@galacean/engine-physics-physx 0.0.0-experimental-2.0-skill.0 → 0.0.0-experimental-2.0-migrate.7

package/dist/module.js

@@ -1,5 +1,11 @@
 import { Vector3, Vector4, MathUtil, Quaternion, DisorderedArray, MeshColliderShapeCookingFlag, SystemInfo } from '@galacean/engine';
 
+function _type_of(obj) {
+    "@swc/helpers - typeof";
+
+    return obj && typeof Symbol !== "undefined" && obj.constructor === Symbol ? "symbol" : typeof obj;
+}
+
 function _instanceof(left, right) {
     if (right != null && typeof Symbol !== "undefined" && right[Symbol.hasInstance]) {
         return !!right[Symbol.hasInstance](left);
@@ -39,7 +45,7 @@ function _inherits(subClass, superClass) {
  */ var PhysXColliderShape = /*#__PURE__*/ function() {
     function PhysXColliderShape(physXPhysics) {
         /** @internal */ this._controllers = new DisorderedArray();
-        /** @internal */ this._contractOffset = 0.02;
+        /** @internal */ this._contactOffset = 0.02;
         /** @internal */ this._worldScale = new Vector3(1, 1, 1);
         /** @internal */ this._position = new Vector3();
         /** @internal */ this._rotation = new Vector3();
@@ -47,6 +53,7 @@ function _inherits(subClass, superClass) {
         this._physXRotation = new Quaternion();
         this._shapeFlags = 2 | 1;
         this._physXPhysics = physXPhysics;
+        this._contactOffset = physXPhysics.getDefaultContactOffset();
     }
     var _proto = PhysXColliderShape.prototype;
     /**
@@ -84,7 +91,7 @@ function _inherits(subClass, superClass) {
    * {@inheritDoc IColliderShape.setContactOffset }
    * @default 0.02f * PxTolerancesScale::length
    */ _proto.setContactOffset = function setContactOffset(offset) {
-        this._contractOffset = offset;
+        this._contactOffset = offset;
         var controllers = this._controllers;
         if (controllers.length) {
             for(var i = 0, n = controllers.length; i < n; i++){
@@ -425,7 +432,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
         this._pxManager && this._createPXController(this._pxManager, shape);
         this._shape = shape;
         shape._controllers.add(this);
-        (_this__pxController = this._pxController) == null ? void 0 : _this__pxController.setContactOffset(shape._contractOffset);
+        (_this__pxController = this._pxController) == null ? void 0 : _this__pxController.setContactOffset(shape._contactOffset);
         (_this__scene = this._scene) == null ? void 0 : _this__scene._addColliderShape(shape._id);
     };
     /**
@@ -579,7 +586,15 @@ PhysXCollider._tempTransform = {
     _inherits(PhysXDynamicCollider, PhysXCollider);
     function PhysXDynamicCollider(physXPhysics, position, rotation) {
         var _this;
-        _this = PhysXCollider.call(this, physXPhysics) || this;
+        _this = PhysXCollider.call(this, physXPhysics) || this, /**
+   * Whether actor is currently kinematic.
+   * PhysX 拒绝在 kinematic actor 上启用 CCD（会打印警告并忽略），
+   * 所以 setCollisionDetectionMode 在 kinematic 状态下只缓存目标值，
+   * 等切回 dynamic 时再真正写到 PhysX。
+   */ _this._isKinematic = false, /**
+   * Cached collision detection mode. Always reflects user's intent.
+   * 实际 PhysX CCD flag 可能跟这个不一致（kinematic 时强制 Discrete）。
+   */ _this._collisionDetectionMode = 0;
         var transform = _this._transform(position, rotation);
         _this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);
         return _this;
@@ -662,7 +677,7 @@ PhysXCollider._tempTransform = {
     };
     /**
    * {@inheritDoc IDynamicCollider.setSleepThreshold }
-   * @default 1e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed
+   * @default 5e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed
    */ _proto.setSleepThreshold = function setSleepThreshold(value) {
         this._pxActor.setSleepThreshold(value);
     };
@@ -673,7 +688,45 @@ PhysXCollider._tempTransform = {
     };
     /**
    * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
+   *
+   * PhysX 在 kinematic actor 上调用 setRigidBodyFlag(eENABLE_CCD, true) 会触发警告:
+   *   "kinematic bodies with CCD enabled are not supported! CCD will be ignored"
+   * 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），
+   * 但每次 setIsKinematic 切换都会让这个 warning 重复打印，污染日志，
+   * 同时让 actor 在 dynamic 状态下 CCD flag 状态不确定。
+   *
+   * 解决: 只在 dynamic 状态时立即 apply CCD flags。kinematic 时仅缓存到
+   * `_collisionDetectionMode`，等切回 dynamic 时由 setIsKinematic 重新 apply。
    */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
+        this._collisionDetectionMode = value;
+        if (!this._isKinematic) {
+            this._applyCollisionDetectionFlags(value);
+        }
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setUseGravity }
+   */ _proto.setUseGravity = function setUseGravity(value) {
+        this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.setIsKinematic }
+   *
+   * 切换 kinematic 状态时同步处理 CCD flag：
+   *   - 切到 kinematic 前先关 CCD（避免 PhysX 警告 + 让状态显式）
+   *   - 切回 dynamic 后恢复用户期望的 CCD mode（来自 `_collisionDetectionMode` 缓存）
+   */ _proto.setIsKinematic = function setIsKinematic(value) {
+        if (this._isKinematic === value) return;
+        var physX = this._physXPhysics._physX;
+        if (value) {
+            this._applyCollisionDetectionFlags(0);
+            this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eKINEMATIC, true);
+        } else {
+            this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eKINEMATIC, false);
+            this._applyCollisionDetectionFlags(this._collisionDetectionMode);
+        }
+        this._isKinematic = value;
+    };
+    _proto._applyCollisionDetectionFlags = function _applyCollisionDetectionFlags(value) {
         var physX = this._physXPhysics._physX;
         switch(value){
             case 1:
@@ -699,27 +752,20 @@ PhysXCollider._tempTransform = {
         }
     };
     /**
-   * {@inheritDoc IDynamicCollider.setUseGravity }
-   */ _proto.setUseGravity = function setUseGravity(value) {
-        this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);
-    };
-    /**
-   * {@inheritDoc IDynamicCollider.setIsKinematic }
-   */ _proto.setIsKinematic = function setIsKinematic(value) {
-        if (value) {
-            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
-        } else {
-            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
-        }
-    };
-    /**
    * {@inheritDoc IDynamicCollider.setConstraints }
    */ _proto.setConstraints = function setConstraints(flags) {
         this._pxActor.setRigidDynamicLockFlags(flags);
     };
     /**
    * {@inheritDoc IDynamicCollider.addForce }
+   *
+   * PhysX 在 kinematic actor 上调 addForce 是 no-op（doc: "kinematic bodies don't
+   * respond to forces"）。提前 return 避免无意义的 wasm boundary cross。
+   *
+   * Sleeping actor 不需要显式 wakeUp — wasm binding 调用 `addForce(force, eFORCE,
+   * autowake=true)`，PhysX 自动唤醒（已通过 `applyForce on sleeping actor` 测试验证）。
    */ _proto.addForce = function addForce(force) {
+        if (this._isKinematic) return;
         this._pxActor.addForce(force);
     };
     /**
@@ -729,23 +775,33 @@ PhysXCollider._tempTransform = {
     };
     /**
    * {@inheritDoc IDynamicCollider.addTorque }
+   *
+   * 同 addForce — kinematic 提前 return，sleeping 由 PhysX autowake 自动处理。
    */ _proto.addTorque = function addTorque(torque) {
+        if (this._isKinematic) return;
         this._pxActor.addTorque(torque);
     };
     /**
    * {@inheritDoc IDynamicCollider.move }
+   *
+   * PhysX 要求 setKinematicTarget 的 rotation 是 normalized quaternion，否则会触发
+   * 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。
    */ _proto.move = function move(positionOrRotation, rotation) {
+        var tempTranslation = PhysXDynamicCollider._tempTranslation;
+        var tempRotation = PhysXDynamicCollider._tempRotation;
         if (rotation) {
-            this._pxActor.setKinematicTarget(positionOrRotation, rotation);
+            tempRotation.copyFrom(rotation).normalize();
+            this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);
             return;
         }
-        var tempTranslation = PhysXDynamicCollider._tempTranslation;
-        var tempRotation = PhysXDynamicCollider._tempRotation;
-        this.getWorldTransform(tempTranslation, tempRotation);
         if (_instanceof(positionOrRotation, Vector3)) {
+            this.getWorldTransform(tempTranslation, tempRotation);
+            // current rotation read from PhysX is already normalized; no extra work needed
             this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);
         } else {
-            this._pxActor.setKinematicTarget(tempTranslation, positionOrRotation);
+            this.getWorldTransform(tempTranslation, tempRotation);
+            tempRotation.copyFrom(positionOrRotation).normalize();
+            this._pxActor.setKinematicTarget(tempTranslation, tempRotation);
         }
     };
     /**
@@ -848,6 +904,7 @@ function _create_class(Constructor, protoProps, staticProps) {
         this._activeTriggers = new DisorderedArray();
         this._contactEvents = [];
         this._contactEventCount = 0;
+        this._contactEventEnabled = true;
         this._triggerEvents = [];
         this._physicsEvents = {
             contactEvents: [],
@@ -970,6 +1027,17 @@ function _create_class(Constructor, protoProps, staticProps) {
         this._fetchResults();
     };
     /**
+   * {@inheritDoc IPhysicsScene.setContactEventEnabled }
+   */ _proto.setContactEventEnabled = function setContactEventEnabled(enabled) {
+        if (this._contactEventEnabled === enabled) {
+            return;
+        }
+        this._contactEventEnabled = enabled;
+        if (!enabled) {
+            this._contactEventCount = 0;
+        }
+    };
+    /**
    * {@inheritDoc IPhysicsScene.updateEvents }
    */ _proto.updateEvents = function updateEvents() {
         var physicsEvents = this._physicsEvents;
@@ -1217,6 +1285,7 @@ function _create_class(Constructor, protoProps, staticProps) {
     };
     _proto._bufferContactEvent = function _bufferContactEvent(collision, state) {
         var _this__contactEvents, _index;
+        if (!this._contactEventEnabled) return;
         var index = this._contactEventCount++;
         var event = (_this__contactEvents = this._contactEvents)[_index = index] || (_this__contactEvents[_index] = new ContactEvent());
         event.shape0Id = collision.shape0Id;
@@ -1554,12 +1623,6 @@ function _assert_this_initialized(self) {
     return self;
 }
 
-function _type_of(obj) {
-    "@swc/helpers - typeof";
-
-    return obj && typeof Symbol !== "undefined" && obj.constructor === Symbol ? "symbol" : typeof obj;
-}
-
 function _possible_constructor_return(self, call) {
     if (call && (_type_of(call) === "object" || typeof call === "function")) return call;
 
@@ -1574,7 +1637,8 @@ function _possible_constructor_return(self, call) {
         var _this;
         _this = PhysXColliderShape.call(this, physXPhysics) || this, _this._pxMesh = null;
         _this._isConvex = isConvex;
-        if (!_this._cookMesh(positions, indices, cookingFlags)) {
+        var cooked = _this._cookMesh(positions, indices, isConvex, cookingFlags);
+        if (!cooked) {
             return _possible_constructor_return(_this);
         }
         var physX = physXPhysics._physX, physics = physXPhysics._pxPhysics;
@@ -1582,9 +1646,11 @@ function _possible_constructor_return(self, call) {
         var shapeFlags = ShapeFlag.SCENE_QUERY_SHAPE | ShapeFlag.SIMULATION_SHAPE;
         var meshFlag = isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;
         var createShapeFn = isConvex ? physX.createConvexMeshShape : physX.createTriMeshShape;
-        _this._pxShape = createShapeFn(_this._pxMesh, scaleX, scaleY, scaleZ, meshFlag, shapeFlags, material._pxMaterial, physics);
+        _this._pxShape = createShapeFn(cooked.mesh, scaleX, scaleY, scaleZ, meshFlag, shapeFlags, material._pxMaterial, physics);
         _this._id = uniqueID;
         _this._pxMaterial = material._pxMaterial;
+        _this._pxMesh = cooked.mesh;
+        _this._pxGeometry = cooked.geometry;
         _this._pxShape.setUUID(uniqueID);
         _this._setLocalPose();
         return _this;
@@ -1593,16 +1659,25 @@ function _possible_constructor_return(self, call) {
     /**
    * {@inheritDoc IMeshColliderShape.setMeshData }
    */ _proto.setMeshData = function setMeshData(positions, indices, isConvex, cookingFlags) {
-        var _this__pxMesh, _this__pxGeometry;
-        (_this__pxMesh = this._pxMesh) == null ? void 0 : _this__pxMesh.release();
-        (_this__pxGeometry = this._pxGeometry) == null ? void 0 : _this__pxGeometry.delete();
-        this._pxMesh = null;
-        this._pxGeometry = null;
-        this._isConvex = isConvex;
-        if (!this._cookMesh(positions, indices, cookingFlags)) {
+        var cooked = this._cookMesh(positions, indices, isConvex, cookingFlags);
+        if (!cooked) {
             return false;
         }
-        this._pxShape.setGeometry(this._pxGeometry);
+        var oldMesh = this._pxMesh;
+        var oldGeometry = this._pxGeometry;
+        try {
+            this._pxShape.setGeometry(cooked.geometry);
+        } catch (error) {
+            var _cooked_mesh, _cooked_geometry;
+            (_cooked_mesh = cooked.mesh) == null ? void 0 : _cooked_mesh.release();
+            (_cooked_geometry = cooked.geometry) == null ? void 0 : _cooked_geometry.delete();
+            throw error;
+        }
+        this._pxMesh = cooked.mesh;
+        this._pxGeometry = cooked.geometry;
+        this._isConvex = isConvex;
+        oldMesh == null ? void 0 : oldMesh.release();
+        oldGeometry == null ? void 0 : oldGeometry.delete();
         return true;
     };
     /**
@@ -1618,7 +1693,7 @@ function _possible_constructor_return(self, call) {
         (_this__pxMesh = this._pxMesh) == null ? void 0 : _this__pxMesh.release();
         PhysXColliderShape.prototype.destroy.call(this);
     };
-    _proto._cookMesh = function _cookMesh(positions, indices, cookingFlags) {
+    _proto._cookMesh = function _cookMesh(positions, indices, isConvex, cookingFlags) {
         var _this__physXPhysics = this._physXPhysics, physX = _this__physXPhysics._physX, physics = _this__physXPhysics._pxPhysics, cooking = _this__physXPhysics._pxCooking, cookingParams = _this__physXPhysics._pxCookingParams;
         // Apply per-shape cooking flags
         var preprocessFlags = 0;
@@ -1631,33 +1706,37 @@ function _possible_constructor_return(self, call) {
         physX.setCookingMeshPreprocessParams(cookingParams, preprocessFlags);
         cooking.setParams(cookingParams);
         var verticesPtr = this._allocatePositions(positions);
-        if (this._isConvex) {
-            this._pxMesh = cooking.createConvexMesh(verticesPtr, positions.length, physics);
+        var pxMesh = null;
+        if (isConvex) {
+            pxMesh = cooking.createConvexMesh(verticesPtr, positions.length, physics);
             physX._free(verticesPtr);
-            if (!this._pxMesh) {
+            if (!pxMesh) {
                 this._logConvexCookingError(physX);
-                return false;
+                return null;
             }
         } else {
             if (!indices) {
                 physX._free(verticesPtr);
                 console.error("PhysXMeshColliderShape: Triangle mesh requires indices.");
-                return false;
+                return null;
             }
             var isU32 = _instanceof(indices, Uint32Array);
             var indicesPtr = this._allocateIndices(indices, isU32);
-            this._pxMesh = cooking.createTriMesh(verticesPtr, positions.length, indicesPtr, indices.length / 3, !isU32, physics);
+            pxMesh = cooking.createTriMesh(verticesPtr, positions.length, indicesPtr, indices.length / 3, !isU32, physics);
             physX._free(verticesPtr);
             physX._free(indicesPtr);
-            if (!this._pxMesh) {
+            if (!pxMesh) {
                 this._logTriMeshCookingError(physX);
-                return false;
+                return null;
             }
         }
         var _this__worldScale = this._worldScale, scaleX = _this__worldScale.x, scaleY = _this__worldScale.y, scaleZ = _this__worldScale.z;
-        var meshFlag = this._isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;
-        this._pxGeometry = this._isConvex ? physX.createConvexMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag) : physX.createTriMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag);
-        return true;
+        var meshFlag = isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;
+        var geometry = isConvex ? physX.createConvexMeshGeometry(pxMesh, scaleX, scaleY, scaleZ, meshFlag) : physX.createTriMeshGeometry(pxMesh, scaleX, scaleY, scaleZ, meshFlag);
+        return {
+            mesh: pxMesh,
+            geometry: geometry
+        };
     };
     _proto._logConvexCookingError = function _logConvexCookingError(physX) {
         switch(physX.getLastConvexCookingResult()){
@@ -1707,9 +1786,15 @@ function _possible_constructor_return(self, call) {
         var _this__worldScale = this._worldScale, scaleX = _this__worldScale.x, scaleY = _this__worldScale.y, scaleZ = _this__worldScale.z;
         var meshFlag = this._isConvex ? PhysXMeshColliderShape._tightBoundsFlag : 0;
         var newGeometry = this._isConvex ? physX.createConvexMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag) : physX.createTriMeshGeometry(this._pxMesh, scaleX, scaleY, scaleZ, meshFlag);
-        this._pxGeometry.delete();
+        var oldGeometry = this._pxGeometry;
+        try {
+            this._pxShape.setGeometry(newGeometry);
+        } catch (error) {
+            newGeometry == null ? void 0 : newGeometry.delete();
+            throw error;
+        }
         this._pxGeometry = newGeometry;
-        this._pxShape.setGeometry(this._pxGeometry);
+        oldGeometry == null ? void 0 : oldGeometry.delete();
     };
     return PhysXMeshColliderShape;
 }(PhysXColliderShape);
@@ -1768,14 +1853,27 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
 /**
  * PhysX object creation.
  */ var PhysXPhysics = /*#__PURE__*/ function() {
-    function PhysXPhysics(runtimeMode, runtimeUrls) {
-        if (runtimeMode === void 0) runtimeMode = PhysXRuntimeMode.Auto;
+    function PhysXPhysics(runtimeModeOrOptions, runtimeUrls, options) {
+        if (runtimeModeOrOptions === void 0) runtimeModeOrOptions = PhysXRuntimeMode.Auto;
+        var _this__tolerancesScaleOptions, _this__tolerancesScaleOptions1;
         this._initializeState = 0;
+        this._defaultContactOffset = 0.02;
+        this._defaultSleepThreshold = 5e-3;
+        var isOptionsObject = (typeof runtimeModeOrOptions === "undefined" ? "undefined" : _type_of(runtimeModeOrOptions)) === "object";
+        var runtimeMode = isOptionsObject ? PhysXRuntimeMode.Auto : runtimeModeOrOptions != null ? runtimeModeOrOptions : PhysXRuntimeMode.Auto;
+        var resolvedOptions = isOptionsObject ? runtimeModeOrOptions : options;
         this._runTimeMode = runtimeMode;
         var _runtimeUrls_wasmSIMDModeUrl;
-        this._wasmSIMDModeUrl = (_runtimeUrls_wasmSIMDModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmSIMDModeUrl) != null ? _runtimeUrls_wasmSIMDModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1781696156399/suyi/physx.release.simd.js";
+        this._wasmSIMDModeUrl = (_runtimeUrls_wasmSIMDModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmSIMDModeUrl) != null ? _runtimeUrls_wasmSIMDModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1786450043249/suyi/physx.release.simd.js";
         var _runtimeUrls_wasmModeUrl;
-        this._wasmModeUrl = (_runtimeUrls_wasmModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmModeUrl) != null ? _runtimeUrls_wasmModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1781696156399/suyi/physx.release.js";
+        this._wasmModeUrl = (_runtimeUrls_wasmModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmModeUrl) != null ? _runtimeUrls_wasmModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1786450043249/suyi/physx.release.js";
+        this._tolerancesScaleOptions = resolvedOptions == null ? void 0 : resolvedOptions.tolerancesScale;
+        var _this__tolerancesScaleOptions_length;
+        var length = (_this__tolerancesScaleOptions_length = (_this__tolerancesScaleOptions = this._tolerancesScaleOptions) == null ? void 0 : _this__tolerancesScaleOptions.length) != null ? _this__tolerancesScaleOptions_length : 1;
+        var _this__tolerancesScaleOptions_speed;
+        var speed = (_this__tolerancesScaleOptions_speed = (_this__tolerancesScaleOptions1 = this._tolerancesScaleOptions) == null ? void 0 : _this__tolerancesScaleOptions1.speed) != null ? _this__tolerancesScaleOptions_speed : 10;
+        this._validateTolerancesScale(length, speed);
+        this._updateScaledDefaults(length, speed);
     }
     var _proto = PhysXPhysics.prototype;
     /**
@@ -1845,6 +1943,16 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
         return scene;
     };
     /**
+   * {@inheritDoc IPhysics.getDefaultContactOffset }
+   */ _proto.getDefaultContactOffset = function getDefaultContactOffset() {
+        return this._defaultContactOffset;
+    };
+    /**
+   * {@inheritDoc IPhysics.getDefaultSleepThreshold }
+   */ _proto.getDefaultSleepThreshold = function getDefaultSleepThreshold() {
+        return this._defaultSleepThreshold;
+    };
+    /**
    * {@inheritDoc IPhysics.createStaticCollider }
    */ _proto.createStaticCollider = function createStaticCollider(position, rotation) {
         return new PhysXStaticCollider(this, position, rotation);
@@ -1921,6 +2029,7 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
         var allocator = new physX.PxDefaultAllocator();
         var pxFoundation = physX.PxCreateFoundation(version, allocator, defaultErrorCallback);
         var tolerancesScale = new physX.PxTolerancesScale();
+        this._applyTolerancesScale(tolerancesScale);
         var pxPhysics = physX.PxCreatePhysics(version, pxFoundation, tolerancesScale, false, null);
         physX.PxInitExtensions(pxPhysics, null);
         // Initialize cooking for mesh colliders
@@ -1941,11 +2050,35 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
         this._allocator = allocator;
         this._tolerancesScale = tolerancesScale;
     };
+    _proto._applyTolerancesScale = function _applyTolerancesScale(tolerancesScale) {
+        var _this__tolerancesScaleOptions, _this__tolerancesScaleOptions1;
+        var _this__tolerancesScaleOptions_length;
+        var length = (_this__tolerancesScaleOptions_length = (_this__tolerancesScaleOptions = this._tolerancesScaleOptions) == null ? void 0 : _this__tolerancesScaleOptions.length) != null ? _this__tolerancesScaleOptions_length : tolerancesScale.length;
+        var _this__tolerancesScaleOptions_speed;
+        var speed = (_this__tolerancesScaleOptions_speed = (_this__tolerancesScaleOptions1 = this._tolerancesScaleOptions) == null ? void 0 : _this__tolerancesScaleOptions1.speed) != null ? _this__tolerancesScaleOptions_speed : tolerancesScale.speed;
+        this._validateTolerancesScale(length, speed);
+        tolerancesScale.length = length;
+        tolerancesScale.speed = speed;
+        this._updateScaledDefaults(length, speed);
+    };
+    _proto._assertPositiveFinite = function _assertPositiveFinite(value, name) {
+        if (!Number.isFinite(value) || value <= 0) {
+            throw new Error("PhysXPhysics " + name + " must be a positive finite number.");
+        }
+    };
+    _proto._validateTolerancesScale = function _validateTolerancesScale(length, speed) {
+        this._assertPositiveFinite(length, "tolerancesScale.length");
+        this._assertPositiveFinite(speed, "tolerancesScale.speed");
+    };
+    _proto._updateScaledDefaults = function _updateScaledDefaults(length, speed) {
+        this._defaultContactOffset = 0.02 * length;
+        this._defaultSleepThreshold = 5e-5 * speed * speed;
+    };
     return PhysXPhysics;
 }();
 
 //@ts-ignore
-var version = "0.0.0-experimental-2.0-skill.0";
+var version = "0.0.0-experimental-2.0-migrate.7";
 console.log("Galacean Engine Physics PhysX Version: " + version);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };