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

package/dist/module.js

@@ -6,6 +6,12 @@ function _instanceof(left, right) {
     } 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;
@@ -26,17 +32,12 @@ function _inherits(subClass, superClass) {
     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 DisorderedArray();
+        /** @internal */ this._contractOffset = 0.02;
         this._worldScale = new Vector3(1, 1, 1);
         this._position = new Vector3();
         this._rotation = null;
@@ -70,7 +71,7 @@ var ShapeFlag;
     /**
    * {@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++){
@@ -81,11 +82,15 @@ var ShapeFlag;
    * {@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);
         }
     };
     /**
@@ -129,25 +134,19 @@ var ShapeFlag;
     };
     return PhysXColliderShape;
 }();
-(function() {
-    PhysXColliderShape.halfSqrt = 0.70710678118655;
-})();
-(function() {
-    PhysXColliderShape.transform = {
-        translation: new Vector3(),
-        rotation: null
-    };
-})();
+PhysXColliderShape.halfSqrt = 0.70710678118655;
+PhysXColliderShape.transform = {
+    translation: new 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 Vector3();
-        _this._sizeScale = new Vector3(1, 1, 1);
+        _this = PhysXColliderShape.call(this, physXPhysics) || this, /** @internal */ _this._halfSize = new 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);
@@ -162,7 +161,7 @@ var ShapeFlag;
         var halfSize = this._halfSize;
         var tempExtents = PhysXBoxColliderShape._tempHalfExtents;
         halfSize.set(value.x * 0.5, value.y * 0.5, value.z * 0.5);
-        Vector3.multiply(halfSize, this._sizeScale, tempExtents);
+        Vector3.multiply(halfSize, this._worldScale, tempExtents);
         this._pxGeometry.halfExtents = tempExtents;
         this._pxShape.setGeometry(this._pxGeometry);
         this._updateController(tempExtents);
@@ -170,10 +169,9 @@ var ShapeFlag;
     /**
    * {@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;
-        Vector3.multiply(this._halfSize, this._sizeScale, tempExtents);
+        Vector3.multiply(this._halfSize, this._worldScale, tempExtents);
         this._pxGeometry.halfExtents = tempExtents;
         this._pxShape.setGeometry(this._pxGeometry);
         this._updateController(tempExtents);
@@ -191,9 +189,7 @@ var ShapeFlag;
     };
     return PhysXBoxColliderShape;
 }(PhysXColliderShape);
-(function() {
-    PhysXBoxColliderShape._tempHalfExtents = new Vector3();
-})();
+PhysXBoxColliderShape._tempHalfExtents = new Vector3();
 
 /**
  * Capsule collider shape in PhysX.
@@ -201,9 +197,7 @@ var ShapeFlag;
     _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 Vector3(1, 1, 1);
+        _this = PhysXColliderShape1.call(this, physXPhysics) || this, _this._upAxis = 1;
         _this._radius = radius;
         _this._halfHeight = height * 0.5;
         _this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);
@@ -218,15 +212,15 @@ var ShapeFlag;
    * {@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;
         }
@@ -242,7 +236,7 @@ var ShapeFlag;
    * {@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;
@@ -290,7 +284,7 @@ var ShapeFlag;
    * {@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:
@@ -320,19 +314,12 @@ var ShapeFlag;
     };
     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 Vector3();
         this._worldPosition = null;
         this._physXPhysics = physXPhysics;
@@ -386,17 +373,22 @@ var /**
     /**
    * {@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 }
@@ -447,26 +439,33 @@ var /**
     };
     return PhysXCharacterController;
 }();
-(function() {
-    PhysXCharacterController._tempVec = new Vector3();
-})();
+PhysXCharacterController._tempVec = new 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 }
@@ -495,48 +494,61 @@ var /**
     };
     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);
@@ -547,6 +559,12 @@ var CollisionDetectionMode;
         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);
@@ -557,11 +575,27 @@ var CollisionDetectionMode;
         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);
@@ -580,18 +614,20 @@ var CollisionDetectionMode;
     /**
    * {@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);
@@ -652,18 +688,19 @@ var CollisionDetectionMode;
         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 Vector3();
-})();
-(function() {
-    PhysXDynamicCollider._tempRotation = new Quaternion();
-})();
+PhysXDynamicCollider._tempTranslation = new Vector3();
+PhysXDynamicCollider._tempRotation = new Quaternion();
 
 var PhysXPhysicsManager = function PhysXPhysicsManager() {
     /** @internal */ this._eventMap = {};
@@ -712,15 +749,6 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     };
     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.
@@ -783,42 +811,29 @@ var /**
         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;
@@ -828,6 +843,7 @@ var /**
                     lastPXManager && characterController._destroyPXController();
                     characterController._createPXController(this, shape);
                 }
+                this._addColliderShape(shape._id);
             }
         }
         characterController._pxManager = this;
@@ -835,7 +851,11 @@ var /**
     /**
    * {@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 }
@@ -878,6 +898,29 @@ var /**
         }
         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);
     };
@@ -915,31 +958,8 @@ var /**
     };
     return PhysXPhysicsScene;
 }();
-(function() {
-    PhysXPhysicsScene._tempPosition = new Vector3();
-})();
-(function() {
-    PhysXPhysicsScene._tempNormal = new 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 Vector3();
+PhysXPhysicsScene._tempNormal = new Vector3();
 /**
  * Trigger event to store interactive object ids and state.
  */ var TriggerEvent = function TriggerEvent(index1, index2) {
@@ -950,11 +970,11 @@ var /**
 /**
  * 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;
     }
@@ -963,18 +983,17 @@ var /**
 
 /**
  * PhysX runtime mode.
- */ var PhysXRuntimeMode;
-(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";
-})(PhysXRuntimeMode || (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 Vector3();
         this._breakForce = Number.MAX_VALUE;
         this._breakTorque = Number.MAX_VALUE;
         this._physXPhysics = physXPhysics;
@@ -983,34 +1002,38 @@ var /**
     /**
    * {@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 }
@@ -1025,6 +1048,14 @@ var /**
         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
@@ -1034,15 +1065,8 @@ var /**
     };
     return PhysXJoint;
 }();
-(function() {
-    PhysXJoint._xAxis = new Vector3(1, 0, 0);
-})();
-(function() {
-    PhysXJoint._defaultVec = new Vector3();
-})();
-(function() {
-    PhysXJoint._defaultQuat = new Quaternion();
-})();
+PhysXJoint._defaultVec = new Vector3();
+PhysXJoint._defaultQuat = new Quaternion();
 
 /**
  * A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.
@@ -1052,7 +1076,7 @@ var /**
         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;
@@ -1064,31 +1088,32 @@ var /**
     _inherits(PhysXHingeJoint, PhysXJoint1);
     function PhysXHingeJoint(physXPhysics, collider) {
         var _this;
-        _this = PhysXJoint1.call(this, physXPhysics) || this;
-        _this._axisRotationQuaternion = new Quaternion();
-        _this._swingOffset = new Vector3();
+        _this = PhysXJoint1.call(this, physXPhysics) || this, _this._axisRotationQuaternion = new 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(Vector3.dot(xAxis, value));
         Vector3.cross(xAxis, value, xAxis);
         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 }
@@ -1133,6 +1158,7 @@ var /**
     };
     return PhysXHingeJoint;
 }(PhysXJoint);
+PhysXHingeJoint._xAxis = new Vector3(1, 0, 0);
 
 /**
  * a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
@@ -1141,7 +1167,6 @@ var /**
     function PhysXSpringJoint(physXPhysics, collider) {
         var _this;
         _this = PhysXJoint1.call(this, physXPhysics) || this;
-        _this._swingOffset = new Vector3();
         _this._collider = collider;
         _this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(null, PhysXJoint._defaultVec, PhysXJoint._defaultQuat, collider._pxActor, PhysXJoint._defaultVec, PhysXJoint._defaultQuat);
         _this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;
@@ -1151,12 +1176,6 @@ var /**
     }
     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);
@@ -1203,12 +1222,11 @@ var /**
 
 /**
  * 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);
@@ -1226,7 +1244,7 @@ var /**
     /**
    * {@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);
@@ -1264,7 +1282,7 @@ var /**
             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);
                         }
@@ -1280,7 +1298,7 @@ var /**
             if (runtimeMode == PhysXRuntimeMode.JavaScript) {
                 script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rnDeR58NNGoAAAAAAAAAAAAAARQnAQ/physx.release.js.js";
             } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {
-                script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*nA97QLQehRMAAAAAAAAAAAAAARQnAQ/physx.release.js";
+                script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*rP-bRKBDf0YAAAAAAAAAAAAAARQnAQ/physx.release.js";
             }
         });
         var initializePromise = new Promise(function(resolve, reject) {
@@ -1386,15 +1404,9 @@ var /**
     };
     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);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };