feat(physics): wire physx sdk into build

engine/third_party/physx/source/gpusimulationcontroller/include/PxgArticulationLink.h

@@ -0,0 +1,109 @@
+// 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_ARTICULATION_LINK_H
+#define PXG_ARTICULATION_LINK_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "PxgSolverBody.h"
+#include "DyFeatherstoneArticulationUtils.h"
+
+
+namespace physx
+{
+	typedef PxU64 ArticulationBitField;
+
+	struct PxgArticulationLinkData
+	{
+	public:
+		Cm::UnAlignedSpatialVector		IsW[3];//stI is the transpose of Is
+		Cm::UnAlignedSpatialVector		IsInvDW[3];
+		//PxVec3							r;  //vector from parent com to child com
+		//PxVec3							rw;	//world space r
+		PxReal							qstZIc[3];//jointForce - stZIc
+		PxReal							invStIs[3][3];
+	};
+
+	struct PxgArticulationLink 
+	{
+#if !PX_CUDA_COMPILER
+		PX_ALIGN(16, PxVec3			initialAngVel);					//	12	12 initial ang vel
+		PxReal						penBiasClamp;					//	4	16 the penetration bias clamp
+		PxVec3						initialLinVel;					//	12	28 initial lin vel
+		PxReal						invMass;						//	4	32 inverse mass
+		
+#else
+		float4						initialAngVelXYZ_penBiasClamp;
+		float4						initialLinVelXYZ_invMassW;
+#endif
+
+		PxReal						maxAngularVelocitySq;			//	4	36
+		PxReal						maxLinearVelocitySq;			//	4	40
+		PxReal						linearDamping;					//	4	44
+		PxReal						angularDamping;					//	4	48
+
+		PxU32						pathToRootOffset;				//	4	52
+		PxU32						childrenOffset;					//	4	56
+		PxU16						numPathToRoot;					//	2	58
+		PxU16						numChildren;					//	2	60
+		PxReal						offsetSlop;						//	4	64
+
+		ArticulationBitField		pathToRoot;						//	8	72 path to root, including link and root
+		PxReal						cfmScale;						//	4	76
+		bool						disableGravity;					//	1	77
+		bool						retainsAccelerations;			//	1	78
+		bool						padding[2];						//	1	80
+	};
+
+
+	struct PxgArticulationLinkSleepData
+	{
+#if !PX_CUDA_COMPILER
+		PX_ALIGN(16, PxVec3			sleepLinVelAcc);					//12	12
+		PxReal						padding0;							//4		16
+		PX_ALIGN(16, PxVec3			sleepAngVelAcc);					//12	28
+		PxReal						padding1;							//4		32
+#else
+		float4						sleepLinVelAccXYZ;
+		float4						sleepAngVelAccXYZ;
+#endif
+	};
+
+	struct PxgArticulationLinkProp
+	{
+#if !PX_CUDA_COMPILER
+		PX_ALIGN(16, PxVec3			invInertia);						//12	12
+		PxReal						invMass;							//4		16
+#else
+		float4						invInertiaXYZ_invMass;
+#endif
+	};
+
+}
+
+#endif