@galacean/engine-physics-physx 1.1.0-beta.5 → 1.1.0-beta.50

package/dist/browser.js

@@ -93,7 +93,6 @@
             this._axis = null;
             this._physXRotation = new engine.Quaternion();
             this._shapeFlags = 2 | 1;
-            /** @internal */ this._pxMaterials = new Array(1);
             this._physXPhysics = physXPhysics;
         }
         var _proto = PhysXColliderShape.prototype;
@@ -114,7 +113,7 @@
             }
             var controllers = this._controllers;
             for(var i = 0, n = controllers.length; i < n; i++){
-                controllers.get(i)._setLocalPosition(this._position, this._worldScale);
+                controllers.get(i)._updateShapePosition(this._position, this._worldScale);
             }
             this._setLocalPose();
         };
@@ -125,7 +124,7 @@
             this._setLocalPose();
             var controllers = this._controllers;
             for(var i = 0, n = controllers.length; i < n; i++){
-                controllers.get(i)._setLocalPosition(this._position, this._worldScale);
+                controllers.get(i)._updateShapePosition(this._position, this._worldScale);
             }
         };
         /**
@@ -141,8 +140,8 @@
         /**
        * {@inheritDoc IColliderShape.setMaterial }
        */ _proto.setMaterial = function setMaterial(value) {
-            this._pxMaterials[0] = value._pxMaterial;
-            this._pxShape.setMaterials(this._pxMaterials);
+            this._pxMaterial = value._pxMaterial;
+            this._pxShape.setMaterial(this._pxMaterial);
         };
         /**
        * {@inheritDoc IColliderShape.setIsTrigger }
@@ -170,7 +169,7 @@
         };
         _proto._initialize = function _initialize(material, id) {
             this._id = id;
-            this._pxMaterials[0] = material._pxMaterial;
+            this._pxMaterial = material._pxMaterial;
             this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));
             this._pxShape.setUUID(id);
         };
@@ -369,8 +368,8 @@
      * Base class for character controllers.
      */ var PhysXCharacterController = /*#__PURE__*/ function() {
         function PhysXCharacterController(physXPhysics) {
-            this._scaledOffset = new engine.Vector3();
-            this._position = null;
+            this._shapeScaledPosition = new engine.Vector3();
+            this._worldPosition = null;
             this._physXPhysics = physXPhysics;
         }
         var _proto = PhysXCharacterController.prototype;
@@ -384,18 +383,15 @@
         /**
        * {@inheritDoc ICharacterController.setWorldPosition }
        */ _proto.setWorldPosition = function setWorldPosition(position) {
-            this._position = position;
-            if (this._pxController) {
-                engine.Vector3.add(position, this._scaledOffset, PhysXCharacterController._tempVec);
-                this._pxController.setPosition(PhysXCharacterController._tempVec);
-            }
+            this._worldPosition = position;
+            this._updateNativePosition();
         };
         /**
        * {@inheritDoc ICharacterController.getWorldPosition }
        */ _proto.getWorldPosition = function getWorldPosition(position) {
             if (this._pxController) {
                 position.copyFrom(this._pxController.getPosition());
-                position.subtract(this._scaledOffset);
+                position.subtract(this._shapeScaledPosition);
             }
         };
         /**
@@ -458,7 +454,7 @@
             } else {
                 throw "unsupported shape type";
             }
-            desc.setMaterial(shape._pxMaterials[0]);
+            desc.setMaterial(shape._pxMaterial);
             this._pxController = pxManager._getControllerManager().createController(desc);
             this._pxController.setUUID(shape._id);
         };
@@ -472,9 +468,16 @@
         };
         /**
        * @internal
-       */ _proto._setLocalPosition = function _setLocalPosition(position, scale) {
-            engine.Vector3.multiply(position, scale, this._scaledOffset);
-            this.setWorldPosition(position);
+       */ _proto._updateShapePosition = function _updateShapePosition(shapePosition, worldScale) {
+            engine.Vector3.multiply(shapePosition, worldScale, this._shapeScaledPosition);
+            this._updateNativePosition();
+        };
+        _proto._updateNativePosition = function _updateNativePosition() {
+            var worldPosition = this._worldPosition;
+            if (this._pxController && worldPosition) {
+                engine.Vector3.add(worldPosition, this._shapeScaledPosition, PhysXCharacterController._tempVec);
+                this._pxController.setPosition(PhysXCharacterController._tempVec);
+            }
         };
         return PhysXCharacterController;
     }();
@@ -822,15 +825,21 @@
        * {@inheritDoc IPhysicsManager.removeColliderShape }
        */ _proto.removeColliderShape = function removeColliderShape(colliderShape) {
             var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents;
-            var shapeID = colliderShape._id;
+            var id = colliderShape._id;
+            var _this__physXManager = this._physXManager, eventMap = _this__physXManager._eventMap;
             for(var i = currentEvents.length - 1; i >= 0; i--){
                 var event = currentEvents.get(i);
-                if (event.index1 == shapeID || event.index2 == shapeID) {
+                if (event.index1 == id) {
+                    currentEvents.deleteByIndex(i);
+                    eventPool.push(event);
+                } else if (event.index2 == id) {
                     currentEvents.deleteByIndex(i);
                     eventPool.push(event);
+                    // If the shape is big index, should clear from the small index shape subMap
+                    eventMap[event.index1][id] = undefined;
                 }
             }
-            delete this._physXManager._eventMap[shapeID];
+            delete eventMap[id];
         };
         /**
        * {@inheritDoc IPhysicsManager.addCollider }
@@ -1093,7 +1102,6 @@
             _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 = physXPhysics._pxPhysics.createRevoluteJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
             return _this;
@@ -1125,9 +1133,7 @@
         /**
        * {@inheritDoc IHingeJoint.getVelocity }
        */ _proto.getVelocity = function getVelocity() {
-            var velocity = this._velocity;
-            velocity.copyFrom(this._pxJoint.getVelocity());
-            return velocity;
+            return this._pxJoint.getVelocity();
         };
         /**
        * {@inheritDoc IHingeJoint.setHardLimitCone }
@@ -1141,8 +1147,9 @@
         };
         /**
        * {@inheritDoc IHingeJoint.setDriveVelocity }
-       */ _proto.setDriveVelocity = function setDriveVelocity(velocity) {
-            this._pxJoint.setDriveVelocity(velocity);
+       */ _proto.setDriveVelocity = function setDriveVelocity(velocity, autowake) {
+            if (autowake === void 0) autowake = true;
+            this._pxJoint.setDriveVelocity(velocity, autowake);
         };
         /**
        * {@inheritDoc IHingeJoint.setDriveForceLimit }
@@ -1306,9 +1313,9 @@
                     }
                 }
                 if (runtimeMode == exports.PhysXRuntimeMode.JavaScript) {
-                    script.src = "https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/" + engine.version + "/libs/physx.release.js.js";
+                    script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rnDeR58NNGoAAAAAAAAAAAAAARQnAQ/physx.release.js.js";
                 } else if (runtimeMode == exports.PhysXRuntimeMode.WebAssembly) {
-                    script.src = "https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/" + engine.version + "/libs/physx.release.js";
+                    script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*nA97QLQehRMAAAAAAAAAAAAAARQnAQ/physx.release.js";
                 }
             });
             var initializePromise = new Promise(function(resolve, reject) {
@@ -1422,7 +1429,7 @@
     })(InitializeState || (InitializeState = {}));
 
     //@ts-ignore
-    var version = "1.1.0-beta.5";
+    var version = "1.1.0-beta.50";
     console.log("Galacean PhysX version: " + version);
 
     exports.PhysXPhysics = PhysXPhysics;

package/dist/browser.min.js

@@ -1 +1 @@
-!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports,require("@galacean/engine")):"function"==typeof define&&define.amd?define(["exports","@galacean/engine"],e):e(((t="undefined"!=typeof globalThis?globalThis:t||self).Galacean=t.Galacean||{},t.Galacean.PhysicsPhysX={}),t.Galacean)}(this,function(t,e){"use strict";function i(t,e){return null!=e&&"undefined"!=typeof Symbol&&e[Symbol.hasInstance]?!!e[Symbol.hasInstance](t):t instanceof e}function n(t,e){return(n=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t})(t,e)}function s(t,e){if("function"!=typeof e&&null!==e)throw TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&n(t,e)}var o,r,a,l,h,c,_,u,p,f,x,y,d,g,m,S=function(){function t(t){void 0===t&&(t=0),this.length=0,this._elements=Array(t)}var e=t.prototype;return e.add=function(t){this.length===this._elements.length?this._elements.push(t):this._elements[this.length]=t,this.length++},e.delete=function(t){var e=this._elements.indexOf(t);this.deleteByIndex(e)},e.get=function(t){if(t>=this.length)throw"Index is out of range.";return this._elements[t]},e.deleteByIndex=function(t){var e=this._elements,i=null,n=this.length-1;return t!==n&&(i=e[n],e[t]=i),this.length--,i},e.garbageCollection=function(){this._elements.length=this.length},t}();(o=p||(p={}))[o.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",o[o.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",o[o.TRIGGER_SHAPE=4]="TRIGGER_SHAPE";var v=function(){function t(t){this._controllers=new S,this._worldScale=new e.Vector3(1,1,1),this._position=new e.Vector3,this._rotation=null,this._axis=null,this._physXRotation=new e.Quaternion,this._shapeFlags=3,this._pxMaterials=[,],this._physXPhysics=t}var i=t.prototype;return i.setRotation=function(t){this._rotation=t,e.Quaternion.rotationYawPitchRoll(t.x,t.y,t.z,this._physXRotation),this._axis&&e.Quaternion.multiply(this._physXRotation,this._axis,this._physXRotation),this._physXRotation.normalize(),this._setLocalPose()},i.setPosition=function(t){t!==this._position&&this._position.copyFrom(t);for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._setLocalPosition(this._position,this._worldScale);this._setLocalPose()},i.setWorldScale=function(t){this._worldScale.copyFrom(t),this._setLocalPose();for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._setLocalPosition(this._position,this._worldScale)},i.setContactOffset=function(t){this._pxShape.setContactOffset(t);for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._pxController.setContactOffset(t)},i.setMaterial=function(t){this._pxMaterials[0]=t._pxMaterial,this._pxShape.setMaterials(this._pxMaterials)},i.setIsTrigger=function(t){this._modifyFlag(1,!t),this._modifyFlag(4,t),this._setShapeFlags(this._shapeFlags)},i.destroy=function(){this._pxShape.release()},i._setShapeFlags=function(t){this._shapeFlags=t,this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags))},i._setLocalPose=function(){var i=t.transform;e.Vector3.multiply(this._position,this._worldScale,i.translation),i.rotation=this._physXRotation,this._pxShape.setLocalPose(i)},i._initialize=function(t,e){this._id=e,this._pxMaterials[0]=t._pxMaterial,this._pxShape=this._physXPhysics._pxPhysics.createShape(this._pxGeometry,t._pxMaterial,!0,new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags)),this._pxShape.setUUID(e)},i._modifyFlag=function(t,e){this._shapeFlags=e?this._shapeFlags|t:this._shapeFlags&~t},t}();v.halfSqrt=.70710678118655,v.transform={translation:new e.Vector3,rotation:null};var P=function(t){function i(i,n,s,o){var r;return(r=t.call(this,i)||this)._halfSize=new e.Vector3,r._halfSize.set(.5*s.x,.5*s.y,.5*s.z),r._pxGeometry=new i._physX.PxBoxGeometry(r._halfSize.x*r._worldScale.x,r._halfSize.y*r._worldScale.y,r._halfSize.z*r._worldScale.z),r._initialize(o,n),r._setLocalPose(),r}s(i,t);var n=i.prototype;return n.setSize=function(t){var n=i._tempHalfExtents;this._halfSize.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(this._halfSize,this._worldScale,n),this._pxGeometry.halfExtents=n,this._pxShape.setGeometry(this._pxGeometry),this._updateController(n)},n.setWorldScale=function(n){t.prototype.setWorldScale.call(this,n);var s=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._worldScale,s),this._pxGeometry.halfExtents=s,this._pxShape.setGeometry(this._pxGeometry),this._updateController(s)},n._updateController=function(t){for(var e=this._controllers,i=0,n=e.length;i<n;i++){var s=e.get(i)._pxController;s.setHalfHeight(t.x),s.setHalfSideExtent(t.y),s.setHalfForwardExtent(t.z)}},i}(v);P._tempHalfExtents=new e.Vector3;var C=function(t){function i(i,n,s,o,r){var a;return(a=t.call(this,i)||this)._upAxis=1,a._radius=s,a._halfHeight=.5*o,a._axis=new e.Quaternion(0,0,v.halfSqrt,v.halfSqrt),a._physXRotation.copyFrom(a._axis),a._pxGeometry=new i._physX.PxCapsuleGeometry(a._radius,a._halfHeight),a._initialize(r,n),a._setLocalPose(),a}s(i,t);var n=i.prototype;return n.setRadius=function(t){switch(this._radius=t,this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.y,this._worldScale.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.x,this._worldScale.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.x,this._worldScale.y)}this._pxShape.setGeometry(this._pxGeometry);for(var e=this._pxGeometry.radius,i=this._controllers,n=0,s=i.length;n<s;n++)i.get(n)._pxController.setRadius(e)},n.setHeight=function(t){switch(this._halfHeight=.5*t,this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.z}this._pxShape.setGeometry(this._pxGeometry);for(var e=2*this._pxGeometry.halfHeight,i=this._controllers,n=0,s=i.length;n<s;n++)i.get(n)._pxController.setHeight(e)},n.setUpAxis=function(t){var i=this._rotation,n=this._axis,s=this._physXRotation;switch(this._upAxis=t,this._upAxis){case 0:n.set(0,0,0,1);break;case 1:n.set(0,0,v.halfSqrt,v.halfSqrt);break;case 2:n.set(0,v.halfSqrt,0,v.halfSqrt)}i?(e.Quaternion.rotationYawPitchRoll(i.x,i.y,i.z,s),e.Quaternion.multiply(s,n,s)):s.copyFrom(n),this._setLocalPose()},n.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e);var i=this._pxGeometry;switch(this._upAxis){case 0:i.radius=this._radius*Math.max(e.y,e.z),i.halfHeight=this._halfHeight*e.x;break;case 1:i.radius=this._radius*Math.max(e.x,e.z),i.halfHeight=this._halfHeight*e.y;break;case 2:i.radius=this._radius*Math.max(e.x,e.y),i.halfHeight=this._halfHeight*e.z}this._pxShape.setGeometry(i);for(var n=i.radius,s=2*i.halfHeight,o=this._controllers,r=0,a=o.length;r<a;r++){var l=o.get(r)._pxController;l.setRadius(n),l.setHeight(s)}},i}(v);(r=f||(f={}))[r.X=0]="X",r[r.Y=1]="Y",r[r.Z=2]="Z";var A=function(){function t(t){this._scaledOffset=new e.Vector3,this._position=null,this._physXPhysics=t}var n=t.prototype;return n.move=function(t,e,i){var n,s;return null!=(s=null==(n=this._pxController)?void 0:n.move(t,e,i))?s:0},n.setWorldPosition=function(i){this._position=i,this._pxController&&(e.Vector3.add(i,this._scaledOffset,t._tempVec),this._pxController.setPosition(t._tempVec))},n.getWorldPosition=function(t){this._pxController&&(t.copyFrom(this._pxController.getPosition()),t.subtract(this._scaledOffset))},n.setStepOffset=function(t){var e;null==(e=this._pxController)||e.setStepOffset(t)},n.setNonWalkableMode=function(t){var e;null==(e=this._pxController)||e.setNonWalkableMode(t)},n.setUpDirection=function(t){var e;null==(e=this._pxController)||e.setUpDirection(t)},n.setSlopeLimit=function(t){var e;null==(e=this._pxController)||e.setSlopeLimit(t)},n.addShape=function(t){this._pxManager&&this._createPXController(this._pxManager,t),this._shape=t,t._controllers.add(this)},n.removeShape=function(t){this._destroyPXController(),this._shape=null,t._controllers.delete(this)},n.destroy=function(){this._destroyPXController()},n._createPXController=function(t,e){var n;if(i(e,P))(n=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.x,n.halfSideExtent=e._halfSize.y,n.halfForwardExtent=e._halfSize.z;else if(i(e,C))(n=new this._physXPhysics._physX.PxCapsuleControllerDesc).radius=e._radius,n.height=2*e._halfHeight,n.climbingMode=1;else throw"unsupported shape type";n.setMaterial(e._pxMaterials[0]),this._pxController=t._getControllerManager().createController(n),this._pxController.setUUID(e._id)},n._destroyPXController=function(){this._pxController&&(this._pxController.release(),this._pxController=null)},n._setLocalPosition=function(t,i){e.Vector3.multiply(t,i,this._scaledOffset),this.setWorldPosition(t)},t}();A._tempVec=new e.Vector3;var M=function(){function t(t){this._physXPhysics=t}var e=t.prototype;return e.addShape=function(t){this._pxActor.attachShape(t._pxShape)},e.removeShape=function(t){this._pxActor.detachShape(t._pxShape,!0)},e.setWorldTransform=function(t,e){this._pxActor.setGlobalPose(this._transform(t,e),!0)},e.getWorldTransform=function(t,e){var i=this._pxActor.getGlobalPose();t.set(i.translation.x,i.translation.y,i.translation.z),e.set(i.rotation.x,i.rotation.y,i.rotation.z,i.rotation.w)},e.destroy=function(){this._pxActor.release()},e._transform=function(e,i){var n=t._tempTransform;return n.translation=e,n.rotation=i.normalize(),n},t}();M._tempTransform={translation:null,rotation:null},(a=x||(x={}))[a.Discrete=0]="Discrete",a[a.Continuous=1]="Continuous",a[a.ContinuousDynamic=2]="ContinuousDynamic",a[a.ContinuousSpeculative=3]="ContinuousSpeculative";var w=function(t){function n(e,i,n){var s,o=(s=t.call(this,e)||this)._transform(i,n);return s._pxActor=e._pxPhysics.createRigidDynamic(o),s}s(n,t);var o=n.prototype;return o.setLinearDamping=function(t){this._pxActor.setLinearDamping(t)},o.setAngularDamping=function(t){this._pxActor.setAngularDamping(t)},o.setLinearVelocity=function(t){this._pxActor.setLinearVelocity(t,!0)},o.setAngularVelocity=function(t){this._pxActor.setAngularVelocity(t,!0)},o.setMass=function(t){this._pxActor.setMass(t)},o.setCenterOfMass=function(t){this._pxActor.setCMassLocalPose(t)},o.setInertiaTensor=function(t){this._pxActor.setMassSpaceInertiaTensor(t)},o.setMaxAngularVelocity=function(t){this._pxActor.setMaxAngularVelocity(t)},o.setMaxDepenetrationVelocity=function(t){this._pxActor.setMaxDepenetrationVelocity(t)},o.setSleepThreshold=function(t){this._pxActor.setSleepThreshold(t)},o.setSolverIterations=function(t){this._pxActor.setSolverIterationCounts(t,1)},o.setCollisionDetectionMode=function(t){switch(t){case 1:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD,!0);break;case 2:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!0);break;case 3:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!0);break;case 0:var e=this._physXPhysics._physX;this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1)}},o.setIsKinematic=function(t){t?this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!0):this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!1)},o.setConstraints=function(t){this._pxActor.setRigidDynamicLockFlags(t)},o.addForce=function(t){this._pxActor.addForce({x:t.x,y:t.y,z:t.z})},o.addTorque=function(t){this._pxActor.addTorque({x:t.x,y:t.y,z:t.z})},o.move=function(t,s){if(s){this._pxActor.setKinematicTarget(t,s);return}var o=n._tempTranslation,r=n._tempRotation;this.getWorldTransform(o,r),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,r):this._pxActor.setKinematicTarget(o,t)},o.sleep=function(){return this._pxActor.putToSleep()},o.wakeUp=function(){return this._pxActor.wakeUp()},n}(M);w._tempTranslation=new e.Vector3,w._tempRotation=new e.Quaternion;var F=function(){this._eventMap={}},b=function(){function t(t,e,i,n,s,o){this._physXPhysics=t;var r=t._pxPhysics.createMaterial(e,i,n);r.setFrictionCombineMode(s),r.setRestitutionCombineMode(o),this._pxMaterial=r}var e=t.prototype;return e.setBounciness=function(t){this._pxMaterial.setRestitution(t)},e.setDynamicFriction=function(t){this._pxMaterial.setDynamicFriction(t)},e.setStaticFriction=function(t){this._pxMaterial.setStaticFriction(t)},e.setBounceCombine=function(t){this._pxMaterial.setRestitutionCombineMode(t)},e.setFrictionCombine=function(t){this._pxMaterial.setFrictionCombineMode(t)},e.destroy=function(){this._pxMaterial.release()},t}();(l=y||(y={}))[l.Average=0]="Average",l[l.Minimum=1]="Minimum",l[l.Multiply=2]="Multiply",l[l.Maximum=3]="Maximum";var X=function(){function t(t,e,i,n,s,o,r,a){var l=this;this._pxControllerManager=null,this._currentEvents=new S,this._eventPool=[],this._physXPhysics=t,this._physXManager=e;var h=t._physX;this._pxRaycastHit=new h.PxRaycastHit,this._pxFilterData=new h.PxQueryFilterData,this._pxFilterData.flags=new h.PxQueryFlags(7),this._onContactEnter=i,this._onContactExit=n,this._onContactStay=s,this._onTriggerEnter=o,this._onTriggerExit=r,this._onTriggerStay=a;var c=t._pxPhysics,_=h.PxSimulationEventCallback.implement({onContactBegin:function(t,e){l._onContactEnter(t,e)},onContactEnd:function(t,e){l._onContactExit(t,e)},onContactPersist:function(t,e){l._onContactStay(t,e)},onTriggerBegin:function(t,e){var i=t<e?l._getTrigger(t,e):l._getTrigger(e,t);i.state=0,l._currentEvents.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var n=l._physXManager._eventMap[t];i=n[e],n[e]=void 0}else{var s=l._physXManager._eventMap[e];i=s[t],s[t]=void 0}i.state=2}}),u=h.getDefaultSceneDesc(c.getTolerancesScale(),0,_);this._pxScene=c.createScene(u)}var e=t.prototype;return e.setGravity=function(t){this._pxScene.setGravity(t)},e.addColliderShape=function(t){this._physXManager._eventMap[t._id]={}},e.removeColliderShape=function(t){for(var e=this._eventPool,i=this._currentEvents,n=t._id,s=i.length-1;s>=0;s--){var o=i.get(s);(o.index1==n||o.index2==n)&&(i.deleteByIndex(s),e.push(o))}delete this._physXManager._eventMap[n]},e.addCollider=function(t){this._pxScene.addActor(t._pxActor,null)},e.removeCollider=function(t){this._pxScene.removeActor(t._pxActor,!0)},e.addCharacterController=function(t){if(!t._pxController){var e=t._shape;if(e){var i=t._pxManager;i!==this&&(i&&t._destroyPXController(),t._createPXController(this,e))}}t._pxManager=this},e.removeCharacterController=function(t){t._pxManager=null},e.update=function(t){this._simulate(t),this._fetchResults(),this._fireEvent()},e.raycast=function(e,i,n,s){var o=this._pxRaycastHit;i=Math.min(i,34e37);var r=this._pxScene.raycastSingle(e.origin,e.direction,i,o,this._pxFilterData,this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return n(e)?2:0},postFilter:function(t,e){}}));if(r&&void 0!=s){var a=t._tempPosition,l=t._tempNormal,h=o.position,c=o.normal;a.set(h.x,h.y,h.z),l.set(c.x,c.y,c.z),s(o.getShape().getUUID(),o.distance,a,l)}return r},e._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},e._simulate=function(t){this._pxScene.simulate(t,!0)},e._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},e._getTrigger=function(t,e){var i;return this._eventPool.length?((i=this._eventPool.pop()).index1=t,i.index2=e):i=new R(t,e),this._physXManager._eventMap[t][e]=i,i},e._fireEvent=function(){for(var t=this._eventPool,e=this._currentEvents,i=e.length-1;i>=0;i--){var n=e.get(i);0==n.state?(this._onTriggerEnter(n.index1,n.index2),n.state=1):1==n.state?this._onTriggerStay(n.index1,n.index2):2==n.state&&(this._onTriggerExit(n.index1,n.index2),e.deleteByIndex(i),t.push(n))}},t}();X._tempPosition=new e.Vector3,X._tempNormal=new e.Vector3,(h=d||(d={}))[h.STATIC=1]="STATIC",h[h.DYNAMIC=2]="DYNAMIC",h[h.PRE_FILTER=4]="PRE_FILTER",h[h.POST_FILTER=8]="POST_FILTER",h[h.ANY_HIT=16]="ANY_HIT",h[h.NO_BLOCK=32]="NO_BLOCK",(c=g||(g={}))[c.Enter=0]="Enter",c[c.Stay=1]="Stay",c[c.Exit=2]="Exit";var R=function(t,e){this.index1=t,this.index2=e},E=function(t){function e(e,i,n){var s;return(s=t.call(this,e)||this)._pxActor=e._pxPhysics.createRigidStatic(s._transform(i,n)),s}return s(e,t),e}(M);t.PhysXRuntimeMode=void 0,(_=t.PhysXRuntimeMode||(t.PhysXRuntimeMode={}))[_.Auto=0]="Auto",_[_.WebAssembly=1]="WebAssembly",_[_.JavaScript=2]="JavaScript";var T=function(){function t(t){this._connectedAnchor=new e.Vector3,this._breakForce=Number.MAX_VALUE,this._breakTorque=Number.MAX_VALUE,this._physXPhysics=t}var i=t.prototype;return i.setConnectedCollider=function(t){var e;this._pxJoint.setActors((null==t?void 0:t._pxActor)||null,(null==(e=this._collider)?void 0:e._pxActor)||null)},i.setConnectedAnchor=function(e){this._connectedAnchor.copyFrom(e),this._setLocalPose(0,e,t._defaultQuat)},i.setConnectedMassScale=function(t){this._pxJoint.setInvMassScale0(1/t)},i.setConnectedInertiaScale=function(t){this._pxJoint.setInvInertiaScale0(1/t)},i.setMassScale=function(t){this._pxJoint.setInvMassScale1(1/t)},i.setInertiaScale=function(t){this._pxJoint.setInvInertiaScale1(1/t)},i.setBreakForce=function(t){this._breakForce=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i.setBreakTorque=function(t){this._breakTorque=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i._setLocalPose=function(t,e,i){this._pxJoint.setLocalPose(t,e,i)},t}();T._xAxis=new e.Vector3(1,0,0),T._defaultVec=new e.Vector3,T._defaultQuat=new e.Quaternion;var I=function(t){function e(e,i){var n;return(n=t.call(this,e)||this)._collider=i,n._pxJoint=e._pxPhysics.createFixedJoint(null,T._defaultVec,T._defaultQuat,i._pxActor,T._defaultVec,T._defaultQuat),n}return s(e,t),e}(T),z=function(t){function i(i,n){var s;return(s=t.call(this,i)||this)._axisRotationQuaternion=new e.Quaternion,s._swingOffset=new e.Vector3,s._velocity=new e.Vector3,s._collider=n,s._pxJoint=i._pxPhysics.createRevoluteJoint(null,T._defaultVec,T._defaultQuat,n._pxActor,T._defaultVec,T._defaultQuat),s}s(i,t);var n=i.prototype;return n.setAxis=function(t){var i=T._xAxis,n=this._axisRotationQuaternion;i.set(1,0,0),t.normalize();var s=Math.acos(e.Vector3.dot(i,t));e.Vector3.cross(i,t,i),e.Quaternion.rotationAxisAngle(i,s,n),this._setLocalPose(0,this._swingOffset,n)},n.setSwingOffset=function(t){this._swingOffset.copyFrom(t),this._setLocalPose(1,this._swingOffset,this._axisRotationQuaternion)},n.getAngle=function(){return this._pxJoint.getAngle()},n.getVelocity=function(){var t=this._velocity;return t.copyFrom(this._pxJoint.getVelocity()),t},n.setHardLimit=function(t,e,i){this._pxJoint.setHardLimit(t,e,i)},n.setSoftLimit=function(t,e,i,n){this._pxJoint.setSoftLimit(t,e,i,n)},n.setDriveVelocity=function(t){this._pxJoint.setDriveVelocity(t)},n.setDriveForceLimit=function(t){this._pxJoint.setDriveForceLimit(t)},n.setDriveGearRatio=function(t){this._pxJoint.setDriveGearRatio(t)},n.setHingeJointFlag=function(t,e){this._pxJoint.setRevoluteJointFlag(t,e)},i}(T),D=function(t){function i(i,n){var s;return(s=t.call(this,i)||this)._swingOffset=new e.Vector3,s._collider=n,s._pxJoint=i._pxPhysics.createDistanceJoint(null,T._defaultVec,T._defaultQuat,n._pxActor,T._defaultVec,T._defaultQuat),s._pxJoint.setDistanceJointFlag(2,!0),s._pxJoint.setDistanceJointFlag(4,!0),s._pxJoint.setDistanceJointFlag(8,!0),s}s(i,t);var n=i.prototype;return n.setSwingOffset=function(t){this._swingOffset.copyFrom(t),this._setLocalPose(1,t,T._defaultQuat)},n.setMinDistance=function(t){this._pxJoint.setMinDistance(t)},n.setMaxDistance=function(t){this._pxJoint.setMaxDistance(t)},n.setTolerance=function(t){this._pxJoint.setTolerance(t)},n.setStiffness=function(t){this._pxJoint.setStiffness(t)},n.setDamping=function(t){this._pxJoint.setDamping(t)},i}(T),L=function(t){function i(i,n,s){var o;return(o=t.call(this,i)||this)._axis=new e.Quaternion(0,0,v.halfSqrt,v.halfSqrt),o._physXRotation.copyFrom(o._axis),o._pxGeometry=new i._physX.PxPlaneGeometry,o._initialize(s,n),o._setLocalPose(),o}return s(i,t),i}(v),V=function(t){function e(e,i,n,s){var o;return(o=t.call(this,e)||this)._maxScale=1,o._radius=n,o._pxGeometry=new e._physX.PxSphereGeometry(o._radius*o._maxScale),o._initialize(s,i),o._setLocalPose(),o}s(e,t);var i=e.prototype;return i.setRadius=function(t){this._radius=t,this._pxGeometry.radius=t*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},i.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e),this._maxScale=Math.max(e.x,e.y,e.z),this._pxGeometry.radius=this._radius*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},e}(v),G=function(){function n(e){void 0===e&&(e=t.PhysXRuntimeMode.Auto),this._initializeState=0,this._runTimeMode=e}var s=n.prototype;return s.initialize=function(){var n=this;if(2===this._initializeState)return Promise.resolve();if(1===this._initializeState)return this._initializePromise;var s=this._runTimeMode,o=new Promise(function(n,o){var r=document.createElement("script");document.body.appendChild(r),r.async=!0,r.onload=n,r.onerror=o,s==t.PhysXRuntimeMode.Auto&&(s=!function(){try{if("object"==typeof WebAssembly&&"function"==typeof WebAssembly.instantiate){var t=new WebAssembly.Module(Uint8Array.of(0,97,115,109,1,0,0,0));if(i(t,WebAssembly.Module))return i(new WebAssembly.Instance(t),WebAssembly.Instance)}}catch(t){}return!1}()?t.PhysXRuntimeMode.JavaScript:t.PhysXRuntimeMode.WebAssembly),s==t.PhysXRuntimeMode.JavaScript?r.src="https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/"+e.version+"/libs/physx.release.js.js":s==t.PhysXRuntimeMode.WebAssembly&&(r.src="https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/"+e.version+"/libs/physx.release.js")}),r=new Promise(function(t,e){o.then(function(){return window.PHYSX().then(function(e){n._init(e),n._initializeState=2,n._initializePromise=null,console.log("PhysX loaded."),t()},e)},e).catch(e)});return this._initializePromise=r,r},s.destroy=function(){this._physX.PxCloseExtensions(),this._pxPhysics.release(),this._pxFoundation.release(),this._physX=null,this._pxFoundation=null,this._pxPhysics=null},s.createPhysicsManager=function(){return new F},s.createPhysicsScene=function(t,e,i,n,s,o,r){return new X(this,t,e,i,n,s,o,r)},s.createStaticCollider=function(t,e){return new E(this,t,e)},s.createDynamicCollider=function(t,e){return new w(this,t,e)},s.createCharacterController=function(){return new A(this)},s.createPhysicsMaterial=function(t,e,i,n,s){return new b(this,t,e,i,n,s)},s.createBoxColliderShape=function(t,e,i){return new P(this,t,e,i)},s.createSphereColliderShape=function(t,e,i){return new V(this,t,e,i)},s.createPlaneColliderShape=function(t,e){return new L(this,t,e)},s.createCapsuleColliderShape=function(t,e,i,n){return new C(this,t,e,i,n)},s.createFixedJoint=function(t){return new I(this,t)},s.createHingeJoint=function(t){return new z(this,t)},s.createSpringJoint=function(t){return new D(this,t)},s._init=function(t){var e=t.PX_PHYSICS_VERSION,i=new t.PxDefaultErrorCallback,n=new t.PxDefaultAllocator,s=t.PxCreateFoundation(e,n,i),o=t.PxCreatePhysics(e,s,new t.PxTolerancesScale,!1,null);t.PxInitExtensions(o,null),this._physX=t,this._pxFoundation=s,this._pxPhysics=o},n}();(u=m||(m={}))[u.Uninitialized=0]="Uninitialized",u[u.Initializing=1]="Initializing",u[u.Initialized=2]="Initialized";var H="1.1.0-beta.5";console.log("Galacean PhysX version: "+H),t.PhysXPhysics=G,t.version=H,Object.defineProperty(t,"__esModule",{value:!0})});
+!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports,require("@galacean/engine")):"function"==typeof define&&define.amd?define(["exports","@galacean/engine"],e):e(((t="undefined"!=typeof globalThis?globalThis:t||self).Galacean=t.Galacean||{},t.Galacean.PhysicsPhysX={}),t.Galacean)}(this,function(t,e){"use strict";function i(t,e){return null!=e&&"undefined"!=typeof Symbol&&e[Symbol.hasInstance]?!!e[Symbol.hasInstance](t):t instanceof e}function n(t,e){return(n=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t})(t,e)}function s(t,e){if("function"!=typeof e&&null!==e)throw TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&n(t,e)}var o,r,a,l,h,c,_,u,p,f,x,d,y,g,m,S=function(){function t(t){void 0===t&&(t=0),this.length=0,this._elements=Array(t)}var e=t.prototype;return e.add=function(t){this.length===this._elements.length?this._elements.push(t):this._elements[this.length]=t,this.length++},e.delete=function(t){var e=this._elements.indexOf(t);this.deleteByIndex(e)},e.get=function(t){if(t>=this.length)throw"Index is out of range.";return this._elements[t]},e.deleteByIndex=function(t){var e=this._elements,i=null,n=this.length-1;return t!==n&&(i=e[n],e[t]=i),this.length--,i},e.garbageCollection=function(){this._elements.length=this.length},t}();(o=p||(p={}))[o.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",o[o.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",o[o.TRIGGER_SHAPE=4]="TRIGGER_SHAPE";var v=function(){function t(t){this._controllers=new S,this._worldScale=new e.Vector3(1,1,1),this._position=new e.Vector3,this._rotation=null,this._axis=null,this._physXRotation=new e.Quaternion,this._shapeFlags=3,this._physXPhysics=t}var i=t.prototype;return i.setRotation=function(t){this._rotation=t,e.Quaternion.rotationYawPitchRoll(t.x,t.y,t.z,this._physXRotation),this._axis&&e.Quaternion.multiply(this._physXRotation,this._axis,this._physXRotation),this._physXRotation.normalize(),this._setLocalPose()},i.setPosition=function(t){t!==this._position&&this._position.copyFrom(t);for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._updateShapePosition(this._position,this._worldScale);this._setLocalPose()},i.setWorldScale=function(t){this._worldScale.copyFrom(t),this._setLocalPose();for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._updateShapePosition(this._position,this._worldScale)},i.setContactOffset=function(t){this._pxShape.setContactOffset(t);for(var e=this._controllers,i=0,n=e.length;i<n;i++)e.get(i)._pxController.setContactOffset(t)},i.setMaterial=function(t){this._pxMaterial=t._pxMaterial,this._pxShape.setMaterial(this._pxMaterial)},i.setIsTrigger=function(t){this._modifyFlag(1,!t),this._modifyFlag(4,t),this._setShapeFlags(this._shapeFlags)},i.destroy=function(){this._pxShape.release()},i._setShapeFlags=function(t){this._shapeFlags=t,this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags))},i._setLocalPose=function(){var i=t.transform;e.Vector3.multiply(this._position,this._worldScale,i.translation),i.rotation=this._physXRotation,this._pxShape.setLocalPose(i)},i._initialize=function(t,e){this._id=e,this._pxMaterial=t._pxMaterial,this._pxShape=this._physXPhysics._pxPhysics.createShape(this._pxGeometry,t._pxMaterial,!0,new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags)),this._pxShape.setUUID(e)},i._modifyFlag=function(t,e){this._shapeFlags=e?this._shapeFlags|t:this._shapeFlags&~t},t}();v.halfSqrt=.70710678118655,v.transform={translation:new e.Vector3,rotation:null};var P=function(t){function i(i,n,s,o){var r;return(r=t.call(this,i)||this)._halfSize=new e.Vector3,r._halfSize.set(.5*s.x,.5*s.y,.5*s.z),r._pxGeometry=new i._physX.PxBoxGeometry(r._halfSize.x*r._worldScale.x,r._halfSize.y*r._worldScale.y,r._halfSize.z*r._worldScale.z),r._initialize(o,n),r._setLocalPose(),r}s(i,t);var n=i.prototype;return n.setSize=function(t){var n=i._tempHalfExtents;this._halfSize.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(this._halfSize,this._worldScale,n),this._pxGeometry.halfExtents=n,this._pxShape.setGeometry(this._pxGeometry),this._updateController(n)},n.setWorldScale=function(n){t.prototype.setWorldScale.call(this,n);var s=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._worldScale,s),this._pxGeometry.halfExtents=s,this._pxShape.setGeometry(this._pxGeometry),this._updateController(s)},n._updateController=function(t){for(var e=this._controllers,i=0,n=e.length;i<n;i++){var s=e.get(i)._pxController;s.setHalfHeight(t.x),s.setHalfSideExtent(t.y),s.setHalfForwardExtent(t.z)}},i}(v);P._tempHalfExtents=new e.Vector3;var A=function(t){function i(i,n,s,o,r){var a;return(a=t.call(this,i)||this)._upAxis=1,a._radius=s,a._halfHeight=.5*o,a._axis=new e.Quaternion(0,0,v.halfSqrt,v.halfSqrt),a._physXRotation.copyFrom(a._axis),a._pxGeometry=new i._physX.PxCapsuleGeometry(a._radius,a._halfHeight),a._initialize(r,n),a._setLocalPose(),a}s(i,t);var n=i.prototype;return n.setRadius=function(t){switch(this._radius=t,this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.y,this._worldScale.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.x,this._worldScale.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(this._worldScale.x,this._worldScale.y)}this._pxShape.setGeometry(this._pxGeometry);for(var e=this._pxGeometry.radius,i=this._controllers,n=0,s=i.length;n<s;n++)i.get(n)._pxController.setRadius(e)},n.setHeight=function(t){switch(this._halfHeight=.5*t,this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*this._worldScale.z}this._pxShape.setGeometry(this._pxGeometry);for(var e=2*this._pxGeometry.halfHeight,i=this._controllers,n=0,s=i.length;n<s;n++)i.get(n)._pxController.setHeight(e)},n.setUpAxis=function(t){var i=this._rotation,n=this._axis,s=this._physXRotation;switch(this._upAxis=t,this._upAxis){case 0:n.set(0,0,0,1);break;case 1:n.set(0,0,v.halfSqrt,v.halfSqrt);break;case 2:n.set(0,v.halfSqrt,0,v.halfSqrt)}i?(e.Quaternion.rotationYawPitchRoll(i.x,i.y,i.z,s),e.Quaternion.multiply(s,n,s)):s.copyFrom(n),this._setLocalPose()},n.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e);var i=this._pxGeometry;switch(this._upAxis){case 0:i.radius=this._radius*Math.max(e.y,e.z),i.halfHeight=this._halfHeight*e.x;break;case 1:i.radius=this._radius*Math.max(e.x,e.z),i.halfHeight=this._halfHeight*e.y;break;case 2:i.radius=this._radius*Math.max(e.x,e.y),i.halfHeight=this._halfHeight*e.z}this._pxShape.setGeometry(i);for(var n=i.radius,s=2*i.halfHeight,o=this._controllers,r=0,a=o.length;r<a;r++){var l=o.get(r)._pxController;l.setRadius(n),l.setHeight(s)}},i}(v);(r=f||(f={}))[r.X=0]="X",r[r.Y=1]="Y",r[r.Z=2]="Z";var C=function(){function t(t){this._shapeScaledPosition=new e.Vector3,this._worldPosition=null,this._physXPhysics=t}var n=t.prototype;return n.move=function(t,e,i){var n,s;return null!=(s=null==(n=this._pxController)?void 0:n.move(t,e,i))?s:0},n.setWorldPosition=function(t){this._worldPosition=t,this._updateNativePosition()},n.getWorldPosition=function(t){this._pxController&&(t.copyFrom(this._pxController.getPosition()),t.subtract(this._shapeScaledPosition))},n.setStepOffset=function(t){var e;null==(e=this._pxController)||e.setStepOffset(t)},n.setNonWalkableMode=function(t){var e;null==(e=this._pxController)||e.setNonWalkableMode(t)},n.setUpDirection=function(t){var e;null==(e=this._pxController)||e.setUpDirection(t)},n.setSlopeLimit=function(t){var e;null==(e=this._pxController)||e.setSlopeLimit(t)},n.addShape=function(t){this._pxManager&&this._createPXController(this._pxManager,t),this._shape=t,t._controllers.add(this)},n.removeShape=function(t){this._destroyPXController(),this._shape=null,t._controllers.delete(this)},n.destroy=function(){this._destroyPXController()},n._createPXController=function(t,e){var n;if(i(e,P))(n=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.x,n.halfSideExtent=e._halfSize.y,n.halfForwardExtent=e._halfSize.z;else if(i(e,A))(n=new this._physXPhysics._physX.PxCapsuleControllerDesc).radius=e._radius,n.height=2*e._halfHeight,n.climbingMode=1;else throw"unsupported shape type";n.setMaterial(e._pxMaterial),this._pxController=t._getControllerManager().createController(n),this._pxController.setUUID(e._id)},n._destroyPXController=function(){this._pxController&&(this._pxController.release(),this._pxController=null)},n._updateShapePosition=function(t,i){e.Vector3.multiply(t,i,this._shapeScaledPosition),this._updateNativePosition()},n._updateNativePosition=function(){var i=this._worldPosition;this._pxController&&i&&(e.Vector3.add(i,this._shapeScaledPosition,t._tempVec),this._pxController.setPosition(t._tempVec))},t}();C._tempVec=new e.Vector3;var M=function(){function t(t){this._physXPhysics=t}var e=t.prototype;return e.addShape=function(t){this._pxActor.attachShape(t._pxShape)},e.removeShape=function(t){this._pxActor.detachShape(t._pxShape,!0)},e.setWorldTransform=function(t,e){this._pxActor.setGlobalPose(this._transform(t,e),!0)},e.getWorldTransform=function(t,e){var i=this._pxActor.getGlobalPose();t.set(i.translation.x,i.translation.y,i.translation.z),e.set(i.rotation.x,i.rotation.y,i.rotation.z,i.rotation.w)},e.destroy=function(){this._pxActor.release()},e._transform=function(e,i){var n=t._tempTransform;return n.translation=e,n.rotation=i.normalize(),n},t}();M._tempTransform={translation:null,rotation:null},(a=x||(x={}))[a.Discrete=0]="Discrete",a[a.Continuous=1]="Continuous",a[a.ContinuousDynamic=2]="ContinuousDynamic",a[a.ContinuousSpeculative=3]="ContinuousSpeculative";var w=function(t){function n(e,i,n){var s,o=(s=t.call(this,e)||this)._transform(i,n);return s._pxActor=e._pxPhysics.createRigidDynamic(o),s}s(n,t);var o=n.prototype;return o.setLinearDamping=function(t){this._pxActor.setLinearDamping(t)},o.setAngularDamping=function(t){this._pxActor.setAngularDamping(t)},o.setLinearVelocity=function(t){this._pxActor.setLinearVelocity(t,!0)},o.setAngularVelocity=function(t){this._pxActor.setAngularVelocity(t,!0)},o.setMass=function(t){this._pxActor.setMass(t)},o.setCenterOfMass=function(t){this._pxActor.setCMassLocalPose(t)},o.setInertiaTensor=function(t){this._pxActor.setMassSpaceInertiaTensor(t)},o.setMaxAngularVelocity=function(t){this._pxActor.setMaxAngularVelocity(t)},o.setMaxDepenetrationVelocity=function(t){this._pxActor.setMaxDepenetrationVelocity(t)},o.setSleepThreshold=function(t){this._pxActor.setSleepThreshold(t)},o.setSolverIterations=function(t){this._pxActor.setSolverIterationCounts(t,1)},o.setCollisionDetectionMode=function(t){switch(t){case 1:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD,!0);break;case 2:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!0);break;case 3:this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!0);break;case 0:var e=this._physXPhysics._physX;this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1)}},o.setIsKinematic=function(t){t?this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!0):this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!1)},o.setConstraints=function(t){this._pxActor.setRigidDynamicLockFlags(t)},o.addForce=function(t){this._pxActor.addForce({x:t.x,y:t.y,z:t.z})},o.addTorque=function(t){this._pxActor.addTorque({x:t.x,y:t.y,z:t.z})},o.move=function(t,s){if(s){this._pxActor.setKinematicTarget(t,s);return}var o=n._tempTranslation,r=n._tempRotation;this.getWorldTransform(o,r),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,r):this._pxActor.setKinematicTarget(o,t)},o.sleep=function(){return this._pxActor.putToSleep()},o.wakeUp=function(){return this._pxActor.wakeUp()},n}(M);w._tempTranslation=new e.Vector3,w._tempRotation=new e.Quaternion;var F=function(){this._eventMap={}},R=function(){function t(t,e,i,n,s,o){this._physXPhysics=t;var r=t._pxPhysics.createMaterial(e,i,n);r.setFrictionCombineMode(s),r.setRestitutionCombineMode(o),this._pxMaterial=r}var e=t.prototype;return e.setBounciness=function(t){this._pxMaterial.setRestitution(t)},e.setDynamicFriction=function(t){this._pxMaterial.setDynamicFriction(t)},e.setStaticFriction=function(t){this._pxMaterial.setStaticFriction(t)},e.setBounceCombine=function(t){this._pxMaterial.setRestitutionCombineMode(t)},e.setFrictionCombine=function(t){this._pxMaterial.setFrictionCombineMode(t)},e.destroy=function(){this._pxMaterial.release()},t}();(l=d||(d={}))[l.Average=0]="Average",l[l.Minimum=1]="Minimum",l[l.Multiply=2]="Multiply",l[l.Maximum=3]="Maximum";var X=function(){function t(t,e,i,n,s,o,r,a){var l=this;this._pxControllerManager=null,this._currentEvents=new S,this._eventPool=[],this._physXPhysics=t,this._physXManager=e;var h=t._physX;this._pxRaycastHit=new h.PxRaycastHit,this._pxFilterData=new h.PxQueryFilterData,this._pxFilterData.flags=new h.PxQueryFlags(7),this._onContactEnter=i,this._onContactExit=n,this._onContactStay=s,this._onTriggerEnter=o,this._onTriggerExit=r,this._onTriggerStay=a;var c=t._pxPhysics,_=h.PxSimulationEventCallback.implement({onContactBegin:function(t,e){l._onContactEnter(t,e)},onContactEnd:function(t,e){l._onContactExit(t,e)},onContactPersist:function(t,e){l._onContactStay(t,e)},onTriggerBegin:function(t,e){var i=t<e?l._getTrigger(t,e):l._getTrigger(e,t);i.state=0,l._currentEvents.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var n=l._physXManager._eventMap[t];i=n[e],n[e]=void 0}else{var s=l._physXManager._eventMap[e];i=s[t],s[t]=void 0}i.state=2}}),u=h.getDefaultSceneDesc(c.getTolerancesScale(),0,_);this._pxScene=c.createScene(u)}var e=t.prototype;return e.setGravity=function(t){this._pxScene.setGravity(t)},e.addColliderShape=function(t){this._physXManager._eventMap[t._id]={}},e.removeColliderShape=function(t){for(var e=this._eventPool,i=this._currentEvents,n=t._id,s=this._physXManager._eventMap,o=i.length-1;o>=0;o--){var r=i.get(o);r.index1==n?(i.deleteByIndex(o),e.push(r)):r.index2==n&&(i.deleteByIndex(o),e.push(r),s[r.index1][n]=void 0)}delete s[n]},e.addCollider=function(t){this._pxScene.addActor(t._pxActor,null)},e.removeCollider=function(t){this._pxScene.removeActor(t._pxActor,!0)},e.addCharacterController=function(t){if(!t._pxController){var e=t._shape;if(e){var i=t._pxManager;i!==this&&(i&&t._destroyPXController(),t._createPXController(this,e))}}t._pxManager=this},e.removeCharacterController=function(t){t._pxManager=null},e.update=function(t){this._simulate(t),this._fetchResults(),this._fireEvent()},e.raycast=function(e,i,n,s){var o=this._pxRaycastHit;i=Math.min(i,34e37);var r=this._pxScene.raycastSingle(e.origin,e.direction,i,o,this._pxFilterData,this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return n(e)?2:0},postFilter:function(t,e){}}));if(r&&void 0!=s){var a=t._tempPosition,l=t._tempNormal,h=o.position,c=o.normal;a.set(h.x,h.y,h.z),l.set(c.x,c.y,c.z),s(o.getShape().getUUID(),o.distance,a,l)}return r},e._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},e._simulate=function(t){this._pxScene.simulate(t,!0)},e._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},e._getTrigger=function(t,e){var i;return this._eventPool.length?((i=this._eventPool.pop()).index1=t,i.index2=e):i=new E(t,e),this._physXManager._eventMap[t][e]=i,i},e._fireEvent=function(){for(var t=this._eventPool,e=this._currentEvents,i=e.length-1;i>=0;i--){var n=e.get(i);0==n.state?(this._onTriggerEnter(n.index1,n.index2),n.state=1):1==n.state?this._onTriggerStay(n.index1,n.index2):2==n.state&&(this._onTriggerExit(n.index1,n.index2),e.deleteByIndex(i),t.push(n))}},t}();X._tempPosition=new e.Vector3,X._tempNormal=new e.Vector3,(h=y||(y={}))[h.STATIC=1]="STATIC",h[h.DYNAMIC=2]="DYNAMIC",h[h.PRE_FILTER=4]="PRE_FILTER",h[h.POST_FILTER=8]="POST_FILTER",h[h.ANY_HIT=16]="ANY_HIT",h[h.NO_BLOCK=32]="NO_BLOCK",(c=g||(g={}))[c.Enter=0]="Enter",c[c.Stay=1]="Stay",c[c.Exit=2]="Exit";var E=function(t,e){this.index1=t,this.index2=e},b=function(t){function e(e,i,n){var s;return(s=t.call(this,e)||this)._pxActor=e._pxPhysics.createRigidStatic(s._transform(i,n)),s}return s(e,t),e}(M);t.PhysXRuntimeMode=void 0,(_=t.PhysXRuntimeMode||(t.PhysXRuntimeMode={}))[_.Auto=0]="Auto",_[_.WebAssembly=1]="WebAssembly",_[_.JavaScript=2]="JavaScript";var T=function(){function t(t){this._connectedAnchor=new e.Vector3,this._breakForce=Number.MAX_VALUE,this._breakTorque=Number.MAX_VALUE,this._physXPhysics=t}var i=t.prototype;return i.setConnectedCollider=function(t){var e;this._pxJoint.setActors((null==t?void 0:t._pxActor)||null,(null==(e=this._collider)?void 0:e._pxActor)||null)},i.setConnectedAnchor=function(e){this._connectedAnchor.copyFrom(e),this._setLocalPose(0,e,t._defaultQuat)},i.setConnectedMassScale=function(t){this._pxJoint.setInvMassScale0(1/t)},i.setConnectedInertiaScale=function(t){this._pxJoint.setInvInertiaScale0(1/t)},i.setMassScale=function(t){this._pxJoint.setInvMassScale1(1/t)},i.setInertiaScale=function(t){this._pxJoint.setInvInertiaScale1(1/t)},i.setBreakForce=function(t){this._breakForce=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i.setBreakTorque=function(t){this._breakTorque=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i._setLocalPose=function(t,e,i){this._pxJoint.setLocalPose(t,e,i)},t}();T._xAxis=new e.Vector3(1,0,0),T._defaultVec=new e.Vector3,T._defaultQuat=new e.Quaternion;var I=function(t){function e(e,i){var n;return(n=t.call(this,e)||this)._collider=i,n._pxJoint=e._pxPhysics.createFixedJoint(null,T._defaultVec,T._defaultQuat,i._pxActor,T._defaultVec,T._defaultQuat),n}return s(e,t),e}(T),z=function(t){function i(i,n){var s;return(s=t.call(this,i)||this)._axisRotationQuaternion=new e.Quaternion,s._swingOffset=new e.Vector3,s._collider=n,s._pxJoint=i._pxPhysics.createRevoluteJoint(null,T._defaultVec,T._defaultQuat,n._pxActor,T._defaultVec,T._defaultQuat),s}s(i,t);var n=i.prototype;return n.setAxis=function(t){var i=T._xAxis,n=this._axisRotationQuaternion;i.set(1,0,0),t.normalize();var s=Math.acos(e.Vector3.dot(i,t));e.Vector3.cross(i,t,i),e.Quaternion.rotationAxisAngle(i,s,n),this._setLocalPose(0,this._swingOffset,n)},n.setSwingOffset=function(t){this._swingOffset.copyFrom(t),this._setLocalPose(1,this._swingOffset,this._axisRotationQuaternion)},n.getAngle=function(){return this._pxJoint.getAngle()},n.getVelocity=function(){return this._pxJoint.getVelocity()},n.setHardLimit=function(t,e,i){this._pxJoint.setHardLimit(t,e,i)},n.setSoftLimit=function(t,e,i,n){this._pxJoint.setSoftLimit(t,e,i,n)},n.setDriveVelocity=function(t,e){void 0===e&&(e=!0),this._pxJoint.setDriveVelocity(t,e)},n.setDriveForceLimit=function(t){this._pxJoint.setDriveForceLimit(t)},n.setDriveGearRatio=function(t){this._pxJoint.setDriveGearRatio(t)},n.setHingeJointFlag=function(t,e){this._pxJoint.setRevoluteJointFlag(t,e)},i}(T),D=function(t){function i(i,n){var s;return(s=t.call(this,i)||this)._swingOffset=new e.Vector3,s._collider=n,s._pxJoint=i._pxPhysics.createDistanceJoint(null,T._defaultVec,T._defaultQuat,n._pxActor,T._defaultVec,T._defaultQuat),s._pxJoint.setDistanceJointFlag(2,!0),s._pxJoint.setDistanceJointFlag(4,!0),s._pxJoint.setDistanceJointFlag(8,!0),s}s(i,t);var n=i.prototype;return n.setSwingOffset=function(t){this._swingOffset.copyFrom(t),this._setLocalPose(1,t,T._defaultQuat)},n.setMinDistance=function(t){this._pxJoint.setMinDistance(t)},n.setMaxDistance=function(t){this._pxJoint.setMaxDistance(t)},n.setTolerance=function(t){this._pxJoint.setTolerance(t)},n.setStiffness=function(t){this._pxJoint.setStiffness(t)},n.setDamping=function(t){this._pxJoint.setDamping(t)},i}(T),G=function(t){function i(i,n,s){var o;return(o=t.call(this,i)||this)._axis=new e.Quaternion(0,0,v.halfSqrt,v.halfSqrt),o._physXRotation.copyFrom(o._axis),o._pxGeometry=new i._physX.PxPlaneGeometry,o._initialize(s,n),o._setLocalPose(),o}return s(i,t),i}(v),V=function(t){function e(e,i,n,s){var o;return(o=t.call(this,e)||this)._maxScale=1,o._radius=n,o._pxGeometry=new e._physX.PxSphereGeometry(o._radius*o._maxScale),o._initialize(s,i),o._setLocalPose(),o}s(e,t);var i=e.prototype;return i.setRadius=function(t){this._radius=t,this._pxGeometry.radius=t*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},i.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e),this._maxScale=Math.max(e.x,e.y,e.z),this._pxGeometry.radius=this._radius*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},e}(v),L=function(){function e(e){void 0===e&&(e=t.PhysXRuntimeMode.Auto),this._initializeState=0,this._runTimeMode=e}var n=e.prototype;return n.initialize=function(){var e=this;if(2===this._initializeState)return Promise.resolve();if(1===this._initializeState)return this._initializePromise;var n=this._runTimeMode,s=new Promise(function(e,s){var o=document.createElement("script");document.body.appendChild(o),o.async=!0,o.onload=e,o.onerror=s,n==t.PhysXRuntimeMode.Auto&&(n=!function(){try{if("object"==typeof WebAssembly&&"function"==typeof WebAssembly.instantiate){var t=new WebAssembly.Module(Uint8Array.of(0,97,115,109,1,0,0,0));if(i(t,WebAssembly.Module))return i(new WebAssembly.Instance(t),WebAssembly.Instance)}}catch(t){}return!1}()?t.PhysXRuntimeMode.JavaScript:t.PhysXRuntimeMode.WebAssembly),n==t.PhysXRuntimeMode.JavaScript?o.src="https://mdn.alipayobjects.com/rms/afts/file/A*rnDeR58NNGoAAAAAAAAAAAAAARQnAQ/physx.release.js.js":n==t.PhysXRuntimeMode.WebAssembly&&(o.src="https://mdn.alipayobjects.com/rms/afts/file/A*nA97QLQehRMAAAAAAAAAAAAAARQnAQ/physx.release.js")}),o=new Promise(function(t,i){s.then(function(){return window.PHYSX().then(function(i){e._init(i),e._initializeState=2,e._initializePromise=null,console.log("PhysX loaded."),t()},i)},i).catch(i)});return this._initializePromise=o,o},n.destroy=function(){this._physX.PxCloseExtensions(),this._pxPhysics.release(),this._pxFoundation.release(),this._physX=null,this._pxFoundation=null,this._pxPhysics=null},n.createPhysicsManager=function(){return new F},n.createPhysicsScene=function(t,e,i,n,s,o,r){return new X(this,t,e,i,n,s,o,r)},n.createStaticCollider=function(t,e){return new b(this,t,e)},n.createDynamicCollider=function(t,e){return new w(this,t,e)},n.createCharacterController=function(){return new C(this)},n.createPhysicsMaterial=function(t,e,i,n,s){return new R(this,t,e,i,n,s)},n.createBoxColliderShape=function(t,e,i){return new P(this,t,e,i)},n.createSphereColliderShape=function(t,e,i){return new V(this,t,e,i)},n.createPlaneColliderShape=function(t,e){return new G(this,t,e)},n.createCapsuleColliderShape=function(t,e,i,n){return new A(this,t,e,i,n)},n.createFixedJoint=function(t){return new I(this,t)},n.createHingeJoint=function(t){return new z(this,t)},n.createSpringJoint=function(t){return new D(this,t)},n._init=function(t){var e=t.PX_PHYSICS_VERSION,i=new t.PxDefaultErrorCallback,n=new t.PxDefaultAllocator,s=t.PxCreateFoundation(e,n,i),o=t.PxCreatePhysics(e,s,new t.PxTolerancesScale,!1,null);t.PxInitExtensions(o,null),this._physX=t,this._pxFoundation=s,this._pxPhysics=o},e}();(u=m||(m={}))[u.Uninitialized=0]="Uninitialized",u[u.Initializing=1]="Initializing",u[u.Initialized=2]="Initialized";var H="1.1.0-beta.50";console.log("Galacean PhysX version: "+H),t.PhysXPhysics=L,t.version=H,Object.defineProperty(t,"__esModule",{value:!0})});

package/dist/main.js

@@ -93,7 +93,6 @@ var ShapeFlag;
         this._axis = null;
         this._physXRotation = new engine.Quaternion();
         this._shapeFlags = 2 | 1;
-        /** @internal */ this._pxMaterials = new Array(1);
         this._physXPhysics = physXPhysics;
     }
     var _proto = PhysXColliderShape.prototype;
@@ -114,7 +113,7 @@ var ShapeFlag;
         }
         var controllers = this._controllers;
         for(var i = 0, n = controllers.length; i < n; i++){
-            controllers.get(i)._setLocalPosition(this._position, this._worldScale);
+            controllers.get(i)._updateShapePosition(this._position, this._worldScale);
         }
         this._setLocalPose();
     };
@@ -125,7 +124,7 @@ var ShapeFlag;
         this._setLocalPose();
         var controllers = this._controllers;
         for(var i = 0, n = controllers.length; i < n; i++){
-            controllers.get(i)._setLocalPosition(this._position, this._worldScale);
+            controllers.get(i)._updateShapePosition(this._position, this._worldScale);
         }
     };
     /**
@@ -141,8 +140,8 @@ var ShapeFlag;
     /**
    * {@inheritDoc IColliderShape.setMaterial }
    */ _proto.setMaterial = function setMaterial(value) {
-        this._pxMaterials[0] = value._pxMaterial;
-        this._pxShape.setMaterials(this._pxMaterials);
+        this._pxMaterial = value._pxMaterial;
+        this._pxShape.setMaterial(this._pxMaterial);
     };
     /**
    * {@inheritDoc IColliderShape.setIsTrigger }
@@ -170,7 +169,7 @@ var ShapeFlag;
     };
     _proto._initialize = function _initialize(material, id) {
         this._id = id;
-        this._pxMaterials[0] = material._pxMaterial;
+        this._pxMaterial = material._pxMaterial;
         this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));
         this._pxShape.setUUID(id);
     };
@@ -369,8 +368,8 @@ var /**
  * Base class for character controllers.
  */ var PhysXCharacterController = /*#__PURE__*/ function() {
     function PhysXCharacterController(physXPhysics) {
-        this._scaledOffset = new engine.Vector3();
-        this._position = null;
+        this._shapeScaledPosition = new engine.Vector3();
+        this._worldPosition = null;
         this._physXPhysics = physXPhysics;
     }
     var _proto = PhysXCharacterController.prototype;
@@ -384,18 +383,15 @@ var /**
     /**
    * {@inheritDoc ICharacterController.setWorldPosition }
    */ _proto.setWorldPosition = function setWorldPosition(position) {
-        this._position = position;
-        if (this._pxController) {
-            engine.Vector3.add(position, this._scaledOffset, PhysXCharacterController._tempVec);
-            this._pxController.setPosition(PhysXCharacterController._tempVec);
-        }
+        this._worldPosition = position;
+        this._updateNativePosition();
     };
     /**
    * {@inheritDoc ICharacterController.getWorldPosition }
    */ _proto.getWorldPosition = function getWorldPosition(position) {
         if (this._pxController) {
             position.copyFrom(this._pxController.getPosition());
-            position.subtract(this._scaledOffset);
+            position.subtract(this._shapeScaledPosition);
         }
     };
     /**
@@ -458,7 +454,7 @@ var /**
         } else {
             throw "unsupported shape type";
         }
-        desc.setMaterial(shape._pxMaterials[0]);
+        desc.setMaterial(shape._pxMaterial);
         this._pxController = pxManager._getControllerManager().createController(desc);
         this._pxController.setUUID(shape._id);
     };
@@ -472,9 +468,16 @@ var /**
     };
     /**
    * @internal
-   */ _proto._setLocalPosition = function _setLocalPosition(position, scale) {
-        engine.Vector3.multiply(position, scale, this._scaledOffset);
-        this.setWorldPosition(position);
+   */ _proto._updateShapePosition = function _updateShapePosition(shapePosition, worldScale) {
+        engine.Vector3.multiply(shapePosition, worldScale, this._shapeScaledPosition);
+        this._updateNativePosition();
+    };
+    _proto._updateNativePosition = function _updateNativePosition() {
+        var worldPosition = this._worldPosition;
+        if (this._pxController && worldPosition) {
+            engine.Vector3.add(worldPosition, this._shapeScaledPosition, PhysXCharacterController._tempVec);
+            this._pxController.setPosition(PhysXCharacterController._tempVec);
+        }
     };
     return PhysXCharacterController;
 }();
@@ -822,15 +825,21 @@ var /**
    * {@inheritDoc IPhysicsManager.removeColliderShape }
    */ _proto.removeColliderShape = function removeColliderShape(colliderShape) {
         var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents;
-        var shapeID = colliderShape._id;
+        var id = colliderShape._id;
+        var _this__physXManager = this._physXManager, eventMap = _this__physXManager._eventMap;
         for(var i = currentEvents.length - 1; i >= 0; i--){
             var event = currentEvents.get(i);
-            if (event.index1 == shapeID || event.index2 == shapeID) {
+            if (event.index1 == id) {
+                currentEvents.deleteByIndex(i);
+                eventPool.push(event);
+            } else if (event.index2 == id) {
                 currentEvents.deleteByIndex(i);
                 eventPool.push(event);
+                // If the shape is big index, should clear from the small index shape subMap
+                eventMap[event.index1][id] = undefined;
             }
         }
-        delete this._physXManager._eventMap[shapeID];
+        delete eventMap[id];
     };
     /**
    * {@inheritDoc IPhysicsManager.addCollider }
@@ -1093,7 +1102,6 @@ var /**
         _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 = physXPhysics._pxPhysics.createRevoluteJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
         return _this;
@@ -1125,9 +1133,7 @@ var /**
     /**
    * {@inheritDoc IHingeJoint.getVelocity }
    */ _proto.getVelocity = function getVelocity() {
-        var velocity = this._velocity;
-        velocity.copyFrom(this._pxJoint.getVelocity());
-        return velocity;
+        return this._pxJoint.getVelocity();
     };
     /**
    * {@inheritDoc IHingeJoint.setHardLimitCone }
@@ -1141,8 +1147,9 @@ var /**
     };
     /**
    * {@inheritDoc IHingeJoint.setDriveVelocity }
-   */ _proto.setDriveVelocity = function setDriveVelocity(velocity) {
-        this._pxJoint.setDriveVelocity(velocity);
+   */ _proto.setDriveVelocity = function setDriveVelocity(velocity, autowake) {
+        if (autowake === void 0) autowake = true;
+        this._pxJoint.setDriveVelocity(velocity, autowake);
     };
     /**
    * {@inheritDoc IHingeJoint.setDriveForceLimit }
@@ -1306,9 +1313,9 @@ var /**
                 }
             }
             if (runtimeMode == exports.PhysXRuntimeMode.JavaScript) {
-                script.src = "https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/" + engine.version + "/libs/physx.release.js.js";
+                script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rnDeR58NNGoAAAAAAAAAAAAAARQnAQ/physx.release.js.js";
             } else if (runtimeMode == exports.PhysXRuntimeMode.WebAssembly) {
-                script.src = "https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/" + engine.version + "/libs/physx.release.js";
+                script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*nA97QLQehRMAAAAAAAAAAAAAARQnAQ/physx.release.js";
             }
         });
         var initializePromise = new Promise(function(resolve, reject) {
@@ -1422,7 +1429,7 @@ var InitializeState;
 })(InitializeState || (InitializeState = {}));
 
 //@ts-ignore
-var version = "1.1.0-beta.5";
+var version = "1.1.0-beta.50";
 console.log("Galacean PhysX version: " + version);
 
 exports.PhysXPhysics = PhysXPhysics;