feat(physics): wire physx sdk into build

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

@@ -0,0 +1,126 @@
+// 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_CONTACT_PREP_H
+#define DY_TGS_CONTACT_PREP_H
+
+#include "foundation/PxPreprocessor.h"
+#include "DySolverConstraintDesc.h"
+#include "PxSceneDesc.h"
+#include "DySolverContact4.h"
+
+namespace physx
+{
+	struct PxsContactManagerOutput;
+	struct PxSolverConstraintDesc;
+
+	namespace Dy
+	{
+		class ThreadContext;
+		struct CorrelationBuffer;
+
+		bool createFinalizeSolverContactsStep(PxTGSSolverContactDesc& contactDesc,
+			PxsContactManagerOutput& output,
+			ThreadContext& threadContext,
+			const PxReal invDtF32,
+			const PxReal invTotalDtF32,
+			const PxReal totalDtF32,
+			const PxReal stepDt,
+			const PxReal bounceThresholdF32,
+			const PxReal frictionOffsetThreshold,
+			const PxReal correlationDistance,
+			const PxReal biasCoefficient,
+			PxConstraintAllocator& constraintAllocator);
+
+		bool createFinalizeSolverContactsStep(
+			PxTGSSolverContactDesc& contactDesc,
+			CorrelationBuffer& c,
+			const PxReal invDtF32,
+			const PxReal invTotalDtF32,
+			const PxReal totalDtF32,
+			const PxReal dtF32,
+			const PxReal bounceThresholdF32,
+			const PxReal frictionOffsetThreshold,
+			const PxReal correlationDistance,
+			const PxReal biasCoefficient,
+			PxConstraintAllocator& constraintAllocator);
+
+		SolverConstraintPrepState::Enum setupSolverConstraintStep4
+		(PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
+			const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
+			PxConstraintAllocator& allocator, PxU32 maxRows,
+			const PxReal lengthScale, const PxReal biasCoefficient, bool isResidualReportingEnabled);
+
+		PxU32 SetupSolverConstraintStep(SolverConstraintShaderPrepDesc& shaderDesc,
+			PxTGSSolverConstraintPrepDesc& prepDesc,
+			PxConstraintAllocator& allocator,
+			const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
+			const PxReal lengthScale, const PxReal biasCoefficient);
+
+		PxU32 setupSolverConstraintStep(
+			const PxTGSSolverConstraintPrepDesc& prepDesc,
+			PxConstraintAllocator& allocator,
+			const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
+			const PxReal lengthScale, const PxReal biasCoefficient);
+
+		SolverConstraintPrepState::Enum setupSolverConstraintStep4
+		(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
+			PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
+			const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
+			PxConstraintAllocator& allocator, const PxReal lengthScale, const PxReal biasCoefficient, bool isResidualReportingEnabled);
+
+		SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
+			PxsContactManagerOutput** cmOutputs,
+			ThreadContext& threadContext,
+			PxTGSSolverContactDesc* blockDescs,
+			const PxReal invDtF32,
+			const PxReal totalDtF32,
+			const PxReal invTotalDtF32,
+			const PxReal dt,
+			const PxReal bounceThresholdF32,
+			const PxReal frictionOffsetThreshold,
+			const PxReal correlationDistance,
+			const PxReal biasCoefficient,
+			PxConstraintAllocator& constraintAllocator);
+
+		SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
+			Dy::CorrelationBuffer& c,
+			PxTGSSolverContactDesc* blockDescs,
+			const PxReal invDtF32,
+			const PxReal totalDt,
+			const PxReal invTotalDtF32,
+			const PxReal dt,
+			const PxReal bounceThresholdF32,
+			const PxReal frictionOffsetThreshold,
+			const PxReal correlationDistance,
+			const PxReal biasCoefficient,
+			PxConstraintAllocator& constraintAllocator);
+	}
+}
+
+#endif