feat(physics): wire physx sdk into build

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

@@ -0,0 +1,93 @@
+// 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_FRICTION_PATCH_H
+#define DY_FRICTION_PATCH_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxVec3.h"
+#include "foundation/PxIntrinsics.h"
+#include "PxvConfig.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+
+struct FrictionPatch
+{
+	PxU8				broken;				// PT: must be first byte of struct, see "frictionBrokenWritebackByte"
+	PxU8				materialFlags;
+	PxU16				anchorCount;
+	PxReal				restitution;
+	PxReal				staticFriction;
+	PxReal				dynamicFriction;
+	PxVec3				body0Normal;
+	PxVec3				body1Normal;
+	PxVec3				body0Anchors[2];
+	PxVec3				body1Anchors[2];
+	PxQuat				relativeQuat;
+
+	PX_FORCE_INLINE	void	operator = (const FrictionPatch& other)
+	{
+		broken = other.broken;
+		materialFlags = other.materialFlags;
+		anchorCount = other.anchorCount;
+		body0Normal = other.body0Normal;
+		body1Normal = other.body1Normal;
+		body0Anchors[0] = other.body0Anchors[0];   
+		body0Anchors[1] = other.body0Anchors[1];
+		body1Anchors[0] = other.body1Anchors[0];
+		body1Anchors[1] = other.body1Anchors[1];
+		relativeQuat = other.relativeQuat;
+		restitution = other.restitution;
+		staticFriction = other.staticFriction;
+		dynamicFriction = other.dynamicFriction;
+	}
+
+	PX_FORCE_INLINE	void	prefetch()	const
+	{
+		// PT: TODO: revisit this... not very satisfying
+		PxPrefetchLine(this);
+		PxPrefetchLine(this, 128);
+		PxPrefetchLine(this, 256);
+	}
+};  
+
+// PT: ensure that we can safely read the body anchors with V4Loads
+PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(FrictionPatch, body0Anchors)+sizeof(FrictionPatch::body0Anchors) + 4 <= sizeof(FrictionPatch));
+PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(FrictionPatch, body1Anchors)+sizeof(FrictionPatch::body1Anchors) + 4 <= sizeof(FrictionPatch));
+
+//PX_COMPILE_TIME_ASSERT(sizeof(FrictionPatch)==80);
+
+}
+
+}
+
+#endif