feat(physics): wire physx sdk into build
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198
engine/third_party/physx/source/gpunarrowphase/src/CUDA/triangleMesh.cuh
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198
engine/third_party/physx/source/gpunarrowphase/src/CUDA/triangleMesh.cuh
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef __TRIANGLE_MESH_CUH__
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#define __TRIANGLE_MESH_CUH__
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#include "GuBV32.h"
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#include "PxgConvexConvexShape.h"
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#include "foundation/PxVec3.h"
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namespace physx
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{
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struct PxgTriangleMesh
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{
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PxU32 numVerts;
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PxU32 numTris;
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PxU32 numBv32TreeNodes;
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PxU32 nbPackedNodes;
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const Gu::BV32DataPacked* bv32PackedNodes;
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const float4* trimeshVerts;
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const uint4* indices;
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const PxU32* PX_RESTRICT trimeshFaceRemap;
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uint4 sdfDims;
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PxVec3 meshLower;
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PxReal spacing;
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PxU32 subgridSize;
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PxReal subgridsMinSdfValue;
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PxReal subgridsMaxSdfValue;
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PxU32 pad;
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//const PxReal* sdf;
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CUtexObject mTexObject;
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CUtexObject mTexObjectSparse;
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const PxU32* subgridStarts;
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};
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static PX_FORCE_INLINE __device__ uint4 readTriangleMesh(const PxU8* PX_RESTRICT & trimeshGeomPtr,
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const Gu::BV32DataPacked* PX_RESTRICT & bv32PackedNodes, const float4* PX_RESTRICT & trimeshVerts)
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{
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const uint4 trimesh_nbVerts_nbTris_nbAdjVertsTotal = *reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4);
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bv32PackedNodes = reinterpret_cast<const Gu::BV32DataPacked*>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(const Gu::BV32DataPacked)* trimesh_nbVerts_nbTris_nbAdjVertsTotal.w;
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trimeshVerts = reinterpret_cast<const float4 *>(trimeshGeomPtr);
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return trimesh_nbVerts_nbTris_nbAdjVertsTotal;
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}
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static PX_FORCE_INLINE __device__ uint4 readTriangleMesh(const PxU8 * PX_RESTRICT & trimeshGeomPtr,
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const Gu::BV32DataPacked* PX_RESTRICT & bv32PackedNodes, const float4* PX_RESTRICT & trimeshVerts, const uint4* PX_RESTRICT & trimeshTriIndices)
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{
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uint4 result = readTriangleMesh(trimeshGeomPtr, bv32PackedNodes, trimeshVerts);
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trimeshGeomPtr += sizeof(float4) * result.x;
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trimeshTriIndices = reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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return result;
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}
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static PX_FORCE_INLINE __device__ uint4 readTriangleMesh(const PxU8 * PX_RESTRICT & trimeshGeomPtr, const float4* PX_RESTRICT & trimeshVerts, const uint4* PX_RESTRICT & trimeshTriIndices,
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const uint4* PX_RESTRICT & trimeshTriAdjacencies)
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{
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const Gu::BV32DataPacked* bv32PackedNodes;
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uint4 result = readTriangleMesh(trimeshGeomPtr, bv32PackedNodes, trimeshVerts, trimeshTriIndices);
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trimeshGeomPtr += sizeof(uint4)* result.y;
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trimeshTriAdjacencies = reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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return result;
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}
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static PX_FORCE_INLINE __device__ uint4 readTriangleMesh(const PxU8 * PX_RESTRICT & trimeshGeomPtr, const float4* PX_RESTRICT & trimeshVerts, const uint4* PX_RESTRICT & trimeshTriIndices,
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const uint4* PX_RESTRICT & trimeshTriAdjacencies, const PxU32* PX_RESTRICT & trimeshFaceRemap)
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{
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uint4 result = readTriangleMesh(trimeshGeomPtr, trimeshVerts, trimeshTriIndices, trimeshTriAdjacencies);
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trimeshGeomPtr += sizeof(uint4)* result.y;
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trimeshFaceRemap = reinterpret_cast<const PxU32 *>(trimeshGeomPtr);
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return result;
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}
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static __device__ void readTriangleMesh(const PxgShape& trimeshShape, PxgTriangleMesh& triangleMesh)
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{
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const PxU8 * trimeshGeomPtr = reinterpret_cast<const PxU8 *>(trimeshShape.hullOrMeshPtr);
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const uint4 nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes = *reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4);
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triangleMesh.numVerts = nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.x;
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triangleMesh.numTris = nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y;
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triangleMesh.numBv32TreeNodes = nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.z;
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triangleMesh.nbPackedNodes = nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.w;
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triangleMesh.bv32PackedNodes = reinterpret_cast<const Gu::BV32DataPacked*>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(const Gu::BV32DataPacked)* nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.w;
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triangleMesh.trimeshVerts = reinterpret_cast<const float4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(float4) * nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.x;
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triangleMesh.indices = reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4) * nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y;
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//const uint4* PX_RESTRICT trimeshTriAdjacencies = reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4)* nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y;
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triangleMesh.trimeshFaceRemap = reinterpret_cast<const PxU32 *>(trimeshGeomPtr);
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//trimeshGeomPtr += ((nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y + 3)& (~3)) * sizeof(PxU32);
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trimeshGeomPtr += nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y * sizeof(PxU32);
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//triMesh->mAccumulatedTrianglesRef
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trimeshGeomPtr += (nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.x + 1) * sizeof(PxU32);
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//triMesh->mTrianglesReferences
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trimeshGeomPtr += (nbVerts_nbTris_nbAdjVertsTotal_nbBv32TreeNodes.y * 3) * sizeof(PxU32);
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trimeshGeomPtr = (PxU8*)(((size_t)trimeshGeomPtr + 15) & ~15);
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uint4 sdfDims = *reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4);
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PxU32 numSdfs = sdfDims.x*sdfDims.y*sdfDims.z;
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triangleMesh.sdfDims = sdfDims;
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if (numSdfs)
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{
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float4 meshLower_spacing = *reinterpret_cast<const float4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(float4);
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uint4 sizeInfo = *reinterpret_cast<const uint4 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(uint4);
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triangleMesh.meshLower = PxVec3(meshLower_spacing.x, meshLower_spacing.y, meshLower_spacing.z);
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triangleMesh.spacing = meshLower_spacing.w;
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/*PxU32 subgridSize;
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PxU32 unused0;
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PxU32 unused1;
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PxU32 numCoarseGridElements;*/
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triangleMesh.subgridSize = sizeInfo.x;
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triangleMesh.subgridsMinSdfValue = reinterpret_cast<PxReal&>(sizeInfo.y);
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triangleMesh.subgridsMaxSdfValue = reinterpret_cast<PxReal&>(sizeInfo.z);
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//triangleMesh.numCoarseGridElements = sizeInfo.w;
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//triangleMesh.sdf = reinterpret_cast<const PxReal*>(trimeshGeomPtr);
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triangleMesh.mTexObject = *reinterpret_cast<const CUtexObject*>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(const CUtexObject);
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triangleMesh.mTexObjectSparse = *reinterpret_cast<const CUtexObject*>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(const CUtexObject);
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triangleMesh.subgridStarts = reinterpret_cast<const PxU32 *>(trimeshGeomPtr);
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trimeshGeomPtr += sizeof(PxU32) * sizeInfo.w;
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}
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else
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triangleMesh.mTexObject = 0;
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}
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}
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#endif
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