feat(physics): wire physx sdk into build

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

@@ -0,0 +1,120 @@
+// 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.
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+//  * 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
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+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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+// 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_DESC_H
+#define DY_SOLVER_CONSTRAINT_DESC_H
+
+#include "PxvConfig.h"
+#include "DySolverConstraintTypes.h"
+#include "foundation/PxUtilities.h"
+#include "PxConstraintDesc.h"
+#include "solver/PxSolverDefs.h"
+
+#define PGS_SUPPORT_COMPOUND_CONSTRAINTS	0
+
+namespace physx
+{
+struct PxcNpWorkUnit;
+struct PxsContactManagerOutput;
+
+namespace Dy
+{
+class FeatherstoneArticulation;
+
+// dsequeira: moved this articulation stuff here to sever a build dep on Articulation.h through DyThreadContext.h and onward
+
+#if PGS_SUPPORT_COMPOUND_CONSTRAINTS
+//This class rolls together multiple contact managers into a single contact manager.
+struct CompoundContactManager
+{
+	PxU32 mStartIndex;
+	PxU16 mStride;
+	PxU16 mReducedContactCount;
+	PxU16 originalContactCount;
+	PxU8 originalPatchCount;
+	PxU8 originalStatusFlags;
+
+	PxcNpWorkUnit* unit;			//This is a work unit but the contact buffer has been adjusted to contain all the contacts for all the subsequent pairs
+	PxsContactManagerOutput* cmOutput;
+	PxU8* originalContactPatches;	//This is the original contact buffer that we replaced with a combined buffer	
+	PxU8* originalContactPoints;
+	
+	PxReal* originalForceBuffer;	//This is the original force buffer that we replaced with a combined force buffer
+	PxU16* forceBufferList;			//This is a list of indices from the reduced force buffer to the original force buffers - we need this to fix up the write-backs from the solver	
+
+	PxU8* originalFrictionPatches;	//This is the original friction patches buffer that we replaced with a combined buffer	
+};
+#endif
+
+struct SolverConstraintPrepState
+{
+enum Enum 
+{
+	eOUT_OF_MEMORY,
+	eUNBATCHABLE,
+	eSUCCESS
+};
+};
+
+PX_FORCE_INLINE bool	isArticulationConstraint(const PxSolverConstraintDesc& desc)
+{
+	return desc.linkIndexA != PxSolverConstraintDesc::RIGID_BODY
+		|| desc.linkIndexB != PxSolverConstraintDesc::RIGID_BODY;
+}
+
+PX_FORCE_INLINE void setConstraintLength(PxSolverConstraintDesc& desc, const PxU32 constraintLength)
+{
+	PX_ASSERT(0==(constraintLength & 0x0f));
+	PX_ASSERT(constraintLength <= PX_MAX_U16 * 16);
+	desc.constraintLengthOver16 = PxTo16(constraintLength >> 4);
+}
+
+PX_FORCE_INLINE PxU32 getConstraintLength(const PxSolverConstraintDesc& desc)
+{
+	return PxU32(desc.constraintLengthOver16 << 4);
+}
+
+PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationA(const PxSolverConstraintDesc& desc)
+{
+	return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationA);
+}
+
+PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationB(const PxSolverConstraintDesc& desc)
+{
+	return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationB);
+}
+
+PX_COMPILE_TIME_ASSERT(0 == (0x0f & sizeof(PxSolverConstraintDesc)));
+
+#define MAX_PERMITTED_SOLVER_PROGRESS 0xFFFF
+
+}
+
+}
+
+#endif