@galacean/engine-physics-physx 1.6.0-alpha.2 → 1.6.0-beta.1

package/dist/browser.js.map

@@ -1 +1 @@
-{"version":3,"file":"browser.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  static readonly halfSqrt: number = 0.70710678118655;\n  static transform = {\n    translation: new Vector3(),\n    rotation: null\n  };\n\n  protected static _tempVector4 = new Vector4();\n\n  /** @internal */\n  _controllers: DisorderedArray<PhysXCharacterController> = new DisorderedArray<PhysXCharacterController>();\n  /** @internal */\n  _contractOffset: number = 0.02;\n\n  /** @internal */\n  _worldScale: Vector3 = new Vector3(1, 1, 1);\n  /** @internal */\n  _position: Vector3 = new Vector3();\n  /** @internal */\n  _pxMaterial: any;\n  /** @internal */\n  _pxShape: any;\n  /** @internal */\n  /** @internal */\n  _id: number;\n  /** @internal */\n  _rotation: Vector3 = new Vector3();\n\n  protected _physXPhysics: PhysXPhysics;\n  protected _pxGeometry: any;\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  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    this._pxGeometry.delete();\n  }\n\n  /**\n   *  @internal\n   */\n  _setShapeFlags(flags: ShapeFlag) {\n    this._shapeFlags = flags;\n    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape.setFlags(shapeFlags);\n    shapeFlags.delete();\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    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, shapeFlags);\n    shapeFlags.delete();\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.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n    }\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.y);\n        pxController.setHalfSideExtent(extents.x);\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 * Capsule collider shape in PhysX.\n */\nexport class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {\n  /** @internal */\n  _radius: number;\n  /** @internal */\n  _halfHeight: number;\n  /** @internal */\n  _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(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.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\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    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n    }\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 */\nexport enum 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 { ColliderShapeUpAxis, 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    // Add shape should sync latest position and world scale to pxController\n    this._updateShapePosition(shape._position, shape._worldScale);\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 ICollider.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    const actor = this._pxController?.getActor();\n\n    if (actor) {\n      this._physXPhysics._physX.setGroup(actor, layer);\n    }\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.y;\n      desc.halfSideExtent = shape._halfSize.x;\n      desc.halfForwardExtent = shape._halfSize.z;\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\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\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\n      if (shape._upAxis !== ColliderShapeUpAxis.Y) {\n        console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n      }\n    } else {\n      throw \"unsupported shape type\";\n    }\n\n    desc.setMaterial(shape._pxMaterial);\n    this._pxController = pxManager._getControllerManager().createController(desc);\n    desc.delete();\n\n    this._pxController.setUUID(shape._id);\n\n    this._updateNativePosition();\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(): void {\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.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    this._physXPhysics._physX.setGroup(this._pxActor, layer);\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, Quaternion } 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 _tempQuaternion: Quaternion = new Quaternion();\n  private static _tempNormal: Vector3 = new Vector3();\n  private static _tempPose: { translation: Vector3; rotation: Quaternion } = {\n    translation: new Vector3(),\n    rotation: new Quaternion()\n  };\n  private static _tempShapeIDs: number[] = [];\n\n  // Cached geometry objects for reuse\n  private _boxGeometry: any = null;\n  private _sphereGeometry: any = null;\n  private _capsuleGeometry: any = null;\n\n  private _physXPhysics: PhysXPhysics;\n  private _physXManager: PhysXPhysicsManager;\n  private _pxRaycastHit: any;\n  private _pxFilterData: any;\n\n  private _pxScene: any;\n  private _physXSimulationCallbackInstance: 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    this._physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);\n    const sceneDesc = physX.getDefaultSceneDesc(\n      pxPhysics.getTolerancesScale(),\n      0,\n      this._physXSimulationCallbackInstance\n    );\n    this._pxScene = pxPhysics.createScene(sceneDesc);\n    sceneDesc.delete();\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.setGravity }\n   */\n  setGravity(value: Vector3) {\n    this._pxScene.setGravity(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.update }\n   */\n  update(elapsedTime: number): void {\n    this._simulate(elapsedTime);\n    this._fetchResults();\n    this._fireEvent();\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.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    };\n\n    const pxRaycastCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback);\n    const result = this._pxScene.raycastSingle(\n      ray.origin,\n      ray.direction,\n      distance,\n      pxHitResult,\n      this._pxFilterData,\n      pxRaycastCallback\n    );\n\n    pxRaycastCallback.delete();\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   * {@inheritDoc IPhysicsScene.boxCast }\n   */\n  boxCast(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._boxGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.sphereCast }\n   */\n  sphereCast(\n    center: Vector3,\n    radius: number,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1); // Identity quaternion\n    const pose = { translation: center, rotation: tempQuat };\n    return this._sweepSingle(this._sphereGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.capsuleCast }\n   */\n  capsuleCast(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._capsuleGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapBoxAll }\n   */\n  overlapBoxAll(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._boxGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapSphereAll }\n   */\n  overlapSphereAll(center: Vector3, radius: number, onOverlap: (obj: number) => boolean): number[] {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1);\n    const pose = { translation: center, rotation: tempQuat };\n    return this._overlapMultiple(this._sphereGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapCapsuleAll }\n   */\n  overlapCapsuleAll(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._capsuleGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.destroy }\n   */\n  destroy(): void {\n    this._boxGeometry?.delete();\n    this._sphereGeometry?.delete();\n    this._capsuleGeometry?.delete();\n\n    this._physXSimulationCallbackInstance.delete();\n    this._pxRaycastHit.delete();\n    this._pxFilterData.flags.delete();\n    this._pxFilterData.delete();\n    // Need to release the controller manager before release the scene.\n    this._pxControllerManager?.release();\n    this._pxScene.release();\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] = Object.create(null);\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 _sweepSingle(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    distance = Math.min(distance, 3.4e38); // float32 max value limit in physx sweep\n\n    const sweepCallback = {\n      preFilter: (filterData, index, actor) => {\n        if (onSweep(index)) {\n          return 2; // eBLOCK\n        } else {\n          return 0; // eNONE\n        }\n      }\n    };\n\n    const pxSweepCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(sweepCallback);\n    const pxSweepHit = new this._physXPhysics._physX.PxSweepHit();\n    const result = this._pxScene.sweepSingle(\n      geometry,\n      pose,\n      direction,\n      distance,\n      pxSweepHit,\n      this._pxFilterData,\n      pxSweepCallback\n    );\n\n    if (result && outHitResult != undefined) {\n      const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n      const { position: pxPosition, normal: pxNormal } = pxSweepHit;\n      position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n      normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n      outHitResult(pxSweepHit.getShape().getUUID(), pxSweepHit.distance, position, normal);\n    }\n\n    pxSweepCallback.delete();\n    pxSweepHit.delete();\n\n    return result;\n  }\n\n  private _overlapMultiple(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    const overlapCallback = {\n      preFilter: (filterData, index, actor) => (onOverlap(index) ? 2 : 0)\n    };\n\n    const pxOverlapCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(overlapCallback);\n    const maxHits = 256;\n    const hits: any = (this._pxScene as any).overlapMultiple(\n      geometry,\n      pose,\n      maxHits,\n      this._pxFilterData,\n      pxOverlapCallback\n    );\n\n    const result = PhysXPhysicsScene._tempShapeIDs;\n    result.length = 0;\n    if (hits) {\n      // PhysX overlapMultiple returns a collection with size() method\n      for (let i = 0, n = hits.size(); i < n; i++) {\n        result.push(hits.get(i).getShape().getUUID());\n      }\n    }\n\n    pxOverlapCallback.delete();\n    hits?.delete();\n    return result;\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 _anchor: Vector3;\n  protected _connectedAnchor: Vector3;\n  protected _rotation: Quaternion = new Quaternion();\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    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._rotation);\n    this._connectedAnchor = value;\n  }\n\n  setRotation(value: Quaternion): void {\n    this._setLocalPose(1, this._connectedAnchor, value);\n    this._rotation.copyFrom(value);\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._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 _axis: Vector3;\n  private _axisRotationQuaternion = new Quaternion();\n  private _connectedAxisRotationQuaternion = 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  override setRotation(value: Quaternion): void {\n    const axis = this._axis;\n    this._rotation.copyFrom(value);\n    axis && this.setAxis(axis);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setAxis }\n   */\n  setAxis(value: Vector3): void {\n    this._axis = value;\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    const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion;\n    Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion);\n    this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion);\n  }\n\n  override setAnchor(value: Vector3): void {\n    this._setLocalPose(0, value, this._axisRotationQuaternion);\n    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  override setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._connectedAxisRotationQuaternion);\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 } 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    this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(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 } 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  private _defaultErrorCallback: any;\n  private _allocator: any;\n  private _tolerancesScale: any;\n  private _wasmModeUrl: string;\n  private _downgradeModeUrl: string;\n\n  /**\n   * Create a PhysXPhysics instance.\n   * @param runtimeMode - Runtime use WebAssembly mode or downgrade JavaScript mode, `Auto` prefers webAssembly mode if supported @see {@link PhysXRuntimeMode}\n   * @param runtimeUrls - Manually specify the `PhysXRuntimeMode.WebAssembly` mode and `PhysXRuntimeMode.JavaScript` mode URL\n   */\n  constructor(runtimeMode: PhysXRuntimeMode = PhysXRuntimeMode.Auto, runtimeUrls?: PhysXRuntimeUrls) {\n    this._runTimeMode = runtimeMode;\n    this._wasmModeUrl =\n      runtimeUrls?.wasmModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/afts/file/A*m04iQojeKRgAAAAASWAAAAgAehQnAQ/physx.release.js\";\n    this._downgradeModeUrl =\n      runtimeUrls?.javaScriptModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/afts/file/A*13gEToqpJWcAAAAAgEAAAAgAehQnAQ/physx.release.downgrade.js\";\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 wasmModule = new WebAssembly.Module(Uint8Array.of(0x0, 0x61, 0x73, 0x6d, 0x01, 0x00, 0x00, 0x00));\n              if (wasmModule instanceof WebAssembly.Module)\n                return new WebAssembly.Instance(wasmModule) 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 = this._downgradeModeUrl;\n      } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {\n        script.src = this._wasmModeUrl;\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  destroy(): void {\n    this._physX.PxCloseExtensions();\n    this._pxPhysics.release();\n    this._pxFoundation.release();\n    this._defaultErrorCallback.delete();\n    this._allocator.delete();\n    this._tolerancesScale.delete();\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 scene = new PhysXPhysicsScene(\n      this,\n      physicsManager,\n      onContactBegin,\n      onContactEnd,\n      onContactStay,\n      onTriggerBegin,\n      onTriggerEnd,\n      onTriggerStay\n    );\n    return scene;\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  /**\n   * {@inheritDoc IPhysics.getColliderLayerCollision }\n   */\n  getColliderLayerCollision(layer1: number, layer2: number): boolean {\n    return this._physX.getGroupCollisionFlag(layer1, layer2);\n  }\n\n  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_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  static readonly halfSqrt: number = 0.70710678118655;\n  static transform = {\n    translation: new Vector3(),\n    rotation: null\n  };\n\n  protected static _tempVector4 = new Vector4();\n\n  /** @internal */\n  _controllers: DisorderedArray<PhysXCharacterController> = new DisorderedArray<PhysXCharacterController>();\n  /** @internal */\n  _contractOffset: number = 0.02;\n\n  /** @internal */\n  _worldScale: Vector3 = new Vector3(1, 1, 1);\n  /** @internal */\n  _position: Vector3 = new Vector3();\n  /** @internal */\n  _pxMaterial: any;\n  /** @internal */\n  _pxShape: any;\n  /** @internal */\n  /** @internal */\n  _id: number;\n  /** @internal */\n  _rotation: Vector3 = new Vector3();\n\n  protected _physXPhysics: PhysXPhysics;\n  protected _pxGeometry: any;\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  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    this._pxGeometry.delete();\n  }\n\n  /**\n   *  @internal\n   */\n  _setShapeFlags(flags: ShapeFlag) {\n    this._shapeFlags = flags;\n    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape.setFlags(shapeFlags);\n    shapeFlags.delete();\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    const shapeFlags = new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);\n    this._pxShape = this._physXPhysics._pxPhysics.createShape(this._pxGeometry, material._pxMaterial, true, shapeFlags);\n    shapeFlags.delete();\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.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n    }\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.y);\n        pxController.setHalfSideExtent(extents.x);\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 * Capsule collider shape in PhysX.\n */\nexport class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {\n  /** @internal */\n  _radius: number;\n  /** @internal */\n  _halfHeight: number;\n  /** @internal */\n  _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(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.setRotation }\n   */\n  override setRotation(value: Vector3): void {\n    super.setRotation(value);\n    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\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    if (this._controllers.length > 0) {\n      console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n    }\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 */\nexport enum 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 { ColliderShapeUpAxis, 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    // Add shape should sync latest position and world scale to pxController\n    this._updateShapePosition(shape._position, shape._worldScale);\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 ICollider.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    const actor = this._pxController?.getActor();\n\n    if (actor) {\n      this._physXPhysics._physX.setGroup(actor, layer);\n    }\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.y;\n      desc.halfSideExtent = shape._halfSize.x;\n      desc.halfForwardExtent = shape._halfSize.z;\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Box character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\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\n      if (shape._rotation.lengthSquared() > 0) {\n        console.warn(\"Capsule character controller `rotation` is not supported in PhysX and will be ignored\");\n      }\n      if (shape._upAxis !== ColliderShapeUpAxis.Y) {\n        console.warn(\"Capsule character controller `upAxis` is not supported in PhysX and will be ignored\");\n      }\n    } else {\n      throw \"unsupported shape type\";\n    }\n\n    desc.setMaterial(shape._pxMaterial);\n    this._pxController = pxManager._getControllerManager().createController(desc);\n    desc.delete();\n\n    this._pxController.setUUID(shape._id);\n\n    this._updateNativePosition();\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(): void {\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.setCollisionLayer }\n   */\n  setCollisionLayer(layer: number): void {\n    this._physXPhysics._physX.setGroup(this._pxActor, layer);\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, Quaternion } 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 _tempQuaternion: Quaternion = new Quaternion();\n  private static _tempNormal: Vector3 = new Vector3();\n  private static _tempPose: { translation: Vector3; rotation: Quaternion } = {\n    translation: new Vector3(),\n    rotation: new Quaternion()\n  };\n  private static _tempShapeIDs: number[] = [];\n\n  // Cached geometry objects for reuse\n  private _boxGeometry: any = null;\n  private _sphereGeometry: any = null;\n  private _capsuleGeometry: any = null;\n\n  private _physXPhysics: PhysXPhysics;\n  private _physXManager: PhysXPhysicsManager;\n  private _pxRaycastHit: any;\n  private _pxFilterData: any;\n\n  private _pxScene: any;\n  private _physXSimulationCallbackInstance: 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    this._physXSimulationCallbackInstance = physX.PxSimulationEventCallback.implement(triggerCallback);\n    const sceneDesc = physX.getDefaultSceneDesc(\n      pxPhysics.getTolerancesScale(),\n      0,\n      this._physXSimulationCallbackInstance\n    );\n    this._pxScene = pxPhysics.createScene(sceneDesc);\n    sceneDesc.delete();\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.setGravity }\n   */\n  setGravity(value: Vector3) {\n    this._pxScene.setGravity(value);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.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 IPhysicsScene.update }\n   */\n  update(elapsedTime: number): void {\n    this._simulate(elapsedTime);\n    this._fetchResults();\n    this._fireEvent();\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.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    };\n\n    const pxRaycastCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback);\n    const result = this._pxScene.raycastSingle(\n      ray.origin,\n      ray.direction,\n      distance,\n      pxHitResult,\n      this._pxFilterData,\n      pxRaycastCallback\n    );\n\n    pxRaycastCallback.delete();\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   * {@inheritDoc IPhysicsScene.boxCast }\n   */\n  boxCast(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._boxGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.sphereCast }\n   */\n  sphereCast(\n    center: Vector3,\n    radius: number,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1); // Identity quaternion\n    const pose = { translation: center, rotation: tempQuat };\n    return this._sweepSingle(this._sphereGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.capsuleCast }\n   */\n  capsuleCast(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._sweepSingle(this._capsuleGeometry, pose, direction, distance, onSweep, outHitResult);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapBoxAll }\n   */\n  overlapBoxAll(\n    center: Vector3,\n    orientation: Quaternion,\n    halfExtents: Vector3,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._boxGeometry) {\n      this._boxGeometry = new this._physXPhysics._physX.PxBoxGeometry(halfExtents.x, halfExtents.y, halfExtents.z);\n    } else {\n      this._boxGeometry.halfExtents = halfExtents;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._boxGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapSphereAll }\n   */\n  overlapSphereAll(center: Vector3, radius: number, onOverlap: (obj: number) => boolean): number[] {\n    if (!this._sphereGeometry) {\n      this._sphereGeometry = new this._physXPhysics._physX.PxSphereGeometry(radius);\n    } else {\n      this._sphereGeometry.radius = radius;\n    }\n\n    const tempQuat = PhysXPhysicsScene._tempQuaternion;\n    tempQuat.set(0, 0, 0, 1);\n    const pose = { translation: center, rotation: tempQuat };\n    return this._overlapMultiple(this._sphereGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.overlapCapsuleAll }\n   */\n  overlapCapsuleAll(\n    center: Vector3,\n    radius: number,\n    height: number,\n    orientation: Quaternion,\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    if (!this._capsuleGeometry) {\n      this._capsuleGeometry = new this._physXPhysics._physX.PxCapsuleGeometry(radius, height * 0.5);\n    } else {\n      this._capsuleGeometry.radius = radius;\n      this._capsuleGeometry.halfHeight = height * 0.5;\n    }\n\n    const pose = PhysXPhysicsScene._tempPose;\n    pose.translation.copyFrom(center);\n    pose.rotation.copyFrom(orientation);\n    return this._overlapMultiple(this._capsuleGeometry, pose, onOverlap);\n  }\n\n  /**\n   * {@inheritDoc IPhysicsScene.destroy }\n   */\n  destroy(): void {\n    this._boxGeometry?.delete();\n    this._sphereGeometry?.delete();\n    this._capsuleGeometry?.delete();\n\n    this._physXSimulationCallbackInstance.delete();\n    this._pxRaycastHit.delete();\n    this._pxFilterData.flags.delete();\n    this._pxFilterData.delete();\n    // Need to release the controller manager before release the scene.\n    this._pxControllerManager?.release();\n    this._pxScene.release();\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] = Object.create(null);\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 _sweepSingle(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    direction: Vector3,\n    distance: number,\n    onSweep: (obj: number) => boolean,\n    outHitResult?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void\n  ): boolean {\n    distance = Math.min(distance, 3.4e38); // float32 max value limit in physx sweep\n\n    const sweepCallback = {\n      preFilter: (filterData, index, actor) => {\n        if (onSweep(index)) {\n          return 2; // eBLOCK\n        } else {\n          return 0; // eNONE\n        }\n      }\n    };\n\n    const pxSweepCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(sweepCallback);\n    const pxSweepHit = new this._physXPhysics._physX.PxSweepHit();\n    const result = this._pxScene.sweepSingle(\n      geometry,\n      pose,\n      direction,\n      distance,\n      pxSweepHit,\n      this._pxFilterData,\n      pxSweepCallback\n    );\n\n    if (result && outHitResult != undefined) {\n      const { _tempPosition: position, _tempNormal: normal } = PhysXPhysicsScene;\n      const { position: pxPosition, normal: pxNormal } = pxSweepHit;\n      position.set(pxPosition.x, pxPosition.y, pxPosition.z);\n      normal.set(pxNormal.x, pxNormal.y, pxNormal.z);\n      outHitResult(pxSweepHit.getShape().getUUID(), pxSweepHit.distance, position, normal);\n    }\n\n    pxSweepCallback.delete();\n    pxSweepHit.delete();\n\n    return result;\n  }\n\n  private _overlapMultiple(\n    geometry: any,\n    pose: { translation: Vector3; rotation: Quaternion },\n    onOverlap: (obj: number) => boolean\n  ): number[] {\n    const overlapCallback = {\n      preFilter: (filterData, index, actor) => (onOverlap(index) ? 2 : 0)\n    };\n\n    const pxOverlapCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(overlapCallback);\n    const maxHits = 256;\n    const hits: any = (this._pxScene as any).overlapMultiple(\n      geometry,\n      pose,\n      maxHits,\n      this._pxFilterData,\n      pxOverlapCallback\n    );\n\n    const result = PhysXPhysicsScene._tempShapeIDs;\n    result.length = 0;\n    if (hits) {\n      // PhysX overlapMultiple returns a collection with size() method\n      for (let i = 0, n = hits.size(); i < n; i++) {\n        result.push(hits.get(i).getShape().getUUID());\n      }\n    }\n\n    pxOverlapCallback.delete();\n    hits?.delete();\n    return result;\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 _anchor: Vector3;\n  protected _connectedAnchor: Vector3;\n  protected _rotation: Quaternion = new Quaternion();\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    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._rotation);\n    this._connectedAnchor = value;\n  }\n\n  setRotation(value: Quaternion): void {\n    this._setLocalPose(1, this._connectedAnchor, value);\n    this._rotation.copyFrom(value);\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._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 _axis: Vector3;\n  private _axisRotationQuaternion = new Quaternion();\n  private _connectedAxisRotationQuaternion = 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  override setRotation(value: Quaternion): void {\n    const axis = this._axis;\n    this._rotation.copyFrom(value);\n    axis && this.setAxis(axis);\n  }\n\n  /**\n   * {@inheritDoc IHingeJoint.setAxis }\n   */\n  setAxis(value: Vector3): void {\n    this._axis = value;\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    const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion;\n    Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion);\n    this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion);\n  }\n\n  override setAnchor(value: Vector3): void {\n    this._setLocalPose(0, value, this._axisRotationQuaternion);\n    this._anchor = value;\n  }\n\n  /**\n   * {@inheritDoc IJoint.setConnectedAnchor }\n   */\n  override setConnectedAnchor(value: Vector3): void {\n    this._setLocalPose(1, value, this._connectedAxisRotationQuaternion);\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 } 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    this._pxGeometry = new physXPhysics._physX.PxSphereGeometry(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 } 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  private _defaultErrorCallback: any;\n  private _allocator: any;\n  private _tolerancesScale: any;\n  private _wasmModeUrl: string;\n  private _downgradeModeUrl: string;\n\n  /**\n   * Create a PhysXPhysics instance.\n   * @param runtimeMode - Runtime use WebAssembly mode or downgrade JavaScript mode, `Auto` prefers webAssembly mode if supported @see {@link PhysXRuntimeMode}\n   * @param runtimeUrls - Manually specify the `PhysXRuntimeMode.WebAssembly` mode and `PhysXRuntimeMode.JavaScript` mode URL\n   */\n  constructor(runtimeMode: PhysXRuntimeMode = PhysXRuntimeMode.Auto, runtimeUrls?: PhysXRuntimeUrls) {\n    this._runTimeMode = runtimeMode;\n    this._wasmModeUrl =\n      runtimeUrls?.wasmModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/afts/file/A*m04iQojeKRgAAAAASWAAAAgAehQnAQ/physx.release.js\";\n    this._downgradeModeUrl =\n      runtimeUrls?.javaScriptModeUrl ??\n      \"https://mdn.alipayobjects.com/rms/afts/file/A*13gEToqpJWcAAAAAgEAAAAgAehQnAQ/physx.release.downgrade.js\";\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 wasmModule = new WebAssembly.Module(Uint8Array.of(0x0, 0x61, 0x73, 0x6d, 0x01, 0x00, 0x00, 0x00));\n              if (wasmModule instanceof WebAssembly.Module)\n                return new WebAssembly.Instance(wasmModule) 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 = this._downgradeModeUrl;\n      } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {\n        script.src = this._wasmModeUrl;\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  destroy(): void {\n    this._physX.PxCloseExtensions();\n    this._pxPhysics.release();\n    this._pxFoundation.release();\n    this._defaultErrorCallback.delete();\n    this._allocator.delete();\n    this._tolerancesScale.delete();\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 scene = new PhysXPhysicsScene(\n      this,\n      physicsManager,\n      onContactBegin,\n      onContactEnd,\n      onContactStay,\n      onTriggerBegin,\n      onTriggerEnd,\n      onTriggerStay\n    );\n    return scene;\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  /**\n   * {@inheritDoc IPhysics.getColliderLayerCollision }\n   */\n  getColliderLayerCollision(layer1: number, layer2: number): boolean {\n    return this._physX.getGroupCollisionFlag(layer1, layer2);\n  }\n\n  /**\n   * {@inheritDoc IPhysics.setColliderLayerCollision }\n   */\n  setColliderLayerCollision(layer1: number, layer2: number, isCollide: boolean): void {\n    this._physX.setGroupCollisionFlag(layer1, layer2, isCollide);\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 tolerancesScale = new physX.PxTolerancesScale();\n    const pxPhysics = physX.PxCreatePhysics(version, pxFoundation, tolerancesScale, false, null);\n\n    physX.PxInitExtensions(pxPhysics, null);\n    this._physX = physX;\n    this._pxFoundation = pxFoundation;\n    this._pxPhysics = pxPhysics;\n    this._defaultErrorCallback = defaultErrorCallback;\n    this._allocator = allocator;\n    this._tolerancesScale = tolerancesScale;\n  }\n}\n\nenum 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