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

package/dist/module.js

@@ -1,4 +1,4 @@
-import { Vector3, Quaternion } from '@galacean/engine';
+import { Vector3, Quaternion, version } from '@galacean/engine';
 
 function _instanceof(left, right) {
     if (right != null && typeof Symbol !== "undefined" && right[Symbol.hasInstance]) {
@@ -6,28 +6,6 @@ function _instanceof(left, right) {
     } 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.
  */ var PhysXRuntimeMode;
@@ -60,10 +38,11 @@ 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 Vector3();
         this._breakForce = Number.MAX_VALUE;
         this._breakTorque = Number.MAX_VALUE;
+        this._physXPhysics = physXPhysics;
     }
     var _proto = PhysXJoint.prototype;
     /**
@@ -134,11 +113,11 @@ function _inherits(subClass, superClass) {
  * 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 = 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;
@@ -148,14 +127,14 @@ function _inherits(subClass, superClass) {
  * 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 Quaternion();
         _this._swingOffset = new Vector3();
         _this._velocity = new Vector3();
         _this._collider = collider;
-        _this._pxJoint = 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;
@@ -226,12 +205,12 @@ function _inherits(subClass, superClass) {
  * 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 Vector3();
         _this._collider = collider;
-        _this._pxJoint = 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;
@@ -327,24 +306,25 @@ var ShapeFlag;
 /**
  * Abstract class for collider shapes.
  */ var PhysXColliderShape = /*#__PURE__*/ function() {
-    function PhysXColliderShape() {
+    function PhysXColliderShape(physXPhysics) {
         /** @internal */ this._controllers = new DisorderedArray();
         this._scale = new Vector3(1, 1, 1);
         this._position = new Vector3();
         this._rotation = null;
         this._axis = null;
-        this._physxRotation = new Quaternion();
+        this._physXRotation = new 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;
-        Quaternion.rotationYawPitchRoll(value.x, value.y, value.z, this._physxRotation);
-        this._axis && Quaternion.multiply(this._physxRotation, this._axis, this._physxRotation);
-        this._physxRotation.normalize();
+        Quaternion.rotationYawPitchRoll(value.x, value.y, value.z, this._physXRotation);
+        this._axis && Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);
+        this._physXRotation.normalize();
         this._setLocalPose();
     };
     /**
@@ -353,7 +333,21 @@ var ShapeFlag;
         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 }
@@ -387,19 +381,19 @@ var ShapeFlag;
    *  @internal
    */ _proto._setShapeFlags = function _setShapeFlags(flags) {
         this._shapeFlags = flags;
-        this._pxShape.setFlags(new PhysXPhysics._physX.PxShapeFlags(this._shapeFlags));
+        this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));
     };
     _proto._setLocalPose = function _setLocalPose() {
         var transform = PhysXColliderShape.transform;
         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 = PhysXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, new PhysXPhysics._physX.PxShapeFlags(this._shapeFlags));
-        this._pxShape.setQueryFilterData(new 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;
@@ -420,12 +414,12 @@ var ShapeFlag;
  * 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 Vector3();
         _this._halfSize.set(size.x * 0.5, size.y * 0.5, size.z * 0.5);
-        _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._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;
@@ -434,26 +428,31 @@ var ShapeFlag;
     /**
    * {@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);
-        Vector3.multiply(this._halfSize, this._scale, PhysXBoxColliderShape._tempHalfExtents);
-        this._pxGeometry.halfExtents = PhysXBoxColliderShape._tempHalfExtents;
+        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();
-        Vector3.multiply(this._halfSize, this._scale, PhysXBoxColliderShape._tempHalfExtents);
-        this._pxGeometry.halfExtents = PhysXBoxColliderShape._tempHalfExtents;
+        PhysXColliderShape.prototype.setWorldScale.call(this, scale);
+        var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
+        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);
@@ -465,15 +464,15 @@ var ShapeFlag;
  * 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 Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
-        _this._physxRotation.copyFrom(_this._axis);
-        _this._pxGeometry = new 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;
@@ -495,9 +494,10 @@ var ShapeFlag;
                 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);
         }
     };
     /**
@@ -516,15 +516,16 @@ var ShapeFlag;
                 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:
@@ -538,33 +539,41 @@ var ShapeFlag;
                 break;
         }
         if (rotation) {
-            Quaternion.rotationYawPitchRoll(rotation.x, rotation.y, rotation.z, physxRotation);
-            Quaternion.multiply(physxRotation, axis, physxRotation);
+            Quaternion.rotationYawPitchRoll(rotation.x, rotation.y, rotation.z, physXRotation);
+            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);
@@ -580,7 +589,11 @@ var /**
 /**
  * Base class for character controllers.
  */ var PhysXCharacterController = /*#__PURE__*/ function() {
-    function PhysXCharacterController() {}
+    function PhysXCharacterController(physXPhysics) {
+        this._scaledOffset = new Vector3();
+        this._position = null;
+        this._physXPhysics = physXPhysics;
+    }
     var _proto = PhysXCharacterController.prototype;
     /**
    * {@inheritDoc ICharacterController.move }
@@ -590,12 +603,17 @@ var /**
     /**
    * {@inheritDoc ICharacterController.setWorldPosition }
    */ _proto.setWorldPosition = function setWorldPosition(position) {
-        this._pxController && this._pxController.setPosition(position);
+        this._position = position;
+        if (this._pxController) {
+            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 }
@@ -641,12 +659,12 @@ var /**
    */ _proto._createPXController = function _createPXController(pxManager, shape) {
         var desc;
         if (_instanceof(shape, PhysXBoxColliderShape)) {
-            desc = new 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 PhysXPhysics._physX.PxCapsuleControllerDesc();
+            desc = new this._physXPhysics._physX.PxCapsuleControllerDesc();
             desc.radius = shape._radius;
             desc.height = shape._halfHeight * 2;
             desc.climbingMode = 1; // constraint mode
@@ -655,7 +673,7 @@ var /**
         }
         desc.setMaterial(shape._pxMaterials[0]);
         this._pxController = pxManager._getControllerManager().createController(desc);
-        this._pxController.setQueryFilterData(new PhysXPhysics._physX.PxFilterData(shape._id, 0, 0, 0));
+        this._pxController.setUUID(shape._id);
     };
     /**
    * @internal
@@ -665,13 +683,24 @@ var /**
             this._pxController = null;
         }
     };
+    /**
+   * @internal
+   */ _proto._setLocalPosition = function _setLocalPosition(position, scale) {
+        Vector3.multiply(position, scale, this._scaledOffset);
+        this.setWorldPosition(this._position);
+    };
     return PhysXCharacterController;
 }();
+(function() {
+    PhysXCharacterController._tempVec = new 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 }
@@ -728,11 +757,11 @@ 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 = PhysXPhysics._pxPhysics.createRigidDynamic(transform);
+        _this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);
         return _this;
     }
     var _proto = PhysXDynamicCollider.prototype;
@@ -797,18 +826,19 @@ var CollisionDetectionMode;
    */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
         switch(value){
             case 1:
-                this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, true);
                 break;
             case 2:
-                this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
                 break;
             case 3:
-                this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
+                this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
                 break;
             case 0:
-                this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, false);
-                this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-                this._pxActor.setRigidBodyFlag(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 +846,9 @@ var CollisionDetectionMode;
    * {@inheritDoc IDynamicCollider.setIsKinematic }
    */ _proto.setIsKinematic = function setIsKinematic(value) {
         if (value) {
-            this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
+            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
         } else {
-            this._pxActor.setRigidBodyFlag(PhysXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
+            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
         }
     };
     /**
@@ -882,12 +912,17 @@ var CollisionDetectionMode;
 /**
  * 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;
@@ -895,31 +930,21 @@ var CollisionDetectionMode;
         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];
@@ -933,9 +958,10 @@ var CollisionDetectionMode;
                 event.state = 2;
             }
         };
-        var PHYSXSimulationCallbackInstance = PhysXPhysics._physX.PxSimulationEventCallback.implement(triggerCallback);
-        var sceneDesc = PhysXPhysics._physX.getDefaultSceneDesc(PhysXPhysics._pxPhysics.getTolerancesScale(), 0, PHYSXSimulationCallbackInstance);
-        this._pxScene = 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;
     /**
@@ -1003,11 +1029,10 @@ var CollisionDetectionMode;
     /**
    * {@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 {
@@ -1016,13 +1041,13 @@ var CollisionDetectionMode;
             },
             postFilter: function(filterData, hit) {}
         };
-        var result = this._pxScene.raycastSingle(ray.origin, ray.direction, distance, pxHitResult, PhysXPhysicsManager._pxFilterData, 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;
     };
@@ -1070,11 +1095,6 @@ var CollisionDetectionMode;
             }
         }
     };
-    PhysXPhysicsManager._init = function _init() {
-        PhysXPhysicsManager._pxRaycastHit = new PhysXPhysics._physX.PxRaycastHit();
-        PhysXPhysicsManager._pxFilterData = new PhysXPhysics._physX.PxQueryFilterData();
-        PhysXPhysicsManager._pxFilterData.flags = new PhysXPhysics._physX.PxQueryFlags(1 | 2 | 4);
-    };
     return PhysXPhysicsManager;
 }();
 (function() {
@@ -1112,8 +1132,9 @@ var /**
 /**
  * Physics material describes how to handle colliding objects (friction, bounciness).
  */ var PhysXPhysicsMaterial = /*#__PURE__*/ function() {
-    function PhysXPhysicsMaterial(staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine) {
-        var pxMaterial = 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;
@@ -1166,10 +1187,10 @@ 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 = 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;
@@ -1179,23 +1200,16 @@ 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 Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
-        _this._physxRotation.copyFrom(_this._axis);
-        _this._pxGeometry = new 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);
 
@@ -1203,12 +1217,12 @@ 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 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;
@@ -1224,9 +1238,8 @@ var /**
     /**
    * {@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);
     };
@@ -1234,21 +1247,26 @@ var /**
 }(PhysXColliderShape);
 
 /**
- *  Static interface implement decorator.
- *  https://stackoverflow.com/questions/13955157/how-to-define-static-property-in-typescript-interface
- */ function StaticInterfaceImplement() {
-    return function(constructor) {
-    };
-}
-
-var PhysXPhysics = /*#__PURE__*/ function() {
-    function PhysXPhysics1() {}
+ * PhysX object creation.
+ */ var PhysXPhysics = /*#__PURE__*/ function() {
+    function PhysXPhysics(runtimeMode) {
+        if (runtimeMode === void 0) runtimeMode = 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 = 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);
@@ -1272,107 +1290,115 @@ var PhysXPhysics = /*#__PURE__*/ function() {
                 }
             }
             if (runtimeMode == 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/" + version + "/libs/physx.release.js.js";
             } else if (runtimeMode == 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/" + 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) {
-                    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);
-        PhysXPhysics._physX = physX;
-        PhysXPhysics._pxFoundation = pxFoundation;
-        PhysXPhysics._pxPhysics = pxPhysics;
-        PhysXPhysicsManager._init();
+        this._physX = physX;
+        this._pxFoundation = pxFoundation;
+        this._pxPhysics = pxPhysics;
     };
-    return PhysXPhysics1;
+    return PhysXPhysics;
 }();
-PhysXPhysics = __decorate([
-    StaticInterfaceImplement()
-], PhysXPhysics);
+var InitializeState;
+(function(InitializeState) {
+    InitializeState[InitializeState["Uninitialized"] = 0] = "Uninitialized";
+    InitializeState[InitializeState["Initializing"] = 1] = "Initializing";
+    InitializeState[InitializeState["Initialized"] = 2] = "Initialized";
+})(InitializeState || (InitializeState = {}));
 
 export { PhysXPhysics, PhysXRuntimeMode };
 //# sourceMappingURL=module.js.map