feat(physics): wire physx sdk into build

engine/third_party/physx/source/gpunarrowphase/include/PxgPersistentContactManifold.h

@@ -0,0 +1,98 @@
+// 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 PXG_PERSISTENT_CONTACT_MANIFOLD_H
+#define PXG_PERSISTENT_CONTACT_MANIFOLD_H
+
+#include "cutil_math.h"
+#include "AlignedTransform.h"
+
+#define PXG_MAX_PCM_CONTACTS 4
+
+#define PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS	4
+#define PXG_SUBMANIFOLD_MAX_CONTACTS		6
+
+namespace physx
+{
+	struct PX_ALIGN_PREFIX(16) PxgPersistentContactManifold
+	{
+		float4 mLocalNormal_PenW[PXG_MAX_PCM_CONTACTS];			//local normal + penetration
+		float4 mLocalContactA[PXG_MAX_PCM_CONTACTS];			//local contact in body A's space
+		float4 mLocalContactB[PXG_MAX_PCM_CONTACTS];			//local contact in body B's space
+		float4 mRelativePos;									//Cached relative transforms
+		PxAlignedQuat mQuatA;									//Cached body A's quatenion
+		PxAlignedQuat mQuatB;									//Cached body B's quatenion
+		PxU32 mNbContacts;										//NbContacts
+		PxU32 mNbWarmStartPoints;								//Nb warm start points
+		PxU32 mWarmStartA;										//GJK warm-start mask for shape A
+		PxU32 mWarmStartB;										//GJK warm-start mask for shape B
+
+		PX_FORCE_INLINE void clear()
+		{
+			mNbContacts = 0;
+			mNbWarmStartPoints = 0;
+			mRelativePos = make_float4(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL);
+			mQuatA = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
+			mQuatB = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
+		}
+
+		//KS - TODO - extend and add functionality as is required...
+	}
+	PX_ALIGN_SUFFIX(16);
+
+	struct PX_ALIGN_PREFIX(16) PxgContact
+	{
+		   PxVec3 pointA;
+		   PxVec3 pointB;
+		   PxVec3 normal;
+		   PxReal penetration;
+		   PxU32 triIndex;
+		   PxU32 pad;
+	} // 48 due to padding
+	PX_ALIGN_SUFFIX(16);
+
+
+	struct PX_ALIGN_PREFIX(16) PxgPersistentContactMultiManifold
+	{
+		PxgContact mContacts[PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS][PXG_SUBMANIFOLD_MAX_CONTACTS];	// 1152
+		PxU32 mNbContacts[PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS];									// 1168
+		PxAlignedTransform mRelativeTransform;													// 1200
+		PxU32 mNbManifolds;																		// 1216 due to padding
+		
+
+		PX_FORCE_INLINE void clear()
+		{
+			mNbManifolds = 0;
+			mRelativeTransform.p = make_float4(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL);
+			mRelativeTransform.q = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
+		}
+	}
+	PX_ALIGN_SUFFIX(16);
+}
+
+#endif