@galacean/engine-physics-physx 1.3.16 → 1.3.17

package/dist/browser.min.js

@@ -1,2 +1,2 @@
-!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)}(u=p||(p={}))[u.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",u[u.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",u[u.TRIGGER_SHAPE=4]="TRIGGER_SHAPE";var o,a,r,l,h,c,_,u,p,f,x,y,d,g,m,S=function(){function t(t){this._controllers=new e.DisorderedArray,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,i=this._controllers,n=0,s=i.length;n<s;n++)null==(e=i.get(n)._pxController)||e.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}();S.halfSqrt=.70710678118655,S.transform={translation:new e.Vector3,rotation:null};var v=function(t){function i(i,n,s,o){(a=t.call(this,i)||this)._halfSize=new e.Vector3,a._sizeScale=new e.Vector3(1,1,1);var a,r=a._halfSize;return r.set(.5*s.x,.5*s.y,.5*s.z),a._pxGeometry=new i._physX.PxBoxGeometry(r.x,r.y,r.z),a._initialize(o,n),a._setLocalPose(),a}s(i,t);var n=i.prototype;return n.setSize=function(t){var n=this._halfSize,s=i._tempHalfExtents;n.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(n,this._sizeScale,s),this._pxGeometry.halfExtents=s,this._pxShape.setGeometry(this._pxGeometry),this._updateController(s)},n.setWorldScale=function(n){t.prototype.setWorldScale.call(this,n),this._sizeScale.set(Math.abs(n.x),Math.abs(n.y),Math.abs(n.z));var s=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._sizeScale,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&&(s.setHalfHeight(t.x),s.setHalfSideExtent(t.y),s.setHalfForwardExtent(t.z))}},i}(S);v._tempHalfExtents=new e.Vector3;var P=function(t){function i(i,n,s,o,a){var r;return(r=t.call(this,i)||this)._upAxis=1,r._sizeScale=new e.Vector3(1,1,1),r._radius=s,r._halfHeight=.5*o,r._axis=new e.Quaternion(0,0,S.halfSqrt,S.halfSqrt),r._physXRotation.copyFrom(r._axis),r._pxGeometry=new i._physX.PxCapsuleGeometry(r._radius,r._halfHeight),r._initialize(a,n),r._setLocalPose(),r}s(i,t);var n=i.prototype;return n.setRadius=function(t){this._radius=t;var e,i=this._sizeScale;switch(this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(i.y,i.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(i.x,i.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(i.x,i.y)}this._pxShape.setGeometry(this._pxGeometry);for(var n=this._pxGeometry.radius,s=this._controllers,o=0,a=s.length;o<a;o++)null==(e=s.get(o)._pxController)||e.setRadius(n)},n.setHeight=function(t){this._halfHeight=.5*t;var e,i=this._sizeScale;switch(this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*i.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*i.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(this._pxGeometry);for(var n=2*this._pxGeometry.halfHeight,s=this._controllers,o=0,a=s.length;o<a;o++)null==(e=s.get(o)._pxController)||e.setHeight(n)},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,S.halfSqrt,S.halfSqrt);break;case 2:n.set(0,S.halfSqrt,0,S.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._sizeScale.set(Math.abs(e.x),Math.abs(e.y),Math.abs(e.z)),n=this._pxGeometry;switch(this._upAxis){case 0:n.radius=this._radius*Math.max(i.y,i.z),n.halfHeight=this._halfHeight*i.x;break;case 1:n.radius=this._radius*Math.max(i.x,i.z),n.halfHeight=this._halfHeight*i.y;break;case 2:n.radius=this._radius*Math.max(i.x,i.y),n.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(n);for(var s=n.radius,o=2*n.halfHeight,a=this._controllers,r=0,l=a.length;r<l;r++){var h=a.get(r)._pxController;h&&(h.setRadius(s),h.setHeight(o))}},i}(S);(o=f||(f={}))[o.X=0]="X",o[o.Y=1]="Y",o[o.Z=2]="Z";var A=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,v))(n=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.x,n.halfSideExtent=e._halfSize.y,n.halfForwardExtent=e._halfSize.z;else if(i(e,P))(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}();A._tempVec=new e.Vector3;var C=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}();C._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 M=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,a=n._tempRotation;this.getWorldTransform(o,a),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,a):this._pxActor.setKinematicTarget(o,t)},o.sleep=function(){return this._pxActor.putToSleep()},o.wakeUp=function(){return this._pxActor.wakeUp()},n}(C);M._tempTranslation=new e.Vector3,M._tempRotation=new e.Quaternion;var w=function(){this._eventMap={}},F=function(){function t(t,e,i,n,s,o){this._physXPhysics=t;var a=t._pxPhysics.createMaterial(e,i,n);a.setFrictionCombineMode(s),a.setRestitutionCombineMode(o),this._pxMaterial=a}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}();(r=y||(y={}))[r.Average=0]="Average",r[r.Minimum=1]="Minimum",r[r.Multiply=2]="Multiply",r[r.Maximum=3]="Maximum";var b=function(){function t(t,i,n,s,o,a,r,l){var h=this;this._pxControllerManager=null,this._currentEvents=new e.DisorderedArray,this._eventPool=[],this._physXPhysics=t,this._physXManager=i;var c=t._physX;this._pxRaycastHit=new c.PxRaycastHit,this._pxFilterData=new c.PxQueryFilterData,this._pxFilterData.flags=new c.PxQueryFlags(7),this._onContactEnter=n,this._onContactExit=s,this._onContactStay=o,this._onTriggerEnter=a,this._onTriggerExit=r,this._onTriggerStay=l;var _=t._pxPhysics,u=c.PxSimulationEventCallback.implement({onContactBegin:function(t,e){h._onContactEnter(t,e)},onContactEnd:function(t,e){h._onContactExit(t,e)},onContactPersist:function(t,e){h._onContactStay(t,e)},onTriggerBegin:function(t,e){var i=t<e?h._getTrigger(t,e):h._getTrigger(e,t);i.state=0,h._currentEvents.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var n=h._physXManager._eventMap[t];i=n[e],n[e]=void 0}else{var s=h._physXManager._eventMap[e];i=s[t],s[t]=void 0}i.state=2}}),p=c.getDefaultSceneDesc(_.getTolerancesScale(),0,u);this._pxScene=_.createScene(p)}var i=t.prototype;return i.setGravity=function(t){this._pxScene.setGravity(t)},i.addColliderShape=function(t){this._physXManager._eventMap[t._id]={}},i.removeColliderShape=function(t){var e=this._eventPool,i=this._currentEvents,n=t._id,s=this._physXManager._eventMap;i.forEach(function(t,o){t.index1==n?(i.deleteByIndex(o),e.push(t)):t.index2==n&&(i.deleteByIndex(o),e.push(t),s[t.index1][n]=void 0)}),delete s[n]},i.addCollider=function(t){this._pxScene.addActor(t._pxActor,null)},i.removeCollider=function(t){this._pxScene.removeActor(t._pxActor,!0)},i.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},i.removeCharacterController=function(t){t._pxManager=null},i.update=function(t){this._simulate(t),this._fetchResults(),this._fireEvent()},i.raycast=function(e,i,n,s){var o=this._pxRaycastHit;i=Math.min(i,34e37);var a=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(a&&void 0!=s){var r=t._tempPosition,l=t._tempNormal,h=o.position,c=o.normal;r.set(h.x,h.y,h.z),l.set(c.x,c.y,c.z),s(o.getShape().getUUID(),o.distance,r,l)}return a},i._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},i._simulate=function(t){this._pxScene.simulate(t,!0)},i._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},i._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},i._fireEvent=function(){var t=this,e=this._eventPool,i=this._currentEvents;i.forEach(function(n,s){0==n.state?(t._onTriggerEnter(n.index1,n.index2),n.state=1):1==n.state?t._onTriggerStay(n.index1,n.index2):2==n.state&&(i.deleteByIndex(s),t._onTriggerExit(n.index1,n.index2),e.push(n))})},t}();b._tempPosition=new e.Vector3,b._tempNormal=new e.Vector3,(l=d||(d={}))[l.STATIC=1]="STATIC",l[l.DYNAMIC=2]="DYNAMIC",l[l.PRE_FILTER=4]="PRE_FILTER",l[l.POST_FILTER=8]="POST_FILTER",l[l.ANY_HIT=16]="ANY_HIT",l[l.NO_BLOCK=32]="NO_BLOCK",(h=g||(g={}))[h.Enter=0]="Enter",h[h.Stay=1]="Stay",h[h.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}(C);t.PhysXRuntimeMode=void 0,(c=t.PhysXRuntimeMode||(t.PhysXRuntimeMode={}))[c.Auto=0]="Auto",c[c.WebAssembly=1]="WebAssembly",c[c.JavaScript=2]="JavaScript";var X=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}();X._xAxis=new e.Vector3(1,0,0),X._defaultVec=new e.Vector3,X._defaultQuat=new e.Quaternion;var T=function(t){function e(e,i){var n;return(n=t.call(this,e)||this)._collider=i,n._pxJoint=e._pxPhysics.createFixedJoint(null,X._defaultVec,X._defaultQuat,i._pxActor,X._defaultVec,X._defaultQuat),n}return s(e,t),e}(X),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,X._defaultVec,X._defaultQuat,n._pxActor,X._defaultVec,X._defaultQuat),s}s(i,t);var n=i.prototype;return n.setAxis=function(t){var i=X._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}(X),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,X._defaultVec,X._defaultQuat,n._pxActor,X._defaultVec,X._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,X._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}(X),I=function(t){function i(i,n,s){var o;return(o=t.call(this,i)||this)._axis=new e.Quaternion(0,0,S.halfSqrt,S.halfSqrt),o._physXRotation.copyFrom(o._axis),o._pxGeometry=new i._physX.PxPlaneGeometry,o._initialize(s,n),o._setLocalPose(),o}return s(i,t),i}(S),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(Math.abs(e.x),Math.abs(e.y),Math.abs(e.z)),this._pxGeometry.radius=this._radius*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},e}(S),G=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 w},n.createPhysicsScene=function(t,e,i,n,s,o,a){return new b(this,t,e,i,n,s,o,a)},n.createStaticCollider=function(t,e){return new E(this,t,e)},n.createDynamicCollider=function(t,e){return new M(this,t,e)},n.createCharacterController=function(){return new A(this)},n.createPhysicsMaterial=function(t,e,i,n,s){return new F(this,t,e,i,n,s)},n.createBoxColliderShape=function(t,e,i){return new v(this,t,e,i)},n.createSphereColliderShape=function(t,e,i){return new V(this,t,e,i)},n.createPlaneColliderShape=function(t,e){return new I(this,t,e)},n.createCapsuleColliderShape=function(t,e,i,n){return new P(this,t,e,i,n)},n.createFixedJoint=function(t){return new T(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}();(_=m||(m={}))[_.Uninitialized=0]="Uninitialized",_[_.Initializing=1]="Initializing",_[_.Initialized=2]="Initialized";var L="1.3.16";console.log("Galacean PhysX version: "+L),t.PhysXPhysics=G,t.version=L,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)}(u=p||(p={}))[u.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",u[u.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",u[u.TRIGGER_SHAPE=4]="TRIGGER_SHAPE";var o,a,r,l,h,c,_,u,p,f,x,y,d,g,m,S=function(){function t(t){this._controllers=new e.DisorderedArray,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,i=this._controllers,n=0,s=i.length;n<s;n++)null==(e=i.get(n)._pxController)||e.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}();S.halfSqrt=.70710678118655,S.transform={translation:new e.Vector3,rotation:null};var v=function(t){function i(i,n,s,o){(a=t.call(this,i)||this)._halfSize=new e.Vector3,a._sizeScale=new e.Vector3(1,1,1);var a,r=a._halfSize;return r.set(.5*s.x,.5*s.y,.5*s.z),a._pxGeometry=new i._physX.PxBoxGeometry(r.x,r.y,r.z),a._initialize(o,n),a._setLocalPose(),a}s(i,t);var n=i.prototype;return n.setSize=function(t){var n=this._halfSize,s=i._tempHalfExtents;n.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(n,this._sizeScale,s),this._pxGeometry.halfExtents=s,this._pxShape.setGeometry(this._pxGeometry),this._updateController(s)},n.setWorldScale=function(n){t.prototype.setWorldScale.call(this,n),this._sizeScale.set(Math.abs(n.x),Math.abs(n.y),Math.abs(n.z));var s=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._sizeScale,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&&(s.setHalfHeight(t.x),s.setHalfSideExtent(t.y),s.setHalfForwardExtent(t.z))}},i}(S);v._tempHalfExtents=new e.Vector3;var P=function(t){function i(i,n,s,o,a){var r;return(r=t.call(this,i)||this)._upAxis=1,r._sizeScale=new e.Vector3(1,1,1),r._radius=s,r._halfHeight=.5*o,r._axis=new e.Quaternion(0,0,S.halfSqrt,S.halfSqrt),r._physXRotation.copyFrom(r._axis),r._pxGeometry=new i._physX.PxCapsuleGeometry(r._radius,r._halfHeight),r._initialize(a,n),r._setLocalPose(),r}s(i,t);var n=i.prototype;return n.setRadius=function(t){this._radius=t;var e,i=this._sizeScale;switch(this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(i.y,i.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(i.x,i.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(i.x,i.y)}this._pxShape.setGeometry(this._pxGeometry);for(var n=this._pxGeometry.radius,s=this._controllers,o=0,a=s.length;o<a;o++)null==(e=s.get(o)._pxController)||e.setRadius(n)},n.setHeight=function(t){this._halfHeight=.5*t;var e,i=this._sizeScale;switch(this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*i.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*i.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(this._pxGeometry);for(var n=2*this._pxGeometry.halfHeight,s=this._controllers,o=0,a=s.length;o<a;o++)null==(e=s.get(o)._pxController)||e.setHeight(n)},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,S.halfSqrt,S.halfSqrt);break;case 2:n.set(0,S.halfSqrt,0,S.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._sizeScale.set(Math.abs(e.x),Math.abs(e.y),Math.abs(e.z)),n=this._pxGeometry;switch(this._upAxis){case 0:n.radius=this._radius*Math.max(i.y,i.z),n.halfHeight=this._halfHeight*i.x;break;case 1:n.radius=this._radius*Math.max(i.x,i.z),n.halfHeight=this._halfHeight*i.y;break;case 2:n.radius=this._radius*Math.max(i.x,i.y),n.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(n);for(var s=n.radius,o=2*n.halfHeight,a=this._controllers,r=0,l=a.length;r<l;r++){var h=a.get(r)._pxController;h&&(h.setRadius(s),h.setHeight(o))}},i}(S);(o=f||(f={}))[o.X=0]="X",o[o.Y=1]="Y",o[o.Z=2]="Z";var A=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,v))(n=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.x,n.halfSideExtent=e._halfSize.y,n.halfForwardExtent=e._halfSize.z;else if(i(e,P))(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}();A._tempVec=new e.Vector3;var C=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}();C._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 M=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,a=n._tempRotation;this.getWorldTransform(o,a),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,a):this._pxActor.setKinematicTarget(o,t)},o.sleep=function(){return this._pxActor.putToSleep()},o.wakeUp=function(){return this._pxActor.wakeUp()},n}(C);M._tempTranslation=new e.Vector3,M._tempRotation=new e.Quaternion;var w=function(){this._eventMap={}},F=function(){function t(t,e,i,n,s,o){this._physXPhysics=t;var a=t._pxPhysics.createMaterial(e,i,n);a.setFrictionCombineMode(s),a.setRestitutionCombineMode(o),this._pxMaterial=a}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}();(r=y||(y={}))[r.Average=0]="Average",r[r.Minimum=1]="Minimum",r[r.Multiply=2]="Multiply",r[r.Maximum=3]="Maximum";var b=function(){function t(t,i,n,s,o,a,r,l){var h=this;this._pxControllerManager=null,this._currentEvents=new e.DisorderedArray,this._eventPool=[],this._physXPhysics=t,this._physXManager=i;var c=t._physX;this._pxRaycastHit=new c.PxRaycastHit,this._pxFilterData=new c.PxQueryFilterData,this._pxFilterData.flags=new c.PxQueryFlags(7),this._onContactEnter=n,this._onContactExit=s,this._onContactStay=o,this._onTriggerEnter=a,this._onTriggerExit=r,this._onTriggerStay=l;var _=t._pxPhysics,u=c.PxSimulationEventCallback.implement({onContactBegin:function(t,e){h._onContactEnter(t,e)},onContactEnd:function(t,e){h._onContactExit(t,e)},onContactPersist:function(t,e){h._onContactStay(t,e)},onTriggerBegin:function(t,e){var i=t<e?h._getTrigger(t,e):h._getTrigger(e,t);i.state=0,h._currentEvents.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var n=h._physXManager._eventMap[t];i=n[e],n[e]=void 0}else{var s=h._physXManager._eventMap[e];i=s[t],s[t]=void 0}i.state=2}}),p=c.getDefaultSceneDesc(_.getTolerancesScale(),0,u);this._pxScene=_.createScene(p)}var i=t.prototype;return i.setGravity=function(t){this._pxScene.setGravity(t)},i.addColliderShape=function(t){this._physXManager._eventMap[t._id]={}},i.removeColliderShape=function(t){var e=this._eventPool,i=this._currentEvents,n=t._id,s=this._physXManager._eventMap;i.forEach(function(t,o){t.index1==n?(i.deleteByIndex(o),e.push(t)):t.index2==n&&(i.deleteByIndex(o),e.push(t),s[t.index1][n]=void 0)}),delete s[n]},i.addCollider=function(t){this._pxScene.addActor(t._pxActor,null)},i.removeCollider=function(t){this._pxScene.removeActor(t._pxActor,!0)},i.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},i.removeCharacterController=function(t){t._pxManager=null},i.update=function(t){this._simulate(t),this._fetchResults(),this._fireEvent()},i.raycast=function(e,i,n,s){var o=this._pxRaycastHit;i=Math.min(i,34e37);var a=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(a&&void 0!=s){var r=t._tempPosition,l=t._tempNormal,h=o.position,c=o.normal;r.set(h.x,h.y,h.z),l.set(c.x,c.y,c.z),s(o.getShape().getUUID(),o.distance,r,l)}return a},i._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},i._simulate=function(t){this._pxScene.simulate(t,!0)},i._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},i._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},i._fireEvent=function(){var t=this,e=this._eventPool,i=this._currentEvents;i.forEach(function(n,s){0==n.state?(t._onTriggerEnter(n.index1,n.index2),n.state=1):1==n.state?t._onTriggerStay(n.index1,n.index2):2==n.state&&(i.deleteByIndex(s),t._onTriggerExit(n.index1,n.index2),e.push(n))})},t}();b._tempPosition=new e.Vector3,b._tempNormal=new e.Vector3,(l=d||(d={}))[l.STATIC=1]="STATIC",l[l.DYNAMIC=2]="DYNAMIC",l[l.PRE_FILTER=4]="PRE_FILTER",l[l.POST_FILTER=8]="POST_FILTER",l[l.ANY_HIT=16]="ANY_HIT",l[l.NO_BLOCK=32]="NO_BLOCK",(h=g||(g={}))[h.Enter=0]="Enter",h[h.Stay=1]="Stay",h[h.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}(C);t.PhysXRuntimeMode=void 0,(c=t.PhysXRuntimeMode||(t.PhysXRuntimeMode={}))[c.Auto=0]="Auto",c[c.WebAssembly=1]="WebAssembly",c[c.JavaScript=2]="JavaScript";var X=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}();X._xAxis=new e.Vector3(1,0,0),X._defaultVec=new e.Vector3,X._defaultQuat=new e.Quaternion;var T=function(t){function e(e,i){var n;return(n=t.call(this,e)||this)._collider=i,n._pxJoint=e._pxPhysics.createFixedJoint(null,X._defaultVec,X._defaultQuat,i._pxActor,X._defaultVec,X._defaultQuat),n}return s(e,t),e}(X),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,X._defaultVec,X._defaultQuat,n._pxActor,X._defaultVec,X._defaultQuat),s}s(i,t);var n=i.prototype;return n.setAxis=function(t){var i=X._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}(X),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,X._defaultVec,X._defaultQuat,n._pxActor,X._defaultVec,X._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,X._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}(X),I=function(t){function i(i,n,s){var o;return(o=t.call(this,i)||this)._axis=new e.Quaternion(0,0,S.halfSqrt,S.halfSqrt),o._physXRotation.copyFrom(o._axis),o._pxGeometry=new i._physX.PxPlaneGeometry,o._initialize(s,n),o._setLocalPose(),o}return s(i,t),i}(S),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(Math.abs(e.x),Math.abs(e.y),Math.abs(e.z)),this._pxGeometry.radius=this._radius*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},e}(S),G=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 w},n.createPhysicsScene=function(t,e,i,n,s,o,a){return new b(this,t,e,i,n,s,o,a)},n.createStaticCollider=function(t,e){return new E(this,t,e)},n.createDynamicCollider=function(t,e){return new M(this,t,e)},n.createCharacterController=function(){return new A(this)},n.createPhysicsMaterial=function(t,e,i,n,s){return new F(this,t,e,i,n,s)},n.createBoxColliderShape=function(t,e,i){return new v(this,t,e,i)},n.createSphereColliderShape=function(t,e,i){return new V(this,t,e,i)},n.createPlaneColliderShape=function(t,e){return new I(this,t,e)},n.createCapsuleColliderShape=function(t,e,i,n){return new P(this,t,e,i,n)},n.createFixedJoint=function(t){return new T(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}();(_=m||(m={}))[_.Uninitialized=0]="Uninitialized",_[_.Initializing=1]="Initializing",_[_.Initialized=2]="Initialized";var L="1.3.17";console.log("Galacean PhysX version: "+L),t.PhysXPhysics=G,t.version=L,Object.defineProperty(t,"__esModule",{value:!0})});
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