feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxextensions/src/tet/ExtBVH.cpp

@@ -0,0 +1,48 @@
+// 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.
+
+#include "ExtBVH.h"
+#include "ExtUtilities.h"
+
+using namespace physx;
+using namespace Ext;
+using namespace Gu;
+
+void BVHDesc::query(const PxBounds3& bounds, PxArray<PxI32>& items)
+{
+	items.clear();
+	IntersectionCollectingTraversalController traversalController(bounds, items);
+	traverseBVH(tree.begin(), traversalController, 0);
+}
+		
+void BVHBuilder::build(BVHDesc& bvh, const PxBounds3* items, PxI32 n)
+{
+	AABBTreeBounds boxes;
+	boxes.init(n);
+	for (PxI32 i = 0; i < n; ++i)			
+		boxes.getBounds()[i] = items[i];
+	Gu::buildAABBTree(n, boxes, bvh.tree);
+}