feat(physics): wire physx sdk into build

engine/third_party/physx/source/lowleveldynamics/src/DySolverConstraint1D4.h

@@ -0,0 +1,116 @@
+// 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_SOLVER_CONSTRAINT_1D4_H
+#define DY_SOLVER_CONSTRAINT_1D4_H
+
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "DySolverConstraint1D.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+
+struct SolverConstraint1DHeader4
+{
+	PxU8	type;			// enum SolverConstraintType - must be first byte
+	PxU8	pad0[3];	
+	//These counts are the max of the 4 sets of data.
+	//When certain pairs have fewer constraints than others, they are padded with 0s so that no work is performed but 
+	//calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
+	PxU32	count;
+	PxU8	count0, count1, count2, count3;
+	PxU8	break0, break1, break2, break3;
+
+	aos::Vec4V	linBreakImpulse;
+	aos::Vec4V	angBreakImpulse;
+	aos::Vec4V	invMass0D0;
+	aos::Vec4V	invMass1D1;
+	aos::Vec4V	angD0;
+	aos::Vec4V	angD1;
+
+	aos::Vec4V	body0WorkOffsetX;
+	aos::Vec4V	body0WorkOffsetY;
+	aos::Vec4V	body0WorkOffsetZ;
+};
+
+struct SolverConstraint1DBase4 
+{
+public:
+	aos::Vec4V		lin0X;
+	aos::Vec4V		lin0Y;
+	aos::Vec4V		lin0Z;
+	aos::Vec4V		ang0X;
+	aos::Vec4V		ang0Y;
+	aos::Vec4V		ang0Z;
+	aos::Vec4V		ang0WritebackX;
+	aos::Vec4V		ang0WritebackY;
+	aos::Vec4V		ang0WritebackZ;
+	aos::Vec4V		constant;
+	aos::Vec4V		unbiasedConstant;
+	aos::Vec4V		velMultiplier;
+	aos::Vec4V		impulseMultiplier;
+	aos::Vec4V		minImpulse;
+	aos::Vec4V		maxImpulse;
+	aos::Vec4V		appliedForce;
+	PxU32		flags[4];
+};
+
+struct SolverConstraint1DBase4WithResidual : public SolverConstraint1DBase4
+{
+	aos::Vec4V		residualVelIter;
+	aos::Vec4V		residualPosIter;
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DBase4) == 272);
+
+struct SolverConstraint1DDynamic4 : public SolverConstraint1DBase4
+{
+	aos::Vec4V		lin1X;
+	aos::Vec4V		lin1Y;
+	aos::Vec4V		lin1Z;
+	aos::Vec4V		ang1X;
+	aos::Vec4V		ang1Y;
+	aos::Vec4V		ang1Z;
+};
+PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DDynamic4) == 368);
+
+struct SolverConstraint1DDynamic4WithResidual : public SolverConstraint1DDynamic4
+{
+	aos::Vec4V		residualVelIter;
+	aos::Vec4V		residualPosIter;
+};
+
+}
+
+}
+
+#endif