feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/cooking/GuCookingQuickHullConvexHullLib.h

@@ -0,0 +1,97 @@
+// 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,
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+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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+// 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_COOKING_QUICKHULL_CONVEXHULLLIB_H
+#define GU_COOKING_QUICKHULL_CONVEXHULLLIB_H
+
+#include "GuCookingConvexHullLib.h"
+#include "foundation/PxArray.h"
+#include "foundation/PxUserAllocated.h"
+
+namespace local
+{
+	class QuickHull;
+	struct QuickHullVertex;
+}
+
+namespace physx
+{
+	class ConvexHull;
+
+	//////////////////////////////////////////////////////////////////////////
+	// Quickhull lib constructs the hull from given input points. The resulting hull 
+	// will only contain a subset of the input points. The algorithm does incrementally
+	// adds most furthest vertices to the starting simplex. The produced hulls are build with high precision
+	// and produce more stable and correct results, than the legacy algorithm. 
+	class QuickHullConvexHullLib: public ConvexHullLib, public PxUserAllocated
+	{
+		PX_NOCOPY(QuickHullConvexHullLib)
+	public:
+
+		// functions
+		QuickHullConvexHullLib(const PxConvexMeshDesc& desc, const PxCookingParams& params);
+
+		~QuickHullConvexHullLib();
+
+		// computes the convex hull from provided points
+		virtual PxConvexMeshCookingResult::Enum createConvexHull();
+
+		// fills the convexmeshdesc with computed hull data
+		virtual void fillConvexMeshDesc(PxConvexMeshDesc& desc);
+
+		// provide the edge list information
+		virtual bool createEdgeList(const PxU32, const PxU8* , PxU8** , PxU16** , PxU16** );
+
+	protected:
+		// if vertex limit reached we need to expand the hull using the OBB slicing
+		PxConvexMeshCookingResult::Enum expandHullOBB();
+
+		// if vertex limit reached we need to expand the hull using the plane shifting
+		PxConvexMeshCookingResult::Enum expandHull();
+
+		// checks for collinearity and co planarity
+		// returns true if the simplex was ok, we can reuse the computed tolerances and min/max values
+		bool cleanupForSimplex(PxVec3* vertices, PxU32 vertexCount, local::QuickHullVertex* minimumVertex, 
+			local::QuickHullVertex* maximumVertex, float& tolerance, float& planeTolerance);
+
+		// fill the result desc from quick hull convex
+		void fillConvexMeshDescFromQuickHull(PxConvexMeshDesc& desc);
+
+		// fill the result desc from cropped hull convex
+		void fillConvexMeshDescFromCroppedHull(PxConvexMeshDesc& desc);
+
+	private:
+		local::QuickHull*		mQuickHull;		// the internal quick hull representation
+		ConvexHull*				mCropedConvexHull; //the hull cropped from OBB, used for vertex limit path
+
+		PxU8*					mOutMemoryBuffer;   // memory buffer used for output data
+		PxU16*					mFaceTranslateTable; // translation table mapping output faces to internal quick hull table
+	};
+}
+
+#endif