feat(physics): wire physx sdk into build

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

@@ -0,0 +1,191 @@
+// 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 PX_ISOSURFACE_DATA_H
+#define PX_ISOSURFACE_DATA_H
+
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxVec4.h"
+#include "PxSparseGridParams.h"
+#include "PxgSparseGridDataStandalone.h"
+#include "PxgDenseGridDataStandalone.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+	/**
+	\brief Bundles all data used to extract an isosurface on a dense grid
+	*/
+	struct PxIsosurfaceExtractionData
+	{
+		PxIsosurfaceExtractionData() : mGrid(), kernelSize(0.0f), restDensity(0), threshold(0), firstCellVert(NULL), swapState(0),
+			numVerticesNumIndices(NULL), maxVerts(0), maxTriIds(0), verts(NULL), normals(NULL), triIds(NULL)
+		{
+		}
+
+		PxDenseGridData mGrid;
+		PxReal kernelSize;
+		PxReal restDensity;
+		PxReal threshold;
+
+		// grid
+		PxReal* buffer[2];
+		PxU32* firstCellVert;
+
+		PxU32 swapState;
+
+		// mesh
+		PxU32* numVerticesNumIndices; //Pointer to a GPU buffer to allow for device to host copy
+		PxU32 maxVerts, maxTriIds;
+
+		PxVec4* verts;
+		PxVec4* normals;
+		PxU32* triIds;
+
+		PxVec4* smoothingBuffer;
+
+		/**
+		\brief Access to the density device array
+
+		\return The density devixe array
+		*/
+		PX_CUDA_CALLABLE PxReal* density()
+		{
+			return buffer[swapState];
+		}
+
+		/**
+		\brief Access to the start triangle id per cell device array
+
+		\return The start triangle id per cell device array
+		*/
+		PX_CUDA_CALLABLE PxU32* firstCellTriId()
+		{
+			return reinterpret_cast<PxU32*>(buffer[1 - swapState]);
+		}
+
+		/**
+		\brief The grid's cell size
+
+		\return The cell size
+		*/
+		PX_CUDA_CALLABLE PxReal getSpacing()
+		{
+			return mGrid.mGridParams.gridSpacing;
+		}
+
+		/**
+		\brief The number of cells in the dense grid
+
+		\return The number of cells
+		*/
+		PX_CUDA_CALLABLE PxU32 maxNumCells()
+		{
+			return mGrid.maxNumCells();
+		}
+	};
+
+	/**
+	\brief Bundles all data used to extract an isosurface on a sparse grid
+	*/
+	struct PxSparseIsosurfaceExtractionData
+	{
+		PxSparseIsosurfaceExtractionData() : mGrid(), kernelSize(0.0f), restDensity(0), threshold(0), firstCellVert(NULL), swapState(0),
+			numVerticesNumIndices(NULL), maxVerts(0), maxTriIds(0), verts(NULL), normals(NULL), triIds(NULL)
+		{
+		}
+
+		PxSparseGridData mGrid;
+		PxReal* buffer[2];
+
+		PxReal kernelSize;
+		PxReal restDensity;
+		PxReal threshold;
+		PxU32* firstCellVert;
+
+		PxU32 swapState;
+
+		// mesh
+		PxU32* numVerticesNumIndices; //Pointer to a GPU buffer to allow for device to host copy
+		PxU32 maxVerts, maxTriIds;
+
+		PxVec4* verts;
+		PxVec4* normals;
+		PxU32* triIds;
+
+		PxVec4* smoothingBuffer;
+
+
+		/**
+		\brief Access to the density device array
+
+		\return The density device array
+		*/
+		PX_CUDA_CALLABLE PxReal* density()
+		{
+			return buffer[swapState];
+		}
+
+		/**
+		\brief Access to the start triangle id per cell device array
+
+		\return The start triangle id per cell device array
+		*/
+		PX_CUDA_CALLABLE PxU32* firstCellTriId()
+		{
+			return reinterpret_cast<PxU32*>(buffer[1 - swapState]);
+		}
+
+		/**
+		\brief The grid's cell size
+
+		\return The cell size
+		*/
+		PX_CUDA_CALLABLE PxReal getSpacing()
+		{
+			return mGrid.mGridParams.gridSpacing;
+		}
+
+		/**
+		\brief The maximal number of cells in the sparse grid, not all of them are always in use
+
+		\return The number of cells
+		*/
+		PX_CUDA_CALLABLE PxU32 maxNumCells()
+		{
+			return mGrid.maxNumCells();
+		}
+	};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif