feat(physics): wire physx sdk into build

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

@@ -0,0 +1,59 @@
+// 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_PGS_H
+#define DY_PGS_H
+
+#include "foundation/PxPreprocessor.h"
+#include "foundation/PxSimpleTypes.h"
+
+namespace physx
+{
+	struct PxSolverConstraintDesc;
+
+	namespace Dy
+	{
+		struct SolverContext;
+
+		// PT: using defines like we did in Gu (GU_OVERLAP_FUNC_PARAMS, etc). Additionally this gives a
+		// convenient way to find the PGS solver methods, which are scattered in different files and use
+		// the same function names as other functions (with a different signature).
+
+		#define DY_PGS_SOLVE_METHOD_PARAMS		const PxSolverConstraintDesc* desc, PxU32 constraintCount, SolverContext& cache
+
+		typedef void (*SolveBlockMethod)			(DY_PGS_SOLVE_METHOD_PARAMS);
+		typedef void (*SolveWriteBackBlockMethod)	(DY_PGS_SOLVE_METHOD_PARAMS);
+		typedef void (*WriteBackBlockMethod)		(DY_PGS_SOLVE_METHOD_PARAMS);
+
+		extern SolveBlockMethod				gVTableSolveBlock[];
+		extern SolveWriteBackBlockMethod	gVTableSolveWriteBackBlock[];
+		extern SolveBlockMethod				gVTableSolveConcludeBlock[];
+	}
+}
+
+#endif