feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxvehicle/src/steering/VhSteeringFunctions.cpp

@@ -0,0 +1,96 @@
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
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+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
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+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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+// 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 "vehicle2/PxVehicleParams.h"
+
+#include "vehicle2/commands/PxVehicleCommandHelpers.h"
+
+#include "vehicle2/rigidBody/PxVehicleRigidBodyStates.h"
+
+#include "vehicle2/steering/PxVehicleSteeringParams.h"
+
+namespace physx
+{
+namespace vehicle2
+{
+
+void PxVehicleSteerCommandResponseUpdate
+(const PxReal steer, const PxReal longitudinalSpeed,
+ const PxU32 wheelId, const PxVehicleSteerCommandResponseParams& responseParams,
+ PxReal& steerResponse)
+{
+	PxReal sign = PxSign(steer);
+	steerResponse = sign * PxVehicleNonLinearResponseCompute(PxAbs(steer), longitudinalSpeed, wheelId, responseParams);
+}
+
+void PxVehicleAckermannSteerUpdate
+(const PxReal steer,
+ const PxVehicleSteerCommandResponseParams& steerResponseParams, const PxVehicleSizedArrayData<const PxVehicleAckermannParams>& ackermannParams,
+ PxVehicleArrayData<PxReal>& steerResponseStates)
+{
+	for (PxU32 i = 0; i < ackermannParams.size; i++)
+	{
+		const PxVehicleAckermannParams& ackParams = ackermannParams[i];
+		if (ackParams.strength > 0.0f)
+		{
+			//Axle yaw is the average of the two wheels.
+			const PxF32 axleYaw =
+				(PxVehicleLinearResponseCompute(steer, ackParams.wheelIds[0], steerResponseParams) +
+					PxVehicleLinearResponseCompute(steer, ackParams.wheelIds[1], steerResponseParams))*0.5f;
+			if (axleYaw != 0.0f)
+			{
+				//Work out the ackermann steer for +ve steer then swap and negate the steer angles if the steer is -ve.
+
+				//Uncorrected yaw angle.  
+				//One of the wheels will adopt this angle. 
+				//The other will be corrected.
+				const PxF32 posWheelYaw = PxAbs(axleYaw);
+
+				//Work out the yaw of the other wheel.
+				PxF32 negWheelCorrectedYaw;
+				{
+					const PxF32 dz = ackParams.wheelBase;
+					const PxF32 dx = ackParams.trackWidth + ackParams.wheelBase / PxTan(posWheelYaw);
+					const PxF32 negWheelPerfectYaw = PxAtan(dz / dx);
+					negWheelCorrectedYaw = posWheelYaw + ackParams.strength*(negWheelPerfectYaw - posWheelYaw);
+				}
+
+				//Now assign  axleYaw and  negWheelCorrectedYaw to the correct wheels with the correct signs. 
+				const PxF32 negWheelFinalYaw = intrinsics::fsel(axleYaw, negWheelCorrectedYaw, -posWheelYaw);
+				const PxF32 posWheelFinalYaw = intrinsics::fsel(axleYaw, posWheelYaw, -negWheelCorrectedYaw);
+
+				//Apply the per axle distributions to each wheel on the axle that is affected by this Ackermann correction.
+				steerResponseStates[ackParams.wheelIds[0]] = negWheelFinalYaw;
+				steerResponseStates[ackParams.wheelIds[1]] = posWheelFinalYaw;
+			}
+		}
+	}
+}
+
+} //namespace vehicle2
+} //namespace physx