@galacean/engine-physics-physx 1.3.24 → 1.4.0-alpha.1

package/dist/browser.js

@@ -10,6 +10,12 @@
         } else return left instanceof right;
     }
 
+    function _type_of(obj) {
+        "@swc/helpers - typeof";
+
+        return obj && typeof Symbol !== "undefined" && obj.constructor === Symbol ? "symbol" : typeof obj;
+    }
+
     function _set_prototype_of(o, p) {
         _set_prototype_of = Object.setPrototypeOf || function setPrototypeOf(o, p) {
             o.__proto__ = p;
@@ -30,17 +36,12 @@
         if (superClass) _set_prototype_of(subClass, superClass);
     }
 
-    var ShapeFlag;
-    (function(ShapeFlag) {
-        ShapeFlag[ShapeFlag[/** The shape will partake in collision in the physical simulation. */ "SIMULATION_SHAPE"] = 1] = "SIMULATION_SHAPE";
-        ShapeFlag[ShapeFlag[/** The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). */ "SCENE_QUERY_SHAPE"] = 2] = "SCENE_QUERY_SHAPE";
-        ShapeFlag[ShapeFlag[/** The shape is a trigger which can send reports whenever other shapes enter/leave its volume. */ "TRIGGER_SHAPE"] = 4] = "TRIGGER_SHAPE";
-    })(ShapeFlag || (ShapeFlag = {}));
     /**
      * Abstract class for collider shapes.
      */ var PhysXColliderShape = /*#__PURE__*/ function() {
         function PhysXColliderShape(physXPhysics) {
             /** @internal */ this._controllers = new engine.DisorderedArray();
+            /** @internal */ this._contractOffset = 0.02;
             this._worldScale = new engine.Vector3(1, 1, 1);
             this._position = new engine.Vector3();
             this._rotation = null;
@@ -74,7 +75,7 @@
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            this._worldScale.copyFrom(scale);
+            this._worldScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
             this._setLocalPose();
             var controllers = this._controllers;
             for(var i = 0, n = controllers.length; i < n; i++){
@@ -85,11 +86,15 @@
        * {@inheritDoc IColliderShape.setContactOffset }
        * @default 0.02f * PxTolerancesScale::length
        */ _proto.setContactOffset = function setContactOffset(offset) {
-            this._pxShape.setContactOffset(offset);
+            this._contractOffset = offset;
             var controllers = this._controllers;
-            for(var i = 0, n = controllers.length; i < n; i++){
-                var _controllers_get__pxController;
-                (_controllers_get__pxController = controllers.get(i)._pxController) == null ? void 0 : _controllers_get__pxController.setContactOffset(offset);
+            if (controllers.length) {
+                for(var i = 0, n = controllers.length; i < n; i++){
+                    var _controllers_get__pxController;
+                    (_controllers_get__pxController = controllers.get(i)._pxController) == null ? void 0 : _controllers_get__pxController.setContactOffset(offset);
+                }
+            } else {
+                this._pxShape.setContactOffset(offset);
             }
         };
         /**
@@ -133,25 +138,19 @@
         };
         return PhysXColliderShape;
     }();
-    (function() {
-        PhysXColliderShape.halfSqrt = 0.70710678118655;
-    })();
-    (function() {
-        PhysXColliderShape.transform = {
-            translation: new engine.Vector3(),
-            rotation: null
-        };
-    })();
+    PhysXColliderShape.halfSqrt = 0.70710678118655;
+    PhysXColliderShape.transform = {
+        translation: new engine.Vector3(),
+        rotation: null
+    };
 
     /**
      * Box collider shape in PhysX.
-     */ var PhysXBoxColliderShape = /*#__PURE__*/ function(PhysXColliderShape1) {
-        _inherits(PhysXBoxColliderShape, PhysXColliderShape1);
+     */ var PhysXBoxColliderShape = /*#__PURE__*/ function(PhysXColliderShape) {
+        _inherits(PhysXBoxColliderShape, PhysXColliderShape);
         function PhysXBoxColliderShape(physXPhysics, uniqueID, size, material) {
             var _this;
-            _this = PhysXColliderShape1.call(this, physXPhysics) || this;
-            /** @internal */ _this._halfSize = new engine.Vector3();
-            _this._sizeScale = new engine.Vector3(1, 1, 1);
+            _this = PhysXColliderShape.call(this, physXPhysics) || this, /** @internal */ _this._halfSize = new engine.Vector3();
             var halfSize = _this._halfSize;
             halfSize.set(size.x * 0.5, size.y * 0.5, size.z * 0.5);
             _this._pxGeometry = new physXPhysics._physX.PxBoxGeometry(halfSize.x, halfSize.y, halfSize.z);
@@ -166,7 +165,7 @@
             var halfSize = this._halfSize;
             var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
             halfSize.set(value.x * 0.5, value.y * 0.5, value.z * 0.5);
-            engine.Vector3.multiply(halfSize, this._sizeScale, tempExtents);
+            engine.Vector3.multiply(halfSize, this._worldScale, tempExtents);
             this._pxGeometry.halfExtents = tempExtents;
             this._pxShape.setGeometry(this._pxGeometry);
             this._updateController(tempExtents);
@@ -174,10 +173,9 @@
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            PhysXColliderShape1.prototype.setWorldScale.call(this, scale);
-            this._sizeScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
+            PhysXColliderShape.prototype.setWorldScale.call(this, scale);
             var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
-            engine.Vector3.multiply(this._halfSize, this._sizeScale, tempExtents);
+            engine.Vector3.multiply(this._halfSize, this._worldScale, tempExtents);
             this._pxGeometry.halfExtents = tempExtents;
             this._pxShape.setGeometry(this._pxGeometry);
             this._updateController(tempExtents);
@@ -195,9 +193,7 @@
         };
         return PhysXBoxColliderShape;
     }(PhysXColliderShape);
-    (function() {
-        PhysXBoxColliderShape._tempHalfExtents = new engine.Vector3();
-    })();
+    PhysXBoxColliderShape._tempHalfExtents = new engine.Vector3();
 
     /**
      * Capsule collider shape in PhysX.
@@ -205,9 +201,7 @@
         _inherits(PhysXCapsuleColliderShape, PhysXColliderShape1);
         function PhysXCapsuleColliderShape(physXPhysics, uniqueID, radius, height, material) {
             var _this;
-            _this = PhysXColliderShape1.call(this, physXPhysics) || this;
-            _this._upAxis = /** Up axis is Y. */ 1;
-            _this._sizeScale = new engine.Vector3(1, 1, 1);
+            _this = PhysXColliderShape1.call(this, physXPhysics) || this, _this._upAxis = 1;
             _this._radius = radius;
             _this._halfHeight = height * 0.5;
             _this._axis = new engine.Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
@@ -222,15 +216,15 @@
        * {@inheritDoc ICapsuleColliderShape.setRadius }
        */ _proto.setRadius = function setRadius(value) {
             this._radius = value;
-            var sizeScale = this._sizeScale;
+            var sizeScale = this._worldScale;
             switch(this._upAxis){
-                case /** Up axis is X. */ 0:
+                case 0:
                     this._pxGeometry.radius = this._radius * Math.max(sizeScale.y, sizeScale.z);
                     break;
                 case 1:
                     this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);
                     break;
-                case /** Up axis is Z. */ 2:
+                case 2:
                     this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);
                     break;
             }
@@ -246,7 +240,7 @@
        * {@inheritDoc ICapsuleColliderShape.setHeight }
        */ _proto.setHeight = function setHeight(value) {
             this._halfHeight = value * 0.5;
-            var sizeScale = this._sizeScale;
+            var sizeScale = this._worldScale;
             switch(this._upAxis){
                 case 0:
                     this._pxGeometry.halfHeight = this._halfHeight * sizeScale.x;
@@ -294,7 +288,7 @@
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
             PhysXColliderShape1.prototype.setWorldScale.call(this, scale);
-            var sizeScale = this._sizeScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
+            var sizeScale = this._worldScale;
             var geometry = this._pxGeometry;
             switch(this._upAxis){
                 case 0:
@@ -324,19 +318,12 @@
         };
         return PhysXCapsuleColliderShape;
     }(PhysXColliderShape);
-    var /**
-     * The up axis of the collider shape.
-     */ ColliderShapeUpAxis;
-    (function(ColliderShapeUpAxis) {
-        ColliderShapeUpAxis[ColliderShapeUpAxis["X"] = 0] = "X";
-        ColliderShapeUpAxis[ColliderShapeUpAxis["Y"] = 1] = "Y";
-        ColliderShapeUpAxis[ColliderShapeUpAxis["Z"] = 2] = "Z";
-    })(ColliderShapeUpAxis || (ColliderShapeUpAxis = {}));
 
     /**
      * Base class for character controllers.
      */ var PhysXCharacterController = /*#__PURE__*/ function() {
         function PhysXCharacterController(physXPhysics) {
+            /** @internal  */ this._scene = null;
             this._shapeScaledPosition = new engine.Vector3();
             this._worldPosition = null;
             this._physXPhysics = physXPhysics;
@@ -390,17 +377,22 @@
         /**
        * {@inheritDoc ICharacterController.addShape }
        */ _proto.addShape = function addShape(shape) {
+            var _this__pxController, _this__scene;
             // When CharacterController is disabled, set shape property need check pxController whether exist because of this._pxManager is null and won't create pxController
             this._pxManager && this._createPXController(this._pxManager, shape);
             this._shape = shape;
             shape._controllers.add(this);
+            (_this__pxController = this._pxController) == null ? void 0 : _this__pxController.setContactOffset(shape._contractOffset);
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._addColliderShape(shape._id);
         };
         /**
        * {@inheritDoc ICharacterController.removeShape }
        */ _proto.removeShape = function removeShape(shape) {
+            var _this__scene;
             this._destroyPXController();
             this._shape = null;
             shape._controllers.delete(this);
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._removeColliderShape(shape._id);
         };
         /**
        * {@inheritDoc ICharacterController.destroy }
@@ -451,26 +443,33 @@
         };
         return PhysXCharacterController;
     }();
-    (function() {
-        PhysXCharacterController._tempVec = new engine.Vector3();
-    })();
+    PhysXCharacterController._tempVec = new engine.Vector3();
 
     /**
      * Abstract class of physical collider.
      */ var PhysXCollider = /*#__PURE__*/ function() {
         function PhysXCollider(physXPhysics) {
+            /** @internal  */ this._scene = null;
+            /** @internal */ this._shapes = new Array();
             this._physXPhysics = physXPhysics;
         }
         var _proto = PhysXCollider.prototype;
         /**
        * {@inheritDoc ICollider.addShape }
        */ _proto.addShape = function addShape(shape) {
+            var _this__scene;
             this._pxActor.attachShape(shape._pxShape);
+            this._shapes.push(shape);
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._addColliderShape(shape._id);
         };
         /**
        * {@inheritDoc ICollider.removeShape }
        */ _proto.removeShape = function removeShape(shape) {
+            var _this__scene;
             this._pxActor.detachShape(shape._pxShape, true);
+            var shapes = this._shapes;
+            shapes.splice(shapes.indexOf(shape), 1);
+            (_this__scene = this._scene) == null ? void 0 : _this__scene._removeColliderShape(shape._id);
         };
         /**
        * {@inheritDoc ICollider.setWorldTransform }
@@ -499,48 +498,61 @@
         };
         return PhysXCollider;
     }();
-    (function() {
-        PhysXCollider._tempTransform = {
-            translation: null,
-            rotation: null
-        };
-    })();
+    PhysXCollider._tempTransform = {
+        translation: null,
+        rotation: null
+    };
 
-    var CollisionDetectionMode;
-    (function(CollisionDetectionMode) {
-        CollisionDetectionMode[CollisionDetectionMode[/** Continuous collision detection is off for this dynamic collider. */ "Discrete"] = 0] = "Discrete";
-        CollisionDetectionMode[CollisionDetectionMode[/** Continuous collision detection is on for colliding with static mesh geometry. */ "Continuous"] = 1] = "Continuous";
-        CollisionDetectionMode[CollisionDetectionMode[/** Continuous collision detection is on for colliding with static and dynamic geometry. */ "ContinuousDynamic"] = 2] = "ContinuousDynamic";
-        CollisionDetectionMode[CollisionDetectionMode[/** Speculative continuous collision detection is on for static and dynamic geometries */ "ContinuousSpeculative"] = 3] = "ContinuousSpeculative";
-    })(CollisionDetectionMode || (CollisionDetectionMode = {}));
     /**
      * A dynamic collider can act with self-defined movement or physical force
-     */ var PhysXDynamicCollider = /*#__PURE__*/ function(PhysXCollider1) {
-        _inherits(PhysXDynamicCollider, PhysXCollider1);
+     */ var PhysXDynamicCollider = /*#__PURE__*/ function(PhysXCollider) {
+        _inherits(PhysXDynamicCollider, PhysXCollider);
         function PhysXDynamicCollider(physXPhysics, position, rotation) {
             var _this;
-            _this = PhysXCollider1.call(this, physXPhysics) || this;
+            _this = PhysXCollider.call(this, physXPhysics) || this;
             var transform = _this._transform(position, rotation);
             _this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);
             return _this;
         }
         var _proto = PhysXDynamicCollider.prototype;
         /**
+       * {@inheritDoc IDynamicCollider.getLinearDamping }
+       */ _proto.getLinearDamping = function getLinearDamping() {
+            return this._pxActor.getLinearDamping();
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setLinearDamping }
        */ _proto.setLinearDamping = function setLinearDamping(value) {
             this._pxActor.setLinearDamping(value);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getAngularDamping }
+       */ _proto.getAngularDamping = function getAngularDamping() {
+            return this._pxActor.getAngularDamping();
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setAngularDamping }
        */ _proto.setAngularDamping = function setAngularDamping(value) {
             this._pxActor.setAngularDamping(value);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getLinearVelocity }
+       */ _proto.getLinearVelocity = function getLinearVelocity(out) {
+            var velocity = this._pxActor.getLinearVelocity();
+            return out.set(velocity.x, velocity.y, velocity.z);
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setLinearVelocity }
        */ _proto.setLinearVelocity = function setLinearVelocity(value) {
             this._pxActor.setLinearVelocity(value, true);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getAngularVelocity }
+       */ _proto.getAngularVelocity = function getAngularVelocity(out) {
+            var velocity = this._pxActor.getAngularVelocity();
+            return out.set(velocity.x, velocity.y, velocity.z);
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setAngularVelocity }
        */ _proto.setAngularVelocity = function setAngularVelocity(value) {
             this._pxActor.setAngularVelocity(value, true);
@@ -551,6 +563,12 @@
             this._pxActor.setMass(value);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getCenterOfMass }
+       */ _proto.getCenterOfMass = function getCenterOfMass(out) {
+            var translation = this._pxActor.getCMassLocalPose().translation;
+            return out.set(translation.x, translation.y, translation.z);
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setCenterOfMass }
        */ _proto.setCenterOfMass = function setCenterOfMass(position) {
             this._pxActor.setCMassLocalPose(position);
@@ -561,11 +579,27 @@
             this._pxActor.setMassSpaceInertiaTensor(value);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getInertiaTensor }
+       */ _proto.getInertiaTensor = function getInertiaTensor(out) {
+            var inertia = this._pxActor.getMassSpaceInertiaTensor();
+            return out.set(inertia.x, inertia.y, inertia.z);
+        };
+        /**
+       * {@inheritDoc IDynamicCollider.setMassAndUpdateInertia }
+       */ _proto.setMassAndUpdateInertia = function setMassAndUpdateInertia(mass) {
+            this._pxActor.setMassAndUpdateInertia(mass);
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setMaxAngularVelocity }
        */ _proto.setMaxAngularVelocity = function setMaxAngularVelocity(value) {
             this._pxActor.setMaxAngularVelocity(value);
         };
         /**
+       * {@inheritDoc IDynamicCollider.getMaxDepenetrationVelocity }
+       */ _proto.getMaxDepenetrationVelocity = function getMaxDepenetrationVelocity() {
+            return this._pxActor.getMaxDepenetrationVelocity();
+        };
+        /**
        * {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }
        */ _proto.setMaxDepenetrationVelocity = function setMaxDepenetrationVelocity(value) {
             this._pxActor.setMaxDepenetrationVelocity(value);
@@ -584,18 +618,20 @@
         /**
        * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
        */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
+            var physX = this._physXPhysics._physX;
             switch(value){
                 case 1:
-                    this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD, true);
+                    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);
                     break;
                 case 2:
-                    this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
+                    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
+                    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
                     break;
                 case 3:
-                    this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
+                    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
+                    this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
                     break;
                 case 0:
-                    var physX = this._physXPhysics._physX;
                     this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
                     this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
                     this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
@@ -656,18 +692,19 @@
             return this._pxActor.putToSleep();
         };
         /**
+       * {@inheritDoc IDynamicCollider.isSleeping }
+       */ _proto.isSleeping = function isSleeping() {
+            return this._pxActor.isSleeping();
+        };
+        /**
        * {@inheritDoc IDynamicCollider.wakeUp }
        */ _proto.wakeUp = function wakeUp() {
             return this._pxActor.wakeUp();
         };
         return PhysXDynamicCollider;
     }(PhysXCollider);
-    (function() {
-        PhysXDynamicCollider._tempTranslation = new engine.Vector3();
-    })();
-    (function() {
-        PhysXDynamicCollider._tempRotation = new engine.Quaternion();
-    })();
+    PhysXDynamicCollider._tempTranslation = new engine.Vector3();
+    PhysXDynamicCollider._tempRotation = new engine.Quaternion();
 
     var PhysXPhysicsManager = function PhysXPhysicsManager() {
         /** @internal */ this._eventMap = {};
@@ -716,15 +753,6 @@
         };
         return PhysXPhysicsMaterial;
     }();
-    var /**
-     * Describes how physics materials of the colliding objects are combined.
-     */ CombineMode;
-    (function(CombineMode) {
-        CombineMode[CombineMode[/** Averages the friction/bounce of the two colliding materials. */ "Average"] = 0] = "Average";
-        CombineMode[CombineMode[/** Uses the smaller friction/bounce of the two colliding materials. */ "Minimum"] = 1] = "Minimum";
-        CombineMode[CombineMode[/** Multiplies the friction/bounce of the two colliding materials. */ "Multiply"] = 2] = "Multiply";
-        CombineMode[CombineMode[/** Uses the larger friction/bounce of the two colliding materials. */ "Maximum"] = 3] = "Maximum";
-    })(CombineMode || (CombineMode = {}));
 
     /**
      * A manager is a collection of colliders and constraints which can interact.
@@ -787,42 +815,29 @@
             this._pxScene.setGravity(value);
         };
         /**
-       * {@inheritDoc IPhysicsManager.addColliderShape }
-       */ _proto.addColliderShape = function addColliderShape(colliderShape) {
-            this._physXManager._eventMap[colliderShape._id] = {};
-        };
-        /**
-       * {@inheritDoc IPhysicsManager.removeColliderShape }
-       */ _proto.removeColliderShape = function removeColliderShape(colliderShape) {
-            var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents;
-            var id = colliderShape._id;
-            var _this__physXManager = this._physXManager, eventMap = _this__physXManager._eventMap;
-            currentEvents.forEach(function(event, i) {
-                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 eventMap[id];
-        };
-        /**
        * {@inheritDoc IPhysicsManager.addCollider }
        */ _proto.addCollider = function addCollider(collider) {
+            collider._scene = this;
             this._pxScene.addActor(collider._pxActor, null);
+            var shapes = collider._shapes;
+            for(var i = 0, n = shapes.length; i < n; i++){
+                this._addColliderShape(shapes[i]._id);
+            }
         };
         /**
        * {@inheritDoc IPhysicsManager.removeCollider }
        */ _proto.removeCollider = function removeCollider(collider) {
+            collider._scene = null;
             this._pxScene.removeActor(collider._pxActor, true);
+            var shapes = collider._shapes;
+            for(var i = 0, n = shapes.length; i < n; i++){
+                this._removeColliderShape(shapes[i]._id);
+            }
         };
         /**
        * {@inheritDoc IPhysicsManager.addCharacterController }
        */ _proto.addCharacterController = function addCharacterController(characterController) {
+            characterController._scene = this;
             // Physx have no API to remove/readd cct into scene.
             if (!characterController._pxController) {
                 var shape = characterController._shape;
@@ -832,6 +847,7 @@
                         lastPXManager && characterController._destroyPXController();
                         characterController._createPXController(this, shape);
                     }
+                    this._addColliderShape(shape._id);
                 }
             }
             characterController._pxManager = this;
@@ -839,7 +855,11 @@
         /**
        * {@inheritDoc IPhysicsManager.removeCharacterController }
        */ _proto.removeCharacterController = function removeCharacterController(characterController) {
+            characterController._scene = null;
             characterController._pxManager = null;
+            characterController._destroyPXController();
+            var shape = characterController._shape;
+            shape && this._removeColliderShape(shape._id);
         };
         /**
        * {@inheritDoc IPhysicsManager.update }
@@ -882,6 +902,29 @@
             }
             return pxControllerManager;
         };
+        /**
+       * @internal
+       */ _proto._addColliderShape = function _addColliderShape(id) {
+            this._physXManager._eventMap[id] = {};
+        };
+        /**
+       * @internal
+       */ _proto._removeColliderShape = function _removeColliderShape(id) {
+            var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents;
+            var _this__physXManager = this._physXManager, eventMap = _this__physXManager._eventMap;
+            currentEvents.forEach(function(event, i) {
+                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 eventMap[id];
+        };
         _proto._simulate = function _simulate(elapsedTime) {
             this._pxScene.simulate(elapsedTime, true);
         };
@@ -919,31 +962,8 @@
         };
         return PhysXPhysicsScene;
     }();
-    (function() {
-        PhysXPhysicsScene._tempPosition = new engine.Vector3();
-    })();
-    (function() {
-        PhysXPhysicsScene._tempNormal = new engine.Vector3();
-    })();
-    var /**
-     * Filtering flags for scene queries.
-     */ QueryFlag;
-    (function(QueryFlag) {
-        QueryFlag[QueryFlag["STATIC"] = 1] = "STATIC";
-        QueryFlag[QueryFlag["DYNAMIC"] = 2] = "DYNAMIC";
-        QueryFlag[QueryFlag["PRE_FILTER"] = 4] = "PRE_FILTER";
-        QueryFlag[QueryFlag["POST_FILTER"] = 8] = "POST_FILTER";
-        QueryFlag[QueryFlag["ANY_HIT"] = 16] = "ANY_HIT";
-        QueryFlag[QueryFlag["NO_BLOCK"] = 32] = "NO_BLOCK";
-    })(QueryFlag || (QueryFlag = {}));
-    var /**
-     * Physics state
-     */ TriggerEventState;
-    (function(TriggerEventState) {
-        TriggerEventState[TriggerEventState["Enter"] = 0] = "Enter";
-        TriggerEventState[TriggerEventState["Stay"] = 1] = "Stay";
-        TriggerEventState[TriggerEventState["Exit"] = 2] = "Exit";
-    })(TriggerEventState || (TriggerEventState = {}));
+    PhysXPhysicsScene._tempPosition = new engine.Vector3();
+    PhysXPhysicsScene._tempNormal = new engine.Vector3();
     /**
      * Trigger event to store interactive object ids and state.
      */ var TriggerEvent = function TriggerEvent(index1, index2) {
@@ -954,11 +974,11 @@
     /**
      * A static collider component that will not move.
      * @remarks Mostly used for object which always stays at the same place and never moves around.
-     */ var PhysXStaticCollider = /*#__PURE__*/ function(PhysXCollider1) {
-        _inherits(PhysXStaticCollider, PhysXCollider1);
+     */ var PhysXStaticCollider = /*#__PURE__*/ function(PhysXCollider) {
+        _inherits(PhysXStaticCollider, PhysXCollider);
         function PhysXStaticCollider(physXPhysics, position, rotation) {
             var _this;
-            _this = PhysXCollider1.call(this, physXPhysics) || this;
+            _this = PhysXCollider.call(this, physXPhysics) || this;
             _this._pxActor = physXPhysics._pxPhysics.createRigidStatic(_this._transform(position, rotation));
             return _this;
         }
@@ -967,18 +987,17 @@
 
     /**
      * PhysX runtime mode.
-     */ exports.PhysXRuntimeMode = void 0;
-    (function(PhysXRuntimeMode) {
-        PhysXRuntimeMode[PhysXRuntimeMode[/** Use webAssembly mode first, if WebAssembly mode is not supported, roll back to JavaScript mode.  */ "Auto"] = 0] = "Auto";
-        PhysXRuntimeMode[PhysXRuntimeMode[/** WebAssembly mode. */ "WebAssembly"] = 1] = "WebAssembly";
-        PhysXRuntimeMode[PhysXRuntimeMode[/** JavaScript mode. */ "JavaScript"] = 2] = "JavaScript";
-    })(exports.PhysXRuntimeMode || (exports.PhysXRuntimeMode = {}));
+     */ var PhysXRuntimeMode = /*#__PURE__*/ function(PhysXRuntimeMode) {
+        /** Use webAssembly mode first, if WebAssembly mode is not supported, roll back to JavaScript mode.  */ PhysXRuntimeMode[PhysXRuntimeMode["Auto"] = 0] = "Auto";
+        /** WebAssembly mode. */ PhysXRuntimeMode[PhysXRuntimeMode["WebAssembly"] = 1] = "WebAssembly";
+        /** JavaScript mode. */ PhysXRuntimeMode[PhysXRuntimeMode["JavaScript"] = 2] = "JavaScript";
+        return PhysXRuntimeMode;
+    }({});
 
     /**
      * a base interface providing common functionality for PhysX joints
      */ var PhysXJoint = /*#__PURE__*/ function() {
         function PhysXJoint(physXPhysics) {
-            this._connectedAnchor = new engine.Vector3();
             this._breakForce = Number.MAX_VALUE;
             this._breakTorque = Number.MAX_VALUE;
             this._physXPhysics = physXPhysics;
@@ -987,34 +1006,38 @@
         /**
        * {@inheritDoc IJoint.setConnectedCollider }
        */ _proto.setConnectedCollider = function setConnectedCollider(value) {
-            var _value, _this__collider;
-            this._pxJoint.setActors(((_value = value) == null ? void 0 : _value._pxActor) || null, ((_this__collider = this._collider) == null ? void 0 : _this__collider._pxActor) || null);
+            var _this__collider;
+            this._pxJoint.setActors(((_this__collider = this._collider) == null ? void 0 : _this__collider._pxActor) || null, (value == null ? void 0 : value._pxActor) || null);
         };
         /**
        * {@inheritDoc IJoint.setConnectedAnchor }
-       */ _proto.setConnectedAnchor = function setConnectedAnchor(value) {
-            this._connectedAnchor.copyFrom(value);
+       */ _proto.setAnchor = function setAnchor(value) {
             this._setLocalPose(0, value, PhysXJoint._defaultQuat);
         };
         /**
-       * {@inheritDoc IJoint.setConnectedMassScale }
-       */ _proto.setConnectedMassScale = function setConnectedMassScale(value) {
-            this._pxJoint.setInvMassScale0(1 / value);
-        };
-        /**
-       * {@inheritDoc IJoint.setConnectedInertiaScale }
-       */ _proto.setConnectedInertiaScale = function setConnectedInertiaScale(value) {
-            this._pxJoint.setInvInertiaScale0(1 / value);
+       * {@inheritDoc IJoint.setConnectedAnchor }
+       */ _proto.setConnectedAnchor = function setConnectedAnchor(value) {
+            this._setLocalPose(1, value, PhysXJoint._defaultQuat);
         };
         /**
        * {@inheritDoc IJoint.setMassScale }
        */ _proto.setMassScale = function setMassScale(value) {
+            this._pxJoint.setInvMassScale0(1 / value);
+        };
+        /**
+       * {@inheritDoc IJoint.setConnectedMassScale }
+       */ _proto.setConnectedMassScale = function setConnectedMassScale(value) {
             this._pxJoint.setInvMassScale1(1 / value);
         };
         /**
        * {@inheritDoc IJoint.setInertiaScale }
        */ _proto.setInertiaScale = function setInertiaScale(value) {
-            this._pxJoint.setInvInertiaScale1(1 / value);
+            this._pxJoint.setInvInertiaScale0(value);
+        };
+        /**
+       * {@inheritDoc IJoint.setConnectedInertiaScale }
+       */ _proto.setConnectedInertiaScale = function setConnectedInertiaScale(value) {
+            this._pxJoint.setInvInertiaScale1(value);
         };
         /**
        * {@inheritDoc IJoint.setBreakForce }
@@ -1029,6 +1052,14 @@
             this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);
         };
         /**
+       * {@inheritDoc IJoint.destroy }
+       */ _proto.destroy = function destroy() {
+            if (!this._pxJoint) return;
+            this._pxJoint.release();
+            this._pxJoint = null;
+            this._collider = null;
+        };
+        /**
        * Set the joint local pose for an actor.
        * @param actor 0 for the first actor, 1 for the second actor.
        * @param position the local position for the actor this joint
@@ -1038,15 +1069,8 @@
         };
         return PhysXJoint;
     }();
-    (function() {
-        PhysXJoint._xAxis = new engine.Vector3(1, 0, 0);
-    })();
-    (function() {
-        PhysXJoint._defaultVec = new engine.Vector3();
-    })();
-    (function() {
-        PhysXJoint._defaultQuat = new engine.Quaternion();
-    })();
+    PhysXJoint._defaultVec = new engine.Vector3();
+    PhysXJoint._defaultQuat = new engine.Quaternion();
 
     /**
      * A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.
@@ -1056,7 +1080,7 @@
             var _this;
             _this = PhysXJoint1.call(this, physXPhysics) || this;
             _this._collider = collider;
-            _this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
+            _this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
             return _this;
         }
         return PhysXFixedJoint;
@@ -1068,31 +1092,32 @@
         _inherits(PhysXHingeJoint, PhysXJoint1);
         function PhysXHingeJoint(physXPhysics, collider) {
             var _this;
-            _this = PhysXJoint1.call(this, physXPhysics) || this;
-            _this._axisRotationQuaternion = new engine.Quaternion();
-            _this._swingOffset = new engine.Vector3();
+            _this = PhysXJoint1.call(this, physXPhysics) || this, _this._axisRotationQuaternion = new engine.Quaternion();
             _this._collider = collider;
-            _this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
+            _this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
             return _this;
         }
         var _proto = PhysXHingeJoint.prototype;
         /**
        * {@inheritDoc IHingeJoint.setAxis }
        */ _proto.setAxis = function setAxis(value) {
-            var xAxis = PhysXJoint._xAxis;
+            var xAxis = PhysXHingeJoint._xAxis;
             var axisRotationQuaternion = this._axisRotationQuaternion;
             xAxis.set(1, 0, 0);
             value.normalize();
             var angle = Math.acos(engine.Vector3.dot(xAxis, value));
             engine.Vector3.cross(xAxis, value, xAxis);
             engine.Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion);
-            this._setLocalPose(0, this._swingOffset, axisRotationQuaternion);
+            this._setLocalPose(0, this._anchor, axisRotationQuaternion);
+            this._setLocalPose(1, this._connectedAnchor, axisRotationQuaternion);
         };
-        /**
-       * {@inheritDoc IHingeJoint.setSwingOffset }
-       */ _proto.setSwingOffset = function setSwingOffset(value) {
-            this._swingOffset.copyFrom(value);
-            this._setLocalPose(1, this._swingOffset, this._axisRotationQuaternion);
+        _proto.setAnchor = function setAnchor(value) {
+            this._setLocalPose(0, value, this._axisRotationQuaternion);
+            this._anchor = value;
+        };
+        _proto.setConnectedAnchor = function setConnectedAnchor(value) {
+            this._setLocalPose(1, value, this._axisRotationQuaternion);
+            this._connectedAnchor = value;
         };
         /**
        * {@inheritDoc IHingeJoint.getAngle }
@@ -1137,6 +1162,7 @@
         };
         return PhysXHingeJoint;
     }(PhysXJoint);
+    PhysXHingeJoint._xAxis = new engine.Vector3(1, 0, 0);
 
     /**
      * a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
@@ -1145,7 +1171,6 @@
         function PhysXSpringJoint(physXPhysics, collider) {
             var _this;
             _this = PhysXJoint1.call(this, physXPhysics) || this;
-            _this._swingOffset = new engine.Vector3();
             _this._collider = collider;
             _this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
             _this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;
@@ -1155,12 +1180,6 @@
         }
         var _proto = PhysXSpringJoint.prototype;
         /**
-       * {@inheritDoc ISpringJoint.setSwingOffset }
-       */ _proto.setSwingOffset = function setSwingOffset(value) {
-            this._swingOffset.copyFrom(value);
-            this._setLocalPose(1, value, PhysXJoint._defaultQuat);
-        };
-        /**
        * {@inheritDoc ISpringJoint.setMinDistance }
        */ _proto.setMinDistance = function setMinDistance(distance) {
             this._pxJoint.setMinDistance(distance);
@@ -1207,12 +1226,11 @@
 
     /**
      * Sphere collider shape in PhysX.
-     */ var PhysXSphereColliderShape = /*#__PURE__*/ function(PhysXColliderShape1) {
-        _inherits(PhysXSphereColliderShape, PhysXColliderShape1);
+     */ var PhysXSphereColliderShape = /*#__PURE__*/ function(PhysXColliderShape) {
+        _inherits(PhysXSphereColliderShape, PhysXColliderShape);
         function PhysXSphereColliderShape(physXPhysics, uniqueID, radius, material) {
             var _this;
-            _this = PhysXColliderShape1.call(this, physXPhysics) || this;
-            _this._maxScale = 1;
+            _this = PhysXColliderShape.call(this, physXPhysics) || this, _this._maxScale = 1;
             _this._radius = radius;
             _this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(_this._radius * _this._maxScale);
             _this._initialize(material, uniqueID);
@@ -1230,7 +1248,7 @@
         /**
        * {@inheritDoc IColliderShape.setWorldScale }
        */ _proto.setWorldScale = function setWorldScale(scale) {
-            PhysXColliderShape1.prototype.setWorldScale.call(this, scale);
+            PhysXColliderShape.prototype.setWorldScale.call(this, scale);
             this._maxScale = Math.max(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
             this._pxGeometry.radius = this._radius * this._maxScale;
             this._pxShape.setGeometry(this._pxGeometry);
@@ -1242,7 +1260,7 @@
      * PhysX object creation.
      */ var PhysXPhysics = /*#__PURE__*/ function() {
         function PhysXPhysics(runtimeMode) {
-            if (runtimeMode === void 0) runtimeMode = exports.PhysXRuntimeMode.Auto;
+            if (runtimeMode === void 0) runtimeMode = PhysXRuntimeMode.Auto;
             this._initializeState = 0;
             this._runTimeMode = runtimeMode;
         }
@@ -1265,10 +1283,10 @@
                 script.async = true;
                 script.onload = resolve;
                 script.onerror = reject;
-                if (runtimeMode == exports.PhysXRuntimeMode.Auto) {
+                if (runtimeMode == PhysXRuntimeMode.Auto) {
                     var supported = function() {
                         try {
-                            if (typeof WebAssembly === "object" && typeof WebAssembly.instantiate === "function") {
+                            if ((typeof WebAssembly === "undefined" ? "undefined" : _type_of(WebAssembly)) === "object" && typeof WebAssembly.instantiate === "function") {
                                 var module = new WebAssembly.Module(Uint8Array.of(0x0, 0x61, 0x73, 0x6d, 0x01, 0x00, 0x00, 0x00));
                                 if (_instanceof(module, WebAssembly.Module)) return _instanceof(new WebAssembly.Instance(module), WebAssembly.Instance);
                             }
@@ -1276,15 +1294,15 @@
                         return false;
                     }();
                     if (supported) {
-                        runtimeMode = exports.PhysXRuntimeMode.WebAssembly;
+                        runtimeMode = PhysXRuntimeMode.WebAssembly;
                     } else {
-                        runtimeMode = exports.PhysXRuntimeMode.JavaScript;
+                        runtimeMode = PhysXRuntimeMode.JavaScript;
                     }
                 }
-                if (runtimeMode == exports.PhysXRuntimeMode.JavaScript) {
+                if (runtimeMode == PhysXRuntimeMode.JavaScript) {
                     script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rnDeR58NNGoAAAAAAAAAAAAAARQnAQ/physx.release.js.js";
-                } else if (runtimeMode == exports.PhysXRuntimeMode.WebAssembly) {
-                    script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*nA97QLQehRMAAAAAAAAAAAAAARQnAQ/physx.release.js";
+                } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {
+                    script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rP-bRKBDf0YAAAAAAAAAAAAAARQnAQ/physx.release.js";
                 }
             });
             var initializePromise = new Promise(function(resolve, reject) {
@@ -1390,18 +1408,13 @@
         };
         return PhysXPhysics;
     }();
-    var InitializeState;
-    (function(InitializeState) {
-        InitializeState[InitializeState["Uninitialized"] = 0] = "Uninitialized";
-        InitializeState[InitializeState["Initializing"] = 1] = "Initializing";
-        InitializeState[InitializeState["Initialized"] = 2] = "Initialized";
-    })(InitializeState || (InitializeState = {}));
 
     //@ts-ignore
-    var version = "1.3.24";
+    var version = "1.4.0-alpha.1";
     console.log("Galacean PhysX version: " + version);
 
     exports.PhysXPhysics = PhysXPhysics;
+    exports.PhysXRuntimeMode = PhysXRuntimeMode;
     exports.version = version;
 
     Object.defineProperty(exports, '__esModule', { value: true });