feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxcharacterkinematic/src/CctBoxController.cpp

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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.  
+
+#include "geometry/PxBoxGeometry.h"
+#include "characterkinematic/PxController.h"
+#include "PxRigidDynamic.h"
+#include "PxShape.h"
+
+#include "CctBoxController.h"
+#include "CctCharacterControllerManager.h"
+
+using namespace physx;
+using namespace Cct;
+
+static PX_FORCE_INLINE PxVec3 CCTtoProxyExtents(PxF32 halfHeight, PxF32 halfSideExtent, PxF32 halfForwardExtent, PxF32 coeff)
+{
+	// PT: because we now orient the box CCT using the same quat as for capsules...
+	// i.e. the identity quat corresponds to a up dir = 1,0,0 (which is like the worst choice we could have made, of course)
+	return PxVec3(halfHeight * coeff, halfSideExtent * coeff, halfForwardExtent * coeff);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+BoxController::BoxController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
+{
+	mType = PxControllerShapeType::eBOX;
+
+	const PxBoxControllerDesc& bc = static_cast<const PxBoxControllerDesc&>(desc);
+
+	mHalfHeight			= bc.halfHeight;
+	mHalfSideExtent		= bc.halfSideExtent;
+	mHalfForwardExtent	= bc.halfForwardExtent;
+
+	// Create kinematic actor under the hood
+	PxBoxGeometry boxGeom;
+	boxGeom.halfExtents = CCTtoProxyExtents(bc.halfHeight, bc.halfSideExtent, bc.halfForwardExtent, mProxyScaleCoeff);
+
+	createProxyActor(sdk, boxGeom, *desc.material, desc.clientID);
+}
+
+BoxController::~BoxController()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::invalidateCache()
+{
+	if(mManager->mLockingEnabled)
+		mWriteLock.lock();
+
+	mCctModule.voidTestCache();
+
+	if(mManager->mLockingEnabled)
+		mWriteLock.unlock();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool BoxController::getWorldBox(PxExtendedBounds3& box) const
+{
+	setCenterExtents(box, mPosition, PxVec3(mHalfHeight, mHalfSideExtent, mHalfForwardExtent));
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxF32 BoxController::getHalfHeight() const
+{
+	return mHalfHeight;
+}
+
+PxF32 BoxController::getHalfSideExtent() const
+{
+	return mHalfSideExtent;
+}
+
+PxF32 BoxController::getHalfForwardExtent() const
+{
+	return mHalfForwardExtent;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool BoxController::updateKinematicProxy()
+{
+	// Set extents for kinematic proxy
+	if(mKineActor)
+	{
+		PxShape* shape = getKineShape();
+
+		const PxGeometry& geom = shape->getGeometry();
+		PX_ASSERT(geom.getType() == PxGeometryType::eBOX);
+		PxBoxGeometry bg = static_cast<const PxBoxGeometry&>(geom);
+
+		bg.halfExtents = CCTtoProxyExtents(mHalfHeight, mHalfSideExtent, mHalfForwardExtent, mProxyScaleCoeff);
+		shape->setGeometry(bg);
+	}
+	return true;
+}
+
+bool BoxController::setHalfHeight(PxF32 halfHeight)
+{
+	if(halfHeight<=0.0f)
+		return false;
+
+	mHalfHeight = halfHeight;
+	return updateKinematicProxy();
+}
+
+bool BoxController::setHalfSideExtent(PxF32 halfSideExtent)
+{
+	if(halfSideExtent<=0.0f)
+		return false;
+
+	mHalfSideExtent = halfSideExtent;
+	return updateKinematicProxy();
+}
+
+bool BoxController::setHalfForwardExtent(PxF32 halfForwardExtent)
+{
+	if(halfForwardExtent<=0.0f)
+		return false;
+
+	mHalfForwardExtent = halfForwardExtent;
+	return updateKinematicProxy();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxExtendedVec3 BoxController::getFootPosition() const
+{
+	PxExtendedVec3 groundPosition = mPosition;													// Middle of the CCT
+	sub(groundPosition, mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset));	// Ground
+	return groundPosition;
+}
+
+bool BoxController::setFootPosition(const PxExtendedVec3& position)
+{
+	PxExtendedVec3 centerPosition = position;
+	add(centerPosition, mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset));
+	return setPosition(centerPosition);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::getOBB(PxExtendedBox& obb) const
+{
+	// PT: TODO: optimize this
+	PxExtendedBounds3 worldBox;
+	getWorldBox(worldBox);
+
+	getCenter(worldBox, obb.center);
+	getExtents(worldBox, obb.extents);
+	obb.rot = mUserParams.mQuatFromUp;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::resize(PxReal height)
+{
+	const float oldHeight = getHalfHeight();
+	setHalfHeight(height);
+
+	const float delta = height - oldHeight;
+	PxExtendedVec3 pos = getPosition();
+	add(pos, mUserParams.mUpDirection * delta);
+	setPosition(pos);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+