feat(physics): wire physx sdk into build
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engine/third_party/physx/source/lowlevel/software/include/PxvNphaseImplementationContext.h
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engine/third_party/physx/source/lowlevel/software/include/PxvNphaseImplementationContext.h
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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 PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
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#define PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
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#include "PxSceneDesc.h"
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#include "PxsContactManagerState.h"
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#include "foundation/PxArray.h"
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#include "PxsNphaseCommon.h"
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// PT: TODO: forward decl don't work easily with templates, to revisit
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#include "PxsMaterialCore.h"
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#include "PxsDeformableSurfaceMaterialCore.h"
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#include "PxsDeformableVolumeMaterialCore.h"
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#include "PxsPBDMaterialCore.h"
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namespace physx
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{
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namespace IG
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{
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class IslandSim;
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typedef PxU32 EdgeIndex;
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}
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namespace Cm
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{
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class FanoutTask;
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}
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namespace Sc
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{
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class ShapeInteraction;
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}
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class PxNodeIndex;
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class PxBaseTask;
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class PxsContext;
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struct PxsShapeCore;
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class PxsContactManager;
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struct PxsContactManagerOutput;
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struct PxsTorsionalFrictionData;
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class PxsContactManagerOutputIterator
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{
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PxU32 mOffsets[1<<PxsContactManagerBase::MaxBucketBits];
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PxsContactManagerOutput* mOutputs;
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public:
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PxsContactManagerOutputIterator() : mOutputs(NULL)
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{
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}
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PxsContactManagerOutputIterator(const PxU32* offsets, PxU32 nbOffsets, PxsContactManagerOutput* outputs) : mOutputs(outputs)
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{
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PX_ASSERT(nbOffsets <= (1<<PxsContactManagerBase::MaxBucketBits));
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for(PxU32 a = 0; a < nbOffsets; ++a)
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{
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mOffsets[a] = offsets[a];
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}
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}
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PX_FORCE_INLINE PxsContactManagerOutput& getContactManagerOutput(PxU32 id)
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{
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PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
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PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
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PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
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return mOutputs[mOffsets[bucketId] + cmOutId];
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}
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PxU32 getIndex(PxU32 id) const
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{
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PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
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PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
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PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
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return mOffsets[bucketId] + cmOutId;
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}
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};
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class PxvNphaseImplementationContext
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{
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PX_NOCOPY(PxvNphaseImplementationContext)
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PxsContext& mContext;
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public:
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PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}
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virtual ~PxvNphaseImplementationContext() {}
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virtual void destroy() = 0;
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virtual void updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShapeTask) = 0;
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virtual void postBroadPhaseUpdateContactManager(PxBaseTask* continuation) = 0;
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virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) = 0;
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virtual void fetchUpdateContactManager() = 0;
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virtual void registerContactManager(PxsContactManager* cm, const Sc::ShapeInteraction* interaction, PxI32 touching, PxU32 patchCount) = 0;
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// virtual void registerContactManagers(PxsContactManager** cm, Sc::ShapeInteraction** shapeInteractions, PxU32 nbContactManagers, PxU32 maxContactManagerId) = 0;
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virtual void unregisterContactManager(PxsContactManager* cm) = 0;
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virtual void refreshContactManager(PxsContactManager* cm) = 0;
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virtual void registerShape(const PxNodeIndex& nodeIndex, const PxsShapeCore& shapeCore, const PxU32 transformCacheID, PxActor* actor, const bool isDeformableSurface = false) = 0;
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virtual void unregisterShape(const PxsShapeCore& shapeCore, const PxU32 transformCacheID, const bool isDeformableSurface = false) = 0;
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virtual void registerAggregate(const PxU32 transformCacheID) = 0;
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virtual void registerMaterial(const PxsMaterialCore& materialCore) = 0;
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virtual void updateMaterial(const PxsMaterialCore& materialCore) = 0;
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virtual void unregisterMaterial(const PxsMaterialCore& materialCore) = 0;
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virtual void registerMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;
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virtual void updateMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;
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virtual void unregisterMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;
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virtual void registerMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;
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virtual void updateMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;
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virtual void unregisterMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;
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virtual void registerMaterial(const PxsPBDMaterialCore& materialCore) = 0;
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virtual void updateMaterial(const PxsPBDMaterialCore& materialCore) = 0;
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virtual void unregisterMaterial(const PxsPBDMaterialCore& materialCore) = 0;
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virtual void updateShapeMaterial(const PxsShapeCore& shapeCore) = 0;
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virtual void startNarrowPhaseTasks() = 0;
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virtual void appendContactManagers() = 0;
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virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 index) = 0;
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virtual PxsContactManagerOutputIterator getContactManagerOutputs() = 0;
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virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
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virtual void acquireContext() = 0;
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virtual void releaseContext() = 0;
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virtual void preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) = 0;
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virtual void lock() = 0;
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virtual void unlock() = 0;
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virtual PxsContactManagerOutputCounts* getLostFoundPatchOutputCounts() = 0;
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virtual PxsContactManager** getLostFoundPatchManagers() = 0;
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virtual PxU32 getNbLostFoundPatchManagers() = 0;
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//GPU-specific buffers. Return null for CPU narrow phase
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virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() = 0;
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virtual PxReal* getGPURestDistances() = 0;
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virtual Sc::ShapeInteraction** getGPUShapeInteractions() = 0;
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virtual PxsTorsionalFrictionData* getGPUTorsionalData() = 0;
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};
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class PxvNphaseImplementationFallback: public PxvNphaseImplementationContext
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{
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PX_NOCOPY(PxvNphaseImplementationFallback)
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public:
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PxvNphaseImplementationFallback(PxsContext& context) : PxvNphaseImplementationContext(context) {}
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virtual ~PxvNphaseImplementationFallback() {}
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virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
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virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;
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virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;
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virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
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virtual void appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;
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virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;
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virtual const Sc::ShapeInteraction*const* getShapeInteractionsGPU() const = 0;
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virtual const PxReal* getRestDistancesGPU() const = 0;
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virtual const PxsTorsionalFrictionData* getTorsionalDataGPU() const = 0;
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};
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PxvNphaseImplementationFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, PxVirtualAllocatorCallback* allocator, bool gpuDynamics);
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}
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#endif
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