feat(physics): wire physx sdk into build

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

@@ -0,0 +1,78 @@
+// 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_BODYSIM_H
+#define PXG_BODYSIM_H
+
+#include "AlignedTransform.h"
+
+namespace physx
+{
+
+struct PxgBodySim
+{
+	float4		linearVelocityXYZ_inverseMassW;													//16	16
+	float4		angularVelocityXYZ_maxPenBiasW;													//32	16
+
+	float4		maxLinearVelocitySqX_maxAngularVelocitySqY_linearDampingZ_angularDampingW;		//48	16
+	float4		inverseInertiaXYZ_contactReportThresholdW;										//64	16
+
+	float4		sleepLinVelAccXYZ_freezeCountW;													//80	16
+	float4		sleepAngVelAccXYZ_accelScaleW;													//96	16
+	float4		freezeThresholdX_wakeCounterY_sleepThresholdZ_bodySimIndex;						//112	16
+
+	PxAlignedTransform body2World;																//144	32		
+	PxAlignedTransform body2Actor_maxImpulseW;													//176	32
+
+	PxU32		articulationRemapId;															//180	4
+	PxU32		internalFlags;																	//184	4
+	PxU16		lockFlags;																		//186	2
+	PxU16		disableGravity;																	//188	2
+	PxReal		offsetSlop;																		//192	4	
+
+	float4		externalLinearAcceleration;														//208	16
+	float4		externalAngularAcceleration;													//224	16
+};
+
+struct PxgBodySimVelocities
+{
+	float4	linearVelocity;
+	float4	angularVelocity;
+};
+
+struct PxgBodySimVelocityUpdate
+{
+	float4 linearVelocityXYZ_bodySimIndexW;
+	float4 angularVelocityXYZ_maxPenBiasW;
+	float4 externalLinearAccelerationXYZ;
+	float4 externalAngularAccelerationXYZ;
+};
+
+}//physx
+
+#endif