feat(physics): wire physx sdk into build

engine/third_party/physx/source/physxvehicle/src/wheel/VhWheelFunctions.cpp

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+// Redistribution and use in source and binary forms, with or without
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+// 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/suspension/PxVehicleSuspensionStates.h"
+
+#include "vehicle2/tire/PxVehicleTireStates.h"
+
+#include "vehicle2/wheel/PxVehicleWheelFunctions.h"
+#include "vehicle2/wheel/PxVehicleWheelStates.h"
+#include "vehicle2/wheel/PxVehicleWheelParams.h"
+
+namespace physx
+{
+namespace vehicle2
+{
+
+void PxVehicleWheelRotationAngleUpdate
+(const PxVehicleWheelParams& whlParams,
+ const PxVehicleWheelActuationState& actState, const PxVehicleSuspensionState& suspState, const PxVehicleTireSpeedState& trSpeedState,
+ const PxReal thresholdForwardSpeedForWheelAngleIntegration, const PxReal dt,
+ PxVehicleWheelRigidBody1dState& whlRigidBody1dState)
+{
+	//At low vehicle forward speeds we have some numerical difficulties getting the 
+	//wheel rotation speeds to be correct due to the tire model's difficulties at low vz.
+	//The solution is to blend between the rolling speed at the wheel and the wheel's actual rotation speed.
+	//If the wheel is 
+	//(i)   in the air or, 
+	//(ii)  under braking torque or, 
+	//(iii) driven by a drive torque
+	//then always use the wheel's actual rotation speed.
+	//Just to be clear, this means we will blend when the wheel
+	//(i)   is on the ground and
+	//(ii)  has no brake applied and
+	//(iii) has no drive torque and
+	//(iv)  is at low forward speed
+	const PxF32 jounce = suspState.jounce;
+	const bool isBrakeApplied = actState.isBrakeApplied;
+	const bool isDriveApplied = actState.isDriveApplied;
+	const PxF32 lngSpeed = trSpeedState.speedStates[PxVehicleTireDirectionModes::eLONGITUDINAL];
+	const PxF32 absLngSpeed = PxAbs(lngSpeed);
+	PxF32 wheelOmega = whlRigidBody1dState.rotationSpeed;
+	if (jounce > 0 &&																	//(i)   wheel touching ground
+		!isBrakeApplied &&																//(ii)  no brake applied
+		!isDriveApplied &&																//(iii) no drive torque applied
+		(absLngSpeed < thresholdForwardSpeedForWheelAngleIntegration))					//(iv)  low speed
+	{
+		const PxF32 wheelRadius = whlParams.radius;
+		const PxF32 alpha = absLngSpeed / thresholdForwardSpeedForWheelAngleIntegration;
+		wheelOmega = (lngSpeed/wheelRadius)*(1.0f - alpha) + wheelOmega * alpha;
+	}
+
+	whlRigidBody1dState.correctedRotationSpeed = wheelOmega;
+
+	//Integrate angle.
+	PxF32 newRotAngle = whlRigidBody1dState.rotationAngle + wheelOmega * dt;
+
+	//Clamp in range (-2*Pi,2*Pi)
+	newRotAngle = newRotAngle - (PxI32(newRotAngle / PxTwoPi) * PxTwoPi);
+
+	//Set the angle.
+	whlRigidBody1dState.rotationAngle = newRotAngle;
+}
+
+} //namespace vehicle2
+} //namespace physx