feat(physics): wire physx sdk into build

engine/third_party/physx/source/gpunarrowphase/src/CUDA/distanceSegmentSegment.cuh

@@ -0,0 +1,90 @@
+// 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 __DIS_SEG_SEG_CUH__
+#define __DIS_SEG_SEG_CUH__
+
+__device__ __forceinline__ static
+void distanceSegmentSegmentSquared(
+	const PxVec3& p1, const PxVec3& d1,
+	const PxVec3& p2, const PxVec3& d2,
+	PxReal& s, PxReal& t)
+{
+	//const FloatV zero = FZero();
+	//const FloatV one = FOne();
+	//const FloatV eps = FEps();
+
+	const PxReal eps = 1e-6f;
+	const PxVec3 r = p1 - p2;
+	const PxReal a = d1.dot(d1);
+	const PxReal e = d2.dot(d2);
+	const PxReal b = d1.dot(d2);
+	const PxReal c = d1.dot(r);
+	const PxReal aRecip = a > eps ? (1.f / a) : 0.f;
+	const PxReal eRecip = e > eps ? (1.f / e) : 0.f;
+	const PxReal f = d2.dot(r);
+
+	/*
+		s = (b*f - c*e)/(a*e - b*b);
+		t = (a*f - b*c)/(a*e - b*b);
+
+		s = (b*t - c)/a;
+		t = (b*s + f)/e;
+	*/
+
+	//if segments not parallel, the general non-degenerated case, compute closest point on two segments and clamp to segment1
+	const PxReal denom = a * e - b * b;
+	const PxReal temp = b * f - c * e;
+	const PxReal s0 = PxClamp(temp / denom, 0.f, 1.f);
+
+	//if segment is parallel, demon < eps
+	//const bool con2 = eps > denom;
+	const PxReal sTmp = eps > denom ? 0.5f : s0;
+	//const BoolV con2 = FIsGrtr(eps, denom);//FIsEq(denom, zero);
+	//const FloatV sTmp = FSel(con2, FHalf(), s0);
+
+	//compute point on segment2 closest to segment1
+	const PxReal tTmp = (b * sTmp + f) * eRecip;
+	//const FloatV tTmp = FMul(FScaleAdd(b, sTmp, f), eRecip);
+
+	//if t is in [zero, one], done. otherwise clamp t
+	const PxReal t2 = PxClamp(tTmp, 0.f, 1.f);
+	//const FloatV t2 = FClamp(tTmp, zero, one);
+
+	//recompute s for the new value
+	const PxReal comp = (b * t2 - c) * aRecip;
+	const PxReal s2 = PxClamp(comp, 0.f, 1.f);
+	//const FloatV comp = FMul(FSub(FMul(b, t2), c), aRecip);
+	//const FloatV s2 = FClamp(comp, zero, one);
+
+	s = s2;
+	t = t2;
+}
+
+
+#endif