feat(physics): wire physx sdk into build

engine/third_party/physx/source/lowleveldynamics/include/DyArticulationTendon.h

@@ -0,0 +1,192 @@
+// 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 PXD_ARTICULATION_TENDON_H
+#define PXD_ARTICULATION_TENDON_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxQuat.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxVecMath.h"
+#include "foundation/PxUtilities.h"
+#include "CmUtils.h"
+#include "CmIDPool.h"
+#include "solver/PxSolverDefs.h"
+
+namespace physx
+{
+namespace Dy
+{
+
+	typedef PxU64 ArticulationAttachmentBitField;
+
+#define DY_ARTICULATION_ATTACHMENT_NONE 0xffffffff
+
+	struct ArticulationAttachment
+	{
+		PxVec3 relativeOffset;		//relative offset to the link
+		PxReal lowLimit;
+		PxReal highLimit;
+		PxReal restLength;
+		
+		PxReal coefficient;
+		PxU32 parent;	//parent index
+		PxU32 myInd;
+		PxU32 mConstraintInd;
+		PxU16 linkInd;
+		PxU16 childCount;
+
+		ArticulationAttachmentBitField children;
+	};
+
+	class ArticulationTendon
+	{
+	public:
+
+		ArticulationTendon() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)
+		{ 
+		}
+		PxReal								mStiffness;
+		PxReal								mDamping;
+		PxReal								mOffset;
+		PxReal								mLimitStiffness;
+	};
+
+	class ArticulationSpatialTendon : public ArticulationTendon
+	{
+	public:
+
+		ArticulationSpatialTendon()
+		{
+			mAttachments.reserve(64);
+			mAttachments.forceSize_Unsafe(64);
+			
+		}
+
+		PX_FORCE_INLINE ArticulationAttachment* getAttachments() { return mAttachments.begin(); }
+
+		PX_FORCE_INLINE ArticulationAttachment& getAttachment(const PxU32 index) { return mAttachments[index]; }
+
+		PX_FORCE_INLINE PxU32 getNumAttachments() { return mIDPool.getNumUsedID(); }
+
+		PX_FORCE_INLINE PxU32 getNewID() 
+		{ 
+			const PxU32 index = mIDPool.getNewID();
+			if (mAttachments.capacity() <= index)
+			{
+				mAttachments.resize(index * 2 + 1);
+			}
+			return index;
+		}
+
+		PX_FORCE_INLINE void freeID(const PxU32 index)
+		{
+			mIDPool.freeID(index);
+		}
+
+		PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
+
+		PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
+
+	private:
+
+		PxArray<ArticulationAttachment>		mAttachments;
+		Cm::IDPool							mIDPool;
+		PxU32								mIndex;
+	};
+
+	class ArticulationTendonJoint
+	{
+	public:
+		PxU16					        axis;
+		PxU16							startJointOffset;
+		PxReal							coefficient;
+		PxReal							recipCoefficient;
+		PxU32							mConstraintInd;
+		PxU32							parent;	//parent index
+		PxU16							linkInd;
+		PxU16							childCount;
+		ArticulationAttachmentBitField	children;
+	};
+
+	class ArticulationFixedTendon : public ArticulationTendon
+	{
+	public:
+
+		ArticulationFixedTendon() :mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)
+		{
+			mTendonJoints.reserve(64);
+			mTendonJoints.forceSize_Unsafe(64);
+
+		}
+
+
+		PX_FORCE_INLINE ArticulationTendonJoint* getTendonJoints() { return mTendonJoints.begin(); }
+
+		PX_FORCE_INLINE ArticulationTendonJoint& getTendonJoint(const PxU32 index) { return mTendonJoints[index]; }
+
+		PX_FORCE_INLINE PxU32 getNumJoints() { return mIDPool.getNumUsedID(); }
+
+		PX_FORCE_INLINE PxU32 getNewID()
+		{
+			const PxU32 index = mIDPool.getNewID();
+			if (mTendonJoints.capacity() <= index)
+			{
+				mTendonJoints.resize(index * 2 + 1);
+			}
+			return index;
+		}
+
+		PX_FORCE_INLINE void freeID(const PxU32 index)
+		{
+			mIDPool.freeID(index);
+		}
+
+		PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
+
+		PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
+
+		PxReal								mLowLimit;
+		PxReal								mHighLimit;
+		PxReal								mRestLength;
+
+		PxReal								mError;
+
+	private:
+		PxArray<ArticulationTendonJoint>	mTendonJoints;
+
+		Cm::IDPool							mIDPool;
+		PxU32								mIndex;
+	};
+
+
+}//namespace Dy
+}//namespace physx
+
+#endif