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;
+}
+