@galacean/engine-physics-physx 0.0.0-experimental-backup.0 → 0.0.0-experimental-2.0-game

package/types/PhysXPhysicsScene.d.ts

@@ -0,0 +1,112 @@
+import { Ray, Vector3, Quaternion } from "@galacean/engine";
+import { IPhysicsScene, IPhysicsEvents, ITriggerEvent } from "@galacean/engine-design";
+import { PhysXCharacterController } from "./PhysXCharacterController";
+import { PhysXCollider } from "./PhysXCollider";
+import { PhysXPhysics } from "./PhysXPhysics";
+import { PhysXPhysicsManager } from "./PhysXPhysicsManager";
+/**
+ * A manager is a collection of colliders and constraints which can interact.
+ */
+export declare class PhysXPhysicsScene implements IPhysicsScene {
+    private static _tempPosition;
+    private static _tempQuaternion;
+    private static _tempNormal;
+    private static _tempPose;
+    private static _tempShapeIDs;
+    private _boxGeometry;
+    private _sphereGeometry;
+    private _capsuleGeometry;
+    private _physXPhysics;
+    private _physXManager;
+    private _pxRaycastHit;
+    private _pxFilterData;
+    private _pxScene;
+    private _physXSimulationCallbackInstance;
+    private _activeTriggers;
+    private _contactEvents;
+    private _contactEventCount;
+    private _triggerEvents;
+    private _physicsEvents;
+    private _triggerEventPool;
+    constructor(physXPhysics: PhysXPhysics, physicsManager: PhysXPhysicsManager);
+    /**
+     * {@inheritDoc IPhysicsScene.setGravity }
+     */
+    setGravity(value: Vector3): void;
+    /**
+     * {@inheritDoc IPhysicsScene.addCollider }
+     */
+    addCollider(collider: PhysXCollider): void;
+    /**
+     * {@inheritDoc IPhysicsScene.removeCollider }
+     */
+    removeCollider(collider: PhysXCollider): void;
+    /**
+     * {@inheritDoc IPhysicsScene.addCharacterController }
+     */
+    addCharacterController(characterController: PhysXCharacterController): void;
+    /**
+     * {@inheritDoc IPhysicsScene.removeCharacterController }
+     */
+    removeCharacterController(characterController: PhysXCharacterController): void;
+    /**
+     * {@inheritDoc IPhysicsScene.update }
+     */
+    update(elapsedTime: number): void;
+    /**
+     * {@inheritDoc IPhysicsScene.updateEvents }
+     */
+    updateEvents(): IPhysicsEvents;
+    /**
+     * {@inheritDoc IPhysicsScene.raycast }
+     */
+    raycast(ray: Ray, distance: number, onRaycast: (obj: number) => boolean, hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
+    /**
+     * {@inheritDoc IPhysicsScene.boxCast }
+     */
+    boxCast(center: Vector3, orientation: Quaternion, halfExtents: Vector3, direction: Vector3, distance: number, onSweep: (obj: number) => boolean, outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
+    /**
+     * {@inheritDoc IPhysicsScene.sphereCast }
+     */
+    sphereCast(center: Vector3, radius: number, direction: Vector3, distance: number, onSweep: (obj: number) => boolean, outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
+    /**
+     * {@inheritDoc IPhysicsScene.capsuleCast }
+     */
+    capsuleCast(center: Vector3, radius: number, height: number, orientation: Quaternion, direction: Vector3, distance: number, onSweep: (obj: number) => boolean, outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
+    /**
+     * {@inheritDoc IPhysicsScene.overlapBoxAll }
+     */
+    overlapBoxAll(center: Vector3, orientation: Quaternion, halfExtents: Vector3, onOverlap: (obj: number) => boolean): number[];
+    /**
+     * {@inheritDoc IPhysicsScene.overlapSphereAll }
+     */
+    overlapSphereAll(center: Vector3, radius: number, onOverlap: (obj: number) => boolean): number[];
+    /**
+     * {@inheritDoc IPhysicsScene.overlapCapsuleAll }
+     */
+    overlapCapsuleAll(center: Vector3, radius: number, height: number, orientation: Quaternion, onOverlap: (obj: number) => boolean): number[];
+    /**
+     * {@inheritDoc IPhysicsScene.gc }
+     */
+    gc(): void;
+    /**
+     * {@inheritDoc IPhysicsScene.destroy }
+     */
+    destroy(): void;
+    private _sweepSingle;
+    private _overlapMultiple;
+    private _simulate;
+    private _fetchResults;
+    private _getTrigger;
+    private _bufferContactEvent;
+}
+/**
+ * Trigger event to store interactive object ids and state.
+ */
+export declare class TriggerEvent implements ITriggerEvent {
+    state: number;
+    dispatchState: number;
+    index1: number;
+    index2: number;
+    constructor(index1: number, index2: number);
+}

package/types/PhysXStaticCollider.d.ts

@@ -0,0 +1,11 @@
+import { IStaticCollider } from "@galacean/engine-design";
+import { Quaternion, Vector3 } from "@galacean/engine";
+import { PhysXCollider } from "./PhysXCollider";
+import { PhysXPhysics } from "./PhysXPhysics";
+/**
+ * A static collider component that will not move.
+ * @remarks Mostly used for object which always stays at the same place and never moves around.
+ */
+export declare class PhysXStaticCollider extends PhysXCollider implements IStaticCollider {
+    constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion);
+}

package/types/enum/PhysXRuntimeMode.d.ts

@@ -0,0 +1,11 @@
+/**
+ * PhysX runtime mode.
+ */
+export declare enum PhysXRuntimeMode {
+    /** Use WebAssembly SIMD mode first, then WebAssembly as fallback. */
+    Auto = 0,
+    /** WebAssembly mode. */
+    WebAssembly = 1,
+    /** WebAssembly SIMD mode. */
+    WebAssemblySIMD = 2
+}

package/types/index.d.ts

@@ -0,0 +1,3 @@
+export { PhysXPhysics } from "./PhysXPhysics";
+export { PhysXRuntimeMode } from "./enum/PhysXRuntimeMode";
+export declare const version = "__buildVersion";

package/types/joint/PhysXFixedJoint.d.ts

@@ -0,0 +1,10 @@
+import { IFixedJoint } from "@galacean/engine-design";
+import { PhysXCollider } from "../PhysXCollider";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXJoint } from "./PhysXJoint";
+/**
+ * A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.
+ */
+export declare class PhysXFixedJoint extends PhysXJoint implements IFixedJoint {
+    constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider);
+}

package/types/joint/PhysXHingeJoint.d.ts

@@ -0,0 +1,57 @@
+import { IHingeJoint } from "@galacean/engine-design";
+import { Quaternion, Vector3 } from "@galacean/engine";
+import { PhysXCollider } from "../PhysXCollider";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXJoint } from "./PhysXJoint";
+/**
+ * A joint which behaves in a similar way to a hinge or axle.
+ */
+export declare class PhysXHingeJoint extends PhysXJoint implements IHingeJoint {
+    protected static _xAxis: Vector3;
+    private _axis;
+    private _axisRotationQuaternion;
+    private _connectedAxisRotationQuaternion;
+    constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider);
+    setRotation(value: Quaternion): void;
+    /**
+     * {@inheritDoc IHingeJoint.setAxis }
+     */
+    setAxis(value: Vector3): void;
+    setAnchor(value: Vector3): void;
+    /**
+     * {@inheritDoc IJoint.setConnectedAnchor }
+     */
+    setConnectedAnchor(value: Vector3): void;
+    /**
+     * {@inheritDoc IHingeJoint.getAngle }
+     */
+    getAngle(): number;
+    /**
+     * {@inheritDoc IHingeJoint.getVelocity }
+     */
+    getVelocity(): Readonly<number>;
+    /**
+     * {@inheritDoc IHingeJoint.setHardLimitCone }
+     */
+    setHardLimit(lowerLimit: number, upperLimit: number, contactDist: number): void;
+    /**
+     * {@inheritDoc IHingeJoint.setHardLimitCone }
+     */
+    setSoftLimit(lowerLimit: number, upperLimit: number, stiffness: number, damping: number): void;
+    /**
+     * {@inheritDoc IHingeJoint.setDriveVelocity }
+     */
+    setDriveVelocity(velocity: number, autowake?: boolean): void;
+    /**
+     * {@inheritDoc IHingeJoint.setDriveForceLimit }
+     */
+    setDriveForceLimit(limit: number): void;
+    /**
+     * {@inheritDoc IHingeJoint.setDriveGearRatio }
+     */
+    setDriveGearRatio(ratio: number): void;
+    /**
+     * {@inheritDoc IHingeJoint.setHingeJointFlag }
+     */
+    setHingeJointFlag(flag: number, value: boolean): void;
+}

package/types/joint/PhysXJoint.d.ts

@@ -0,0 +1,68 @@
+import { IJoint } from "@galacean/engine-design";
+import { Quaternion, Vector3 } from "@galacean/engine";
+import { PhysXCollider } from "../PhysXCollider";
+import { PhysXPhysics } from "../PhysXPhysics";
+/**
+ * a base interface providing common functionality for PhysX joints
+ */
+export declare class PhysXJoint implements IJoint {
+    protected static _defaultVec: Vector3;
+    protected static _defaultQuat: Quaternion;
+    protected _pxJoint: any;
+    protected _anchor: Vector3;
+    protected _connectedAnchor: Vector3;
+    protected _rotation: Quaternion;
+    protected _collider: PhysXCollider;
+    private _breakForce;
+    private _breakTorque;
+    protected _physXPhysics: PhysXPhysics;
+    constructor(physXPhysics: PhysXPhysics);
+    /**
+     * {@inheritDoc IJoint.setConnectedCollider }
+     */
+    setConnectedCollider(value: PhysXCollider): void;
+    /**
+     * {@inheritDoc IJoint.setConnectedAnchor }
+     */
+    setAnchor(value: Vector3): void;
+    /**
+     * {@inheritDoc IJoint.setConnectedAnchor }
+     */
+    setConnectedAnchor(value: Vector3): void;
+    setRotation(value: Quaternion): void;
+    /**
+     * {@inheritDoc IJoint.setMassScale }
+     */
+    setMassScale(value: number): void;
+    /**
+     * {@inheritDoc IJoint.setConnectedMassScale }
+     */
+    setConnectedMassScale(value: number): void;
+    /**
+     * {@inheritDoc IJoint.setInertiaScale }
+     */
+    setInertiaScale(value: number): void;
+    /**
+     * {@inheritDoc IJoint.setConnectedInertiaScale }
+     */
+    setConnectedInertiaScale(value: number): void;
+    /**
+     * {@inheritDoc IJoint.setBreakForce }
+     */
+    setBreakForce(value: number): void;
+    /**
+     * {@inheritDoc IJoint.setBreakTorque }
+     */
+    setBreakTorque(value: number): void;
+    /**
+     * {@inheritDoc IJoint.destroy }
+     */
+    destroy(): void;
+    /**
+     * Set the joint local pose for an actor.
+     * @param actor 0 for the first actor, 1 for the second actor.
+     * @param position the local position for the actor this joint
+     * @param rotation the local rotation for the actor this joint
+     */
+    protected _setLocalPose(actor: number, position: Vector3, rotation: Quaternion): void;
+}

package/types/joint/PhysXSpringJoint.d.ts

@@ -0,0 +1,30 @@
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXJoint } from "./PhysXJoint";
+import { ISpringJoint } from "@galacean/engine-design";
+import { PhysXCollider } from "../PhysXCollider";
+/**
+ * a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
+ */
+export declare class PhysXSpringJoint extends PhysXJoint implements ISpringJoint {
+    constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider);
+    /**
+     * {@inheritDoc ISpringJoint.setMinDistance }
+     */
+    setMinDistance(distance: number): void;
+    /**
+     * {@inheritDoc ISpringJoint.setMaxDistance }
+     */
+    setMaxDistance(distance: number): void;
+    /**
+     * {@inheritDoc ISpringJoint.setTolerance }
+     */
+    setTolerance(tolerance: number): void;
+    /**
+     * {@inheritDoc ISpringJoint.setStiffness }
+     */
+    setStiffness(stiffness: number): void;
+    /**
+     * {@inheritDoc ISpringJoint.setDamping }
+     */
+    setDamping(damping: number): void;
+}

package/types/shape/PhysXBoxColliderShape.d.ts

@@ -0,0 +1,25 @@
+import { Vector3 } from "@galacean/engine";
+import { IBoxColliderShape } from "@galacean/engine-design";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+import { PhysXColliderShape } from "./PhysXColliderShape";
+/**
+ * Box collider shape in PhysX.
+ */
+export declare class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxColliderShape {
+    private static _tempHalfExtents;
+    constructor(physXPhysics: PhysXPhysics, uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial);
+    /**
+     * {@inheritDoc IBoxColliderShape.setSize }
+     */
+    setSize(value: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.setRotation }
+     */
+    setRotation(value: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.setWorldScale }
+     */
+    setWorldScale(scale: Vector3): void;
+    private _updateController;
+}

package/types/shape/PhysXCapsuleColliderShape.d.ts

@@ -0,0 +1,42 @@
+import { ICapsuleColliderShape } from "@galacean/engine-design";
+import { Vector3 } from "@galacean/engine";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+import { PhysXColliderShape } from "./PhysXColliderShape";
+/**
+ * Capsule collider shape in PhysX.
+ */
+export declare class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {
+    constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, height: number, material: PhysXPhysicsMaterial);
+    /**
+     * {@inheritDoc ICapsuleColliderShape.setRadius }
+     */
+    setRadius(value: number): void;
+    /**
+     * {@inheritDoc ICapsuleColliderShape.setHeight }
+     */
+    setHeight(value: number): void;
+    /**
+     * {@inheritDoc ICapsuleColliderShape.setRotation }
+     */
+    setRotation(value: Vector3): void;
+    /**
+     * {@inheritDoc ICapsuleColliderShape.setUpAxis }
+     */
+    setUpAxis(upAxis: ColliderShapeUpAxis): void;
+    /**
+     * {@inheritDoc IColliderShape.setWorldScale }
+     */
+    setWorldScale(scale: Vector3): void;
+}
+/**
+ * The up axis of the collider shape.
+ */
+export declare enum ColliderShapeUpAxis {
+    /** Up axis is X. */
+    X = 0,
+    /** Up axis is Y. */
+    Y = 1,
+    /** Up axis is Z. */
+    Z = 2
+}

package/types/shape/PhysXColliderShape.d.ts

@@ -0,0 +1,68 @@
+import { Quaternion, Vector3, Vector4 } from "@galacean/engine";
+import { IColliderShape } from "@galacean/engine-design";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+/**
+ * Flags which affect the behavior of Shapes.
+ */
+export declare enum ShapeFlag {
+    /** The shape will partake in collision in the physical simulation. */
+    SIMULATION_SHAPE = 1,
+    /** The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). */
+    SCENE_QUERY_SHAPE = 2,
+    /** The shape is a trigger which can send reports whenever other shapes enter/leave its volume. */
+    TRIGGER_SHAPE = 4
+}
+/**
+ * Abstract class for collider shapes.
+ */
+export declare abstract class PhysXColliderShape implements IColliderShape {
+    static readonly halfSqrt: number;
+    static transform: {
+        translation: Vector3;
+        rotation: any;
+    };
+    protected static _tempVector4: Vector4;
+    protected _physXPhysics: PhysXPhysics;
+    protected _pxGeometry: any;
+    protected _axis: Quaternion;
+    protected _physXRotation: Quaternion;
+    private _shapeFlags;
+    constructor(physXPhysics: PhysXPhysics);
+    /**
+     * {@inheritDoc IColliderShape.setRotation }
+     */
+    setRotation(value: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.setPosition }
+     */
+    setPosition(value: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.setWorldScale }
+     */
+    setWorldScale(scale: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.setContactOffset }
+     * @default 0.02f * PxTolerancesScale::length
+     */
+    setContactOffset(offset: number): void;
+    /**
+     * {@inheritDoc IColliderShape.setMaterial }
+     */
+    setMaterial(value: PhysXPhysicsMaterial): void;
+    /**
+     * {@inheritDoc IColliderShape.setIsTrigger }
+     */
+    setIsTrigger(value: boolean): void;
+    /**
+     * {@inheritDoc IColliderShape.pointDistance }
+     */
+    pointDistance(point: Vector3): Vector4;
+    /**
+     * {@inheritDoc IColliderShape.destroy }
+     */
+    destroy(): void;
+    protected _setLocalPose(): void;
+    protected _initialize(material: PhysXPhysicsMaterial, id: number): void;
+    private _modifyFlag;
+}

package/types/shape/PhysXMeshColliderShape.d.ts

@@ -0,0 +1,32 @@
+import { Vector3 } from "@galacean/engine";
+import { IMeshColliderShape } from "@galacean/engine-design";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+import { PhysXColliderShape } from "./PhysXColliderShape";
+/**
+ * Mesh collider shape in PhysX.
+ */
+export declare class PhysXMeshColliderShape extends PhysXColliderShape implements IMeshColliderShape {
+    private static _tightBoundsFlag;
+    private _pxMesh;
+    private _isConvex;
+    constructor(physXPhysics: PhysXPhysics, uniqueID: number, positions: Vector3[], indices: Uint8Array | Uint16Array | Uint32Array | null, isConvex: boolean, material: PhysXPhysicsMaterial, cookingFlags: number);
+    /**
+     * {@inheritDoc IMeshColliderShape.setMeshData }
+     */
+    setMeshData(positions: Vector3[], indices: Uint8Array | Uint16Array | Uint32Array | null, isConvex: boolean, cookingFlags: number): boolean;
+    /**
+     * {@inheritDoc IColliderShape.setWorldScale }
+     */
+    setWorldScale(scale: Vector3): void;
+    /**
+     * {@inheritDoc IColliderShape.destroy }
+     */
+    destroy(): void;
+    private _cookMesh;
+    private _logConvexCookingError;
+    private _logTriMeshCookingError;
+    private _allocatePositions;
+    private _allocateIndices;
+    private _updateGeometry;
+}

package/types/shape/PhysXPlaneColliderShape.d.ts

@@ -0,0 +1,10 @@
+import { IPlaneColliderShape } from "@galacean/engine-design";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+import { PhysXColliderShape } from "./PhysXColliderShape";
+/**
+ * Plane collider shape in PhysX.
+ */
+export declare class PhysXPlaneColliderShape extends PhysXColliderShape implements IPlaneColliderShape {
+    constructor(physXPhysics: PhysXPhysics, uniqueID: number, material: PhysXPhysicsMaterial);
+}

package/types/shape/PhysXSphereColliderShape.d.ts

@@ -0,0 +1,21 @@
+import { Vector3 } from "@galacean/engine";
+import { ISphereColliderShape } from "@galacean/engine-design";
+import { PhysXPhysics } from "../PhysXPhysics";
+import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
+import { PhysXColliderShape } from "./PhysXColliderShape";
+/**
+ * Sphere collider shape in PhysX.
+ */
+export declare class PhysXSphereColliderShape extends PhysXColliderShape implements ISphereColliderShape {
+    private _radius;
+    private _maxScale;
+    constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, material: PhysXPhysicsMaterial);
+    /**
+     * {@inheritDoc ISphereColliderShape.setRadius }
+     */
+    setRadius(value: number): void;
+    /**
+     * {@inheritDoc IColliderShape.setWorldScale }
+     */
+    setWorldScale(scale: Vector3): void;
+}