feat(physics): wire physx sdk into build

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

@@ -0,0 +1,137 @@
+// 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 CONVEX_FORMAT_H
+#define CONVEX_FORMAT_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxVec4.h"
+#include "foundation/PxBounds3.h"
+#include "foundation/PxPlane.h"
+#include "foundation/PxMat44.h"
+
+#include "foundation/PxMemory.h"
+#include "foundation/PxUtilities.h"
+
+namespace physx
+{
+
+struct ConvexHullCooked
+{
+	struct Valency
+	{
+		PxU16		mCount;
+		PxU16		mOffset;
+	};
+
+	struct BigConvexRawData
+	{
+		// Support vertex map
+		PxU16		mSubdiv;		// "Gaussmap" subdivision
+		PxU16		mNbSamples;		// Total #samples in gaussmap PT: this is not even needed at runtime!
+
+		PxU8*		mSamples; //mNbSamples * 2 elements
+		PX_FORCE_INLINE const PxU8*	getSamples2()	const
+		{
+			return mSamples + mNbSamples;
+		}
+		//~Support vertex map
+
+		// Valencies data
+		PxU32			mNbVerts;		//!< Number of vertices
+		PxU32			mNbAdjVerts;	//!< Total number of adjacent vertices  ### PT: this is useless at runtime and should not be stored here
+		Valency*		mValencies;		//!< A list of mNbVerts valencies (= number of neighbors) mNbVerts elements
+		PxU8*			mAdjacentVerts;	//!< List of adjacent vertices
+		//~Valencies data
+	};
+
+	struct InternalObjectsData
+	{
+		PxReal	mRadius;
+		PxReal	mExtents[3];
+
+		PX_FORCE_INLINE	void reset()
+		{
+			mRadius = 0.0f;
+			mExtents[0] = 0.0f;
+			mExtents[1] = 0.0f;
+			mExtents[2] = 0.0f;
+		}
+	};
+
+	struct HullPolygon
+	{
+		PxPlane	mPlane;			//!< Plane equation for this polygon	//Could drop 4th elem as it can be computed from any vertex as: d = - p.dot(n);
+		PxU16	mVRef8;			//!< Offset of vertex references in hull vertex data (CS: can we assume indices are tightly packed and offsets are ascending?? DrawObjects makes and uses this assumption)
+		PxU8	mNbVerts;		//!< Number of vertices/edges in the polygon
+		PxU8	mMinIndex;		//!< Index of the polygon vertex that has minimal projection along this plane's normal.
+
+		PX_FORCE_INLINE	PxReal getMin(const PxVec3* PX_RESTRICT hullVertices) const	//minimum of projection of the hull along this plane normal
+		{ 
+			return mPlane.n.dot(hullVertices[mMinIndex]);
+		}
+
+		PX_FORCE_INLINE	PxReal getMax() const		{ return -mPlane.d; }	//maximum of projection of the hull along this plane normal
+	};
+
+	PxBounds3			mAABB;				
+	PxVec3				mCenterOfMass;		
+
+	PxU16				mNbEdges;
+	PxU8				mNbHullVertices;	
+	PxU8				mNbPolygons;		
+
+	HullPolygon*		mPolygons;			//!< Array of mNbPolygons structures
+	PxVec3*				mVertices;			//mNbHullVertices elements
+
+	PxU8*				mFacesByEdges8;		//mNbEdges * 2 elements
+	PxU8*				mFacesByVertices8;	//mNbHullVertices * 3 elements
+	PxU16*				mVerticesByEdges16; //mNbEdges * 2 elements
+	PxU8*				mVertexData8;		//G-d knows how many elements
+
+	BigConvexRawData*	mBigConvexRawData;	//!< Hill climbing data, only for large convexes! else NULL.
+
+	InternalObjectsData	mInternal;
+
+	bool isGpuFriendly()
+	{
+		bool ret = mNbHullVertices <= 64;
+
+		if(!ret)
+			return false;
+
+		for(PxU32 i = 0; i < mNbPolygons; ++i)
+			ret &= mPolygons[i].mNbVerts <= 31;
+
+		return ret;
+	}
+};
+
+}
+
+#endif