feat(physics): wire physx sdk into build

engine/third_party/physx/source/lowlevelaabb/src/BpAABBManagerBase.cpp

@@ -0,0 +1,101 @@
+// 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.  
+
+#include "BpAABBManagerBase.h"
+#include "BpBroadPhase.h"
+
+using namespace physx;
+using namespace Bp;
+
+AABBManagerBase::AABBManagerBase(	BroadPhase& bp, BoundsArray& boundsArray, PxFloatArrayPinned& contactDistance,
+									PxU32 maxNbAggregates, PxU32 maxNbShapes, PxVirtualAllocator& allocator, PxU64 contextID,
+									PxPairFilteringMode::Enum kineKineFilteringMode, PxPairFilteringMode::Enum staticKineFilteringMode) :
+	mAddedHandleMap			(allocator),
+	mRemovedHandleMap		(allocator),
+	mChangedHandleMap		(allocator),
+	mGroups					(allocator),
+	mEnvIDs					(allocator),
+	mContactDistance		(contactDistance),
+	mVolumeData				(allocator),
+	mFilters				(kineKineFilteringMode == PxPairFilteringMode::eKILL, staticKineFilteringMode == PxPairFilteringMode::eKILL),
+	mAddedHandles			(allocator),
+	mUpdatedHandles			(allocator),
+	mRemovedHandles			(allocator),
+	mBroadPhase				(bp),
+	mBoundsArray			(boundsArray),
+	mUsedSize				(0),
+	mNbAggregates			(0),
+#if PX_ENABLE_SIM_STATS
+	mGpuDynamicsLostFoundPairsStats(0),
+	mGpuDynamicsTotalAggregatePairsStats(0),
+	mGpuDynamicsLostFoundAggregatePairsStats(0),
+#else
+	PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
+#endif
+#if BP_USE_AGGREGATE_GROUP_TAIL
+	mAggregateGroupTide		(PxU32(Bp::FilterGroup::eAGGREGATE_BASE)),
+#endif
+	mContextID				(contextID),
+	mOriginShifted			(false)
+{
+	PX_UNUSED(maxNbAggregates);	// PT: TODO: use it or remove it
+	reserveShapeSpace(PxMax(maxNbShapes, 1u));
+
+	//	mCreatedOverlaps.reserve(16000);
+}
+
+void AABBManagerBase::reserveShapeSpace(PxU32 nbTotalBounds)
+{
+	nbTotalBounds = PxNextPowerOfTwo(nbTotalBounds);
+	mGroups.resize(nbTotalBounds, Bp::FilterGroup::eINVALID);
+	mVolumeData.resize(nbTotalBounds);					//KS - must be initialized so that userData is NULL for SQ-only shapes
+	mContactDistance.resizeUninitialized(nbTotalBounds);
+	mAddedHandleMap.resize(nbTotalBounds);
+	mRemovedHandleMap.resize(nbTotalBounds);
+}
+
+void AABBManagerBase::reserveSpaceForBounds(BoundsIndex index)
+{
+	if ((index + 1) >= mVolumeData.size())
+		reserveShapeSpace(index + 1);
+
+	resetEntry(index); //KS - make sure this entry is flagged as invalid
+}
+
+void AABBManagerBase::freeBuffers()
+{
+	// PT: TODO: investigate if we need more stuff here
+	mBroadPhase.freeBuffers();
+}
+
+void AABBManagerBase::shiftOrigin(const PxVec3& shift)
+{
+	mBroadPhase.shiftOrigin(shift, mBoundsArray.begin(), mContactDistance.begin());
+	mOriginShifted = true;
+}
+

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhase.cpp

@@ -0,0 +1,58 @@
+// 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.  
+
+#include "BpBroadPhase.h"
+#include "BpBroadPhaseSap.h"
+#include "BpBroadPhaseMBP.h"
+#include "BpBroadPhaseABP.h"
+
+using namespace physx;
+using namespace Bp;
+
+BroadPhase* BroadPhase::create(
+	const PxBroadPhaseType::Enum bpType,
+	const PxU32 maxNbRegions,
+	const PxU32 maxNbBroadPhaseOverlaps,
+	const PxU32 maxNbStaticShapes,
+	const PxU32 maxNbDynamicShapes,
+	PxU64 contextID)
+{
+	if(bpType==PxBroadPhaseType::eABP)
+		return PX_NEW(BroadPhaseABP)(maxNbBroadPhaseOverlaps, maxNbStaticShapes, maxNbDynamicShapes, contextID, false);
+	else if(bpType==PxBroadPhaseType::ePABP)
+		return PX_NEW(BroadPhaseABP)(maxNbBroadPhaseOverlaps, maxNbStaticShapes, maxNbDynamicShapes, contextID, true);
+	else if(bpType==PxBroadPhaseType::eMBP)
+		return PX_NEW(BroadPhaseMBP)(maxNbRegions, maxNbBroadPhaseOverlaps, maxNbStaticShapes, maxNbDynamicShapes, contextID);
+	else if(bpType==PxBroadPhaseType::eSAP)
+		return PX_NEW(BroadPhaseSap)(maxNbBroadPhaseOverlaps, maxNbStaticShapes, maxNbDynamicShapes, contextID);
+	else
+	{
+		PX_ASSERT(0);
+		return NULL;
+	}
+}

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseABP.h

@@ -0,0 +1,98 @@
+// 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 BP_BROADPHASE_ABP_H
+#define BP_BROADPHASE_ABP_H
+
+#include "foundation/PxArray.h"
+#include "BpBroadPhase.h"
+#include "PxPhysXConfig.h"
+#include "BpBroadPhaseUpdate.h"
+
+#define ABP_MT2
+
+namespace internalABP{
+	class ABP;
+}
+
+namespace physx
+{
+namespace Bp
+{
+	class BroadPhaseABP : public BroadPhase
+	{
+											PX_NOCOPY(BroadPhaseABP)
+		public:
+											BroadPhaseABP(	PxU32 maxNbBroadPhaseOverlaps,
+															PxU32 maxNbStaticShapes,
+															PxU32 maxNbDynamicShapes,
+															PxU64 contextID,
+															bool enableMT);
+		virtual								~BroadPhaseABP();
+
+	// BroadPhase
+		virtual	PxBroadPhaseType::Enum		getType()					const	PX_OVERRIDE	PX_FINAL	{ return mEnableMT ? PxBroadPhaseType::ePABP : PxBroadPhaseType::eABP;	}
+		virtual	void						release()							PX_OVERRIDE	PX_FINAL	{ PX_DELETE_THIS;														}
+		virtual	void						update(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation)	PX_OVERRIDE;
+		virtual	void						preBroadPhase(const Bp::BroadPhaseUpdateData&) PX_OVERRIDE	PX_FINAL	{}
+		virtual void						fetchBroadPhaseResults()		PX_OVERRIDE	PX_FINAL	{}
+		virtual const BroadPhasePair*		getCreatedPairs(PxU32&)	const	PX_OVERRIDE	PX_FINAL;
+		virtual const BroadPhasePair*		getDeletedPairs(PxU32&)	const	PX_OVERRIDE	PX_FINAL;
+		virtual void						freeBuffers()					PX_OVERRIDE	PX_FINAL;
+		virtual void						shiftOrigin(const PxVec3& shift, const PxBounds3* boundsArray, const PxReal* contactDistances)	PX_OVERRIDE	PX_FINAL;
+#if PX_CHECKED
+		virtual bool						isValid(const BroadPhaseUpdateData& updateData)	const	PX_OVERRIDE	PX_FINAL;
+#endif
+	//~BroadPhase
+
+		internalABP::ABP*					mABP;		// PT: TODO: aggregate
+				PxU32						mNbAdded;
+				PxU32						mNbUpdated;
+				PxU32						mNbRemoved;
+				const BpHandle*				mCreatedHandles;
+				const BpHandle*				mUpdatedHandles;
+				const BpHandle*				mRemovedHandles;
+				PxArray<BroadPhasePair>		mCreated;
+				PxArray<BroadPhasePair>		mDeleted;
+
+				const Bp::FilterGroup::Enum*mGroups;
+				const BpFilter*				mFilter;
+
+				const PxU64					mContextID;
+				const bool					mEnableMT;
+
+				void						addObjects();
+				void						removeObjects();
+				void						updateObjects();
+	};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif // BP_BROADPHASE_ABP_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseIntegerAABB.h

@@ -0,0 +1,310 @@
+// 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 BP_BROADPHASE_INTEGER_AABB_H
+#define BP_BROADPHASE_INTEGER_AABB_H
+
+#include "BpFiltering.h"
+#include "foundation/PxBounds3.h"
+#include "foundation/PxUnionCast.h"
+
+namespace physx
+{
+namespace Bp
+{
+
+	/*
+	\brief Encode a single float value with lossless encoding to integer
+	*/
+	PX_FORCE_INLINE PxU32 encodeFloat(PxU32 ir)
+	{
+		//we may need to check on -0 and 0
+		//But it should make no practical difference.
+		if(ir & PX_SIGN_BITMASK) //negative?
+			return ~ir;//reverse sequence of negative numbers
+		else
+			return ir | PX_SIGN_BITMASK; // flip sign
+	}
+
+	/*
+	\brief Encode a single float value with lossless encoding to integer
+	*/
+	PX_FORCE_INLINE PxU32 decodeFloat(PxU32 ir)
+	{
+		if(ir & PX_SIGN_BITMASK) //positive?
+			return ir & ~PX_SIGN_BITMASK; //flip sign
+		else
+			return ~ir; //undo reversal
+	}
+
+
+/**
+\brief Integer representation of PxBounds3 used by BroadPhase
+\see BroadPhaseUpdateData
+*/
+
+typedef PxU32 ValType;
+
+class IntegerAABB
+{
+public:
+
+	enum
+	{
+		MIN_X = 0,
+		MIN_Y,
+		MIN_Z,
+		MAX_X,
+		MAX_Y,
+		MAX_Z
+	};
+
+	IntegerAABB(const PxBounds3& b, PxReal contactDistance)
+	{
+		const PxVec3 dist(contactDistance);
+		encode(PxBounds3(b.minimum - dist, b.maximum + dist));
+	}
+
+	/*
+	\brief Return the minimum along a specified axis
+	\param[in] i is the axis
+	*/
+	PX_FORCE_INLINE ValType	getMin(PxU32 i)	const	{	return (mMinMax)[MIN_X+i];	}
+
+	/*
+	\brief Return the maximum along a specified axis
+	\param[in] i is the axis
+	*/
+	PX_FORCE_INLINE ValType	getMax(PxU32 i)	const	{	return (mMinMax)[MAX_X+i];	}
+
+	/*
+	\brief Return one of the six min/max values of the bound 
+	\param[in] isMax determines whether a min or max value is returned
+	\param[in] index is the axis 
+	*/
+	PX_FORCE_INLINE ValType	getExtent(PxU32 isMax, PxU32 index) const
+	{
+		PX_ASSERT(isMax<=1);
+		return (mMinMax)[3*isMax+index];
+	}
+
+	/*
+	\brief Return the minimum on the x axis
+	*/
+	PX_FORCE_INLINE ValType getMinX() const { return mMinMax[MIN_X]; }
+
+	/*
+	\brief Return the minimum on the y axis
+	*/
+	PX_FORCE_INLINE ValType getMinY() const { return mMinMax[MIN_Y]; }
+
+	/*
+	\brief Return the minimum on the z axis
+	*/
+	PX_FORCE_INLINE ValType getMinZ() const { return mMinMax[MIN_Z]; }
+
+	/*
+	\brief Return the maximum on the x axis
+	*/
+	PX_FORCE_INLINE ValType getMaxX() const { return mMinMax[MAX_X]; }
+
+	/*
+	\brief Return the maximum on the y axis
+	*/
+	PX_FORCE_INLINE ValType getMaxY() const { return mMinMax[MAX_Y]; }
+
+	/*
+	\brief Return the maximum on the z axis
+	*/
+	PX_FORCE_INLINE ValType getMaxZ() const { return mMinMax[MAX_Z]; }
+
+	/*
+	\brief Encode float bounds so they are stored as integer bounds
+	\param[in] bounds is the bounds to be encoded 
+	\note The integer values of minima are always even, while the integer values of maxima are always odd
+	\note The encoding process masks off the last four bits for minima and masks on the last four bits for maxima.
+	This keeps the bounds constant when its shape is subjected to small global pose perturbations.  In turn, this helps 
+	reduce computational effort in the broadphase update by reducing the amount of sorting required on near-stationary 
+	bodies that are aligned along one or more axis.
+	\see decode
+	*/
+	PX_FORCE_INLINE	void encode(const PxBounds3& bounds)
+	{
+		const PxU32* PX_RESTRICT min = PxUnionCast<const PxU32*, const PxF32*>(&bounds.minimum.x);
+		const PxU32* PX_RESTRICT max = PxUnionCast<const PxU32*, const PxF32*>(&bounds.maximum.x);
+		//Avoid min=max by enforcing the rule that mins are even and maxs are odd.
+		mMinMax[MIN_X] = encodeFloatMin(min[0]);
+		mMinMax[MIN_Y] = encodeFloatMin(min[1]);
+		mMinMax[MIN_Z] = encodeFloatMin(min[2]);
+		mMinMax[MAX_X] = encodeFloatMax(max[0]) | (1<<2);
+		mMinMax[MAX_Y] = encodeFloatMax(max[1]) | (1<<2);
+		mMinMax[MAX_Z] = encodeFloatMax(max[2]) | (1<<2);
+	}
+
+	/*
+	\brief Decode from integer bounds to float bounds	
+	\param[out] bounds is the decoded float bounds
+	\note Encode followed by decode will produce a float bound larger than the original
+	due to the masking in encode.
+	\see encode
+	*/
+	PX_FORCE_INLINE	void decode(PxBounds3& bounds)	const
+	{
+		PxU32* PX_RESTRICT min = PxUnionCast<PxU32*, PxF32*>(&bounds.minimum.x);
+		PxU32* PX_RESTRICT max = PxUnionCast<PxU32*, PxF32*>(&bounds.maximum.x);
+		min[0] = decodeFloat(mMinMax[MIN_X]);
+		min[1] = decodeFloat(mMinMax[MIN_Y]);
+		min[2] = decodeFloat(mMinMax[MIN_Z]);
+		max[0] = decodeFloat(mMinMax[MAX_X]);
+		max[1] = decodeFloat(mMinMax[MAX_Y]);
+		max[2] = decodeFloat(mMinMax[MAX_Z]);
+	}
+
+	/*
+	\brief Encode a single minimum value from integer bounds to float bounds	
+	\note The encoding process masks off the last four bits for minima
+	\see encode
+	*/
+	static PX_FORCE_INLINE ValType encodeFloatMin(PxU32 source)
+	{
+		return ((encodeFloat(source) >> eGRID_SNAP_VAL) - 1) << eGRID_SNAP_VAL;
+	}
+
+	/*
+	\brief Encode a single maximum value from integer bounds to float bounds	
+	\note The encoding process masks on the last four bits for maxima
+	\see encode
+	*/
+	static PX_FORCE_INLINE ValType encodeFloatMax(PxU32 source)
+	{
+		return ((encodeFloat(source) >> eGRID_SNAP_VAL) + 1) << eGRID_SNAP_VAL;
+	}
+
+	/*
+	\brief Shift the encoded bounds by a specified vector
+	\param[in] shift is the vector used to shift the bounds
+	*/
+	PX_FORCE_INLINE void shift(const PxVec3& shift)
+	{
+		::physx::PxBounds3 elemBounds;
+		decode(elemBounds);
+		elemBounds.minimum -= shift;
+		elemBounds.maximum -= shift;
+		encode(elemBounds);
+	}
+
+	/*
+	\brief Test if this aabb lies entirely inside another aabb
+	\param[in] box is the other box
+	\return True if this aabb lies entirely inside box
+	*/
+	PX_INLINE bool isInside(const IntegerAABB& box) const
+	{
+		if(box.mMinMax[MIN_X]>mMinMax[MIN_X])	return false;
+		if(box.mMinMax[MIN_Y]>mMinMax[MIN_Y])	return false;
+		if(box.mMinMax[MIN_Z]>mMinMax[MIN_Z])	return false;
+		if(box.mMinMax[MAX_X]<mMinMax[MAX_X])	return false;
+		if(box.mMinMax[MAX_Y]<mMinMax[MAX_Y])	return false;
+		if(box.mMinMax[MAX_Z]<mMinMax[MAX_Z])	return false;
+		return true;
+	}
+
+	/*
+	\brief Test if this aabb and another intersect
+	\param[in] b is the other box
+	\return True if this aabb and b intersect
+	*/
+	PX_FORCE_INLINE bool intersects(const IntegerAABB& b) const
+	{
+		return !(b.mMinMax[MIN_X] > mMinMax[MAX_X] || mMinMax[MIN_X] > b.mMinMax[MAX_X] ||
+			b.mMinMax[MIN_Y] > mMinMax[MAX_Y] || mMinMax[MIN_Y] > b.mMinMax[MAX_Y] ||
+			b.mMinMax[MIN_Z] > mMinMax[MAX_Z] || mMinMax[MIN_Z] > b.mMinMax[MAX_Z]);
+	}
+
+	PX_FORCE_INLINE bool intersects1D(const IntegerAABB& b, const PxU32 axis) const
+	{
+		const PxU32 maxAxis = axis + 3;
+		return !(b.mMinMax[axis] > mMinMax[maxAxis] || mMinMax[axis] > b.mMinMax[maxAxis]);
+	}
+
+
+	/*
+	\brief Expand bounds to include another
+	\note This is used to compute the aggregate bounds of multiple shape bounds
+	\param[in] b is the bounds to be included
+	*/
+	PX_FORCE_INLINE void include(const IntegerAABB& b)
+	{
+		mMinMax[MIN_X] = PxMin(mMinMax[MIN_X], b.mMinMax[MIN_X]);
+		mMinMax[MIN_Y] = PxMin(mMinMax[MIN_Y], b.mMinMax[MIN_Y]);
+		mMinMax[MIN_Z] = PxMin(mMinMax[MIN_Z], b.mMinMax[MIN_Z]);
+		mMinMax[MAX_X] = PxMax(mMinMax[MAX_X], b.mMinMax[MAX_X]);
+		mMinMax[MAX_Y] = PxMax(mMinMax[MAX_Y], b.mMinMax[MAX_Y]);
+		mMinMax[MAX_Z] = PxMax(mMinMax[MAX_Z], b.mMinMax[MAX_Z]);
+	}
+
+	/*
+	\brief Set the bounds to (max, max, max), (min, min, min)
+	*/
+	PX_INLINE void setEmpty()
+	{
+		mMinMax[MIN_X] = mMinMax[MIN_Y] = mMinMax[MIN_Z] = 0xff7fffff;  //PX_IR(PX_MAX_F32);
+		mMinMax[MAX_X] = mMinMax[MAX_Y] = mMinMax[MAX_Z] = 0x00800000;	///PX_IR(0.0f);
+	}
+
+	ValType mMinMax[6];
+
+private:
+
+	enum
+	{
+		eGRID_SNAP_VAL = 4
+	};
+};
+
+PX_FORCE_INLINE ValType encodeMin(const PxBounds3& bounds, PxU32 axis, PxReal contactDistance)
+{
+	const PxReal val = bounds.minimum[axis] - contactDistance;
+	const PxU32 min = PxUnionCast<PxU32, PxF32>(val);
+	const PxU32 m = IntegerAABB::encodeFloatMin(min);
+	return m;
+}
+
+PX_FORCE_INLINE ValType encodeMax(const PxBounds3& bounds, PxU32 axis, PxReal contactDistance)
+{
+	const PxReal val = bounds.maximum[axis] + contactDistance;
+	const PxU32 max = PxUnionCast<PxU32, PxF32>(val);
+	const PxU32 m = IntegerAABB::encodeFloatMax(max) | (1<<2);
+	return m;
+}
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseMBP.h

@@ -0,0 +1,112 @@
+// 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 BP_BROADPHASE_MBP_H
+#define BP_BROADPHASE_MBP_H
+
+#include "BpBroadPhase.h"
+#include "BpBroadPhaseMBPCommon.h"
+#include "foundation/PxArray.h"
+
+namespace internalMBP
+{
+	class MBP;
+}
+
+namespace physx
+{
+namespace Bp
+{
+	class BroadPhaseMBP : public BroadPhase
+	{
+											PX_NOCOPY(BroadPhaseMBP)
+		public:
+											BroadPhaseMBP(	PxU32 maxNbRegions,
+															PxU32 maxNbBroadPhaseOverlaps,
+															PxU32 maxNbStaticShapes,
+															PxU32 maxNbDynamicShapes,
+															PxU64 contextID);
+		virtual								~BroadPhaseMBP();
+
+	// BroadPhaseBase
+		virtual	void						getCaps(PxBroadPhaseCaps& caps)														const	PX_OVERRIDE	PX_FINAL;
+	//~BroadPhaseBase
+
+	// PxBroadPhaseRegions
+		virtual	PxU32						getNbRegions()																		const	PX_OVERRIDE	PX_FINAL;
+		virtual	PxU32						getRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const	PX_OVERRIDE	PX_FINAL;
+		virtual	PxU32						addRegion(const PxBroadPhaseRegion& region, bool populateRegion, const PxBounds3* boundsArray, const PxReal* contactDistance)	PX_OVERRIDE	PX_FINAL;
+		virtual	bool						removeRegion(PxU32 handle)			PX_OVERRIDE	PX_FINAL;
+		virtual	PxU32						getNbOutOfBoundsObjects()	const	PX_OVERRIDE	PX_FINAL;
+		virtual	const PxU32*				getOutOfBoundsObjects()		const	PX_OVERRIDE	PX_FINAL;
+	//~PxBroadPhaseRegions
+
+	// BroadPhase
+		virtual	PxBroadPhaseType::Enum		getType()					const	PX_OVERRIDE	PX_FINAL	{ return PxBroadPhaseType::eMBP;	}
+		virtual	void						release()							PX_OVERRIDE	PX_FINAL	{ PX_DELETE_THIS;					}
+		virtual	void						update(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation)	PX_OVERRIDE;
+		virtual	void						preBroadPhase(const Bp::BroadPhaseUpdateData&) PX_OVERRIDE	PX_FINAL	{}
+		virtual void						fetchBroadPhaseResults()		PX_OVERRIDE	PX_FINAL	{}
+		virtual const BroadPhasePair*		getCreatedPairs(PxU32&)	const	PX_OVERRIDE	PX_FINAL;
+		virtual const BroadPhasePair*		getDeletedPairs(PxU32&)	const	PX_OVERRIDE	PX_FINAL;
+		virtual void						freeBuffers()					PX_OVERRIDE	PX_FINAL;
+		virtual void						shiftOrigin(const PxVec3& shift, const PxBounds3* boundsArray, const PxReal* contactDistances)	PX_OVERRIDE	PX_FINAL;
+#if PX_CHECKED
+		virtual bool						isValid(const BroadPhaseUpdateData& updateData)	const	PX_OVERRIDE	PX_FINAL;
+#endif
+	//~BroadPhase
+
+				internalMBP::MBP*			mMBP;		// PT: TODO: aggregate
+
+				MBP_Handle*					mMapping;
+				PxU32						mCapacity;
+				PxArray<BroadPhasePair>		mCreated;
+				PxArray<BroadPhasePair>		mDeleted;
+
+				const Bp::FilterGroup::Enum*mGroups;
+				const BpFilter*				mFilter;
+
+				const PxU64					mContextID;
+
+				void						setUpdateData(const BroadPhaseUpdateData& updateData);
+				void						addObjects(const BroadPhaseUpdateData& updateData);
+				void						removeObjects(const BroadPhaseUpdateData& updateData);
+				void						updateObjects(const BroadPhaseUpdateData& updateData);
+
+				void						update();
+				void						postUpdate();
+				void						allocateMappingArray(PxU32 newCapacity);
+
+				PxU32						getCurrentNbPairs()	const;
+	};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif // BP_BROADPHASE_MBP_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseMBPCommon.h

@@ -0,0 +1,198 @@
+// 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 BP_BROADPHASE_MBP_COMMON_H
+#define BP_BROADPHASE_MBP_COMMON_H
+
+#include "PxPhysXConfig.h"
+#include "BpBroadPhaseIntegerAABB.h"
+#include "foundation/PxUserAllocated.h"
+
+namespace physx
+{
+namespace Bp
+{
+
+#define MBP_USE_WORDS
+#define MBP_USE_NO_CMP_OVERLAP
+#if PX_INTEL_FAMILY && !defined(PX_SIMD_DISABLED)
+	#define MBP_SIMD_OVERLAP
+#endif
+
+#ifdef MBP_USE_WORDS
+	typedef	PxU16	MBP_Index;
+#else
+	typedef	PxU32	MBP_Index;
+#endif
+	typedef	PxU32	MBP_ObjectIndex;	// PT: index in mMBP_Objects
+	typedef	PxU32	MBP_Handle;			// PT: returned to MBP users, combination of index/flip-flop/static-bit
+
+	struct IAABB : public PxUserAllocated
+	{
+		PX_FORCE_INLINE bool isInside(const IAABB& box) const
+		{
+			if(box.mMinX>mMinX)	return false;
+			if(box.mMinY>mMinY)	return false;
+			if(box.mMinZ>mMinZ)	return false;
+			if(box.mMaxX<mMaxX)	return false;
+			if(box.mMaxY<mMaxY)	return false;
+			if(box.mMaxZ<mMaxZ)	return false;
+			return true;
+		}
+
+		PX_FORCE_INLINE			PxIntBool		intersects(const IAABB& a)	const
+		{
+			if(mMaxX < a.mMinX || a.mMaxX < mMinX
+			|| mMaxY < a.mMinY || a.mMaxY < mMinY
+			|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
+			)
+				return PxIntFalse;
+			return PxIntTrue;
+		}
+
+		PX_FORCE_INLINE			PxIntBool		intersectNoTouch(const IAABB& a)	const
+		{
+			if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
+			|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
+			|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
+			)
+				return PxIntFalse;
+			return PxIntTrue;
+		}
+
+		PX_FORCE_INLINE	void	initFrom2(const PxBounds3& box)
+		{
+			const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
+			mMinX = encodeFloat(binary[0])>>1;
+			mMinY = encodeFloat(binary[1])>>1;
+			mMinZ = encodeFloat(binary[2])>>1;
+			mMaxX = encodeFloat(binary[3])>>1;
+			mMaxY = encodeFloat(binary[4])>>1;
+			mMaxZ = encodeFloat(binary[5])>>1;
+		}
+
+		PX_FORCE_INLINE	void	decode(PxBounds3& box)	const
+		{
+			PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
+			binary[0] = decodeFloat(mMinX<<1);
+			binary[1] = decodeFloat(mMinY<<1);
+			binary[2] = decodeFloat(mMinZ<<1);
+			binary[3] = decodeFloat(mMaxX<<1);
+			binary[4] = decodeFloat(mMaxY<<1);
+			binary[5] = decodeFloat(mMaxZ<<1);
+		}
+
+		PX_FORCE_INLINE PxU32	getMin(PxU32 i)	const	{	return (&mMinX)[i];	}
+		PX_FORCE_INLINE PxU32	getMax(PxU32 i)	const	{	return (&mMaxX)[i];	}
+
+		PxU32 mMinX;
+		PxU32 mMinY;
+		PxU32 mMinZ;
+		PxU32 mMaxX;
+		PxU32 mMaxY;
+		PxU32 mMaxZ;
+	};
+
+	struct SIMD_AABB : public PxUserAllocated
+	{
+		PX_FORCE_INLINE	void	initFrom(const PxBounds3& box)
+		{
+			const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
+			mMinX = encodeFloat(binary[0]);
+			mMinY = encodeFloat(binary[1]);
+			mMinZ = encodeFloat(binary[2]);
+			mMaxX = encodeFloat(binary[3]);
+			mMaxY = encodeFloat(binary[4]);
+			mMaxZ = encodeFloat(binary[5]);
+		}
+
+		PX_FORCE_INLINE	void	initFrom2(const PxBounds3& box)
+		{
+			const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
+			mMinX = encodeFloat(binary[0])>>1;
+			mMinY = encodeFloat(binary[1])>>1;
+			mMinZ = encodeFloat(binary[2])>>1;
+			mMaxX = encodeFloat(binary[3])>>1;
+			mMaxY = encodeFloat(binary[4])>>1;
+			mMaxZ = encodeFloat(binary[5])>>1;
+		}
+
+		PX_FORCE_INLINE	void	decode(PxBounds3& box)	const
+		{
+			PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
+			binary[0] = decodeFloat(mMinX<<1);
+			binary[1] = decodeFloat(mMinY<<1);
+			binary[2] = decodeFloat(mMinZ<<1);
+			binary[3] = decodeFloat(mMaxX<<1);
+			binary[4] = decodeFloat(mMaxY<<1);
+			binary[5] = decodeFloat(mMaxZ<<1);
+		}
+
+		PX_FORCE_INLINE bool isInside(const SIMD_AABB& box) const
+		{
+			if(box.mMinX>mMinX)	return false;
+			if(box.mMinY>mMinY)	return false;
+			if(box.mMinZ>mMinZ)	return false;
+			if(box.mMaxX<mMaxX)	return false;
+			if(box.mMaxY<mMaxY)	return false;
+			if(box.mMaxZ<mMaxZ)	return false;
+			return true;
+		}
+
+		PX_FORCE_INLINE			PxIntBool		intersects(const SIMD_AABB& a)	const
+		{
+			if(mMaxX < a.mMinX || a.mMaxX < mMinX
+			|| mMaxY < a.mMinY || a.mMaxY < mMinY
+			|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
+			)
+				return PxIntFalse;
+			return PxIntTrue;
+		}
+
+		PX_FORCE_INLINE			PxIntBool		intersectNoTouch(const SIMD_AABB& a)	const
+		{
+			if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
+			|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
+			|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
+			)
+				return PxIntFalse;
+			return PxIntTrue;
+		}
+
+		PxU32 mMinX;
+		PxU32 mMaxX;
+		PxU32 mMinY;
+		PxU32 mMinZ;
+		PxU32 mMaxY;
+		PxU32 mMaxZ;
+	};
+
+}
+} // namespace physx
+
+#endif // BP_BROADPHASE_MBP_COMMON_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseSap.h

@@ -0,0 +1,211 @@
+// 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 BP_BROADPHASE_SAP_H
+#define BP_BROADPHASE_SAP_H
+
+#include "BpBroadPhase.h"
+#include "BpBroadPhaseSapAux.h"
+#include "CmPool.h"
+#include "CmTask.h"
+
+namespace physx
+{
+class PxcScratchAllocator;
+
+namespace Gu
+{
+	class Axes;
+}
+
+namespace Bp
+{
+
+class SapEndPoint;
+class IntegerAABB;
+
+class BroadPhaseBatchUpdateWorkTask: public Cm::Task
+{
+public:
+
+	BroadPhaseBatchUpdateWorkTask(PxU64 contextId=0) :
+		Cm::Task		(contextId), 
+		mSap			(NULL),
+		mAxis			(0xffffffff),
+		mPairs			(NULL),
+		mPairsSize		(0),
+		mPairsCapacity	(0)
+	{
+	}
+
+	virtual void runInternal();
+
+	virtual const char* getName() const { return "BpBroadphaseSap.batchUpdate"; }
+
+	void set(class BroadPhaseSap* sap, const PxU32 axis) {mSap = sap; mAxis = axis;}
+
+	BroadPhasePair* getPairs() const {return mPairs;}
+	PxU32 getPairsSize() const {return mPairsSize;}
+	PxU32 getPairsCapacity() const {return mPairsCapacity;}
+
+	void setPairs(BroadPhasePair* pairs, const PxU32 pairsCapacity) {mPairs = pairs; mPairsCapacity = pairsCapacity;}
+
+	void setNumPairs(const PxU32 pairsSize) {mPairsSize=pairsSize;}
+
+private:
+
+	class BroadPhaseSap* mSap;
+	PxU32 mAxis;
+
+	BroadPhasePair* mPairs;
+	PxU32 mPairsSize;
+	PxU32 mPairsCapacity;
+};
+
+//KS - TODO, this could be reduced to U16 in smaller scenes
+struct BroadPhaseActivityPocket
+{
+	PxU32 mStartIndex;
+	PxU32 mEndIndex;
+};
+
+
+class BroadPhaseSap : public BroadPhase
+{
+	PX_NOCOPY(BroadPhaseSap)
+public:
+
+	friend class BroadPhaseBatchUpdateWorkTask;
+	friend class SapUpdateWorkTask;
+	friend class SapPostUpdateWorkTask;
+
+										BroadPhaseSap(const PxU32 maxNbBroadPhaseOverlaps, const PxU32 maxNbStaticShapes, const PxU32 maxNbDynamicShapes, PxU64 contextID);
+	virtual								~BroadPhaseSap();
+
+	// BroadPhase
+	virtual	PxBroadPhaseType::Enum		getType()					const	PX_OVERRIDE	PX_FINAL	{ return PxBroadPhaseType::eSAP;	}
+	virtual	void						release()							PX_OVERRIDE	PX_FINAL;
+	virtual	void						update(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation)	PX_OVERRIDE	PX_FINAL;
+	virtual	void						preBroadPhase(const Bp::BroadPhaseUpdateData&)	PX_OVERRIDE	PX_FINAL	{}
+	virtual void						fetchBroadPhaseResults()	PX_OVERRIDE	PX_FINAL	{}
+	virtual const BroadPhasePair*		getCreatedPairs(PxU32& nbCreatedPairs)	const	PX_OVERRIDE	PX_FINAL	{ nbCreatedPairs = mCreatedPairsSize;	return mCreatedPairsArray;	}
+	virtual const BroadPhasePair*		getDeletedPairs(PxU32& nbDeletedPairs)	const	PX_OVERRIDE	PX_FINAL	{ nbDeletedPairs = mDeletedPairsSize;	return mDeletedPairsArray;	}
+	virtual void						freeBuffers()	PX_OVERRIDE	PX_FINAL;
+	virtual void						shiftOrigin(const PxVec3& shift, const PxBounds3* boundsArray, const PxReal* contactDistances)	PX_OVERRIDE	PX_FINAL;
+#if PX_CHECKED
+	virtual bool						isValid(const BroadPhaseUpdateData& updateData) const	PX_OVERRIDE	PX_FINAL;
+#endif
+	//~BroadPhase
+
+private:
+			void						resizeBuffers();
+
+			PxcScratchAllocator*		mScratchAllocator;
+
+	//Data passed in from updateV.
+			const BpHandle*				mCreated;				
+			PxU32						mCreatedSize;			
+			const BpHandle*				mRemoved;				
+			PxU32						mRemovedSize;				
+			const BpHandle*				mUpdated;				
+			PxU32						mUpdatedSize;				
+			const PxBounds3*			mBoxBoundsMinMax;			
+			const Bp::FilterGroup::Enum*mBoxGroups;
+			const BpFilter*				mFilter;
+			const PxReal*				mContactDistance;
+			PxU32						mBoxesCapacity;
+
+	//Boxes.
+			SapBox1D*					mBoxEndPts[3];			//Position of box min/max in sorted arrays of end pts (needs to have mBoxesCapacity).
+
+	//End pts (endpts of boxes sorted along each axis).
+			ValType*					mEndPointValues[3];		//Sorted arrays of min and max box coords
+			BpHandle*					mEndPointDatas[3];		//Corresponding owner id and isMin/isMax for each entry in the sorted arrays of min and max box coords.
+
+			PxU8*						mBoxesUpdated;	
+			BpHandle*					mSortedUpdateElements;	
+			BroadPhaseActivityPocket*	mActivityPockets;
+			BpHandle*					mListNext;
+			BpHandle*					mListPrev;
+
+			PxU32						mBoxesSize;				//Number of sorted boxes + number of unsorted (new) boxes
+			PxU32						mBoxesSizePrev;			//Number of sorted boxes 
+			PxU32						mEndPointsCapacity;		//Capacity of sorted arrays. 
+
+	//Default maximum number of overlap pairs 
+			PxU32						mDefaultPairsCapacity;
+
+	//Box-box overlap pairs created or removed each update.
+			BpHandle*					mData;
+			PxU32						mDataSize;
+			PxU32						mDataCapacity;
+
+	//All current box-box overlap pairs.
+			SapPairManager				mPairs;
+
+	//Created and deleted overlap pairs reported back through api.
+			BroadPhasePair*				mCreatedPairsArray;
+			PxU32						mCreatedPairsSize;
+			PxU32						mCreatedPairsCapacity;
+			BroadPhasePair*				mDeletedPairsArray;
+			PxU32						mDeletedPairsSize;
+			PxU32						mDeletedPairsCapacity;
+			PxU32						mActualDeletedPairSize;
+
+			bool						setUpdateData(const BroadPhaseUpdateData& updateData);
+			void						update();
+			void						postUpdate();
+
+	//Batch create/remove/update.
+			void						batchCreate();
+			void						batchRemove();
+			void						batchUpdate();
+
+			void						batchUpdate(const PxU32 Axis, BroadPhasePair*& pairs, PxU32& pairsSize, PxU32& pairsCapacity);
+
+			void						batchUpdateFewUpdates(const PxU32 Axis, BroadPhasePair*& pairs, PxU32& pairsSize, PxU32& pairsCapacity);
+
+			void						ComputeSortedLists(	//const PxVec4& globalMin, const PxVec4& globalMax,
+															BpHandle* PX_RESTRICT newBoxIndicesSorted, PxU32& newBoxIndicesCount, BpHandle* PX_RESTRICT oldBoxIndicesSorted, PxU32& oldBoxIndicesCount,
+															bool& allNewBoxesStatics, bool& allOldBoxesStatics);
+
+			BroadPhaseBatchUpdateWorkTask mBatchUpdateTasks[3];
+
+			const PxU64					mContextID;
+#if PX_DEBUG
+			bool						isSelfOrdered() const;
+			bool						isSelfConsistent() const;
+#endif
+};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif //BP_BROADPHASE_SAP_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseSapAux.cpp

@@ -0,0 +1,911 @@
+// 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.  
+
+#include "BpBroadPhaseSapAux.h"
+#include "PxcScratchAllocator.h"
+
+namespace physx
+{
+
+namespace Bp
+{
+
+PX_FORCE_INLINE void PxBpHandleSwap(BpHandle& a, BpHandle& b)													
+{ 
+	const BpHandle c = a; a = b; b = c;		
+}
+
+PX_FORCE_INLINE void Sort(BpHandle& id0, BpHandle& id1)										
+{ 
+	if(id0>id1)	PxBpHandleSwap(id0, id1);						
+}
+
+PX_FORCE_INLINE bool DifferentPair(const BroadPhasePair& p, BpHandle id0, BpHandle id1)	
+{ 
+	return (id0!=p.mVolA) || (id1!=p.mVolB);						
+}
+
+PX_FORCE_INLINE int Hash32Bits_1(int key)
+{
+	key += ~(key << 15);
+	key ^=  (key >> 10);
+	key +=  (key << 3);
+	key ^=  (key >> 6);
+	key += ~(key << 11);
+	key ^=  (key >> 16);
+	return key;
+}
+
+PX_FORCE_INLINE PxU32 Hash(BpHandle id0, BpHandle id1)								
+{ 
+	return PxU32(Hash32Bits_1( int(PxU32(id0)|(PxU32(id1)<<16)) ));
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+SapPairManager::SapPairManager() :
+	mHashTable				(NULL),
+	mNext					(NULL),
+	mHashSize				(0),
+	mHashCapacity			(0),
+	mMinAllowedHashCapacity	(0),
+	mActivePairs			(NULL),
+	mActivePairStates		(NULL),
+	mNbActivePairs			(0),
+	mActivePairsCapacity	(0),
+	mMask					(0)
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+SapPairManager::~SapPairManager()
+{
+	PX_ASSERT(NULL==mHashTable);
+	PX_ASSERT(NULL==mNext);
+	PX_ASSERT(NULL==mActivePairs);
+	PX_ASSERT(NULL==mActivePairStates);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+
+void SapPairManager::init(const PxU32 size)
+{
+	mHashTable=reinterpret_cast<BpHandle*>(PX_ALLOC(ALIGN_SIZE_16(sizeof(BpHandle)*size), "BpHandle"));
+	mNext=reinterpret_cast<BpHandle*>(PX_ALLOC(ALIGN_SIZE_16(sizeof(BpHandle)*size), "BpHandle"));
+	mActivePairs=reinterpret_cast<BroadPhasePair*>(PX_ALLOC(ALIGN_SIZE_16(sizeof(BroadPhasePair)*size), "BroadPhasePair"));
+	mActivePairStates=reinterpret_cast<PxU8*>(PX_ALLOC(ALIGN_SIZE_16(sizeof(PxU8)*size), "BroadPhaseContextSap ActivePairStates"));
+	mHashCapacity=size;
+	mMinAllowedHashCapacity = size;
+	mActivePairsCapacity=size;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void SapPairManager::release()
+{
+	PX_FREE(mHashTable);
+	PX_FREE(mNext);
+	PX_FREE(mActivePairs);
+	PX_FREE(mActivePairStates);
+	mHashSize				= 0;
+	mHashCapacity			= 0;
+	mMinAllowedHashCapacity	= 0;
+	mNbActivePairs			= 0;
+	mActivePairsCapacity	= 0;
+	mMask					= 0;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+const BroadPhasePair* SapPairManager::FindPair(BpHandle id0, BpHandle id1) const
+{
+	if(0==mHashSize) return NULL;	// Nothing has been allocated yet
+
+	// Order the ids
+	Sort(id0, id1);
+
+	// Compute hash value for this pair
+	PxU32 HashValue = Hash(id0, id1) & mMask;
+	PX_ASSERT(HashValue<mHashCapacity);
+
+	// Look for it in the table
+	PX_ASSERT(HashValue<mHashCapacity);
+	PxU32 Offset = mHashTable[HashValue];
+	PX_ASSERT(BP_INVALID_BP_HANDLE==Offset || Offset<mActivePairsCapacity);
+	while(Offset!=BP_INVALID_BP_HANDLE && DifferentPair(mActivePairs[Offset], id0, id1))
+	{
+		PX_ASSERT(mActivePairs[Offset].mVolA!=BP_INVALID_BP_HANDLE);
+		PX_ASSERT(Offset<mHashCapacity);
+		Offset = mNext[Offset];		// Better to have a separate array for this
+		PX_ASSERT(BP_INVALID_BP_HANDLE==Offset || Offset<mActivePairsCapacity);
+	}
+	if(Offset==BP_INVALID_BP_HANDLE)	return NULL;
+	PX_ASSERT(Offset<mNbActivePairs);
+	// Match mActivePairs[Offset] => the pair is persistent
+	PX_ASSERT(Offset<mActivePairsCapacity);
+	return &mActivePairs[Offset];
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+// Internal version saving hash computation
+PX_FORCE_INLINE BroadPhasePair* SapPairManager::FindPair(BpHandle id0, BpHandle id1, PxU32 hash_value) const
+{
+	if(0==mHashSize) return NULL;	// Nothing has been allocated yet
+
+	// Look for it in the table
+	PX_ASSERT(hash_value<mHashCapacity);
+	PxU32 Offset = mHashTable[hash_value];
+	PX_ASSERT(BP_INVALID_BP_HANDLE==Offset || Offset<mActivePairsCapacity);
+	while(Offset!=BP_INVALID_BP_HANDLE && DifferentPair(mActivePairs[Offset], id0, id1))
+	{
+		PX_ASSERT(mActivePairs[Offset].mVolA!=BP_INVALID_BP_HANDLE);
+		PX_ASSERT(Offset<mHashCapacity);
+		Offset = mNext[Offset];		// Better to have a separate array for this
+		PX_ASSERT(BP_INVALID_BP_HANDLE==Offset || Offset<mActivePairsCapacity);
+	}
+	if(Offset==BP_INVALID_BP_HANDLE)	return NULL;
+	PX_ASSERT(Offset<mNbActivePairs);
+	// Match mActivePairs[Offset] => the pair is persistent
+	PX_ASSERT(Offset<mActivePairsCapacity);
+	return &mActivePairs[Offset];
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+const BroadPhasePair* SapPairManager::AddPair(BpHandle id0, BpHandle id1, const PxU8 state)
+{
+	// Order the ids
+	Sort(id0, id1);
+
+	PxU32 HashValue = Hash(id0, id1) & mMask;
+
+	BroadPhasePair* P = FindPair(id0, id1, HashValue);
+	if(P)
+	{
+		return P;	// Persistent pair
+	}
+
+	// This is a new pair
+	if(mNbActivePairs >= mHashSize)
+	{
+		// Get more entries
+		mHashSize = PxNextPowerOfTwo(mNbActivePairs+1);
+		mMask = mHashSize-1;
+
+		reallocPairs(mHashSize>mHashCapacity);
+
+		// Recompute hash value with new hash size
+		HashValue = Hash(id0, id1) & mMask;
+	}
+
+	PX_ASSERT(mNbActivePairs<mActivePairsCapacity);
+	BroadPhasePair* p = &mActivePairs[mNbActivePairs];
+	p->mVolA		= id0;	// ### CMOVs would be nice here
+	p->mVolB		= id1;
+	mActivePairStates[mNbActivePairs]=state;
+
+	PX_ASSERT(mNbActivePairs<mHashSize);
+	PX_ASSERT(mNbActivePairs<mHashCapacity);
+	PX_ASSERT(HashValue<mHashCapacity);
+	mNext[mNbActivePairs] = mHashTable[HashValue];
+	mHashTable[HashValue] = BpHandle(mNbActivePairs++);
+	return p;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void SapPairManager::RemovePair(BpHandle /*id0*/, BpHandle /*id1*/, PxU32 hash_value, PxU32 pair_index)
+{
+	// Walk the hash table to fix mNext
+	{
+		PX_ASSERT(hash_value<mHashCapacity);
+		PxU32 Offset = mHashTable[hash_value];
+		PX_ASSERT(Offset!=BP_INVALID_BP_HANDLE);
+
+		PxU32 Previous=BP_INVALID_BP_HANDLE;
+		while(Offset!=pair_index)
+		{
+			Previous = Offset;
+			PX_ASSERT(Offset<mHashCapacity);
+			Offset = mNext[Offset];
+		}
+
+		// Let us go/jump us
+		if(Previous!=BP_INVALID_BP_HANDLE)
+		{
+			PX_ASSERT(Previous<mHashCapacity);
+			PX_ASSERT(pair_index<mHashCapacity);
+			PX_ASSERT(mNext[Previous]==pair_index);
+			mNext[Previous] = mNext[pair_index];
+		}
+		// else we were the first
+		else
+		{
+			PX_ASSERT(hash_value<mHashCapacity);
+			PX_ASSERT(pair_index<mHashCapacity);
+			mHashTable[hash_value] = mNext[pair_index];
+		}
+	}
+	// we're now free to reuse mNext[PairIndex] without breaking the list
+
+#if PX_DEBUG
+	PX_ASSERT(pair_index<mHashCapacity);
+	mNext[pair_index]=BP_INVALID_BP_HANDLE;
+#endif
+	// Invalidate entry
+
+	// Fill holes
+	{
+		// 1) Remove last pair
+		const PxU32 LastPairIndex = mNbActivePairs-1;
+		if(LastPairIndex==pair_index)
+		{
+			mNbActivePairs--;
+		}
+		else
+		{
+			PX_ASSERT(LastPairIndex<mActivePairsCapacity);
+			const BroadPhasePair* Last = &mActivePairs[LastPairIndex];
+			const PxU32 LastHashValue = Hash(Last->mVolA, Last->mVolB) & mMask;
+
+			// Walk the hash table to fix mNext
+			PX_ASSERT(LastHashValue<mHashCapacity);
+			PxU32 Offset = mHashTable[LastHashValue];
+			PX_ASSERT(Offset!=BP_INVALID_BP_HANDLE);
+
+			PxU32 Previous=BP_INVALID_BP_HANDLE;
+			while(Offset!=LastPairIndex)
+			{
+				Previous = Offset;
+				PX_ASSERT(Offset<mHashCapacity);
+				Offset = mNext[Offset];
+			}
+
+			// Let us go/jump us
+			if(Previous!=BP_INVALID_BP_HANDLE)
+			{
+				PX_ASSERT(Previous<mHashCapacity);
+				PX_ASSERT(LastPairIndex<mHashCapacity);
+				PX_ASSERT(mNext[Previous]==LastPairIndex);
+				mNext[Previous] = mNext[LastPairIndex];
+			}
+			// else we were the first
+			else
+			{
+				PX_ASSERT(LastHashValue<mHashCapacity);
+				PX_ASSERT(LastPairIndex<mHashCapacity);
+				mHashTable[LastHashValue] = mNext[LastPairIndex];
+			}
+			// we're now free to reuse mNext[LastPairIndex] without breaking the list
+
+#if PX_DEBUG
+			PX_ASSERT(LastPairIndex<mHashCapacity);
+			mNext[LastPairIndex]=BP_INVALID_BP_HANDLE;
+#endif
+
+			// Don't invalidate entry since we're going to shrink the array
+
+			// 2) Re-insert in free slot
+			PX_ASSERT(pair_index<mActivePairsCapacity);
+			PX_ASSERT(LastPairIndex<mActivePairsCapacity);
+			mActivePairs[pair_index] = mActivePairs[LastPairIndex];
+			mActivePairStates[pair_index] = mActivePairStates[LastPairIndex];
+#if PX_DEBUG
+			PX_ASSERT(pair_index<mHashCapacity);
+			PX_ASSERT(mNext[pair_index]==BP_INVALID_BP_HANDLE);
+#endif
+			PX_ASSERT(pair_index<mHashCapacity);
+			PX_ASSERT(LastHashValue<mHashCapacity);
+			mNext[pair_index] = mHashTable[LastHashValue];
+			mHashTable[LastHashValue] = BpHandle(pair_index);
+
+			mNbActivePairs--;
+		}
+	}
+}
+
+bool SapPairManager::RemovePair(BpHandle id0, BpHandle id1)
+{
+	// Order the ids
+	Sort(id0, id1);
+
+	const PxU32 HashValue = Hash(id0, id1) & mMask;
+	const BroadPhasePair* P = FindPair(id0, id1, HashValue);
+	if(!P)	return false;
+	PX_ASSERT(P->mVolA==id0);
+	PX_ASSERT(P->mVolB==id1);
+
+	RemovePair(id0, id1, HashValue, GetPairIndex(P));
+
+	shrinkMemory();
+
+	return true;
+}
+
+bool SapPairManager::RemovePairs(const PxBitMap& removedAABBs)
+{
+	PxU32 i=0;
+	while(i<mNbActivePairs)
+	{
+		const BpHandle id0 = mActivePairs[i].mVolA;
+		const BpHandle id1 = mActivePairs[i].mVolB;
+		if(removedAABBs.test(id0) || removedAABBs.test(id1))
+		{
+			const PxU32 HashValue = Hash(id0, id1) & mMask;
+			RemovePair(id0, id1, HashValue, i);
+		}
+		else i++;
+	}
+	return true;
+}
+
+void SapPairManager::shrinkMemory()
+{
+	//Compute the hash size given the current number of active pairs.
+	const PxU32 correctHashSize = PxNextPowerOfTwo(mNbActivePairs);
+
+	//If we have the correct hash size then no action required.
+	if(correctHashSize==mHashSize || (correctHashSize < mMinAllowedHashCapacity && mHashSize == mMinAllowedHashCapacity))	
+		return;
+
+	//The hash size can be reduced so take action.
+	//Don't let the hash size fall below a threshold value.
+	PxU32 newHashSize = correctHashSize;
+	if(newHashSize < mMinAllowedHashCapacity)
+	{
+		newHashSize = mMinAllowedHashCapacity;
+	}
+	mHashSize = newHashSize;
+	mMask = newHashSize-1;
+
+	reallocPairs( (newHashSize > mMinAllowedHashCapacity) || (mHashSize <= (mHashCapacity >> 2)) || (mHashSize <= (mActivePairsCapacity >> 2)));
+}
+
+void SapPairManager::reallocPairs(const bool allocRequired)
+{
+	if(allocRequired)
+	{
+		PX_FREE(mHashTable);
+		mHashCapacity=mHashSize;
+		mActivePairsCapacity=mHashSize;
+		mHashTable = reinterpret_cast<BpHandle*>(PX_ALLOC(mHashSize*sizeof(BpHandle), "BpHandle"));
+
+		for(PxU32 i=0;i<mHashSize;i++)	
+		{
+			mHashTable[i] = BP_INVALID_BP_HANDLE;
+		}
+
+		// Get some bytes for new entries
+		BroadPhasePair* NewPairs	= reinterpret_cast<BroadPhasePair*>(PX_ALLOC(mHashSize * sizeof(BroadPhasePair), "BroadPhasePair"));	PX_ASSERT(NewPairs);
+		BpHandle* NewNext			= reinterpret_cast<BpHandle*>(PX_ALLOC(mHashSize * sizeof(BpHandle), "BpHandle"));						PX_ASSERT(NewNext);
+		PxU8* NewPairStates			= reinterpret_cast<PxU8*>(PX_ALLOC(mHashSize * sizeof(PxU8), "SapPairStates"));							PX_ASSERT(NewPairStates);
+
+		// Copy old data if needed
+		if(mNbActivePairs) 
+		{
+			PxMemCopy(NewPairs, mActivePairs, mNbActivePairs*sizeof(BroadPhasePair));
+			PxMemCopy(NewPairStates, mActivePairStates, mNbActivePairs*sizeof(PxU8));
+		}
+
+		// ### check it's actually needed... probably only for pairs whose hash value was cut by the and
+		// yeah, since Hash(id0, id1) is a constant
+		// However it might not be needed to recompute them => only less efficient but still ok
+		for(PxU32 i=0;i<mNbActivePairs;i++)
+		{
+			const PxU32 HashValue = Hash(mActivePairs[i].mVolA, mActivePairs[i].mVolB) & mMask;	// New hash value with new mask
+			NewNext[i] = mHashTable[HashValue];
+			PX_ASSERT(HashValue<mHashCapacity);
+			mHashTable[HashValue] = BpHandle(i);
+		}
+
+		// Delete old data
+		PX_FREE(mNext);
+		PX_FREE(mActivePairs);
+		PX_FREE(mActivePairStates);
+
+		// Assign new pointer
+		mActivePairs = NewPairs;
+		mActivePairStates = NewPairStates;
+		mNext = NewNext;
+	}
+	else
+	{
+		for(PxU32 i=0;i<mHashSize;i++)	
+		{
+			mHashTable[i] = BP_INVALID_BP_HANDLE;
+		}
+
+		// ### check it's actually needed... probably only for pairs whose hash value was cut by the and
+		// yeah, since Hash(id0, id1) is a constant
+		// However it might not be needed to recompute them => only less efficient but still ok
+		for(PxU32 i=0;i<mNbActivePairs;i++)
+		{
+			const PxU32 HashValue = Hash(mActivePairs[i].mVolA, mActivePairs[i].mVolB) & mMask;	// New hash value with new mask
+			mNext[i] = mHashTable[HashValue];
+			PX_ASSERT(HashValue<mHashCapacity);
+			mHashTable[HashValue] = BpHandle(i);
+		}
+	}
+}
+
+void resizeCreatedDeleted(BroadPhasePair*& pairs, PxU32& maxNumPairs)
+{
+	PX_ASSERT(pairs);
+	PX_ASSERT(maxNumPairs>0);
+	const PxU32 newMaxNumPairs=2*maxNumPairs;
+	BroadPhasePair* newPairs=reinterpret_cast<BroadPhasePair*>(PX_ALLOC(sizeof(BroadPhasePair)*newMaxNumPairs, "BroadPhasePair"));
+	PxMemCopy(newPairs, pairs, sizeof(BroadPhasePair)*maxNumPairs);
+	PX_FREE(pairs);
+	pairs=newPairs;
+	maxNumPairs=newMaxNumPairs;
+}
+
+void ComputeCreatedDeletedPairsLists
+(const Bp::FilterGroup::Enum* PX_RESTRICT boxGroups, 
+ const BpHandle* PX_RESTRICT dataArray, const PxU32 dataArraySize,
+ PxcScratchAllocator* scratchAllocator,
+ BroadPhasePair*& createdPairsList, PxU32& numCreatedPairs, PxU32& maxNumCreatedPairs,
+ BroadPhasePair*& deletedPairsList, PxU32& numDeletedPairs, PxU32& maxNumDeletedPairs,
+ PxU32& numActualDeletedPairs,
+ SapPairManager& pairManager)
+{
+#if BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+	PX_UNUSED(boxGroups);
+#endif
+
+	for(PxU32 i=0;i<dataArraySize;i++)
+	{
+		const PxU32 ID = dataArray[i];
+		PX_ASSERT(ID<pairManager.mNbActivePairs);
+
+		const BroadPhasePair* PX_RESTRICT UP = pairManager.mActivePairs + ID;
+		PX_ASSERT(pairManager.IsInArray(UP));
+
+		if(pairManager.IsRemoved(UP))
+		{
+			if(!pairManager.IsNew(UP))
+			{
+				// No need to call "ClearInArray" in this case, since the pair will get removed anyway
+				if(numDeletedPairs==maxNumDeletedPairs)
+				{
+					BroadPhasePair* newDeletedPairsList = reinterpret_cast<BroadPhasePair*>(scratchAllocator->alloc(sizeof(BroadPhasePair)*2*maxNumDeletedPairs, true));
+					PxMemCopy(newDeletedPairsList, deletedPairsList, sizeof(BroadPhasePair)*maxNumDeletedPairs);
+					scratchAllocator->free(deletedPairsList);
+					deletedPairsList = newDeletedPairsList;
+					maxNumDeletedPairs = 2*maxNumDeletedPairs;
+				}
+
+				PX_ASSERT(numDeletedPairs<maxNumDeletedPairs);
+				//PX_ASSERT((uintptr_t)UP->mUserData != 0xcdcdcdcd);
+				deletedPairsList[numDeletedPairs++] = BroadPhasePair(UP->mVolA,UP->mVolB/*, ID*/);
+			}
+		}
+		else
+		{
+			pairManager.ClearInArray(UP);
+			// Add => already there... Might want to create user data, though
+			if(pairManager.IsNew(UP))
+			{
+#if !BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+				if(groupFiltering(boxGroups[UP->mVolA], boxGroups[UP->mVolB]))
+#endif
+				{
+					if(numCreatedPairs==maxNumCreatedPairs)
+					{
+						BroadPhasePair* newCreatedPairsList = reinterpret_cast<BroadPhasePair*>(scratchAllocator->alloc(sizeof(BroadPhasePair)*2*maxNumCreatedPairs, true));
+						PxMemCopy(newCreatedPairsList, createdPairsList, sizeof(BroadPhasePair)*maxNumCreatedPairs);
+						scratchAllocator->free(createdPairsList);
+						createdPairsList = newCreatedPairsList;
+						maxNumCreatedPairs = 2*maxNumCreatedPairs;
+					}
+
+					PX_ASSERT(numCreatedPairs<maxNumCreatedPairs);
+					createdPairsList[numCreatedPairs++] = BroadPhasePair(UP->mVolA,UP->mVolB/*, ID*/);
+				}
+				pairManager.ClearNew(UP);
+			}
+		}
+	}
+
+	//Record pairs that are to be deleted because they were simultaneously created and removed 
+	//from different axis sorts.
+	numActualDeletedPairs=numDeletedPairs;
+	for(PxU32 i=0;i<dataArraySize;i++)
+	{
+		const PxU32 ID = dataArray[i];
+		PX_ASSERT(ID<pairManager.mNbActivePairs);
+		const BroadPhasePair* PX_RESTRICT UP = pairManager.mActivePairs + ID;
+		if(pairManager.IsRemoved(UP) && pairManager.IsNew(UP))
+		{
+			PX_ASSERT(pairManager.IsInArray(UP));
+
+			if(numActualDeletedPairs==maxNumDeletedPairs)
+			{
+				BroadPhasePair* newDeletedPairsList = reinterpret_cast<BroadPhasePair*>(scratchAllocator->alloc(sizeof(BroadPhasePair)*2*maxNumDeletedPairs, true));
+				PxMemCopy(newDeletedPairsList, deletedPairsList, sizeof(BroadPhasePair)*maxNumDeletedPairs);
+				scratchAllocator->free(deletedPairsList);
+				deletedPairsList = newDeletedPairsList;
+				maxNumDeletedPairs = 2*maxNumDeletedPairs;
+			}
+
+			PX_ASSERT(numActualDeletedPairs<=maxNumDeletedPairs);
+			deletedPairsList[numActualDeletedPairs++] = BroadPhasePair(UP->mVolA,UP->mVolB/*, ID*/); //KS - should we even get here????
+		}
+	}
+
+//	// #### try batch removal here
+//	for(PxU32 i=0;i<numActualDeletedPairs;i++)
+//	{
+//		const BpHandle id0 = deletedPairsList[i].mVolA;
+//		const BpHandle id1 = deletedPairsList[i].mVolB;
+//#if PX_DEBUG
+//		const bool Status = pairManager.RemovePair(id0, id1);
+//		PX_ASSERT(Status);
+//#else
+//		pairManager.RemovePair(id0, id1);
+//#endif
+//	}
+
+	//Only report deleted pairs from different groups.
+#if !BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+	for(PxU32 i=0;i<numDeletedPairs;i++)
+	{
+		const PxU32 id0 = deletedPairsList[i].mVolA;
+		const PxU32 id1 = deletedPairsList[i].mVolB;
+		if(!groupFiltering(boxGroups[id0], boxGroups[id1]))
+		{
+			while((numDeletedPairs-1) > i && boxGroups[deletedPairsList[numDeletedPairs-1].mVolA] == boxGroups[deletedPairsList[numDeletedPairs-1].mVolB])
+			{
+				numDeletedPairs--;
+			}
+			deletedPairsList[i]=deletedPairsList[numDeletedPairs-1];
+			numDeletedPairs--;
+		}
+	}
+#endif
+}
+
+//#define PRINT_STATS
+#ifdef PRINT_STATS
+	#include <stdio.h>
+	static PxU32 gNbIter = 0;
+	static PxU32 gNbTests = 0;
+	static  PxU32 gNbPairs = 0;
+	#define	START_STATS				gNbIter = gNbTests = gNbPairs = 0;
+	#define	INCREASE_STATS_NB_ITER	gNbIter++;
+	#define	INCREASE_STATS_NB_TESTS	gNbTests++;
+	#define	INCREASE_STATS_NB_PAIRS	gNbPairs++;
+	#define	DUMP_STATS				printf("%d %d %d\n", gNbIter, gNbTests, gNbPairs);
+#else
+	#define	START_STATS
+	#define	INCREASE_STATS_NB_ITER
+	#define	INCREASE_STATS_NB_TESTS
+	#define	INCREASE_STATS_NB_PAIRS
+	#define	DUMP_STATS
+#endif
+
+void DataArray::Resize(PxcScratchAllocator* scratchAllocator)
+{
+	BpHandle* newDataArray = reinterpret_cast<BpHandle*>(scratchAllocator->alloc(sizeof(BpHandle)*mCapacity*2, true));
+	PxMemCopy(newDataArray, mData, mCapacity*sizeof(BpHandle));
+	scratchAllocator->free(mData);
+	mData = newDataArray;
+	mCapacity *= 2;
+}
+
+static PX_FORCE_INLINE int intersect2D(const BoxYZ& a, const BoxYZ& b)
+{
+	const bool b0 = b.mMaxY < a.mMinY;
+	const bool b1 = a.mMaxY < b.mMinY;
+	const bool b2 = b.mMaxZ < a.mMinZ;
+	const bool b3 = a.mMaxZ < b.mMinZ;
+//	const bool b4 = b0 || b1 || b2 || b3;
+	const bool b4 = b0 | b1 | b2 | b3;
+	return !b4;
+}
+
+void addPair(const BpHandle id0, const BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray)
+{
+	const BroadPhasePair* UP = reinterpret_cast<const BroadPhasePair*>(pairManager.AddPair(id0, id1, SapPairManager::PAIR_UNKNOWN));
+
+	//If the hash table has reached its limit then we're unable to add a new pair.
+	if(NULL==UP)
+		return;
+
+	PX_ASSERT(UP);
+	if(pairManager.IsUnknown(UP))
+	{
+		pairManager.ClearState(UP);
+		pairManager.SetInArray(UP);
+		dataArray.AddData(pairManager.GetPairIndex(UP), scratchAllocator);
+		pairManager.SetNew(UP);
+	}
+	pairManager.ClearRemoved(UP);
+}
+
+void removePair(BpHandle id0, BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray)
+{
+	const BroadPhasePair* UP = reinterpret_cast<const BroadPhasePair*>(pairManager.FindPair(id0, id1));
+	if(UP)
+	{
+		if(!pairManager.IsInArray(UP))
+		{
+			pairManager.SetInArray(UP);
+			dataArray.AddData(pairManager.GetPairIndex(UP), scratchAllocator);
+		}
+		pairManager.SetRemoved(UP);
+	}
+}
+
+struct AddPairParams
+{
+	AddPairParams(const PxU32* remap0, const PxU32* remap1, PxcScratchAllocator* alloc, SapPairManager* pm, DataArray* da) :
+		mRemap0				(remap0),
+		mRemap1				(remap1),
+		mScratchAllocator	(alloc),
+		mPairManager		(pm),
+		mDataArray			(da)
+	{
+	}
+
+	const PxU32*			mRemap0;
+	const PxU32*			mRemap1;
+	PxcScratchAllocator*	mScratchAllocator;
+	SapPairManager*			mPairManager;
+	DataArray*				mDataArray;
+};
+
+static void addPair(const AddPairParams* PX_RESTRICT params, const BpHandle id0_, const BpHandle id1_)
+{
+	SapPairManager& pairManager = *params->mPairManager;
+
+	const BroadPhasePair* UP = reinterpret_cast<const BroadPhasePair*>(pairManager.AddPair(params->mRemap0[id0_], params->mRemap1[id1_], SapPairManager::PAIR_UNKNOWN));
+
+	//If the hash table has reached its limit then we're unable to add a new pair.
+	if(NULL==UP)
+		return;
+
+	PX_ASSERT(UP);
+	if(pairManager.IsUnknown(UP))
+	{
+		pairManager.ClearState(UP);
+		pairManager.SetInArray(UP);
+		params->mDataArray->AddData(pairManager.GetPairIndex(UP), params->mScratchAllocator);
+		pairManager.SetNew(UP);
+	}
+	pairManager.ClearRemoved(UP);
+}
+
+// PT: TODO: use SIMD
+
+AuxData::AuxData(PxU32 nb, const SapBox1D*const* PX_RESTRICT boxes, const BpHandle* PX_RESTRICT indicesSorted, const Bp::FilterGroup::Enum* PX_RESTRICT groupIds)
+{
+	// PT: TODO: use scratch allocator / etc
+	BoxX* PX_RESTRICT boxX						= reinterpret_cast<BoxX*>(PX_ALLOC(sizeof(BoxX)*(nb+1), "mBoxX"));
+	BoxYZ* PX_RESTRICT boxYZ					= reinterpret_cast<BoxYZ*>(PX_ALLOC(sizeof(BoxYZ)*nb, "mBoxYZ"));
+	Bp::FilterGroup::Enum* PX_RESTRICT groups	= reinterpret_cast<Bp::FilterGroup::Enum*>(PX_ALLOC(sizeof(Bp::FilterGroup::Enum)*nb, "mGroups"));
+	PxU32* PX_RESTRICT remap					= reinterpret_cast<PxU32*>(PX_ALLOC(sizeof(PxU32)*nb, "mRemap"));
+
+	mBoxX = boxX;
+	mBoxYZ = boxYZ;
+	mGroups = groups;
+	mRemap = remap;
+	mNb = nb;
+
+	const PxU32 axis0 = 0;
+	const PxU32 axis1 = 2;
+	const PxU32 axis2 = 1;
+
+	const SapBox1D* PX_RESTRICT boxes0 = boxes[axis0];
+	const SapBox1D* PX_RESTRICT boxes1 = boxes[axis1];
+	const SapBox1D* PX_RESTRICT boxes2 = boxes[axis2];
+
+	for(PxU32 i=0;i<nb;i++)
+	{
+		const PxU32 boxID = indicesSorted[i];
+		groups[i] = groupIds[boxID];
+		remap[i] = boxID;
+
+		const SapBox1D& currentBoxX = boxes0[boxID];
+		boxX[i].mMinX = currentBoxX.mMinMax[0];
+		boxX[i].mMaxX = currentBoxX.mMinMax[1];
+
+		const SapBox1D& currentBoxY = boxes1[boxID];
+		boxYZ[i].mMinY = currentBoxY.mMinMax[0];
+		boxYZ[i].mMaxY = currentBoxY.mMinMax[1];
+
+		const SapBox1D& currentBoxZ = boxes2[boxID];
+		boxYZ[i].mMinZ = currentBoxZ.mMinMax[0];
+		boxYZ[i].mMaxZ = currentBoxZ.mMinMax[1];
+	}
+	boxX[nb].mMinX = 0xffffffff;
+}
+
+AuxData::~AuxData()
+{
+	PX_FREE(mRemap);
+	PX_FREE(mGroups);
+	PX_FREE(mBoxYZ);
+	PX_FREE(mBoxX);
+}
+
+void performBoxPruningNewNew(	const AuxData* PX_RESTRICT auxData, PxcScratchAllocator* scratchAllocator,
+								const bool* lut, SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity)
+{
+	const PxU32 nb = auxData->mNb;
+	if(!nb)
+		return;
+
+	DataArray da(dataArray, dataArraySize, dataArrayCapacity);
+
+	START_STATS
+	{
+		BoxX* boxX = auxData->mBoxX;
+		BoxYZ* boxYZ = auxData->mBoxYZ;
+		Bp::FilterGroup::Enum* groups = auxData->mGroups;
+		PxU32* remap = auxData->mRemap;
+
+		AddPairParams params(remap, remap, scratchAllocator, &pairManager, &da);
+
+		PxU32 runningIndex = 0;
+		PxU32 index0 = 0;
+
+		while(runningIndex<nb && index0<nb)
+		{
+#if BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+			const Bp::FilterGroup::Enum group0 = groups[index0];
+#endif
+			const BoxX& boxX0 = boxX[index0];
+
+			const BpHandle minLimit = boxX0.mMinX;
+			while(boxX[runningIndex++].mMinX<minLimit);
+
+			const BpHandle maxLimit = boxX0.mMaxX;
+			PxU32 index1 = runningIndex;
+			while(boxX[index1].mMinX <= maxLimit)
+			{
+				INCREASE_STATS_NB_ITER
+#if BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+				if(groupFiltering(group0, groups[index1], lut))
+#endif
+				{
+					INCREASE_STATS_NB_TESTS
+					if(intersect2D(boxYZ[index0], boxYZ[index1]))
+/*					__m128i b = _mm_loadu_si128(reinterpret_cast<const __m128i*>(&boxYZ[index0].mMinY));
+					b = _mm_shuffle_epi32(b, 78);
+					const __m128i a = _mm_loadu_si128(reinterpret_cast<const __m128i*>(&boxYZ[index1].mMinY));
+					const __m128i d = _mm_cmpgt_epi32(a, b);
+					const int mask = _mm_movemask_epi8(d);
+					if(mask==0x0000ff00)*/
+					{
+						INCREASE_STATS_NB_PAIRS
+						addPair(&params, index0, index1);
+					}
+				}
+				index1++;
+			}
+			index0++;
+		}
+	}
+	DUMP_STATS
+
+	dataArray = da.mData;
+	dataArraySize = da.mSize;
+	dataArrayCapacity = da.mCapacity;
+}
+
+template<int codepath>
+static void bipartitePruning(
+	const PxU32 nb0, const BoxX* PX_RESTRICT boxX0, const BoxYZ* PX_RESTRICT boxYZ0, const PxU32* PX_RESTRICT remap0, const Bp::FilterGroup::Enum* PX_RESTRICT groups0,
+	const PxU32 nb1, const BoxX* PX_RESTRICT boxX1, const BoxYZ* PX_RESTRICT boxYZ1, const PxU32* PX_RESTRICT remap1, const Bp::FilterGroup::Enum* PX_RESTRICT groups1,
+	const bool* lut, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray)
+{
+	AddPairParams params(remap0, remap1, scratchAllocator, &pairManager, &dataArray);
+
+	PxU32 runningIndex = 0;
+	PxU32 index0 = 0;
+
+	while(runningIndex<nb1 && index0<nb0)
+	{
+#if BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+		const Bp::FilterGroup::Enum group0 = groups0[index0];
+#endif
+
+		const BpHandle minLimit = boxX0[index0].mMinX;
+		if(!codepath)
+		{
+			while(boxX1[runningIndex].mMinX<minLimit)
+				runningIndex++;
+		}
+		else
+		{
+			while(boxX1[runningIndex].mMinX<=minLimit)
+				runningIndex++;
+		}
+
+		const BpHandle maxLimit = boxX0[index0].mMaxX;
+		PxU32 index1 = runningIndex;
+		while(boxX1[index1].mMinX <= maxLimit)
+		{
+			INCREASE_STATS_NB_ITER
+#if BP_SAP_TEST_GROUP_ID_CREATEUPDATE
+			if(groupFiltering(group0, groups1[index1], lut))
+#endif
+			{
+				INCREASE_STATS_NB_TESTS
+				if(intersect2D(boxYZ0[index0], boxYZ1[index1]))
+				{
+					INCREASE_STATS_NB_PAIRS
+					addPair(&params, index0, index1);
+				}
+			}
+			index1++;
+		}
+		index0++;
+	}
+}
+
+void performBoxPruningNewOld(	const AuxData* PX_RESTRICT auxData0, const AuxData* PX_RESTRICT auxData1, PxcScratchAllocator* scratchAllocator, 
+								const bool* lut, SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity)
+{
+	const PxU32 nb0 = auxData0->mNb;
+	const PxU32 nb1 = auxData1->mNb;
+
+	if(!nb0 || !nb1)
+		return;
+
+	DataArray da(dataArray, dataArraySize, dataArrayCapacity);
+
+	START_STATS
+	{
+		const BoxX* boxX0 = auxData0->mBoxX;
+		const BoxYZ* boxYZ0 = auxData0->mBoxYZ;
+		const Bp::FilterGroup::Enum* groups0 = auxData0->mGroups;
+		const PxU32* remap0 = auxData0->mRemap;
+
+		const BoxX* boxX1 = auxData1->mBoxX;
+		const BoxYZ* boxYZ1 = auxData1->mBoxYZ;
+		const Bp::FilterGroup::Enum* groups1 = auxData1->mGroups;
+		const PxU32* remap1 = auxData1->mRemap;
+		bipartitePruning<0>(nb0, boxX0, boxYZ0, remap0, groups0, nb1, boxX1, boxYZ1, remap1, groups1, lut, scratchAllocator, pairManager, da);
+		bipartitePruning<1>(nb1, boxX1, boxYZ1, remap1, groups1, nb0, boxX0, boxYZ0, remap0, groups0, lut, scratchAllocator, pairManager, da);
+	}
+	DUMP_STATS
+
+	dataArray = da.mData;
+	dataArraySize = da.mSize;
+	dataArrayCapacity = da.mCapacity;
+}
+
+} //namespace Bp
+
+} //namespace physx
+

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseSapAux.h

@@ -0,0 +1,275 @@
+// 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 BP_BROADPHASE_SAP_AUX_H
+#define BP_BROADPHASE_SAP_AUX_H
+
+#include "foundation/PxAssert.h"
+#include "foundation/PxIntrinsics.h"
+#include "foundation/PxUserAllocated.h"
+#include "BpBroadPhase.h"
+#include "BpBroadPhaseIntegerAABB.h"
+#include "foundation/PxBitMap.h"
+
+namespace physx
+{
+class PxcScratchAllocator;
+namespace Bp
+{
+#define ALIGN_SIZE_16(size) ((unsigned(size)+15)&(unsigned(~15)))
+
+#define NUM_SENTINELS 2
+
+#define BP_SAP_USE_PREFETCH 1//prefetch in batchUpdate
+
+#define BP_SAP_USE_OVERLAP_TEST_ON_REMOVES	1// "Useless" but faster overall because seriously reduces number of calls (from ~10000 to ~3 sometimes!)
+
+//Set 1 to test for group ids in batchCreate/batchUpdate so we can avoid group id test in ComputeCreatedDeletedPairsLists
+//Set 0 to neglect group id test in batchCreate/batchUpdate and delay test until ComputeCreatedDeletedPairsLists
+#define BP_SAP_TEST_GROUP_ID_CREATEUPDATE 1
+
+#define MAX_BP_HANDLE			0x3fffffff
+#define PX_REMOVED_BP_HANDLE	0x3ffffffd
+
+PX_FORCE_INLINE	void setMinSentinel(ValType& v, BpHandle& d)
+{
+	v = 0x00000000;//0x00800000;  //0x00800000 is -FLT_MAX but setting it to 0 means we don't crash when we get a value outside the float range.
+	d = (BP_INVALID_BP_HANDLE & ~1);
+}
+
+PX_FORCE_INLINE	void setMaxSentinel(ValType& v, BpHandle& d)
+{										
+	v = 0xffffffff;//0xff7fffff;  //0xff7fffff is +FLT_MAX but setting it to 0xffffffff means we don't crash when we get a value outside the float range.
+	d = BP_INVALID_BP_HANDLE;
+}
+
+PX_FORCE_INLINE	BpHandle setData(PxU32 owner_box_id, const bool is_max)
+{
+	BpHandle d = BpHandle(owner_box_id<<1);
+	if(is_max)	d |= 1;
+	return d;
+}
+
+PX_FORCE_INLINE	bool isSentinel(const BpHandle& d)	
+{ 
+	return (d&~1)==(BP_INVALID_BP_HANDLE & ~1);	
+}
+
+PX_FORCE_INLINE	BpHandle isMax(const BpHandle& d) 	
+{
+	return BpHandle(d & 1);		
+}
+
+PX_FORCE_INLINE	BpHandle getOwner(const BpHandle& d) 	
+{ 
+	return BpHandle(d>>1);		
+}
+
+class SapBox1D
+{
+public:
+
+	PX_FORCE_INLINE			SapBox1D()	{}
+	PX_FORCE_INLINE			~SapBox1D()	{}
+
+	BpHandle		mMinMax[2];//mMinMax[0]=min, mMinMax[1]=max
+};
+
+class SapPairManager
+{
+public:
+							SapPairManager();
+							~SapPairManager();
+
+	void					init(const PxU32 size);
+	void					release();
+
+	void					shrinkMemory();
+
+	const BroadPhasePair*	AddPair		(BpHandle id0, BpHandle id1, const PxU8 state);
+	bool					RemovePair	(BpHandle id0, BpHandle id1);
+	bool					RemovePairs	(const PxBitMap& removedAABBs);
+	const BroadPhasePair*	FindPair	(BpHandle id0, BpHandle id1)	const;
+
+	PX_FORCE_INLINE	PxU32	GetPairIndex(const BroadPhasePair* PX_RESTRICT pair)	const
+	{
+		return (PxU32((size_t(pair) - size_t(mActivePairs)))/sizeof(BroadPhasePair));
+	}
+
+	BpHandle*			mHashTable;
+	BpHandle*			mNext;
+	PxU32				mHashSize;
+	PxU32				mHashCapacity;
+	PxU32				mMinAllowedHashCapacity;
+	BroadPhasePair*		mActivePairs;
+	PxU8*				mActivePairStates;
+	PxU32				mNbActivePairs;
+	PxU32				mActivePairsCapacity;
+	PxU32				mMask;
+
+	BroadPhasePair*		FindPair	(BpHandle id0, BpHandle id1, PxU32 hash_value) const;
+	void				RemovePair	(BpHandle id0, BpHandle id1, PxU32 hash_value, PxU32 pair_index);
+	void				reallocPairs(const bool allocRequired);
+
+	enum
+	{
+		PAIR_INARRAY=1,
+		PAIR_REMOVED=2,
+		PAIR_NEW=4,
+		PAIR_UNKNOWN=8
+	};
+
+	PX_FORCE_INLINE bool IsInArray(const BroadPhasePair* PX_RESTRICT pair) const 
+	{
+		const PxU8 state=mActivePairStates[pair-mActivePairs];
+		return state & PAIR_INARRAY ? true : false;
+	}
+	PX_FORCE_INLINE bool IsRemoved(const BroadPhasePair* PX_RESTRICT pair) const 
+	{
+		const PxU8 state=mActivePairStates[pair-mActivePairs];
+		return state & PAIR_REMOVED ? true : false;
+	}
+	PX_FORCE_INLINE bool IsNew(const BroadPhasePair* PX_RESTRICT pair) const
+	{
+		const PxU8 state=mActivePairStates[pair-mActivePairs];
+		return state & PAIR_NEW ? true : false;
+	}
+	PX_FORCE_INLINE bool IsUnknown(const BroadPhasePair* PX_RESTRICT pair) const
+	{
+		const PxU8 state=mActivePairStates[pair-mActivePairs];
+		return state & PAIR_UNKNOWN ? true : false;
+	}
+
+	PX_FORCE_INLINE void ClearState(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs]=0;
+	}
+
+	PX_FORCE_INLINE void SetInArray(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs] |= PAIR_INARRAY;
+	}
+	PX_FORCE_INLINE void SetRemoved(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs] |= PAIR_REMOVED;
+	}
+	PX_FORCE_INLINE void SetNew(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs] |= PAIR_NEW;
+	}
+	PX_FORCE_INLINE void ClearInArray(const BroadPhasePair* PX_RESTRICT pair)
+	{		
+		mActivePairStates[pair-mActivePairs] &= ~PAIR_INARRAY;
+	}
+	PX_FORCE_INLINE void ClearRemoved(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs] &= ~PAIR_REMOVED;
+	}
+	PX_FORCE_INLINE void ClearNew(const BroadPhasePair* PX_RESTRICT pair)
+	{
+		mActivePairStates[pair-mActivePairs] &= ~PAIR_NEW;
+	}
+};
+
+struct DataArray
+{
+	DataArray(BpHandle* data, PxU32 size, PxU32 capacity) : mData(data), mSize(size), mCapacity(capacity)	{}
+
+	BpHandle*	mData;
+	PxU32		mSize;
+	PxU32		mCapacity;
+
+	PX_NOINLINE		void	Resize(PxcScratchAllocator* scratchAllocator);
+
+	PX_FORCE_INLINE	void	AddData(const PxU32 data, PxcScratchAllocator* scratchAllocator)
+	{
+		if(mSize==mCapacity)
+			Resize(scratchAllocator);
+
+		PX_ASSERT(mSize<mCapacity);
+		mData[mSize++] = BpHandle(data);
+	}
+};
+
+void addPair(const BpHandle id0, const BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray);
+void removePair(BpHandle id0, BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray);
+
+void ComputeCreatedDeletedPairsLists
+(const Bp::FilterGroup::Enum* PX_RESTRICT boxGroups, 
+ const BpHandle* PX_RESTRICT dataArray, const PxU32 dataArraySize,
+ PxcScratchAllocator* scratchAllocator,
+ BroadPhasePair* & createdPairsList, PxU32& numCreatedPairs, PxU32& maxNumCreatdPairs,
+ BroadPhasePair* & deletedPairsList, PxU32& numDeletedPairs, PxU32& maxNumDeletedPairs,
+ PxU32&numActualDeletedPairs,
+ SapPairManager& pairManager);
+
+	struct BoxX
+	{
+		PxU32	mMinX;
+		PxU32	mMaxX;
+	};
+
+	struct BoxYZ
+	{
+		PxU32	mMinY;
+		PxU32	mMinZ;
+		PxU32	mMaxY;
+		PxU32	mMaxZ;
+	};
+
+	struct AuxData
+	{
+		AuxData(PxU32 nb, const SapBox1D*const* PX_RESTRICT boxes, const BpHandle* PX_RESTRICT indicesSorted, const Bp::FilterGroup::Enum* PX_RESTRICT groupIds);
+		~AuxData();
+
+		BoxX*					mBoxX;
+		BoxYZ*					mBoxYZ;
+		Bp::FilterGroup::Enum*	mGroups;
+		PxU32*					mRemap;
+		PxU32					mNb;
+	};
+
+void performBoxPruningNewNew(	const AuxData* PX_RESTRICT auxData, PxcScratchAllocator* scratchAllocator,
+								const bool* lut, SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity);
+
+void performBoxPruningNewOld(	const AuxData* PX_RESTRICT auxData0, const AuxData* PX_RESTRICT auxData1, PxcScratchAllocator* scratchAllocator,
+								const bool* lut, SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity);
+
+PX_FORCE_INLINE bool Intersect2D_Handle
+(const BpHandle bDir1Min, const BpHandle bDir1Max, const BpHandle bDir2Min, const BpHandle bDir2Max,
+ const BpHandle cDir1Min, const BpHandle cDir1Max, const BpHandle cDir2Min, const BpHandle cDir2Max)
+{
+	return (bDir1Max > cDir1Min && cDir1Max > bDir1Min && 
+			bDir2Max > cDir2Min && cDir2Max > bDir2Min);        
+}
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif //BP_BROADPHASE_SAP_AUX_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseShared.cpp

@@ -0,0 +1,245 @@
+// 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.  
+
+#include "BpBroadPhaseShared.h"
+#include "foundation/PxMemory.h"
+#include "foundation/PxBitUtils.h"
+
+using namespace physx;
+using namespace Bp;
+
+#define MBP_ALLOC(x)	PX_ALLOC(x, "MBP")
+#define MBP_FREE(x)		PX_FREE(x)
+
+static PX_FORCE_INLINE void storeDwords(PxU32* dest, PxU32 nb, PxU32 value)
+{
+	while(nb--)
+		*dest++ = value;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+PairManagerData::PairManagerData() :
+	mHashSize		(0),
+	mMask			(0),
+	mNbActivePairs	(0),
+	mHashTable		(NULL),
+	mNext			(NULL),
+	mActivePairs	(NULL),
+	mReservedMemory (0)
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+PairManagerData::~PairManagerData()
+{
+	purge();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void PairManagerData::purge()
+{
+	MBP_FREE(mNext);
+	MBP_FREE(mActivePairs);
+	MBP_FREE(mHashTable);
+	mHashSize		= 0;
+	mMask			= 0;
+	mNbActivePairs	= 0;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void PairManagerData::reallocPairs()
+{
+	MBP_FREE(mHashTable);
+	mHashTable = reinterpret_cast<PxU32*>(MBP_ALLOC(mHashSize*sizeof(PxU32)));
+	storeDwords(mHashTable, mHashSize, INVALID_ID);
+
+	// Get some bytes for new entries
+	InternalPair* newPairs	= reinterpret_cast<InternalPair*>(MBP_ALLOC(mHashSize * sizeof(InternalPair)));	PX_ASSERT(newPairs);
+	PxU32* newNext			= reinterpret_cast<PxU32*>(MBP_ALLOC(mHashSize * sizeof(PxU32)));		PX_ASSERT(newNext);
+
+	// Copy old data if needed
+	if(mNbActivePairs)
+		PxMemCopy(newPairs, mActivePairs, mNbActivePairs*sizeof(InternalPair));
+	// ### check it's actually needed... probably only for pairs whose hash value was cut by the and
+	// yeah, since hash(id0, id1) is a constant
+	// However it might not be needed to recompute them => only less efficient but still ok
+	for(PxU32 i=0;i<mNbActivePairs;i++)
+	{
+		const PxU32 hashValue = hash(mActivePairs[i].getId0(), mActivePairs[i].getId1()) & mMask;	// New hash value with new mask
+		newNext[i] = mHashTable[hashValue];
+		mHashTable[hashValue] = i;
+	}
+
+	// Delete old data
+	MBP_FREE(mNext);
+	MBP_FREE(mActivePairs);
+
+	// Assign new pointer
+	mActivePairs = newPairs;
+	mNext = newNext;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void PairManagerData::shrinkMemory()
+{
+	// Check correct memory against actually used memory
+	const PxU32 correctHashSize = PxNextPowerOfTwo(mNbActivePairs);
+	if(mHashSize==correctHashSize)
+		return;
+
+	if(mReservedMemory && correctHashSize < mReservedMemory)
+		return;
+
+	// Reduce memory used
+	mHashSize = correctHashSize;
+	mMask = mHashSize-1;
+
+	reallocPairs();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void PairManagerData::reserveMemory(PxU32 memSize)
+{
+	if(!memSize)
+		return;
+
+	if(!PxIsPowerOfTwo(memSize))
+		memSize = PxNextPowerOfTwo(memSize);
+
+	mHashSize = memSize;
+	mMask = mHashSize-1;
+
+	mReservedMemory = memSize;
+
+	reallocPairs();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+PX_NOINLINE PxU32 PairManagerData::growPairs(PxU32 fullHashValue)
+{
+	// Get more entries
+	mHashSize = PxNextPowerOfTwo(mNbActivePairs+1);
+	mMask = mHashSize-1;
+
+	reallocPairs();
+
+	// Recompute hash value with new hash size
+	return fullHashValue & mMask;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void PairManagerData::removePair(PxU32 /*id0*/, PxU32 /*id1*/, PxU32 hashValue, PxU32 pairIndex)
+{
+	// Walk the hash table to fix mNext
+	{
+		PxU32 offset = mHashTable[hashValue];
+		PX_ASSERT(offset!=INVALID_ID);
+
+		PxU32 previous=INVALID_ID;
+		while(offset!=pairIndex)
+		{
+			previous = offset;
+			offset = mNext[offset];
+		}
+
+		// Let us go/jump us
+		if(previous!=INVALID_ID)
+		{
+			PX_ASSERT(mNext[previous]==pairIndex);
+			mNext[previous] = mNext[pairIndex];
+		}
+		// else we were the first
+		else mHashTable[hashValue] = mNext[pairIndex];
+		// we're now free to reuse mNext[pairIndex] without breaking the list
+	}
+#if PX_DEBUG
+	mNext[pairIndex]=INVALID_ID;
+#endif
+	// Invalidate entry
+
+	// Fill holes
+	{
+		// 1) Remove last pair
+		const PxU32 lastPairIndex = mNbActivePairs-1;
+		if(lastPairIndex==pairIndex)
+		{
+			mNbActivePairs--;
+		}
+		else
+		{
+			const InternalPair* last = &mActivePairs[lastPairIndex];
+			const PxU32 lastHashValue = hash(last->getId0(), last->getId1()) & mMask;
+
+			// Walk the hash table to fix mNext
+			PxU32 offset = mHashTable[lastHashValue];
+			PX_ASSERT(offset!=INVALID_ID);
+
+			PxU32 previous=INVALID_ID;
+			while(offset!=lastPairIndex)
+			{
+				previous = offset;
+				offset = mNext[offset];
+			}
+
+			// Let us go/jump us
+			if(previous!=INVALID_ID)
+			{
+				PX_ASSERT(mNext[previous]==lastPairIndex);
+				mNext[previous] = mNext[lastPairIndex];
+			}
+			// else we were the first
+			else mHashTable[lastHashValue] = mNext[lastPairIndex];
+			// we're now free to reuse mNext[lastPairIndex] without breaking the list
+
+#if PX_DEBUG
+			mNext[lastPairIndex]=INVALID_ID;
+#endif
+
+			// Don't invalidate entry since we're going to shrink the array
+
+			// 2) Re-insert in free slot
+			mActivePairs[pairIndex] = mActivePairs[lastPairIndex];
+#if PX_DEBUG
+			PX_ASSERT(mNext[pairIndex]==INVALID_ID);
+#endif
+			mNext[pairIndex] = mHashTable[lastHashValue];
+			mHashTable[lastHashValue] = pairIndex;
+
+			mNbActivePairs--;
+		}
+	}
+}
+

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseShared.h

@@ -0,0 +1,252 @@
+// 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 BP_BROADPHASE_SHARED_H
+#define BP_BROADPHASE_SHARED_H
+
+#include "BpBroadPhaseIntegerAABB.h"
+#include "foundation/PxUserAllocated.h"
+#include "foundation/PxHash.h"
+#include "foundation/PxVecMath.h"
+
+namespace physx
+{
+namespace Bp
+{
+	#define	INVALID_ID		0xffffffff
+	#define INVALID_USER_ID	0xffffffff
+
+	struct InternalPair : public PxUserAllocated
+	{
+		PX_FORCE_INLINE	PxU32	getId0()	const	{ return id0_isNew & ~PX_SIGN_BITMASK;		}
+		PX_FORCE_INLINE	PxU32	getId1()	const	{ return id1_isUpdated & ~PX_SIGN_BITMASK;	}
+
+		PX_FORCE_INLINE	PxU32	isNew()		const	{ return id0_isNew & PX_SIGN_BITMASK;		}
+		PX_FORCE_INLINE	PxU32	isUpdated()	const	{ return id1_isUpdated & PX_SIGN_BITMASK;	}
+
+		PX_FORCE_INLINE	void	setNewPair(PxU32 id0, PxU32 id1)
+		{
+			PX_ASSERT(!(id0 & PX_SIGN_BITMASK));
+			PX_ASSERT(!(id1 & PX_SIGN_BITMASK));
+			id0_isNew = id0 | PX_SIGN_BITMASK;
+			id1_isUpdated = id1;
+		}
+
+		PX_FORCE_INLINE	void	setNewPair2(PxU32 id0, PxU32 id1)
+		{
+			PX_ASSERT(!(id0 & PX_SIGN_BITMASK));
+			PX_ASSERT(!(id1 & PX_SIGN_BITMASK));
+			id0_isNew = id0;
+			id1_isUpdated = id1;
+		}
+
+		PX_FORCE_INLINE	void	setUpdated()		{ id1_isUpdated |= PX_SIGN_BITMASK;		}
+		PX_FORCE_INLINE	void	clearUpdated()		{ id1_isUpdated &= ~PX_SIGN_BITMASK;	}
+		PX_FORCE_INLINE	void	clearNew()			{ id0_isNew &= ~PX_SIGN_BITMASK;		}
+
+		protected:
+		PxU32		id0_isNew;
+		PxU32		id1_isUpdated;
+	};
+
+	PX_FORCE_INLINE bool	differentPair(const InternalPair& p, PxU32 id0, PxU32 id1)	{ return (id0!=p.getId0()) || (id1!=p.getId1());	}
+	PX_FORCE_INLINE PxU32	hash(PxU32 id0, PxU32 id1)									{ return PxComputeHash( (id0&0xffff)|(id1<<16));	}
+	//PX_FORCE_INLINE PxU32	hash(PxU32 id0, PxU32 id1)									{ return PxComputeHash(PxU64(id0)|(PxU64(id1)<<32)) ;	}
+	PX_FORCE_INLINE void	sort(PxU32& id0, PxU32& id1)								{ if(id0>id1)	PxSwap(id0, id1);					}
+
+	class PairManagerData
+	{
+		public:
+										PairManagerData();
+										~PairManagerData();
+
+		PX_FORCE_INLINE	PxU32			getPairIndex(const InternalPair* pair)	const
+										{
+											return (PxU32((size_t(pair) - size_t(mActivePairs)))/sizeof(InternalPair));
+										}
+
+		// Internal version saving hash computation
+		PX_FORCE_INLINE InternalPair*	findPair(PxU32 id0, PxU32 id1, PxU32 hashValue) const
+										{
+											if(!mHashTable)
+												return NULL;	// Nothing has been allocated yet
+
+											InternalPair* PX_RESTRICT activePairs = mActivePairs;
+											const PxU32* PX_RESTRICT next = mNext;
+
+											// Look for it in the table
+											PxU32 offset = mHashTable[hashValue];
+											while(offset!=INVALID_ID && differentPair(activePairs[offset], id0, id1))
+											{
+												PX_ASSERT(activePairs[offset].getId0()!=INVALID_USER_ID);
+												offset = next[offset];		// Better to have a separate array for this
+											}
+											if(offset==INVALID_ID)
+												return NULL;
+											PX_ASSERT(offset<mNbActivePairs);
+											// Match mActivePairs[offset] => the pair is persistent
+
+											return &activePairs[offset];
+										}
+
+		PX_FORCE_INLINE	InternalPair*	addPairInternal(PxU32 id0, PxU32 id1)
+										{
+											// Order the ids
+											sort(id0, id1);
+
+											const PxU32 fullHashValue = hash(id0, id1);
+											PxU32 hashValue = fullHashValue & mMask;
+
+											{
+												InternalPair* PX_RESTRICT p = findPair(id0, id1, hashValue);
+												if(p)
+												{
+													p->setUpdated();
+													return p;	// Persistent pair
+												}
+											}
+
+											// This is a new pair
+											if(mNbActivePairs >= mHashSize)
+												hashValue = growPairs(fullHashValue);
+
+											const PxU32 pairIndex = mNbActivePairs++;
+
+											InternalPair* PX_RESTRICT p = &mActivePairs[pairIndex];
+											p->setNewPair(id0, id1);
+											mNext[pairIndex] = mHashTable[hashValue];
+											mHashTable[hashValue] = pairIndex;
+											return p;
+										}
+
+						PxU32			mHashSize;
+						PxU32			mMask;
+						PxU32			mNbActivePairs;
+						PxU32*			mHashTable;
+						PxU32*			mNext;
+						InternalPair*	mActivePairs;
+						PxU32			mReservedMemory;
+
+						void			purge();
+						void			reallocPairs();
+						void			shrinkMemory();
+						void			reserveMemory(PxU32 memSize);
+		PX_NOINLINE		PxU32			growPairs(PxU32 fullHashValue);
+						void			removePair(PxU32 id0, PxU32 id1, PxU32 hashValue, PxU32 pairIndex);
+	};
+
+	struct AABB_Xi
+	{
+		PX_FORCE_INLINE	AABB_Xi()	{}
+		PX_FORCE_INLINE	~AABB_Xi()	{}
+
+		PX_FORCE_INLINE	void	initFromFloats(const void* PX_RESTRICT minX, const void* PX_RESTRICT maxX)
+		{
+			mMinX = encodeFloat(*reinterpret_cast<const PxU32*>(minX));
+			mMaxX = encodeFloat(*reinterpret_cast<const PxU32*>(maxX));
+		}
+
+		PX_FORCE_INLINE	void	initFromPxVec4(const PxVec4& min, const PxVec4& max)
+		{
+			initFromFloats(&min.x, &max.x);
+		}
+
+		PX_FORCE_INLINE	void	operator = (const AABB_Xi& box)
+		{
+			mMinX = box.mMinX;
+			mMaxX = box.mMaxX;
+		}
+
+		PX_FORCE_INLINE	void	initSentinel()
+		{
+			mMinX = 0xffffffff;
+		}
+
+		PX_FORCE_INLINE bool	isSentinel()	const
+		{
+			return mMinX == 0xffffffff;
+		}
+
+		PxU32 mMinX;
+		PxU32 mMaxX;
+	};
+
+	struct AABB_YZn
+	{
+		PX_FORCE_INLINE	AABB_YZn()	{}
+		PX_FORCE_INLINE	~AABB_YZn()	{}
+
+		PX_FORCE_INLINE	void	initFromPxVec4(const PxVec4& min, const PxVec4& max)
+		{
+			mMinY	= -min.y;
+			mMinZ	= -min.z;
+			mMaxY	= max.y;
+			mMaxZ	= max.z;
+		}
+
+		PX_FORCE_INLINE	void	operator = (const AABB_YZn& box)
+		{
+			using namespace physx::aos;
+			V4StoreA(V4LoadA(&box.mMinY), &mMinY);
+		}
+
+		float mMinY;
+		float mMinZ;
+		float mMaxY;
+		float mMaxZ;
+	};
+
+	struct AABB_YZr
+	{
+		PX_FORCE_INLINE	AABB_YZr()	{}
+		PX_FORCE_INLINE	~AABB_YZr()	{}
+
+		PX_FORCE_INLINE	void	initFromPxVec4(const PxVec4& min, const PxVec4& max)
+		{
+			mMinY	= min.y;
+			mMinZ	= min.z;
+			mMaxY	= max.y;
+			mMaxZ	= max.z;
+		}
+
+		PX_FORCE_INLINE	void	operator = (const AABB_YZr& box)
+		{
+			using namespace physx::aos;
+			V4StoreA(V4LoadA(&box.mMinY), &mMinY);
+		}
+
+		float mMinY;
+		float mMinZ;
+		float mMaxY;
+		float mMaxZ;
+	};
+
+} //namespace Bp
+} //namespace physx
+
+#endif // BP_BROADPHASE_SHARED_H

engine/third_party/physx/source/lowlevelaabb/src/BpBroadPhaseUpdate.cpp

@@ -0,0 +1,143 @@
+// 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.  
+
+#include "BpBroadPhase.h"
+#include "common/PxProfileZone.h"
+#include "foundation/PxBitMap.h"
+
+using namespace physx;
+using namespace Bp;
+
+#if PX_CHECKED
+bool BroadPhaseUpdateData::isValid(const BroadPhaseUpdateData& updateData, const BroadPhase& bp, const bool skipBoundValidation, PxU64 contextID)
+{
+	PX_PROFILE_ZONE("BroadPhaseUpdateData::isValid", contextID);
+
+	return (updateData.isValid(skipBoundValidation) && bp.isValid(updateData));
+}
+
+static bool testHandles(PxU32 size, const BpHandle* handles, const PxU32 capacity, const Bp::FilterGroup::Enum* groups, const PxBounds3* bounds, PxBitMap& bitmap)
+{
+	if(!handles && size)
+		return false;
+
+/*	ValType minVal=0;
+	ValType maxVal=0xffffffff;*/
+
+	for(PxU32 i=0;i<size;i++)
+	{
+		const BpHandle h = handles[i];
+
+		if(h>=capacity)
+			return false;
+
+		// Array in ascending order of id.
+		if(i>0 && (h < handles[i-1]))
+			return false;
+
+		if(groups && groups[h]==FilterGroup::eINVALID)
+			return false;
+
+		bitmap.set(h);
+
+		if(bounds)
+		{
+			if(!bounds[h].isFinite())
+				return false;
+
+			for(PxU32 j=0;j<3;j++)
+			{
+				//Max must be greater than min.
+				if(bounds[h].minimum[j]>bounds[h].maximum[j])
+					return false;
+#if 0
+				//Bounds have an upper limit.
+				if(bounds[created[i]].getMax(j)>=maxVal)
+					return false;
+
+				//Bounds have a lower limit.
+				if(bounds[created[i]].getMin(j)<=minVal)
+					return false;
+
+				//Max must be odd.
+				if(4 != (bounds[created[i]].getMax(j) & 4))
+					return false;
+
+				//Min must be even.
+				if(0 != (bounds[created[i]].getMin(j) & 4))
+					return false;
+#endif
+			}
+		}
+	}
+	return true;
+}
+
+static bool testBitmap(const PxBitMap& bitmap, PxU32 size, const BpHandle* handles)
+{
+	while(size--)
+	{
+		const BpHandle h = *handles++;
+		if(bitmap.test(h))
+			return false;
+	}
+	return true;
+}
+
+bool BroadPhaseUpdateData::isValid(const bool skipBoundValidation) const 
+{
+	const PxBounds3* bounds = skipBoundValidation ? NULL : getAABBs();
+	const PxU32 boxesCapacity = getCapacity();
+	const Bp::FilterGroup::Enum* groups = getGroups();
+
+	PxBitMap createdBitmap;	createdBitmap.resizeAndClear(boxesCapacity);
+	PxBitMap updatedBitmap;	updatedBitmap.resizeAndClear(boxesCapacity);
+	PxBitMap removedBitmap;	removedBitmap.resizeAndClear(boxesCapacity);
+
+	if(!testHandles(getNumCreatedHandles(), getCreatedHandles(), boxesCapacity, groups, bounds, createdBitmap))
+		return false;
+	if(!testHandles(getNumUpdatedHandles(), getUpdatedHandles(), boxesCapacity, groups, bounds, updatedBitmap))
+		return false;
+	if(!testHandles(getNumRemovedHandles(), getRemovedHandles(), boxesCapacity, NULL, NULL, removedBitmap))
+		return false;
+
+	if(1)
+	{
+		// Created/updated
+		if(!testBitmap(createdBitmap, getNumUpdatedHandles(), getUpdatedHandles()))
+			return false;
+		// Created/removed
+		if(!testBitmap(createdBitmap, getNumRemovedHandles(), getRemovedHandles()))
+			return false;
+		// Updated/removed
+		if(!testBitmap(updatedBitmap, getNumRemovedHandles(), getRemovedHandles()))
+			return false;
+	}
+	return true;
+}
+#endif

engine/third_party/physx/source/lowlevelaabb/src/BpFiltering.cpp

@@ -0,0 +1,74 @@
+// 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.  
+
+#include "BpFiltering.h"
+
+using namespace physx;
+using namespace Bp;
+
+BpFilter::BpFilter(bool discardKineKine, bool discardStaticKine)
+{
+	for(int j = 0; j < Bp::FilterType::COUNT; j++)
+		for(int i = 0; i < Bp::FilterType::COUNT; i++)
+			mLUT[j][i] = false;
+
+	mLUT[Bp::FilterType::STATIC][Bp::FilterType::DYNAMIC] = mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::STATIC] = true;
+	mLUT[Bp::FilterType::STATIC][Bp::FilterType::KINEMATIC] = mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::STATIC] = !discardStaticKine;
+	mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::KINEMATIC] = mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::DYNAMIC] = true;
+
+	mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::DYNAMIC] = true;
+	mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::KINEMATIC] = !discardKineKine;
+
+	mLUT[Bp::FilterType::STATIC][Bp::FilterType::AGGREGATE] = mLUT[Bp::FilterType::AGGREGATE][Bp::FilterType::STATIC] = true;
+	mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::AGGREGATE] = mLUT[Bp::FilterType::AGGREGATE][Bp::FilterType::KINEMATIC] = true;
+	mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::AGGREGATE] = mLUT[Bp::FilterType::AGGREGATE][Bp::FilterType::DYNAMIC] = true;
+	mLUT[Bp::FilterType::AGGREGATE][Bp::FilterType::AGGREGATE] = true;
+
+	//Enable deformable surface interactions
+	mLUT[Bp::FilterType::DEFORMABLE_SURFACE][Bp::FilterType::DYNAMIC] = mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::DEFORMABLE_SURFACE] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_SURFACE][Bp::FilterType::STATIC] = mLUT[Bp::FilterType::STATIC][Bp::FilterType::DEFORMABLE_SURFACE] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_SURFACE][Bp::FilterType::KINEMATIC] = mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::DEFORMABLE_SURFACE] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_SURFACE][Bp::FilterType::DEFORMABLE_SURFACE] = true;
+
+	//Enable deformable volume interactions
+	mLUT[Bp::FilterType::DEFORMABLE_VOLUME][Bp::FilterType::DYNAMIC] = mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::DEFORMABLE_VOLUME] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_VOLUME][Bp::FilterType::STATIC] = mLUT[Bp::FilterType::STATIC][Bp::FilterType::DEFORMABLE_VOLUME] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_VOLUME][Bp::FilterType::KINEMATIC] = mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::DEFORMABLE_VOLUME] = true;
+	mLUT[Bp::FilterType::DEFORMABLE_VOLUME][Bp::FilterType::DEFORMABLE_VOLUME] = true;
+
+	//Enable particle system interactions
+	mLUT[Bp::FilterType::PARTICLESYSTEM][Bp::FilterType::DYNAMIC] = mLUT[Bp::FilterType::DYNAMIC][Bp::FilterType::PARTICLESYSTEM] = true;
+	mLUT[Bp::FilterType::PARTICLESYSTEM][Bp::FilterType::STATIC] = mLUT[Bp::FilterType::STATIC][Bp::FilterType::PARTICLESYSTEM] = true;
+	mLUT[Bp::FilterType::PARTICLESYSTEM][Bp::FilterType::KINEMATIC] = mLUT[Bp::FilterType::KINEMATIC][Bp::FilterType::PARTICLESYSTEM] = true;
+	mLUT[Bp::FilterType::PARTICLESYSTEM][Bp::FilterType::PARTICLESYSTEM] = true;
+}
+
+BpFilter::~BpFilter()
+{
+}
+