feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/intersection/GuIntersectionBoxBox.cpp

@@ -0,0 +1,138 @@
+// 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.  
+
+#include "GuIntersectionBoxBox.h"
+
+using namespace physx;
+
+bool Gu::intersectOBBOBB(const PxVec3& e0, const PxVec3& c0, const PxMat33& r0, const PxVec3& e1, const PxVec3& c1, const PxMat33& r1, bool full_test)
+{
+	// Translation, in parent frame
+	const PxVec3 v = c1 - c0;
+	// Translation, in A's frame
+	const PxVec3 T(v.dot(r0[0]), v.dot(r0[1]), v.dot(r0[2]));
+
+	// B's basis with respect to A's local frame
+	PxReal R[3][3];
+	PxReal FR[3][3];
+	PxReal ra, rb, t;
+
+	// Calculate rotation matrix
+	for(PxU32 i=0;i<3;i++)
+	{
+		for(PxU32 k=0;k<3;k++)
+		{
+			R[i][k] = r0[i].dot(r1[k]);
+			FR[i][k] = 1e-6f + PxAbs(R[i][k]);	// Precompute fabs matrix
+		}
+	}
+
+	// A's basis vectors
+	for(PxU32 i=0;i<3;i++)
+	{
+		ra = e0[i];
+
+		rb = e1[0]*FR[i][0] + e1[1]*FR[i][1] + e1[2]*FR[i][2];
+
+		t = PxAbs(T[i]);
+
+		if(t > ra + rb)		return false;
+	}
+
+	// B's basis vectors
+	for(PxU32 k=0;k<3;k++)
+	{
+		ra = e0[0]*FR[0][k] + e0[1]*FR[1][k] + e0[2]*FR[2][k];
+
+		rb = e1[k];
+
+		t = PxAbs(T[0]*R[0][k] + T[1]*R[1][k] + T[2]*R[2][k]);
+
+		if( t > ra + rb )	return false;
+	}
+
+	if(full_test)
+	{
+		//9 cross products
+
+		//L = A0 x B0
+		ra	= e0[1]*FR[2][0] + e0[2]*FR[1][0];
+		rb	= e1[1]*FR[0][2] + e1[2]*FR[0][1];
+		t	= PxAbs(T[2]*R[1][0] - T[1]*R[2][0]);
+		if(t > ra + rb)	return false;
+
+		//L = A0 x B1
+		ra	= e0[1]*FR[2][1] + e0[2]*FR[1][1];
+		rb	= e1[0]*FR[0][2] + e1[2]*FR[0][0];
+		t	= PxAbs(T[2]*R[1][1] - T[1]*R[2][1]);
+		if(t > ra + rb)	return false;
+
+		//L = A0 x B2
+		ra	= e0[1]*FR[2][2] + e0[2]*FR[1][2];
+		rb	= e1[0]*FR[0][1] + e1[1]*FR[0][0];
+		t	= PxAbs(T[2]*R[1][2] - T[1]*R[2][2]);
+		if(t > ra + rb)	return false;
+
+		//L = A1 x B0
+		ra	= e0[0]*FR[2][0] + e0[2]*FR[0][0];
+		rb	= e1[1]*FR[1][2] + e1[2]*FR[1][1];
+		t	= PxAbs(T[0]*R[2][0] - T[2]*R[0][0]);
+		if(t > ra + rb)	return false;
+
+		//L = A1 x B1
+		ra	= e0[0]*FR[2][1] + e0[2]*FR[0][1];
+		rb	= e1[0]*FR[1][2] + e1[2]*FR[1][0];
+		t	= PxAbs(T[0]*R[2][1] - T[2]*R[0][1]);
+		if(t > ra + rb)	return false;
+
+		//L = A1 x B2
+		ra	= e0[0]*FR[2][2] + e0[2]*FR[0][2];
+		rb	= e1[0]*FR[1][1] + e1[1]*FR[1][0];
+		t	= PxAbs(T[0]*R[2][2] - T[2]*R[0][2]);
+		if(t > ra + rb)	return false;
+
+		//L = A2 x B0
+		ra	= e0[0]*FR[1][0] + e0[1]*FR[0][0];
+		rb	= e1[1]*FR[2][2] + e1[2]*FR[2][1];
+		t	= PxAbs(T[1]*R[0][0] - T[0]*R[1][0]);
+		if(t > ra + rb)	return false;
+
+		//L = A2 x B1
+		ra	= e0[0]*FR[1][1] + e0[1]*FR[0][1];
+		rb	= e1[0] *FR[2][2] + e1[2]*FR[2][0];
+		t	= PxAbs(T[1]*R[0][1] - T[0]*R[1][1]);
+		if(t > ra + rb)	return false;
+
+		//L = A2 x B2
+		ra	= e0[0]*FR[1][2] + e0[1]*FR[0][2];
+		rb	= e1[0]*FR[2][1] + e1[1]*FR[2][0];
+		t	= PxAbs(T[1]*R[0][2] - T[0]*R[1][2]);
+		if(t > ra + rb)	return false;
+	}
+	return true;
+}