@galacean/engine-physics-physx 0.0.0-experimental-2.0-migrate.6 → 0.0.0-experimental-2.0-migrate.7

package/dist/browser.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"browser.js","sources":["../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_type_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_instanceof.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_set_prototype_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_inherits.js","../src/shape/PhysXColliderShape.ts","../src/shape/PhysXBoxColliderShape.ts","../src/shape/PhysXCapsuleColliderShape.ts","../src/PhysXCharacterController.ts","../src/PhysXCollider.ts","../src/PhysXDynamicCollider.ts","../src/PhysXPhysicsManager.ts","../src/PhysXPhysicsMaterial.ts","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_create_class.js","../src/PhysXPhysicsScene.ts","../src/PhysXStaticCollider.ts","../src/enum/PhysXRuntimeMode.ts","../src/joint/PhysXJoint.ts","../src/joint/PhysXFixedJoint.ts","../src/joint/PhysXHingeJoint.ts","../src/joint/PhysXSpringJoint.ts","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_assert_this_initialized.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_possible_constructor_return.js","../src/shape/PhysXMeshColliderShape.ts","../src/shape/PhysXPlaneColliderShape.ts","../src/shape/PhysXSphereColliderShape.ts","../src/PhysXPhysics.ts","../src/index.ts"],"sourcesContent":["function _type_of(obj) {\n    \"@swc/helpers - typeof\";\n\n    return obj && typeof Symbol !== \"undefined\" && obj.constructor === Symbol ? \"symbol\" : typeof obj;\n}\nexport { _type_of as _ };\n","function _instanceof(left, right) {\n    if (right != null && typeof Symbol !== \"undefined\" && right[Symbol.hasInstance]) {\n        return !!right[Symbol.hasInstance](left);\n    } else return left instanceof right;\n}\nexport { _instanceof as _ };\n","function _set_prototype_of(o, p) {\n    _set_prototype_of = Object.setPrototypeOf || function setPrototypeOf(o, p) {\n        o.__proto__ = p;\n\n        return o;\n    };\n\n    return _set_prototype_of(o, p);\n}\nexport { _set_prototype_of as _ };\n","import { _ as _set_prototype_of } from \"./_set_prototype_of.js\";\n\nfunction _inherits(subClass, superClass) {\n    if (typeof superClass !== \"function\" && superClass !== null) {\n        throw new TypeError(\"Super expression must either be null or a function\");\n    }\n\n    subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } });\n\n    if (superClass) _set_prototype_of(subClass, superClass);\n}\nexport { _inherits as _ };\n","import { Quaternion, Vector3, DisorderedArray, Vector4, MathUtil } from \"@galacean/engine\";\nimport { IColliderShape } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"../PhysXCharacterController\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\n\n/**\n * Flags which affect the behavior of Shapes.\n */\nexport enum ShapeFlag {\n  /** The shape will partake in collision in the physical simulation. */\n  SIMULATION_SHAPE = 1 << 0,\n  /** The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). */\n  SCENE_QUERY_SHAPE = 1 << 1,\n  /** The shape is a trigger which can send reports whenever other shapes enter/leave its volume. */\n  TRIGGER_SHAPE = 1 << 2\n}\n\n/**\n * Abstract class for collider shapes.\n */\nexport abstract class PhysXColliderShape implements IColliderShape {\n  static readonly halfSqrt: number = 0.70710678118655;\n  static transform = {\n    translation: new Vector3(),\n    rotation: null\n  };\n\n  protected static _tempVector4 = new Vector4();\n\n  /** @internal */\n  _controllers: DisorderedArray<PhysXCharacterController> = new DisorderedArray<PhysXCharacterController>();\n  /** @internal */\n  _contactOffset: number = 0.02;\n\n  /** @internal */\n  _worldScale: Vector3 = new Vector3(1, 1, 1);\n  /** @internal */\n  _position: Vector3 = new Vector3();\n  /** @internal */\n  _pxMaterial: any;\n  /** @internal */\n  _pxShape: any;\n  /** @internal */\n  /** @internal */\n  _id: number;\n  /** @internal */\n  _rotation: Vector3 = new Vector3();\n\n  protected _physXPhysics: PhysXPhysics;\n  protected _pxGeometry: any;\n  protected _axis: Quaternion = null;\n  protected _physXRotation: Quaternion = new Quaternion();\n\n  private _shapeFlags: ShapeFlag = ShapeFlag.SCENE_QUERY_SHAPE | ShapeFlag.SIMULATION_SHAPE;\n\n  constructor(physXPhysics: PhysXPhysics) {\n    this._physXPhysics = physXPhysics;\n    this._contactOffset = physXPhysics.getDefaultContactOffset();\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setRotation }\n   */\n  setRotation(value: Vector3): void {\n    const rotation = this._rotation.set(\n      MathUtil.degreeToRadian(value.x),\n      MathUtil.degreeToRadian(value.y),\n      MathUtil.degreeToRadian(value.z)\n    );\n    Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, this._physXRotation);\n    this._axis && Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);\n    this._physXRotation.normalize();\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setPosition }\n   */\n  setPosition(value: Vector3): void {\n    if (value !== this._position) {\n      this._position.copyFrom(value);\n    }\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n    }\n\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setWorldScale }\n   */\n  setWorldScale(scale: Vector3): void {\n    this._worldScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n    this._setLocalPose();\n\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n    }\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setContactOffset }\n   * @default 0.02f * PxTolerancesScale::length\n   */\n  setContactOffset(offset: number): void {\n    this._contactOffset = offset;\n    const controllers = this._controllers;\n    if (controllers.length) {\n      for (let i = 0, n = controllers.length; i < n; i++) {\n        controllers.get(i)._pxController?.setContactOffset(offset);\n      }\n    } else {\n      this._pxShape.setContactOffset(offset);\n    }\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setMaterial }\n   */\n  setMaterial(value: PhysXPhysicsMaterial): void {\n    this._pxMaterial = value._pxMaterial;\n    this._pxShape.setMaterial(this._pxMaterial);\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setIsTrigger }\n   */\n  setIsTrigger(value: boolean): void {\n    this._modifyFlag(ShapeFlag.SIMULATION_SHAPE, !value);\n    this._modifyFlag(ShapeFlag.TRIGGER_SHAPE, value);\n    this._setShapeFlags(this._shapeFlags);\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.pointDistance }\n   */\n  pointDistance(point: Vector3): Vector4 {\n    const info = this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(), point);\n    const closestPoint = info.closestPoint;\n    const res = PhysXColliderShape._tempVector4;\n    res.set(closestPoint.x, closestPoint.y, closestPoint.z, info.distance);\n    return res;\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.destroy }\n   */\n  destroy(): void {\n    this._pxShape.release();\n    this._pxGeometry?.delete();\n  }\n\n  /**\n   *  @internal\n   */\n  _setShapeFlags(flags: ShapeFlag) {\n    this._shapeFlags = flags;\n    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape.setFlags(shapeFlags);\n    shapeFlags.delete();\n  }\n\n  protected _setLocalPose(): void {\n    const transform = PhysXColliderShape.transform;\n    Vector3.multiply(this._position, this._worldScale, transform.translation);\n    transform.rotation = this._physXRotation;\n    this._pxShape.setLocalPose(transform);\n  }\n\n  protected _initialize(material: PhysXPhysicsMaterial, id: number): void {\n    this._id = id;\n    this._pxMaterial = material._pxMaterial;\n    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, shapeFlags);\n    shapeFlags.delete();\n    this._pxShape.setUUID(id);\n  }\n\n  private _modifyFlag(flag: ShapeFlag, value: boolean): void {\n    this._shapeFlags = value ? this._shapeFlags | flag : this._shapeFlags & ~flag;\n  }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { IBoxColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/**\n * Box collider shape in PhysX.\n */\nexport class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxColliderShape {\n  private static _tempHalfExtents = new Vector3();\n  /** @internal */\n  _halfSize: Vector3 = new Vector3();\n\n  constructor(physXPhysics: PhysXPhysics, uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial) {\n    super(physXPhysics);\n    const halfSize = this._halfSize;\n    halfSize.set(size.x * 0.5, size.y * 0.5, size.z * 0.5);\n    this._pxGeometry = new physXPhysics._physX.PxBoxGeometry(halfSize.x, halfSize.y, halfSize.z);\n    this._initialize(material, uniqueID);\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc IBoxColliderShape.setSize }\n   */\n  setSize(value: Vector3): void {\n    const halfSize = this._halfSize;\n    const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n    halfSize.set(value.x * 0.5, value.y * 0.5, value.z * 0.5);\n    Vector3.multiply(halfSize, this._worldScale, tempExtents);\n    this._pxGeometry.halfExtents = tempExtents;\n    this._pxShape.setGeometry(this._pxGeometry);\n\n    this._updateController(tempExtents);\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n    }\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setWorldScale }\n   */\n  override setWorldScale(scale: Vector3): void {\n    super.setWorldScale(scale);\n    const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n    Vector3.multiply(this._halfSize, this._worldScale, tempExtents);\n    this._pxGeometry.halfExtents = tempExtents;\n    this._pxShape.setGeometry(this._pxGeometry);\n\n    this._updateController(tempExtents);\n  }\n\n  private _updateController(extents: Vector3) {\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      const pxController = controllers.get(i)._pxController;\n\n      if (pxController) {\n        pxController.setHalfHeight(extents.y);\n        pxController.setHalfSideExtent(extents.x);\n        pxController.setHalfForwardExtent(extents.z);\n      }\n    }\n  }\n}\n","import { ICapsuleColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n/**\n * Capsule collider shape in PhysX.\n */\nexport class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {\n  /** @internal */\n  _radius: number;\n  /** @internal */\n  _halfHeight: number;\n  /** @internal */\n  _upAxis: ColliderShapeUpAxis = ColliderShapeUpAxis.Y;\n\n  constructor(\n    physXPhysics: PhysXPhysics,\n    uniqueID: number,\n    radius: number,\n    height: number,\n    material: PhysXPhysicsMaterial\n  ) {\n    super(physXPhysics);\n\n    this._radius = radius;\n    this._halfHeight = height * 0.5;\n    this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n    this._physXRotation.copyFrom(this._axis);\n\n    this._pxGeometry = new physXPhysics._physX.PxCapsuleGeometry(radius, this._halfHeight);\n    this._initialize(material, uniqueID);\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc ICapsuleColliderShape.setRadius }\n   */\n  setRadius(value: number): void {\n    this._radius = value;\n    const sizeScale = this._worldScale;\n    switch (this._upAxis) {\n      case ColliderShapeUpAxis.X:\n        this._pxGeometry.radius = this._radius * Math.max(sizeScale.y, sizeScale.z);\n        break;\n      case ColliderShapeUpAxis.Y:\n        this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n        break;\n      case ColliderShapeUpAxis.Z:\n        this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n        break;\n    }\n    this._pxShape.setGeometry(this._pxGeometry);\n\n    const radius = this._pxGeometry.radius;\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      controllers.get(i)._pxController?.setRadius(radius);\n    }\n  }\n\n  /**\n   * {@inheritDoc ICapsuleColliderShape.setHeight }\n   */\n  setHeight(value: number): void {\n    this._halfHeight = value * 0.5;\n    const sizeScale = this._worldScale;\n    switch (this._upAxis) {\n      case ColliderShapeUpAxis.X:\n        this._pxGeometry.halfHeight = this._halfHeight * sizeScale.x;\n        break;\n      case ColliderShapeUpAxis.Y:\n        this._pxGeometry.halfHeight = this._halfHeight * sizeScale.y;\n        break;\n      case ColliderShapeUpAxis.Z:\n        this._pxGeometry.halfHeight = this._halfHeight * sizeScale.z;\n        break;\n    }\n    this._pxShape.setGeometry(this._pxGeometry);\n\n    const height = this._pxGeometry.halfHeight * 2;\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      controllers.get(i)._pxController?.setHeight(height);\n    }\n  }\n\n  /**\n   * {@inheritDoc ICapsuleColliderShape.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\n    }\n  }\n\n  /**\n   * {@inheritDoc ICapsuleColliderShape.setUpAxis }\n   */\n  setUpAxis(upAxis: ColliderShapeUpAxis): void {\n    const { _rotation: rotation, _axis: axis, _physXRotation: physXRotation } = this;\n\n    this._upAxis = upAxis;\n    switch (this._upAxis) {\n      case ColliderShapeUpAxis.X:\n        axis.set(0, 0, 0, 1);\n        break;\n      case ColliderShapeUpAxis.Y:\n        axis.set(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n        break;\n      case ColliderShapeUpAxis.Z:\n        axis.set(0, PhysXColliderShape.halfSqrt, 0, PhysXColliderShape.halfSqrt);\n        break;\n    }\n    if (rotation) {\n      Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, physXRotation);\n      Quaternion.multiply(physXRotation, axis, physXRotation);\n    } else {\n      physXRotation.copyFrom(axis);\n    }\n    this._setLocalPose();\n\n    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n    }\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setWorldScale }\n   */\n  override setWorldScale(scale: Vector3): void {\n    super.setWorldScale(scale);\n    const sizeScale = this._worldScale;\n    const geometry = this._pxGeometry;\n    switch (this._upAxis) {\n      case ColliderShapeUpAxis.X:\n        geometry.radius = this._radius * Math.max(sizeScale.y, sizeScale.z);\n        geometry.halfHeight = this._halfHeight * sizeScale.x;\n        break;\n      case ColliderShapeUpAxis.Y:\n        geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n        geometry.halfHeight = this._halfHeight * sizeScale.y;\n        break;\n      case ColliderShapeUpAxis.Z:\n        geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n        geometry.halfHeight = this._halfHeight * sizeScale.z;\n        break;\n    }\n    this._pxShape.setGeometry(geometry);\n\n    const radius = geometry.radius;\n    const height = geometry.halfHeight * 2;\n    const controllers = this._controllers;\n    for (let i = 0, n = controllers.length; i < n; i++) {\n      const pxController = controllers.get(i)._pxController;\n      if (pxController) {\n        pxController.setRadius(radius);\n        pxController.setHeight(height);\n      }\n    }\n  }\n}\n\n/**\n * The up axis of the collider shape.\n */\nexport enum ColliderShapeUpAxis {\n  /** Up axis is X. */\n  X,\n  /** Up axis is Y. */\n  Y,\n  /** Up axis is Z. */\n  Z\n}\n","import { ICharacterController } from \"@galacean/engine-design\";\nimport { Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { ColliderShapeUpAxis, PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\n\n/**\n * Base class for character controllers.\n */\nexport class PhysXCharacterController implements ICharacterController {\n  private static _tempVec = new Vector3();\n\n  /** @internal  */\n  _scene: PhysXPhysicsScene = null;\n  /** @internal */\n  _id: number;\n  /** @internal */\n  _pxController: any;\n  /** @internal */\n  _pxManager: PhysXPhysicsScene;\n  /** @internal */\n  _shape: PhysXColliderShape;\n  private _shapeScaledPosition = new Vector3();\n  private _worldPosition: Vector3 = null;\n\n  private _physXPhysics: PhysXPhysics;\n\n  constructor(physXPhysics: PhysXPhysics) {\n    this._physXPhysics = physXPhysics;\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.move }\n   */\n  move(disp: Vector3, minDist: number, elapsedTime: number): number {\n    return this._pxController?.move(disp, minDist, elapsedTime) ?? 0;\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.setWorldPosition }\n   */\n  setWorldPosition(position: Vector3): void {\n    this._worldPosition = position;\n    this._updateNativePosition();\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.getWorldPosition }\n   */\n  getWorldPosition(position: Vector3): void {\n    if (this._pxController) {\n      position.copyFrom(this._pxController.getPosition());\n      position.subtract(this._shapeScaledPosition);\n    }\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.setStepOffset }\n   */\n  setStepOffset(offset: number): void {\n    this._pxController?.setStepOffset(offset);\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.setNonWalkableMode }\n   */\n  setNonWalkableMode(flag: number): void {\n    this._pxController?.setNonWalkableMode(flag);\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.setUpDirection }\n   */\n  setUpDirection(up: Vector3): void {\n    this._pxController?.setUpDirection(up);\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.setSlopeLimit }\n   */\n  setSlopeLimit(slopeLimit: number): void {\n    this._pxController?.setSlopeLimit(Math.cos((slopeLimit * Math.PI) / 180));\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.addShape }\n   */\n  addShape(shape: PhysXColliderShape): void {\n    // Add shape should sync latest position and world scale to pxController\n    this._updateShapePosition(shape._position, shape._worldScale);\n    // When CharacterController is disabled, set shape property need check pxController whether exist because of this._pxManager is null and won't create pxController\n    this._pxManager && this._createPXController(this._pxManager, shape);\n    this._shape = shape;\n    shape._controllers.add(this);\n    this._pxController?.setContactOffset(shape._contactOffset);\n    this._scene?._addColliderShape(shape._id);\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.removeShape }\n   */\n  removeShape(shape: PhysXColliderShape): void {\n    this._destroyPXController();\n    this._shape = null;\n    shape._controllers.delete(this);\n    this._scene?._removeColliderShape(shape._id);\n  }\n\n  /**\n   * {@inheritDoc ICollider.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    const actor = this._pxController?.getActor();\n\n    if (actor) {\n      this._physXPhysics._physX.setGroup(actor, layer);\n    }\n  }\n\n  /**\n   * {@inheritDoc ICharacterController.destroy }\n   */\n  destroy(): void {\n    this._destroyPXController();\n  }\n\n  /**\n   * @internal\n   */\n  _createPXController(pxManager: PhysXPhysicsScene, shape: PhysXColliderShape): void {\n    let desc: any;\n    if (shape instanceof PhysXBoxColliderShape) {\n      desc = new this._physXPhysics._physX.PxBoxControllerDesc();\n      desc.halfHeight = shape._halfSize.y;\n      desc.halfSideExtent = shape._halfSize.x;\n      desc.halfForwardExtent = shape._halfSize.z;\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\n    } else if (shape instanceof PhysXCapsuleColliderShape) {\n      desc = new this._physXPhysics._physX.PxCapsuleControllerDesc();\n      desc.radius = shape._radius;\n      desc.height = shape._halfHeight * 2;\n      desc.climbingMode = 1; // constraint mode\n\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\n      if (shape._upAxis !== ColliderShapeUpAxis.Y) {\n        console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n      }\n    } else {\n      throw \"unsupported shape type\";\n    }\n\n    desc.setMaterial(shape._pxMaterial);\n    this._pxController = pxManager._getControllerManager().createController(desc);\n    desc.delete();\n\n    this._pxController.setUUID(shape._id);\n\n    this._updateNativePosition();\n  }\n\n  /**\n   * @internal\n   */\n  _destroyPXController(): void {\n    if (this._pxController) {\n      this._pxController.release();\n      this._pxController = null;\n    }\n  }\n\n  /**\n   * @internal\n   */\n  _updateShapePosition(shapePosition: Vector3, worldScale: Vector3): void {\n    Vector3.multiply(shapePosition, worldScale, this._shapeScaledPosition);\n    this._updateNativePosition();\n  }\n\n  private _updateNativePosition(): void {\n    const worldPosition = this._worldPosition;\n    if (this._pxController && worldPosition) {\n      Vector3.add(worldPosition, this._shapeScaledPosition, PhysXCharacterController._tempVec);\n      this._pxController.setPosition(PhysXCharacterController._tempVec);\n    }\n  }\n}\n","import { ICollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\n\n/**\n * Abstract class of physical collider.\n */\nexport abstract class PhysXCollider implements ICollider {\n  private static _tempTransform: {\n    translation: Vector3;\n    rotation: Quaternion;\n  } = { translation: null, rotation: null };\n\n  /** @internal  */\n  _scene: PhysXPhysicsScene = null;\n  /** @internal */\n  _pxActor: any;\n  /** @internal */\n  _shapes = new Array<PhysXColliderShape>();\n\n  protected _physXPhysics: PhysXPhysics;\n\n  constructor(physXPhysics: PhysXPhysics) {\n    this._physXPhysics = physXPhysics;\n  }\n\n  /**\n   * {@inheritDoc ICollider.addShape }\n   */\n  addShape(shape: PhysXColliderShape): void {\n    if (!this._pxActor.attachShape(shape._pxShape)) {\n      throw new Error(\"PhysXCollider: failed to attach shape to the native actor.\");\n    }\n    this._shapes.push(shape);\n    this._scene?._addColliderShape(shape._id);\n  }\n\n  /**\n   * {@inheritDoc ICollider.removeShape }\n   */\n  removeShape(shape: PhysXColliderShape): void {\n    this._pxActor.detachShape(shape._pxShape, true);\n    const shapes = this._shapes;\n    shapes.splice(shapes.indexOf(shape), 1);\n    this._scene?._removeColliderShape(shape._id);\n  }\n\n  /**\n   * {@inheritDoc ICollider.setWorldTransform }\n   */\n  setWorldTransform(position: Vector3, rotation: Quaternion): void {\n    this._pxActor.setGlobalPose(this._transform(position, rotation), true);\n  }\n\n  /**\n   * {@inheritDoc ICollider.getWorldTransform }\n   */\n  getWorldTransform(outPosition: Vector3, outRotation: Quaternion): void {\n    const transform = this._pxActor.getGlobalPose();\n    outPosition.set(transform.translation.x, transform.translation.y, transform.translation.z);\n    outRotation.set(transform.rotation.x, transform.rotation.y, transform.rotation.z, transform.rotation.w);\n  }\n\n  /**\n   * {@inheritDoc ICollider.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    this._physXPhysics._physX.setGroup(this._pxActor, layer);\n  }\n\n  /**\n   * {@inheritDoc ICollider.destroy }\n   */\n  destroy(): void {\n    this._pxActor.release();\n  }\n\n  /**\n   * @internal\n   */\n  _transform(pos: Vector3, rot: Quaternion): { translation: Vector3; rotation: Quaternion } {\n    const transform = PhysXCollider._tempTransform;\n    transform.translation = pos;\n    transform.rotation = rot.normalize();\n    return transform;\n  }\n}\n","import { IDynamicCollider } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/**\n * The collision detection mode constants used for PhysXDynamicCollider.collisionDetectionMode.\n * */\nexport enum CollisionDetectionMode {\n  /** Continuous collision detection is off for this dynamic collider. */\n  Discrete,\n  /** Continuous collision detection is on for colliding with static mesh geometry. */\n  Continuous,\n  /** Continuous collision detection is on for colliding with static and dynamic geometry. */\n  ContinuousDynamic,\n  /** Speculative continuous collision detection is on for static and dynamic geometries */\n  ContinuousSpeculative\n}\n\n/**\n * A dynamic collider can act with self-defined movement or physical force\n */\nexport class PhysXDynamicCollider extends PhysXCollider implements IDynamicCollider {\n  private static _tempTranslation = new Vector3();\n  private static _tempRotation = new Quaternion();\n\n  /**\n   * Whether actor is currently kinematic.\n   * PhysX 拒绝在 kinematic actor 上启用 CCD（会打印警告并忽略），\n   * 所以 setCollisionDetectionMode 在 kinematic 状态下只缓存目标值，\n   * 等切回 dynamic 时再真正写到 PhysX。\n   */\n  private _isKinematic: boolean = false;\n\n  /**\n   * Cached collision detection mode. Always reflects user's intent.\n   * 实际 PhysX CCD flag 可能跟这个不一致（kinematic 时强制 Discrete）。\n   */\n  private _collisionDetectionMode: number = CollisionDetectionMode.Discrete;\n\n  constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n    super(physXPhysics);\n    const transform = this._transform(position, rotation);\n    this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setLinearDamping }\n   */\n  setLinearDamping(value: number): void {\n    this._pxActor.setLinearDamping(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setAngularDamping }\n   */\n  setAngularDamping(value: number): void {\n    this._pxActor.setAngularDamping(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.getLinearVelocity }\n   */\n  getLinearVelocity(out: Vector3): Vector3 {\n    const velocity = this._pxActor.getLinearVelocity();\n    return out.set(velocity.x, velocity.y, velocity.z);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setLinearVelocity }\n   */\n  setLinearVelocity(value: Vector3): void {\n    this._pxActor.setLinearVelocity(value, true);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.getAngularVelocity }\n   */\n  getAngularVelocity(out: Vector3): Vector3 {\n    const velocity = this._pxActor.getAngularVelocity();\n    return out.set(\n      MathUtil.radianToDegree(velocity.x),\n      MathUtil.radianToDegree(velocity.y),\n      MathUtil.radianToDegree(velocity.z)\n    );\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setAngularVelocity }\n   */\n  setAngularVelocity(value: Vector3): void {\n    PhysXDynamicCollider._tempTranslation.set(\n      MathUtil.degreeToRadian(value.x),\n      MathUtil.degreeToRadian(value.y),\n      MathUtil.degreeToRadian(value.z)\n    );\n    this._pxActor.setAngularVelocity(PhysXDynamicCollider._tempTranslation, true);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setMass }\n   */\n  setMass(value: number): void {\n    this._pxActor.setMass(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.getCenterOfMass }\n   */\n  getCenterOfMass(out: Vector3): Vector3 {\n    const { translation } = this._pxActor.getCMassLocalPose();\n    return out.set(translation.x, translation.y, translation.z);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setCenterOfMass }\n   */\n  setCenterOfMass(position: Vector3): void {\n    this._pxActor.setCMassLocalPose(position);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setInertiaTensor }\n   */\n  setInertiaTensor(value: Vector3): void {\n    this._pxActor.setMassSpaceInertiaTensor(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.getInertiaTensor }\n   */\n  getInertiaTensor(out: Vector3): Vector3 {\n    const inertia = this._pxActor.getMassSpaceInertiaTensor();\n    return out.set(inertia.x, inertia.y, inertia.z);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setMassAndUpdateInertia }\n   */\n  setMassAndUpdateInertia(mass: number): void {\n    this._pxActor.setMassAndUpdateInertia(mass);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setMaxAngularVelocity }\n   */\n  setMaxAngularVelocity(value: number): void {\n    this._pxActor.setMaxAngularVelocity(MathUtil.degreeToRadian(value));\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }\n   */\n  setMaxDepenetrationVelocity(value: number): void {\n    this._pxActor.setMaxDepenetrationVelocity(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setSleepThreshold }\n   * @default 5e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed\n   */\n  setSleepThreshold(value: number): void {\n    this._pxActor.setSleepThreshold(value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setSolverIterations }\n   */\n  setSolverIterations(value: number): void {\n    this._pxActor.setSolverIterationCounts(value, 1);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }\n   *\n   * PhysX 在 kinematic actor 上调用 setRigidBodyFlag(eENABLE_CCD, true) 会触发警告:\n   *   \"kinematic bodies with CCD enabled are not supported! CCD will be ignored\"\n   * 虽然 PhysX 会忽略这次调用而非真的拒绝（切回 dynamic 时 flag 不会自动恢复），\n   * 但每次 setIsKinematic 切换都会让这个 warning 重复打印，污染日志，\n   * 同时让 actor 在 dynamic 状态下 CCD flag 状态不确定。\n   *\n   * 解决: 只在 dynamic 状态时立即 apply CCD flags。kinematic 时仅缓存到\n   * `_collisionDetectionMode`，等切回 dynamic 时由 setIsKinematic 重新 apply。\n   */\n  setCollisionDetectionMode(value: number): void {\n    this._collisionDetectionMode = value;\n    if (!this._isKinematic) {\n      this._applyCollisionDetectionFlags(value);\n    }\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setUseGravity }\n   */\n  setUseGravity(value: boolean): void {\n    this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setIsKinematic }\n   *\n   * 切换 kinematic 状态时同步处理 CCD flag：\n   *   - 切到 kinematic 前先关 CCD（避免 PhysX 警告 + 让状态显式）\n   *   - 切回 dynamic 后恢复用户期望的 CCD mode（来自 `_collisionDetectionMode` 缓存）\n   */\n  setIsKinematic(value: boolean): void {\n    if (this._isKinematic === value) return;\n    const physX = this._physXPhysics._physX;\n    if (value) {\n      this._applyCollisionDetectionFlags(CollisionDetectionMode.Discrete);\n      this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eKINEMATIC, true);\n    } else {\n      this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eKINEMATIC, false);\n      this._applyCollisionDetectionFlags(this._collisionDetectionMode);\n    }\n    this._isKinematic = value;\n  }\n\n  private _applyCollisionDetectionFlags(value: number): void {\n    const physX = this._physXPhysics._physX;\n    switch (value) {\n      case CollisionDetectionMode.Continuous:\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);\n        break;\n      case CollisionDetectionMode.ContinuousDynamic:\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);\n        break;\n      case CollisionDetectionMode.ContinuousSpeculative:\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);\n        break;\n      case CollisionDetectionMode.Discrete:\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);\n        this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);\n        break;\n    }\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.setConstraints }\n   */\n  setConstraints(flags: number): void {\n    this._pxActor.setRigidDynamicLockFlags(flags);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.addForce }\n   *\n   * PhysX 在 kinematic actor 上调 addForce 是 no-op（doc: \"kinematic bodies don't\n   * respond to forces\"）。提前 return 避免无意义的 wasm boundary cross。\n   *\n   * Sleeping actor 不需要显式 wakeUp — wasm binding 调用 `addForce(force, eFORCE,\n   * autowake=true)`，PhysX 自动唤醒（已通过 `applyForce on sleeping actor` 测试验证）。\n   */\n  addForce(force: Vector3) {\n    if (this._isKinematic) return;\n    this._pxActor.addForce(force);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.addForceAtPosition }\n   */\n  addForceAtPosition(force: Vector3, position: Vector3) {\n    this._pxActor.addForceAtPos(force, position);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.addTorque }\n   *\n   * 同 addForce — kinematic 提前 return，sleeping 由 PhysX autowake 自动处理。\n   */\n  addTorque(torque: Vector3) {\n    if (this._isKinematic) return;\n    this._pxActor.addTorque(torque);\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.move }\n   *\n   * PhysX 要求 setKinematicTarget 的 rotation 是 normalized quaternion，否则会触发\n   * 内部 assertion / 警告，并把 actor 转到错误的姿态。所以在写入 wasm 边界前统一 normalize。\n   */\n  move(positionOrRotation: Vector3 | Quaternion, rotation?: Quaternion): void {\n    const tempTranslation = PhysXDynamicCollider._tempTranslation;\n    const tempRotation = PhysXDynamicCollider._tempRotation;\n\n    if (rotation) {\n      tempRotation.copyFrom(rotation).normalize();\n      this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);\n      return;\n    }\n\n    if (positionOrRotation instanceof Vector3) {\n      this.getWorldTransform(tempTranslation, tempRotation);\n      // current rotation read from PhysX is already normalized; no extra work needed\n      this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);\n    } else {\n      this.getWorldTransform(tempTranslation, tempRotation);\n      tempRotation.copyFrom(positionOrRotation).normalize();\n      this._pxActor.setKinematicTarget(tempTranslation, tempRotation);\n    }\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.sleep }\n   */\n  sleep(): void {\n    return this._pxActor.putToSleep();\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.isSleeping }\n   */\n  isSleeping(): boolean {\n    return this._pxActor.isSleeping();\n  }\n\n  /**\n   * {@inheritDoc IDynamicCollider.wakeUp }\n   */\n  wakeUp(): void {\n    return this._pxActor.wakeUp();\n  }\n}\n","import { IPhysicsManager } from \"@galacean/engine-design\";\nimport { TriggerEvent } from \"./PhysXPhysicsScene\";\n\nexport class PhysXPhysicsManager implements IPhysicsManager {\n  /** @internal */\n  _eventMap: Record<number, Record<number, TriggerEvent>> = {};\n}\n","import { IPhysicsMaterial } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/**\n * Physics material describes how to handle colliding objects (friction, bounciness).\n */\nexport class PhysXPhysicsMaterial implements IPhysicsMaterial {\n  /** @internal */\n  _pxMaterial: any;\n\n  protected _physXPhysics: PhysXPhysics;\n\n  constructor(\n    physXPhysics: PhysXPhysics,\n    staticFriction: number,\n    dynamicFriction: number,\n    bounciness: number,\n    frictionCombine: CombineMode,\n    bounceCombine: CombineMode\n  ) {\n    this._physXPhysics = physXPhysics;\n    const pxMaterial = physXPhysics._pxPhysics.createMaterial(staticFriction, dynamicFriction, bounciness);\n    pxMaterial.setFrictionCombineMode(frictionCombine);\n    pxMaterial.setRestitutionCombineMode(bounceCombine);\n    this._pxMaterial = pxMaterial;\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.setBounciness }\n   */\n  setBounciness(value: number) {\n    this._pxMaterial.setRestitution(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.setDynamicFriction }\n   */\n  setDynamicFriction(value: number) {\n    this._pxMaterial.setDynamicFriction(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.setStaticFriction }\n   */\n  setStaticFriction(value: number) {\n    this._pxMaterial.setStaticFriction(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.setBounceCombine }\n   */\n  setBounceCombine(value: CombineMode) {\n    this._pxMaterial.setRestitutionCombineMode(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.setFrictionCombine }\n   */\n  setFrictionCombine(value: CombineMode) {\n    this._pxMaterial.setFrictionCombineMode(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsMaterial.destroy }\n   */\n  destroy(): void {\n    this._pxMaterial.release();\n  }\n}\n\n/**\n * Describes how physics materials of the colliding objects are combined.\n */\nenum CombineMode {\n  /** Averages the friction/bounce of the two colliding materials. */\n  Average,\n  /** Uses the smaller friction/bounce of the two colliding materials. */\n  Minimum,\n  /** Multiplies the friction/bounce of the two colliding materials. */\n  Multiply,\n  /** Uses the larger friction/bounce of the two colliding materials. */\n  Maximum\n}\n","function _defineProperties(target, props) {\n    for (var i = 0; i < props.length; i++) {\n        var descriptor = props[i];\n        descriptor.enumerable = descriptor.enumerable || false;\n        descriptor.configurable = true;\n\n        if (\"value\" in descriptor) descriptor.writable = true;\n\n        Object.defineProperty(target, descriptor.key, descriptor);\n    }\n}\nfunction _create_class(Constructor, protoProps, staticProps) {\n    if (protoProps) _defineProperties(Constructor.prototype, protoProps);\n    if (staticProps) _defineProperties(Constructor, staticProps);\n\n    return Constructor;\n}\nexport { _create_class as _ };\n","import { Ray, Vector3, DisorderedArray, Quaternion } from \"@galacean/engine\";\nimport { ICollision, IPhysicsScene, IPhysicsEvents, IContactEvent, ITriggerEvent } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\n\n/**\n * A manager is a collection of colliders and constraints which can interact.\n */\nexport class PhysXPhysicsScene implements IPhysicsScene {\n  /** @internal */\n  _pxControllerManager: any = null;\n\n  private static _tempPosition: Vector3 = new Vector3();\n  private static _tempQuaternion: Quaternion = new Quaternion();\n  private static _tempNormal: Vector3 = new Vector3();\n  private static _tempPose: { translation: Vector3; rotation: Quaternion } = {\n    translation: new Vector3(),\n    rotation: new Quaternion()\n  };\n  private static _tempShapeIDs: number[] = [];\n\n  // Cached geometry objects for reuse\n  private _boxGeometry: any = null;\n  private _sphereGeometry: any = null;\n  private _capsuleGeometry: any = null;\n\n  private _physXPhysics: PhysXPhysics;\n  private _physXManager: PhysXPhysicsManager;\n  private _pxRaycastHit: any;\n  private _pxSweepHit: any;\n  private _pxFilterData: any;\n  private _pxRaycastSweepFilterData: any;\n\n  private _pxScene: any;\n  private _physXSimulationCallbackInstance: any;\n\n  // A single persistent PhysX query filter callback is shared by raycast,\n  // sweep and overlap. PhysX SDK guarantees that `postFilter` is only invoked\n  // when `PxQueryFlag::ePOSTFILTER` is set on the query's filter data, so\n  // overlap (whose filter data omits POST_FILTER) safely uses the same\n  // callback that also handles the raycast/sweep initial-overlap skip.\n  // The user-supplied predicate is stored in `_currentOnQuery`; reentrant\n  // calls save the previous value on the call stack via a local in each\n  // query method, recreating C++-style RAII without an explicit stack array.\n  private _pxQueryCallback: any;\n  private _currentOnQuery: (obj: number) => boolean = null;\n\n  private _activeTriggers: DisorderedArray<TriggerEvent> = new DisorderedArray<TriggerEvent>();\n  private _contactEvents: ContactEvent[] = [];\n  private _contactEventCount = 0;\n  private _contactEventEnabled = true;\n  private _triggerEvents: TriggerEvent[] = [];\n  private _physicsEvents: IPhysicsEvents = { contactEvents: [], contactEventCount: 0, triggerEvents: [] };\n\n  private _triggerEventPool: TriggerEvent[] = [];\n\n  constructor(physXPhysics: PhysXPhysics, physicsManager: PhysXPhysicsManager) {\n    this._physXPhysics = physXPhysics;\n    this._physXManager = physicsManager;\n\n    const physX = physXPhysics._physX;\n\n    this._pxRaycastHit = new physX.PxRaycastHit();\n    this._pxSweepHit = new physX.PxSweepHit();\n    this._pxFilterData = new physX.PxQueryFilterData();\n    this._pxFilterData.flags = new physX.PxQueryFlags(QueryFlag.STATIC | QueryFlag.DYNAMIC | QueryFlag.PRE_FILTER);\n    this._pxRaycastSweepFilterData = new physX.PxQueryFilterData();\n    this._pxRaycastSweepFilterData.flags = new physX.PxQueryFlags(\n      QueryFlag.STATIC | QueryFlag.DYNAMIC | QueryFlag.PRE_FILTER | QueryFlag.POST_FILTER\n    );\n\n    const triggerCallback = {\n      onContactBegin: (collision) => {\n        this._bufferContactEvent(collision, PhysicsEventState.Enter);\n      },\n      onContactEnd: (collision) => {\n        this._bufferContactEvent(collision, PhysicsEventState.Exit);\n      },\n      onContactPersist: (collision) => {\n        this._bufferContactEvent(collision, PhysicsEventState.Stay);\n      },\n      onTriggerBegin: (index1, index2) => {\n        const event = index1 < index2 ? this._getTrigger(index1, index2) : this._getTrigger(index2, index1);\n        event.state = PhysicsEventState.Enter;\n        this._activeTriggers.add(event);\n      },\n      onTriggerEnd: (index1, index2) => {\n        let event: TriggerEvent;\n        if (index1 < index2) {\n          const subMap = this._physXManager._eventMap[index1];\n          event = subMap[index2];\n          subMap[index2] = undefined;\n        } else {\n          const subMap = this._physXManager._eventMap[index2];\n          event = subMap[index1];\n          subMap[index1] = undefined;\n        }\n        event.state = PhysicsEventState.Exit;\n      }\n    };\n\n    const pxPhysics = physXPhysics._pxPhysics;\n    this._physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);\n    const sceneDesc = physX.getDefaultSceneDesc(\n      pxPhysics.getTolerancesScale(),\n      0,\n      this._physXSimulationCallbackInstance\n    );\n    this._pxScene = pxPhysics.createScene(sceneDesc);\n    sceneDesc.delete();\n\n    this._pxQueryCallback = physX.PxQueryFilterCallback.implement({\n      preFilter: (_filterData: any, index: number, _actor: any) =>\n        this._currentOnQuery(index) ? QueryHitType.BLOCK : QueryHitType.NONE,\n      // distance <= 0 means initial overlap — drop the hit so subsequent hits can be considered.\n      // Only invoked when the query's filter data includes POST_FILTER (raycast/sweep, not overlap).\n      postFilter: (_filterData: any, distance: number) => (distance <= 0 ? QueryHitType.NONE : QueryHitType.BLOCK)\n    });\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.setGravity }\n   */\n  setGravity(value: Vector3) {\n    this._pxScene.setGravity(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.addCollider }\n   */\n  addCollider(collider: PhysXCollider): void {\n    collider._scene = this;\n    this._pxScene.addActor(collider._pxActor, null);\n    const shapes = collider._shapes;\n    for (let i = 0, n = shapes.length; i < n; i++) {\n      this._addColliderShape(shapes[i]._id);\n    }\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.removeCollider }\n   */\n  removeCollider(collider: PhysXCollider): void {\n    collider._scene = null;\n    this._pxScene.removeActor(collider._pxActor, true);\n    const shapes = collider._shapes;\n    for (let i = 0, n = shapes.length; i < n; i++) {\n      this._removeColliderShape(shapes[i]._id);\n    }\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.addCharacterController }\n   */\n  addCharacterController(characterController: PhysXCharacterController): void {\n    characterController._scene = this;\n\n    // Physx have no API to remove/readd cct into scene.\n    if (!characterController._pxController) {\n      const shape = characterController._shape;\n      if (shape) {\n        const lastPXManager = characterController._pxManager;\n        if (lastPXManager !== this) {\n          lastPXManager && characterController._destroyPXController();\n          characterController._createPXController(this, shape);\n        }\n        this._addColliderShape(shape._id);\n      }\n    }\n    characterController._pxManager = this;\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.removeCharacterController }\n   */\n  removeCharacterController(characterController: PhysXCharacterController): void {\n    characterController._scene = null;\n    characterController._pxManager = null;\n    characterController._destroyPXController();\n    const shape = characterController._shape;\n    shape && this._removeColliderShape(shape._id);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.update }\n   */\n  update(elapsedTime: number): void {\n    this._contactEventCount = 0;\n    this._simulate(elapsedTime);\n    this._fetchResults();\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.setContactEventEnabled }\n   */\n  setContactEventEnabled(enabled: boolean): void {\n    if (this._contactEventEnabled === enabled) {\n      return;\n    }\n\n    this._contactEventEnabled = enabled;\n    if (!enabled) {\n      this._contactEventCount = 0;\n    }\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.updateEvents }\n   */\n  updateEvents(): IPhysicsEvents {\n    const physicsEvents = this._physicsEvents;\n\n    // Collect trigger events: snapshot state for dispatch, then advance\n    const {\n      _triggerEventPool: triggerEventPool,\n      _activeTriggers: activeTriggers,\n      _triggerEvents: triggerEvents\n    } = this;\n    triggerEvents.length = 0;\n    activeTriggers.forEach((event, i) => {\n      event.dispatchState = event.state;\n      triggerEvents.push(event);\n      if (event.state === PhysicsEventState.Enter) {\n        event.state = PhysicsEventState.Stay;\n      } else if (event.state === PhysicsEventState.Exit) {\n        activeTriggers.deleteByIndex(i);\n        triggerEventPool.push(event);\n      }\n    });\n\n    physicsEvents.contactEvents = this._contactEvents;\n    physicsEvents.contactEventCount = this._contactEventCount;\n    physicsEvents.triggerEvents = triggerEvents;\n    return physicsEvents;\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.raycast }\n   */\n  raycast(\n    ray: Ray,\n    distance: number,\n    onRaycast: (obj: number) => boolean,\n    hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    const { _pxRaycastHit: pxHitResult } = this;\n    distance = Math.min(distance, 3.4e38); // float32 max value limit in physX raycast.\n\n    const prevOnQuery = this._currentOnQuery;\n    this._currentOnQuery = onRaycast;\n    let result: boolean;\n    try {\n      result = this._pxScene.raycastSingle(\n        ray.origin,\n        ray.direction,\n        distance,\n        pxHitResult,\n        this._pxRaycastSweepFilterData,\n        this._pxQueryCallback\n      );\n    } finally {\n      this._currentOnQuery = prevOnQuery;\n    }\n\n    if (result && hit != undefined) {\n      const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n      const { position: pxPosition, normal: pxNormal } = pxHitResult;\n      position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n      normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n\n      hit(pxHitResult.getShape().getUUID(), pxHitResult.distance, position, normal);\n    }\n    return result;\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.boxCast }\n   */\n  boxCast(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._boxGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.sphereCast }\n   */\n  sphereCast(\n    center: Vector3,\n    radius: number,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1); // Identity quaternion\n    const pose = { translation: center, rotation: tempQuat };\n    return this._sweepSingle(this._sphereGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.capsuleCast }\n   */\n  capsuleCast(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._capsuleGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapBoxAll }\n   */\n  overlapBoxAll(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._boxGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapSphereAll }\n   */\n  overlapSphereAll(center: Vector3, radius: number, onOverlap: (obj: number) => boolean): number[] {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1);\n    const pose = { translation: center, rotation: tempQuat };\n    return this._overlapMultiple(this._sphereGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapCapsuleAll }\n   */\n  overlapCapsuleAll(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._capsuleGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.gc }\n   */\n  gc(): void {\n    this._contactEvents.length = this._contactEventCount;\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.destroy }\n   */\n  destroy(): void {\n    this._boxGeometry?.delete();\n    this._sphereGeometry?.delete();\n    this._capsuleGeometry?.delete();\n\n    this._physXSimulationCallbackInstance.delete();\n    this._pxRaycastHit.delete();\n    this._pxSweepHit.delete();\n    this._pxFilterData.flags.delete();\n    this._pxFilterData.delete();\n    this._pxRaycastSweepFilterData.flags.delete();\n    this._pxRaycastSweepFilterData.delete();\n    this._pxQueryCallback.delete();\n    // Need to release the controller manager before release the scene.\n    this._pxControllerManager?.release();\n    this._pxScene.release();\n  }\n\n  /**\n   * @internal\n   */\n  _getControllerManager(): any {\n    let pxControllerManager = this._pxControllerManager;\n    if (pxControllerManager === null) {\n      this._pxControllerManager = pxControllerManager = this._pxScene.createControllerManager();\n    }\n    return pxControllerManager;\n  }\n\n  /**\n   * @internal\n   */\n  _addColliderShape(id: number) {\n    this._physXManager._eventMap[id] = Object.create(null);\n  }\n\n  /**\n   * @internal\n   */\n  _removeColliderShape(id: number) {\n    const { _triggerEventPool: triggerEventPool, _activeTriggers: activeTriggers } = this;\n    const { _eventMap: eventMap } = this._physXManager;\n    activeTriggers.forEach((event, i) => {\n      if (event.index1 == id) {\n        activeTriggers.deleteByIndex(i);\n        triggerEventPool.push(event);\n      } else if (event.index2 == id) {\n        activeTriggers.deleteByIndex(i);\n        triggerEventPool.push(event);\n        // If the shape is big index, should clear from the small index shape subMap\n        eventMap[event.index1][id] = undefined;\n      }\n    });\n    delete eventMap[id];\n  }\n\n  private _sweepSingle(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    const { _pxSweepHit: pxSweepHit } = this;\n    distance = Math.min(distance, 3.4e38); // float32 max value limit in physx sweep\n\n    const prevOnQuery = this._currentOnQuery;\n    this._currentOnQuery = onSweep;\n    let result: boolean;\n    try {\n      result = this._pxScene.sweepSingle(\n        geometry,\n        pose,\n        direction,\n        distance,\n        pxSweepHit,\n        this._pxRaycastSweepFilterData,\n        this._pxQueryCallback\n      );\n    } finally {\n      this._currentOnQuery = prevOnQuery;\n    }\n\n    if (result && outHitResult != undefined) {\n      const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n      const { position: pxPosition, normal: pxNormal } = pxSweepHit;\n      position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n      normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n      outHitResult(pxSweepHit.getShape().getUUID(), pxSweepHit.distance, position, normal);\n    }\n    return result;\n  }\n\n  private _overlapMultiple(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    const prevOnQuery = this._currentOnQuery;\n    this._currentOnQuery = onOverlap;\n    const maxHits = 256;\n    let hits: any;\n    try {\n      hits = (this._pxScene as any).overlapMultiple(geometry, pose, maxHits, this._pxFilterData, this._pxQueryCallback);\n    } finally {\n      this._currentOnQuery = prevOnQuery;\n    }\n\n    const result = PhysXPhysicsScene._tempShapeIDs;\n    result.length = 0;\n    if (hits) {\n      // PhysX overlapMultiple returns a collection with size() method\n      for (let i = 0, n = hits.size(); i < n; i++) {\n        result.push(hits.get(i).getShape().getUUID());\n      }\n    }\n\n    hits?.delete();\n    return result;\n  }\n\n  private _simulate(elapsedTime: number): void {\n    this._pxScene.simulate(elapsedTime, true);\n  }\n\n  private _fetchResults(block: boolean = true): void {\n    this._pxScene.fetchResults(block);\n  }\n\n  private _getTrigger(index1: number, index2: number): TriggerEvent {\n    let event: TriggerEvent;\n    if (this._triggerEventPool.length) {\n      event = this._triggerEventPool.pop();\n      event.index1 = index1;\n      event.index2 = index2;\n    } else {\n      event = new TriggerEvent(index1, index2);\n    }\n    this._physXManager._eventMap[index1][index2] = event;\n    return event;\n  }\n\n  private _bufferContactEvent(collision: ICollision, state: number): void {\n    if (!this._contactEventEnabled) return;\n\n    const index = this._contactEventCount++;\n    const event = (this._contactEvents[index] ||= new ContactEvent());\n    event.shape0Id = collision.shape0Id;\n    event.shape1Id = collision.shape1Id;\n    event.state = state;\n\n    // Copy contact points from PhysX (the native data is only valid during fetchResults)\n    const nativeContacts = collision.getContacts();\n    const count = nativeContacts.size();\n    const bufferedContacts = event._bufferedContacts;\n    bufferedContacts.contactCount = count;\n    for (let i = 0; i < count; i++) {\n      const src = nativeContacts.get(i);\n      const dst = (bufferedContacts.contacts[i] ||= new BufferedContactPoint());\n      dst.position.copyFrom(src.position);\n      dst.normal.copyFrom(src.normal);\n      dst.impulse.copyFrom(src.impulse);\n      dst.separation = src.separation;\n    }\n  }\n}\n\n/**\n * Filtering flags for scene queries.\n */\nenum QueryFlag {\n  STATIC = 1 << 0,\n  DYNAMIC = 1 << 1,\n  PRE_FILTER = 1 << 2,\n  POST_FILTER = 1 << 3,\n  ANY_HIT = 1 << 4,\n  NO_BLOCK = 1 << 5\n}\n\n/**\n * Result returned from a PhysX query filter callback (mirrors `PxQueryHitType`).\n */\nenum QueryHitType {\n  /** Filter the hit out (no further processing). */\n  NONE = 0,\n  /** Treat the hit as a blocking hit (terminates query for single-hit modes). */\n  BLOCK = 2\n}\n\nenum PhysicsEventState {\n  Enter = 0,\n  Stay = 1,\n  Exit = 2\n}\n\n/**\n * Trigger event to store interactive object ids and state.\n */\nexport class TriggerEvent implements ITriggerEvent {\n  state: number;\n  dispatchState: number;\n  index1: number;\n  index2: number;\n\n  constructor(index1: number, index2: number) {\n    this.index1 = index1;\n    this.index2 = index2;\n  }\n}\n\n/**\n * Buffered contact point data, copied from PhysX during fetchResults.\n */\nclass BufferedContactPoint {\n  position = new Vector3();\n  normal = new Vector3();\n  impulse = new Vector3();\n  separation = 0;\n}\n\n/**\n * Contact event buffered from PhysX fetchResults callback.\n * Implements ICollision so it can be passed directly to the core layer.\n */\nclass BufferedContacts {\n  contactCount = 0;\n  contacts: BufferedContactPoint[] = [];\n\n  size(): number {\n    return this.contactCount;\n  }\n\n  get(index: number): BufferedContactPoint {\n    return this.contacts[index];\n  }\n}\n\nclass ContactEvent implements IContactEvent {\n  state: number;\n  shape0Id: number;\n  shape1Id: number;\n\n  /** @internal */\n  _bufferedContacts = new BufferedContacts();\n\n  get contactCount(): number {\n    return this._bufferedContacts.contactCount;\n  }\n\n  getContacts(): BufferedContacts {\n    return this._bufferedContacts;\n  }\n}\n","import { IStaticCollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/**\n * A static collider component that will not move.\n * @remarks Mostly used for object which always stays at the same place and never moves around.\n */\nexport class PhysXStaticCollider extends PhysXCollider implements IStaticCollider {\n  constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n    super(physXPhysics);\n    this._pxActor = physXPhysics._pxPhysics.createRigidStatic(this._transform(position, rotation));\n  }\n}\n","/**\n * PhysX runtime mode.\n */\nexport enum PhysXRuntimeMode {\n  /** Use WebAssembly SIMD mode first, then WebAssembly as fallback. */\n  Auto,\n  /** WebAssembly mode. */\n  WebAssembly,\n  /** WebAssembly SIMD mode. */\n  WebAssemblySIMD\n}\n","import { IJoint } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\n\n/**\n * a base interface providing common functionality for PhysX joints\n */\nexport class PhysXJoint implements IJoint {\n  protected static _defaultVec = new Vector3();\n  protected static _defaultQuat = new Quaternion();\n\n  protected _pxJoint: any;\n  protected _anchor: Vector3;\n  protected _connectedAnchor: Vector3;\n  protected _rotation: Quaternion = new Quaternion();\n  protected _collider: PhysXCollider;\n  private _breakForce: number = Number.MAX_VALUE;\n  private _breakTorque: number = Number.MAX_VALUE;\n\n  protected _physXPhysics: PhysXPhysics;\n\n  constructor(physXPhysics: PhysXPhysics) {\n    this._physXPhysics = physXPhysics;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedCollider }\n   */\n  setConnectedCollider(value: PhysXCollider): void {\n    this._pxJoint.setActors(this._collider?._pxActor || null, value?._pxActor || null);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  setAnchor(value: Vector3): void {\n    this._setLocalPose(0, value, PhysXJoint._defaultQuat);\n    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._rotation);\n    this._connectedAnchor = value;\n  }\n\n  setRotation(value: Quaternion): void {\n    this._setLocalPose(1, this._connectedAnchor, value);\n    this._rotation.copyFrom(value);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setMassScale }\n   */\n  setMassScale(value: number): void {\n    this._pxJoint.setInvMassScale0(1 / value);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedMassScale }\n   */\n  setConnectedMassScale(value: number): void {\n    this._pxJoint.setInvMassScale1(1 / value);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setInertiaScale }\n   */\n  setInertiaScale(value: number): void {\n    this._pxJoint.setInvInertiaScale0(value);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedInertiaScale }\n   */\n  setConnectedInertiaScale(value: number): void {\n    this._pxJoint.setInvInertiaScale1(value);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setBreakForce }\n   */\n  setBreakForce(value: number): void {\n    this._breakForce = value;\n    this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n  }\n\n  /**\n   * {@inheritDoc IJoint.setBreakTorque }\n   */\n  setBreakTorque(value: number): void {\n    this._breakTorque = value;\n    this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n  }\n\n  /**\n   * {@inheritDoc IJoint.destroy }\n   */\n  destroy(): void {\n    if (!this._pxJoint) return;\n    this._pxJoint.release();\n    this._collider = null;\n  }\n  /**\n   * Set the joint local pose for an actor.\n   * @param actor 0 for the first actor, 1 for the second actor.\n   * @param position the local position for the actor this joint\n   * @param rotation the local rotation for the actor this joint\n   */\n  protected _setLocalPose(actor: number, position: Vector3, rotation: Quaternion): void {\n    this._pxJoint.setLocalPose(actor, position, rotation);\n  }\n}\n","import { IFixedJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/**\n * A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.\n */\nexport class PhysXFixedJoint extends PhysXJoint implements IFixedJoint {\n  constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n    super(physXPhysics);\n    this._collider = collider;\n    this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(\n      collider._pxActor,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat,\n      null,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat\n    );\n  }\n}\n","import { IHingeJoint } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/**\n * A joint which behaves in a similar way to a hinge or axle.\n */\nexport class PhysXHingeJoint extends PhysXJoint implements IHingeJoint {\n  protected static _xAxis = new Vector3(1, 0, 0);\n\n  private _axis: Vector3;\n  private _axisRotationQuaternion = new Quaternion();\n  private _connectedAxisRotationQuaternion = new Quaternion();\n\n  constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n    super(physXPhysics);\n    this._collider = collider;\n    this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(\n      collider._pxActor,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat,\n      null,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat\n    );\n  }\n\n  override setRotation(value: Quaternion): void {\n    const axis = this._axis;\n    this._rotation.copyFrom(value);\n    axis && this.setAxis(axis);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setAxis }\n   */\n  setAxis(value: Vector3): void {\n    this._axis = value;\n    const xAxis = PhysXHingeJoint._xAxis;\n    const axisRotationQuaternion = this._axisRotationQuaternion;\n    xAxis.set(1, 0, 0);\n    const angle = Math.acos(Vector3.dot(xAxis, value));\n    Vector3.cross(xAxis, value, xAxis);\n    Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion);\n    this._setLocalPose(0, this._anchor, axisRotationQuaternion);\n    const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion;\n    Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion);\n    this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion);\n  }\n\n  override setAnchor(value: Vector3): void {\n    this._setLocalPose(0, value, this._axisRotationQuaternion);\n    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  override setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._connectedAxisRotationQuaternion);\n    this._connectedAnchor = value;\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.getAngle }\n   */\n  getAngle(): number {\n    return MathUtil.radianToDegree(this._pxJoint.getAngle());\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.getVelocity }\n   */\n  getVelocity(): Readonly<number> {\n    return this._pxJoint.getVelocity();\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setHardLimitCone }\n   */\n  setHardLimit(lowerLimit: number, upperLimit: number, contactDist: number): void {\n    this._pxJoint.setHardLimit(MathUtil.degreeToRadian(lowerLimit), MathUtil.degreeToRadian(upperLimit), contactDist);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setHardLimitCone }\n   */\n  setSoftLimit(lowerLimit: number, upperLimit: number, stiffness: number, damping: number): void {\n    this._pxJoint.setSoftLimit(\n      MathUtil.degreeToRadian(lowerLimit),\n      MathUtil.degreeToRadian(upperLimit),\n      stiffness,\n      damping\n    );\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setDriveVelocity }\n   */\n  setDriveVelocity(velocity: number, autowake: boolean = true): void {\n    this._pxJoint.setDriveVelocity(velocity, autowake);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setDriveForceLimit }\n   */\n  setDriveForceLimit(limit: number): void {\n    this._pxJoint.setDriveForceLimit(limit);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setDriveGearRatio }\n   */\n  setDriveGearRatio(ratio: number): void {\n    this._pxJoint.setDriveGearRatio(ratio);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setHingeJointFlag }\n   */\n  setHingeJointFlag(flag: number, value: boolean): void {\n    this._pxJoint.setRevoluteJointFlag(flag, value);\n  }\n}\n","import { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\nimport { ISpringJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { Vector3 } from \"@galacean/engine\";\n\n/**\n * a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects\n */\nexport class PhysXSpringJoint extends PhysXJoint implements ISpringJoint {\n  constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n    super(physXPhysics);\n    this._collider = collider;\n    this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(\n      null,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat,\n      collider._pxActor,\n      PhysXJoint._defaultVec,\n      PhysXJoint._defaultQuat\n    );\n    this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;\n    this._pxJoint.setDistanceJointFlag(4, true); // enable min distance;\n    this._pxJoint.setDistanceJointFlag(8, true); // enable spring;\n  }\n\n  /**\n   * {@inheritDoc ISpringJoint.setMinDistance }\n   */\n  setMinDistance(distance: number): void {\n    this._pxJoint.setMinDistance(distance);\n  }\n\n  /**\n   * {@inheritDoc ISpringJoint.setMaxDistance }\n   */\n  setMaxDistance(distance: number): void {\n    this._pxJoint.setMaxDistance(distance);\n  }\n\n  /**\n   * {@inheritDoc ISpringJoint.setTolerance }\n   */\n  setTolerance(tolerance: number): void {\n    this._pxJoint.setTolerance(tolerance);\n  }\n\n  /**\n   * {@inheritDoc ISpringJoint.setStiffness }\n   */\n  setStiffness(stiffness: number): void {\n    this._pxJoint.setStiffness(stiffness);\n  }\n\n  /**\n   * {@inheritDoc ISpringJoint.setDamping }\n   */\n  setDamping(damping: number): void {\n    this._pxJoint.setDamping(damping);\n  }\n}\n","function _assert_this_initialized(self) {\n    if (self === void 0) throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\");\n\n    return self;\n}\nexport { _assert_this_initialized as _ };\n","import { _ as _assert_this_initialized } from \"./_assert_this_initialized.js\";\nimport { _ as _type_of } from \"./_type_of.js\";\n\nfunction _possible_constructor_return(self, call) {\n    if (call && (_type_of(call) === \"object\" || typeof call === \"function\")) return call;\n\n    return _assert_this_initialized(self);\n}\nexport { _possible_constructor_return as _ };\n","import { MeshColliderShapeCookingFlag, Vector3 } from \"@galacean/engine\";\nimport { IMeshColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape, ShapeFlag } from \"./PhysXColliderShape\";\n\n/**\n * Mesh collider shape in PhysX.\n */\nexport class PhysXMeshColliderShape extends PhysXColliderShape implements IMeshColliderShape {\n  private static _tightBoundsFlag = 1; // eTIGHT_BOUNDS = 1 (1<<0)\n\n  private _pxMesh: any = null;\n  private _isConvex: boolean;\n\n  constructor(\n    physXPhysics: PhysXPhysics,\n    uniqueID: number,\n    positions: Vector3[],\n    indices: Uint8Array | Uint16Array | Uint32Array | null,\n    isConvex: boolean,\n    material: PhysXPhysicsMaterial,\n    cookingFlags: number\n  ) {\n    super(physXPhysics);\n    this._isConvex = isConvex;\n\n    const cooked = this._cookMesh(positions, indices, isConvex, cookingFlags);\n    if (!cooked) {\n      return;\n    }\n\n    const { _physX: physX, _pxPhysics: physics } = physXPhysics;\n    const { x: scaleX, y: scaleY, z: scaleZ } = this._worldScale;\n    const shapeFlags = ShapeFlag.SCENE_QUERY_SHAPE | ShapeFlag.SIMULATION_SHAPE;\n    const meshFlag = isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;\n    const createShapeFn = isConvex ? physX.createConvexMeshShape : physX.createTriMeshShape;\n\n    this._pxShape = createShapeFn(\n      cooked.mesh,\n      scaleX,\n      scaleY,\n      scaleZ,\n      meshFlag,\n      shapeFlags,\n      material._pxMaterial,\n      physics\n    );\n\n    this._id = uniqueID;\n    this._pxMaterial = material._pxMaterial;\n    this._pxMesh = cooked.mesh;\n    this._pxGeometry = cooked.geometry;\n    this._pxShape.setUUID(uniqueID);\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc IMeshColliderShape.setMeshData }\n   */\n  setMeshData(\n    positions: Vector3[],\n    indices: Uint8Array | Uint16Array | Uint32Array | null,\n    isConvex: boolean,\n    cookingFlags: number\n  ): boolean {\n    const cooked = this._cookMesh(positions, indices, isConvex, cookingFlags);\n    if (!cooked) {\n      return false;\n    }\n\n    const oldMesh = this._pxMesh;\n    const oldGeometry = this._pxGeometry;\n\n    try {\n      this._pxShape.setGeometry(cooked.geometry);\n    } catch (error) {\n      cooked.mesh?.release();\n      cooked.geometry?.delete();\n      throw error;\n    }\n\n    this._pxMesh = cooked.mesh;\n    this._pxGeometry = cooked.geometry;\n    this._isConvex = isConvex;\n\n    oldMesh?.release();\n    oldGeometry?.delete();\n    return true;\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setWorldScale }\n   */\n  override setWorldScale(scale: Vector3): void {\n    super.setWorldScale(scale);\n    this._updateGeometry();\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.destroy }\n   */\n  override destroy(): void {\n    this._pxMesh?.release();\n    super.destroy();\n  }\n\n  private _cookMesh(\n    positions: Vector3[],\n    indices: Uint8Array | Uint16Array | Uint32Array | null,\n    isConvex: boolean,\n    cookingFlags: number\n  ): { mesh: any; geometry: any } | null {\n    const {\n      _physX: physX,\n      _pxPhysics: physics,\n      _pxCooking: cooking,\n      _pxCookingParams: cookingParams\n    } = this._physXPhysics;\n\n    // Apply per-shape cooking flags\n    let preprocessFlags = 0;\n    if (cookingFlags & MeshColliderShapeCookingFlag.VertexWelding) {\n      preprocessFlags |= 1; // eWELD_VERTICES\n    }\n    if (!(cookingFlags & MeshColliderShapeCookingFlag.Cleaning)) {\n      preprocessFlags |= 2; // eDISABLE_CLEAN_MESH\n    }\n    physX.setCookingMeshPreprocessParams(cookingParams, preprocessFlags);\n    cooking.setParams(cookingParams);\n\n    const verticesPtr = this._allocatePositions(positions);\n    let pxMesh: any = null;\n\n    if (isConvex) {\n      pxMesh = cooking.createConvexMesh(verticesPtr, positions.length, physics);\n      physX._free(verticesPtr);\n\n      if (!pxMesh) {\n        this._logConvexCookingError(physX);\n        return null;\n      }\n    } else {\n      if (!indices) {\n        physX._free(verticesPtr);\n        console.error(\"PhysXMeshColliderShape: Triangle mesh requires indices.\");\n        return null;\n      }\n\n      const isU32 = indices instanceof Uint32Array;\n      const indicesPtr = this._allocateIndices(indices, isU32);\n      pxMesh = cooking.createTriMesh(verticesPtr, positions.length, indicesPtr, indices.length / 3, !isU32, physics);\n      physX._free(verticesPtr);\n      physX._free(indicesPtr);\n\n      if (!pxMesh) {\n        this._logTriMeshCookingError(physX);\n        return null;\n      }\n    }\n\n    const { x: scaleX, y: scaleY, z: scaleZ } = this._worldScale;\n    const meshFlag = isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;\n    const geometry = isConvex\n      ? physX.createConvexMeshGeometry(pxMesh, scaleX, scaleY, scaleZ, meshFlag)\n      : physX.createTriMeshGeometry(pxMesh, scaleX, scaleY, scaleZ, meshFlag);\n\n    return { mesh: pxMesh, geometry };\n  }\n\n  private _logConvexCookingError(physX: any): void {\n    switch (physX.getLastConvexCookingResult()) {\n      case 1: // eZERO_AREA_TEST_FAILED\n        console.error(\n          \"PhysXMeshColliderShape: Failed to create convex mesh. Could not find 4 vertices that do not form a zero-area triangle.\"\n        );\n        break;\n      case 2: // ePOLYGONS_LIMIT_REACHED\n        console.error(\n          \"PhysXMeshColliderShape: Failed to create convex mesh within the maximum polygons limit (256). Consider simplifying the mesh.\"\n        );\n        break;\n      default: // eFAILURE\n        console.error(\"PhysXMeshColliderShape: Failed to create convex mesh. The input geometry may be invalid.\");\n        break;\n    }\n  }\n\n  private _logTriMeshCookingError(physX: any): void {\n    switch (physX.getLastTriMeshCookingResult()) {\n      case 1: // eLARGE_TRIANGLE\n        console.error(\n          \"PhysXMeshColliderShape: Failed to create triangle mesh. One of the triangles is too large. Consider tessellating large triangles.\"\n        );\n        break;\n      default: // eFAILURE\n        console.error(\"PhysXMeshColliderShape: Failed to create triangle mesh. The input geometry may be invalid.\");\n        break;\n    }\n  }\n\n  private _allocatePositions(positions: Vector3[]): number {\n    const physX = this._physXPhysics._physX;\n    const length = positions.length;\n    const ptr = physX._malloc(length * 3 * 4);\n    const view = new Float32Array(physX.HEAPF32.buffer, ptr, length * 3);\n    for (let i = 0, offset = 0; i < length; i++, offset += 3) {\n      positions[i].copyToArray(view, offset);\n    }\n    return ptr;\n  }\n\n  private _allocateIndices(indices: Uint8Array | Uint16Array | Uint32Array, isU32: boolean): number {\n    const physX = this._physXPhysics._physX;\n    // Uint8Array and Uint16Array both write as Uint16 (PhysX minimum index size)\n    const TypedArrayCtor = isU32 ? Uint32Array : Uint16Array;\n    const heap = isU32 ? physX.HEAPU32 : physX.HEAPU16;\n    const ptr = physX._malloc(indices.length * TypedArrayCtor.BYTES_PER_ELEMENT);\n    new TypedArrayCtor(heap.buffer, ptr, indices.length).set(indices);\n    return ptr;\n  }\n\n  private _updateGeometry(): void {\n    if (!this._pxMesh) return;\n    const physX = this._physXPhysics._physX;\n    const { x: scaleX, y: scaleY, z: scaleZ } = this._worldScale;\n    const meshFlag = this._isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;\n\n    const newGeometry = this._isConvex\n      ? physX.createConvexMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag)\n      : physX.createTriMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag);\n\n    const oldGeometry = this._pxGeometry;\n    try {\n      this._pxShape.setGeometry(newGeometry);\n    } catch (error) {\n      newGeometry?.delete();\n      throw error;\n    }\n    this._pxGeometry = newGeometry;\n    oldGeometry?.delete();\n  }\n}\n","import { IPlaneColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/**\n * Plane collider shape in PhysX.\n */\nexport class PhysXPlaneColliderShape extends PhysXColliderShape implements IPlaneColliderShape {\n  constructor(physXPhysics: PhysXPhysics, uniqueID: number, material: PhysXPhysicsMaterial) {\n    super(physXPhysics);\n    this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n    this._physXRotation.copyFrom(this._axis);\n\n    this._pxGeometry = new physXPhysics._physX.PxPlaneGeometry();\n    this._initialize(material, uniqueID);\n    this._setLocalPose();\n  }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { ISphereColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/**\n * Sphere collider shape in PhysX.\n */\nexport class PhysXSphereColliderShape extends PhysXColliderShape implements ISphereColliderShape {\n  private _radius: number;\n  private _maxScale: number = 1;\n\n  constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, material: PhysXPhysicsMaterial) {\n    super(physXPhysics);\n\n    this._radius = radius;\n    this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(radius * this._maxScale);\n    this._initialize(material, uniqueID);\n    this._setLocalPose();\n  }\n\n  /**\n   * {@inheritDoc ISphereColliderShape.setRadius }\n   */\n  setRadius(value: number): void {\n    this._radius = value;\n    this._pxGeometry.radius = value * this._maxScale;\n    this._pxShape.setGeometry(this._pxGeometry);\n  }\n\n  /**\n   * {@inheritDoc IColliderShape.setWorldScale }\n   */\n  override setWorldScale(scale: Vector3): void {\n    super.setWorldScale(scale);\n\n    this._maxScale = Math.max(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n    this._pxGeometry.radius = this._radius * this._maxScale;\n    this._pxShape.setGeometry(this._pxGeometry);\n  }\n}\n","import { Quaternion, SystemInfo, Vector3 } from \"@galacean/engine\";\nimport {\n  IBoxColliderShape,\n  ICapsuleColliderShape,\n  ICharacterController,\n  IDynamicCollider,\n  IFixedJoint,\n  IHingeJoint,\n  IMeshColliderShape,\n  IPhysics,\n  IPhysicsManager,\n  IPhysicsMaterial,\n  IPhysicsScene,\n  IPlaneColliderShape,\n  ISphereColliderShape,\n  ISpringJoint,\n  IStaticCollider\n} from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXDynamicCollider } from \"./PhysXDynamicCollider\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\nimport { PhysXPhysicsMaterial } from \"./PhysXPhysicsMaterial\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXStaticCollider } from \"./PhysXStaticCollider\";\nimport { PhysXRuntimeMode } from \"./enum/PhysXRuntimeMode\";\nimport { PhysXFixedJoint } from \"./joint/PhysXFixedJoint\";\nimport { PhysXHingeJoint } from \"./joint/PhysXHingeJoint\";\nimport { PhysXSpringJoint } from \"./joint/PhysXSpringJoint\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXMeshColliderShape } from \"./shape/PhysXMeshColliderShape\";\nimport { PhysXPlaneColliderShape } from \"./shape/PhysXPlaneColliderShape\";\nimport { PhysXSphereColliderShape } from \"./shape/PhysXSphereColliderShape\";\n\n/**\n * PhysX object creation.\n */\n\nexport class PhysXPhysics implements IPhysics {\n  /** @internal PhysX wasm object */\n  _physX: any;\n  /** @internal PhysX Foundation SDK singleton class */\n  _pxFoundation: any;\n  /** @internal PhysX physics object */\n  _pxPhysics: any;\n  /** @internal PhysX cooking object for mesh colliders */\n  _pxCooking: any;\n  /** @internal PhysX cooking params */\n  _pxCookingParams: any;\n\n  private _runTimeMode: PhysXRuntimeMode;\n  private _initializeState: InitializeState = InitializeState.Uninitialized;\n  private _initializePromise: Promise<void>;\n  private _defaultErrorCallback: any;\n  private _allocator: any;\n  private _tolerancesScale: any;\n  private _wasmSIMDModeUrl: string;\n  private _wasmModeUrl: string;\n  private _tolerancesScaleOptions: PhysXTolerancesScale | undefined;\n  private _defaultContactOffset = 0.02;\n  private _defaultSleepThreshold = 5e-3;\n\n  /**\n   * Create a PhysXPhysics instance.\n   * @param runtimeMode - Runtime mode, `Auto` prefers WebAssembly SIMD if supported @see {@link PhysXRuntimeMode}\n   * @param runtimeUrls - Manually specify the runtime URLs\n   * @param options - PhysX options.\n   */\n  constructor(runtimeMode?: PhysXRuntimeMode, runtimeUrls?: PhysXRuntimeUrls, options?: PhysXPhysicsOptions);\n  constructor(options?: PhysXPhysicsOptions);\n  constructor(\n    runtimeModeOrOptions: PhysXRuntimeMode | PhysXPhysicsOptions = PhysXRuntimeMode.Auto,\n    runtimeUrls?: PhysXRuntimeUrls,\n    options?: PhysXPhysicsOptions\n  ) {\n    const isOptionsObject = typeof runtimeModeOrOptions === \"object\";\n    const runtimeMode = isOptionsObject ? PhysXRuntimeMode.Auto : (runtimeModeOrOptions ?? PhysXRuntimeMode.Auto);\n    const resolvedOptions = isOptionsObject ? runtimeModeOrOptions : options;\n    this._runTimeMode = runtimeMode;\n    this._wasmSIMDModeUrl =\n      runtimeUrls?.wasmSIMDModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1786450043249/suyi/physx.release.simd.js\";\n    this._wasmModeUrl =\n      runtimeUrls?.wasmModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1786450043249/suyi/physx.release.js\";\n    this._tolerancesScaleOptions = resolvedOptions?.tolerancesScale;\n    const length = this._tolerancesScaleOptions?.length ?? 1;\n    const speed = this._tolerancesScaleOptions?.speed ?? 10;\n    this._validateTolerancesScale(length, speed);\n    this._updateScaledDefaults(length, speed);\n  }\n\n  /**\n   * Initialize PhysXPhysics.\n   * @param runtimeMode - Runtime mode\n   * @returns Promise object\n   */\n  initialize(): Promise<void> {\n    if (this._initializeState === InitializeState.Initialized) {\n      return Promise.resolve();\n    } else if (this._initializeState === InitializeState.Initializing) {\n      return this._initializePromise;\n    }\n\n    this._initializeState = InitializeState.Initializing;\n    let runtimeMode = this._runTimeMode;\n    const scriptPromise = new Promise((resolve, reject) => {\n      const script = document.createElement(\"script\");\n      document.body.appendChild(script);\n      script.async = true;\n      script.onload = resolve;\n      script.onerror = reject;\n      if (runtimeMode == PhysXRuntimeMode.Auto) {\n        runtimeMode = (SystemInfo as any)._detectSIMDSupported()\n          ? PhysXRuntimeMode.WebAssemblySIMD\n          : PhysXRuntimeMode.WebAssembly;\n      }\n\n      if (runtimeMode == PhysXRuntimeMode.WebAssemblySIMD) {\n        script.src = this._wasmSIMDModeUrl;\n      } else {\n        script.src = this._wasmModeUrl;\n      }\n    });\n\n    const initializePromise = new Promise<void>((resolve, reject) => {\n      scriptPromise\n        .then(\n          () =>\n            (<any>window).PHYSX().then((PHYSX: any) => {\n              this._runTimeMode = runtimeMode;\n              this._init(PHYSX);\n              this._initializeState = InitializeState.Initialized;\n              this._initializePromise = null;\n              console.log(\"PhysX loaded.\");\n              resolve();\n            }, reject),\n          reject\n        )\n        .catch(reject);\n    });\n\n    this._initializePromise = initializePromise;\n    return initializePromise;\n  }\n\n  /**\n   * Destroy PhysXPhysics.\n   */\n  destroy(): void {\n    this._pxCooking.release();\n    this._pxCookingParams.delete();\n    this._physX.PxCloseExtensions();\n    this._pxPhysics.release();\n    this._pxFoundation.release();\n    this._defaultErrorCallback.delete();\n    this._allocator.delete();\n    this._tolerancesScale.delete();\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createPhysicsManager }\n   */\n  createPhysicsManager(): IPhysicsManager {\n    return new PhysXPhysicsManager();\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createPhysicsScene }\n   */\n  createPhysicsScene(physicsManager: PhysXPhysicsManager): IPhysicsScene {\n    const scene = new PhysXPhysicsScene(this, physicsManager);\n    return scene;\n  }\n\n  /**\n   * {@inheritDoc IPhysics.getDefaultContactOffset }\n   */\n  getDefaultContactOffset(): number {\n    return this._defaultContactOffset;\n  }\n\n  /**\n   * {@inheritDoc IPhysics.getDefaultSleepThreshold }\n   */\n  getDefaultSleepThreshold(): number {\n    return this._defaultSleepThreshold;\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createStaticCollider }\n   */\n  createStaticCollider(position: Vector3, rotation: Quaternion): IStaticCollider {\n    return new PhysXStaticCollider(this, position, rotation);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createDynamicCollider }\n   */\n  createDynamicCollider(position: Vector3, rotation: Quaternion): IDynamicCollider {\n    return new PhysXDynamicCollider(this, position, rotation);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createCharacterController }\n   */\n  createCharacterController(): ICharacterController {\n    return new PhysXCharacterController(this);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createPhysicsMaterial }\n   */\n  createPhysicsMaterial(\n    staticFriction: number,\n    dynamicFriction: number,\n    bounciness: number,\n    frictionCombine: number,\n    bounceCombine: number\n  ): IPhysicsMaterial {\n    return new PhysXPhysicsMaterial(this, staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createBoxColliderShape }\n   */\n  createBoxColliderShape(uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial): IBoxColliderShape {\n    return new PhysXBoxColliderShape(this, uniqueID, size, material);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createSphereColliderShape }\n   */\n  createSphereColliderShape(uniqueID: number, radius: number, material: PhysXPhysicsMaterial): ISphereColliderShape {\n    return new PhysXSphereColliderShape(this, uniqueID, radius, material);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createPlaneColliderShape }\n   */\n  createPlaneColliderShape(uniqueID: number, material: PhysXPhysicsMaterial): IPlaneColliderShape {\n    return new PhysXPlaneColliderShape(this, uniqueID, material);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createCapsuleColliderShape }\n   */\n  createCapsuleColliderShape(\n    uniqueID: number,\n    radius: number,\n    height: number,\n    material: PhysXPhysicsMaterial\n  ): ICapsuleColliderShape {\n    return new PhysXCapsuleColliderShape(this, uniqueID, radius, height, material);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createMeshColliderShape }\n   */\n  createMeshColliderShape(\n    uniqueID: number,\n    positions: Vector3[],\n    indices: Uint8Array | Uint16Array | Uint32Array | null,\n    isConvex: boolean,\n    material: PhysXPhysicsMaterial,\n    cookingFlags: number\n  ): IMeshColliderShape | null {\n    const shape = new PhysXMeshColliderShape(this, uniqueID, positions, indices, isConvex, material, cookingFlags);\n    return shape._pxShape ? shape : null;\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createFixedJoint }\n   */\n  createFixedJoint(collider: PhysXCollider): IFixedJoint {\n    return new PhysXFixedJoint(this, collider);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createHingeJoint }\n   */\n  createHingeJoint(collider: PhysXCollider): IHingeJoint {\n    return new PhysXHingeJoint(this, collider);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.createSpringJoint }\n   */\n  createSpringJoint(collider: PhysXCollider): ISpringJoint {\n    return new PhysXSpringJoint(this, collider);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.getColliderLayerCollision }\n   */\n  getColliderLayerCollision(layer1: number, layer2: number): boolean {\n    return this._physX.getGroupCollisionFlag(layer1, layer2);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.setColliderLayerCollision }\n   */\n  setColliderLayerCollision(layer1: number, layer2: number, isCollide: boolean): void {\n    this._physX.setGroupCollisionFlag(layer1, layer2, isCollide);\n  }\n\n  private _init(physX: any): void {\n    const version = physX.PX_PHYSICS_VERSION;\n    const defaultErrorCallback = new physX.PxDefaultErrorCallback();\n    const allocator = new physX.PxDefaultAllocator();\n    const pxFoundation = physX.PxCreateFoundation(version, allocator, defaultErrorCallback);\n    const tolerancesScale = new physX.PxTolerancesScale();\n    this._applyTolerancesScale(tolerancesScale);\n    const pxPhysics = physX.PxCreatePhysics(version, pxFoundation, tolerancesScale, false, null);\n\n    physX.PxInitExtensions(pxPhysics, null);\n\n    // Initialize cooking for mesh colliders\n    const cookingParams = new physX.PxCookingParams(tolerancesScale);\n    physX.setCookingMeshPreprocessParams(cookingParams, 1); // eWELD_VERTICES\n    cookingParams.meshWeldTolerance = 0.001;\n    // BVH34 midphase requires SSE2; SIMD WASM provides SSE2 via WASM SIMD\n    if (this._runTimeMode === PhysXRuntimeMode.WebAssemblySIMD) {\n      physX.setCookingMidphaseType(cookingParams, 1); // eBVH34\n    }\n    const pxCooking = physX.PxCreateCooking(version, pxFoundation, cookingParams);\n\n    this._physX = physX;\n    this._pxFoundation = pxFoundation;\n    this._pxPhysics = pxPhysics;\n    this._pxCooking = pxCooking;\n    this._pxCookingParams = cookingParams;\n    this._defaultErrorCallback = defaultErrorCallback;\n    this._allocator = allocator;\n    this._tolerancesScale = tolerancesScale;\n  }\n\n  private _applyTolerancesScale(tolerancesScale: any): void {\n    const length = this._tolerancesScaleOptions?.length ?? tolerancesScale.length;\n    const speed = this._tolerancesScaleOptions?.speed ?? tolerancesScale.speed;\n\n    this._validateTolerancesScale(length, speed);\n\n    tolerancesScale.length = length;\n    tolerancesScale.speed = speed;\n    this._updateScaledDefaults(length, speed);\n  }\n\n  private _assertPositiveFinite(value: number, name: string): void {\n    if (!Number.isFinite(value) || value <= 0) {\n      throw new Error(`PhysXPhysics ${name} must be a positive finite number.`);\n    }\n  }\n\n  private _validateTolerancesScale(length: number, speed: number): void {\n    this._assertPositiveFinite(length, \"tolerancesScale.length\");\n    this._assertPositiveFinite(speed, \"tolerancesScale.speed\");\n  }\n\n  private _updateScaledDefaults(length: number, speed: number): void {\n    this._defaultContactOffset = 0.02 * length;\n    this._defaultSleepThreshold = 5e-5 * speed * speed;\n  }\n}\n\nenum InitializeState {\n  Uninitialized,\n  Initializing,\n  Initialized\n}\n\ninterface PhysXRuntimeUrls {\n  /*** The URL of `PhysXRuntimeMode.WebAssembly` mode. */\n  wasmModeUrl?: string;\n  /*** The URL of `PhysXRuntimeMode.WebAssemblySIMD` mode. */\n  wasmSIMDModeUrl?: string;\n}\n\nexport interface PhysXTolerancesScale {\n  /** Approximate object length in the simulation unit. 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PhysX default is 10. */\n  speed?: number;\n}\n\nexport interface PhysXPhysicsOptions {\n  /** PhysX world unit scale used before PxPhysics, PxSceneDesc and PxCookingParams are created. */\n  tolerancesScale?: PhysXTolerancesScale;\n}\n","export { PhysXPhysics } from \"./PhysXPhysics\";\nexport type { PhysXPhysicsOptions, PhysXTolerancesScale } from \"./PhysXPhysics\";\nexport { PhysXRuntimeMode } from \"./enum/PhysXRuntimeMode\";\n\n//@ts-ignore\nexport const version = `__buildVersion`;\n\nconsole.log(`Galacean Engine Physics PhysX Version: 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package/dist/browser.min.js

@@ -0,0 +1,2 @@
+!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports,require("@galacean/engine")):"function"==typeof define&&define.amd?define(["exports","@galacean/engine"],e):e(((t="undefined"!=typeof globalThis?globalThis:t||self).Galacean=t.Galacean||{},t.Galacean.PhysicsPhysX={}),t.Galacean)}(this,function(t,e){"use strict";function i(t,e){return null!=e&&"undefined"!=typeof Symbol&&e[Symbol.hasInstance]?!!e[Symbol.hasInstance](t):t instanceof e}function s(t,e){return(s=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t})(t,e)}function o(t,e){if("function"!=typeof e&&null!==e)throw TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&s(t,e)}var n,r,a,l=((n={})[n.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",n[n.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",n[n.TRIGGER_SHAPE=4]="TRIGGER_SHAPE",n),h=/*#__PURE__*/function(){function t(t){this._controllers=new e.DisorderedArray,this._contactOffset=.02,this._worldScale=new e.Vector3(1,1,1),this._position=new e.Vector3,this._rotation=new e.Vector3,this._axis=null,this._physXRotation=new e.Quaternion,this._shapeFlags=3,this._physXPhysics=t,this._contactOffset=t.getDefaultContactOffset()}var i=t.prototype;return i.setRotation=function(t){var i=this._rotation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z));e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,this._physXRotation),this._axis&&e.Quaternion.multiply(this._physXRotation,this._axis,this._physXRotation),this._physXRotation.normalize(),this._setLocalPose()},i.setPosition=function(t){t!==this._position&&this._position.copyFrom(t);for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale);this._setLocalPose()},i.setWorldScale=function(t){this._worldScale.set(Math.abs(t.x),Math.abs(t.y),Math.abs(t.z)),this._setLocalPose();for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale)},i.setContactOffset=function(t){this._contactOffset=t;var e=this._controllers;if(e.length)for(var i,s=0,o=e.length;s<o;s++)null==(i=e.get(s)._pxController)||i.setContactOffset(t);else this._pxShape.setContactOffset(t)},i.setMaterial=function(t){this._pxMaterial=t._pxMaterial,this._pxShape.setMaterial(this._pxMaterial)},i.setIsTrigger=function(t){this._modifyFlag(1,!t),this._modifyFlag(4,t),this._setShapeFlags(this._shapeFlags)},i.pointDistance=function(e){var i=this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(),e),s=i.closestPoint,o=t._tempVector4;return o.set(s.x,s.y,s.z,i.distance),o},i.destroy=function(){var t;this._pxShape.release(),null==(t=this._pxGeometry)||t.delete()},i._setShapeFlags=function(t){this._shapeFlags=t;var e=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape.setFlags(e),e.delete()},i._setLocalPose=function(){var i=t.transform;e.Vector3.multiply(this._position,this._worldScale,i.translation),i.rotation=this._physXRotation,this._pxShape.setLocalPose(i)},i._initialize=function(t,e){this._id=e,this._pxMaterial=t._pxMaterial;var i=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape=this._physXPhysics._pxPhysics.createShape(this._pxGeometry,t._pxMaterial,!0,i),i.delete(),this._pxShape.setUUID(e)},i._modifyFlag=function(t,e){this._shapeFlags=e?this._shapeFlags|t:this._shapeFlags&~t},t}();h.halfSqrt=.70710678118655,h.transform={translation:new e.Vector3,rotation:null},h._tempVector4=new e.Vector4;var c=/*#__PURE__*/function(t){function i(i,s,o,n){(r=t.call(this,i)||this)._halfSize=new e.Vector3;var r,a=r._halfSize;return a.set(.5*o.x,.5*o.y,.5*o.z),r._pxGeometry=new i._physX.PxBoxGeometry(a.x,a.y,a.z),r._initialize(n,s),r._setLocalPose(),r}o(i,t);var s=i.prototype;return s.setSize=function(t){var s=this._halfSize,o=i._tempHalfExtents;s.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(s,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored")},s.setWorldScale=function(s){t.prototype.setWorldScale.call(this,s);var o=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s._updateController=function(t){for(var e=this._controllers,i=0,s=e.length;i<s;i++){var o=e.get(i)._pxController;o&&(o.setHalfHeight(t.y),o.setHalfSideExtent(t.x),o.setHalfForwardExtent(t.z))}},i}(h);c._tempHalfExtents=new e.Vector3;var _=/*#__PURE__*/function(t){function i(i,s,o,n,r){var a;return(a=t.call(this,i)||this)._upAxis=1,a._radius=o,a._halfHeight=.5*n,a._axis=new e.Quaternion(0,0,h.halfSqrt,h.halfSqrt),a._physXRotation.copyFrom(a._axis),a._pxGeometry=new i._physX.PxCapsuleGeometry(o,a._halfHeight),a._initialize(r,s),a._setLocalPose(),a}o(i,t);var s=i.prototype;return s.setRadius=function(t){this._radius=t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(i.y,i.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(i.x,i.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(i.x,i.y)}this._pxShape.setGeometry(this._pxGeometry);for(var s=this._pxGeometry.radius,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setRadius(s)},s.setHeight=function(t){this._halfHeight=.5*t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*i.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*i.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(this._pxGeometry);for(var s=2*this._pxGeometry.halfHeight,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setHeight(s)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored")},s.setUpAxis=function(t){var i=this._rotation,s=this._axis,o=this._physXRotation;switch(this._upAxis=t,this._upAxis){case 0:s.set(0,0,0,1);break;case 1:s.set(0,0,h.halfSqrt,h.halfSqrt);break;case 2:s.set(0,h.halfSqrt,0,h.halfSqrt)}i?(e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,o),e.Quaternion.multiply(o,s,o)):o.copyFrom(s),this._setLocalPose(),this._controllers.length>0&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored")},s.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e);var i=this._worldScale,s=this._pxGeometry;switch(this._upAxis){case 0:s.radius=this._radius*Math.max(i.y,i.z),s.halfHeight=this._halfHeight*i.x;break;case 1:s.radius=this._radius*Math.max(i.x,i.z),s.halfHeight=this._halfHeight*i.y;break;case 2:s.radius=this._radius*Math.max(i.x,i.y),s.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(s);for(var o=s.radius,n=2*s.halfHeight,r=this._controllers,a=0,l=r.length;a<l;a++){var h=r.get(a)._pxController;h&&(h.setRadius(o),h.setHeight(n))}},i}(h),p=((r={})[r.X=0]="X",r[r.Y=1]="Y",r[r.Z=2]="Z",r),u=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapeScaledPosition=new e.Vector3,this._worldPosition=null,this._physXPhysics=t}var s=t.prototype;return s.move=function(t,e,i){var s,o;return null!=(o=null==(s=this._pxController)?void 0:s.move(t,e,i))?o:0},s.setWorldPosition=function(t){this._worldPosition=t,this._updateNativePosition()},s.getWorldPosition=function(t){this._pxController&&(t.copyFrom(this._pxController.getPosition()),t.subtract(this._shapeScaledPosition))},s.setStepOffset=function(t){var e;null==(e=this._pxController)||e.setStepOffset(t)},s.setNonWalkableMode=function(t){var e;null==(e=this._pxController)||e.setNonWalkableMode(t)},s.setUpDirection=function(t){var e;null==(e=this._pxController)||e.setUpDirection(t)},s.setSlopeLimit=function(t){var e;null==(e=this._pxController)||e.setSlopeLimit(Math.cos(t*Math.PI/180))},s.addShape=function(t){var e,i;this._updateShapePosition(t._position,t._worldScale),this._pxManager&&this._createPXController(this._pxManager,t),this._shape=t,t._controllers.add(this),null==(e=this._pxController)||e.setContactOffset(t._contactOffset),null==(i=this._scene)||i._addColliderShape(t._id)},s.removeShape=function(t){var e;this._destroyPXController(),this._shape=null,t._controllers.delete(this),null==(e=this._scene)||e._removeColliderShape(t._id)},s.setCollisionLayer=function(t){var e,i=null==(e=this._pxController)?void 0:e.getActor();i&&this._physXPhysics._physX.setGroup(i,t)},s.destroy=function(){this._destroyPXController()},s._createPXController=function(t,e){var s;if(i(e,c))(s=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.y,s.halfSideExtent=e._halfSize.x,s.halfForwardExtent=e._halfSize.z,e._rotation.lengthSquared()>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored");else if(i(e,_))(s=new this._physXPhysics._physX.PxCapsuleControllerDesc).radius=e._radius,s.height=2*e._halfHeight,s.climbingMode=1,e._rotation.lengthSquared()>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored"),e._upAxis!==p.Y&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored");else throw"unsupported shape type";s.setMaterial(e._pxMaterial),this._pxController=t._getControllerManager().createController(s),s.delete(),this._pxController.setUUID(e._id),this._updateNativePosition()},s._destroyPXController=function(){this._pxController&&(this._pxController.release(),this._pxController=null)},s._updateShapePosition=function(t,i){e.Vector3.multiply(t,i,this._shapeScaledPosition),this._updateNativePosition()},s._updateNativePosition=function(){var i=this._worldPosition;this._pxController&&i&&(e.Vector3.add(i,this._shapeScaledPosition,t._tempVec),this._pxController.setPosition(t._tempVec))},t}();u._tempVec=new e.Vector3;var d=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapes=[],this._physXPhysics=t}var e=t.prototype;return e.addShape=function(t){var e;if(!this._pxActor.attachShape(t._pxShape))throw Error("PhysXCollider: failed to attach shape to the native actor.");this._shapes.push(t),null==(e=this._scene)||e._addColliderShape(t._id)},e.removeShape=function(t){this._pxActor.detachShape(t._pxShape,!0);var e,i=this._shapes;i.splice(i.indexOf(t),1),null==(e=this._scene)||e._removeColliderShape(t._id)},e.setWorldTransform=function(t,e){this._pxActor.setGlobalPose(this._transform(t,e),!0)},e.getWorldTransform=function(t,e){var i=this._pxActor.getGlobalPose();t.set(i.translation.x,i.translation.y,i.translation.z),e.set(i.rotation.x,i.rotation.y,i.rotation.z,i.rotation.w)},e.setCollisionLayer=function(t){this._physXPhysics._physX.setGroup(this._pxActor,t)},e.destroy=function(){this._pxActor.release()},e._transform=function(e,i){var s=t._tempTransform;return s.translation=e,s.rotation=i.normalize(),s},t}();d._tempTransform={translation:null,rotation:null};var y=/*#__PURE__*/function(t){function s(e,i,s){(o=t.call(this,e)||this)._isKinematic=!1,o._collisionDetectionMode=0;var o,n=o._transform(i,s);return o._pxActor=e._pxPhysics.createRigidDynamic(n),o}o(s,t);var n=s.prototype;return n.setLinearDamping=function(t){this._pxActor.setLinearDamping(t)},n.setAngularDamping=function(t){this._pxActor.setAngularDamping(t)},n.getLinearVelocity=function(t){var e=this._pxActor.getLinearVelocity();return t.set(e.x,e.y,e.z)},n.setLinearVelocity=function(t){this._pxActor.setLinearVelocity(t,!0)},n.getAngularVelocity=function(t){var i=this._pxActor.getAngularVelocity();return t.set(e.MathUtil.radianToDegree(i.x),e.MathUtil.radianToDegree(i.y),e.MathUtil.radianToDegree(i.z))},n.setAngularVelocity=function(t){s._tempTranslation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z)),this._pxActor.setAngularVelocity(s._tempTranslation,!0)},n.setMass=function(t){this._pxActor.setMass(t)},n.getCenterOfMass=function(t){var e=this._pxActor.getCMassLocalPose().translation;return t.set(e.x,e.y,e.z)},n.setCenterOfMass=function(t){this._pxActor.setCMassLocalPose(t)},n.setInertiaTensor=function(t){this._pxActor.setMassSpaceInertiaTensor(t)},n.getInertiaTensor=function(t){var e=this._pxActor.getMassSpaceInertiaTensor();return t.set(e.x,e.y,e.z)},n.setMassAndUpdateInertia=function(t){this._pxActor.setMassAndUpdateInertia(t)},n.setMaxAngularVelocity=function(t){this._pxActor.setMaxAngularVelocity(e.MathUtil.degreeToRadian(t))},n.setMaxDepenetrationVelocity=function(t){this._pxActor.setMaxDepenetrationVelocity(t)},n.setSleepThreshold=function(t){this._pxActor.setSleepThreshold(t)},n.setSolverIterations=function(t){this._pxActor.setSolverIterationCounts(t,1)},n.setCollisionDetectionMode=function(t){this._collisionDetectionMode=t,this._isKinematic||this._applyCollisionDetectionFlags(t)},n.setUseGravity=function(t){this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY,!t)},n.setIsKinematic=function(t){if(this._isKinematic!==t){var e=this._physXPhysics._physX;t?(this._applyCollisionDetectionFlags(0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eKINEMATIC,!0)):(this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eKINEMATIC,!1),this._applyCollisionDetectionFlags(this._collisionDetectionMode)),this._isKinematic=t}},n._applyCollisionDetectionFlags=function(t){var e=this._physXPhysics._physX;switch(t){case 1:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 2:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 3:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!0);break;case 0:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1)}},n.setConstraints=function(t){this._pxActor.setRigidDynamicLockFlags(t)},n.addForce=function(t){this._isKinematic||this._pxActor.addForce(t)},n.addForceAtPosition=function(t,e){this._pxActor.addForceAtPos(t,e)},n.addTorque=function(t){this._isKinematic||this._pxActor.addTorque(t)},n.move=function(t,o){var n=s._tempTranslation,r=s._tempRotation;if(o){r.copyFrom(o).normalize(),this._pxActor.setKinematicTarget(t,r);return}i(t,e.Vector3)?(this.getWorldTransform(n,r),this._pxActor.setKinematicTarget(t,r)):(this.getWorldTransform(n,r),r.copyFrom(t).normalize(),this._pxActor.setKinematicTarget(n,r))},n.sleep=function(){return this._pxActor.putToSleep()},n.isSleeping=function(){return this._pxActor.isSleeping()},n.wakeUp=function(){return this._pxActor.wakeUp()},s}(d);y._tempTranslation=new e.Vector3,y._tempRotation=new e.Quaternion;var f=function(){this._eventMap={}},x=/*#__PURE__*/function(){function t(t,e,i,s,o,n){this._physXPhysics=t;var r=t._pxPhysics.createMaterial(e,i,s);r.setFrictionCombineMode(o),r.setRestitutionCombineMode(n),this._pxMaterial=r}var e=t.prototype;return e.setBounciness=function(t){this._pxMaterial.setRestitution(t)},e.setDynamicFriction=function(t){this._pxMaterial.setDynamicFriction(t)},e.setStaticFriction=function(t){this._pxMaterial.setStaticFriction(t)},e.setBounceCombine=function(t){this._pxMaterial.setRestitutionCombineMode(t)},e.setFrictionCombine=function(t){this._pxMaterial.setFrictionCombineMode(t)},e.destroy=function(){this._pxMaterial.release()},t}(),g=/*#__PURE__*/function(){function t(t,i){var s=this;this._pxControllerManager=null,this._boxGeometry=null,this._sphereGeometry=null,this._capsuleGeometry=null,this._currentOnQuery=null,this._activeTriggers=new e.DisorderedArray,this._contactEvents=[],this._contactEventCount=0,this._contactEventEnabled=!0,this._triggerEvents=[],this._physicsEvents={contactEvents:[],contactEventCount:0,triggerEvents:[]},this._triggerEventPool=[],this._physXPhysics=t,this._physXManager=i;var o=t._physX;this._pxRaycastHit=new o.PxRaycastHit,this._pxSweepHit=new o.PxSweepHit,this._pxFilterData=new o.PxQueryFilterData,this._pxFilterData.flags=new o.PxQueryFlags(7),this._pxRaycastSweepFilterData=new o.PxQueryFilterData,this._pxRaycastSweepFilterData.flags=new o.PxQueryFlags(15);var n=t._pxPhysics;this._physXSimulationCallbackInstance=o.PxSimulationEventCallback.implement({onContactBegin:function(t){s._bufferContactEvent(t,0)},onContactEnd:function(t){s._bufferContactEvent(t,2)},onContactPersist:function(t){s._bufferContactEvent(t,1)},onTriggerBegin:function(t,e){var i=t<e?s._getTrigger(t,e):s._getTrigger(e,t);i.state=0,s._activeTriggers.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var o=s._physXManager._eventMap[t];i=o[e],o[e]=void 0}else{var n=s._physXManager._eventMap[e];i=n[t],n[t]=void 0}i.state=2}});var r=o.getDefaultSceneDesc(n.getTolerancesScale(),0,this._physXSimulationCallbackInstance);this._pxScene=n.createScene(r),r.delete(),this._pxQueryCallback=o.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return s._currentOnQuery(e)?2:0},postFilter:function(t,e){return e<=0?0:2}})}var i=t.prototype;return i.setGravity=function(t){this._pxScene.setGravity(t)},i.addCollider=function(t){t._scene=this,this._pxScene.addActor(t._pxActor,null);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._addColliderShape(e[i]._id)},i.removeCollider=function(t){t._scene=null,this._pxScene.removeActor(t._pxActor,!0);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._removeColliderShape(e[i]._id)},i.addCharacterController=function(t){if(t._scene=this,!t._pxController){var e=t._shape;if(e){var i=t._pxManager;i!==this&&(i&&t._destroyPXController(),t._createPXController(this,e)),this._addColliderShape(e._id)}}t._pxManager=this},i.removeCharacterController=function(t){t._scene=null,t._pxManager=null,t._destroyPXController();var e=t._shape;e&&this._removeColliderShape(e._id)},i.update=function(t){this._contactEventCount=0,this._simulate(t),this._fetchResults()},i.setContactEventEnabled=function(t){this._contactEventEnabled!==t&&(this._contactEventEnabled=t,t||(this._contactEventCount=0))},i.updateEvents=function(){var t=this._physicsEvents,e=this._triggerEventPool,i=this._activeTriggers,s=this._triggerEvents;return s.length=0,i.forEach(function(t,o){t.dispatchState=t.state,s.push(t),0===t.state?t.state=1:2===t.state&&(i.deleteByIndex(o),e.push(t))}),t.contactEvents=this._contactEvents,t.contactEventCount=this._contactEventCount,t.triggerEvents=s,t},i.raycast=function(e,i,s,o){var n,r=this._pxRaycastHit;i=Math.min(i,34e37);var a=this._currentOnQuery;this._currentOnQuery=s;try{n=this._pxScene.raycastSingle(e.origin,e.direction,i,r,this._pxRaycastSweepFilterData,this._pxQueryCallback)}finally{this._currentOnQuery=a}if(n&&void 0!=o){var l=t._tempPosition,h=t._tempNormal,c=r.position,_=r.normal;l.set(c.x,c.y,c.z),h.set(_.x,_.y,_.z),o(r.getShape().getUUID(),r.distance,l,h)}return n},i.boxCast=function(e,i,s,o,n,r,a){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var l=t._tempPose;return l.translation.copyFrom(e),l.rotation.copyFrom(i),this._sweepSingle(this._boxGeometry,l,o,n,r,a)},i.sphereCast=function(e,i,s,o,n,r){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var a=t._tempQuaternion;return a.set(0,0,0,1),this._sweepSingle(this._sphereGeometry,{translation:e,rotation:a},s,o,n,r)},i.capsuleCast=function(e,i,s,o,n,r,a,l){this._capsuleGeometry?(this._capsuleGeometry.radius=i,this._capsuleGeometry.halfHeight=.5*s):this._capsuleGeometry=new this._physXPhysics._physX.PxCapsuleGeometry(i,.5*s);var h=t._tempPose;return h.translation.copyFrom(e),h.rotation.copyFrom(o),this._sweepSingle(this._capsuleGeometry,h,n,r,a,l)},i.overlapBoxAll=function(e,i,s,o){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var n=t._tempPose;return n.translation.copyFrom(e),n.rotation.copyFrom(i),this._overlapMultiple(this._boxGeometry,n,o)},i.overlapSphereAll=function(e,i,s){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var o=t._tempQuaternion;return o.set(0,0,0,1),this._overlapMultiple(this._sphereGeometry,{translation:e,rotation:o},s)},i.overlapCapsuleAll=function(e,i,s,o,n){this._capsuleGeometry?(this._capsuleGeometry.radius=i,this._capsuleGeometry.halfHeight=.5*s):this._capsuleGeometry=new this._physXPhysics._physX.PxCapsuleGeometry(i,.5*s);var r=t._tempPose;return r.translation.copyFrom(e),r.rotation.copyFrom(o),this._overlapMultiple(this._capsuleGeometry,r,n)},i.gc=function(){this._contactEvents.length=this._contactEventCount},i.destroy=function(){var t,e,i,s;null==(t=this._boxGeometry)||t.delete(),null==(e=this._sphereGeometry)||e.delete(),null==(i=this._capsuleGeometry)||i.delete(),this._physXSimulationCallbackInstance.delete(),this._pxRaycastHit.delete(),this._pxSweepHit.delete(),this._pxFilterData.flags.delete(),this._pxFilterData.delete(),this._pxRaycastSweepFilterData.flags.delete(),this._pxRaycastSweepFilterData.delete(),this._pxQueryCallback.delete(),null==(s=this._pxControllerManager)||s.release(),this._pxScene.release()},i._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},i._addColliderShape=function(t){this._physXManager._eventMap[t]=Object.create(null)},i._removeColliderShape=function(t){var e=this._triggerEventPool,i=this._activeTriggers,s=this._physXManager._eventMap;i.forEach(function(o,n){o.index1==t?(i.deleteByIndex(n),e.push(o)):o.index2==t&&(i.deleteByIndex(n),e.push(o),s[o.index1][t]=void 0)}),delete s[t]},i._sweepSingle=function(e,i,s,o,n,r){var a,l=this._pxSweepHit;o=Math.min(o,34e37);var h=this._currentOnQuery;this._currentOnQuery=n;try{a=this._pxScene.sweepSingle(e,i,s,o,l,this._pxRaycastSweepFilterData,this._pxQueryCallback)}finally{this._currentOnQuery=h}if(a&&void 0!=r){var c=t._tempPosition,_=t._tempNormal,p=l.position,u=l.normal;c.set(p.x,p.y,p.z),_.set(u.x,u.y,u.z),r(l.getShape().getUUID(),l.distance,c,_)}return a},i._overlapMultiple=function(e,i,s){var o,n=this._currentOnQuery;this._currentOnQuery=s;try{o=this._pxScene.overlapMultiple(e,i,256,this._pxFilterData,this._pxQueryCallback)}finally{this._currentOnQuery=n}var r=t._tempShapeIDs;if(r.length=0,o)for(var a=0,l=o.size();a<l;a++)r.push(o.get(a).getShape().getUUID());return null==o||o.delete(),r},i._simulate=function(t){this._pxScene.simulate(t,!0)},i._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},i._getTrigger=function(t,e){var i;return this._triggerEventPool.length?((i=this._triggerEventPool.pop()).index1=t,i.index2=e):i=new m(t,e),this._physXManager._eventMap[t][e]=i,i},i._bufferContactEvent=function(t,e){if(this._contactEventEnabled){var i=this._contactEventCount++,s=(l=this._contactEvents)[i]||(l[i]=new C);s.shape0Id=t.shape0Id,s.shape1Id=t.shape1Id,s.state=e;var o=t.getContacts(),n=o.size(),r=s._bufferedContacts;r.contactCount=n;for(var a=0;a<n;a++){var l,h,c,_=o.get(a),p=(h=r.contacts)[c=a]||(h[c]=new v);p.position.copyFrom(_.position),p.normal.copyFrom(_.normal),p.impulse.copyFrom(_.impulse),p.separation=_.separation}}},t}();g._tempPosition=new e.Vector3,g._tempQuaternion=new e.Quaternion,g._tempNormal=new e.Vector3,g._tempPose={translation:new e.Vector3,rotation:new e.Quaternion},g._tempShapeIDs=[];var 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this._pxMesh=r.mesh,this._pxGeometry=r.geometry,this._isConvex=i,null==a||a.release(),null==l||l.delete(),!0},n.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e),this._updateGeometry()},n.destroy=function(){var e;null==(e=this._pxMesh)||e.release(),t.prototype.destroy.call(this)},n._cookMesh=function(t,o,n,r){var a=this._physXPhysics,l=a._physX,h=a._pxPhysics,c=a._pxCooking,_=a._pxCookingParams,p=0;r&e.MeshColliderShapeCookingFlag.VertexWelding&&(p|=1),r&e.MeshColliderShapeCookingFlag.Cleaning||(p|=2),l.setCookingMeshPreprocessParams(_,p),c.setParams(_);var u=this._allocatePositions(t),d=null;if(n){if(d=c.createConvexMesh(u,t.length,h),l._free(u),!d)return this._logConvexCookingError(l),null}else{if(!o)return l._free(u),console.error("PhysXMeshColliderShape: Triangle mesh requires indices."),null;var y=i(o,Uint32Array),f=this._allocateIndices(o,y);if(d=c.createTriMesh(u,t.length,f,o.length/3,!y,h),l._free(u),l._free(f),!d)return this._logTriMeshCookingError(l),null}var x=this._worldScale,g=x.x,m=x.y,v=x.z,S=n?s._tightBoundsFlag:0,C=n?l.createConvexMeshGeometry(d,g,m,v,S):l.createTriMeshGeometry(d,g,m,v,S);return{mesh:d,geometry:C}},n._logConvexCookingError=function(t){switch(t.getLastConvexCookingResult()){case 1:console.error("PhysXMeshColliderShape: Failed to create convex mesh. Could not find 4 vertices that do not form a zero-area triangle.");break;case 2:console.error("PhysXMeshColliderShape: Failed to create convex mesh within the maximum polygons limit (256). Consider simplifying the mesh.");break;default:console.error("PhysXMeshColliderShape: Failed to create convex mesh. The input geometry may be invalid.")}},n._logTriMeshCookingError=function(t){1===t.getLastTriMeshCookingResult()?console.error("PhysXMeshColliderShape: Failed to create triangle mesh. One of the triangles is too large. Consider tessellating large triangles."):console.error("PhysXMeshColliderShape: Failed to create triangle mesh. 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Promise(function(s,o){var n=document.createElement("script");document.body.appendChild(n),n.async=!0,n.onload=s,n.onerror=o,i==M.Auto&&(i=e.SystemInfo._detectSIMDSupported()?M.WebAssemblySIMD:M.WebAssembly),i==M.WebAssemblySIMD?n.src=t._wasmSIMDModeUrl:n.src=t._wasmModeUrl}),o=new Promise(function(e,o){s.then(function(){return window.PHYSX().then(function(s){t._runTimeMode=i,t._init(s),t._initializeState=2,t._initializePromise=null,console.log("PhysX loaded."),e()},o)},o).catch(o)});return this._initializePromise=o,o},i.destroy=function(){this._pxCooking.release(),this._pxCookingParams.delete(),this._physX.PxCloseExtensions(),this._pxPhysics.release(),this._pxFoundation.release(),this._defaultErrorCallback.delete(),this._allocator.delete(),this._tolerancesScale.delete()},i.createPhysicsManager=function(){return new f},i.createPhysicsScene=function(t){return new g(this,t)},i.getDefaultContactOffset=function(){return this._defaultContactOffset},i.getDefaultSleepThreshold=function(){return this._defaultSleepThreshold},i.createStaticCollider=function(t,e){return new P(this,t,e)},i.createDynamicCollider=function(t,e){return new y(this,t,e)},i.createCharacterController=function(){return new u(this)},i.createPhysicsMaterial=function(t,e,i,s,o){return new x(this,t,e,i,s,o)},i.createBoxColliderShape=function(t,e,i){return new c(this,t,e,i)},i.createSphereColliderShape=function(t,e,i){return new R(this,t,e,i)},i.createPlaneColliderShape=function(t,e){return new G(this,t,e)},i.createCapsuleColliderShape=function(t,e,i,s){return new _(this,t,e,i,s)},i.createMeshColliderShape=function(t,e,i,s,o,n){var r=new b(this,t,e,i,s,o,n);return r._pxShape?r:null},i.createFixedJoint=function(t){return new w(this,t)},i.createHingeJoint=function(t){return new F(this,t)},i.createSpringJoint=function(t){return new E(this,t)},i.getColliderLayerCollision=function(t,e){return this._physX.getGroupCollisionFlag(t,e)},i.setColliderLayerCollision=function(t,e,i){this._physX.setGroupCollisionFlag(t,e,i)},i._init=function(t){var e=t.PX_PHYSICS_VERSION,i=new t.PxDefaultErrorCallback,s=new t.PxDefaultAllocator,o=t.PxCreateFoundation(e,s,i),n=new t.PxTolerancesScale;this._applyTolerancesScale(n);var r=t.PxCreatePhysics(e,o,n,!1,null);t.PxInitExtensions(r,null);var a=new t.PxCookingParams(n);t.setCookingMeshPreprocessParams(a,1),a.meshWeldTolerance=.001,this._runTimeMode===M.WebAssemblySIMD&&t.setCookingMidphaseType(a,1);var l=t.PxCreateCooking(e,o,a);this._physX=t,this._pxFoundation=o,this._pxPhysics=r,this._pxCooking=l,this._pxCookingParams=a,this._defaultErrorCallback=i,this._allocator=s,this._tolerancesScale=n},i._applyTolerancesScale=function(t){var e,i,s,o,n=null!=(s=null==(e=this._tolerancesScaleOptions)?void 0:e.length)?s:t.length,r=null!=(o=null==(i=this._tolerancesScaleOptions)?void 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