@galacean/engine-physics-physx 1.4.0-alpha.1 → 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]) {
@@ -40,7 +40,7 @@ function _inherits(subClass, superClass) {
         /** @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;
@@ -50,8 +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();
@@ -107,6 +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();
@@ -134,6 +143,7 @@ function _inherits(subClass, superClass) {
     };
     return PhysXColliderShape;
 }();
+PhysXColliderShape._tempVector4 = new Vector4();
 PhysXColliderShape.halfSqrt = 0.70710678118655;
 PhysXColliderShape.transform = {
     translation: new Vector3(),
@@ -273,7 +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);
@@ -368,7 +378,7 @@ 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 }
@@ -546,12 +556,13 @@ PhysXCollider._tempTransform = {
    * {@inheritDoc IDynamicCollider.getAngularVelocity }
    */ _proto.getAngularVelocity = function getAngularVelocity(out) {
         var velocity = this._pxActor.getAngularVelocity();
-        return out.set(velocity.x, velocity.y, velocity.z);
+        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 }
@@ -588,7 +599,7 @@ PhysXCollider._tempTransform = {
     /**
    * {@inheritDoc IDynamicCollider.setMaxAngularVelocity }
    */ _proto.setMaxAngularVelocity = function setMaxAngularVelocity(value) {
-        this._pxActor.setMaxAngularVelocity(value);
+        this._pxActor.setMaxAngularVelocity(MathUtil.degreeToRadian(value));
     };
     /**
    * {@inheritDoc IDynamicCollider.getMaxDepenetrationVelocity }
@@ -635,6 +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) {
@@ -771,14 +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);
@@ -1118,7 +1134,7 @@ PhysXJoint._defaultQuat = new Quaternion();
     /**
    * {@inheritDoc IHingeJoint.getAngle }
    */ _proto.getAngle = function getAngle() {
-        return this._pxJoint.getAngle();
+        return MathUtil.radianToDegree(this._pxJoint.getAngle());
     };
     /**
    * {@inheritDoc IHingeJoint.getVelocity }
@@ -1128,12 +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 }
@@ -1298,7 +1314,7 @@ PhysXHingeJoint._xAxis = new Vector3(1, 0, 0);
             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*rP-bRKBDf0YAAAAAAAAAAAAAARQnAQ/physx.release.js";
+                script.src = "https://mdn.alipayobjects.com/rms/afts/file/A*04GyRKeSJw4AAAAAAAAAAAAAARQnAQ/physx.release.js";
             }
         });
         var initializePromise = new Promise(function(resolve, reject) {
@@ -1406,7 +1422,7 @@ PhysXHingeJoint._xAxis = new Vector3(1, 0, 0);
 }();
 
 //@ts-ignore
-var version = "1.4.0-alpha.1";
+var version = "1.4.0-alpha.2";
 console.log("Galacean PhysX version: " + version);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };