@galacean/engine-physics-physx 0.9.20 → 1.0.0-alpha.7

package/dist/browser.js

@@ -10,28 +10,6 @@
         } else return left instanceof 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;
@@ -64,10 +42,11 @@
     /**
      * 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;
         /**
@@ -138,11 +117,11 @@
      * 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;
@@ -152,14 +131,14 @@
      * 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;
@@ -230,12 +209,12 @@
      * 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;
@@ -331,24 +310,25 @@
     /**
      * 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();
         };
         /**
@@ -357,7 +337,21 @@
             if (value !== this._position) {
                 this._position.copyFrom(value);
             }
+            var controllers = this._controllers;
+            for(var i = 0, n = controllers.length; i < n; i++){
+                controllers.get(i)._pxController.setLocalPosition(this._position, this._scale);
+            }
+            this._setLocalPose();
+        };
+        /**
+       * {@inheritDoc IColliderShape.setWorldScale }
+       */ _proto.setWorldScale = function setWorldScale(scale) {
+            this._scale.copyFrom(scale);
             this._setLocalPose();
+            var controllers = this._controllers;
+            for(var i = 0, n = controllers.length; i < n; i++){
+                controllers.get(i)._setLocalPosition(this._position, this._scale);
+            }
         };
         /**
        * {@inheritDoc IColliderShape.setContactOffset }
@@ -391,19 +385,19 @@
        *  @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 +418,12 @@
      * 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;
@@ -438,26 +432,31 @@
         /**
        * {@inheritDoc IBoxColliderShape.setSize }
        */ _proto.setSize = function setSize(value) {
+            var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
             this._halfSize.set(value.x * 0.5, value.y * 0.5, value.z * 0.5);
-            engine.Vector3.multiply(this._halfSize, this._scale, PhysXBoxColliderShape._tempHalfExtents);
-            this._pxGeometry.halfExtents = PhysXBoxColliderShape._tempHalfExtents;
+            engine.Vector3.multiply(this._halfSize, this._scale, tempExtents);
+            this._pxGeometry.halfExtents = tempExtents;
             this._pxShape.setGeometry(this._pxGeometry);
-            var controllers = this._controllers;
-            for(var i = 0, n = controllers.length; i < n; i++){
-                var pxController = controllers.get(i)._pxController;
-                pxController.setHalfHeight(this._halfSize.x);
-                pxController.setHalfSideExtent(this._halfSize.y);
-                pxController.setHalfForwardExtent(this._halfSize.z);
-            }
+            this._updateController(tempExtents);
         };
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            this._scale.copyFrom(scale);
-            this._setLocalPose();
-            engine.Vector3.multiply(this._halfSize, this._scale, PhysXBoxColliderShape._tempHalfExtents);
-            this._pxGeometry.halfExtents = PhysXBoxColliderShape._tempHalfExtents;
+            PhysXColliderShape.prototype.setWorldScale.call(this, scale);
+            var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
+            engine.Vector3.multiply(this._halfSize, this._scale, tempExtents);
+            this._pxGeometry.halfExtents = tempExtents;
             this._pxShape.setGeometry(this._pxGeometry);
+            this._updateController(tempExtents);
+        };
+        _proto._updateController = function _updateController(extents) {
+            var controllers = this._controllers;
+            for(var i = 0, n = controllers.length; i < n; i++){
+                var pxController = controllers.get(i)._pxController;
+                pxController.setHalfHeight(extents.x);
+                pxController.setHalfSideExtent(extents.y);
+                pxController.setHalfForwardExtent(extents.z);
+            }
         };
         return PhysXBoxColliderShape;
     }(PhysXColliderShape);
@@ -469,15 +468,15 @@
      * 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;
@@ -499,9 +498,10 @@
                     break;
             }
             this._pxShape.setGeometry(this._pxGeometry);
+            var radius = this._pxGeometry.radius;
             var controllers = this._controllers;
             for(var i = 0, n = controllers.length; i < n; i++){
-                controllers.get(i)._pxController.setRadius(value);
+                controllers.get(i)._pxController.setRadius(radius);
             }
         };
         /**
@@ -520,15 +520,16 @@
                     break;
             }
             this._pxShape.setGeometry(this._pxGeometry);
+            var height = this._pxGeometry.halfHeight * 2;
             var controllers = this._controllers;
             for(var i = 0, n = controllers.length; i < n; i++){
-                controllers.get(i)._pxController.setHeight(value);
+                controllers.get(i)._pxController.setHeight(height);
             }
         };
         /**
        * {@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:
@@ -542,33 +543,41 @@
                     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();
         };
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            this._scale.copyFrom(scale);
-            this._setLocalPose();
+            PhysXColliderShape1.prototype.setWorldScale.call(this, scale);
+            var geometry = this._pxGeometry;
             switch(this._upAxis){
                 case 0:
-                    this._pxGeometry.radius = this._radius * Math.max(scale.y, scale.z);
-                    this._pxGeometry.halfHeight = this._halfHeight * scale.x;
+                    geometry.radius = this._radius * Math.max(scale.y, scale.z);
+                    geometry.halfHeight = this._halfHeight * scale.x;
                     break;
                 case 1:
-                    this._pxGeometry.radius = this._radius * Math.max(scale.x, scale.z);
-                    this._pxGeometry.halfHeight = this._halfHeight * scale.y;
+                    geometry.radius = this._radius * Math.max(scale.x, scale.z);
+                    geometry.halfHeight = this._halfHeight * scale.y;
                     break;
                 case 2:
-                    this._pxGeometry.radius = this._radius * Math.max(scale.x, scale.y);
-                    this._pxGeometry.halfHeight = this._halfHeight * scale.z;
+                    geometry.radius = this._radius * Math.max(scale.x, scale.y);
+                    geometry.halfHeight = this._halfHeight * scale.z;
                     break;
             }
-            this._pxShape.setGeometry(this._pxGeometry);
+            this._pxShape.setGeometry(geometry);
+            var radius = geometry.radius;
+            var height = geometry.halfHeight * 2;
+            var controllers = this._controllers;
+            for(var i = 0, n = controllers.length; i < n; i++){
+                var pxController = controllers.get(i)._pxController;
+                pxController.setRadius(radius);
+                pxController.setHeight(height);
+            }
         };
         return PhysXCapsuleColliderShape;
     }(PhysXColliderShape);
@@ -584,7 +593,11 @@
     /**
      * Base class for character controllers.
      */ var PhysXCharacterController = /*#__PURE__*/ function() {
-        function PhysXCharacterController() {}
+        function PhysXCharacterController(physXPhysics) {
+            this._scaledOffset = new engine.Vector3();
+            this._position = null;
+            this._physXPhysics = physXPhysics;
+        }
         var _proto = PhysXCharacterController.prototype;
         /**
        * {@inheritDoc ICharacterController.move }
@@ -594,12 +607,17 @@
         /**
        * {@inheritDoc ICharacterController.setWorldPosition }
        */ _proto.setWorldPosition = function setWorldPosition(position) {
-            this._pxController && this._pxController.setPosition(position);
+            this._position = position;
+            if (this._pxController) {
+                engine.Vector3.add(position, this._scaledOffset, PhysXCharacterController._tempVec);
+                this._pxController.setPosition(PhysXCharacterController._tempVec);
+            }
         };
         /**
        * {@inheritDoc ICharacterController.getWorldPosition }
        */ _proto.getWorldPosition = function getWorldPosition(position) {
             position.copyFrom(this._pxController.getPosition());
+            position.subtract(this._scaledOffset);
         };
         /**
        * {@inheritDoc ICharacterController.setStepOffset }
@@ -645,12 +663,12 @@
        */ _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
@@ -659,7 +677,7 @@
             }
             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
@@ -669,13 +687,24 @@
                 this._pxController = null;
             }
         };
+        /**
+       * @internal
+       */ _proto._setLocalPosition = function _setLocalPosition(position, scale) {
+            engine.Vector3.multiply(position, scale, this._scaledOffset);
+            this.setWorldPosition(this._position);
+        };
         return PhysXCharacterController;
     }();
+    (function() {
+        PhysXCharacterController._tempVec = new engine.Vector3();
+    })();
 
     /**
      * Abstract class of physical collider.
      */ var PhysXCollider = /*#__PURE__*/ function() {
-        function PhysXCollider() {}
+        function PhysXCollider(physXPhysics) {
+            this._physXPhysics = physXPhysics;
+        }
         var _proto = PhysXCollider.prototype;
         /**
        * {@inheritDoc ICollider.addShape }
@@ -732,11 +761,11 @@
      * 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;
@@ -801,18 +830,19 @@
        */ _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;
             }
         };
@@ -820,9 +850,9 @@
        * {@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);
             }
         };
         /**
@@ -886,12 +916,17 @@
     /**
      * 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;
@@ -899,31 +934,21 @@
             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];
@@ -937,9 +962,10 @@
                     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;
         /**
@@ -1007,11 +1033,10 @@
         /**
        * {@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 {
@@ -1020,13 +1045,13 @@
                 },
                 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;
         };
@@ -1074,11 +1099,6 @@
                 }
             }
         };
-        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;
     }();
     (function() {
@@ -1116,8 +1136,9 @@
     /**
      * 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;
@@ -1170,10 +1191,10 @@
      * @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;
@@ -1183,23 +1204,16 @@
      * 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;
         }
-        var _proto = PhysXPlaneColliderShape.prototype;
-        /**
-       * {@inheritDoc IColliderShape.setWorldScale }
-       */ _proto.setWorldScale = function setWorldScale(scale) {
-            this._scale.copyFrom(scale);
-            this._setLocalPose();
-        };
         return PhysXPlaneColliderShape;
     }(PhysXColliderShape);
 
@@ -1207,12 +1221,12 @@
      * 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;
@@ -1228,9 +1242,8 @@
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            this._scale.copyFrom(scale);
-            this._setLocalPose();
-            this._maxScale = Math.max(scale.x, Math.max(scale.x, scale.y));
+            PhysXColliderShape.prototype.setWorldScale.call(this, scale);
+            this._maxScale = Math.max(scale.x, scale.y);
             this._pxGeometry.radius = this._radius * this._maxScale;
             this._pxShape.setGeometry(this._pxGeometry);
         };
@@ -1238,21 +1251,26 @@
     }(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);
@@ -1276,107 +1294,117 @@
                     }
                 }
                 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/" + engine.version + "/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/galacean/engine-physics-physx/" + engine.version + "/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;
 
     Object.defineProperty(exports, '__esModule', { value: true });