feat(physics): wire physx sdk into build
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195
engine/third_party/physx/source/geomutils/src/distance/GuDistanceTriangleTriangle.cpp
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195
engine/third_party/physx/source/geomutils/src/distance/GuDistanceTriangleTriangle.cpp
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "GuDistanceTriangleTriangle.h"
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#include "foundation/PxVecMath.h"
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using namespace physx;
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using namespace Gu;
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using namespace aos;
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void edgeEdgeDist(PxVec3& x, PxVec3& y, const PxVec3& p, const PxVec3& a, const PxVec3& q, const PxVec3& b);
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float Gu::distanceTriangleTriangleSquared(PxVec3& cp, PxVec3& cq, const PxVec3p p[3], const PxVec3p q[3])
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{
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PxVec3p Sv[3];
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V4StoreU(V4Sub(V4LoadU(&p[1].x), V4LoadU(&p[0].x)), &Sv[0].x);
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V4StoreU(V4Sub(V4LoadU(&p[2].x), V4LoadU(&p[1].x)), &Sv[1].x);
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V4StoreU(V4Sub(V4LoadU(&p[0].x), V4LoadU(&p[2].x)), &Sv[2].x);
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PxVec3p Tv[3];
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V4StoreU(V4Sub(V4LoadU(&q[1].x), V4LoadU(&q[0].x)), &Tv[0].x);
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V4StoreU(V4Sub(V4LoadU(&q[2].x), V4LoadU(&q[1].x)), &Tv[1].x);
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V4StoreU(V4Sub(V4LoadU(&q[0].x), V4LoadU(&q[2].x)), &Tv[2].x);
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PxVec3 minP, minQ;
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bool shown_disjoint = false;
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float mindd = PX_MAX_F32;
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for(PxU32 i=0;i<3;i++)
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{
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for(PxU32 j=0;j<3;j++)
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{
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edgeEdgeDist(cp, cq, p[i], Sv[i], q[j], Tv[j]);
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const PxVec3 V = cq - cp;
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const float dd = V.dot(V);
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if(dd<=mindd)
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{
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minP = cp;
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minQ = cq;
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mindd = dd;
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PxU32 id = i+2;
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if(id>=3)
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id-=3;
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PxVec3 Z = p[id] - cp;
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float a = Z.dot(V);
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id = j+2;
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if(id>=3)
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id-=3;
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Z = q[id] - cq;
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float b = Z.dot(V);
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if((a<=0.0f) && (b>=0.0f))
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return V.dot(V);
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if(a<=0.0f) a = 0.0f;
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else if(b>0.0f) b = 0.0f;
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if((mindd - a + b) > 0.0f)
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shown_disjoint = true;
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}
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}
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}
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PxVec3 Sn = Sv[0].cross(Sv[1]);
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float Snl = Sn.dot(Sn);
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if(Snl>1e-15f)
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{
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const PxVec3 Tp((p[0] - q[0]).dot(Sn),
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(p[0] - q[1]).dot(Sn),
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(p[0] - q[2]).dot(Sn));
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int index = -1;
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if((Tp[0]>0.0f) && (Tp[1]>0.0f) && (Tp[2]>0.0f))
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{
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if(Tp[0]<Tp[1]) index = 0; else index = 1;
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if(Tp[2]<Tp[index]) index = 2;
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}
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else if((Tp[0]<0.0f) && (Tp[1]<0.0f) && (Tp[2]<0.0f))
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{
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if(Tp[0]>Tp[1]) index = 0; else index = 1;
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if(Tp[2]>Tp[index]) index = 2;
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}
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if(index >= 0)
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{
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shown_disjoint = true;
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const PxVec3& qIndex = q[index];
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PxVec3 V = qIndex - p[0];
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PxVec3 Z = Sn.cross(Sv[0]);
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if(V.dot(Z)>0.0f)
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{
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V = qIndex - p[1];
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Z = Sn.cross(Sv[1]);
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if(V.dot(Z)>0.0f)
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{
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V = qIndex - p[2];
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Z = Sn.cross(Sv[2]);
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if(V.dot(Z)>0.0f)
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{
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cp = qIndex + Sn * Tp[index]/Snl;
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cq = qIndex;
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return (cp - cq).magnitudeSquared();
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}
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}
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}
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}
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}
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PxVec3 Tn = Tv[0].cross(Tv[1]);
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float Tnl = Tn.dot(Tn);
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if(Tnl>1e-15f)
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{
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const PxVec3 Sp((q[0] - p[0]).dot(Tn),
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(q[0] - p[1]).dot(Tn),
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(q[0] - p[2]).dot(Tn));
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int index = -1;
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if((Sp[0]>0.0f) && (Sp[1]>0.0f) && (Sp[2]>0.0f))
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{
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if(Sp[0]<Sp[1]) index = 0; else index = 1;
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if(Sp[2]<Sp[index]) index = 2;
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}
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else if((Sp[0]<0.0f) && (Sp[1]<0.0f) && (Sp[2]<0.0f))
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{
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if(Sp[0]>Sp[1]) index = 0; else index = 1;
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if(Sp[2]>Sp[index]) index = 2;
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}
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if(index >= 0)
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{
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shown_disjoint = true;
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const PxVec3& pIndex = p[index];
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PxVec3 V = pIndex - q[0];
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PxVec3 Z = Tn.cross(Tv[0]);
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if(V.dot(Z)>0.0f)
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{
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V = pIndex - q[1];
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Z = Tn.cross(Tv[1]);
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if(V.dot(Z)>0.0f)
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{
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V = pIndex - q[2];
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Z = Tn.cross(Tv[2]);
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if(V.dot(Z)>0.0f)
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{
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cp = pIndex;
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cq = pIndex + Tn * Sp[index]/Tnl;
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return (cp - cq).magnitudeSquared();
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}
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}
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}
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}
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}
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if(shown_disjoint)
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{
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cp = minP;
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cq = minQ;
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return mindd;
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}
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else return 0.0f;
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}
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