feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxextensions/src/tet/ExtOctreeTetrahedralizer.h

@@ -0,0 +1,169 @@
+// 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 EXT_OCTREE_TETRAHEDRALIZER_H
+#define EXT_OCTREE_TETRAHEDRALIZER_H
+
+#include "ExtMultiList.h"
+#include "ExtVec3.h"
+#include "foundation/PxVec3.h"
+#include "ExtInsideTester.h"
+
+namespace physx
+{
+	namespace Ext
+	{
+
+		class InsideTester;
+
+		// ------------------------------------------------------------------------------
+
+		class OctreeTetrahedralizer 
+		{
+		public:
+			OctreeTetrahedralizer();
+
+			void clear();
+			void createTetMesh(const PxArray<PxVec3> &verts, const PxArray<PxU32> &triIds,
+				bool includeOctreeNodes = true, PxI32 maxVertsPerCell = 20, PxI32 maxTreeDepth = 5);
+
+			void readBack(PxArray<PxVec3> &tetVertices, PxArray<PxU32> &tetIndices);			
+
+		private:
+			// input mesh
+
+			PxArray<PxVec3> surfaceVerts;
+			PxArray<PxI32> surfaceTriIds;
+
+			// octree
+
+			PxI32 maxVertsPerCell;
+			PxI32 maxTreeDepth;
+
+			struct Cell
+			{
+				void init()
+				{
+					firstChild = -1;
+					orig = PxVec3d(0.0, 0.0, 0.0);
+					size = 0.0;
+					numVerts = 0;
+					closestTetNr = -1;
+					depth = 0;
+				}
+
+				PxI32 getChildNr(const PxVec3d& p);
+
+				PX_FORCE_INLINE PxI32 getChildNr(const PxVec3& p) 
+				{
+					return getChildNr(PxVec3d(PxF64(p.x), PxF64(p.y), PxF64(p.z)));
+				}
+
+				PxI32 firstChild;
+				PxI32 firstCellVert;
+				PxI32 firstCellTet;
+				PxVec3d orig;
+				double size;
+				PxI32 numVerts;
+				PxI32 closestTetNr;
+				PxI32 depth;
+			};
+
+			PxArray<Cell> cells;
+			MultiList<PxI32> vertsOfCell;
+
+			// tet mesh
+
+			PxArray<PxVec3d> tetVerts;
+			PxArray<PxI32> tetIds;
+			PxArray<PxI32> tetNeighbors;
+			PxArray<PxI32> tetMarks;
+			PxI32 currentTetMark;
+			PxArray<PxI32> stack;
+			PxArray<PxI32> violatingTets;
+			PxI32 firstABBVert;
+
+			struct Edge 
+			{
+
+				PxI32 id0, id1;
+				PxI32 faceNr, tetNr;
+
+				void init(PxI32 _id0, PxI32 _id1, PxI32 _tetNr, PxI32 _faceNr) 
+				{
+					this->id0 = _id0 < _id1 ? _id0 : _id1;
+					this->id1 = _id0 > _id1 ? _id0 : _id1;
+					this->tetNr = _tetNr;
+					this->faceNr = _faceNr;
+				}
+
+				PX_FORCE_INLINE bool operator < (Edge e) const
+				{
+					if (id0 < e.id0) return true;
+					if (id0 > e.id0) return false;
+					return id1 < e.id1;
+				}
+
+				PX_FORCE_INLINE bool operator == (Edge e)
+				{
+					return id0 == e.id0 && id1 == e.id1;
+				}
+			};
+			PxArray<Edge> edges;
+
+			void clearTets();
+			void createTree();
+			void treeInsertVert(PxI32 cellNr, PxI32 vertNr);
+			void createTetVerts(bool includeOctreeNodes);
+
+			bool findSurroundingTet(const PxVec3d& p, PxI32 startTetNr, PxI32& tetNr);
+			bool findSurroundingTet(const PxVec3d& p, PxI32& tetNr);
+			void treeInsertTet(PxI32 tetNr);
+			void treeRemoveTet(PxI32 tetNr);
+
+			PxI32 firstFreeTet;
+			PxI32 getNewTetNr();
+			void removeTetNr(PxI32 tetNr);
+
+			PxVec3d getTetCenter(PxI32 tetNr) const;
+			bool meshInsertTetVert(PxI32 vertNr);
+
+			InsideTester insideTester;
+			void pruneTets();
+
+			mutable float prevClip;
+			mutable float prevScale;
+			mutable PxArray<PxVec3> renderVerts;
+			mutable PxArray<PxVec3> renderNormals;
+			mutable PxArray<PxI32> renderTriIds;
+		};
+	}
+}
+
+#endif