@galacean/engine-physics-lite 1.4.0-alpha.0 → 1.4.0-alpha.2

package/dist/module.js

@@ -1,4 +1,4 @@
-import { Utils, Ray, Vector3, Matrix, Quaternion, MathUtil, BoundingBox, BoundingSphere, DisorderedArray, CollisionUtil } from '@galacean/engine';
+import { Utils, Vector3, Quaternion, Vector4, Ray, MathUtil, Matrix, Logger, BoundingBox, BoundingSphere, DisorderedArray, CollisionUtil } from '@galacean/engine';
 
 function _set_prototype_of(o, p) {
     _set_prototype_of = Object.setPrototypeOf || function setPrototypeOf(o, p) {
@@ -90,6 +90,7 @@ function _instanceof(left, right) {
         /** @internal */ this._worldScale = new Vector3(1, 1, 1);
         /** @internal */ this._transform = new LiteTransform();
         /** @internal */ this._invModelMatrix = new Matrix();
+        this._rotation = new Vector3();
         this._transform.owner = this;
         this._inverseWorldMatFlag = this._transform.registerWorldChangeFlag();
     }
@@ -97,7 +98,8 @@ function _instanceof(left, right) {
     /**
    * {@inheritDoc IColliderShape.setRotation }
    */ _proto.setRotation = function setRotation(rotation) {
-        console.log("Physics-lite don't support setRotation. Use Physics-PhysX instead!");
+        var rotationInRadians = this._rotation.set(MathUtil.degreeToRadian(rotation.x), MathUtil.degreeToRadian(rotation.y), MathUtil.degreeToRadian(rotation.z));
+        Quaternion.rotationEuler(rotationInRadians.x, rotationInRadians.y, rotationInRadians.z, this._transform.rotationQuaternion);
     };
     /**
    * {@inheritDoc IColliderShape.setPosition }
@@ -172,8 +174,12 @@ function _instanceof(left, right) {
     };
     return LiteColliderShape;
 }();
-LiteColliderShape._ray = new Ray();
+LiteColliderShape._tempPos = new Vector3();
+LiteColliderShape._tempRot = new Quaternion();
+LiteColliderShape._tempScale = new Vector3();
 LiteColliderShape._tempPoint = new Vector3();
+LiteColliderShape._tempVector4 = new Vector4();
+LiteColliderShape._ray = new Ray();
 
 /**
  * Used to implement transformation related functions.
@@ -482,11 +488,13 @@ LiteTransform._tempMat42 = new Matrix();
    */ _proto.addShape = function addShape(shape) {
         var oldCollider = shape._collider;
         if (oldCollider !== this) {
+            var _this__scene;
             if (oldCollider) {
                 oldCollider.removeShape(shape);
             }
             this._shapes.push(shape);
             shape._collider = this;
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._addColliderShape(shape);
         }
     };
     /**
@@ -494,8 +502,10 @@ LiteTransform._tempMat42 = new Matrix();
    */ _proto.removeShape = function removeShape(shape) {
         var index = this._shapes.indexOf(shape);
         if (index !== -1) {
+            var _this__scene;
             this._shapes.splice(index, 1);
             shape._collider = null;
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._removeColliderShape(shape);
         }
     };
     /**
@@ -541,6 +551,23 @@ LiteTransform._tempMat42 = new Matrix();
     }
     var _proto = LiteDynamicCollider.prototype;
     /**
+   * {@inheritDoc IDynamicCollider.getInertiaTensor }
+   */ _proto.getInertiaTensor = function getInertiaTensor(out) {
+        Logger.error("Physics-lite don't support getInertiaTensor. Use Physics-PhysX instead!");
+        return out;
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.getCenterOfMass }
+   */ _proto.getCenterOfMass = function getCenterOfMass(out) {
+        Logger.error("Physics-lite don't support getCenterOfMass. Use Physics-PhysX instead!");
+        return out;
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setMassAndUpdateInertia }
+   */ _proto.setMassAndUpdateInertia = function setMassAndUpdateInertia(mass) {
+        Logger.error("Physics-lite don't support setMassAndUpdateInertia. Use Physics-PhysX instead!");
+    };
+    /**
    * {@inheritDoc IDynamicCollider.addForce }
    */ _proto.addForce = function addForce(force) {
         throw "Physics-lite don't support addForce. Use Physics-PhysX instead!";
@@ -561,74 +588,111 @@ LiteTransform._tempMat42 = new Matrix();
         throw "Physics-lite don't support putToSleep. Use Physics-PhysX instead!";
     };
     /**
+   * {@inheritDoc IDynamicCollider.isSleeping }
+   */ _proto.isSleeping = function isSleeping() {
+        throw "Physics-lite don't support isSleeping. Use Physics-PhysX instead!";
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.getAngularDamping }
+   */ _proto.getAngularDamping = function getAngularDamping() {
+        throw "Physics-lite don't support getAngularDamping. Use Physics-PhysX instead!";
+    };
+    /**
    * {@inheritDoc IDynamicCollider.setAngularDamping }
    */ _proto.setAngularDamping = function setAngularDamping(value) {
-        throw "Physics-lite don't support setAngularDamping. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setAngularDamping. Use Physics-PhysX instead!");
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.getAngularVelocity }
+   */ _proto.getAngularVelocity = function getAngularVelocity(out) {
+        Logger.error("Physics-lite don't support getAngularVelocity. Use Physics-PhysX instead!");
+        return out;
     };
     /**
    * {@inheritDoc IDynamicCollider.setAngularVelocity }
    */ _proto.setAngularVelocity = function setAngularVelocity(value) {
-        throw "Physics-lite don't support setAngularVelocity. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setAngularVelocity. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setCenterOfMass }
    */ _proto.setCenterOfMass = function setCenterOfMass(value) {
-        throw "Physics-lite don't support setCenterOfMass. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setCenterOfMass. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
    */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
-        throw "Physics-lite don't support setCollisionDetectionMode. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setCollisionDetectionMode. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setConstraints }
    */ _proto.setConstraints = function setConstraints(flags) {
-        throw "Physics-lite don't support setConstraints. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setConstraints. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setInertiaTensor }
    */ _proto.setInertiaTensor = function setInertiaTensor(value) {
-        throw "Physics-lite don't support setInertiaTensor. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setInertiaTensor. Use Physics-PhysX instead!");
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setUseGravity }
+   */ _proto.setUseGravity = function setUseGravity(value) {
+        throw "Physics-lite don't support setUseGravity. Use Physics-PhysX instead!";
     };
     /**
    * {@inheritDoc IDynamicCollider.setIsKinematic }
    */ _proto.setIsKinematic = function setIsKinematic(value) {
-        throw "Physics-lite don't support setIsKinematic. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setIsKinematic. Use Physics-PhysX instead!");
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setLinearDamping }
+   */ _proto.getLinearDamping = function getLinearDamping() {
+        throw "Physics-lite don't support getLinearDamping. Use Physics-PhysX instead!";
     };
     /**
    * {@inheritDoc IDynamicCollider.setLinearDamping }
    */ _proto.setLinearDamping = function setLinearDamping(value) {
-        throw "Physics-lite don't support setLinearDamping. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setLinearDamping. Use Physics-PhysX instead!");
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.getLinearVelocity }
+   */ _proto.getLinearVelocity = function getLinearVelocity(out) {
+        Logger.error("Physics-lite don't support getLinearVelocity. Use Physics-PhysX instead!");
+        return out;
     };
     /**
    * {@inheritDoc IDynamicCollider.setLinearVelocity }
    */ _proto.setLinearVelocity = function setLinearVelocity(value) {
-        throw "Physics-lite don't support setLinearVelocity. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setLinearVelocity. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setMass }
    */ _proto.setMass = function setMass(value) {
-        throw "Physics-lite don't support setMass. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setMass. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setMaxAngularVelocity }
    */ _proto.setMaxAngularVelocity = function setMaxAngularVelocity(value) {
-        throw "Physics-lite don't support setMaxAngularVelocity. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setMaxAngularVelocity. Use Physics-PhysX instead!");
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }
+   */ _proto.getMaxDepenetrationVelocity = function getMaxDepenetrationVelocity() {
+        throw "Physics-lite don't support getMaxDepenetrationVelocity. Use Physics-PhysX instead!";
     };
     /**
    * {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }
    */ _proto.setMaxDepenetrationVelocity = function setMaxDepenetrationVelocity(value) {
-        throw "Physics-lite don't support setMaxDepenetrationVelocity. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setMaxDepenetrationVelocity. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setSleepThreshold }
    */ _proto.setSleepThreshold = function setSleepThreshold(value) {
-        throw "Physics-lite don't support setSleepThreshold. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setSleepThreshold. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.setSolverIterations }
    */ _proto.setSolverIterations = function setSolverIterations(value) {
-        throw "Physics-lite don't support setSolverIterations. Use Physics-PhysX instead!";
+        Logger.error("Physics-lite don't support setSolverIterations. Use Physics-PhysX instead!");
     };
     /**
    * {@inheritDoc IDynamicCollider.wakeUp }
@@ -686,11 +750,11 @@ LiteTransform._tempMat42 = new Matrix();
 
 /**
  * Box collider shape in Lite.
- */ var LiteBoxColliderShape = /*#__PURE__*/ function(LiteColliderShape) {
-    _inherits(LiteBoxColliderShape, LiteColliderShape);
+ */ var LiteBoxColliderShape = /*#__PURE__*/ function(LiteColliderShape1) {
+    _inherits(LiteBoxColliderShape, LiteColliderShape1);
     function LiteBoxColliderShape(uniqueID, size, material) {
         var _this;
-        _this = LiteColliderShape.call(this) || this, _this._halfSize = new Vector3(), _this._sizeScale = new Vector3(1, 1, 1), /** @internal */ _this._boxMin = new Vector3(-0.5, -0.5, -0.5), /** @internal */ _this._boxMax = new Vector3(0.5, 0.5, 0.5);
+        _this = LiteColliderShape1.call(this) || this, _this._halfSize = new Vector3(), _this._sizeScale = new Vector3(1, 1, 1), /** @internal */ _this._boxMin = new Vector3(-0.5, -0.5, -0.5), /** @internal */ _this._boxMax = new Vector3(0.5, 0.5, 0.5);
         _this._id = uniqueID;
         _this._halfSize.set(size.x * 0.5, size.y * 0.5, size.z * 0.5);
         _this._setBondingBox();
@@ -700,13 +764,13 @@ LiteTransform._tempMat42 = new Matrix();
     /**
    * {@inheritDoc IColliderShape.setPosition }
    */ _proto.setPosition = function setPosition(position) {
-        LiteColliderShape.prototype.setPosition.call(this, position);
+        LiteColliderShape1.prototype.setPosition.call(this, position);
         this._setBondingBox();
     };
     /**
    * {@inheritDoc IColliderShape.setWorldScale }
    */ _proto.setWorldScale = function setWorldScale(scale) {
-        LiteColliderShape.prototype.setWorldScale.call(this, scale);
+        LiteColliderShape1.prototype.setWorldScale.call(this, scale);
         this._sizeScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
         this._setBondingBox();
     };
@@ -717,6 +781,44 @@ LiteTransform._tempMat42 = new Matrix();
         this._setBondingBox();
     };
     /**
+   * {@inheritDoc IColliderShape.pointDistance }
+   */ _proto.pointDistance = function pointDistance(point) {
+        var position = LiteColliderShape._tempPos;
+        var rotation = LiteColliderShape._tempRot;
+        this._transform.worldMatrix.decompose(position, rotation, LiteColliderShape._tempScale);
+        var _this__transform = this._transform, shapePosition = _this__transform.position;
+        var m = LiteBoxColliderShape._tempMatrix;
+        var invM = LiteBoxColliderShape._tempInvMatrix;
+        var p = LiteColliderShape._tempPoint;
+        var scale = this._sizeScale;
+        var boundingBox = LiteBoxColliderShape._tempBox;
+        var _this = this, _boxMin = _this._boxMin, _boxMax = _this._boxMax;
+        p.copyFrom(_boxMin);
+        p.subtract(shapePosition);
+        p.divide(scale);
+        boundingBox.min.copyFrom(p);
+        p.copyFrom(_boxMax);
+        p.subtract(shapePosition);
+        p.divide(scale);
+        boundingBox.max.copyFrom(p);
+        Matrix.affineTransformation(scale, rotation, position, m);
+        Matrix.invert(m, invM);
+        Vector3.transformCoordinate(point, invM, p);
+        var min = boundingBox.min;
+        var max = boundingBox.max;
+        p.x = Math.max(min.x, Math.min(p.x, max.x));
+        p.y = Math.max(min.y, Math.min(p.y, max.y));
+        p.z = Math.max(min.z, Math.min(p.z, max.z));
+        Vector3.transformCoordinate(p, m, p);
+        var res = LiteColliderShape._tempVector4;
+        if (Vector3.equals(p, point)) {
+            res.set(point.x, point.y, point.z, 0);
+        } else {
+            res.set(p.x, p.y, p.z, Vector3.distanceSquared(p, point));
+        }
+        return res;
+    };
+    /**
    * @internal
    */ _proto._raycast = function _raycast(ray, hit) {
         var localRay = this._getLocalRay(ray);
@@ -743,14 +845,16 @@ LiteTransform._tempMat42 = new Matrix();
     return LiteBoxColliderShape;
 }(LiteColliderShape);
 LiteBoxColliderShape._tempBox = new BoundingBox();
+LiteBoxColliderShape._tempMatrix = new Matrix();
+LiteBoxColliderShape._tempInvMatrix = new Matrix();
 
 /**
  * Sphere collider shape in Lite.
- */ var LiteSphereColliderShape = /*#__PURE__*/ function(LiteColliderShape) {
-    _inherits(LiteSphereColliderShape, LiteColliderShape);
+ */ var LiteSphereColliderShape = /*#__PURE__*/ function(LiteColliderShape1) {
+    _inherits(LiteSphereColliderShape, LiteColliderShape1);
     function LiteSphereColliderShape(uniqueID, radius, material) {
         var _this;
-        _this = LiteColliderShape.call(this) || this, _this._radius = 1, _this._maxScale = 1;
+        _this = LiteColliderShape1.call(this) || this, _this._radius = 1, _this._maxScale = 1;
         _this._radius = radius;
         _this._id = uniqueID;
         return _this;
@@ -764,10 +868,31 @@ LiteBoxColliderShape._tempBox = new BoundingBox();
     /**
    * {@inheritDoc IColliderShape.setWorldScale }
    */ _proto.setWorldScale = function setWorldScale(scale) {
-        LiteColliderShape.prototype.setWorldScale.call(this, scale);
+        LiteColliderShape1.prototype.setWorldScale.call(this, scale);
         this._maxScale = Math.max(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
     };
     /**
+   * {@inheritDoc IColliderShape.pointDistance }
+   */ _proto.pointDistance = function pointDistance(point) {
+        var position = LiteColliderShape._tempPos;
+        var worldRadius = this.worldRadius;
+        this._transform.worldMatrix.decompose(position, LiteColliderShape._tempRot, LiteColliderShape._tempScale);
+        var p = LiteColliderShape._tempPoint;
+        Vector3.subtract(point, position, p);
+        var distanceFromCenter = p.lengthSquared();
+        var direction = p.normalize();
+        Vector3.scale(direction, worldRadius, p);
+        p.add(position);
+        var res = LiteColliderShape._tempVector4;
+        var distanceSquared = Vector3.distanceSquared(p, point);
+        if (distanceFromCenter <= worldRadius * worldRadius) {
+            res.set(point.x, point.y, point.z, 0);
+        } else {
+            res.set(p.x, p.y, p.z, distanceSquared);
+        }
+        return res;
+    };
+    /**
    * @internal
    */ _proto._raycast = function _raycast(ray, hit) {
         var boundingSphere = LiteSphereColliderShape._tempSphere;
@@ -818,41 +943,26 @@ LiteSphereColliderShape._tempSphere = new BoundingSphere();
         console.log("Physics-lite don't support gravity. Use Physics-PhysX instead!");
     };
     /**
-   * {@inheritDoc IPhysicsManager.addColliderShape }
-   */ _proto.addColliderShape = function addColliderShape(colliderShape) {
-        this._eventMap[colliderShape._id] = {};
-    };
-    /**
-   * {@inheritDoc IPhysicsManager.removeColliderShape }
-   */ _proto.removeColliderShape = function removeColliderShape(colliderShape) {
-        var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents, eventMap = _this._eventMap;
-        var id = colliderShape._id;
-        currentEvents.forEach(function(event, i) {
-            if (event.index1 == id) {
-                currentEvents.deleteByIndex(i);
-                eventPool.push(event);
-            } else if (event.index2 == id) {
-                currentEvents.deleteByIndex(i);
-                eventPool.push(event);
-                // If the shape is big index, should clear from the small index shape subMap
-                eventMap[event.index1][id] = undefined;
-            }
-        });
-        delete eventMap[id];
-    };
-    /**
    * {@inheritDoc IPhysicsManager.addCollider }
    */ _proto.addCollider = function addCollider(actor) {
+        actor._scene = this;
         var colliders = actor._isStaticCollider ? this._staticColliders : this._dynamicColliders;
         colliders.push(actor);
+        var shapes = actor._shapes;
+        for(var i = 0, n = shapes.length; i < n; i++){
+            this._addColliderShape(shapes[i]);
+        }
     };
     /**
    * {@inheritDoc IPhysicsManager.removeCollider }
    */ _proto.removeCollider = function removeCollider(collider) {
+        collider._scene = null;
         var colliders = collider._isStaticCollider ? this._staticColliders : this._dynamicColliders;
         var index = colliders.indexOf(collider);
-        if (index !== -1) {
-            colliders.splice(index, 1);
+        index > -1 && colliders.splice(index, 1);
+        var shapes = collider._shapes;
+        for(var i = 0, n = shapes.length; i < n; i++){
+            this._removeColliderShape(shapes[i]);
         }
     };
     /**
@@ -900,6 +1010,29 @@ LiteSphereColliderShape._tempSphere = new BoundingSphere();
    */ _proto.removeCharacterController = function removeCharacterController(characterController) {
         throw "Physics-lite don't support removeCharacterController. Use Physics-PhysX instead!";
     };
+    /**
+   * @internal
+   */ _proto._addColliderShape = function _addColliderShape(colliderShape) {
+        this._eventMap[colliderShape._id] = {};
+    };
+    /**
+   * @internal
+   */ _proto._removeColliderShape = function _removeColliderShape(colliderShape) {
+        var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents, eventMap = _this._eventMap;
+        var id = colliderShape._id;
+        currentEvents.forEach(function(event, i) {
+            if (event.index1 == id) {
+                currentEvents.deleteByIndex(i);
+                eventPool.push(event);
+            } else if (event.index2 == id) {
+                currentEvents.deleteByIndex(i);
+                eventPool.push(event);
+                // If the shape is big index, should clear from the small index shape subMap
+                eventMap[event.index1][id] = undefined;
+            }
+        });
+        delete eventMap[id];
+    };
     _proto._getTrigger = function _getTrigger(index1, index2) {
         var event;
         if (this._eventPool.length) {
@@ -1161,7 +1294,7 @@ var LitePhysics = /*#__PURE__*/ function() {
 }();
 
 //@ts-ignore
-var version = "1.4.0-alpha.0";
+var version = "1.4.0-alpha.2";
 console.log("Galacean PhysicsLite version: " + version);
 
 export { LitePhysics, version };