npm - @galacean/engine-physics-physx - Versions diffs - 1.4.0 → 1.4.1 - Mend

@galacean/engine-physics-physx 1.4.0 → 1.4.1

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{"version":3,"file":"main.js","sources":["../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_instanceof.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_type_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_set_prototype_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_inherits.js","../src/shape/PhysXColliderShape.ts","../src/shape/PhysXBoxColliderShape.ts","../src/shape/PhysXCapsuleColliderShape.ts","../src/PhysXCharacterController.ts","../src/PhysXCollider.ts","../src/PhysXDynamicCollider.ts","../src/PhysXPhysicsManager.ts","../src/PhysXPhysicsMaterial.ts","../src/PhysXPhysicsScene.ts","../src/PhysXStaticCollider.ts","../src/enum/PhysXRuntimeMode.ts","../src/joint/PhysXJoint.ts","../src/joint/PhysXFixedJoint.ts","../src/joint/PhysXHingeJoint.ts","../src/joint/PhysXSpringJoint.ts","../src/shape/PhysXPlaneColliderShape.ts","../src/shape/PhysXSphereColliderShape.ts","../src/PhysXPhysics.ts","../src/index.ts"],"sourcesContent":["function _instanceof(left, right) {\n if (right != null && typeof Symbol !== \"undefined\" && right[Symbol.hasInstance]) {\n return !!right[Symbol.hasInstance](left);\n } else return left instanceof right;\n}\nexport { _instanceof as _ };\n","function _type_of(obj) {\n \"@swc/helpers - typeof\";\n\n return obj && typeof Symbol !== \"undefined\" && obj.constructor === Symbol ? \"symbol\" : typeof obj;\n}\nexport { _type_of as _ };\n","function _set_prototype_of(o, p) {\n _set_prototype_of = Object.setPrototypeOf \|\| function setPrototypeOf(o, p) {\n o.__proto__ = p;\n\n return o;\n };\n\n return _set_prototype_of(o, p);\n}\nexport { _set_prototype_of as _ };\n","import { _ as _set_prototype_of } from \"./_set_prototype_of.js\";\n\nfunction _inherits(subClass, superClass) {\n if (typeof superClass !== \"function\" && superClass !== null) {\n throw new TypeError(\"Super expression must either be null or a function\");\n }\n\n subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } });\n\n if (superClass) _set_prototype_of(subClass, superClass);\n}\nexport { _inherits as _ };\n","import { Quaternion, Vector3, DisorderedArray, Vector4, MathUtil } from \"@galacean/engine\";\nimport { IColliderShape } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"../PhysXCharacterController\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\n\n/*\n Flags which affect the behavior of Shapes.\n /\nexport enum ShapeFlag {\n /* The shape will partake in collision in the physical simulation. /\n SIMULATION_SHAPE = 1 << 0,\n /* The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). /\n SCENE_QUERY_SHAPE = 1 << 1,\n /* The shape is a trigger which can send reports whenever other shapes enter/leave its volume. /\n TRIGGER_SHAPE = 1 << 2\n}\n\n/\n Abstract class for collider shapes.\n /\nexport abstract class PhysXColliderShape implements IColliderShape {\n protected static _tempVector4 = new Vector4();\n static readonly halfSqrt: number = 0.70710678118655;\n static transform = {\n translation: new Vector3(),\n rotation: null\n };\n\n /* @internal /\n _controllers: DisorderedArray<PhysXCharacterController> = new DisorderedArray<PhysXCharacterController>();\n /* @internal /\n _contractOffset: number = 0.02;\n\n protected _physXPhysics: PhysXPhysics;\n protected _worldScale: Vector3 = new Vector3(1, 1, 1);\n protected _position: Vector3 = new Vector3();\n protected _rotation: Vector3 = new Vector3();\n protected _axis: Quaternion = null;\n protected _physXRotation: Quaternion = new Quaternion();\n\n private _shapeFlags: ShapeFlag = ShapeFlag.SCENE_QUERY_SHAPE \| ShapeFlag.SIMULATION_SHAPE;\n\n /* @internal /\n _pxMaterial: any;\n /* @internal /\n _pxShape: any;\n /* @internal /\n _pxGeometry: any;\n /* @internal /\n _id: number;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc IColliderShape.setRotation }\n /\n setRotation(value: Vector3): void {\n const rotation = this._rotation.set(\n MathUtil.degreeToRadian(value.x),\n MathUtil.degreeToRadian(value.y),\n MathUtil.degreeToRadian(value.z)\n );\n Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, this._physXRotation);\n this._axis && Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);\n this._physXRotation.normalize();\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setPosition }\n /\n setPosition(value: Vector3): void {\n if (value !== this._position) {\n this._position.copyFrom(value);\n }\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n }\n\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setWorldScale }\n /\n setWorldScale(scale: Vector3): void {\n this._worldScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n this._setLocalPose();\n\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n }\n }\n\n /\n {@inheritDoc IColliderShape.setContactOffset }\n * @default 0.02f * PxTolerancesScale::length\n /\n setContactOffset(offset: number): void {\n this._contractOffset = offset;\n const controllers = this._controllers;\n if (controllers.length) {\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setContactOffset(offset);\n }\n } else {\n this._pxShape.setContactOffset(offset);\n }\n }\n\n /\n {@inheritDoc IColliderShape.setMaterial }\n /\n setMaterial(value: PhysXPhysicsMaterial): void {\n this._pxMaterial = value._pxMaterial;\n this._pxShape.setMaterial(this._pxMaterial);\n }\n\n /\n {@inheritDoc IColliderShape.setIsTrigger }\n /\n setIsTrigger(value: boolean): void {\n this._modifyFlag(ShapeFlag.SIMULATION_SHAPE, !value);\n this._modifyFlag(ShapeFlag.TRIGGER_SHAPE, value);\n this._setShapeFlags(this._shapeFlags);\n }\n\n /\n {@inheritDoc IColliderShape.pointDistance }\n /\n pointDistance(point: Vector3): Vector4 {\n const info = this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(), point);\n const closestPoint = info.closestPoint;\n const res = PhysXColliderShape._tempVector4;\n res.set(closestPoint.x, closestPoint.y, closestPoint.z, info.distance);\n return res;\n }\n\n /\n {@inheritDoc IColliderShape.destroy }\n /\n destroy(): void {\n this._pxShape.release();\n }\n\n /\n @internal\n /\n _setShapeFlags(flags: ShapeFlag) {\n this._shapeFlags = flags;\n this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));\n }\n\n protected _setLocalPose(): void {\n const transform = PhysXColliderShape.transform;\n Vector3.multiply(this._position, this._worldScale, transform.translation);\n transform.rotation = this._physXRotation;\n this._pxShape.setLocalPose(transform);\n }\n\n protected _initialize(material: PhysXPhysicsMaterial, id: number): void {\n this._id = id;\n this._pxMaterial = material._pxMaterial;\n this._pxShape = this._physXPhysics._pxPhysics.createShape(\n this._pxGeometry,\n material._pxMaterial,\n true,\n new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags)\n );\n this._pxShape.setUUID(id);\n }\n\n private _modifyFlag(flag: ShapeFlag, value: boolean): void {\n this._shapeFlags = value ? this._shapeFlags \| flag : this._shapeFlags & ~flag;\n }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { IBoxColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Box collider shape in PhysX.\n /\nexport class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxColliderShape {\n private static _tempHalfExtents = new Vector3();\n /* @internal /\n _halfSize: Vector3 = new Vector3();\n\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n const halfSize = this._halfSize;\n halfSize.set(size.x 0.5, size.y * 0.5, size.z * 0.5);\n this._pxGeometry = new physXPhysics._physX.PxBoxGeometry(halfSize.x, halfSize.y, halfSize.z);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc IBoxColliderShape.setSize }\n /\n setSize(value: Vector3): void {\n const halfSize = this._halfSize;\n const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n halfSize.set(value.x 0.5, value.y * 0.5, value.z * 0.5);\n Vector3.multiply(halfSize, this._worldScale, tempExtents);\n this._pxGeometry.halfExtents = tempExtents;\n this._pxShape.setGeometry(this._pxGeometry);\n\n this._updateController(tempExtents);\n }\n\n /*\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n Vector3.multiply(this._halfSize, this._worldScale, tempExtents);\n this._pxGeometry.halfExtents = tempExtents;\n this._pxShape.setGeometry(this._pxGeometry);\n\n this._updateController(tempExtents);\n }\n\n private _updateController(extents: Vector3) {\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n const pxController = controllers.get(i)._pxController;\n\n if (pxController) {\n pxController.setHalfHeight(extents.x);\n pxController.setHalfSideExtent(extents.y);\n pxController.setHalfForwardExtent(extents.z);\n }\n }\n }\n}\n","import { ICapsuleColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Capsule collider shape in PhysX.\n /\nexport class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {\n /* @internal /\n _radius: number;\n /* @internal /\n _halfHeight: number;\n private _upAxis: ColliderShapeUpAxis = ColliderShapeUpAxis.Y;\n\n constructor(\n physXPhysics: PhysXPhysics,\n uniqueID: number,\n radius: number,\n height: number,\n material: PhysXPhysicsMaterial\n ) {\n super(physXPhysics);\n\n this._radius = radius;\n this._halfHeight = height 0.5;\n this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n this._physXRotation.copyFrom(this._axis);\n\n this._pxGeometry = new physXPhysics._physX.PxCapsuleGeometry(this._radius, this._halfHeight);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setRadius }\n /\n setRadius(value: number): void {\n this._radius = value;\n const sizeScale = this._worldScale;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n this._pxGeometry.radius = this._radius Math.max(sizeScale.y, sizeScale.z);\n break;\n case ColliderShapeUpAxis.Y:\n this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n break;\n case ColliderShapeUpAxis.Z:\n this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n break;\n }\n this._pxShape.setGeometry(this._pxGeometry);\n\n const radius = this._pxGeometry.radius;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setRadius(radius);\n }\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setHeight }\n /\n setHeight(value: number): void {\n this._halfHeight = value 0.5;\n const sizeScale = this._worldScale;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.x;\n break;\n case ColliderShapeUpAxis.Y:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.y;\n break;\n case ColliderShapeUpAxis.Z:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.z;\n break;\n }\n this._pxShape.setGeometry(this._pxGeometry);\n\n const height = this._pxGeometry.halfHeight * 2;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setHeight(height);\n }\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setUpAxis }\n /\n setUpAxis(upAxis: ColliderShapeUpAxis): void {\n const { _rotation: rotation, _axis: axis, _physXRotation: physXRotation } = this;\n\n this._upAxis = upAxis;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n axis.set(0, 0, 0, 1);\n break;\n case ColliderShapeUpAxis.Y:\n axis.set(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n break;\n case ColliderShapeUpAxis.Z:\n axis.set(0, PhysXColliderShape.halfSqrt, 0, PhysXColliderShape.halfSqrt);\n break;\n }\n if (rotation) {\n Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, physXRotation);\n Quaternion.multiply(physXRotation, axis, physXRotation);\n } else {\n physXRotation.copyFrom(axis);\n }\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n const sizeScale = this._worldScale;\n const geometry = this._pxGeometry;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n geometry.radius = this._radius Math.max(sizeScale.y, sizeScale.z);\n geometry.halfHeight = this._halfHeight * sizeScale.x;\n break;\n case ColliderShapeUpAxis.Y:\n geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n geometry.halfHeight = this._halfHeight * sizeScale.y;\n break;\n case ColliderShapeUpAxis.Z:\n geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n geometry.halfHeight = this._halfHeight * sizeScale.z;\n break;\n }\n this._pxShape.setGeometry(geometry);\n\n const radius = geometry.radius;\n const height = geometry.halfHeight * 2;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n const pxController = controllers.get(i)._pxController;\n if (pxController) {\n pxController.setRadius(radius);\n pxController.setHeight(height);\n }\n }\n }\n}\n\n/*\n The up axis of the collider shape.\n /\nenum ColliderShapeUpAxis {\n /* Up axis is X. /\n X,\n /* Up axis is Y. /\n Y,\n /* Up axis is Z. /\n Z\n}\n","import { ICharacterController } from \"@galacean/engine-design\";\nimport { Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\n\n/\n Base class for character controllers.\n /\nexport class PhysXCharacterController implements ICharacterController {\n private static _tempVec = new Vector3();\n\n /* @internal /\n _scene: PhysXPhysicsScene = null;\n /* @internal /\n _id: number;\n /* @internal /\n _pxController: any;\n /* @internal /\n _pxManager: PhysXPhysicsScene;\n /* @internal /\n _shape: PhysXColliderShape;\n private _shapeScaledPosition = new Vector3();\n private _worldPosition: Vector3 = null;\n\n private _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc ICharacterController.move }\n /\n move(disp: Vector3, minDist: number, elapsedTime: number): number {\n return this._pxController?.move(disp, minDist, elapsedTime) ?? 0;\n }\n\n /\n {@inheritDoc ICharacterController.setWorldPosition }\n /\n setWorldPosition(position: Vector3): void {\n this._worldPosition = position;\n this._updateNativePosition();\n }\n\n /\n {@inheritDoc ICharacterController.getWorldPosition }\n /\n getWorldPosition(position: Vector3): void {\n if (this._pxController) {\n position.copyFrom(this._pxController.getPosition());\n position.subtract(this._shapeScaledPosition);\n }\n }\n\n /\n {@inheritDoc ICharacterController.setStepOffset }\n /\n setStepOffset(offset: number): void {\n this._pxController?.setStepOffset(offset);\n }\n\n /\n {@inheritDoc ICharacterController.setNonWalkableMode }\n /\n setNonWalkableMode(flag: number): void {\n this._pxController?.setNonWalkableMode(flag);\n }\n\n /\n {@inheritDoc ICharacterController.setUpDirection }\n /\n setUpDirection(up: Vector3): void {\n this._pxController?.setUpDirection(up);\n }\n\n /\n {@inheritDoc ICharacterController.setSlopeLimit }\n /\n setSlopeLimit(slopeLimit: number): void {\n this._pxController?.setSlopeLimit(Math.cos((slopeLimit Math.PI) / 180));\n }\n\n /*\n {@inheritDoc ICharacterController.addShape }\n /\n addShape(shape: PhysXColliderShape): void {\n // When CharacterController is disabled, set shape property need check pxController whether exist because of this._pxManager is null and won't create pxController\n this._pxManager && this._createPXController(this._pxManager, shape);\n this._shape = shape;\n shape._controllers.add(this);\n this._pxController?.setContactOffset(shape._contractOffset);\n this._scene?._addColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICharacterController.removeShape }\n /\n removeShape(shape: PhysXColliderShape): void {\n this._destroyPXController();\n this._shape = null;\n shape._controllers.delete(this);\n this._scene?._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICharacterController.destroy }\n /\n destroy(): void {\n this._destroyPXController();\n }\n\n /\n @internal\n /\n _createPXController(pxManager: PhysXPhysicsScene, shape: PhysXColliderShape): void {\n let desc: any;\n if (shape instanceof PhysXBoxColliderShape) {\n desc = new this._physXPhysics._physX.PxBoxControllerDesc();\n desc.halfHeight = shape._halfSize.x;\n desc.halfSideExtent = shape._halfSize.y;\n desc.halfForwardExtent = shape._halfSize.z;\n } else if (shape instanceof PhysXCapsuleColliderShape) {\n desc = new this._physXPhysics._physX.PxCapsuleControllerDesc();\n desc.radius = shape._radius;\n desc.height = shape._halfHeight 2;\n desc.climbingMode = 1; // constraint mode\n } else {\n throw \"unsupported shape type\";\n }\n\n desc.setMaterial(shape._pxMaterial);\n\n this._pxController = pxManager._getControllerManager().createController(desc);\n this._pxController.setUUID(shape._id);\n }\n\n /*\n @internal\n /\n _destroyPXController(): void {\n if (this._pxController) {\n this._pxController.release();\n this._pxController = null;\n }\n }\n\n /\n @internal\n /\n _updateShapePosition(shapePosition: Vector3, worldScale: Vector3): void {\n Vector3.multiply(shapePosition, worldScale, this._shapeScaledPosition);\n this._updateNativePosition();\n }\n\n private _updateNativePosition() {\n const worldPosition = this._worldPosition;\n if (this._pxController && worldPosition) {\n Vector3.add(worldPosition, this._shapeScaledPosition, PhysXCharacterController._tempVec);\n this._pxController.setPosition(PhysXCharacterController._tempVec);\n }\n }\n}\n","import { ICollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\n\n/\n Abstract class of physical collider.\n /\nexport abstract class PhysXCollider implements ICollider {\n private static _tempTransform: {\n translation: Vector3;\n rotation: Quaternion;\n } = { translation: null, rotation: null };\n\n /* @internal /\n _scene: PhysXPhysicsScene = null;\n /* @internal /\n _pxActor: any;\n /* @internal /\n _shapes = new Array<PhysXColliderShape>();\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc ICollider.addShape }\n /\n addShape(shape: PhysXColliderShape): void {\n this._pxActor.attachShape(shape._pxShape);\n this._shapes.push(shape);\n this._scene?._addColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICollider.removeShape }\n /\n removeShape(shape: PhysXColliderShape): void {\n this._pxActor.detachShape(shape._pxShape, true);\n const shapes = this._shapes;\n shapes.splice(shapes.indexOf(shape), 1);\n this._scene?._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICollider.setWorldTransform }\n /\n setWorldTransform(position: Vector3, rotation: Quaternion): void {\n this._pxActor.setGlobalPose(this._transform(position, rotation), true);\n }\n\n /\n {@inheritDoc ICollider.getWorldTransform }\n /\n getWorldTransform(outPosition: Vector3, outRotation: Quaternion): void {\n const transform = this._pxActor.getGlobalPose();\n outPosition.set(transform.translation.x, transform.translation.y, transform.translation.z);\n outRotation.set(transform.rotation.x, transform.rotation.y, transform.rotation.z, transform.rotation.w);\n }\n\n /\n {@inheritDoc ICollider.destroy }\n /\n destroy(): void {\n this._pxActor.release();\n }\n\n /\n @internal\n /\n _transform(pos: Vector3, rot: Quaternion): { translation: Vector3; rotation: Quaternion } {\n const transform = PhysXCollider._tempTransform;\n transform.translation = pos;\n transform.rotation = rot.normalize();\n return transform;\n }\n}\n","import { IDynamicCollider } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n The collision detection mode constants used for PhysXDynamicCollider.collisionDetectionMode.\n * /\nexport enum CollisionDetectionMode {\n /* Continuous collision detection is off for this dynamic collider. /\n Discrete,\n /* Continuous collision detection is on for colliding with static mesh geometry. /\n Continuous,\n /* Continuous collision detection is on for colliding with static and dynamic geometry. /\n ContinuousDynamic,\n /* Speculative continuous collision detection is on for static and dynamic geometries /\n ContinuousSpeculative\n}\n\n/\n A dynamic collider can act with self-defined movement or physical force\n /\nexport class PhysXDynamicCollider extends PhysXCollider implements IDynamicCollider {\n private static _tempTranslation = new Vector3();\n private static _tempRotation = new Quaternion();\n\n constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n super(physXPhysics);\n const transform = this._transform(position, rotation);\n this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);\n }\n\n /\n {@inheritDoc IDynamicCollider.setLinearDamping }\n /\n setLinearDamping(value: number): void {\n this._pxActor.setLinearDamping(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setAngularDamping }\n /\n setAngularDamping(value: number): void {\n this._pxActor.setAngularDamping(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getLinearVelocity }\n /\n getLinearVelocity(out: Vector3): Vector3 {\n const velocity = this._pxActor.getLinearVelocity();\n return out.set(velocity.x, velocity.y, velocity.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setLinearVelocity }\n /\n setLinearVelocity(value: Vector3): void {\n this._pxActor.setLinearVelocity(value, true);\n }\n\n /\n {@inheritDoc IDynamicCollider.getAngularVelocity }\n /\n getAngularVelocity(out: Vector3): Vector3 {\n const velocity = this._pxActor.getAngularVelocity();\n return out.set(\n MathUtil.radianToDegree(velocity.x),\n MathUtil.radianToDegree(velocity.y),\n MathUtil.radianToDegree(velocity.z)\n );\n }\n\n /\n {@inheritDoc IDynamicCollider.setAngularVelocity }\n /\n setAngularVelocity(value: Vector3): void {\n PhysXDynamicCollider._tempTranslation.set(\n MathUtil.degreeToRadian(value.x),\n MathUtil.degreeToRadian(value.y),\n MathUtil.degreeToRadian(value.z)\n );\n this._pxActor.setAngularVelocity(PhysXDynamicCollider._tempTranslation, true);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMass }\n /\n setMass(value: number): void {\n this._pxActor.setMass(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getCenterOfMass }\n /\n getCenterOfMass(out: Vector3): Vector3 {\n const { translation } = this._pxActor.getCMassLocalPose();\n return out.set(translation.x, translation.y, translation.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setCenterOfMass }\n /\n setCenterOfMass(position: Vector3): void {\n this._pxActor.setCMassLocalPose(position);\n }\n\n /\n {@inheritDoc IDynamicCollider.setInertiaTensor }\n /\n setInertiaTensor(value: Vector3): void {\n this._pxActor.setMassSpaceInertiaTensor(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getInertiaTensor }\n /\n getInertiaTensor(out: Vector3): Vector3 {\n const inertia = this._pxActor.getMassSpaceInertiaTensor();\n return out.set(inertia.x, inertia.y, inertia.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMassAndUpdateInertia }\n /\n setMassAndUpdateInertia(mass: number): void {\n this._pxActor.setMassAndUpdateInertia(mass);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMaxAngularVelocity }\n /\n setMaxAngularVelocity(value: number): void {\n this._pxActor.setMaxAngularVelocity(MathUtil.degreeToRadian(value));\n }\n\n /\n {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }\n /\n setMaxDepenetrationVelocity(value: number): void {\n this._pxActor.setMaxDepenetrationVelocity(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setSleepThreshold }\n * @default 1e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed\n /\n setSleepThreshold(value: number): void {\n this._pxActor.setSleepThreshold(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setSolverIterations }\n /\n setSolverIterations(value: number): void {\n this._pxActor.setSolverIterationCounts(value, 1);\n }\n\n /\n {@inheritDoc IDynamicCollider.setCollisionDetectionMode }\n /\n setCollisionDetectionMode(value: number): void {\n const physX = this._physXPhysics._physX;\n\n switch (value) {\n case CollisionDetectionMode.Continuous:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);\n break;\n case CollisionDetectionMode.ContinuousDynamic:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);\n break;\n case CollisionDetectionMode.ContinuousSpeculative:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);\n break;\n case CollisionDetectionMode.Discrete:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);\n break;\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.setUseGravity }\n /\n setUseGravity(value: boolean): void {\n this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setIsKinematic }\n /\n setIsKinematic(value: boolean): void {\n if (value) {\n this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);\n } else {\n this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.setConstraints }\n /\n setConstraints(flags: number): void {\n this._pxActor.setRigidDynamicLockFlags(flags);\n }\n\n /\n {@inheritDoc IDynamicCollider.addForce }\n /\n addForce(force: Vector3) {\n this._pxActor.addForce({ x: force.x, y: force.y, z: force.z });\n }\n\n /\n {@inheritDoc IDynamicCollider.addTorque }\n /\n addTorque(torque: Vector3) {\n this._pxActor.addTorque({ x: torque.x, y: torque.y, z: torque.z });\n }\n\n /\n {@inheritDoc IDynamicCollider.move }\n /\n move(positionOrRotation: Vector3 \| Quaternion, rotation?: Quaternion): void {\n if (rotation) {\n this._pxActor.setKinematicTarget(positionOrRotation, rotation);\n return;\n }\n\n const tempTranslation = PhysXDynamicCollider._tempTranslation;\n const tempRotation = PhysXDynamicCollider._tempRotation;\n this.getWorldTransform(tempTranslation, tempRotation);\n if (positionOrRotation instanceof Vector3) {\n this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);\n } else {\n this._pxActor.setKinematicTarget(tempTranslation, positionOrRotation);\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.sleep }\n /\n sleep(): void {\n return this._pxActor.putToSleep();\n }\n\n /\n {@inheritDoc IDynamicCollider.isSleeping }\n /\n isSleeping(): boolean {\n return this._pxActor.isSleeping();\n }\n\n /\n {@inheritDoc IDynamicCollider.wakeUp }\n /\n wakeUp(): void {\n return this._pxActor.wakeUp();\n }\n}\n","import { IPhysicsManager } from \"@galacean/engine-design\";\nimport { TriggerEvent } from \"./PhysXPhysicsScene\";\n\nexport class PhysXPhysicsManager implements IPhysicsManager {\n /* @internal /\n _eventMap: Record<number, Record<number, TriggerEvent>> = {};\n}\n","import { IPhysicsMaterial } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n Physics material describes how to handle colliding objects (friction, bounciness).\n /\nexport class PhysXPhysicsMaterial implements IPhysicsMaterial {\n /* @internal /\n _pxMaterial: any;\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(\n physXPhysics: PhysXPhysics,\n staticFriction: number,\n dynamicFriction: number,\n bounciness: number,\n frictionCombine: CombineMode,\n bounceCombine: CombineMode\n ) {\n this._physXPhysics = physXPhysics;\n const pxMaterial = physXPhysics._pxPhysics.createMaterial(staticFriction, dynamicFriction, bounciness);\n pxMaterial.setFrictionCombineMode(frictionCombine);\n pxMaterial.setRestitutionCombineMode(bounceCombine);\n this._pxMaterial = pxMaterial;\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setBounciness }\n /\n setBounciness(value: number) {\n this._pxMaterial.setRestitution(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setDynamicFriction }\n /\n setDynamicFriction(value: number) {\n this._pxMaterial.setDynamicFriction(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setStaticFriction }\n /\n setStaticFriction(value: number) {\n this._pxMaterial.setStaticFriction(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setBounceCombine }\n /\n setBounceCombine(value: CombineMode) {\n this._pxMaterial.setRestitutionCombineMode(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setFrictionCombine }\n /\n setFrictionCombine(value: CombineMode) {\n this._pxMaterial.setFrictionCombineMode(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.destroy }\n /\n destroy(): void {\n this._pxMaterial.release();\n }\n}\n\n/\n Describes how physics materials of the colliding objects are combined.\n /\nenum CombineMode {\n /* Averages the friction/bounce of the two colliding materials. /\n Average,\n /* Uses the smaller friction/bounce of the two colliding materials. /\n Minimum,\n /* Multiplies the friction/bounce of the two colliding materials. /\n Multiply,\n /* Uses the larger friction/bounce of the two colliding materials. /\n Maximum\n}\n","import { Ray, Vector3, DisorderedArray } from \"@galacean/engine\";\nimport { ICollision, IPhysicsScene } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\n\n/\n A manager is a collection of colliders and constraints which can interact.\n /\nexport class PhysXPhysicsScene implements IPhysicsScene {\n /* @internal /\n _pxControllerManager: any = null;\n\n private static _tempPosition: Vector3 = new Vector3();\n private static _tempNormal: Vector3 = new Vector3();\n\n private _physXPhysics: PhysXPhysics;\n private _physXManager: PhysXPhysicsManager;\n private _pxRaycastHit: any;\n private _pxFilterData: any;\n\n private _pxScene: any;\n\n private readonly _onContactEnter?: (collision: ICollision) => void;\n private readonly _onContactExit?: (collision: ICollision) => void;\n private readonly _onContactStay?: (collision: ICollision) => void;\n private readonly _onTriggerEnter?: (index1: number, index2: number) => void;\n private readonly _onTriggerExit?: (index1: number, index2: number) => void;\n private readonly _onTriggerStay?: (index1: number, index2: number) => void;\n\n private _currentEvents: DisorderedArray<TriggerEvent> = new DisorderedArray<TriggerEvent>();\n\n private _eventPool: TriggerEvent[] = [];\n\n constructor(\n physXPhysics: PhysXPhysics,\n physicsManager: PhysXPhysicsManager,\n onContactEnter?: (collision: ICollision) => void,\n onContactExit?: (collision: ICollision) => void,\n onContactStay?: (collision: ICollision) => void,\n onTriggerEnter?: (obj1: number, obj2: number) => void,\n onTriggerExit?: (obj1: number, obj2: number) => void,\n onTriggerStay?: (obj1: number, obj2: number) => void\n ) {\n this._physXPhysics = physXPhysics;\n this._physXManager = physicsManager;\n\n const physX = physXPhysics._physX;\n\n this._pxRaycastHit = new physX.PxRaycastHit();\n this._pxFilterData = new physX.PxQueryFilterData();\n this._pxFilterData.flags = new physX.PxQueryFlags(QueryFlag.STATIC \| QueryFlag.DYNAMIC \| QueryFlag.PRE_FILTER);\n\n this._onContactEnter = onContactEnter;\n this._onContactExit = onContactExit;\n this._onContactStay = onContactStay;\n this._onTriggerEnter = onTriggerEnter;\n this._onTriggerExit = onTriggerExit;\n this._onTriggerStay = onTriggerStay;\n\n const triggerCallback = {\n onContactBegin: (collision) => {\n this._onContactEnter(collision);\n },\n onContactEnd: (collision) => {\n this._onContactExit(collision);\n },\n onContactPersist: (collision) => {\n this._onContactStay(collision);\n },\n onTriggerBegin: (index1, index2) => {\n const event = index1 < index2 ? this._getTrigger(index1, index2) : this._getTrigger(index2, index1);\n event.state = TriggerEventState.Enter;\n this._currentEvents.add(event);\n },\n onTriggerEnd: (index1, index2) => {\n let event: TriggerEvent;\n if (index1 < index2) {\n const subMap = this._physXManager._eventMap[index1];\n event = subMap[index2];\n subMap[index2] = undefined;\n } else {\n const subMap = this._physXManager._eventMap[index2];\n event = subMap[index1];\n subMap[index1] = undefined;\n }\n event.state = TriggerEventState.Exit;\n }\n };\n\n const pxPhysics = physXPhysics._pxPhysics;\n const physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);\n const sceneDesc = physX.getDefaultSceneDesc(pxPhysics.getTolerancesScale(), 0, physXSimulationCallbackInstance);\n this._pxScene = pxPhysics.createScene(sceneDesc);\n }\n\n /\n {@inheritDoc IPhysicsManager.setGravity }\n /\n setGravity(value: Vector3) {\n this._pxScene.setGravity(value);\n }\n\n /\n {@inheritDoc IPhysicsManager.addCollider }\n /\n addCollider(collider: PhysXCollider): void {\n collider._scene = this;\n this._pxScene.addActor(collider._pxActor, null);\n const shapes = collider._shapes;\n for (let i = 0, n = shapes.length; i < n; i++) {\n this._addColliderShape(shapes[i]._id);\n }\n }\n\n /\n {@inheritDoc IPhysicsManager.removeCollider }\n /\n removeCollider(collider: PhysXCollider): void {\n collider._scene = null;\n this._pxScene.removeActor(collider._pxActor, true);\n const shapes = collider._shapes;\n for (let i = 0, n = shapes.length; i < n; i++) {\n this._removeColliderShape(shapes[i]._id);\n }\n }\n\n /\n {@inheritDoc IPhysicsManager.addCharacterController }\n /\n addCharacterController(characterController: PhysXCharacterController): void {\n characterController._scene = this;\n\n // Physx have no API to remove/readd cct into scene.\n if (!characterController._pxController) {\n const shape = characterController._shape;\n if (shape) {\n const lastPXManager = characterController._pxManager;\n if (lastPXManager !== this) {\n lastPXManager && characterController._destroyPXController();\n characterController._createPXController(this, shape);\n }\n this._addColliderShape(shape._id);\n }\n }\n characterController._pxManager = this;\n }\n\n /\n {@inheritDoc IPhysicsManager.removeCharacterController }\n /\n removeCharacterController(characterController: PhysXCharacterController): void {\n characterController._scene = null;\n characterController._pxManager = null;\n characterController._destroyPXController();\n const shape = characterController._shape;\n shape && this._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc IPhysicsManager.update }\n /\n update(elapsedTime: number): void {\n this._simulate(elapsedTime);\n this._fetchResults();\n this._fireEvent();\n }\n\n /\n {@inheritDoc IPhysicsManager.raycast }\n /\n raycast(\n ray: Ray,\n distance: number,\n onRaycast: (obj: number) => boolean,\n hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n ): boolean {\n const { _pxRaycastHit: pxHitResult } = this;\n distance = Math.min(distance, 3.4e38); // float32 max value limit in physx raycast.\n\n const raycastCallback = {\n preFilter: (filterData, index, actor) => {\n if (onRaycast(index)) {\n return 2; // eBLOCK\n } else {\n return 0; // eNONE\n }\n },\n postFilter: (filterData, hit) => {}\n };\n\n const result = this._pxScene.raycastSingle(\n ray.origin,\n ray.direction,\n distance,\n pxHitResult,\n this._pxFilterData,\n this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback)\n );\n\n if (result && hit != undefined) {\n const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n const { position: pxPosition, normal: pxNormal } = pxHitResult;\n position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n\n hit(pxHitResult.getShape().getUUID(), pxHitResult.distance, position, normal);\n }\n return result;\n }\n\n /\n @internal\n /\n _getControllerManager(): any {\n let pxControllerManager = this._pxControllerManager;\n if (pxControllerManager === null) {\n this._pxControllerManager = pxControllerManager = this._pxScene.createControllerManager();\n }\n return pxControllerManager;\n }\n\n /\n @internal\n /\n _addColliderShape(id: number) {\n this._physXManager._eventMap[id] = {};\n }\n\n /\n @internal\n /\n _removeColliderShape(id: number) {\n const { _eventPool: eventPool, _currentEvents: currentEvents } = this;\n const { _eventMap: eventMap } = this._physXManager;\n currentEvents.forEach((event, i) => {\n if (event.index1 == id) {\n currentEvents.deleteByIndex(i);\n eventPool.push(event);\n } else if (event.index2 == id) {\n currentEvents.deleteByIndex(i);\n eventPool.push(event);\n // If the shape is big index, should clear from the small index shape subMap\n eventMap[event.index1][id] = undefined;\n }\n });\n delete eventMap[id];\n }\n\n private _simulate(elapsedTime: number): void {\n this._pxScene.simulate(elapsedTime, true);\n }\n\n private _fetchResults(block: boolean = true): void {\n this._pxScene.fetchResults(block);\n }\n\n private _getTrigger(index1: number, index2: number): TriggerEvent {\n let event: TriggerEvent;\n if (this._eventPool.length) {\n event = this._eventPool.pop();\n event.index1 = index1;\n event.index2 = index2;\n } else {\n event = new TriggerEvent(index1, index2);\n }\n this._physXManager._eventMap[index1][index2] = event;\n return event;\n }\n\n private _fireEvent(): void {\n const { _eventPool: eventPool, _currentEvents: currentEvents } = this;\n currentEvents.forEach((event, i) => {\n if (event.state == TriggerEventState.Enter) {\n this._onTriggerEnter(event.index1, event.index2);\n event.state = TriggerEventState.Stay;\n } else if (event.state == TriggerEventState.Stay) {\n this._onTriggerStay(event.index1, event.index2);\n } else if (event.state == TriggerEventState.Exit) {\n currentEvents.deleteByIndex(i);\n this._onTriggerExit(event.index1, event.index2);\n eventPool.push(event);\n }\n });\n }\n}\n\n/\n Filtering flags for scene queries.\n /\nenum QueryFlag {\n STATIC = 1 << 0,\n DYNAMIC = 1 << 1,\n PRE_FILTER = 1 << 2,\n POST_FILTER = 1 << 3,\n ANY_HIT = 1 << 4,\n NO_BLOCK = 1 << 5\n}\n\n/\n Physics state\n /\nenum TriggerEventState {\n Enter,\n Stay,\n Exit\n}\n\n/\n Trigger event to store interactive object ids and state.\n /\nexport class TriggerEvent {\n state: TriggerEventState;\n index1: number;\n index2: number;\n\n constructor(index1: number, index2: number) {\n this.index1 = index1;\n this.index2 = index2;\n }\n}\n","import { IStaticCollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n A static collider component that will not move.\n * @remarks Mostly used for object which always stays at the same place and never moves around.\n /\nexport class PhysXStaticCollider extends PhysXCollider implements IStaticCollider {\n constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n super(physXPhysics);\n this._pxActor = physXPhysics._pxPhysics.createRigidStatic(this._transform(position, rotation));\n }\n}\n","/\n PhysX runtime mode.\n /\nexport enum PhysXRuntimeMode {\n /* Use webAssembly mode first, if WebAssembly mode is not supported, roll back to JavaScript mode. /\n Auto,\n /* WebAssembly mode. /\n WebAssembly,\n /* JavaScript mode. /\n JavaScript\n}\n","import { IJoint } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\n\n/\n a base interface providing common functionality for PhysX joints\n /\nexport class PhysXJoint implements IJoint {\n protected static _defaultVec = new Vector3();\n protected static _defaultQuat = new Quaternion();\n\n protected _pxJoint: any;\n protected _collider: PhysXCollider;\n private _breakForce: number = Number.MAX_VALUE;\n private _breakTorque: number = Number.MAX_VALUE;\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc IJoint.setConnectedCollider }\n /\n setConnectedCollider(value: PhysXCollider): void {\n this._pxJoint.setActors(this._collider?._pxActor \|\| null, value?._pxActor \|\| null);\n }\n\n /\n {@inheritDoc IJoint.setConnectedAnchor }\n /\n setAnchor(value: Vector3): void {\n this._setLocalPose(0, value, PhysXJoint._defaultQuat);\n }\n\n /\n {@inheritDoc IJoint.setConnectedAnchor }\n /\n setConnectedAnchor(value: Vector3): void {\n this._setLocalPose(1, value, PhysXJoint._defaultQuat);\n }\n\n /\n {@inheritDoc IJoint.setMassScale }\n /\n setMassScale(value: number): void {\n this._pxJoint.setInvMassScale0(1 / value);\n }\n\n /\n {@inheritDoc IJoint.setConnectedMassScale }\n /\n setConnectedMassScale(value: number): void {\n this._pxJoint.setInvMassScale1(1 / value);\n }\n\n /\n {@inheritDoc IJoint.setInertiaScale }\n /\n setInertiaScale(value: number): void {\n this._pxJoint.setInvInertiaScale0(value);\n }\n\n /\n {@inheritDoc IJoint.setConnectedInertiaScale }\n /\n setConnectedInertiaScale(value: number): void {\n this._pxJoint.setInvInertiaScale1(value);\n }\n\n /\n {@inheritDoc IJoint.setBreakForce }\n /\n setBreakForce(value: number): void {\n this._breakForce = value;\n this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n }\n\n /\n {@inheritDoc IJoint.setBreakTorque }\n /\n setBreakTorque(value: number): void {\n this._breakTorque = value;\n this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n }\n\n /\n {@inheritDoc IJoint.destroy }\n /\n destroy(): void {\n if (!this._pxJoint) return;\n this._pxJoint.release();\n this._pxJoint = null;\n this._collider = null;\n }\n /\n Set the joint local pose for an actor.\n * @param actor 0 for the first actor, 1 for the second actor.\n * @param position the local position for the actor this joint\n * @param rotation the local rotation for the actor this joint\n /\n protected _setLocalPose(actor: number, position: Vector3, rotation: Quaternion): void {\n this._pxJoint.setLocalPose(actor, position, rotation);\n }\n}\n","import { IFixedJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/\n A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.\n /\nexport class PhysXFixedJoint extends PhysXJoint implements IFixedJoint {\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n }\n}\n","import { IHingeJoint } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/\n A joint which behaves in a similar way to a hinge or axle.\n /\nexport class PhysXHingeJoint extends PhysXJoint implements IHingeJoint {\n protected static _xAxis = new Vector3(1, 0, 0);\n\n private _anchor: Vector3;\n private _connectedAnchor: Vector3;\n private _axisRotationQuaternion = new Quaternion();\n\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n }\n\n /\n {@inheritDoc IHingeJoint.setAxis }\n /\n setAxis(value: Vector3): void {\n const xAxis = PhysXHingeJoint._xAxis;\n const axisRotationQuaternion = this._axisRotationQuaternion;\n xAxis.set(1, 0, 0);\n value.normalize();\n const angle = Math.acos(Vector3.dot(xAxis, value));\n Vector3.cross(xAxis, value, xAxis);\n Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion);\n this._setLocalPose(0, this._anchor, axisRotationQuaternion);\n this._setLocalPose(1, this._connectedAnchor, axisRotationQuaternion);\n }\n\n override setAnchor(value: Vector3): void {\n this._setLocalPose(0, value, this._axisRotationQuaternion);\n this._anchor = value;\n }\n\n override setConnectedAnchor(value: Vector3): void {\n this._setLocalPose(1, value, this._axisRotationQuaternion);\n this._connectedAnchor = value;\n }\n\n /\n {@inheritDoc IHingeJoint.getAngle }\n /\n getAngle(): number {\n return MathUtil.radianToDegree(this._pxJoint.getAngle());\n }\n\n /\n {@inheritDoc IHingeJoint.getVelocity }\n /\n getVelocity(): Readonly<number> {\n return this._pxJoint.getVelocity();\n }\n\n /\n {@inheritDoc IHingeJoint.setHardLimitCone }\n /\n setHardLimit(lowerLimit: number, upperLimit: number, contactDist: number): void {\n this._pxJoint.setHardLimit(MathUtil.degreeToRadian(lowerLimit), MathUtil.degreeToRadian(upperLimit), contactDist);\n }\n\n /\n {@inheritDoc IHingeJoint.setHardLimitCone }\n /\n setSoftLimit(lowerLimit: number, upperLimit: number, stiffness: number, damping: number): void {\n this._pxJoint.setSoftLimit(\n MathUtil.degreeToRadian(lowerLimit),\n MathUtil.degreeToRadian(upperLimit),\n stiffness,\n damping\n );\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveVelocity }\n /\n setDriveVelocity(velocity: number, autowake: boolean = true): void {\n this._pxJoint.setDriveVelocity(velocity, autowake);\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveForceLimit }\n /\n setDriveForceLimit(limit: number): void {\n this._pxJoint.setDriveForceLimit(limit);\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveGearRatio }\n /\n setDriveGearRatio(ratio: number): void {\n this._pxJoint.setDriveGearRatio(ratio);\n }\n\n /\n {@inheritDoc IHingeJoint.setHingeJointFlag }\n /\n setHingeJointFlag(flag: number, value: boolean): void {\n this._pxJoint.setRevoluteJointFlag(flag, value);\n }\n}\n","import { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\nimport { ISpringJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { Vector3 } from \"@galacean/engine\";\n\n/\n a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects\n /\nexport class PhysXSpringJoint extends PhysXJoint implements ISpringJoint {\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;\n this._pxJoint.setDistanceJointFlag(4, true); // enable min distance;\n this._pxJoint.setDistanceJointFlag(8, true); // enable spring;\n }\n\n /\n {@inheritDoc ISpringJoint.setMinDistance }\n /\n setMinDistance(distance: number): void {\n this._pxJoint.setMinDistance(distance);\n }\n\n /\n {@inheritDoc ISpringJoint.setMaxDistance }\n /\n setMaxDistance(distance: number): void {\n this._pxJoint.setMaxDistance(distance);\n }\n\n /\n {@inheritDoc ISpringJoint.setTolerance }\n /\n setTolerance(tolerance: number): void {\n this._pxJoint.setTolerance(tolerance);\n }\n\n /\n {@inheritDoc ISpringJoint.setStiffness }\n /\n setStiffness(stiffness: number): void {\n this._pxJoint.setStiffness(stiffness);\n }\n\n /\n {@inheritDoc ISpringJoint.setDamping }\n /\n setDamping(damping: number): void {\n this._pxJoint.setDamping(damping);\n }\n}\n","import { IPlaneColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Plane collider shape in PhysX.\n /\nexport class PhysXPlaneColliderShape extends PhysXColliderShape implements IPlaneColliderShape {\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n this._physXRotation.copyFrom(this._axis);\n\n this._pxGeometry = new physXPhysics._physX.PxPlaneGeometry();\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { ISphereColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Sphere collider shape in PhysX.\n /\nexport class PhysXSphereColliderShape extends PhysXColliderShape implements ISphereColliderShape {\n private _radius: number;\n private _maxScale: number = 1;\n\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n\n this._radius = radius;\n\n this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(this._radius this._maxScale);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc ISphereColliderShape.setRadius }\n /\n setRadius(value: number): void {\n this._radius = value;\n this._pxGeometry.radius = value this._maxScale;\n this._pxShape.setGeometry(this._pxGeometry);\n }\n\n /*\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n\n this._maxScale = Math.max(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n this._pxGeometry.radius = this._radius this._maxScale;\n this._pxShape.setGeometry(this._pxGeometry);\n }\n}\n","import { Quaternion, Vector3, version } from \"@galacean/engine\";\nimport {\n IBoxColliderShape,\n ICapsuleColliderShape,\n ICharacterController,\n ICollision,\n IDynamicCollider,\n IFixedJoint,\n IHingeJoint,\n IPhysics,\n IPhysicsManager,\n IPhysicsMaterial,\n IPhysicsScene,\n IPlaneColliderShape,\n ISphereColliderShape,\n ISpringJoint,\n IStaticCollider\n} from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXDynamicCollider } from \"./PhysXDynamicCollider\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\nimport { PhysXPhysicsMaterial } from \"./PhysXPhysicsMaterial\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXStaticCollider } from \"./PhysXStaticCollider\";\nimport { PhysXRuntimeMode } from \"./enum/PhysXRuntimeMode\";\nimport { PhysXFixedJoint } from \"./joint/PhysXFixedJoint\";\nimport { PhysXHingeJoint } from \"./joint/PhysXHingeJoint\";\nimport { PhysXSpringJoint } from \"./joint/PhysXSpringJoint\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXPlaneColliderShape } from \"./shape/PhysXPlaneColliderShape\";\nimport { PhysXSphereColliderShape } from \"./shape/PhysXSphereColliderShape\";\n\n/*\n PhysX object creation.\n /\n\nexport class PhysXPhysics implements IPhysics {\n /* @internal PhysX wasm object /\n _physX: any;\n /* @internal PhysX Foundation SDK singleton class /\n _pxFoundation: any;\n /* @internal PhysX physics object /\n _pxPhysics: any;\n\n private _runTimeMode: PhysXRuntimeMode;\n private _initializeState: InitializeState = InitializeState.Uninitialized;\n private _initializePromise: Promise<void>;\n\n constructor(runtimeMode: PhysXRuntimeMode = PhysXRuntimeMode.Auto) {\n this._runTimeMode = runtimeMode;\n }\n\n /\n Initialize PhysXPhysics.\n * @param runtimeMode - Runtime mode\n * @returns Promise object\n /\n initialize(): Promise<void> {\n if (this._initializeState === InitializeState.Initialized) {\n return Promise.resolve();\n } else if (this._initializeState === InitializeState.Initializing) {\n return this._initializePromise;\n }\n\n let runtimeMode = this._runTimeMode;\n const scriptPromise = new Promise((resolve, reject) => {\n const script = document.createElement(\"script\");\n document.body.appendChild(script);\n script.async = true;\n script.onload = resolve;\n script.onerror = reject;\n if (runtimeMode == PhysXRuntimeMode.Auto) {\n const supported = (() => {\n try {\n if (typeof WebAssembly === \"object\" && typeof WebAssembly.instantiate === \"function\") {\n const module = new WebAssembly.Module(Uint8Array.of(0x0, 0x61, 0x73, 0x6d, 0x01, 0x00, 0x00, 0x00));\n if (module instanceof WebAssembly.Module)\n return new WebAssembly.Instance(module) instanceof WebAssembly.Instance;\n }\n } catch (e) {}\n return false;\n })();\n if (supported) {\n runtimeMode = PhysXRuntimeMode.WebAssembly;\n } else {\n runtimeMode = PhysXRuntimeMode.JavaScript;\n }\n }\n\n if (runtimeMode == PhysXRuntimeMode.JavaScript) {\n script.src = `https://mdn.alipayobjects.com/rms/afts/file/APXxaQrGL0XsAAAAAAAAAAAAAARQnAQ/physx.release.downgrade.js`;\n } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {\n script.src = `https://mdn.alipayobjects.com/rms/afts/file/A0Qq8Rob3_5oAAAAAAAAAAAAAARQnAQ/physx.release.js`;\n }\n });\n\n const initializePromise = new Promise<void>((resolve, reject) => {\n scriptPromise\n .then(\n () =>\n (<any>window).PHYSX().then((PHYSX) => {\n this._init(PHYSX);\n this._initializeState = InitializeState.Initialized;\n this._initializePromise = null;\n console.log(\"PhysX loaded.\");\n resolve();\n }, reject),\n reject\n )\n .catch(reject);\n });\n\n this._initializePromise = initializePromise;\n return initializePromise;\n }\n\n /\n Destroy PhysXPhysics.\n /\n public destroy(): void {\n this._physX.PxCloseExtensions();\n this._pxPhysics.release();\n this._pxFoundation.release();\n this._physX = null;\n this._pxFoundation = null;\n this._pxPhysics = null;\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsManager }\n /\n createPhysicsManager(): IPhysicsManager {\n return new PhysXPhysicsManager();\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsScene }\n /\n createPhysicsScene(\n physicsManager: PhysXPhysicsManager,\n onContactBegin?: (collision: ICollision) => void,\n onContactEnd?: (collision: ICollision) => void,\n onContactStay?: (collision: ICollision) => void,\n onTriggerBegin?: (obj1: number, obj2: number) => void,\n onTriggerEnd?: (obj1: number, obj2: number) => void,\n onTriggerStay?: (obj1: number, obj2: number) => void\n ): IPhysicsScene {\n const manager = new PhysXPhysicsScene(\n this,\n physicsManager,\n onContactBegin,\n onContactEnd,\n onContactStay,\n onTriggerBegin,\n onTriggerEnd,\n onTriggerStay\n );\n return manager;\n }\n\n /\n {@inheritDoc IPhysics.createStaticCollider }\n /\n createStaticCollider(position: Vector3, rotation: Quaternion): IStaticCollider {\n return new PhysXStaticCollider(this, position, rotation);\n }\n\n /\n {@inheritDoc IPhysics.createDynamicCollider }\n /\n createDynamicCollider(position: Vector3, rotation: Quaternion): IDynamicCollider {\n return new PhysXDynamicCollider(this, position, rotation);\n }\n\n /\n {@inheritDoc IPhysics.createCharacterController }\n /\n createCharacterController(): ICharacterController {\n return new PhysXCharacterController(this);\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsMaterial }\n /\n createPhysicsMaterial(\n staticFriction: number,\n dynamicFriction: number,\n bounciness: number,\n frictionCombine: number,\n bounceCombine: number\n ): IPhysicsMaterial {\n return new PhysXPhysicsMaterial(this, staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine);\n }\n\n /\n {@inheritDoc IPhysics.createBoxColliderShape }\n /\n createBoxColliderShape(uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial): IBoxColliderShape {\n return new PhysXBoxColliderShape(this, uniqueID, size, material);\n }\n\n /\n {@inheritDoc IPhysics.createSphereColliderShape }\n /\n createSphereColliderShape(uniqueID: number, radius: number, material: PhysXPhysicsMaterial): ISphereColliderShape {\n return new PhysXSphereColliderShape(this, uniqueID, radius, material);\n }\n\n /\n {@inheritDoc IPhysics.createPlaneColliderShape }\n /\n createPlaneColliderShape(uniqueID: number, material: PhysXPhysicsMaterial): IPlaneColliderShape {\n return new PhysXPlaneColliderShape(this, uniqueID, material);\n }\n\n /\n {@inheritDoc IPhysics.createCapsuleColliderShape }\n /\n createCapsuleColliderShape(\n uniqueID: number,\n radius: number,\n height: number,\n material: PhysXPhysicsMaterial\n ): ICapsuleColliderShape {\n return new PhysXCapsuleColliderShape(this, uniqueID, radius, height, material);\n }\n\n /\n {@inheritDoc IPhysics.createFixedJoint }\n /\n createFixedJoint(collider: PhysXCollider): IFixedJoint {\n return new PhysXFixedJoint(this, collider);\n }\n\n /\n {@inheritDoc IPhysics.createHingeJoint }\n /\n createHingeJoint(collider: PhysXCollider): IHingeJoint {\n return new PhysXHingeJoint(this, collider);\n }\n\n /\n {@inheritDoc IPhysics.createSpringJoint }\n */\n createSpringJoint(collider: PhysXCollider): ISpringJoint {\n return new PhysXSpringJoint(this, collider);\n }\n\n private _init(physX: any): void {\n const version = physX.PX_PHYSICS_VERSION;\n const defaultErrorCallback = new physX.PxDefaultErrorCallback();\n const allocator = new physX.PxDefaultAllocator();\n const pxFoundation = physX.PxCreateFoundation(version, allocator, defaultErrorCallback);\n const pxPhysics = physX.PxCreatePhysics(version, pxFoundation, new physX.PxTolerancesScale(), false, null);\n\n physX.PxInitExtensions(pxPhysics, null);\n this._physX = physX;\n this._pxFoundation = pxFoundation;\n this._pxPhysics = pxPhysics;\n }\n}\n\nenum InitializeState {\n Uninitialized,\n Initializing,\n Initialized\n}\n","export { PhysXPhysics } from \"./PhysXPhysics\";\nexport { PhysXRuntimeMode } from \"./enum/PhysXRuntimeMode\";\n\n//@ts-ignore\nexport const version = `__buildVersion`;\n\nconsole.log(`Galacean PhysX version: 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{"version":3,"file":"main.js","sources":["../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_instanceof.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_type_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_set_prototype_of.js","../../../node_modules/.pnpm/@swc+helpers@0.5.15/node_modules/@swc/helpers/esm/_inherits.js","../src/shape/PhysXColliderShape.ts","../src/shape/PhysXBoxColliderShape.ts","../src/shape/PhysXCapsuleColliderShape.ts","../src/PhysXCharacterController.ts","../src/PhysXCollider.ts","../src/PhysXDynamicCollider.ts","../src/PhysXPhysicsManager.ts","../src/PhysXPhysicsMaterial.ts","../src/PhysXPhysicsScene.ts","../src/PhysXStaticCollider.ts","../src/enum/PhysXRuntimeMode.ts","../src/joint/PhysXJoint.ts","../src/joint/PhysXFixedJoint.ts","../src/joint/PhysXHingeJoint.ts","../src/joint/PhysXSpringJoint.ts","../src/shape/PhysXPlaneColliderShape.ts","../src/shape/PhysXSphereColliderShape.ts","../src/PhysXPhysics.ts","../src/index.ts"],"sourcesContent":["function _instanceof(left, right) {\n if (right != null && typeof Symbol !== \"undefined\" && right[Symbol.hasInstance]) {\n return !!right[Symbol.hasInstance](left);\n } else return left instanceof right;\n}\nexport { _instanceof as _ };\n","function _type_of(obj) {\n \"@swc/helpers - typeof\";\n\n return obj && typeof Symbol !== \"undefined\" && obj.constructor === Symbol ? \"symbol\" : typeof obj;\n}\nexport { _type_of as _ };\n","function _set_prototype_of(o, p) {\n _set_prototype_of = Object.setPrototypeOf \|\| function setPrototypeOf(o, p) {\n o.__proto__ = p;\n\n return o;\n };\n\n return _set_prototype_of(o, p);\n}\nexport { _set_prototype_of as _ };\n","import { _ as _set_prototype_of } from \"./_set_prototype_of.js\";\n\nfunction _inherits(subClass, superClass) {\n if (typeof superClass !== \"function\" && superClass !== null) {\n throw new TypeError(\"Super expression must either be null or a function\");\n }\n\n subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } });\n\n if (superClass) _set_prototype_of(subClass, superClass);\n}\nexport { _inherits as _ };\n","import { Quaternion, Vector3, DisorderedArray, Vector4, MathUtil } from \"@galacean/engine\";\nimport { IColliderShape } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"../PhysXCharacterController\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\n\n/*\n Flags which affect the behavior of Shapes.\n /\nexport enum ShapeFlag {\n /* The shape will partake in collision in the physical simulation. /\n SIMULATION_SHAPE = 1 << 0,\n /* The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). /\n SCENE_QUERY_SHAPE = 1 << 1,\n /* The shape is a trigger which can send reports whenever other shapes enter/leave its volume. /\n TRIGGER_SHAPE = 1 << 2\n}\n\n/\n Abstract class for collider shapes.\n /\nexport abstract class PhysXColliderShape implements IColliderShape {\n protected static _tempVector4 = new Vector4();\n static readonly halfSqrt: number = 0.70710678118655;\n static transform = {\n translation: new Vector3(),\n rotation: null\n };\n\n /* @internal /\n _controllers: DisorderedArray<PhysXCharacterController> = new DisorderedArray<PhysXCharacterController>();\n /* @internal /\n _contractOffset: number = 0.02;\n\n protected _physXPhysics: PhysXPhysics;\n protected _worldScale: Vector3 = new Vector3(1, 1, 1);\n protected _position: Vector3 = new Vector3();\n protected _rotation: Vector3 = new Vector3();\n protected _axis: Quaternion = null;\n protected _physXRotation: Quaternion = new Quaternion();\n\n private _shapeFlags: ShapeFlag = ShapeFlag.SCENE_QUERY_SHAPE \| ShapeFlag.SIMULATION_SHAPE;\n\n /* @internal /\n _pxMaterial: any;\n /* @internal /\n _pxShape: any;\n /* @internal /\n _pxGeometry: any;\n /* @internal /\n _id: number;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc IColliderShape.setRotation }\n /\n setRotation(value: Vector3): void {\n const rotation = this._rotation.set(\n MathUtil.degreeToRadian(value.x),\n MathUtil.degreeToRadian(value.y),\n MathUtil.degreeToRadian(value.z)\n );\n Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, this._physXRotation);\n this._axis && Quaternion.multiply(this._physXRotation, this._axis, this._physXRotation);\n this._physXRotation.normalize();\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setPosition }\n /\n setPosition(value: Vector3): void {\n if (value !== this._position) {\n this._position.copyFrom(value);\n }\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n }\n\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setWorldScale }\n /\n setWorldScale(scale: Vector3): void {\n this._worldScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n this._setLocalPose();\n\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._updateShapePosition(this._position, this._worldScale);\n }\n }\n\n /\n {@inheritDoc IColliderShape.setContactOffset }\n * @default 0.02f * PxTolerancesScale::length\n /\n setContactOffset(offset: number): void {\n this._contractOffset = offset;\n const controllers = this._controllers;\n if (controllers.length) {\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setContactOffset(offset);\n }\n } else {\n this._pxShape.setContactOffset(offset);\n }\n }\n\n /\n {@inheritDoc IColliderShape.setMaterial }\n /\n setMaterial(value: PhysXPhysicsMaterial): void {\n this._pxMaterial = value._pxMaterial;\n this._pxShape.setMaterial(this._pxMaterial);\n }\n\n /\n {@inheritDoc IColliderShape.setIsTrigger }\n /\n setIsTrigger(value: boolean): void {\n this._modifyFlag(ShapeFlag.SIMULATION_SHAPE, !value);\n this._modifyFlag(ShapeFlag.TRIGGER_SHAPE, value);\n this._setShapeFlags(this._shapeFlags);\n }\n\n /\n {@inheritDoc IColliderShape.pointDistance }\n /\n pointDistance(point: Vector3): Vector4 {\n const info = this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(), point);\n const closestPoint = info.closestPoint;\n const res = PhysXColliderShape._tempVector4;\n res.set(closestPoint.x, closestPoint.y, closestPoint.z, info.distance);\n return res;\n }\n\n /\n {@inheritDoc IColliderShape.destroy }\n /\n destroy(): void {\n this._pxShape.release();\n }\n\n /\n @internal\n /\n _setShapeFlags(flags: ShapeFlag) {\n this._shapeFlags = flags;\n this._pxShape.setFlags(new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags));\n }\n\n protected _setLocalPose(): void {\n const transform = PhysXColliderShape.transform;\n Vector3.multiply(this._position, this._worldScale, transform.translation);\n transform.rotation = this._physXRotation;\n this._pxShape.setLocalPose(transform);\n }\n\n protected _initialize(material: PhysXPhysicsMaterial, id: number): void {\n this._id = id;\n this._pxMaterial = material._pxMaterial;\n this._pxShape = this._physXPhysics._pxPhysics.createShape(\n this._pxGeometry,\n material._pxMaterial,\n true,\n new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags)\n );\n this._pxShape.setUUID(id);\n }\n\n private _modifyFlag(flag: ShapeFlag, value: boolean): void {\n this._shapeFlags = value ? this._shapeFlags \| flag : this._shapeFlags & ~flag;\n }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { IBoxColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Box collider shape in PhysX.\n /\nexport class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxColliderShape {\n private static _tempHalfExtents = new Vector3();\n /* @internal /\n _halfSize: Vector3 = new Vector3();\n\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n const halfSize = this._halfSize;\n halfSize.set(size.x 0.5, size.y * 0.5, size.z * 0.5);\n this._pxGeometry = new physXPhysics._physX.PxBoxGeometry(halfSize.x, halfSize.y, halfSize.z);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc IBoxColliderShape.setSize }\n /\n setSize(value: Vector3): void {\n const halfSize = this._halfSize;\n const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n halfSize.set(value.x 0.5, value.y * 0.5, value.z * 0.5);\n Vector3.multiply(halfSize, this._worldScale, tempExtents);\n this._pxGeometry.halfExtents = tempExtents;\n this._pxShape.setGeometry(this._pxGeometry);\n\n this._updateController(tempExtents);\n }\n\n /*\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n const tempExtents = PhysXBoxColliderShape._tempHalfExtents;\n Vector3.multiply(this._halfSize, this._worldScale, tempExtents);\n this._pxGeometry.halfExtents = tempExtents;\n this._pxShape.setGeometry(this._pxGeometry);\n\n this._updateController(tempExtents);\n }\n\n private _updateController(extents: Vector3) {\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n const pxController = controllers.get(i)._pxController;\n\n if (pxController) {\n pxController.setHalfHeight(extents.x);\n pxController.setHalfSideExtent(extents.y);\n pxController.setHalfForwardExtent(extents.z);\n }\n }\n }\n}\n","import { ICapsuleColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Capsule collider shape in PhysX.\n /\nexport class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {\n /* @internal /\n _radius: number;\n /* @internal /\n _halfHeight: number;\n private _upAxis: ColliderShapeUpAxis = ColliderShapeUpAxis.Y;\n\n constructor(\n physXPhysics: PhysXPhysics,\n uniqueID: number,\n radius: number,\n height: number,\n material: PhysXPhysicsMaterial\n ) {\n super(physXPhysics);\n\n this._radius = radius;\n this._halfHeight = height 0.5;\n this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n this._physXRotation.copyFrom(this._axis);\n\n this._pxGeometry = new physXPhysics._physX.PxCapsuleGeometry(this._radius, this._halfHeight);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setRadius }\n /\n setRadius(value: number): void {\n this._radius = value;\n const sizeScale = this._worldScale;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n this._pxGeometry.radius = this._radius Math.max(sizeScale.y, sizeScale.z);\n break;\n case ColliderShapeUpAxis.Y:\n this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n break;\n case ColliderShapeUpAxis.Z:\n this._pxGeometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n break;\n }\n this._pxShape.setGeometry(this._pxGeometry);\n\n const radius = this._pxGeometry.radius;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setRadius(radius);\n }\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setHeight }\n /\n setHeight(value: number): void {\n this._halfHeight = value 0.5;\n const sizeScale = this._worldScale;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.x;\n break;\n case ColliderShapeUpAxis.Y:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.y;\n break;\n case ColliderShapeUpAxis.Z:\n this._pxGeometry.halfHeight = this._halfHeight * sizeScale.z;\n break;\n }\n this._pxShape.setGeometry(this._pxGeometry);\n\n const height = this._pxGeometry.halfHeight * 2;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n controllers.get(i)._pxController?.setHeight(height);\n }\n }\n\n /*\n {@inheritDoc ICapsuleColliderShape.setUpAxis }\n /\n setUpAxis(upAxis: ColliderShapeUpAxis): void {\n const { _rotation: rotation, _axis: axis, _physXRotation: physXRotation } = this;\n\n this._upAxis = upAxis;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n axis.set(0, 0, 0, 1);\n break;\n case ColliderShapeUpAxis.Y:\n axis.set(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n break;\n case ColliderShapeUpAxis.Z:\n axis.set(0, PhysXColliderShape.halfSqrt, 0, PhysXColliderShape.halfSqrt);\n break;\n }\n if (rotation) {\n Quaternion.rotationYawPitchRoll(rotation.y, rotation.x, rotation.z, physXRotation);\n Quaternion.multiply(physXRotation, axis, physXRotation);\n } else {\n physXRotation.copyFrom(axis);\n }\n this._setLocalPose();\n }\n\n /\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n const sizeScale = this._worldScale;\n const geometry = this._pxGeometry;\n switch (this._upAxis) {\n case ColliderShapeUpAxis.X:\n geometry.radius = this._radius Math.max(sizeScale.y, sizeScale.z);\n geometry.halfHeight = this._halfHeight * sizeScale.x;\n break;\n case ColliderShapeUpAxis.Y:\n geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.z);\n geometry.halfHeight = this._halfHeight * sizeScale.y;\n break;\n case ColliderShapeUpAxis.Z:\n geometry.radius = this._radius * Math.max(sizeScale.x, sizeScale.y);\n geometry.halfHeight = this._halfHeight * sizeScale.z;\n break;\n }\n this._pxShape.setGeometry(geometry);\n\n const radius = geometry.radius;\n const height = geometry.halfHeight * 2;\n const controllers = this._controllers;\n for (let i = 0, n = controllers.length; i < n; i++) {\n const pxController = controllers.get(i)._pxController;\n if (pxController) {\n pxController.setRadius(radius);\n pxController.setHeight(height);\n }\n }\n }\n}\n\n/*\n The up axis of the collider shape.\n /\nenum ColliderShapeUpAxis {\n /* Up axis is X. /\n X,\n /* Up axis is Y. /\n Y,\n /* Up axis is Z. /\n Z\n}\n","import { ICharacterController } from \"@galacean/engine-design\";\nimport { Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\n\n/\n Base class for character controllers.\n /\nexport class PhysXCharacterController implements ICharacterController {\n private static _tempVec = new Vector3();\n\n /* @internal /\n _scene: PhysXPhysicsScene = null;\n /* @internal /\n _id: number;\n /* @internal /\n _pxController: any;\n /* @internal /\n _pxManager: PhysXPhysicsScene;\n /* @internal /\n _shape: PhysXColliderShape;\n private _shapeScaledPosition = new Vector3();\n private _worldPosition: Vector3 = null;\n\n private _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc ICharacterController.move }\n /\n move(disp: Vector3, minDist: number, elapsedTime: number): number {\n return this._pxController?.move(disp, minDist, elapsedTime) ?? 0;\n }\n\n /\n {@inheritDoc ICharacterController.setWorldPosition }\n /\n setWorldPosition(position: Vector3): void {\n this._worldPosition = position;\n this._updateNativePosition();\n }\n\n /\n {@inheritDoc ICharacterController.getWorldPosition }\n /\n getWorldPosition(position: Vector3): void {\n if (this._pxController) {\n position.copyFrom(this._pxController.getPosition());\n position.subtract(this._shapeScaledPosition);\n }\n }\n\n /\n {@inheritDoc ICharacterController.setStepOffset }\n /\n setStepOffset(offset: number): void {\n this._pxController?.setStepOffset(offset);\n }\n\n /\n {@inheritDoc ICharacterController.setNonWalkableMode }\n /\n setNonWalkableMode(flag: number): void {\n this._pxController?.setNonWalkableMode(flag);\n }\n\n /\n {@inheritDoc ICharacterController.setUpDirection }\n /\n setUpDirection(up: Vector3): void {\n this._pxController?.setUpDirection(up);\n }\n\n /\n {@inheritDoc ICharacterController.setSlopeLimit }\n /\n setSlopeLimit(slopeLimit: number): void {\n this._pxController?.setSlopeLimit(Math.cos((slopeLimit Math.PI) / 180));\n }\n\n /*\n {@inheritDoc ICharacterController.addShape }\n /\n addShape(shape: PhysXColliderShape): void {\n // When CharacterController is disabled, set shape property need check pxController whether exist because of this._pxManager is null and won't create pxController\n this._pxManager && this._createPXController(this._pxManager, shape);\n this._shape = shape;\n shape._controllers.add(this);\n this._pxController?.setContactOffset(shape._contractOffset);\n this._scene?._addColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICharacterController.removeShape }\n /\n removeShape(shape: PhysXColliderShape): void {\n this._destroyPXController();\n this._shape = null;\n shape._controllers.delete(this);\n this._scene?._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICharacterController.destroy }\n /\n destroy(): void {\n this._destroyPXController();\n }\n\n /\n @internal\n /\n _createPXController(pxManager: PhysXPhysicsScene, shape: PhysXColliderShape): void {\n let desc: any;\n if (shape instanceof PhysXBoxColliderShape) {\n desc = new this._physXPhysics._physX.PxBoxControllerDesc();\n desc.halfHeight = shape._halfSize.x;\n desc.halfSideExtent = shape._halfSize.y;\n desc.halfForwardExtent = shape._halfSize.z;\n } else if (shape instanceof PhysXCapsuleColliderShape) {\n desc = new this._physXPhysics._physX.PxCapsuleControllerDesc();\n desc.radius = shape._radius;\n desc.height = shape._halfHeight 2;\n desc.climbingMode = 1; // constraint mode\n } else {\n throw \"unsupported shape type\";\n }\n\n desc.setMaterial(shape._pxMaterial);\n\n this._pxController = pxManager._getControllerManager().createController(desc);\n this._pxController.setUUID(shape._id);\n }\n\n /*\n @internal\n /\n _destroyPXController(): void {\n if (this._pxController) {\n this._pxController.release();\n this._pxController = null;\n }\n }\n\n /\n @internal\n /\n _updateShapePosition(shapePosition: Vector3, worldScale: Vector3): void {\n Vector3.multiply(shapePosition, worldScale, this._shapeScaledPosition);\n this._updateNativePosition();\n }\n\n private _updateNativePosition() {\n const worldPosition = this._worldPosition;\n if (this._pxController && worldPosition) {\n Vector3.add(worldPosition, this._shapeScaledPosition, PhysXCharacterController._tempVec);\n this._pxController.setPosition(PhysXCharacterController._tempVec);\n }\n }\n}\n","import { ICollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXColliderShape } from \"./shape/PhysXColliderShape\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\n\n/\n Abstract class of physical collider.\n /\nexport abstract class PhysXCollider implements ICollider {\n private static _tempTransform: {\n translation: Vector3;\n rotation: Quaternion;\n } = { translation: null, rotation: null };\n\n /* @internal /\n _scene: PhysXPhysicsScene = null;\n /* @internal /\n _pxActor: any;\n /* @internal /\n _shapes = new Array<PhysXColliderShape>();\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc ICollider.addShape }\n /\n addShape(shape: PhysXColliderShape): void {\n this._pxActor.attachShape(shape._pxShape);\n this._shapes.push(shape);\n this._scene?._addColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICollider.removeShape }\n /\n removeShape(shape: PhysXColliderShape): void {\n this._pxActor.detachShape(shape._pxShape, true);\n const shapes = this._shapes;\n shapes.splice(shapes.indexOf(shape), 1);\n this._scene?._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc ICollider.setWorldTransform }\n /\n setWorldTransform(position: Vector3, rotation: Quaternion): void {\n this._pxActor.setGlobalPose(this._transform(position, rotation), true);\n }\n\n /\n {@inheritDoc ICollider.getWorldTransform }\n /\n getWorldTransform(outPosition: Vector3, outRotation: Quaternion): void {\n const transform = this._pxActor.getGlobalPose();\n outPosition.set(transform.translation.x, transform.translation.y, transform.translation.z);\n outRotation.set(transform.rotation.x, transform.rotation.y, transform.rotation.z, transform.rotation.w);\n }\n\n /\n {@inheritDoc ICollider.destroy }\n /\n destroy(): void {\n this._pxActor.release();\n }\n\n /\n @internal\n /\n _transform(pos: Vector3, rot: Quaternion): { translation: Vector3; rotation: Quaternion } {\n const transform = PhysXCollider._tempTransform;\n transform.translation = pos;\n transform.rotation = rot.normalize();\n return transform;\n }\n}\n","import { IDynamicCollider } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n The collision detection mode constants used for PhysXDynamicCollider.collisionDetectionMode.\n * /\nexport enum CollisionDetectionMode {\n /* Continuous collision detection is off for this dynamic collider. /\n Discrete,\n /* Continuous collision detection is on for colliding with static mesh geometry. /\n Continuous,\n /* Continuous collision detection is on for colliding with static and dynamic geometry. /\n ContinuousDynamic,\n /* Speculative continuous collision detection is on for static and dynamic geometries /\n ContinuousSpeculative\n}\n\n/\n A dynamic collider can act with self-defined movement or physical force\n /\nexport class PhysXDynamicCollider extends PhysXCollider implements IDynamicCollider {\n private static _tempTranslation = new Vector3();\n private static _tempRotation = new Quaternion();\n\n constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n super(physXPhysics);\n const transform = this._transform(position, rotation);\n this._pxActor = physXPhysics._pxPhysics.createRigidDynamic(transform);\n }\n\n /\n {@inheritDoc IDynamicCollider.setLinearDamping }\n /\n setLinearDamping(value: number): void {\n this._pxActor.setLinearDamping(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setAngularDamping }\n /\n setAngularDamping(value: number): void {\n this._pxActor.setAngularDamping(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getLinearVelocity }\n /\n getLinearVelocity(out: Vector3): Vector3 {\n const velocity = this._pxActor.getLinearVelocity();\n return out.set(velocity.x, velocity.y, velocity.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setLinearVelocity }\n /\n setLinearVelocity(value: Vector3): void {\n this._pxActor.setLinearVelocity(value, true);\n }\n\n /\n {@inheritDoc IDynamicCollider.getAngularVelocity }\n /\n getAngularVelocity(out: Vector3): Vector3 {\n const velocity = this._pxActor.getAngularVelocity();\n return out.set(\n MathUtil.radianToDegree(velocity.x),\n MathUtil.radianToDegree(velocity.y),\n MathUtil.radianToDegree(velocity.z)\n );\n }\n\n /\n {@inheritDoc IDynamicCollider.setAngularVelocity }\n /\n setAngularVelocity(value: Vector3): void {\n PhysXDynamicCollider._tempTranslation.set(\n MathUtil.degreeToRadian(value.x),\n MathUtil.degreeToRadian(value.y),\n MathUtil.degreeToRadian(value.z)\n );\n this._pxActor.setAngularVelocity(PhysXDynamicCollider._tempTranslation, true);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMass }\n /\n setMass(value: number): void {\n this._pxActor.setMass(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getCenterOfMass }\n /\n getCenterOfMass(out: Vector3): Vector3 {\n const { translation } = this._pxActor.getCMassLocalPose();\n return out.set(translation.x, translation.y, translation.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setCenterOfMass }\n /\n setCenterOfMass(position: Vector3): void {\n this._pxActor.setCMassLocalPose(position);\n }\n\n /\n {@inheritDoc IDynamicCollider.setInertiaTensor }\n /\n setInertiaTensor(value: Vector3): void {\n this._pxActor.setMassSpaceInertiaTensor(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.getInertiaTensor }\n /\n getInertiaTensor(out: Vector3): Vector3 {\n const inertia = this._pxActor.getMassSpaceInertiaTensor();\n return out.set(inertia.x, inertia.y, inertia.z);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMassAndUpdateInertia }\n /\n setMassAndUpdateInertia(mass: number): void {\n this._pxActor.setMassAndUpdateInertia(mass);\n }\n\n /\n {@inheritDoc IDynamicCollider.setMaxAngularVelocity }\n /\n setMaxAngularVelocity(value: number): void {\n this._pxActor.setMaxAngularVelocity(MathUtil.degreeToRadian(value));\n }\n\n /\n {@inheritDoc IDynamicCollider.setMaxDepenetrationVelocity }\n /\n setMaxDepenetrationVelocity(value: number): void {\n this._pxActor.setMaxDepenetrationVelocity(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setSleepThreshold }\n * @default 1e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed\n /\n setSleepThreshold(value: number): void {\n this._pxActor.setSleepThreshold(value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setSolverIterations }\n /\n setSolverIterations(value: number): void {\n this._pxActor.setSolverIterationCounts(value, 1);\n }\n\n /\n {@inheritDoc IDynamicCollider.setCollisionDetectionMode }\n /\n setCollisionDetectionMode(value: number): void {\n const physX = this._physXPhysics._physX;\n\n switch (value) {\n case CollisionDetectionMode.Continuous:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);\n break;\n case CollisionDetectionMode.ContinuousDynamic:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);\n break;\n case CollisionDetectionMode.ContinuousSpeculative:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);\n break;\n case CollisionDetectionMode.Discrete:\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);\n this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);\n break;\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.setUseGravity }\n /\n setUseGravity(value: boolean): void {\n this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);\n }\n\n /\n {@inheritDoc IDynamicCollider.setIsKinematic }\n /\n setIsKinematic(value: boolean): void {\n if (value) {\n this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);\n } else {\n this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.setConstraints }\n /\n setConstraints(flags: number): void {\n this._pxActor.setRigidDynamicLockFlags(flags);\n }\n\n /\n {@inheritDoc IDynamicCollider.addForce }\n /\n addForce(force: Vector3) {\n this._pxActor.addForce({ x: force.x, y: force.y, z: force.z });\n }\n\n /\n {@inheritDoc IDynamicCollider.addTorque }\n /\n addTorque(torque: Vector3) {\n this._pxActor.addTorque({ x: torque.x, y: torque.y, z: torque.z });\n }\n\n /\n {@inheritDoc IDynamicCollider.move }\n /\n move(positionOrRotation: Vector3 \| Quaternion, rotation?: Quaternion): void {\n if (rotation) {\n this._pxActor.setKinematicTarget(positionOrRotation, rotation);\n return;\n }\n\n const tempTranslation = PhysXDynamicCollider._tempTranslation;\n const tempRotation = PhysXDynamicCollider._tempRotation;\n this.getWorldTransform(tempTranslation, tempRotation);\n if (positionOrRotation instanceof Vector3) {\n this._pxActor.setKinematicTarget(positionOrRotation, tempRotation);\n } else {\n this._pxActor.setKinematicTarget(tempTranslation, positionOrRotation);\n }\n }\n\n /\n {@inheritDoc IDynamicCollider.sleep }\n /\n sleep(): void {\n return this._pxActor.putToSleep();\n }\n\n /\n {@inheritDoc IDynamicCollider.isSleeping }\n /\n isSleeping(): boolean {\n return this._pxActor.isSleeping();\n }\n\n /\n {@inheritDoc IDynamicCollider.wakeUp }\n /\n wakeUp(): void {\n return this._pxActor.wakeUp();\n }\n}\n","import { IPhysicsManager } from \"@galacean/engine-design\";\nimport { TriggerEvent } from \"./PhysXPhysicsScene\";\n\nexport class PhysXPhysicsManager implements IPhysicsManager {\n /* @internal /\n _eventMap: Record<number, Record<number, TriggerEvent>> = {};\n}\n","import { IPhysicsMaterial } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n Physics material describes how to handle colliding objects (friction, bounciness).\n /\nexport class PhysXPhysicsMaterial implements IPhysicsMaterial {\n /* @internal /\n _pxMaterial: any;\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(\n physXPhysics: PhysXPhysics,\n staticFriction: number,\n dynamicFriction: number,\n bounciness: number,\n frictionCombine: CombineMode,\n bounceCombine: CombineMode\n ) {\n this._physXPhysics = physXPhysics;\n const pxMaterial = physXPhysics._pxPhysics.createMaterial(staticFriction, dynamicFriction, bounciness);\n pxMaterial.setFrictionCombineMode(frictionCombine);\n pxMaterial.setRestitutionCombineMode(bounceCombine);\n this._pxMaterial = pxMaterial;\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setBounciness }\n /\n setBounciness(value: number) {\n this._pxMaterial.setRestitution(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setDynamicFriction }\n /\n setDynamicFriction(value: number) {\n this._pxMaterial.setDynamicFriction(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setStaticFriction }\n /\n setStaticFriction(value: number) {\n this._pxMaterial.setStaticFriction(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setBounceCombine }\n /\n setBounceCombine(value: CombineMode) {\n this._pxMaterial.setRestitutionCombineMode(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.setFrictionCombine }\n /\n setFrictionCombine(value: CombineMode) {\n this._pxMaterial.setFrictionCombineMode(value);\n }\n\n /\n {@inheritDoc IPhysicsMaterial.destroy }\n /\n destroy(): void {\n this._pxMaterial.release();\n }\n}\n\n/\n Describes how physics materials of the colliding objects are combined.\n /\nenum CombineMode {\n /* Averages the friction/bounce of the two colliding materials. /\n Average,\n /* Uses the smaller friction/bounce of the two colliding materials. /\n Minimum,\n /* Multiplies the friction/bounce of the two colliding materials. /\n Multiply,\n /* Uses the larger friction/bounce of the two colliding materials. /\n Maximum\n}\n","import { Ray, Vector3, DisorderedArray } from \"@galacean/engine\";\nimport { ICollision, IPhysicsScene } from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\n\n/\n A manager is a collection of colliders and constraints which can interact.\n /\nexport class PhysXPhysicsScene implements IPhysicsScene {\n /* @internal /\n _pxControllerManager: any = null;\n\n private static _tempPosition: Vector3 = new Vector3();\n private static _tempNormal: Vector3 = new Vector3();\n\n private _physXPhysics: PhysXPhysics;\n private _physXManager: PhysXPhysicsManager;\n private _pxRaycastHit: any;\n private _pxFilterData: any;\n\n private _pxScene: any;\n\n private readonly _onContactEnter?: (collision: ICollision) => void;\n private readonly _onContactExit?: (collision: ICollision) => void;\n private readonly _onContactStay?: (collision: ICollision) => void;\n private readonly _onTriggerEnter?: (index1: number, index2: number) => void;\n private readonly _onTriggerExit?: (index1: number, index2: number) => void;\n private readonly _onTriggerStay?: (index1: number, index2: number) => void;\n\n private _currentEvents: DisorderedArray<TriggerEvent> = new DisorderedArray<TriggerEvent>();\n\n private _eventPool: TriggerEvent[] = [];\n\n constructor(\n physXPhysics: PhysXPhysics,\n physicsManager: PhysXPhysicsManager,\n onContactEnter?: (collision: ICollision) => void,\n onContactExit?: (collision: ICollision) => void,\n onContactStay?: (collision: ICollision) => void,\n onTriggerEnter?: (obj1: number, obj2: number) => void,\n onTriggerExit?: (obj1: number, obj2: number) => void,\n onTriggerStay?: (obj1: number, obj2: number) => void\n ) {\n this._physXPhysics = physXPhysics;\n this._physXManager = physicsManager;\n\n const physX = physXPhysics._physX;\n\n this._pxRaycastHit = new physX.PxRaycastHit();\n this._pxFilterData = new physX.PxQueryFilterData();\n this._pxFilterData.flags = new physX.PxQueryFlags(QueryFlag.STATIC \| QueryFlag.DYNAMIC \| QueryFlag.PRE_FILTER);\n\n this._onContactEnter = onContactEnter;\n this._onContactExit = onContactExit;\n this._onContactStay = onContactStay;\n this._onTriggerEnter = onTriggerEnter;\n this._onTriggerExit = onTriggerExit;\n this._onTriggerStay = onTriggerStay;\n\n const triggerCallback = {\n onContactBegin: (collision) => {\n this._onContactEnter(collision);\n },\n onContactEnd: (collision) => {\n this._onContactExit(collision);\n },\n onContactPersist: (collision) => {\n this._onContactStay(collision);\n },\n onTriggerBegin: (index1, index2) => {\n const event = index1 < index2 ? this._getTrigger(index1, index2) : this._getTrigger(index2, index1);\n event.state = TriggerEventState.Enter;\n this._currentEvents.add(event);\n },\n onTriggerEnd: (index1, index2) => {\n let event: TriggerEvent;\n if (index1 < index2) {\n const subMap = this._physXManager._eventMap[index1];\n event = subMap[index2];\n subMap[index2] = undefined;\n } else {\n const subMap = this._physXManager._eventMap[index2];\n event = subMap[index1];\n subMap[index1] = undefined;\n }\n event.state = TriggerEventState.Exit;\n }\n };\n\n const pxPhysics = physXPhysics._pxPhysics;\n const physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);\n const sceneDesc = physX.getDefaultSceneDesc(pxPhysics.getTolerancesScale(), 0, physXSimulationCallbackInstance);\n this._pxScene = pxPhysics.createScene(sceneDesc);\n }\n\n /\n {@inheritDoc IPhysicsManager.setGravity }\n /\n setGravity(value: Vector3) {\n this._pxScene.setGravity(value);\n }\n\n /\n {@inheritDoc IPhysicsManager.addCollider }\n /\n addCollider(collider: PhysXCollider): void {\n collider._scene = this;\n this._pxScene.addActor(collider._pxActor, null);\n const shapes = collider._shapes;\n for (let i = 0, n = shapes.length; i < n; i++) {\n this._addColliderShape(shapes[i]._id);\n }\n }\n\n /\n {@inheritDoc IPhysicsManager.removeCollider }\n /\n removeCollider(collider: PhysXCollider): void {\n collider._scene = null;\n this._pxScene.removeActor(collider._pxActor, true);\n const shapes = collider._shapes;\n for (let i = 0, n = shapes.length; i < n; i++) {\n this._removeColliderShape(shapes[i]._id);\n }\n }\n\n /\n {@inheritDoc IPhysicsManager.addCharacterController }\n /\n addCharacterController(characterController: PhysXCharacterController): void {\n characterController._scene = this;\n\n // Physx have no API to remove/readd cct into scene.\n if (!characterController._pxController) {\n const shape = characterController._shape;\n if (shape) {\n const lastPXManager = characterController._pxManager;\n if (lastPXManager !== this) {\n lastPXManager && characterController._destroyPXController();\n characterController._createPXController(this, shape);\n }\n this._addColliderShape(shape._id);\n }\n }\n characterController._pxManager = this;\n }\n\n /\n {@inheritDoc IPhysicsManager.removeCharacterController }\n /\n removeCharacterController(characterController: PhysXCharacterController): void {\n characterController._scene = null;\n characterController._pxManager = null;\n characterController._destroyPXController();\n const shape = characterController._shape;\n shape && this._removeColliderShape(shape._id);\n }\n\n /\n {@inheritDoc IPhysicsManager.update }\n /\n update(elapsedTime: number): void {\n this._simulate(elapsedTime);\n this._fetchResults();\n this._fireEvent();\n }\n\n /\n {@inheritDoc IPhysicsManager.raycast }\n /\n raycast(\n ray: Ray,\n distance: number,\n onRaycast: (obj: number) => boolean,\n hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n ): boolean {\n const { _pxRaycastHit: pxHitResult } = this;\n distance = Math.min(distance, 3.4e38); // float32 max value limit in physx raycast.\n\n const raycastCallback = {\n preFilter: (filterData, index, actor) => {\n if (onRaycast(index)) {\n return 2; // eBLOCK\n } else {\n return 0; // eNONE\n }\n },\n postFilter: (filterData, hit) => {}\n };\n\n const result = this._pxScene.raycastSingle(\n ray.origin,\n ray.direction,\n distance,\n pxHitResult,\n this._pxFilterData,\n this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback)\n );\n\n if (result && hit != undefined) {\n const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n const { position: pxPosition, normal: pxNormal } = pxHitResult;\n position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n\n hit(pxHitResult.getShape().getUUID(), pxHitResult.distance, position, normal);\n }\n return result;\n }\n\n /\n @internal\n /\n _getControllerManager(): any {\n let pxControllerManager = this._pxControllerManager;\n if (pxControllerManager === null) {\n this._pxControllerManager = pxControllerManager = this._pxScene.createControllerManager();\n }\n return pxControllerManager;\n }\n\n /\n @internal\n /\n _addColliderShape(id: number) {\n this._physXManager._eventMap[id] = {};\n }\n\n /\n @internal\n /\n _removeColliderShape(id: number) {\n const { _eventPool: eventPool, _currentEvents: currentEvents } = this;\n const { _eventMap: eventMap } = this._physXManager;\n currentEvents.forEach((event, i) => {\n if (event.index1 == id) {\n currentEvents.deleteByIndex(i);\n eventPool.push(event);\n } else if (event.index2 == id) {\n currentEvents.deleteByIndex(i);\n eventPool.push(event);\n // If the shape is big index, should clear from the small index shape subMap\n eventMap[event.index1][id] = undefined;\n }\n });\n delete eventMap[id];\n }\n\n private _simulate(elapsedTime: number): void {\n this._pxScene.simulate(elapsedTime, true);\n }\n\n private _fetchResults(block: boolean = true): void {\n this._pxScene.fetchResults(block);\n }\n\n private _getTrigger(index1: number, index2: number): TriggerEvent {\n let event: TriggerEvent;\n if (this._eventPool.length) {\n event = this._eventPool.pop();\n event.index1 = index1;\n event.index2 = index2;\n } else {\n event = new TriggerEvent(index1, index2);\n }\n this._physXManager._eventMap[index1][index2] = event;\n return event;\n }\n\n private _fireEvent(): void {\n const { _eventPool: eventPool, _currentEvents: currentEvents } = this;\n currentEvents.forEach((event, i) => {\n if (event.state == TriggerEventState.Enter) {\n this._onTriggerEnter(event.index1, event.index2);\n event.state = TriggerEventState.Stay;\n } else if (event.state == TriggerEventState.Stay) {\n this._onTriggerStay(event.index1, event.index2);\n } else if (event.state == TriggerEventState.Exit) {\n currentEvents.deleteByIndex(i);\n this._onTriggerExit(event.index1, event.index2);\n eventPool.push(event);\n }\n });\n }\n}\n\n/\n Filtering flags for scene queries.\n /\nenum QueryFlag {\n STATIC = 1 << 0,\n DYNAMIC = 1 << 1,\n PRE_FILTER = 1 << 2,\n POST_FILTER = 1 << 3,\n ANY_HIT = 1 << 4,\n NO_BLOCK = 1 << 5\n}\n\n/\n Physics state\n /\nenum TriggerEventState {\n Enter,\n Stay,\n Exit\n}\n\n/\n Trigger event to store interactive object ids and state.\n /\nexport class TriggerEvent {\n state: TriggerEventState;\n index1: number;\n index2: number;\n\n constructor(index1: number, index2: number) {\n this.index1 = index1;\n this.index2 = index2;\n }\n}\n","import { IStaticCollider } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXPhysics } from \"./PhysXPhysics\";\n\n/\n A static collider component that will not move.\n * @remarks Mostly used for object which always stays at the same place and never moves around.\n /\nexport class PhysXStaticCollider extends PhysXCollider implements IStaticCollider {\n constructor(physXPhysics: PhysXPhysics, position: Vector3, rotation: Quaternion) {\n super(physXPhysics);\n this._pxActor = physXPhysics._pxPhysics.createRigidStatic(this._transform(position, rotation));\n }\n}\n","/\n PhysX runtime mode.\n /\nexport enum PhysXRuntimeMode {\n /* Use webAssembly mode first, if WebAssembly mode is not supported, roll back to JavaScript mode. /\n Auto,\n /* WebAssembly mode. /\n WebAssembly,\n /* JavaScript mode. /\n JavaScript\n}\n","import { IJoint } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\n\n/\n a base interface providing common functionality for PhysX joints\n /\nexport class PhysXJoint implements IJoint {\n protected static _defaultVec = new Vector3();\n protected static _defaultQuat = new Quaternion();\n\n protected _pxJoint: any;\n protected _collider: PhysXCollider;\n private _breakForce: number = Number.MAX_VALUE;\n private _breakTorque: number = Number.MAX_VALUE;\n\n protected _physXPhysics: PhysXPhysics;\n\n constructor(physXPhysics: PhysXPhysics) {\n this._physXPhysics = physXPhysics;\n }\n\n /\n {@inheritDoc IJoint.setConnectedCollider }\n /\n setConnectedCollider(value: PhysXCollider): void {\n this._pxJoint.setActors(this._collider?._pxActor \|\| null, value?._pxActor \|\| null);\n }\n\n /\n {@inheritDoc IJoint.setConnectedAnchor }\n /\n setAnchor(value: Vector3): void {\n this._setLocalPose(0, value, PhysXJoint._defaultQuat);\n }\n\n /\n {@inheritDoc IJoint.setConnectedAnchor }\n /\n setConnectedAnchor(value: Vector3): void {\n this._setLocalPose(1, value, PhysXJoint._defaultQuat);\n }\n\n /\n {@inheritDoc IJoint.setMassScale }\n /\n setMassScale(value: number): void {\n this._pxJoint.setInvMassScale0(1 / value);\n }\n\n /\n {@inheritDoc IJoint.setConnectedMassScale }\n /\n setConnectedMassScale(value: number): void {\n this._pxJoint.setInvMassScale1(1 / value);\n }\n\n /\n {@inheritDoc IJoint.setInertiaScale }\n /\n setInertiaScale(value: number): void {\n this._pxJoint.setInvInertiaScale0(value);\n }\n\n /\n {@inheritDoc IJoint.setConnectedInertiaScale }\n /\n setConnectedInertiaScale(value: number): void {\n this._pxJoint.setInvInertiaScale1(value);\n }\n\n /\n {@inheritDoc IJoint.setBreakForce }\n /\n setBreakForce(value: number): void {\n this._breakForce = value;\n this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n }\n\n /\n {@inheritDoc IJoint.setBreakTorque }\n /\n setBreakTorque(value: number): void {\n this._breakTorque = value;\n this._pxJoint.setBreakForce(this._breakForce, this._breakTorque);\n }\n\n /\n {@inheritDoc IJoint.destroy }\n /\n destroy(): void {\n if (!this._pxJoint) return;\n this._pxJoint.release();\n this._pxJoint = null;\n this._collider = null;\n }\n /\n Set the joint local pose for an actor.\n * @param actor 0 for the first actor, 1 for the second actor.\n * @param position the local position for the actor this joint\n * @param rotation the local rotation for the actor this joint\n /\n protected _setLocalPose(actor: number, position: Vector3, rotation: Quaternion): void {\n this._pxJoint.setLocalPose(actor, position, rotation);\n }\n}\n","import { IFixedJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/\n A fixed joint permits no relative movement between two colliders. ie the bodies are glued together.\n /\nexport class PhysXFixedJoint extends PhysXJoint implements IFixedJoint {\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createFixedJoint(\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n }\n}\n","import { IHingeJoint } from \"@galacean/engine-design\";\nimport { MathUtil, Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\n\n/\n A joint which behaves in a similar way to a hinge or axle.\n /\nexport class PhysXHingeJoint extends PhysXJoint implements IHingeJoint {\n protected static _xAxis = new Vector3(1, 0, 0);\n\n private _anchor: Vector3;\n private _connectedAnchor: Vector3;\n private _axisRotationQuaternion = new Quaternion();\n\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createRevoluteJoint(\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n }\n\n /\n {@inheritDoc IHingeJoint.setAxis }\n /\n setAxis(value: Vector3): void {\n const xAxis = PhysXHingeJoint._xAxis;\n const axisRotationQuaternion = this._axisRotationQuaternion;\n xAxis.set(1, 0, 0);\n const angle = Math.acos(Vector3.dot(xAxis, value));\n Vector3.cross(xAxis, value, xAxis);\n Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion);\n this._setLocalPose(0, this._anchor, axisRotationQuaternion);\n this._setLocalPose(1, this._connectedAnchor, axisRotationQuaternion);\n }\n\n override setAnchor(value: Vector3): void {\n this._setLocalPose(0, value, this._axisRotationQuaternion);\n this._anchor = value;\n }\n\n override setConnectedAnchor(value: Vector3): void {\n this._setLocalPose(1, value, this._axisRotationQuaternion);\n this._connectedAnchor = value;\n }\n\n /\n {@inheritDoc IHingeJoint.getAngle }\n /\n getAngle(): number {\n return MathUtil.radianToDegree(this._pxJoint.getAngle());\n }\n\n /\n {@inheritDoc IHingeJoint.getVelocity }\n /\n getVelocity(): Readonly<number> {\n return this._pxJoint.getVelocity();\n }\n\n /\n {@inheritDoc IHingeJoint.setHardLimitCone }\n /\n setHardLimit(lowerLimit: number, upperLimit: number, contactDist: number): void {\n this._pxJoint.setHardLimit(MathUtil.degreeToRadian(lowerLimit), MathUtil.degreeToRadian(upperLimit), contactDist);\n }\n\n /\n {@inheritDoc IHingeJoint.setHardLimitCone }\n /\n setSoftLimit(lowerLimit: number, upperLimit: number, stiffness: number, damping: number): void {\n this._pxJoint.setSoftLimit(\n MathUtil.degreeToRadian(lowerLimit),\n MathUtil.degreeToRadian(upperLimit),\n stiffness,\n damping\n );\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveVelocity }\n /\n setDriveVelocity(velocity: number, autowake: boolean = true): void {\n this._pxJoint.setDriveVelocity(velocity, autowake);\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveForceLimit }\n /\n setDriveForceLimit(limit: number): void {\n this._pxJoint.setDriveForceLimit(limit);\n }\n\n /\n {@inheritDoc IHingeJoint.setDriveGearRatio }\n /\n setDriveGearRatio(ratio: number): void {\n this._pxJoint.setDriveGearRatio(ratio);\n }\n\n /\n {@inheritDoc IHingeJoint.setHingeJointFlag }\n /\n setHingeJointFlag(flag: number, value: boolean): void {\n this._pxJoint.setRevoluteJointFlag(flag, value);\n }\n}\n","import { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXJoint } from \"./PhysXJoint\";\nimport { ISpringJoint } from \"@galacean/engine-design\";\nimport { PhysXCollider } from \"../PhysXCollider\";\nimport { Vector3 } from \"@galacean/engine\";\n\n/\n a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects\n /\nexport class PhysXSpringJoint extends PhysXJoint implements ISpringJoint {\n constructor(physXPhysics: PhysXPhysics, collider: PhysXCollider) {\n super(physXPhysics);\n this._collider = collider;\n this._pxJoint = physXPhysics._pxPhysics.createDistanceJoint(\n null,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat,\n collider._pxActor,\n PhysXJoint._defaultVec,\n PhysXJoint._defaultQuat\n );\n this._pxJoint.setDistanceJointFlag(2, true); // enable max distance;\n this._pxJoint.setDistanceJointFlag(4, true); // enable min distance;\n this._pxJoint.setDistanceJointFlag(8, true); // enable spring;\n }\n\n /\n {@inheritDoc ISpringJoint.setMinDistance }\n /\n setMinDistance(distance: number): void {\n this._pxJoint.setMinDistance(distance);\n }\n\n /\n {@inheritDoc ISpringJoint.setMaxDistance }\n /\n setMaxDistance(distance: number): void {\n this._pxJoint.setMaxDistance(distance);\n }\n\n /\n {@inheritDoc ISpringJoint.setTolerance }\n /\n setTolerance(tolerance: number): void {\n this._pxJoint.setTolerance(tolerance);\n }\n\n /\n {@inheritDoc ISpringJoint.setStiffness }\n /\n setStiffness(stiffness: number): void {\n this._pxJoint.setStiffness(stiffness);\n }\n\n /\n {@inheritDoc ISpringJoint.setDamping }\n /\n setDamping(damping: number): void {\n this._pxJoint.setDamping(damping);\n }\n}\n","import { IPlaneColliderShape } from \"@galacean/engine-design\";\nimport { Quaternion, Vector3 } from \"@galacean/engine\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Plane collider shape in PhysX.\n /\nexport class PhysXPlaneColliderShape extends PhysXColliderShape implements IPlaneColliderShape {\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n this._axis = new Quaternion(0, 0, PhysXColliderShape.halfSqrt, PhysXColliderShape.halfSqrt);\n this._physXRotation.copyFrom(this._axis);\n\n this._pxGeometry = new physXPhysics._physX.PxPlaneGeometry();\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n}\n","import { Vector3 } from \"@galacean/engine\";\nimport { ISphereColliderShape } from \"@galacean/engine-design\";\nimport { PhysXPhysics } from \"../PhysXPhysics\";\nimport { PhysXPhysicsMaterial } from \"../PhysXPhysicsMaterial\";\nimport { PhysXColliderShape } from \"./PhysXColliderShape\";\n\n/\n Sphere collider shape in PhysX.\n /\nexport class PhysXSphereColliderShape extends PhysXColliderShape implements ISphereColliderShape {\n private _radius: number;\n private _maxScale: number = 1;\n\n constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, material: PhysXPhysicsMaterial) {\n super(physXPhysics);\n\n this._radius = radius;\n\n this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(this._radius this._maxScale);\n this._initialize(material, uniqueID);\n this._setLocalPose();\n }\n\n /*\n {@inheritDoc ISphereColliderShape.setRadius }\n /\n setRadius(value: number): void {\n this._radius = value;\n this._pxGeometry.radius = value this._maxScale;\n this._pxShape.setGeometry(this._pxGeometry);\n }\n\n /*\n {@inheritDoc IColliderShape.setWorldScale }\n /\n override setWorldScale(scale: Vector3): void {\n super.setWorldScale(scale);\n\n this._maxScale = Math.max(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z));\n this._pxGeometry.radius = this._radius this._maxScale;\n this._pxShape.setGeometry(this._pxGeometry);\n }\n}\n","import { Quaternion, Vector3, version } from \"@galacean/engine\";\nimport {\n IBoxColliderShape,\n ICapsuleColliderShape,\n ICharacterController,\n ICollision,\n IDynamicCollider,\n IFixedJoint,\n IHingeJoint,\n IPhysics,\n IPhysicsManager,\n IPhysicsMaterial,\n IPhysicsScene,\n IPlaneColliderShape,\n ISphereColliderShape,\n ISpringJoint,\n IStaticCollider\n} from \"@galacean/engine-design\";\nimport { PhysXCharacterController } from \"./PhysXCharacterController\";\nimport { PhysXCollider } from \"./PhysXCollider\";\nimport { PhysXDynamicCollider } from \"./PhysXDynamicCollider\";\nimport { PhysXPhysicsManager } from \"./PhysXPhysicsManager\";\nimport { PhysXPhysicsMaterial } from \"./PhysXPhysicsMaterial\";\nimport { PhysXPhysicsScene } from \"./PhysXPhysicsScene\";\nimport { PhysXStaticCollider } from \"./PhysXStaticCollider\";\nimport { PhysXRuntimeMode } from \"./enum/PhysXRuntimeMode\";\nimport { PhysXFixedJoint } from \"./joint/PhysXFixedJoint\";\nimport { PhysXHingeJoint } from \"./joint/PhysXHingeJoint\";\nimport { PhysXSpringJoint } from \"./joint/PhysXSpringJoint\";\nimport { PhysXBoxColliderShape } from \"./shape/PhysXBoxColliderShape\";\nimport { PhysXCapsuleColliderShape } from \"./shape/PhysXCapsuleColliderShape\";\nimport { PhysXPlaneColliderShape } from \"./shape/PhysXPlaneColliderShape\";\nimport { PhysXSphereColliderShape } from \"./shape/PhysXSphereColliderShape\";\n\n/*\n PhysX object creation.\n /\n\nexport class PhysXPhysics implements IPhysics {\n /* @internal PhysX wasm object /\n _physX: any;\n /* @internal PhysX Foundation SDK singleton class /\n _pxFoundation: any;\n /* @internal PhysX physics object /\n _pxPhysics: any;\n\n private _runTimeMode: PhysXRuntimeMode;\n private _initializeState: InitializeState = InitializeState.Uninitialized;\n private _initializePromise: Promise<void>;\n\n constructor(runtimeMode: PhysXRuntimeMode = PhysXRuntimeMode.Auto) {\n this._runTimeMode = runtimeMode;\n }\n\n /\n Initialize PhysXPhysics.\n * @param runtimeMode - Runtime mode\n * @returns Promise object\n /\n initialize(): Promise<void> {\n if (this._initializeState === InitializeState.Initialized) {\n return Promise.resolve();\n } else if (this._initializeState === InitializeState.Initializing) {\n return this._initializePromise;\n }\n\n let runtimeMode = this._runTimeMode;\n const scriptPromise = new Promise((resolve, reject) => {\n const script = document.createElement(\"script\");\n document.body.appendChild(script);\n script.async = true;\n script.onload = resolve;\n script.onerror = reject;\n if (runtimeMode == PhysXRuntimeMode.Auto) {\n const supported = (() => {\n try {\n if (typeof WebAssembly === \"object\" && typeof WebAssembly.instantiate === \"function\") {\n const module = new WebAssembly.Module(Uint8Array.of(0x0, 0x61, 0x73, 0x6d, 0x01, 0x00, 0x00, 0x00));\n if (module instanceof WebAssembly.Module)\n return new WebAssembly.Instance(module) instanceof WebAssembly.Instance;\n }\n } catch (e) {}\n return false;\n })();\n if (supported) {\n runtimeMode = PhysXRuntimeMode.WebAssembly;\n } else {\n runtimeMode = PhysXRuntimeMode.JavaScript;\n }\n }\n\n if (runtimeMode == PhysXRuntimeMode.JavaScript) {\n script.src = `https://mdn.alipayobjects.com/rms/afts/file/APXxaQrGL0XsAAAAAAAAAAAAAARQnAQ/physx.release.downgrade.js`;\n } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {\n script.src = `https://mdn.alipayobjects.com/rms/afts/file/A0Qq8Rob3_5oAAAAAAAAAAAAAARQnAQ/physx.release.js`;\n }\n });\n\n const initializePromise = new Promise<void>((resolve, reject) => {\n scriptPromise\n .then(\n () =>\n (<any>window).PHYSX().then((PHYSX) => {\n this._init(PHYSX);\n this._initializeState = InitializeState.Initialized;\n this._initializePromise = null;\n console.log(\"PhysX loaded.\");\n resolve();\n }, reject),\n reject\n )\n .catch(reject);\n });\n\n this._initializePromise = initializePromise;\n return initializePromise;\n }\n\n /\n Destroy PhysXPhysics.\n /\n public destroy(): void {\n this._physX.PxCloseExtensions();\n this._pxPhysics.release();\n this._pxFoundation.release();\n this._physX = null;\n this._pxFoundation = null;\n this._pxPhysics = null;\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsManager }\n /\n createPhysicsManager(): IPhysicsManager {\n return new PhysXPhysicsManager();\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsScene }\n /\n createPhysicsScene(\n physicsManager: PhysXPhysicsManager,\n onContactBegin?: (collision: ICollision) => void,\n onContactEnd?: (collision: ICollision) => void,\n onContactStay?: (collision: ICollision) => void,\n onTriggerBegin?: (obj1: number, obj2: number) => void,\n onTriggerEnd?: (obj1: number, obj2: number) => void,\n onTriggerStay?: (obj1: number, obj2: number) => void\n ): IPhysicsScene {\n const manager = new PhysXPhysicsScene(\n this,\n physicsManager,\n onContactBegin,\n onContactEnd,\n onContactStay,\n onTriggerBegin,\n onTriggerEnd,\n onTriggerStay\n );\n return manager;\n }\n\n /\n {@inheritDoc IPhysics.createStaticCollider }\n /\n createStaticCollider(position: Vector3, rotation: Quaternion): IStaticCollider {\n return new PhysXStaticCollider(this, position, rotation);\n }\n\n /\n {@inheritDoc IPhysics.createDynamicCollider }\n /\n createDynamicCollider(position: Vector3, rotation: Quaternion): IDynamicCollider {\n return new PhysXDynamicCollider(this, position, rotation);\n }\n\n /\n {@inheritDoc IPhysics.createCharacterController }\n /\n createCharacterController(): ICharacterController {\n return new PhysXCharacterController(this);\n }\n\n /\n {@inheritDoc IPhysics.createPhysicsMaterial }\n /\n createPhysicsMaterial(\n staticFriction: number,\n dynamicFriction: number,\n bounciness: number,\n frictionCombine: number,\n bounceCombine: number\n ): IPhysicsMaterial {\n return new PhysXPhysicsMaterial(this, staticFriction, dynamicFriction, bounciness, frictionCombine, bounceCombine);\n }\n\n /\n {@inheritDoc IPhysics.createBoxColliderShape }\n /\n createBoxColliderShape(uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial): IBoxColliderShape {\n return new PhysXBoxColliderShape(this, uniqueID, size, material);\n }\n\n /\n {@inheritDoc IPhysics.createSphereColliderShape }\n /\n createSphereColliderShape(uniqueID: number, radius: number, material: PhysXPhysicsMaterial): ISphereColliderShape {\n return new PhysXSphereColliderShape(this, uniqueID, radius, material);\n }\n\n /\n {@inheritDoc IPhysics.createPlaneColliderShape }\n /\n createPlaneColliderShape(uniqueID: number, material: PhysXPhysicsMaterial): IPlaneColliderShape {\n return new PhysXPlaneColliderShape(this, uniqueID, material);\n }\n\n /\n {@inheritDoc IPhysics.createCapsuleColliderShape }\n /\n createCapsuleColliderShape(\n uniqueID: number,\n radius: number,\n height: number,\n material: PhysXPhysicsMaterial\n ): ICapsuleColliderShape {\n return new PhysXCapsuleColliderShape(this, uniqueID, radius, height, material);\n }\n\n /\n {@inheritDoc IPhysics.createFixedJoint }\n /\n createFixedJoint(collider: PhysXCollider): IFixedJoint {\n return new PhysXFixedJoint(this, collider);\n }\n\n /\n {@inheritDoc IPhysics.createHingeJoint }\n /\n createHingeJoint(collider: PhysXCollider): IHingeJoint {\n return new PhysXHingeJoint(this, collider);\n }\n\n /\n {@inheritDoc IPhysics.createSpringJoint }\n */\n createSpringJoint(collider: PhysXCollider): ISpringJoint {\n return new 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