feat(physics): wire physx sdk into build

engine/third_party/physx/source/lowleveldynamics/src/DyDynamicsBase.h

@@ -0,0 +1,122 @@
+// 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 DY_DYNAMICS_BASE_H
+#define DY_DYNAMICS_BASE_H
+
+#include "DyContext.h"
+#include "DyThreadContext.h"
+#include "PxvNphaseImplementationContext.h"
+#include "PxsIslandManagerTypes.h"
+#include "solver/PxSolverDefs.h"
+
+namespace physx
+{
+namespace Cm
+{
+	class FlushPool;
+}
+
+namespace IG
+{
+	class SimpleIslandManager;
+}
+
+namespace Dy
+{
+
+// PT: base class containing code and data shared between PGS and TGS. Ideally this would just be named "DynamicsContext" and the PGS
+// context would have been renamed "DynamicsPGSContext" (to match DynamicsTGSContext) but let's limit the gratuitous changes for now.
+class DynamicsContextBase : public Context
+{
+	PX_NOCOPY(DynamicsContextBase)
+public:
+			DynamicsContextBase(PxcNpMemBlockPool* memBlockPool,
+								Cm::FlushPool& taskPool,
+								PxvSimStats& simStats,
+								PxVirtualAllocatorCallback* allocatorCallback,
+								PxsMaterialManager* materialManager,
+								IG::SimpleIslandManager& islandManager,
+								PxU64 contextID,
+								PxReal maxBiasCoefficient,
+								PxReal lengthScale,
+								bool enableStabilization,
+								bool useEnhancedDeterminism,
+								bool isResidualReportingEnabled
+								);
+
+	virtual	~DynamicsContextBase();
+
+	/**
+	\brief Allocates and returns a thread context object.
+	\return A thread context.
+	*/
+	PX_FORCE_INLINE ThreadContext*		getThreadContext()	{ return mThreadContextPool.get();	}
+
+	/**
+	\brief Returns a thread context to the thread context pool.
+	\param[in] context The thread context to return to the thread context pool.
+	*/
+					void				putThreadContext(ThreadContext* context)	{ mThreadContextPool.put(context);	}
+
+	PX_FORCE_INLINE ThresholdStream&	getThresholdStream()			{ return *mThresholdStream; }
+	PX_FORCE_INLINE PxvSimStats&		getSimStats()					{ return mSimStats;			}
+	PX_FORCE_INLINE Cm::FlushPool&		getTaskPool()					{ return mTaskPool;			}
+	PX_FORCE_INLINE	PxU32				getKinematicCount()		const	{ return mKinematicCount;	}
+
+	PxcThreadCoherentCache<ThreadContext, PxcNpMemBlockPool> mThreadContextPool;	// A thread context pool
+
+	PxsMaterialManager*				mMaterialManager;
+	Cm::FlushPool&					mTaskPool;
+	PxsContactManagerOutputIterator	mOutputIterator;
+
+	PxArray<PxConstraintBatchHeader>	mContactConstraintBatchHeaders;	// An array of contact constraint batch headers
+	PxArray<Cm::SpatialVector>			mMotionVelocityArray;			// Array of motion velocities for all bodies in the scene.
+	PxArray<PxsBodyCore*>				mBodyCoreArray;					// Array of body core pointers for all bodies in the scene.
+	PxArray<PxsRigidBody*>				mRigidBodyArray;				// Array of rigid body pointers for all bodies in the scene.
+	PxArray<FeatherstoneArticulation*>	mArticulationArray;				// Array of articulation pointers for all articulations in the scene.
+
+	ThresholdStream*					mExceededForceThresholdStream[2]; // this store previous and current exceeded force thresholdStream	
+	PxArray<PxU32>						mExceededForceThresholdStreamMask;
+	PxArray<PxU32>						mSolverBodyRemapTable;	// Remaps from the "active island" index to the index within a solver island
+	PxArray<PxU32>						mNodeIndexArray;		// island node index
+	PxArray<PxsIndexedContactManager>	mContactList;
+
+	PxU32	mKinematicCount;		// The total number of kinematic bodies in the scene
+	PxI32	mThresholdStreamOut;	// Atomic counter for the number of threshold stream elements.
+	PxU32	mCurrentIndex;			// this is the index point to the current exceeded force threshold stream
+
+protected:
+	void	resetThreadContexts();
+	PxU32	reserveSharedSolverConstraintsArrays(const IG::IslandSim& islandSim, PxU32 maxArticulationLinks);
+};
+
+}
+}
+
+#endif