@galacean/engine-physics-physx 1.4.0-alpha.0 → 1.4.0-alpha.2

package/dist/module.js

@@ -1,4 +1,4 @@
-import { Vector3, Quaternion, DisorderedArray } from '@galacean/engine';
+import { Vector4, Vector3, MathUtil, Quaternion, DisorderedArray } from '@galacean/engine';
 
 function _instanceof(left, right) {
     if (right != null && typeof Symbol !== "undefined" && right[Symbol.hasInstance]) {
@@ -37,9 +37,10 @@ function _inherits(subClass, superClass) {
  */ 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;
+        this._rotation = new Vector3();
         this._axis = null;
         this._physXRotation = new Quaternion();
         this._shapeFlags = 2 | 1;
@@ -49,8 +50,8 @@ function _inherits(subClass, superClass) {
     /**
    * {@inheritDoc IColliderShape.setRotation }
    */ _proto.setRotation = function setRotation(value) {
-        this._rotation = value;
-        Quaternion.rotationYawPitchRoll(value.x, value.y, value.z, this._physXRotation);
+        var rotation = this._rotation.set(MathUtil.degreeToRadian(value.x), MathUtil.degreeToRadian(value.y), MathUtil.degreeToRadian(value.z));
+        Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, this._physXRotation);
         this._axis && Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);
         this._physXRotation.normalize();
         this._setLocalPose();
@@ -70,7 +71,7 @@ function _inherits(subClass, superClass) {
     /**
    * {@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 @@ function _inherits(subClass, superClass) {
    * {@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);
         }
     };
     /**
@@ -102,6 +107,15 @@ function _inherits(subClass, superClass) {
         this._setShapeFlags(this._shapeFlags);
     };
     /**
+   * {@inheritDoc IColliderShape.pointDistance }
+   */ _proto.pointDistance = function pointDistance(point) {
+        var info = this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(), point);
+        var closestPoint = info.closestPoint;
+        var res = PhysXColliderShape._tempVector4;
+        res.set(closestPoint.x, closestPoint.y, closestPoint.z, info.distance);
+        return res;
+    };
+    /**
    * {@inheritDoc IColliderShape.destroy }
    */ _proto.destroy = function destroy() {
         this._pxShape.release();
@@ -129,6 +143,7 @@ function _inherits(subClass, superClass) {
     };
     return PhysXColliderShape;
 }();
+PhysXColliderShape._tempVector4 = new Vector4();
 PhysXColliderShape.halfSqrt = 0.70710678118655;
 PhysXColliderShape.transform = {
     translation: new Vector3(),
@@ -141,7 +156,7 @@ PhysXColliderShape.transform = {
     _inherits(PhysXBoxColliderShape, PhysXColliderShape);
     function PhysXBoxColliderShape(physXPhysics, uniqueID, size, material) {
         var _this;
-        _this = PhysXColliderShape.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);
@@ -156,7 +171,7 @@ PhysXColliderShape.transform = {
         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);
@@ -165,9 +180,8 @@ PhysXColliderShape.transform = {
    * {@inheritDoc IColliderShape.setWorldScale }
    */ _proto.setWorldScale = function setWorldScale(scale) {
         PhysXColliderShape.prototype.setWorldScale.call(this, scale);
-        this._sizeScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));
         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);
@@ -193,7 +207,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
     _inherits(PhysXCapsuleColliderShape, PhysXColliderShape1);
     function PhysXCapsuleColliderShape(physXPhysics, uniqueID, radius, height, material) {
         var _this;
-        _this = PhysXColliderShape1.call(this, physXPhysics) || this, _this._upAxis = 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);
@@ -208,7 +222,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
    * {@inheritDoc ICapsuleColliderShape.setRadius }
    */ _proto.setRadius = function setRadius(value) {
         this._radius = value;
-        var sizeScale = this._sizeScale;
+        var sizeScale = this._worldScale;
         switch(this._upAxis){
             case 0:
                 this._pxGeometry.radius = this._radius * Math.max(sizeScale.y, sizeScale.z);
@@ -232,7 +246,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
    * {@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;
@@ -269,7 +283,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
                 break;
         }
         if (rotation) {
-            Quaternion.rotationYawPitchRoll(rotation.x, rotation.y, rotation.z, physXRotation);
+            Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, physXRotation);
             Quaternion.multiply(physXRotation, axis, physXRotation);
         } else {
             physXRotation.copyFrom(axis);
@@ -280,7 +294,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
    * {@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:
@@ -315,6 +329,7 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
  * 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;
@@ -363,22 +378,27 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
    * {@inheritDoc ICharacterController.setSlopeLimit }
    */ _proto.setSlopeLimit = function setSlopeLimit(slopeLimit) {
         var _this__pxController;
-        (_this__pxController = this._pxController) == null ? void 0 : _this__pxController.setSlopeLimit(slopeLimit);
+        (_this__pxController = this._pxController) == null ? void 0 : _this__pxController.setSlopeLimit(Math.cos(slopeLimit * Math.PI / 180));
     };
     /**
    * {@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 }
@@ -435,18 +455,27 @@ 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 }
@@ -493,24 +522,47 @@ PhysXCollider._tempTransform = {
     }
     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(MathUtil.radianToDegree(velocity.x), MathUtil.radianToDegree(velocity.y), MathUtil.radianToDegree(velocity.z));
+    };
+    /**
    * {@inheritDoc IDynamicCollider.setAngularVelocity }
    */ _proto.setAngularVelocity = function setAngularVelocity(value) {
-        this._pxActor.setAngularVelocity(value, true);
+        PhysXDynamicCollider._tempTranslation.set(MathUtil.degreeToRadian(value.x), MathUtil.degreeToRadian(value.y), MathUtil.degreeToRadian(value.z));
+        this._pxActor.setAngularVelocity(PhysXDynamicCollider._tempTranslation, true);
     };
     /**
    * {@inheritDoc IDynamicCollider.setMass }
@@ -518,6 +570,12 @@ PhysXCollider._tempTransform = {
         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);
@@ -528,9 +586,25 @@ PhysXCollider._tempTransform = {
         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);
+        this._pxActor.setMaxAngularVelocity(MathUtil.degreeToRadian(value));
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.getMaxDepenetrationVelocity }
+   */ _proto.getMaxDepenetrationVelocity = function getMaxDepenetrationVelocity() {
+        return this._pxActor.getMaxDepenetrationVelocity();
     };
     /**
    * {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }
@@ -551,18 +625,20 @@ PhysXCollider._tempTransform = {
     /**
    * {@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);
@@ -570,6 +646,11 @@ PhysXCollider._tempTransform = {
         }
     };
     /**
+   * {@inheritDoc IDynamicCollider.setUseGravity }
+   */ _proto.setUseGravity = function setUseGravity(value) {
+        this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);
+    };
+    /**
    * {@inheritDoc IDynamicCollider.setIsKinematic }
    */ _proto.setIsKinematic = function setIsKinematic(value) {
         if (value) {
@@ -623,6 +704,11 @@ PhysXCollider._tempTransform = {
         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();
@@ -701,14 +787,14 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         this._onTriggerExit = onTriggerExit;
         this._onTriggerStay = onTriggerStay;
         var triggerCallback = {
-            onContactBegin: function(index1, index2) {
-                _this._onContactEnter(index1, index2);
+            onContactBegin: function(collision) {
+                _this._onContactEnter(collision);
             },
-            onContactEnd: function(index1, index2) {
-                _this._onContactExit(index1, index2);
+            onContactEnd: function(collision) {
+                _this._onContactExit(collision);
             },
-            onContactPersist: function(index1, index2) {
-                _this._onContactStay(index1, index2);
+            onContactPersist: function(collision) {
+                _this._onContactStay(collision);
             },
             onTriggerBegin: function(index1, index2) {
                 var event = index1 < index2 ? _this._getTrigger(index1, index2) : _this._getTrigger(index2, index1);
@@ -741,42 +827,29 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         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;
@@ -786,6 +859,7 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
                     lastPXManager && characterController._destroyPXController();
                     characterController._createPXController(this, shape);
                 }
+                this._addColliderShape(shape._id);
             }
         }
         characterController._pxManager = this;
@@ -793,7 +867,11 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     /**
    * {@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 }
@@ -836,6 +914,29 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         }
         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);
     };
@@ -909,7 +1010,6 @@ PhysXPhysicsScene._tempNormal = new Vector3();
  * 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;
@@ -919,33 +1019,37 @@ PhysXPhysicsScene._tempNormal = new Vector3();
    * {@inheritDoc IJoint.setConnectedCollider }
    */ _proto.setConnectedCollider = function setConnectedCollider(value) {
         var _this__collider;
-        this._pxJoint.setActors((value == null ? void 0 : value._pxActor) || null, ((_this__collider = this._collider) == null ? void 0 : _this__collider._pxActor) || null);
+        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 }
@@ -960,6 +1064,14 @@ PhysXPhysicsScene._tempNormal = new Vector3();
         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
@@ -969,7 +1081,6 @@ PhysXPhysicsScene._tempNormal = new Vector3();
     };
     return PhysXJoint;
 }();
-PhysXJoint._xAxis = new Vector3(1, 0, 0);
 PhysXJoint._defaultVec = new Vector3();
 PhysXJoint._defaultQuat = new Quaternion();
 
@@ -981,7 +1092,7 @@ PhysXJoint._defaultQuat = new Quaternion();
         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;
@@ -993,34 +1104,37 @@ PhysXJoint._defaultQuat = new Quaternion();
     _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 }
    */ _proto.getAngle = function getAngle() {
-        return this._pxJoint.getAngle();
+        return MathUtil.radianToDegree(this._pxJoint.getAngle());
     };
     /**
    * {@inheritDoc IHingeJoint.getVelocity }
@@ -1030,12 +1144,12 @@ PhysXJoint._defaultQuat = new Quaternion();
     /**
    * {@inheritDoc IHingeJoint.setHardLimitCone }
    */ _proto.setHardLimit = function setHardLimit(lowerLimit, upperLimit, contactDist) {
-        this._pxJoint.setHardLimit(lowerLimit, upperLimit, contactDist);
+        this._pxJoint.setHardLimit(MathUtil.degreeToRadian(lowerLimit), MathUtil.degreeToRadian(upperLimit), contactDist);
     };
     /**
    * {@inheritDoc IHingeJoint.setHardLimitCone }
    */ _proto.setSoftLimit = function setSoftLimit(lowerLimit, upperLimit, stiffness, damping) {
-        this._pxJoint.setSoftLimit(lowerLimit, upperLimit, stiffness, damping);
+        this._pxJoint.setSoftLimit(MathUtil.degreeToRadian(lowerLimit), MathUtil.degreeToRadian(upperLimit), stiffness, damping);
     };
     /**
    * {@inheritDoc IHingeJoint.setDriveVelocity }
@@ -1060,6 +1174,7 @@ PhysXJoint._defaultQuat = new Quaternion();
     };
     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
@@ -1067,7 +1182,7 @@ PhysXJoint._defaultQuat = new Quaternion();
     _inherits(PhysXSpringJoint, PhysXJoint1);
     function PhysXSpringJoint(physXPhysics, collider) {
         var _this;
-        _this = PhysXJoint1.call(this, physXPhysics) || this, _this._swingOffset = new Vector3();
+        _this = PhysXJoint1.call(this, physXPhysics) || this;
         _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;
@@ -1077,12 +1192,6 @@ PhysXJoint._defaultQuat = new Quaternion();
     }
     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);
@@ -1205,7 +1314,7 @@ PhysXJoint._defaultQuat = new Quaternion();
             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*04GyRKeSJw4AAAAAAAAAAAAAARQnAQ/physx.release.js";
             }
         });
         var initializePromise = new Promise(function(resolve, reject) {
@@ -1313,7 +1422,7 @@ PhysXJoint._defaultQuat = new Quaternion();
 }();
 
 //@ts-ignore
-var version = "1.4.0-alpha.0";
+var version = "1.4.0-alpha.2";
 console.log("Galacean PhysX version: " + version);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };