SWEEP_MTD_H
+
+namespace physx
+{
+	class PxConvexMeshGeometry;
+	class PxTriangleMeshGeometry;
+	class PxGeometry;
+	class PxHeightFieldGeometry;
+	class PxPlane;
+
+namespace Gu
+{
+	class Sphere;
+	class Capsule;
+
+	bool computeCapsule_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
+
+	bool computeCapsule_HeightFieldMTD(const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
+
+	bool computeBox_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation,
+									bool isDoubleSided, PxGeomSweepHit& hit);    
+
+	bool computeBox_HeightFieldMTD(	const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
+
+	bool computeConvex_TriangleMeshMTD(	const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation,
+										bool isDoubleSided, PxGeomSweepHit& hit);
+
+	bool computeConvex_HeightFieldMTD(	const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
+
+	bool computeSphere_SphereMTD(const Sphere& sphere0, const Sphere& sphere1, PxGeomSweepHit& hit);
+	bool computeSphere_CapsuleMTD(const Sphere& sphere, const Capsule& capsule, PxGeomSweepHit& hit);
+
+	bool computeCapsule_CapsuleMTD(const Capsule& capsule0, const Capsule& capsule1, PxGeomSweepHit& hit);
+
+	bool computePlane_CapsuleMTD(const PxPlane& plane, const Capsule& capsule, PxGeomSweepHit& hit);
+	bool computePlane_BoxMTD(const PxPlane& plane, const Box& box, PxGeomSweepHit& hit);
+	bool computePlane_ConvexMTD(const PxPlane& plane, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, PxGeomSweepHit& hit);
+
+	// PT: wrapper just to avoid duplicating these lines.
+	PX_FORCE_INLINE void setupSweepHitForMTD(PxGeomSweepHit& sweepHit, bool hasContacts, const PxVec3& unitDir)
+	{
+		sweepHit.flags = PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
+		if(!hasContacts)
+		{
+			sweepHit.distance	= 0.0f;
+			sweepHit.normal		= -unitDir;
+		}
+		else
+		{
+			//ML: touching contact. We need to overwrite the normal to the negative of sweep direction
+			if(sweepHit.distance == 0.0f && sweepHit.normal.isZero())
+				sweepHit.normal = -unitDir;
+
+			sweepHit.flags |= PxHitFlag::ePOSITION;
+		}
+	}
+}
+
+}
+
+
+#endif