feat(physics): wire physx sdk into build

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

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+// 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_TGS_H
+#define DY_TGS_H
+
+#include "foundation/PxPreprocessor.h"
+
+namespace physx
+{
+	struct PxConstraintBatchHeader;
+	struct PxSolverConstraintDesc;
+	struct PxTGSSolverBodyTxInertia;
+	struct PxTGSSolverBodyData;
+	struct PxTGSSolverBodyVel;
+
+	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 TGS solver methods, which are scattered in different files and use
+		// the same function names as other functions (with a different signature).
+
+		#define DY_TGS_SOLVE_METHOD_PARAMS		const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, const PxTGSSolverBodyTxInertia* const txInertias, PxReal minPenetration, PxReal elapsedTime, SolverContext& cache
+		#define DY_TGS_CONCLUDE_METHOD_PARAMS	const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, const PxTGSSolverBodyTxInertia* const txInertias, PxReal elapsedTime, SolverContext& cache
+		#define DY_TGS_WRITEBACK_METHOD_PARAMS	const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, SolverContext* cache
+
+		typedef void (*TGSSolveBlockMethod)		(DY_TGS_SOLVE_METHOD_PARAMS);
+		typedef void (*TGSSolveConcludeMethod)	(DY_TGS_CONCLUDE_METHOD_PARAMS);
+		typedef void (*TGSWriteBackMethod)		(DY_TGS_WRITEBACK_METHOD_PARAMS);
+		
+		extern TGSSolveBlockMethod		g_SolveTGSMethods[];
+		extern TGSSolveConcludeMethod	g_SolveConcludeTGSMethods[];
+		extern TGSWriteBackMethod		g_WritebackTGSMethods[];
+
+		// PT: also used by immediate mode
+		void copyToSolverBodyDataStep(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
+			PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold,
+			PxReal maxAngVelSq, PxU32 lockFlags, bool isKinematic,
+			PxTGSSolverBodyVel& solverVel, PxTGSSolverBodyTxInertia& solverBodyTxInertia, PxTGSSolverBodyData& solverBodyData,
+			PxReal dt, bool gyroscopicForces);
+
+		// PT: also used by immediate mode
+		void integrateCoreStep(PxTGSSolverBodyVel& vel, PxTGSSolverBodyTxInertia& txInertia, PxF32 dt);
+	}
+}
+
+#endif