@galacean/engine-physics-physx 0.9.0-beta.80 → 1.0.0-alpha.6

package/dist/main.js

@@ -12,28 +12,6 @@ function _instanceof(left, right) {
   }
 }
 
-/******************************************************************************
-Copyright (c) Microsoft Corporation.
-
-Permission to use, copy, modify, and/or distribute this software for any
-purpose with or without fee is hereby granted.
-
-THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
-REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
-AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
-INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
-LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
-OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
-PERFORMANCE OF THIS SOFTWARE.
-***************************************************************************** */
-
-function __decorate(decorators, target, key, desc) {
-    var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;
-    if (typeof Reflect === "object" && typeof Reflect.decorate === "function") r = Reflect.decorate(decorators, target, key, desc);
-    else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;
-    return c > 3 && r && Object.defineProperty(target, key, r), r;
-}
-
 /**
  * PhysX runtime mode.
  */ exports.PhysXRuntimeMode = void 0;
@@ -74,10 +52,11 @@ function _inherits(subClass, superClass) {
 /**
  * a base interface providing common functionality for PhysX joints
  */ var PhysXJoint = /*#__PURE__*/ function() {
-    function PhysXJoint() {
+    function PhysXJoint(physXPhysics) {
         this._connectedAnchor = new engine.Vector3();
         this._breakForce = Number.MAX_VALUE;
         this._breakTorque = Number.MAX_VALUE;
+        this._physXPhysics = physXPhysics;
     }
     var _proto = PhysXJoint.prototype;
     /**
@@ -142,11 +121,11 @@ PhysXJoint._defaultQuat = new engine.Quaternion();
  * A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.
  */ var PhysXFixedJoint = /*#__PURE__*/ function(PhysXJoint1) {
     _inherits(PhysXFixedJoint, PhysXJoint1);
-    function PhysXFixedJoint(collider) {
+    function PhysXFixedJoint(physXPhysics, collider) {
         var _this;
-        _this = PhysXJoint1.call(this) || this;
+        _this = PhysXJoint1.call(this, physXPhysics) || this;
         _this._collider = collider;
-        _this._pxJoint = exports.PhysXPhysics._pxPhysics.createFixedJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
+        _this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
         return _this;
     }
     return PhysXFixedJoint;
@@ -156,14 +135,14 @@ PhysXJoint._defaultQuat = new engine.Quaternion();
  * A joint which behaves in a similar way to a hinge or axle.
  */ var PhysXHingeJoint = /*#__PURE__*/ function(PhysXJoint1) {
     _inherits(PhysXHingeJoint, PhysXJoint1);
-    function PhysXHingeJoint(collider) {
+    function PhysXHingeJoint(physXPhysics, collider) {
         var _this;
-        _this = PhysXJoint1.call(this) || this;
+        _this = PhysXJoint1.call(this, physXPhysics) || this;
         _this._axisRotationQuaternion = new engine.Quaternion();
         _this._swingOffset = new engine.Vector3();
         _this._velocity = new engine.Vector3();
         _this._collider = collider;
-        _this._pxJoint = exports.PhysXPhysics._pxPhysics.createRevoluteJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
+        _this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
         return _this;
     }
     var _proto = PhysXHingeJoint.prototype;
@@ -234,12 +213,12 @@ PhysXJoint._defaultQuat = new engine.Quaternion();
  * a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
  */ var PhysXSpringJoint = /*#__PURE__*/ function(PhysXJoint1) {
     _inherits(PhysXSpringJoint, PhysXJoint1);
-    function PhysXSpringJoint(collider) {
+    function PhysXSpringJoint(physXPhysics, collider) {
         var _this;
-        _this = PhysXJoint1.call(this) || this;
+        _this = PhysXJoint1.call(this, physXPhysics) || this;
         _this._swingOffset = new engine.Vector3();
         _this._collider = collider;
-        _this._pxJoint = exports.PhysXPhysics._pxPhysics.createDistanceJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
+        _this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
         _this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;
         _this._pxJoint.setDistanceJointFlag(4, true); // enable min distance;
         _this._pxJoint.setDistanceJointFlag(8, true); // enable spring;
@@ -335,24 +314,25 @@ var ShapeFlag;
 /**
  * Abstract class for collider shapes.
  */ var PhysXColliderShape = /*#__PURE__*/ function() {
-    function PhysXColliderShape() {
+    function PhysXColliderShape(physXPhysics) {
         /** @internal */ this._controllers = new DisorderedArray();
         this._scale = new engine.Vector3(1, 1, 1);
         this._position = new engine.Vector3();
         this._rotation = null;
         this._axis = null;
-        this._physxRotation = new engine.Quaternion();
+        this._physXRotation = new engine.Quaternion();
         this._shapeFlags = 2 | 1;
         /** @internal */ this._pxMaterials = new Array(1);
+        this._physXPhysics = physXPhysics;
     }
     var _proto = PhysXColliderShape.prototype;
     /**
    * {@inheritDoc IColliderShape.setRotation }
    */ _proto.setRotation = function setRotation(value) {
         this._rotation = value;
-        engine.Quaternion.rotationYawPitchRoll(value.x, value.y, value.z, this._physxRotation);
-        this._axis && engine.Quaternion.multiply(this._physxRotation, this._axis, this._physxRotation);
-        this._physxRotation.normalize();
+        engine.Quaternion.rotationYawPitchRoll(value.x, value.y, value.z, this._physXRotation);
+        this._axis && engine.Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);
+        this._physXRotation.normalize();
         this._setLocalPose();
     };
     /**
@@ -395,19 +375,19 @@ var ShapeFlag;
    *  @internal
    */ _proto._setShapeFlags = function _setShapeFlags(flags) {
         this._shapeFlags = flags;
-        this._pxShape.setFlags(new exports.PhysXPhysics._physX.PxShapeFlags(this._shapeFlags));
+        this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));
     };
     _proto._setLocalPose = function _setLocalPose() {
         var transform = PhysXColliderShape.transform;
         engine.Vector3.multiply(this._position, this._scale, transform.translation);
-        transform.rotation = this._physxRotation;
+        transform.rotation = this._physXRotation;
         this._pxShape.setLocalPose(transform);
     };
     _proto._initialize = function _initialize(material, id) {
         this._id = id;
         this._pxMaterials[0] = material._pxMaterial;
-        this._pxShape = exports.PhysXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, new exports.PhysXPhysics._physX.PxShapeFlags(this._shapeFlags));
-        this._pxShape.setQueryFilterData(new exports.PhysXPhysics._physX.PxFilterData(id, 0, 0, 0));
+        this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));
+        this._pxShape.setUUID(id);
     };
     _proto._modifyFlag = function _modifyFlag(flag, value) {
         this._shapeFlags = value ? this._shapeFlags | flag : this._shapeFlags & ~flag;
@@ -424,12 +404,12 @@ PhysXColliderShape.transform = {
  * Box collider shape in PhysX.
  */ var PhysXBoxColliderShape = /*#__PURE__*/ function(PhysXColliderShape) {
     _inherits(PhysXBoxColliderShape, PhysXColliderShape);
-    function PhysXBoxColliderShape(uniqueID, size, material) {
+    function PhysXBoxColliderShape(physXPhysics, uniqueID, size, material) {
         var _this;
-        _this = PhysXColliderShape.call(this) || this;
+        _this = PhysXColliderShape.call(this, physXPhysics) || this;
         /** @internal */ _this._halfSize = new engine.Vector3();
         _this._halfSize.set(size.x * 0.5, size.y * 0.5, size.z * 0.5);
-        _this._pxGeometry = new exports.PhysXPhysics._physX.PxBoxGeometry(_this._halfSize.x * _this._scale.x, _this._halfSize.y * _this._scale.y, _this._halfSize.z * _this._scale.z);
+        _this._pxGeometry = new physXPhysics._physX.PxBoxGeometry(_this._halfSize.x * _this._scale.x, _this._halfSize.y * _this._scale.y, _this._halfSize.z * _this._scale.z);
         _this._initialize(material, uniqueID);
         _this._setLocalPose();
         return _this;
@@ -467,15 +447,15 @@ PhysXBoxColliderShape._tempHalfExtents = new engine.Vector3();
  * Capsule collider shape in PhysX.
  */ var PhysXCapsuleColliderShape = /*#__PURE__*/ function(PhysXColliderShape1) {
     _inherits(PhysXCapsuleColliderShape, PhysXColliderShape1);
-    function PhysXCapsuleColliderShape(uniqueID, radius, height, material) {
+    function PhysXCapsuleColliderShape(physXPhysics, uniqueID, radius, height, material) {
         var _this;
-        _this = PhysXColliderShape1.call(this) || this;
+        _this = PhysXColliderShape1.call(this, physXPhysics) || this;
         _this._upAxis = /** Up axis is Y. */ 1;
         _this._radius = radius;
         _this._halfHeight = height * 0.5;
         _this._axis = new engine.Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
-        _this._physxRotation.copyFrom(_this._axis);
-        _this._pxGeometry = new exports.PhysXPhysics._physX.PxCapsuleGeometry(_this._radius, _this._halfHeight);
+        _this._physXRotation.copyFrom(_this._axis);
+        _this._pxGeometry = new physXPhysics._physX.PxCapsuleGeometry(_this._radius, _this._halfHeight);
         _this._initialize(material, uniqueID);
         _this._setLocalPose();
         return _this;
@@ -526,7 +506,7 @@ PhysXBoxColliderShape._tempHalfExtents = new engine.Vector3();
     /**
    * {@inheritDoc ICapsuleColliderShape.setUpAxis }
    */ _proto.setUpAxis = function setUpAxis(upAxis) {
-        var _this = this, rotation = _this._rotation, axis = _this._axis, physxRotation = _this._physxRotation;
+        var _this = this, rotation = _this._rotation, axis = _this._axis, physXRotation = _this._physXRotation;
         this._upAxis = upAxis;
         switch(this._upAxis){
             case 0:
@@ -540,10 +520,10 @@ PhysXBoxColliderShape._tempHalfExtents = new engine.Vector3();
                 break;
         }
         if (rotation) {
-            engine.Quaternion.rotationYawPitchRoll(rotation.x, rotation.y, rotation.z, physxRotation);
-            engine.Quaternion.multiply(physxRotation, axis, physxRotation);
+            engine.Quaternion.rotationYawPitchRoll(rotation.x, rotation.y, rotation.z, physXRotation);
+            engine.Quaternion.multiply(physXRotation, axis, physXRotation);
         } else {
-            physxRotation.copyFrom(axis);
+            physXRotation.copyFrom(axis);
         }
         this._setLocalPose();
     };
@@ -582,7 +562,9 @@ var /**
 /**
  * Base class for character controllers.
  */ var PhysXCharacterController = /*#__PURE__*/ function() {
-    function PhysXCharacterController() {}
+    function PhysXCharacterController(physXPhysics) {
+        this._physXPhysics = physXPhysics;
+    }
     var _proto = PhysXCharacterController.prototype;
     /**
    * {@inheritDoc ICharacterController.move }
@@ -643,12 +625,12 @@ var /**
    */ _proto._createPXController = function _createPXController(pxManager, shape) {
         var desc;
         if (_instanceof(shape, PhysXBoxColliderShape)) {
-            desc = new exports.PhysXPhysics._physX.PxBoxControllerDesc();
+            desc = new this._physXPhysics._physX.PxBoxControllerDesc();
             desc.halfHeight = shape._halfSize.x;
             desc.halfSideExtent = shape._halfSize.y;
             desc.halfForwardExtent = shape._halfSize.z;
         } else if (_instanceof(shape, PhysXCapsuleColliderShape)) {
-            desc = new exports.PhysXPhysics._physX.PxCapsuleControllerDesc();
+            desc = new this._physXPhysics._physX.PxCapsuleControllerDesc();
             desc.radius = shape._radius;
             desc.height = shape._halfHeight * 2;
             desc.climbingMode = 1; // constraint mode
@@ -657,7 +639,7 @@ var /**
         }
         desc.setMaterial(shape._pxMaterials[0]);
         this._pxController = pxManager._getControllerManager().createController(desc);
-        this._pxController.setQueryFilterData(new exports.PhysXPhysics._physX.PxFilterData(shape._id, 0, 0, 0));
+        this._pxController.setUUID(shape._id);
     };
     /**
    * @internal
@@ -673,7 +655,9 @@ var /**
 /**
  * Abstract class of physical collider.
  */ var PhysXCollider = /*#__PURE__*/ function() {
-    function PhysXCollider() {}
+    function PhysXCollider(physXPhysics) {
+        this._physXPhysics = physXPhysics;
+    }
     var _proto = PhysXCollider.prototype;
     /**
    * {@inheritDoc ICollider.addShape }
@@ -728,11 +712,11 @@ var CollisionDetectionMode;
  * A dynamic collider can act with self-defined movement or physical force
  */ var PhysXDynamicCollider = /*#__PURE__*/ function(PhysXCollider) {
     _inherits(PhysXDynamicCollider, PhysXCollider);
-    function PhysXDynamicCollider(position, rotation) {
+    function PhysXDynamicCollider(physXPhysics, position, rotation) {
         var _this;
-        _this = PhysXCollider.call(this) || this;
+        _this = PhysXCollider.call(this, physXPhysics) || this;
         var transform = _this._transform(position, rotation);
-        _this._pxActor = exports.PhysXPhysics._pxPhysics.createRigidDynamic(transform);
+        _this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);
         return _this;
     }
     var _proto = PhysXDynamicCollider.prototype;
@@ -797,18 +781,19 @@ var CollisionDetectionMode;
    */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
         switch(value){
             case 1:
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, true);
                 break;
             case 2:
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
                 break;
             case 3:
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
                 break;
             case 0:
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, false);
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-                this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
+                var physX = this._physXPhysics._physX;
+                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
+                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
+                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
                 break;
         }
     };
@@ -816,9 +801,9 @@ var CollisionDetectionMode;
    * {@inheritDoc IDynamicCollider.setIsKinematic }
    */ _proto.setIsKinematic = function setIsKinematic(value) {
         if (value) {
-            this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
+            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
         } else {
-            this._pxActor.setRigidBodyFlag(exports.PhysXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
+            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
         }
     };
     /**
@@ -878,12 +863,17 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
 /**
  * A manager is a collection of colliders and constraints which can interact.
  */ var PhysXPhysicsManager = /*#__PURE__*/ function() {
-    function PhysXPhysicsManager(onContactEnter, onContactExit, onContactStay, onTriggerEnter, onTriggerExit, onTriggerStay) {
+    function PhysXPhysicsManager(physXPhysics, onContactEnter, onContactExit, onContactStay, onTriggerEnter, onTriggerExit, onTriggerStay) {
         var _this = this;
         /** @internal */ this._pxControllerManager = null;
         this._currentEvents = new DisorderedArray();
         this._eventMap = {};
         this._eventPool = [];
+        this._physXPhysics = physXPhysics;
+        var physX = physXPhysics._physX;
+        this._pxRaycastHit = new physX.PxRaycastHit();
+        this._pxFilterData = new physX.PxQueryFilterData();
+        this._pxFilterData.flags = new physX.PxQueryFlags(1 | 2 | 4);
         this._onContactEnter = onContactEnter;
         this._onContactExit = onContactExit;
         this._onContactStay = onContactStay;
@@ -891,31 +881,21 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
         this._onTriggerExit = onTriggerExit;
         this._onTriggerStay = onTriggerStay;
         var triggerCallback = {
-            onContactBegin: function(obj1, obj2) {
-                var index1 = obj1.getQueryFilterData().word0;
-                var index2 = obj2.getQueryFilterData().word0;
+            onContactBegin: function(index1, index2) {
                 _this._onContactEnter(index1, index2);
             },
-            onContactEnd: function(obj1, obj2) {
-                var index1 = obj1.getQueryFilterData().word0;
-                var index2 = obj2.getQueryFilterData().word0;
+            onContactEnd: function(index1, index2) {
                 _this._onContactExit(index1, index2);
             },
-            onContactPersist: function(obj1, obj2) {
-                var index1 = obj1.getQueryFilterData().word0;
-                var index2 = obj2.getQueryFilterData().word0;
+            onContactPersist: function(index1, index2) {
                 _this._onContactStay(index1, index2);
             },
-            onTriggerBegin: function(obj1, obj2) {
-                var index1 = obj1.getQueryFilterData().word0;
-                var index2 = obj2.getQueryFilterData().word0;
+            onTriggerBegin: function(index1, index2) {
                 var event = index1 < index2 ? _this._getTrigger(index1, index2) : _this._getTrigger(index2, index1);
                 event.state = 0;
                 _this._currentEvents.add(event);
             },
-            onTriggerEnd: function(obj1, obj2) {
-                var index1 = obj1.getQueryFilterData().word0;
-                var index2 = obj2.getQueryFilterData().word0;
+            onTriggerEnd: function(index1, index2) {
                 var event;
                 if (index1 < index2) {
                     var subMap = _this._eventMap[index1];
@@ -929,9 +909,10 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
                 event.state = 2;
             }
         };
-        var PHYSXSimulationCallbackInstance = exports.PhysXPhysics._physX.PxSimulationEventCallback.implement(triggerCallback);
-        var sceneDesc = exports.PhysXPhysics._physX.getDefaultSceneDesc(exports.PhysXPhysics._pxPhysics.getTolerancesScale(), 0, PHYSXSimulationCallbackInstance);
-        this._pxScene = exports.PhysXPhysics._pxPhysics.createScene(sceneDesc);
+        var pxPhysics = physXPhysics._pxPhysics;
+        var physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);
+        var sceneDesc = physX.getDefaultSceneDesc(pxPhysics.getTolerancesScale(), 0, physXSimulationCallbackInstance);
+        this._pxScene = pxPhysics.createScene(sceneDesc);
     }
     var _proto = PhysXPhysicsManager.prototype;
     /**
@@ -978,16 +959,13 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
                 lastPXManager && characterController._destroyPXController();
                 characterController._createPXController(this, shape);
             }
-            this._pxScene.addController(characterController._pxController);
         }
         characterController._pxManager = this;
     };
     /**
    * {@inheritDoc IPhysicsManager.removeCharacterController }
    */ _proto.removeCharacterController = function removeCharacterController(characterController) {
-        if (characterController._shape) {
-            this._pxScene.removeController(characterController._pxController);
-        }
+        characterController._pxController = null;
         characterController._pxManager = null;
     };
     /**
@@ -1000,11 +978,10 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
     /**
    * {@inheritDoc IPhysicsManager.raycast }
    */ _proto.raycast = function raycast(ray, distance, onRaycast, hit) {
-        var pxHitResult = PhysXPhysicsManager._pxRaycastHit;
+        var _this = this, pxHitResult = _this._pxRaycastHit;
         distance = Math.min(distance, 3.4e38); // float32 max value limit in physx raycast.
         var raycastCallback = {
-            preFilter: function(filterData, shape, actor) {
-                var index = shape.getQueryFilterData().word0;
+            preFilter: function(filterData, index, actor) {
                 if (onRaycast(index)) {
                     return 2; // eBLOCK
                 } else {
@@ -1013,13 +990,13 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
             },
             postFilter: function(filterData, hit) {}
         };
-        var result = this._pxScene.raycastSingle(ray.origin, ray.direction, distance, pxHitResult, PhysXPhysicsManager._pxFilterData, exports.PhysXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback));
+        var result = this._pxScene.raycastSingle(ray.origin, ray.direction, distance, pxHitResult, this._pxFilterData, this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback));
         if (result && hit != undefined) {
             var position = PhysXPhysicsManager._tempPosition, normal = PhysXPhysicsManager._tempNormal;
             var pxPosition = pxHitResult.position, pxNormal = pxHitResult.normal;
             position.set(pxPosition.x, pxPosition.y, pxPosition.z);
             normal.set(pxNormal.x, pxNormal.y, pxNormal.z);
-            hit(pxHitResult.getShape().getQueryFilterData().word0, pxHitResult.distance, position, normal);
+            hit(pxHitResult.getShape().getUUID(), pxHitResult.distance, position, normal);
         }
         return result;
     };
@@ -1067,11 +1044,6 @@ PhysXDynamicCollider._tempRotation = new engine.Quaternion();
             }
         }
     };
-    PhysXPhysicsManager._init = function _init() {
-        PhysXPhysicsManager._pxRaycastHit = new exports.PhysXPhysics._physX.PxRaycastHit();
-        PhysXPhysicsManager._pxFilterData = new exports.PhysXPhysics._physX.PxQueryFilterData();
-        PhysXPhysicsManager._pxFilterData.flags = new exports.PhysXPhysics._physX.PxQueryFlags(1 | 2 | 4);
-    };
     return PhysXPhysicsManager;
 }();
 PhysXPhysicsManager._tempPosition = new engine.Vector3();
@@ -1105,8 +1077,9 @@ var /**
 /**
  * Physics material describes how to handle colliding objects (friction, bounciness).
  */ var PhysXPhysicsMaterial = /*#__PURE__*/ function() {
-    function PhysXPhysicsMaterial(staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine) {
-        var pxMaterial = exports.PhysXPhysics._pxPhysics.createMaterial(staticFriction, dynamicFriction, bounciness);
+    function PhysXPhysicsMaterial(physXPhysics, staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine) {
+        this._physXPhysics = physXPhysics;
+        var pxMaterial = physXPhysics._pxPhysics.createMaterial(staticFriction, dynamicFriction, bounciness);
         pxMaterial.setFrictionCombineMode(frictionCombine);
         pxMaterial.setRestitutionCombineMode(bounceCombine);
         this._pxMaterial = pxMaterial;
@@ -1159,10 +1132,10 @@ var /**
  * @remarks Mostly used for object which always stays at the same place and never moves around.
  */ var PhysXStaticCollider = /*#__PURE__*/ function(PhysXCollider) {
     _inherits(PhysXStaticCollider, PhysXCollider);
-    function PhysXStaticCollider(position, rotation) {
+    function PhysXStaticCollider(physXPhysics, position, rotation) {
         var _this;
-        _this = PhysXCollider.call(this) || this;
-        _this._pxActor = exports.PhysXPhysics._pxPhysics.createRigidStatic(_this._transform(position, rotation));
+        _this = PhysXCollider.call(this, physXPhysics) || this;
+        _this._pxActor = physXPhysics._pxPhysics.createRigidStatic(_this._transform(position, rotation));
         return _this;
     }
     return PhysXStaticCollider;
@@ -1172,12 +1145,12 @@ var /**
  * Plane collider shape in PhysX.
  */ var PhysXPlaneColliderShape = /*#__PURE__*/ function(PhysXColliderShape1) {
     _inherits(PhysXPlaneColliderShape, PhysXColliderShape1);
-    function PhysXPlaneColliderShape(uniqueID, material) {
+    function PhysXPlaneColliderShape(physXPhysics, uniqueID, material) {
         var _this;
-        _this = PhysXColliderShape1.call(this) || this;
+        _this = PhysXColliderShape1.call(this, physXPhysics) || this;
         _this._axis = new engine.Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
-        _this._physxRotation.copyFrom(_this._axis);
-        _this._pxGeometry = new exports.PhysXPhysics._physX.PxPlaneGeometry();
+        _this._physXRotation.copyFrom(_this._axis);
+        _this._pxGeometry = new physXPhysics._physX.PxPlaneGeometry();
         _this._initialize(material, uniqueID);
         _this._setLocalPose();
         return _this;
@@ -1196,12 +1169,12 @@ var /**
  * Sphere collider shape in PhysX.
  */ var PhysXSphereColliderShape = /*#__PURE__*/ function(PhysXColliderShape) {
     _inherits(PhysXSphereColliderShape, PhysXColliderShape);
-    function PhysXSphereColliderShape(uniqueID, radius, material) {
+    function PhysXSphereColliderShape(physXPhysics, uniqueID, radius, material) {
         var _this;
-        _this = PhysXColliderShape.call(this) || this;
+        _this = PhysXColliderShape.call(this, physXPhysics) || this;
         _this._maxScale = 1;
         _this._radius = radius;
-        _this._pxGeometry = new exports.PhysXPhysics._physX.PxSphereGeometry(_this._radius * _this._maxScale);
+        _this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(_this._radius * _this._maxScale);
         _this._initialize(material, uniqueID);
         _this._setLocalPose();
         return _this;
@@ -1227,21 +1200,26 @@ var /**
 }(PhysXColliderShape);
 
 /**
- *  Static interface implement decorator.
- *  https://stackoverflow.com/questions/13955157/how-to-define-static-property-in-typescript-interface
- */ function StaticInterfaceImplement() {
-    return function(constructor) {
-    };
-}
-
-exports.PhysXPhysics = /*#__PURE__*/ function() {
-    function PhysXPhysics1() {}
+ * PhysX object creation.
+ */ var PhysXPhysics = /*#__PURE__*/ function() {
+    function PhysXPhysics(runtimeMode) {
+        if (runtimeMode === void 0) runtimeMode = exports.PhysXRuntimeMode.Auto;
+        this._initializeState = 0;
+        this._runTimeMode = runtimeMode;
+    }
+    var _proto = PhysXPhysics.prototype;
     /**
    * Initialize PhysXPhysics.
    * @param runtimeMode - Runtime mode
    * @returns Promise object
-   */ PhysXPhysics1.initialize = function initialize(runtimeMode) {
-        if (runtimeMode === void 0) runtimeMode = exports.PhysXRuntimeMode.Auto;
+   */ _proto.initialize = function initialize() {
+        var _this = this;
+        if (this._initializeState === 2) {
+            return Promise.resolve();
+        } else if (this._initializeState === 1) {
+            return this._initializePromise;
+        }
+        var runtimeMode = this._runTimeMode;
         var scriptPromise = new Promise(function(resolve, reject) {
             var script = document.createElement("script");
             document.body.appendChild(script);
@@ -1265,105 +1243,115 @@ exports.PhysXPhysics = /*#__PURE__*/ function() {
                 }
             }
             if (runtimeMode == exports.PhysXRuntimeMode.JavaScript) {
-                script.src = "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/0.9.0-beta.56/libs/physx.release.js.js";
+                script.src = "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/1.0.0-alpha.4/libs/physx.release.js.js";
             } else if (runtimeMode == exports.PhysXRuntimeMode.WebAssembly) {
-                script.src = "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/0.9.0-beta.56/libs/physx.release.js";
+                script.src = "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/1.0.0-alpha.4/libs/physx.release.js";
             }
         });
-        return new Promise(function(resolve, reject) {
+        var initializePromise = new Promise(function(resolve, reject) {
             scriptPromise.then(function() {
                 return window.PHYSX().then(function(PHYSX) {
-                    exports.PhysXPhysics._init(PHYSX);
+                    _this._init(PHYSX);
+                    _this._initializeState = 2;
+                    _this._initializePromise = null;
                     console.log("PhysX loaded.");
                     resolve();
                 }, reject);
             }, reject).catch(reject);
         });
+        this._initializePromise = initializePromise;
+        return initializePromise;
     };
     /**
    * Destroy PhysXPhysics.
-   */ PhysXPhysics1.destroy = function destroy() {
-        this._pxFoundation.release();
+   */ _proto.destroy = function destroy() {
+        this._physX.PxCloseExtensions();
         this._pxPhysics.release();
+        this._pxFoundation.release();
         this._physX = null;
         this._pxFoundation = null;
         this._pxPhysics = null;
     };
     /**
    * {@inheritDoc IPhysics.createPhysicsManager }
-   */ PhysXPhysics1.createPhysicsManager = function createPhysicsManager(onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay) {
-        return new PhysXPhysicsManager(onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay);
+   */ _proto.createPhysicsManager = function createPhysicsManager(onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay) {
+        var manager = new PhysXPhysicsManager(this, onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay);
+        return manager;
     };
     /**
    * {@inheritDoc IPhysics.createStaticCollider }
-   */ PhysXPhysics1.createStaticCollider = function createStaticCollider(position, rotation) {
-        return new PhysXStaticCollider(position, rotation);
+   */ _proto.createStaticCollider = function createStaticCollider(position, rotation) {
+        return new PhysXStaticCollider(this, position, rotation);
     };
     /**
    * {@inheritDoc IPhysics.createDynamicCollider }
-   */ PhysXPhysics1.createDynamicCollider = function createDynamicCollider(position, rotation) {
-        return new PhysXDynamicCollider(position, rotation);
+   */ _proto.createDynamicCollider = function createDynamicCollider(position, rotation) {
+        return new PhysXDynamicCollider(this, position, rotation);
     };
     /**
    * {@inheritDoc IPhysics.createCharacterController }
-   */ PhysXPhysics1.createCharacterController = function createCharacterController() {
-        return new PhysXCharacterController();
+   */ _proto.createCharacterController = function createCharacterController() {
+        return new PhysXCharacterController(this);
     };
     /**
    * {@inheritDoc IPhysics.createPhysicsMaterial }
-   */ PhysXPhysics1.createPhysicsMaterial = function createPhysicsMaterial(staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine) {
-        return new PhysXPhysicsMaterial(staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine);
+   */ _proto.createPhysicsMaterial = function createPhysicsMaterial(staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine) {
+        return new PhysXPhysicsMaterial(this, staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine);
     };
     /**
    * {@inheritDoc IPhysics.createBoxColliderShape }
-   */ PhysXPhysics1.createBoxColliderShape = function createBoxColliderShape(uniqueID, size, material) {
-        return new PhysXBoxColliderShape(uniqueID, size, material);
+   */ _proto.createBoxColliderShape = function createBoxColliderShape(uniqueID, size, material) {
+        return new PhysXBoxColliderShape(this, uniqueID, size, material);
     };
     /**
    * {@inheritDoc IPhysics.createSphereColliderShape }
-   */ PhysXPhysics1.createSphereColliderShape = function createSphereColliderShape(uniqueID, radius, material) {
-        return new PhysXSphereColliderShape(uniqueID, radius, material);
+   */ _proto.createSphereColliderShape = function createSphereColliderShape(uniqueID, radius, material) {
+        return new PhysXSphereColliderShape(this, uniqueID, radius, material);
     };
     /**
    * {@inheritDoc IPhysics.createPlaneColliderShape }
-   */ PhysXPhysics1.createPlaneColliderShape = function createPlaneColliderShape(uniqueID, material) {
-        return new PhysXPlaneColliderShape(uniqueID, material);
+   */ _proto.createPlaneColliderShape = function createPlaneColliderShape(uniqueID, material) {
+        return new PhysXPlaneColliderShape(this, uniqueID, material);
     };
     /**
    * {@inheritDoc IPhysics.createCapsuleColliderShape }
-   */ PhysXPhysics1.createCapsuleColliderShape = function createCapsuleColliderShape(uniqueID, radius, height, material) {
-        return new PhysXCapsuleColliderShape(uniqueID, radius, height, material);
+   */ _proto.createCapsuleColliderShape = function createCapsuleColliderShape(uniqueID, radius, height, material) {
+        return new PhysXCapsuleColliderShape(this, uniqueID, radius, height, material);
     };
     /**
    * {@inheritDoc IPhysics.createFixedJoint }
-   */ PhysXPhysics1.createFixedJoint = function createFixedJoint(collider) {
-        return new PhysXFixedJoint(collider);
+   */ _proto.createFixedJoint = function createFixedJoint(collider) {
+        return new PhysXFixedJoint(this, collider);
     };
     /**
    * {@inheritDoc IPhysics.createHingeJoint }
-   */ PhysXPhysics1.createHingeJoint = function createHingeJoint(collider) {
-        return new PhysXHingeJoint(collider);
+   */ _proto.createHingeJoint = function createHingeJoint(collider) {
+        return new PhysXHingeJoint(this, collider);
     };
     /**
    * {@inheritDoc IPhysics.createSpringJoint }
-   */ PhysXPhysics1.createSpringJoint = function createSpringJoint(collider) {
-        return new PhysXSpringJoint(collider);
+   */ _proto.createSpringJoint = function createSpringJoint(collider) {
+        return new PhysXSpringJoint(this, collider);
     };
-    PhysXPhysics1._init = function _init(physX) {
+    _proto._init = function _init(physX) {
         var version = physX.PX_PHYSICS_VERSION;
         var defaultErrorCallback = new physX.PxDefaultErrorCallback();
         var allocator = new physX.PxDefaultAllocator();
         var pxFoundation = physX.PxCreateFoundation(version, allocator, defaultErrorCallback);
         var pxPhysics = physX.PxCreatePhysics(version, pxFoundation, new physX.PxTolerancesScale(), false, null);
         physX.PxInitExtensions(pxPhysics, null);
-        exports.PhysXPhysics._physX = physX;
-        exports.PhysXPhysics._pxFoundation = pxFoundation;
-        exports.PhysXPhysics._pxPhysics = pxPhysics;
-        PhysXPhysicsManager._init();
+        this._physX = physX;
+        this._pxFoundation = pxFoundation;
+        this._pxPhysics = pxPhysics;
     };
-    return PhysXPhysics1;
+    return PhysXPhysics;
 }();
-exports.PhysXPhysics = __decorate([
-    StaticInterfaceImplement()
-], exports.PhysXPhysics);
+var InitializeState;
+(function(InitializeState) {
+    InitializeState[InitializeState["Uninitialized"] = 0] = "Uninitialized";
+    InitializeState[InitializeState["Initializing"] = 1] = "Initializing";
+    InitializeState[InitializeState["Initialized"] = 2] = "Initialized";
+})(InitializeState || (InitializeState = {}));
+
+exports.PhysXPhysics = PhysXPhysics;
 //# sourceMappingURL=main.js.map