feat(physics): wire physx sdk into build

engine/third_party/physx/source/gpusimulationcontroller/src/CUDA/softBody.cuh

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+// 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 __SOFT_BODY_CUH__
+#define __SOFT_BODY_CUH__
+
+#include "foundation/PxVecMath.h"
+#include "atomic.cuh"
+
+/**
+TODO, remove. Already has been removed from softbody/softbody, softbody/femcloth and softbody/particle attachments.
+*/
+__device__ inline PxReal getSoftBodyInvMass(const PxReal baryMass, const float4& bary)
+{
+	PxReal scale = PxSqrt(bary.x*bary.x + bary.y*bary.y + bary.z*bary.z + bary.w*bary.w);
+	return baryMass * scale;
+}
+
+static __device__ inline PxMat33 calculateDeformationGradient(
+	const PxVec3& u1,
+	const PxVec3& u2,
+	const PxVec3& u3,
+	const PxMat33& Qinv,
+	const PxMat33& RTranspose)
+{
+	// calculate deformation gradient
+	PxMat33 P = PxMat33(u1, u2, u3);
+	PxMat33 F = P * Qinv;
+
+	// remove rotation factor from strain, tranfrom into element space
+	F = RTranspose * F;
+
+	return F;
+}
+
+static __device__ float4 computeTetraContact(const float4* const vels, const uint4& tetrahedronId,
+	const float4& barycentric, float4& invMass)
+{
+	const float4 v0 = vels[tetrahedronId.x];
+	const float4 v1 = vels[tetrahedronId.y];
+	const float4 v2 = vels[tetrahedronId.z];
+	const float4 v3 = vels[tetrahedronId.w];
+
+	invMass = make_float4(v0.w, v1.w, v2.w, v3.w);
+
+	const float4 vel = v0 * barycentric.x + v1 * barycentric.y
+		+ v2 * barycentric.z + v3 * barycentric.w;
+
+	return vel;
+}
+
+static __device__ void updateTetraPosDelta(const float4& invMasses, const float4& barycentric, const uint4& tetrahedronId,
+	const PxVec3& deltaPos, float4* outputDeltaPoses, const PxReal addition = 1.f)
+{
+	if (invMasses.x > 0.f && PxAbs(barycentric.x) > 1e-6f)
+	{
+		const PxVec3 dP = deltaPos * (invMasses.x * barycentric.x);
+		AtomicAdd(outputDeltaPoses[tetrahedronId.x], dP, addition);
+	}
+
+	if (invMasses.y > 0.f && PxAbs(barycentric.y) > 1e-6f)
+	{
+		const PxVec3 dP = deltaPos * (invMasses.y * barycentric.y);
+		AtomicAdd(outputDeltaPoses[tetrahedronId.y], dP, addition);
+	}
+
+	if (invMasses.z > 0.f && PxAbs(barycentric.z) > 1e-6f)
+	{
+		const PxVec3 dP = deltaPos * (invMasses.z * barycentric.z);
+		AtomicAdd(outputDeltaPoses[tetrahedronId.z], dP, addition);
+	}
+
+	if (invMasses.w > 0.f && PxAbs(barycentric.w) > 1e-6f)
+	{
+		const PxVec3 dP = deltaPos * (invMasses.w * barycentric.w);
+		AtomicAdd(outputDeltaPoses[tetrahedronId.w], dP, addition);
+	}
+}
+
+static __device__ void updateTetPositionDelta(float4* outputDeltaPositions, const uint4& tetVertIndices,
+	const PxVec3& deltaPosition, const float4& invMassBary, const PxReal constraintWeight)
+{
+	//testing inverse mass and barycentric product for > 0, assuming that barycentric coordinates where clamped on construction.
+	if (invMassBary.x > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[tetVertIndices.x], deltaPosition*invMassBary.x, constraintWeight);
+	}
+
+	if (invMassBary.y > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[tetVertIndices.y], deltaPosition*invMassBary.y, constraintWeight);
+	}
+
+	if (invMassBary.z > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[tetVertIndices.z], deltaPosition*invMassBary.z, constraintWeight);
+	}
+
+	if (invMassBary.w > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[tetVertIndices.w], deltaPosition*invMassBary.w, constraintWeight);
+	}
+}
+
+static __device__ void updateTriPositionDelta(float4* outputDeltaPositions, const uint4& triVertIndices,
+	const PxVec3& deltaPosition, const float4& invMassBary, const PxReal constraintWeight)
+{
+	//testing inverse mass and barycentric product for > 0, assuming that barycentric coordinates where clamped on construction.
+	if (invMassBary.x > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[triVertIndices.x], deltaPosition*invMassBary.x, constraintWeight);
+	}
+
+	if (invMassBary.y > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[triVertIndices.y], deltaPosition*invMassBary.y, constraintWeight);
+	}
+
+	if (invMassBary.z > 0.0f)
+	{
+		AtomicAdd(outputDeltaPositions[triVertIndices.z], deltaPosition*invMassBary.z, constraintWeight);
+	}
+}
+
+#endif