feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxextensions/src/ExtRigidActorExt.cpp

@@ -0,0 +1,89 @@
+// 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 "extensions/PxRigidActorExt.h"
+#include "foundation/PxFPU.h"
+#include "foundation/PxAllocator.h"
+#include "foundation/PxInlineArray.h"
+#include "geometry/PxGeometryQuery.h"
+
+#include "cooking/PxBVHDesc.h"
+#include "cooking/PxCooking.h"
+
+using namespace physx;
+
+PxBounds3* PxRigidActorExt::getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds)
+{
+	const PxU32 numShapes = actor.getNbShapes();
+	if(numShapes == 0)
+		return NULL;
+	
+	PxInlineArray<PxShape*, 64> shapes("PxShape*"); 
+	shapes.resize(numShapes);
+
+	actor.getShapes(shapes.begin(), shapes.size());
+
+	PxU32 numSqShapes = 0;
+	for(PxU32 i=0; i<numShapes; i++)
+	{
+		if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
+			numSqShapes++;
+	}
+
+	PxBounds3* bounds = PX_ALLOCATE(PxBounds3, numSqShapes, "PxBounds3");
+
+	numSqShapes = 0;
+	{
+		PX_SIMD_GUARD	// PT: external guard because we use PxGeometryQueryFlag::Enum(0) below
+		for(PxU32 i=0; i<numShapes; i++)
+		{
+			if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
+				PxGeometryQuery::computeGeomBounds(bounds[numSqShapes++], shapes[i]->getGeometry(), shapes[i]->getLocalPose(), 0.0f, 1.0f, PxGeometryQueryFlag::Enum(0));
+		}
+	}
+
+	numBounds = numSqShapes;
+	return bounds;
+}
+
+PxBVH* PxRigidActorExt::createBVHFromActor(PxPhysics& physics, const PxRigidActor& actor)
+{
+	PxU32 nbBounds = 0;
+	PxBounds3* bounds = PxRigidActorExt::getRigidActorShapeLocalBoundsList(actor, nbBounds);
+
+	PxBVHDesc bvhDesc;
+	bvhDesc.bounds.count	= nbBounds;
+	bvhDesc.bounds.data		= bounds;
+	bvhDesc.bounds.stride	= sizeof(PxBounds3);
+
+	PxBVH* bvh = PxCreateBVH(bvhDesc, physics.getPhysicsInsertionCallback());
+
+	PX_FREE(bounds);
+	return bvh;
+}
+