Bridging course would be your best bet. this is because the pre-requisite for PHYS140 is found here:
PHYS140 - 2010 Course Handbook - Macquarie University and is:
(HSC Mathematics Band 4 or HSC Mathematics Extension 1 Band E3 or HSC Mathematics Extension 2 or equivalent) or corequisite of (MATH132 or MATH133 or MATH135 or MATH136)
[NOTE: Co-requisite means you can either have passed it before or be taking it while studying this unit, hence the 'co']
Now if you don't have a bridging course, the easiest of those MATh units is MATH135 [MATH132 % MATH133 are advanced versions of MATH135 & MATH136 respecitvely]
However the pre-reqs for MATH135 are:
HSC Mathematics Band 4 or HSC Mathematics Extension 1 Band E2 or HSC Mathematics Extension 2 or MATH130(P)
So you'll have to do MATH130, which has no pre-reqs and "This unit is the standard entry level mathematics unit for students who have not had the benefit of a detailed introduction to the calculus that is equivalent to a reasonably high level of the New South Wales HSC Mathematics course"
So yeh, looks like if you don't do a bridging course, you'll have to do MATH130 in semester 1, then in semester 1 of your 2nd year you can do MATH135 and PHYS140 at the same time.
[Note that MATH135 & MATH136 are needed anyway to complete the Physics major, as stated here:
2010 Handbook - 2010 Course Handbook - Macquarie University, so you'll have to do them, whether or not you do the bridging course - in fact you'll even have to do 200-level MATH235]
So unlesss you are doing a double degree, yes i see no way of reasonably attaining the major in Physics in 3 years.