feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/gjk/GuGJKUtil.h

@@ -0,0 +1,74 @@
+// 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_GJKUTIL_H
+#define GU_GJKUTIL_H
+
+#include "foundation/PxVecMath.h"
+
+/*
+	This file is used to avoid the inner loop cross DLL calls
+*/
+namespace physx
+{
+namespace Gu
+{
+
+enum GjkStatus
+{
+	GJK_NON_INTERSECT,	// two shapes doesn't intersect
+	GJK_CLOSE,			// two shapes doesn't intersect and gjk algorithm will return closest point information
+	GJK_CONTACT,		// two shapes overlap within margin 
+	GJK_UNDEFINED,		// undefined status
+	GJK_DEGENERATE,		// gjk can't converge
+
+	EPA_CONTACT,		// two shapes intersect
+	EPA_DEGENERATE,		// epa can't converge
+	EPA_FAIL			// epa fail to construct an initial polygon to work with 
+};
+
+struct GjkOutput
+{
+public:
+	GjkOutput()
+	{
+		using namespace aos;
+		closestA = closestB = normal = V3Zero();
+		penDep = FZero();
+	}
+	aos::Vec3V closestA;
+	aos::Vec3V closestB;
+	aos::Vec3V normal;
+	aos::Vec3V searchDir;
+	aos::FloatV penDep;
+};
+
+}//Gu
+}//physx
+
+#endif