feat(physics): wire physx sdk into build

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

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+// 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_SHAPE_MANAGER_H
+#define PXG_SHAPE_MANAGER_H
+
+#include "foundation/PxPreprocessor.h"
+#include "PxSceneDesc.h"
+#include "foundation/PxPinnedArray.h"
+#include "CmIDPool.h"
+#include "PxgCudaBuffer.h"
+#include "foundation/PxBitMap.h"
+#include "PxsMaterialCore.h"
+#include "PxsDeformableSurfaceMaterialCore.h"
+#include "PxsDeformableVolumeMaterialCore.h"
+#include "PxsPBDMaterialCore.h"
+#include "PxgConvexConvexShape.h"
+
+namespace physx
+{
+	class PxCudaContext;
+	class PxgHeapMemoryAllocatorManager;
+	class PxgCopyManager;
+	class PxNodeIndex;
+
+	class PxgShapeManager
+	{
+	public:
+		PxgShapeManager(PxgHeapMemoryAllocatorManager* heapManager);
+		~PxgShapeManager(){}
+
+
+		//this method push CopyDesc to PxgCopyManager
+		void initialize(PxCudaContext* cudaContext, CUstream stream);
+		void scheduleCopyHtoD(PxgCopyManager& copyManager, PxCudaContext* cudaContext, CUstream stream);
+
+		PxU32 registerShape(PxgShape& shape);
+		void registerShapeInstance(const PxNodeIndex& nodeIndex, const PxU32 transformCacheID, PxActor* actor, bool aggregate = false);
+		void unregisterShape(const PxU32 shapeId);
+		void unregisterShapeInstance(const PxU32 transformCacheID);
+
+		void updateShapeMaterial(const PxU32 materalIndex, const PxU32 id);
+
+
+		void releaseIDs() { mIdPool.processDeferredIds(); }
+
+		Cm::DeferredIDPool				mIdPool;
+		PxgHeapMemoryAllocatorManager*	mHeapManager;
+		PxPinnedArray<PxgShape>			mHostShapes;
+		PxPinnedArray<PxNodeIndex>		mHostShapesRemapTable;//remap table from shape to node index
+		PxInt32ArrayPinned				mHostShapeIdTable;
+		PxPinnedArray<PxActor*>			mHostTransformCacheIdToActorTable; // remap table from transformCacheId to PxActor
+		PxgCudaBuffer					mGpuShapesBuffer;
+		PxgCudaBuffer					mGpuShapesRemapTableBuffer;	// shape to rigid
+		PxgCudaBuffer					mGpuTransformCacheIdToActorTableBuffer; // transformCacheId to PxActor
+		PxgCudaBuffer					mGpuRigidIndiceBuffer; // 00011 nodeIndex 0 has shape(0, 2, 3), nodeIndex 1 has shape(1, 4)(it can be either articulation link or rigid body)
+		PxgCudaBuffer					mGpuShapeIndiceBuffer; // 02314
+		PxgCudaBuffer					mGpuUnsortedShapeIndicesBuffer; // needed when recomputing the shape to rigids mapping
+		PxgCudaBuffer					mGpuTempRigidBitIndiceBuffer; //either the lower 32 bits or higher 32 bits of mGpuRigidIndiceBuffer
+		PxgCudaBuffer					mGpuTempRigidIndiceBuffer;
+		PxBitMap						mDirtyShapeMap;
+		PxBitMap						mDirtyTransformCacheMap;
+		bool							mResizeRequired;
+		bool							mTransformCacheResizeRequired;
+		PxI32							mMaxShapeId;
+		PxI32							mMaxTransformCacheID;
+		bool							mHasShapeChanged;
+		bool							mHasShapeInstanceChanged;
+
+	private:
+		PX_NOCOPY(PxgShapeManager)
+	};
+
+	class PxgMaterialManager
+	{
+		PX_NOCOPY(PxgMaterialManager)
+	public:
+		PxgMaterialManager(PxgHeapMemoryAllocatorManager* heapManager, const PxU32 elemSize = sizeof(PxsMaterialData));
+		virtual ~PxgMaterialManager(){}
+
+		//this method push CopyDesc to PxgCopyManager
+		virtual void scheduleCopyHtoD(PxgCopyManager& copyManager, PxCudaContext* cudaContext, CUstream stream, const PxU32 elemSize);
+
+		PxU32 registerMaterial(const PxU8* materialData, const PxU32 elemSize);
+		void updateMaterial(const PxU8* materialData, const PxU32 elemSize, const PxU32 id);
+		
+		void unregisterMaterial(const PxU32 materialId);
+		void releaseIDs() { mIdPool.processDeferredIds(); }
+
+		PxgCudaBuffer					mGpuMaterialBuffer;
+
+	protected:
+		Cm::DeferredIDPool				mIdPool;
+		PxgHeapMemoryAllocatorManager*	mHeapManager;
+		PxInt8ArrayPinned				mHostMaterial;
+		PxBitMap						mDirtyMaterialMap;
+		bool							mResizeRequired;
+	};
+	
+	class PxgFEMMaterialManager : public PxgMaterialManager
+	{
+	public:
+
+		PxgFEMMaterialManager(PxgHeapMemoryAllocatorManager* heapManager, const PxU32 elemSize);
+
+		virtual void scheduleCopyHtoD(PxgCopyManager& copyManager, PxCudaContext* cudaContext, CUstream stream, const PxU32 elemSize);
+	};
+
+	class PxgFEMSoftBodyMaterialManager : public PxgFEMMaterialManager
+	{
+	public:
+		PxgFEMSoftBodyMaterialManager(PxgHeapMemoryAllocatorManager* heapManager);
+	};
+
+	class PxgFEMClothMaterialManager : public PxgMaterialManager
+	{
+	public:
+	    PxgFEMClothMaterialManager(PxgHeapMemoryAllocatorManager* heapManager) :
+			PxgMaterialManager(heapManager, sizeof(PxsDeformableSurfaceMaterialData))
+	    {
+	    }
+	    PxsDeformableSurfaceMaterialData* getCPUMaterialData()
+	    {
+		    return reinterpret_cast<PxsDeformableSurfaceMaterialData*>(mHostMaterial.begin());
+	    }
+	};
+
+	class PxgPBDMaterialManager : public PxgMaterialManager
+	{
+	public:
+		PxgPBDMaterialManager(PxgHeapMemoryAllocatorManager* heapManager) :
+			PxgMaterialManager(heapManager, sizeof(PxsPBDMaterialData))
+		{
+		}
+	};
+
+}
+#endif