feat(physics): wire physx sdk into build

engine/third_party/physx/source/geomutils/src/intersection/GuIntersectionRayCapsule.h

@@ -0,0 +1,91 @@
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+//
+// 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_INTERSECTION_RAY_CAPSULE_H
+#define GU_INTERSECTION_RAY_CAPSULE_H
+
+#include "GuCapsule.h"
+#include "GuDistancePointSegment.h"
+#include "GuIntersectionRay.h"
+
+namespace physx
+{
+namespace Gu
+{
+	PxU32 intersectRayCapsuleInternal(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal s[2]);
+
+	PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal& t)
+	{
+		// PT: move ray origin close to capsule, to solve accuracy issues.
+		// We compute the distance D between the ray origin and the capsule's segment.
+		// Then E = D - radius = distance between the ray origin and the capsule.
+		// We can move the origin freely along 'dir' up to E units before touching the capsule.
+		PxReal l = distancePointSegmentSquaredInternal(p0, p1 - p0, origin);
+		l = PxSqrt(l) - radius;
+
+		// PT: if this becomes negative or null, the ray starts inside the capsule and we can early exit
+		if(l<=0.0f)
+		{
+			t = 0.0f;
+			return true;
+		}
+
+		// PT: we remove an arbitrary GU_RAY_SURFACE_OFFSET units to E, to make sure we don't go close to the surface.
+		// If we're moving in the direction of the capsule, the origin is now about GU_RAY_SURFACE_OFFSET units from it.
+		// If we're moving away from the capsule, the ray won't hit the capsule anyway.
+		// If l is smaller than GU_RAY_SURFACE_OFFSET we're close enough, accuracy is good, there is nothing to do.
+		if(l>GU_RAY_SURFACE_OFFSET)
+			l -= GU_RAY_SURFACE_OFFSET;
+		else
+			l = 0.0f;
+
+		// PT: move origin closer to capsule and do the raycast
+		PxReal s[2];
+		const PxU32 nbHits = Gu::intersectRayCapsuleInternal(origin + l*dir, dir, p0, p1, radius, s);
+		if(!nbHits)
+			return false;
+
+		// PT: keep closest hit only
+		if(nbHits == 1)
+			t = s[0];
+		else
+			t = (s[0] < s[1]) ? s[0] : s[1];
+
+		// PT: fix distance (smaller than expected after moving ray close to capsule)
+		t += l;
+		return true;
+	}
+
+	PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const Gu::Capsule& capsule, PxReal& t)
+	{
+		return Gu::intersectRayCapsule(origin, dir, capsule.p0, capsule.p1, capsule.radius, t);
+	}
+}
+}
+
+#endif