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++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_PREPROCESSOR_H
++ #define PX_PREPROCESSOR_H
++
++ #include <stddef.h>
++
++
++ #define PX_STRINGIZE_HELPER(X) #X
++ #define PX_STRINGIZE(X) PX_STRINGIZE_HELPER(X)
++
++ #define PX_CONCAT_HELPER(X, Y) X##Y
++ #define PX_CONCAT(X, Y) PX_CONCAT_HELPER(X, Y)
++
++ /*
++ The following preprocessor identifiers specify compiler, OS, and architecture.
++ All definitions have a value of 1 or 0, use '#if' instead of '#ifdef'.
++ */
++
++ /**
++ Compiler defines, see http://sourceforge.net/p/predef/wiki/Compilers/
++ */
++ #if defined(_MSC_VER)
++ #if _MSC_VER >= 1920
++ #define PX_VC 16
++ #elif _MSC_VER >= 1910
++ #define PX_VC 15
++ #elif _MSC_VER >= 1900
++ #define PX_VC 14
++ #elif _MSC_VER >= 1800
++ #define PX_VC 12
++ #elif _MSC_VER >= 1700
++ #define PX_VC 11
++ #elif _MSC_VER >= 1600
++ #define PX_VC 10
++ #elif _MSC_VER >= 1500
++ #define PX_VC 9
++ #else
++ #error "Unknown VC version"
++ #endif
++ #elif defined(__clang__)
++ #define PX_CLANG 1
++ #if defined (__clang_major__)
++ #define PX_CLANG_MAJOR __clang_major__
++ #elif defined (_clang_major)
++ #define PX_CLANG_MAJOR _clang_major
++ #else
++ #define PX_CLANG_MAJOR 0
++ #endif
++ #elif defined(__GNUC__) // note: __clang__ implies __GNUC__
++ #define PX_GCC 1
++ #else
++ #error "Unknown compiler"
++ #endif
++
++ // not treated as its own compiler because clang, for example, can, in theory, compile CUDA code too
++ #if defined(__CUDACC__)
++ #define PX_CUDA_COMPILER 1
++ #else
++ #define PX_CUDA_COMPILER 0
++ #endif
++
++ /**
++ Operating system defines, see http://sourceforge.net/p/predef/wiki/OperatingSystems/
++ */
++ #if defined(_WIN64)
++ #define PX_WIN64 1
++ #elif defined(_WIN32) // note: _M_PPC implies _WIN32
++ #define PX_WIN32 1
++ #elif defined(__linux__) || defined (__EMSCRIPTEN__)
++ #define PX_LINUX 1
++ #elif defined(__APPLE__)
++ #define PX_OSX 1
++ #elif defined(__NX__)
++ #define PX_SWITCH 1
++ #else
++ #error "Unknown operating system"
++ #endif
++
++ /**
++ Architecture defines, see http://sourceforge.net/p/predef/wiki/Architectures/
++ */
++ #if defined(__x86_64__) || defined(_M_X64)
++ #define PX_X64 1
++ #elif defined(__i386__) || defined(_M_IX86) || defined (__EMSCRIPTEN__)
++ #define PX_X86 1
++ #elif defined(__arm64__) || defined(__aarch64__) || defined(_M_ARM64)
++ #define PX_A64 1
++ #elif defined(__arm__) || defined(_M_ARM)
++ #define PX_ARM 1
++ #elif defined(__ppc__) || defined(_M_PPC) || defined(__CELLOS_LV2__)
++ #define PX_PPC 1
++ #elif defined(__mips__) || defined(__mips)
++ #define PX_MIPS 1
++ #if defined(__mips64)
++ #define PX_MIPS64 1
++ #endif
++ #else
++ #error "Unknown architecture"
++ #endif
++
++ /**
++ SIMD defines
++ */
++ #if !defined(PX_SIMD_DISABLED)
++ #if defined(__i386__) || defined(_M_IX86) || defined(__x86_64__) || defined(_M_X64) || (defined (__EMSCRIPTEN__) && defined(__SSE2__))
++ #define PX_SSE2 1
++ #endif
++ #if defined(_M_ARM) || defined(__ARM_NEON__) || defined(__ARM_NEON)
++ #define PX_NEON 1
++ #endif
++ #if defined(_M_PPC) || defined(__CELLOS_LV2__)
++ #define PX_VMX 1
++ #endif
++ #endif
++
++ /**
++ define anything not defined on this platform to 0
++ */
++ #ifndef PX_VC
++ #define PX_VC 0
++ #endif
++ #ifndef PX_CLANG
++ #define PX_CLANG 0
++ #endif
++ #ifndef PX_GCC
++ #define PX_GCC 0
++ #endif
++ #ifndef PX_WIN64
++ #define PX_WIN64 0
++ #endif
++ #ifndef PX_WIN32
++ #define PX_WIN32 0
++ #endif
++ #ifndef PX_LINUX
++ #define PX_LINUX 0
++ #endif
++ #ifndef PX_OSX
++ #define PX_OSX 0
++ #endif
++ #ifndef PX_SWITCH
++ #define PX_SWITCH 0
++ #endif
++ #ifndef PX_X64
++ #define PX_X64 0
++ #endif
++ #ifndef PX_X86
++ #define PX_X86 0
++ #endif
++ #ifndef PX_A64
++ #define PX_A64 0
++ #endif
++ #ifndef PX_ARM
++ #define PX_ARM 0
++ #endif
++ #ifndef PX_PPC
++ #define PX_PPC 0
++ #endif
++ #ifndef PX_MIPS
++ #define PX_MIPS 0
++ #endif
++ #ifndef PX_MIPS64
++ #define PX_MIPS64 0
++ #endif
++ #ifndef PX_SSE2
++ #define PX_SSE2 0
++ #endif
++ #ifndef PX_NEON
++ #define PX_NEON 0
++ #endif
++ #ifndef PX_VMX
++ #define PX_VMX 0
++ #endif
++
++ /*
++ define anything not defined through the command line to 0
++ */
++ #ifndef PX_DEBUG
++ #define PX_DEBUG 0
++ #endif
++ #ifndef PX_CHECKED
++ #define PX_CHECKED 0
++ #endif
++ #ifndef PX_PROFILE
++ #define PX_PROFILE 0
++ #endif
++ #ifndef PX_DEBUG_CRT
++ #define PX_DEBUG_CRT 0
++ #endif
++ #ifndef PX_NVTX
++ #define PX_NVTX 0
++ #endif
++ #ifndef PX_DOXYGEN
++ #define PX_DOXYGEN 0
++ #endif
++
++ /**
++ family shortcuts
++ */
++ // compiler
++ #define PX_GCC_FAMILY (PX_CLANG || PX_GCC)
++ // os
++ #define PX_WINDOWS_FAMILY (PX_WIN32 || PX_WIN64)
++ #define PX_LINUX_FAMILY PX_LINUX
++ #define PX_APPLE_FAMILY PX_OSX // equivalent to #if __APPLE__
++ #define PX_UNIX_FAMILY (PX_LINUX_FAMILY || PX_APPLE_FAMILY) // shortcut for unix/posix platforms
++ #if defined(__EMSCRIPTEN__)
++ #define PX_EMSCRIPTEN 1
++ #else
++ #define PX_EMSCRIPTEN 0
++ #endif
++ // architecture
++ #define PX_INTEL_FAMILY (PX_X64 || PX_X86)
++ #define PX_ARM_FAMILY (PX_ARM || PX_A64)
++ #define PX_P64_FAMILY (PX_X64 || PX_A64 || PX_MIPS64) // shortcut for 64-bit architectures
++
++ /**
++ C++ standard library defines
++ */
++ #if defined(_LIBCPP_VERSION) || PX_WIN64 || PX_WIN32 || PX_EMSCRIPTEN
++ #define PX_LIBCPP 1
++ #else
++ #define PX_LIBCPP 0
++ #endif
++
++ // legacy define for PhysX
++ #define PX_WINDOWS (PX_WINDOWS_FAMILY && !PX_ARM_FAMILY)
++
++ /**
++ Assert macro
++ */
++ #ifndef PX_ENABLE_ASSERTS
++ #if PX_DEBUG
++ #define PX_ENABLE_ASSERTS 1
++ #else
++ #define PX_ENABLE_ASSERTS 0
++ #endif
++ #endif
++
++ /**
++ DLL export macros
++ */
++ #ifndef PX_C_EXPORT
++ #if PX_WINDOWS_FAMILY || PX_LINUX
++ #define PX_C_EXPORT extern "C"
++ #else
++ #define PX_C_EXPORT
++ #endif
++ #endif
++
++ #if PX_UNIX_FAMILY&& __GNUC__ >= 4
++ #define PX_UNIX_EXPORT __attribute__((visibility("default")))
++ #else
++ #define PX_UNIX_EXPORT
++ #endif
++
++ #if PX_WINDOWS_FAMILY
++ #define PX_DLL_EXPORT __declspec(dllexport)
++ #define PX_DLL_IMPORT __declspec(dllimport)
++ #else
++ #define PX_DLL_EXPORT PX_UNIX_EXPORT
++ #define PX_DLL_IMPORT
++ #endif
++
++ /**
++ Calling convention
++ */
++ #ifndef PX_CALL_CONV
++ #if PX_WINDOWS_FAMILY
++ #define PX_CALL_CONV __cdecl
++ #else
++ #define PX_CALL_CONV
++ #endif
++ #endif
++
++ /**
++ Pack macros - disabled on SPU because they are not supported
++ */
++ #if PX_VC
++ #define PX_PUSH_PACK_DEFAULT __pragma(pack(push, 8))
++ #define PX_POP_PACK __pragma(pack(pop))
++ #elif PX_GCC_FAMILY
++ #define PX_PUSH_PACK_DEFAULT _Pragma("pack(push, 8)")
++ #define PX_POP_PACK _Pragma("pack(pop)")
++ #else
++ #define PX_PUSH_PACK_DEFAULT
++ #define PX_POP_PACK
++ #endif
++
++ /**
++ Inline macro
++ */
++ #define PX_INLINE inline
++ #if PX_WINDOWS_FAMILY
++ #pragma inline_depth(255)
++ #endif
++
++ /**
++ Force inline macro
++ */
++ #if PX_VC
++ #define PX_FORCE_INLINE __forceinline
++ #elif PX_CUDA_COMPILER
++ #define PX_FORCE_INLINE __forceinline__
++ #elif PX_GCC_FAMILY
++ #define PX_FORCE_INLINE inline __attribute__((always_inline))
++ #else
++ #define PX_FORCE_INLINE inline
++ #endif
++
++ /**
++ Noinline macro
++ */
++ #if PX_WINDOWS_FAMILY
++ #define PX_NOINLINE __declspec(noinline)
++ #elif PX_GCC_FAMILY
++ #define PX_NOINLINE __attribute__((noinline))
++ #else
++ #define PX_NOINLINE
++ #endif
++
++ /**
++ Restrict macro
++ */
++ #if PX_CUDA_COMPILER
++ #define PX_RESTRICT __restrict__
++ #else
++ #define PX_RESTRICT __restrict
++ #endif
++
++ /**
++ Noalias macro
++ */
++ #if PX_WINDOWS_FAMILY
++ #define PX_NOALIAS __declspec(noalias)
++ #else
++ #define PX_NOALIAS
++ #endif
++
++ /**
++ Override macro
++ */
++ #define PX_OVERRIDE override
++
++ /**
++ Final macro
++ */
++ #define PX_FINAL final
++
++ /**
++ Unused attribute macro. Only on GCC for now.
++ */
++ #if PX_GCC_FAMILY
++ #define PX_UNUSED_ATTRIBUTE __attribute__((unused))
++ #else
++ #define PX_UNUSED_ATTRIBUTE
++ #endif
++
++ /**
++ Alignment macros
++
++ PX_ALIGN_PREFIX and PX_ALIGN_SUFFIX can be used for type alignment instead of aligning individual variables as follows:
++ PX_ALIGN_PREFIX(16)
++ struct A {
++ ...
++ } PX_ALIGN_SUFFIX(16);
++ This declaration style is parsed correctly by Visual Assist.
++ */
++ #ifndef PX_ALIGN
++ // the question is which compiler this is, not which platform: __declspec(align()) is
++ // the Microsoft compilers' spelling, and the ones on Windows that are not Microsoft
++ // silently do nothing with it
++ #if PX_VC
++ #define PX_ALIGN(alignment, decl) __declspec(align(alignment)) decl
++ #define PX_ALIGN_PREFIX(alignment) __declspec(align(alignment))
++ #define PX_ALIGN_SUFFIX(alignment)
++ #elif PX_GCC_FAMILY
++ #define PX_ALIGN(alignment, decl) decl __attribute__((aligned(alignment)))
++ #define PX_ALIGN_PREFIX(alignment)
++ #define PX_ALIGN_SUFFIX(alignment) __attribute__((aligned(alignment)))
++ #elif PX_CUDA_COMPILER
++ #define PX_ALIGN(alignment, decl) __align__(alignment) decl
++ #define PX_ALIGN_PREFIX(alignment)
++ #define PX_ALIGN_SUFFIX(alignment) __align__(alignment))
++ #else
++ #define PX_ALIGN(alignment, decl)
++ #define PX_ALIGN_PREFIX(alignment)
++ #define PX_ALIGN_SUFFIX(alignment)
++ #endif
++ #endif
++
++ /**
++ Deprecated macro
++ - To deprecate a function: Place PX_DEPRECATED at the start of the function header (leftmost word).
++ - To deprecate a 'typedef', a 'struct' or a 'class': Place PX_DEPRECATED directly after the keywords ('typedef',
++ 'struct', 'class').
++
++ Use these macro definitions to create warnings for deprecated functions
++ \#define PX_DEPRECATED __declspec(deprecated) // Microsoft
++ \#define PX_DEPRECATED __attribute__((deprecated())) // GCC
++ */
++ #define PX_DEPRECATED
++
++ /**
++ General defines
++ */
++
++
++ #if PX_LINUX && PX_CLANG && !PX_CUDA_COMPILER
++ #define PX_COMPILE_TIME_ASSERT(exp) \
++ _Pragma(" clang diagnostic push") \
++ _Pragma(" clang diagnostic ignored \"-Wc++98-compat\"") \
++ static_assert(exp, "") \
++ _Pragma(" clang diagnostic pop")
++ #else
++ #define PX_COMPILE_TIME_ASSERT(exp) static_assert(exp, "")
++ #endif
++
++ #if PX_GCC_FAMILY
++ #define PX_OFFSET_OF(X, Y) __builtin_offsetof(X, Y)
++ #else
++ #define PX_OFFSET_OF(X, Y) offsetof(X, Y)
++ #endif
++
++ #define PX_OFFSETOF_BASE 0x100 // casting the null ptr takes a special-case code path, which we don't want
++ #define PX_OFFSET_OF_RT(Class, Member) (reinterpret_cast<size_t>(&reinterpret_cast<Class*>(PX_OFFSETOF_BASE)->Member) - size_t(PX_OFFSETOF_BASE))
++
++
++ #if PX_WINDOWS_FAMILY
++ // check that exactly one of NDEBUG and _DEBUG is defined
++ #if !defined(NDEBUG) ^ defined(_DEBUG)
++ #error Exactly one of NDEBUG and _DEBUG needs to be defined!
++ #endif
++ #endif
++
++ // make sure PX_CHECKED is defined in all _DEBUG configurations as well
++ #if !PX_CHECKED && PX_DEBUG
++ #error PX_CHECKED must be defined when PX_DEBUG is defined
++ #endif
++
++ #if PX_CUDA_COMPILER
++ #define PX_CUDA_CALLABLE __host__ __device__
++ #else
++ #define PX_CUDA_CALLABLE
++ #endif
++
++ // avoid unreferenced parameter warning
++ // preferred solution: omit the parameter's name from the declaration
++ template <class T>
++ PX_CUDA_CALLABLE PX_INLINE void PX_UNUSED(T const&)
++ {
++ }
++
++ // Ensure that the application hasn't tweaked the pack value to less than 8, which would break
++ // matching between the API headers and the binaries
++ // This assert works on win32/win64, but may need further specialization on other platforms.
++ // Some GCC compilers need the compiler flag -malign-double to be set.
++ // Apparently the apple-clang-llvm compiler doesn't support malign-double.
++ #if PX_APPLE_FAMILY || (PX_CLANG && !PX_ARM && !PX_WINDOWS_FAMILY)
++ struct PxPackValidation
++ {
++ char _;
++ long a;
++ };
++ #elif PX_CLANG && PX_ARM
++ struct PxPackValidation
++ {
++ char _;
++ double a;
++ };
++ #else
++ struct PxPackValidation
++ {
++ char _;
++ long long a;
++ };
++ #endif
++ // clang (as of version 3.9) cannot align doubles on 8 byte boundary when compiling for Intel 32 bit target
++ // and neither can GCC without -malign-double, which breaks the i386 ABI
++ #if !PX_APPLE_FAMILY && !PX_EMSCRIPTEN && !(PX_GCC_FAMILY && PX_X86)
++ PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(PxPackValidation, a) == 8);
++ #endif
++
++ // use in a cpp file to suppress LNK4221
++ #if PX_VC
++ #define PX_DUMMY_SYMBOL \
++ namespace \
++ { \
++ char PxDummySymbol; \
++ }
++ #else
++ #define PX_DUMMY_SYMBOL
++ #endif
++
++ #if PX_GCC_FAMILY
++ #define PX_WEAK_SYMBOL __attribute__((weak)) // this is to support SIMD constant merging in template specialization
++ #else
++ #define PX_WEAK_SYMBOL
++ #endif
++
++ // Macro for avoiding default assignment and copy, because doing this by inheritance can increase class size on some
++ // platforms.
++ #define PX_NOCOPY(Class) \
++ protected: \
++ Class(const Class&); \
++ Class& operator=(const Class&);
++
++ //#define DISABLE_CUDA_PHYSX
++ #ifndef DISABLE_CUDA_PHYSX
++ //CUDA is currently supported on x86_64 windows and linux, and ARM_64 linux
++ #define PX_SUPPORT_GPU_PHYSX ((PX_X64 && (PX_WINDOWS_FAMILY || PX_LINUX)) || (PX_A64 && PX_LINUX))
++ #else
++ #define PX_SUPPORT_GPU_PHYSX 0
++ #endif
++
++ #ifndef PX_SUPPORT_EXTERN_TEMPLATE
++ #define PX_SUPPORT_EXTERN_TEMPLATE (PX_VC != 11)
++ #else
++ #define PX_SUPPORT_EXTERN_TEMPLATE 0
++ #endif
++
++ #define PX_FL __FILE__, __LINE__
++
++ #endif
++