@galacean/engine-physics-physx 2.0.0-alpha.23 → 2.0.0-alpha.25

package/dist/browser.js

@@ -1941,7 +1941,7 @@
     }();
 
     //@ts-ignore
-    var version = "2.0.0-alpha.23";
+    var version = "2.0.0-alpha.25";
     console.log("Galacean Engine Physics PhysX Version: " + version);
 
     exports.PhysXPhysics = PhysXPhysics;

package/dist/browser.min.js

@@ -1,2 +1,2 @@
-!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports,require("@galacean/engine")):"function"==typeof define&&define.amd?define(["exports","@galacean/engine"],e):e(((t="undefined"!=typeof globalThis?globalThis:t||self).Galacean=t.Galacean||{},t.Galacean.PhysicsPhysX={}),t.Galacean)}(this,function(t,e){"use strict";function i(t,e){return null!=e&&"undefined"!=typeof Symbol&&e[Symbol.hasInstance]?!!e[Symbol.hasInstance](t):t instanceof e}function s(t,e){return(s=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t})(t,e)}function o(t,e){if("function"!=typeof e&&null!==e)throw TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&s(t,e)}var n,r,a,l=((n={})[n.SIMULATION_SHAPE=1]="SIMULATION_SHAPE",n[n.SCENE_QUERY_SHAPE=2]="SCENE_QUERY_SHAPE",n[n.TRIGGER_SHAPE=4]="TRIGGER_SHAPE",n),h=/*#__PURE__*/function(){function t(t){this._controllers=new e.DisorderedArray,this._contractOffset=.02,this._worldScale=new e.Vector3(1,1,1),this._position=new e.Vector3,this._rotation=new e.Vector3,this._axis=null,this._physXRotation=new e.Quaternion,this._shapeFlags=3,this._physXPhysics=t}var i=t.prototype;return i.setRotation=function(t){var i=this._rotation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z));e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,this._physXRotation),this._axis&&e.Quaternion.multiply(this._physXRotation,this._axis,this._physXRotation),this._physXRotation.normalize(),this._setLocalPose()},i.setPosition=function(t){t!==this._position&&this._position.copyFrom(t);for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale);this._setLocalPose()},i.setWorldScale=function(t){this._worldScale.set(Math.abs(t.x),Math.abs(t.y),Math.abs(t.z)),this._setLocalPose();for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale)},i.setContactOffset=function(t){this._contractOffset=t;var e=this._controllers;if(e.length)for(var i,s=0,o=e.length;s<o;s++)null==(i=e.get(s)._pxController)||i.setContactOffset(t);else this._pxShape.setContactOffset(t)},i.setMaterial=function(t){this._pxMaterial=t._pxMaterial,this._pxShape.setMaterial(this._pxMaterial)},i.setIsTrigger=function(t){this._modifyFlag(1,!t),this._modifyFlag(4,t),this._setShapeFlags(this._shapeFlags)},i.pointDistance=function(e){var i=this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(),e),s=i.closestPoint,o=t._tempVector4;return o.set(s.x,s.y,s.z,i.distance),o},i.destroy=function(){var t;this._pxShape.release(),null==(t=this._pxGeometry)||t.delete()},i._setShapeFlags=function(t){this._shapeFlags=t;var e=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape.setFlags(e),e.delete()},i._setLocalPose=function(){var i=t.transform;e.Vector3.multiply(this._position,this._worldScale,i.translation),i.rotation=this._physXRotation,this._pxShape.setLocalPose(i)},i._initialize=function(t,e){this._id=e,this._pxMaterial=t._pxMaterial;var i=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape=this._physXPhysics._pxPhysics.createShape(this._pxGeometry,t._pxMaterial,!0,i),i.delete(),this._pxShape.setUUID(e)},i._modifyFlag=function(t,e){this._shapeFlags=e?this._shapeFlags|t:this._shapeFlags&~t},t}();h.halfSqrt=.70710678118655,h.transform={translation:new e.Vector3,rotation:null},h._tempVector4=new e.Vector4;var c=/*#__PURE__*/function(t){function i(i,s,o,n){(r=t.call(this,i)||this)._halfSize=new e.Vector3;var r,a=r._halfSize;return a.set(.5*o.x,.5*o.y,.5*o.z),r._pxGeometry=new i._physX.PxBoxGeometry(a.x,a.y,a.z),r._initialize(n,s),r._setLocalPose(),r}o(i,t);var s=i.prototype;return s.setSize=function(t){var s=this._halfSize,o=i._tempHalfExtents;s.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(s,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored")},s.setWorldScale=function(s){t.prototype.setWorldScale.call(this,s);var o=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s._updateController=function(t){for(var e=this._controllers,i=0,s=e.length;i<s;i++){var o=e.get(i)._pxController;o&&(o.setHalfHeight(t.y),o.setHalfSideExtent(t.x),o.setHalfForwardExtent(t.z))}},i}(h);c._tempHalfExtents=new e.Vector3;var _=/*#__PURE__*/function(t){function i(i,s,o,n,r){var a;return(a=t.call(this,i)||this)._upAxis=1,a._radius=o,a._halfHeight=.5*n,a._axis=new e.Quaternion(0,0,h.halfSqrt,h.halfSqrt),a._physXRotation.copyFrom(a._axis),a._pxGeometry=new i._physX.PxCapsuleGeometry(o,a._halfHeight),a._initialize(r,s),a._setLocalPose(),a}o(i,t);var s=i.prototype;return s.setRadius=function(t){this._radius=t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(i.y,i.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(i.x,i.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(i.x,i.y)}this._pxShape.setGeometry(this._pxGeometry);for(var s=this._pxGeometry.radius,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setRadius(s)},s.setHeight=function(t){this._halfHeight=.5*t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*i.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*i.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(this._pxGeometry);for(var s=2*this._pxGeometry.halfHeight,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setHeight(s)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored")},s.setUpAxis=function(t){var i=this._rotation,s=this._axis,o=this._physXRotation;switch(this._upAxis=t,this._upAxis){case 0:s.set(0,0,0,1);break;case 1:s.set(0,0,h.halfSqrt,h.halfSqrt);break;case 2:s.set(0,h.halfSqrt,0,h.halfSqrt)}i?(e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,o),e.Quaternion.multiply(o,s,o)):o.copyFrom(s),this._setLocalPose(),this._controllers.length>0&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored")},s.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e);var i=this._worldScale,s=this._pxGeometry;switch(this._upAxis){case 0:s.radius=this._radius*Math.max(i.y,i.z),s.halfHeight=this._halfHeight*i.x;break;case 1:s.radius=this._radius*Math.max(i.x,i.z),s.halfHeight=this._halfHeight*i.y;break;case 2:s.radius=this._radius*Math.max(i.x,i.y),s.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(s);for(var o=s.radius,n=2*s.halfHeight,r=this._controllers,a=0,l=r.length;a<l;a++){var h=r.get(a)._pxController;h&&(h.setRadius(o),h.setHeight(n))}},i}(h),p=((r={})[r.X=0]="X",r[r.Y=1]="Y",r[r.Z=2]="Z",r),u=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapeScaledPosition=new e.Vector3,this._worldPosition=null,this._physXPhysics=t}var s=t.prototype;return s.move=function(t,e,i){var s,o;return null!=(o=null==(s=this._pxController)?void 0:s.move(t,e,i))?o:0},s.setWorldPosition=function(t){this._worldPosition=t,this._updateNativePosition()},s.getWorldPosition=function(t){this._pxController&&(t.copyFrom(this._pxController.getPosition()),t.subtract(this._shapeScaledPosition))},s.setStepOffset=function(t){var e;null==(e=this._pxController)||e.setStepOffset(t)},s.setNonWalkableMode=function(t){var e;null==(e=this._pxController)||e.setNonWalkableMode(t)},s.setUpDirection=function(t){var e;null==(e=this._pxController)||e.setUpDirection(t)},s.setSlopeLimit=function(t){var e;null==(e=this._pxController)||e.setSlopeLimit(Math.cos(t*Math.PI/180))},s.addShape=function(t){var e,i;this._updateShapePosition(t._position,t._worldScale),this._pxManager&&this._createPXController(this._pxManager,t),this._shape=t,t._controllers.add(this),null==(e=this._pxController)||e.setContactOffset(t._contractOffset),null==(i=this._scene)||i._addColliderShape(t._id)},s.removeShape=function(t){var e;this._destroyPXController(),this._shape=null,t._controllers.delete(this),null==(e=this._scene)||e._removeColliderShape(t._id)},s.setCollisionLayer=function(t){var e,i=null==(e=this._pxController)?void 0:e.getActor();i&&this._physXPhysics._physX.setGroup(i,t)},s.destroy=function(){this._destroyPXController()},s._createPXController=function(t,e){var s;if(i(e,c))(s=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.y,s.halfSideExtent=e._halfSize.x,s.halfForwardExtent=e._halfSize.z,e._rotation.lengthSquared()>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored");else if(i(e,_))(s=new this._physXPhysics._physX.PxCapsuleControllerDesc).radius=e._radius,s.height=2*e._halfHeight,s.climbingMode=1,e._rotation.lengthSquared()>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored"),e._upAxis!==p.Y&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored");else throw"unsupported shape type";s.setMaterial(e._pxMaterial),this._pxController=t._getControllerManager().createController(s),s.delete(),this._pxController.setUUID(e._id),this._updateNativePosition()},s._destroyPXController=function(){this._pxController&&(this._pxController.release(),this._pxController=null)},s._updateShapePosition=function(t,i){e.Vector3.multiply(t,i,this._shapeScaledPosition),this._updateNativePosition()},s._updateNativePosition=function(){var i=this._worldPosition;this._pxController&&i&&(e.Vector3.add(i,this._shapeScaledPosition,t._tempVec),this._pxController.setPosition(t._tempVec))},t}();u._tempVec=new e.Vector3;var d=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapes=[],this._physXPhysics=t}var e=t.prototype;return e.addShape=function(t){var e;this._pxActor.attachShape(t._pxShape),this._shapes.push(t),null==(e=this._scene)||e._addColliderShape(t._id)},e.removeShape=function(t){this._pxActor.detachShape(t._pxShape,!0);var e,i=this._shapes;i.splice(i.indexOf(t),1),null==(e=this._scene)||e._removeColliderShape(t._id)},e.setWorldTransform=function(t,e){this._pxActor.setGlobalPose(this._transform(t,e),!0)},e.getWorldTransform=function(t,e){var i=this._pxActor.getGlobalPose();t.set(i.translation.x,i.translation.y,i.translation.z),e.set(i.rotation.x,i.rotation.y,i.rotation.z,i.rotation.w)},e.setCollisionLayer=function(t){this._physXPhysics._physX.setGroup(this._pxActor,t)},e.destroy=function(){this._pxActor.release()},e._transform=function(e,i){var s=t._tempTransform;return s.translation=e,s.rotation=i.normalize(),s},t}();d._tempTransform={translation:null,rotation:null};var y=/*#__PURE__*/function(t){function s(e,i,s){var o,n=(o=t.call(this,e)||this)._transform(i,s);return o._pxActor=e._pxPhysics.createRigidDynamic(n),o}o(s,t);var n=s.prototype;return n.setLinearDamping=function(t){this._pxActor.setLinearDamping(t)},n.setAngularDamping=function(t){this._pxActor.setAngularDamping(t)},n.getLinearVelocity=function(t){var e=this._pxActor.getLinearVelocity();return t.set(e.x,e.y,e.z)},n.setLinearVelocity=function(t){this._pxActor.setLinearVelocity(t,!0)},n.getAngularVelocity=function(t){var i=this._pxActor.getAngularVelocity();return t.set(e.MathUtil.radianToDegree(i.x),e.MathUtil.radianToDegree(i.y),e.MathUtil.radianToDegree(i.z))},n.setAngularVelocity=function(t){s._tempTranslation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z)),this._pxActor.setAngularVelocity(s._tempTranslation,!0)},n.setMass=function(t){this._pxActor.setMass(t)},n.getCenterOfMass=function(t){var e=this._pxActor.getCMassLocalPose().translation;return t.set(e.x,e.y,e.z)},n.setCenterOfMass=function(t){this._pxActor.setCMassLocalPose(t)},n.setInertiaTensor=function(t){this._pxActor.setMassSpaceInertiaTensor(t)},n.getInertiaTensor=function(t){var e=this._pxActor.getMassSpaceInertiaTensor();return t.set(e.x,e.y,e.z)},n.setMassAndUpdateInertia=function(t){this._pxActor.setMassAndUpdateInertia(t)},n.setMaxAngularVelocity=function(t){this._pxActor.setMaxAngularVelocity(e.MathUtil.degreeToRadian(t))},n.setMaxDepenetrationVelocity=function(t){this._pxActor.setMaxDepenetrationVelocity(t)},n.setSleepThreshold=function(t){this._pxActor.setSleepThreshold(t)},n.setSolverIterations=function(t){this._pxActor.setSolverIterationCounts(t,1)},n.setCollisionDetectionMode=function(t){var e=this._physXPhysics._physX;switch(t){case 1:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 2:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 3:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!0);break;case 0:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1)}},n.setUseGravity=function(t){this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY,!t)},n.setIsKinematic=function(t){t?this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!0):this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!1)},n.setConstraints=function(t){this._pxActor.setRigidDynamicLockFlags(t)},n.addForce=function(t){this._pxActor.addForce({x:t.x,y:t.y,z:t.z})},n.addTorque=function(t){this._pxActor.addTorque({x:t.x,y:t.y,z:t.z})},n.move=function(t,o){if(o){this._pxActor.setKinematicTarget(t,o);return}var n=s._tempTranslation,r=s._tempRotation;this.getWorldTransform(n,r),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,r):this._pxActor.setKinematicTarget(n,t)},n.sleep=function(){return this._pxActor.putToSleep()},n.isSleeping=function(){return this._pxActor.isSleeping()},n.wakeUp=function(){return this._pxActor.wakeUp()},s}(d);y._tempTranslation=new e.Vector3,y._tempRotation=new e.Quaternion;var x=function(){this._eventMap={}},f=/*#__PURE__*/function(){function t(t,e,i,s,o,n){this._physXPhysics=t;var r=t._pxPhysics.createMaterial(e,i,s);r.setFrictionCombineMode(o),r.setRestitutionCombineMode(n),this._pxMaterial=r}var e=t.prototype;return e.setBounciness=function(t){this._pxMaterial.setRestitution(t)},e.setDynamicFriction=function(t){this._pxMaterial.setDynamicFriction(t)},e.setStaticFriction=function(t){this._pxMaterial.setStaticFriction(t)},e.setBounceCombine=function(t){this._pxMaterial.setRestitutionCombineMode(t)},e.setFrictionCombine=function(t){this._pxMaterial.setFrictionCombineMode(t)},e.destroy=function(){this._pxMaterial.release()},t}(),g=/*#__PURE__*/function(){function t(t,i){var s=this;this._pxControllerManager=null,this._boxGeometry=null,this._sphereGeometry=null,this._capsuleGeometry=null,this._activeTriggers=new e.DisorderedArray,this._contactEvents=[],this._contactEventCount=0,this._triggerEvents=[],this._physicsEvents={contactEvents:[],contactEventCount:0,triggerEvents:[]},this._triggerEventPool=[],this._physXPhysics=t,this._physXManager=i;var o=t._physX;this._pxRaycastHit=new o.PxRaycastHit,this._pxFilterData=new o.PxQueryFilterData,this._pxFilterData.flags=new o.PxQueryFlags(7);var n=t._pxPhysics;this._physXSimulationCallbackInstance=o.PxSimulationEventCallback.implement({onContactBegin:function(t){s._bufferContactEvent(t,0)},onContactEnd:function(t){s._bufferContactEvent(t,2)},onContactPersist:function(t){s._bufferContactEvent(t,1)},onTriggerBegin:function(t,e){var i=t<e?s._getTrigger(t,e):s._getTrigger(e,t);i.state=0,s._activeTriggers.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var o=s._physXManager._eventMap[t];i=o[e],o[e]=void 0}else{var n=s._physXManager._eventMap[e];i=n[t],n[t]=void 0}i.state=2}});var r=o.getDefaultSceneDesc(n.getTolerancesScale(),0,this._physXSimulationCallbackInstance);this._pxScene=n.createScene(r),r.delete()}var i=t.prototype;return i.setGravity=function(t){this._pxScene.setGravity(t)},i.addCollider=function(t){t._scene=this,this._pxScene.addActor(t._pxActor,null);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._addColliderShape(e[i]._id)},i.removeCollider=function(t){t._scene=null,this._pxScene.removeActor(t._pxActor,!0);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._removeColliderShape(e[i]._id)},i.addCharacterController=function(t){if(t._scene=this,!t._pxController){var e=t._shape;if(e){var i=t._pxManager;i!==this&&(i&&t._destroyPXController(),t._createPXController(this,e)),this._addColliderShape(e._id)}}t._pxManager=this},i.removeCharacterController=function(t){t._scene=null,t._pxManager=null,t._destroyPXController();var e=t._shape;e&&this._removeColliderShape(e._id)},i.update=function(t){this._contactEventCount=0,this._simulate(t),this._fetchResults()},i.updateEvents=function(){var t=this._physicsEvents,e=this._triggerEventPool,i=this._activeTriggers,s=this._triggerEvents;return s.length=0,i.forEach(function(t,o){t.dispatchState=t.state,s.push(t),0===t.state?t.state=1:2===t.state&&(i.deleteByIndex(o),e.push(t))}),t.contactEvents=this._contactEvents,t.contactEventCount=this._contactEventCount,t.triggerEvents=s,t},i.raycast=function(e,i,s,o){var n=this._pxRaycastHit;i=Math.min(i,34e37);var r=this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return s(e)?2:0}}),a=this._pxScene.raycastSingle(e.origin,e.direction,i,n,this._pxFilterData,r);if(r.delete(),a&&void 0!=o){var l=t._tempPosition,h=t._tempNormal,c=n.position,_=n.normal;l.set(c.x,c.y,c.z),h.set(_.x,_.y,_.z),o(n.getShape().getUUID(),n.distance,l,h)}return a},i.boxCast=function(e,i,s,o,n,r,a){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var l=t._tempPose;return l.translation.copyFrom(e),l.rotation.copyFrom(i),this._sweepSingle(this._boxGeometry,l,o,n,r,a)},i.sphereCast=function(e,i,s,o,n,r){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var a=t._tempQuaternion;return a.set(0,0,0,1),this._sweepSingle(this._sphereGeometry,{translation:e,rotation:a},s,o,n,r)},i.capsuleCast=function(e,i,s,o,n,r,a,l){this._capsuleGeometry?(this._capsuleGeometry.radius=i,this._capsuleGeometry.halfHeight=.5*s):this._capsuleGeometry=new this._physXPhysics._physX.PxCapsuleGeometry(i,.5*s);var h=t._tempPose;return h.translation.copyFrom(e),h.rotation.copyFrom(o),this._sweepSingle(this._capsuleGeometry,h,n,r,a,l)},i.overlapBoxAll=function(e,i,s,o){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var n=t._tempPose;return n.translation.copyFrom(e),n.rotation.copyFrom(i),this._overlapMultiple(this._boxGeometry,n,o)},i.overlapSphereAll=function(e,i,s){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var o=t._tempQuaternion;return 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null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},i._addColliderShape=function(t){this._physXManager._eventMap[t]=Object.create(null)},i._removeColliderShape=function(t){var e=this._triggerEventPool,i=this._activeTriggers,s=this._physXManager._eventMap;i.forEach(function(o,n){o.index1==t?(i.deleteByIndex(n),e.push(o)):o.index2==t&&(i.deleteByIndex(n),e.push(o),s[o.index1][t]=void 0)}),delete s[t]},i._sweepSingle=function(e,i,s,o,n,r){o=Math.min(o,34e37);var a=this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return n(e)?2:0}}),l=new this._physXPhysics._physX.PxSweepHit,h=this._pxScene.sweepSingle(e,i,s,o,l,this._pxFilterData,a);if(h&&void 0!=r){var c=t._tempPosition,_=t._tempNormal,p=l.position,u=l.normal;c.set(p.x,p.y,p.z),_.set(u.x,u.y,u.z),r(l.getShape().getUUID(),l.distance,c,_)}return a.delete(),l.delete(),h},i._overlapMultiple=function(e,i,s){var 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e;null==(e=this._pxMesh)||e.release(),t.prototype.destroy.call(this)},n._cookMesh=function(t,o,n){var r=this._physXPhysics,a=r._physX,l=r._pxPhysics,h=r._pxCooking,c=r._pxCookingParams,_=0;n&e.MeshColliderShapeCookingFlag.VertexWelding&&(_|=1),n&e.MeshColliderShapeCookingFlag.Cleaning||(_|=2),a.setCookingMeshPreprocessParams(c,_),h.setParams(c);var p=this._allocatePositions(t);if(this._isConvex){if(this._pxMesh=h.createConvexMesh(p,t.length,l),a._free(p),!this._pxMesh)return this._logConvexCookingError(a),!1}else{if(!o)return a._free(p),console.error("PhysXMeshColliderShape: Triangle mesh requires indices."),!1;var u=i(o,Uint32Array),d=this._allocateIndices(o,u);if(this._pxMesh=h.createTriMesh(p,t.length,d,o.length/3,!u,l),a._free(p),a._free(d),!this._pxMesh)return this._logTriMeshCookingError(a),!1}var y=this._worldScale,x=y.x,f=y.y,g=y.z,m=this._isConvex?s._tightBoundsFlag:0;return this._pxGeometry=this._isConvex?a.createConvexMeshGeometry(this._pxMesh,x,f,g,m):a.createTriMeshGeometry(this._pxMesh,x,f,g,m),!0},n._logConvexCookingError=function(t){switch(t.getLastConvexCookingResult()){case 1:console.error("PhysXMeshColliderShape: Failed to create convex mesh. 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e.DisorderedArray,this._contractOffset=.02,this._worldScale=new e.Vector3(1,1,1),this._position=new e.Vector3,this._rotation=new e.Vector3,this._axis=null,this._physXRotation=new e.Quaternion,this._shapeFlags=3,this._physXPhysics=t}var i=t.prototype;return i.setRotation=function(t){var i=this._rotation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z));e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,this._physXRotation),this._axis&&e.Quaternion.multiply(this._physXRotation,this._axis,this._physXRotation),this._physXRotation.normalize(),this._setLocalPose()},i.setPosition=function(t){t!==this._position&&this._position.copyFrom(t);for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale);this._setLocalPose()},i.setWorldScale=function(t){this._worldScale.set(Math.abs(t.x),Math.abs(t.y),Math.abs(t.z)),this._setLocalPose();for(var e=this._controllers,i=0,s=e.length;i<s;i++)e.get(i)._updateShapePosition(this._position,this._worldScale)},i.setContactOffset=function(t){this._contractOffset=t;var e=this._controllers;if(e.length)for(var i,s=0,o=e.length;s<o;s++)null==(i=e.get(s)._pxController)||i.setContactOffset(t);else this._pxShape.setContactOffset(t)},i.setMaterial=function(t){this._pxMaterial=t._pxMaterial,this._pxShape.setMaterial(this._pxMaterial)},i.setIsTrigger=function(t){this._modifyFlag(1,!t),this._modifyFlag(4,t),this._setShapeFlags(this._shapeFlags)},i.pointDistance=function(e){var i=this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(),e),s=i.closestPoint,o=t._tempVector4;return o.set(s.x,s.y,s.z,i.distance),o},i.destroy=function(){var t;this._pxShape.release(),null==(t=this._pxGeometry)||t.delete()},i._setShapeFlags=function(t){this._shapeFlags=t;var e=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape.setFlags(e),e.delete()},i._setLocalPose=function(){var i=t.transform;e.Vector3.multiply(this._position,this._worldScale,i.translation),i.rotation=this._physXRotation,this._pxShape.setLocalPose(i)},i._initialize=function(t,e){this._id=e,this._pxMaterial=t._pxMaterial;var i=new this._physXPhysics._physX.PxShapeFlags(this._shapeFlags);this._pxShape=this._physXPhysics._pxPhysics.createShape(this._pxGeometry,t._pxMaterial,!0,i),i.delete(),this._pxShape.setUUID(e)},i._modifyFlag=function(t,e){this._shapeFlags=e?this._shapeFlags|t:this._shapeFlags&~t},t}();h.halfSqrt=.70710678118655,h.transform={translation:new e.Vector3,rotation:null},h._tempVector4=new e.Vector4;var c=/*#__PURE__*/function(t){function i(i,s,o,n){(r=t.call(this,i)||this)._halfSize=new e.Vector3;var r,a=r._halfSize;return a.set(.5*o.x,.5*o.y,.5*o.z),r._pxGeometry=new i._physX.PxBoxGeometry(a.x,a.y,a.z),r._initialize(n,s),r._setLocalPose(),r}o(i,t);var s=i.prototype;return s.setSize=function(t){var s=this._halfSize,o=i._tempHalfExtents;s.set(.5*t.x,.5*t.y,.5*t.z),e.Vector3.multiply(s,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored")},s.setWorldScale=function(s){t.prototype.setWorldScale.call(this,s);var o=i._tempHalfExtents;e.Vector3.multiply(this._halfSize,this._worldScale,o),this._pxGeometry.halfExtents=o,this._pxShape.setGeometry(this._pxGeometry),this._updateController(o)},s._updateController=function(t){for(var e=this._controllers,i=0,s=e.length;i<s;i++){var o=e.get(i)._pxController;o&&(o.setHalfHeight(t.y),o.setHalfSideExtent(t.x),o.setHalfForwardExtent(t.z))}},i}(h);c._tempHalfExtents=new e.Vector3;var _=/*#__PURE__*/function(t){function i(i,s,o,n,r){var a;return(a=t.call(this,i)||this)._upAxis=1,a._radius=o,a._halfHeight=.5*n,a._axis=new e.Quaternion(0,0,h.halfSqrt,h.halfSqrt),a._physXRotation.copyFrom(a._axis),a._pxGeometry=new i._physX.PxCapsuleGeometry(o,a._halfHeight),a._initialize(r,s),a._setLocalPose(),a}o(i,t);var s=i.prototype;return s.setRadius=function(t){this._radius=t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.radius=this._radius*Math.max(i.y,i.z);break;case 1:this._pxGeometry.radius=this._radius*Math.max(i.x,i.z);break;case 2:this._pxGeometry.radius=this._radius*Math.max(i.x,i.y)}this._pxShape.setGeometry(this._pxGeometry);for(var s=this._pxGeometry.radius,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setRadius(s)},s.setHeight=function(t){this._halfHeight=.5*t;var e,i=this._worldScale;switch(this._upAxis){case 0:this._pxGeometry.halfHeight=this._halfHeight*i.x;break;case 1:this._pxGeometry.halfHeight=this._halfHeight*i.y;break;case 2:this._pxGeometry.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(this._pxGeometry);for(var s=2*this._pxGeometry.halfHeight,o=this._controllers,n=0,r=o.length;n<r;n++)null==(e=o.get(n)._pxController)||e.setHeight(s)},s.setRotation=function(e){t.prototype.setRotation.call(this,e),this._controllers.length>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored")},s.setUpAxis=function(t){var i=this._rotation,s=this._axis,o=this._physXRotation;switch(this._upAxis=t,this._upAxis){case 0:s.set(0,0,0,1);break;case 1:s.set(0,0,h.halfSqrt,h.halfSqrt);break;case 2:s.set(0,h.halfSqrt,0,h.halfSqrt)}i?(e.Quaternion.rotationYawPitchRoll(i.y,i.x,i.z,o),e.Quaternion.multiply(o,s,o)):o.copyFrom(s),this._setLocalPose(),this._controllers.length>0&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored")},s.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e);var i=this._worldScale,s=this._pxGeometry;switch(this._upAxis){case 0:s.radius=this._radius*Math.max(i.y,i.z),s.halfHeight=this._halfHeight*i.x;break;case 1:s.radius=this._radius*Math.max(i.x,i.z),s.halfHeight=this._halfHeight*i.y;break;case 2:s.radius=this._radius*Math.max(i.x,i.y),s.halfHeight=this._halfHeight*i.z}this._pxShape.setGeometry(s);for(var o=s.radius,n=2*s.halfHeight,r=this._controllers,a=0,l=r.length;a<l;a++){var h=r.get(a)._pxController;h&&(h.setRadius(o),h.setHeight(n))}},i}(h),p=((r={})[r.X=0]="X",r[r.Y=1]="Y",r[r.Z=2]="Z",r),u=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapeScaledPosition=new e.Vector3,this._worldPosition=null,this._physXPhysics=t}var s=t.prototype;return s.move=function(t,e,i){var s,o;return null!=(o=null==(s=this._pxController)?void 0:s.move(t,e,i))?o:0},s.setWorldPosition=function(t){this._worldPosition=t,this._updateNativePosition()},s.getWorldPosition=function(t){this._pxController&&(t.copyFrom(this._pxController.getPosition()),t.subtract(this._shapeScaledPosition))},s.setStepOffset=function(t){var e;null==(e=this._pxController)||e.setStepOffset(t)},s.setNonWalkableMode=function(t){var e;null==(e=this._pxController)||e.setNonWalkableMode(t)},s.setUpDirection=function(t){var e;null==(e=this._pxController)||e.setUpDirection(t)},s.setSlopeLimit=function(t){var e;null==(e=this._pxController)||e.setSlopeLimit(Math.cos(t*Math.PI/180))},s.addShape=function(t){var e,i;this._updateShapePosition(t._position,t._worldScale),this._pxManager&&this._createPXController(this._pxManager,t),this._shape=t,t._controllers.add(this),null==(e=this._pxController)||e.setContactOffset(t._contractOffset),null==(i=this._scene)||i._addColliderShape(t._id)},s.removeShape=function(t){var e;this._destroyPXController(),this._shape=null,t._controllers.delete(this),null==(e=this._scene)||e._removeColliderShape(t._id)},s.setCollisionLayer=function(t){var e,i=null==(e=this._pxController)?void 0:e.getActor();i&&this._physXPhysics._physX.setGroup(i,t)},s.destroy=function(){this._destroyPXController()},s._createPXController=function(t,e){var s;if(i(e,c))(s=new this._physXPhysics._physX.PxBoxControllerDesc).halfHeight=e._halfSize.y,s.halfSideExtent=e._halfSize.x,s.halfForwardExtent=e._halfSize.z,e._rotation.lengthSquared()>0&&console.warn("Box character controller `rotation` is not supported in PhysX and will be ignored");else if(i(e,_))(s=new this._physXPhysics._physX.PxCapsuleControllerDesc).radius=e._radius,s.height=2*e._halfHeight,s.climbingMode=1,e._rotation.lengthSquared()>0&&console.warn("Capsule character controller `rotation` is not supported in PhysX and will be ignored"),e._upAxis!==p.Y&&console.warn("Capsule character controller `upAxis` is not supported in PhysX and will be ignored");else throw"unsupported shape type";s.setMaterial(e._pxMaterial),this._pxController=t._getControllerManager().createController(s),s.delete(),this._pxController.setUUID(e._id),this._updateNativePosition()},s._destroyPXController=function(){this._pxController&&(this._pxController.release(),this._pxController=null)},s._updateShapePosition=function(t,i){e.Vector3.multiply(t,i,this._shapeScaledPosition),this._updateNativePosition()},s._updateNativePosition=function(){var i=this._worldPosition;this._pxController&&i&&(e.Vector3.add(i,this._shapeScaledPosition,t._tempVec),this._pxController.setPosition(t._tempVec))},t}();u._tempVec=new e.Vector3;var d=/*#__PURE__*/function(){function t(t){this._scene=null,this._shapes=[],this._physXPhysics=t}var e=t.prototype;return e.addShape=function(t){var e;this._pxActor.attachShape(t._pxShape),this._shapes.push(t),null==(e=this._scene)||e._addColliderShape(t._id)},e.removeShape=function(t){this._pxActor.detachShape(t._pxShape,!0);var e,i=this._shapes;i.splice(i.indexOf(t),1),null==(e=this._scene)||e._removeColliderShape(t._id)},e.setWorldTransform=function(t,e){this._pxActor.setGlobalPose(this._transform(t,e),!0)},e.getWorldTransform=function(t,e){var i=this._pxActor.getGlobalPose();t.set(i.translation.x,i.translation.y,i.translation.z),e.set(i.rotation.x,i.rotation.y,i.rotation.z,i.rotation.w)},e.setCollisionLayer=function(t){this._physXPhysics._physX.setGroup(this._pxActor,t)},e.destroy=function(){this._pxActor.release()},e._transform=function(e,i){var s=t._tempTransform;return s.translation=e,s.rotation=i.normalize(),s},t}();d._tempTransform={translation:null,rotation:null};var y=/*#__PURE__*/function(t){function s(e,i,s){var o,n=(o=t.call(this,e)||this)._transform(i,s);return o._pxActor=e._pxPhysics.createRigidDynamic(n),o}o(s,t);var n=s.prototype;return n.setLinearDamping=function(t){this._pxActor.setLinearDamping(t)},n.setAngularDamping=function(t){this._pxActor.setAngularDamping(t)},n.getLinearVelocity=function(t){var e=this._pxActor.getLinearVelocity();return t.set(e.x,e.y,e.z)},n.setLinearVelocity=function(t){this._pxActor.setLinearVelocity(t,!0)},n.getAngularVelocity=function(t){var i=this._pxActor.getAngularVelocity();return t.set(e.MathUtil.radianToDegree(i.x),e.MathUtil.radianToDegree(i.y),e.MathUtil.radianToDegree(i.z))},n.setAngularVelocity=function(t){s._tempTranslation.set(e.MathUtil.degreeToRadian(t.x),e.MathUtil.degreeToRadian(t.y),e.MathUtil.degreeToRadian(t.z)),this._pxActor.setAngularVelocity(s._tempTranslation,!0)},n.setMass=function(t){this._pxActor.setMass(t)},n.getCenterOfMass=function(t){var e=this._pxActor.getCMassLocalPose().translation;return t.set(e.x,e.y,e.z)},n.setCenterOfMass=function(t){this._pxActor.setCMassLocalPose(t)},n.setInertiaTensor=function(t){this._pxActor.setMassSpaceInertiaTensor(t)},n.getInertiaTensor=function(t){var e=this._pxActor.getMassSpaceInertiaTensor();return t.set(e.x,e.y,e.z)},n.setMassAndUpdateInertia=function(t){this._pxActor.setMassAndUpdateInertia(t)},n.setMaxAngularVelocity=function(t){this._pxActor.setMaxAngularVelocity(e.MathUtil.degreeToRadian(t))},n.setMaxDepenetrationVelocity=function(t){this._pxActor.setMaxDepenetrationVelocity(t)},n.setSleepThreshold=function(t){this._pxActor.setSleepThreshold(t)},n.setSolverIterations=function(t){this._pxActor.setSolverIterationCounts(t,1)},n.setCollisionDetectionMode=function(t){var e=this._physXPhysics._physX;switch(t){case 1:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 2:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!0),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1);break;case 3:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!0);break;case 0:this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_CCD_FRICTION,!1),this._pxActor.setRigidBodyFlag(e.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD,!1)}},n.setUseGravity=function(t){this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY,!t)},n.setIsKinematic=function(t){t?this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!0):this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC,!1)},n.setConstraints=function(t){this._pxActor.setRigidDynamicLockFlags(t)},n.addForce=function(t){this._pxActor.addForce({x:t.x,y:t.y,z:t.z})},n.addTorque=function(t){this._pxActor.addTorque({x:t.x,y:t.y,z:t.z})},n.move=function(t,o){if(o){this._pxActor.setKinematicTarget(t,o);return}var n=s._tempTranslation,r=s._tempRotation;this.getWorldTransform(n,r),i(t,e.Vector3)?this._pxActor.setKinematicTarget(t,r):this._pxActor.setKinematicTarget(n,t)},n.sleep=function(){return this._pxActor.putToSleep()},n.isSleeping=function(){return this._pxActor.isSleeping()},n.wakeUp=function(){return this._pxActor.wakeUp()},s}(d);y._tempTranslation=new e.Vector3,y._tempRotation=new e.Quaternion;var x=function(){this._eventMap={}},f=/*#__PURE__*/function(){function t(t,e,i,s,o,n){this._physXPhysics=t;var r=t._pxPhysics.createMaterial(e,i,s);r.setFrictionCombineMode(o),r.setRestitutionCombineMode(n),this._pxMaterial=r}var e=t.prototype;return e.setBounciness=function(t){this._pxMaterial.setRestitution(t)},e.setDynamicFriction=function(t){this._pxMaterial.setDynamicFriction(t)},e.setStaticFriction=function(t){this._pxMaterial.setStaticFriction(t)},e.setBounceCombine=function(t){this._pxMaterial.setRestitutionCombineMode(t)},e.setFrictionCombine=function(t){this._pxMaterial.setFrictionCombineMode(t)},e.destroy=function(){this._pxMaterial.release()},t}(),g=/*#__PURE__*/function(){function t(t,i){var s=this;this._pxControllerManager=null,this._boxGeometry=null,this._sphereGeometry=null,this._capsuleGeometry=null,this._activeTriggers=new e.DisorderedArray,this._contactEvents=[],this._contactEventCount=0,this._triggerEvents=[],this._physicsEvents={contactEvents:[],contactEventCount:0,triggerEvents:[]},this._triggerEventPool=[],this._physXPhysics=t,this._physXManager=i;var o=t._physX;this._pxRaycastHit=new o.PxRaycastHit,this._pxFilterData=new o.PxQueryFilterData,this._pxFilterData.flags=new o.PxQueryFlags(7);var n=t._pxPhysics;this._physXSimulationCallbackInstance=o.PxSimulationEventCallback.implement({onContactBegin:function(t){s._bufferContactEvent(t,0)},onContactEnd:function(t){s._bufferContactEvent(t,2)},onContactPersist:function(t){s._bufferContactEvent(t,1)},onTriggerBegin:function(t,e){var i=t<e?s._getTrigger(t,e):s._getTrigger(e,t);i.state=0,s._activeTriggers.add(i)},onTriggerEnd:function(t,e){var i;if(t<e){var o=s._physXManager._eventMap[t];i=o[e],o[e]=void 0}else{var n=s._physXManager._eventMap[e];i=n[t],n[t]=void 0}i.state=2}});var r=o.getDefaultSceneDesc(n.getTolerancesScale(),0,this._physXSimulationCallbackInstance);this._pxScene=n.createScene(r),r.delete()}var i=t.prototype;return i.setGravity=function(t){this._pxScene.setGravity(t)},i.addCollider=function(t){t._scene=this,this._pxScene.addActor(t._pxActor,null);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._addColliderShape(e[i]._id)},i.removeCollider=function(t){t._scene=null,this._pxScene.removeActor(t._pxActor,!0);for(var e=t._shapes,i=0,s=e.length;i<s;i++)this._removeColliderShape(e[i]._id)},i.addCharacterController=function(t){if(t._scene=this,!t._pxController){var e=t._shape;if(e){var i=t._pxManager;i!==this&&(i&&t._destroyPXController(),t._createPXController(this,e)),this._addColliderShape(e._id)}}t._pxManager=this},i.removeCharacterController=function(t){t._scene=null,t._pxManager=null,t._destroyPXController();var e=t._shape;e&&this._removeColliderShape(e._id)},i.update=function(t){this._contactEventCount=0,this._simulate(t),this._fetchResults()},i.updateEvents=function(){var t=this._physicsEvents,e=this._triggerEventPool,i=this._activeTriggers,s=this._triggerEvents;return s.length=0,i.forEach(function(t,o){t.dispatchState=t.state,s.push(t),0===t.state?t.state=1:2===t.state&&(i.deleteByIndex(o),e.push(t))}),t.contactEvents=this._contactEvents,t.contactEventCount=this._contactEventCount,t.triggerEvents=s,t},i.raycast=function(e,i,s,o){var n=this._pxRaycastHit;i=Math.min(i,34e37);var r=this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return s(e)?2:0}}),a=this._pxScene.raycastSingle(e.origin,e.direction,i,n,this._pxFilterData,r);if(r.delete(),a&&void 0!=o){var l=t._tempPosition,h=t._tempNormal,c=n.position,_=n.normal;l.set(c.x,c.y,c.z),h.set(_.x,_.y,_.z),o(n.getShape().getUUID(),n.distance,l,h)}return a},i.boxCast=function(e,i,s,o,n,r,a){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var l=t._tempPose;return l.translation.copyFrom(e),l.rotation.copyFrom(i),this._sweepSingle(this._boxGeometry,l,o,n,r,a)},i.sphereCast=function(e,i,s,o,n,r){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var a=t._tempQuaternion;return a.set(0,0,0,1),this._sweepSingle(this._sphereGeometry,{translation:e,rotation:a},s,o,n,r)},i.capsuleCast=function(e,i,s,o,n,r,a,l){this._capsuleGeometry?(this._capsuleGeometry.radius=i,this._capsuleGeometry.halfHeight=.5*s):this._capsuleGeometry=new this._physXPhysics._physX.PxCapsuleGeometry(i,.5*s);var h=t._tempPose;return h.translation.copyFrom(e),h.rotation.copyFrom(o),this._sweepSingle(this._capsuleGeometry,h,n,r,a,l)},i.overlapBoxAll=function(e,i,s,o){this._boxGeometry?this._boxGeometry.halfExtents=s:this._boxGeometry=new this._physXPhysics._physX.PxBoxGeometry(s.x,s.y,s.z);var n=t._tempPose;return n.translation.copyFrom(e),n.rotation.copyFrom(i),this._overlapMultiple(this._boxGeometry,n,o)},i.overlapSphereAll=function(e,i,s){this._sphereGeometry?this._sphereGeometry.radius=i:this._sphereGeometry=new this._physXPhysics._physX.PxSphereGeometry(i);var o=t._tempQuaternion;return o.set(0,0,0,1),this._overlapMultiple(this._sphereGeometry,{translation:e,rotation:o},s)},i.overlapCapsuleAll=function(e,i,s,o,n){this._capsuleGeometry?(this._capsuleGeometry.radius=i,this._capsuleGeometry.halfHeight=.5*s):this._capsuleGeometry=new this._physXPhysics._physX.PxCapsuleGeometry(i,.5*s);var r=t._tempPose;return r.translation.copyFrom(e),r.rotation.copyFrom(o),this._overlapMultiple(this._capsuleGeometry,r,n)},i.gc=function(){this._contactEvents.length=this._contactEventCount},i.destroy=function(){var t,e,i,s;null==(t=this._boxGeometry)||t.delete(),null==(e=this._sphereGeometry)||e.delete(),null==(i=this._capsuleGeometry)||i.delete(),this._physXSimulationCallbackInstance.delete(),this._pxRaycastHit.delete(),this._pxFilterData.flags.delete(),this._pxFilterData.delete(),null==(s=this._pxControllerManager)||s.release(),this._pxScene.release()},i._getControllerManager=function(){var t=this._pxControllerManager;return null===t&&(this._pxControllerManager=t=this._pxScene.createControllerManager()),t},i._addColliderShape=function(t){this._physXManager._eventMap[t]=Object.create(null)},i._removeColliderShape=function(t){var e=this._triggerEventPool,i=this._activeTriggers,s=this._physXManager._eventMap;i.forEach(function(o,n){o.index1==t?(i.deleteByIndex(n),e.push(o)):o.index2==t&&(i.deleteByIndex(n),e.push(o),s[o.index1][t]=void 0)}),delete s[t]},i._sweepSingle=function(e,i,s,o,n,r){o=Math.min(o,34e37);var a=this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return n(e)?2:0}}),l=new this._physXPhysics._physX.PxSweepHit,h=this._pxScene.sweepSingle(e,i,s,o,l,this._pxFilterData,a);if(h&&void 0!=r){var c=t._tempPosition,_=t._tempNormal,p=l.position,u=l.normal;c.set(p.x,p.y,p.z),_.set(u.x,u.y,u.z),r(l.getShape().getUUID(),l.distance,c,_)}return a.delete(),l.delete(),h},i._overlapMultiple=function(e,i,s){var o=this._physXPhysics._physX.PxQueryFilterCallback.implement({preFilter:function(t,e,i){return s(e)?2:0}}),n=this._pxScene.overlapMultiple(e,i,256,this._pxFilterData,o),r=t._tempShapeIDs;if(r.length=0,n)for(var a=0,l=n.size();a<l;a++)r.push(n.get(a).getShape().getUUID());return o.delete(),null==n||n.delete(),r},i._simulate=function(t){this._pxScene.simulate(t,!0)},i._fetchResults=function(t){void 0===t&&(t=!0),this._pxScene.fetchResults(t)},i._getTrigger=function(t,e){var i;return this._triggerEventPool.length?((i=this._triggerEventPool.pop()).index1=t,i.index2=e):i=new m(t,e),this._physXManager._eventMap[t][e]=i,i},i._bufferContactEvent=function(t,e){var i=this._contactEventCount++,s=(l=this._contactEvents)[i]||(l[i]=new S);s.shape0Id=t.shape0Id,s.shape1Id=t.shape1Id,s.state=e;var o=t.getContacts(),n=o.size(),r=s._bufferedContacts;r.contactCount=n;for(var a=0;a<n;a++){var l,h,c,_=o.get(a),p=(h=r.contacts)[c=a]||(h[c]=new v);p.position.copyFrom(_.position),p.normal.copyFrom(_.normal),p.impulse.copyFrom(_.impulse),p.separation=_.separation}},t}();g._tempPosition=new e.Vector3,g._tempQuaternion=new e.Quaternion,g._tempNormal=new e.Vector3,g._tempPose={translation:new e.Vector3,rotation:new e.Quaternion},g._tempShapeIDs=[];var m=function(t,e){this.index1=t,this.index2=e},v=function(){this.position=new e.Vector3,this.normal=new e.Vector3,this.impulse=new e.Vector3,this.separation=0},C=/*#__PURE__*/function(){function t(){this.contactCount=0,this.contacts=[]}var e=t.prototype;return e.size=function(){return this.contactCount},e.get=function(t){return this.contacts[t]},t}(),S=/*#__PURE__*/function(){function t(){this._bufferedContacts=new C}return t.prototype.getContacts=function(){return this._bufferedContacts},function(t,e){for(var i=0;i<e.length;i++){var s=e[i];s.enumerable=s.enumerable||!1,s.configurable=!0,"value"in s&&(s.writable=!0),Object.defineProperty(t,s.key,s)}}(t.prototype,[{key:"contactCount",get:function(){return this._bufferedContacts.contactCount}}]),t}(),P=/*#__PURE__*/function(t){function e(e,i,s){var o;return(o=t.call(this,e)||this)._pxActor=e._pxPhysics.createRigidStatic(o._transform(i,s)),o}return o(e,t),e}(d),M=((a={})[a.Auto=0]="Auto",a[a.WebAssembly=1]="WebAssembly",a[a.WebAssemblySIMD=2]="WebAssemblySIMD",a),A=/*#__PURE__*/function(){function t(t){this._rotation=new e.Quaternion,this._breakForce=Number.MAX_VALUE,this._breakTorque=Number.MAX_VALUE,this._physXPhysics=t}var i=t.prototype;return i.setConnectedCollider=function(t){var e;this._pxJoint.setActors((null==(e=this._collider)?void 0:e._pxActor)||null,(null==t?void 0:t._pxActor)||null)},i.setAnchor=function(e){this._setLocalPose(0,e,t._defaultQuat),this._anchor=e},i.setConnectedAnchor=function(t){this._setLocalPose(1,t,this._rotation),this._connectedAnchor=t},i.setRotation=function(t){this._setLocalPose(1,this._connectedAnchor,t),this._rotation.copyFrom(t)},i.setMassScale=function(t){this._pxJoint.setInvMassScale0(1/t)},i.setConnectedMassScale=function(t){this._pxJoint.setInvMassScale1(1/t)},i.setInertiaScale=function(t){this._pxJoint.setInvInertiaScale0(t)},i.setConnectedInertiaScale=function(t){this._pxJoint.setInvInertiaScale1(t)},i.setBreakForce=function(t){this._breakForce=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i.setBreakTorque=function(t){this._breakTorque=t,this._pxJoint.setBreakForce(this._breakForce,this._breakTorque)},i.destroy=function(){this._pxJoint&&(this._pxJoint.release(),this._collider=null)},i._setLocalPose=function(t,e,i){this._pxJoint.setLocalPose(t,e,i)},t}();A._defaultVec=new e.Vector3,A._defaultQuat=new e.Quaternion;var w=/*#__PURE__*/function(t){function e(e,i){var s;return(s=t.call(this,e)||this)._collider=i,s._pxJoint=e._pxPhysics.createFixedJoint(i._pxActor,A._defaultVec,A._defaultQuat,null,A._defaultVec,A._defaultQuat),s}return o(e,t),e}(A),F=/*#__PURE__*/function(t){function i(i,s){var o;return(o=t.call(this,i)||this)._axisRotationQuaternion=new e.Quaternion,o._connectedAxisRotationQuaternion=new e.Quaternion,o._collider=s,o._pxJoint=i._pxPhysics.createRevoluteJoint(s._pxActor,A._defaultVec,A._defaultQuat,null,A._defaultVec,A._defaultQuat),o}o(i,t);var s=i.prototype;return s.setRotation=function(t){var e=this._axis;this._rotation.copyFrom(t),e&&this.setAxis(e)},s.setAxis=function(t){this._axis=t;var s=i._xAxis,o=this._axisRotationQuaternion;s.set(1,0,0);var n=Math.acos(e.Vector3.dot(s,t));e.Vector3.cross(s,t,s),e.Quaternion.rotationAxisAngle(s,n,o),this._setLocalPose(0,this._anchor,o);var r=this._connectedAxisRotationQuaternion;e.Quaternion.multiply(this._rotation,o,r),this._setLocalPose(1,this._connectedAnchor,r)},s.setAnchor=function(t){this._setLocalPose(0,t,this._axisRotationQuaternion),this._anchor=t},s.setConnectedAnchor=function(t){this._setLocalPose(1,t,this._connectedAxisRotationQuaternion),this._connectedAnchor=t},s.getAngle=function(){return e.MathUtil.radianToDegree(this._pxJoint.getAngle())},s.getVelocity=function(){return this._pxJoint.getVelocity()},s.setHardLimit=function(t,i,s){this._pxJoint.setHardLimit(e.MathUtil.degreeToRadian(t),e.MathUtil.degreeToRadian(i),s)},s.setSoftLimit=function(t,i,s,o){this._pxJoint.setSoftLimit(e.MathUtil.degreeToRadian(t),e.MathUtil.degreeToRadian(i),s,o)},s.setDriveVelocity=function(t,e){void 0===e&&(e=!0),this._pxJoint.setDriveVelocity(t,e)},s.setDriveForceLimit=function(t){this._pxJoint.setDriveForceLimit(t)},s.setDriveGearRatio=function(t){this._pxJoint.setDriveGearRatio(t)},s.setHingeJointFlag=function(t,e){this._pxJoint.setRevoluteJointFlag(t,e)},i}(A);F._xAxis=new e.Vector3(1,0,0);var E=/*#__PURE__*/function(t){function e(e,i){var s;return(s=t.call(this,e)||this)._collider=i,s._pxJoint=e._pxPhysics.createDistanceJoint(null,A._defaultVec,A._defaultQuat,i._pxActor,A._defaultVec,A._defaultQuat),s._pxJoint.setDistanceJointFlag(2,!0),s._pxJoint.setDistanceJointFlag(4,!0),s._pxJoint.setDistanceJointFlag(8,!0),s}o(e,t);var i=e.prototype;return i.setMinDistance=function(t){this._pxJoint.setMinDistance(t)},i.setMaxDistance=function(t){this._pxJoint.setMaxDistance(t)},i.setTolerance=function(t){this._pxJoint.setTolerance(t)},i.setStiffness=function(t){this._pxJoint.setStiffness(t)},i.setDamping=function(t){this._pxJoint.setDamping(t)},e}(A),b=/*#__PURE__*/function(t){function s(e,i,o,n,r,a,h){if((c=t.call(this,e)||this)._pxMesh=null,c._isConvex=r,!c._cookMesh(o,n,h))return function(t){if(void 0===t)throw ReferenceError("this hasn't been initialised - super() hasn't been called");return t}(c);var c,_=e._physX,p=e._pxPhysics,u=c._worldScale,d=u.x,y=u.y,x=u.z,f=l.SCENE_QUERY_SHAPE|l.SIMULATION_SHAPE,g=r?s._tightBoundsFlag:0,m=r?_.createConvexMeshShape:_.createTriMeshShape;return c._pxShape=m(c._pxMesh,d,y,x,g,f,a._pxMaterial,p),c._id=i,c._pxMaterial=a._pxMaterial,c._pxShape.setUUID(i),c._setLocalPose(),c}o(s,t);var n=s.prototype;return n.setMeshData=function(t,e,i,s){var o,n;return null==(o=this._pxMesh)||o.release(),null==(n=this._pxGeometry)||n.delete(),this._pxMesh=null,this._pxGeometry=null,this._isConvex=i,!!this._cookMesh(t,e,s)&&(this._pxShape.setGeometry(this._pxGeometry),!0)},n.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e),this._updateGeometry()},n.destroy=function(){var e;null==(e=this._pxMesh)||e.release(),t.prototype.destroy.call(this)},n._cookMesh=function(t,o,n){var r=this._physXPhysics,a=r._physX,l=r._pxPhysics,h=r._pxCooking,c=r._pxCookingParams,_=0;n&e.MeshColliderShapeCookingFlag.VertexWelding&&(_|=1),n&e.MeshColliderShapeCookingFlag.Cleaning||(_|=2),a.setCookingMeshPreprocessParams(c,_),h.setParams(c);var p=this._allocatePositions(t);if(this._isConvex){if(this._pxMesh=h.createConvexMesh(p,t.length,l),a._free(p),!this._pxMesh)return this._logConvexCookingError(a),!1}else{if(!o)return a._free(p),console.error("PhysXMeshColliderShape: Triangle mesh requires indices."),!1;var u=i(o,Uint32Array),d=this._allocateIndices(o,u);if(this._pxMesh=h.createTriMesh(p,t.length,d,o.length/3,!u,l),a._free(p),a._free(d),!this._pxMesh)return this._logTriMeshCookingError(a),!1}var y=this._worldScale,x=y.x,f=y.y,g=y.z,m=this._isConvex?s._tightBoundsFlag:0;return this._pxGeometry=this._isConvex?a.createConvexMeshGeometry(this._pxMesh,x,f,g,m):a.createTriMeshGeometry(this._pxMesh,x,f,g,m),!0},n._logConvexCookingError=function(t){switch(t.getLastConvexCookingResult()){case 1:console.error("PhysXMeshColliderShape: Failed to create convex mesh. Could not find 4 vertices that do not form a zero-area triangle.");break;case 2:console.error("PhysXMeshColliderShape: Failed to create convex mesh within the maximum polygons limit (256). Consider simplifying the mesh.");break;default:console.error("PhysXMeshColliderShape: Failed to create convex mesh. The input geometry may be invalid.")}},n._logTriMeshCookingError=function(t){1===t.getLastTriMeshCookingResult()?console.error("PhysXMeshColliderShape: Failed to create triangle mesh. One of the triangles is too large. Consider tessellating large triangles."):console.error("PhysXMeshColliderShape: Failed to create triangle mesh. The input geometry may be invalid.")},n._allocatePositions=function(t){for(var e=this._physXPhysics._physX,i=t.length,s=e._malloc(12*i),o=new Float32Array(e.HEAPF32.buffer,s,3*i),n=0,r=0;n<i;n++,r+=3)t[n].copyToArray(o,r);return s},n._allocateIndices=function(t,e){var i=this._physXPhysics._physX,s=e?Uint32Array:Uint16Array,o=e?i.HEAPU32:i.HEAPU16,n=i._malloc(t.length*s.BYTES_PER_ELEMENT);return new s(o.buffer,n,t.length).set(t),n},n._updateGeometry=function(){if(this._pxMesh){var t=this._physXPhysics._physX,e=this._worldScale,i=e.x,o=e.y,n=e.z,r=this._isConvex?s._tightBoundsFlag:0,a=this._isConvex?t.createConvexMeshGeometry(this._pxMesh,i,o,n,r):t.createTriMeshGeometry(this._pxMesh,i,o,n,r);this._pxGeometry.delete(),this._pxGeometry=a,this._pxShape.setGeometry(this._pxGeometry)}},s}(h);b._tightBoundsFlag=1;var X=/*#__PURE__*/function(t){function i(i,s,o){var n;return(n=t.call(this,i)||this)._axis=new e.Quaternion(0,0,h.halfSqrt,h.halfSqrt),n._physXRotation.copyFrom(n._axis),n._pxGeometry=new i._physX.PxPlaneGeometry,n._initialize(o,s),n._setLocalPose(),n}return o(i,t),i}(h),G=/*#__PURE__*/function(t){function e(e,i,s,o){var n;return(n=t.call(this,e)||this)._maxScale=1,n._radius=s,n._pxGeometry=new e._physX.PxSphereGeometry(s*n._maxScale),n._initialize(o,i),n._setLocalPose(),n}o(e,t);var i=e.prototype;return i.setRadius=function(t){this._radius=t,this._pxGeometry.radius=t*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},i.setWorldScale=function(e){t.prototype.setWorldScale.call(this,e),this._maxScale=Math.max(Math.abs(e.x),Math.abs(e.y),Math.abs(e.z)),this._pxGeometry.radius=this._radius*this._maxScale,this._pxShape.setGeometry(this._pxGeometry)},e}(h),R=/*#__PURE__*/function(){function t(t,e){var i,s;void 0===t&&(t=M.Auto),this._initializeState=0,this._runTimeMode=t,this._wasmSIMDModeUrl=null!=(i=null==e?void 0:e.wasmSIMDModeUrl)?i:"https://mdn.alipayobjects.com/rms/afts/file/A*FHYHS4_ZL5UAAAAAQ4AAAAgAehQnAQ/physx.release.simd.js",this._wasmModeUrl=null!=(s=null==e?void 0:e.wasmModeUrl)?s:"https://mdn.alipayobjects.com/rms/afts/file/A*2fv0RLMK1d0AAAAAQ4AAAAgAehQnAQ/physx.release.js"}var i=t.prototype;return i.initialize=function(){var t=this;if(2===this._initializeState)return Promise.resolve();if(1===this._initializeState)return this._initializePromise;this._initializeState=1;var i=this._runTimeMode,s=new Promise(function(s,o){var n=document.createElement("script");document.body.appendChild(n),n.async=!0,n.onload=s,n.onerror=o,i==M.Auto&&(i=e.SystemInfo._detectSIMDSupported()?M.WebAssemblySIMD:M.WebAssembly),i==M.WebAssemblySIMD?n.src=t._wasmSIMDModeUrl:n.src=t._wasmModeUrl}),o=new Promise(function(e,o){s.then(function(){return window.PHYSX().then(function(s){t._runTimeMode=i,t._init(s),t._initializeState=2,t._initializePromise=null,console.log("PhysX loaded."),e()},o)},o).catch(o)});return this._initializePromise=o,o},i.destroy=function(){this._pxCooking.release(),this._pxCookingParams.delete(),this._physX.PxCloseExtensions(),this._pxPhysics.release(),this._pxFoundation.release(),this._defaultErrorCallback.delete(),this._allocator.delete(),this._tolerancesScale.delete()},i.createPhysicsManager=function(){return new x},i.createPhysicsScene=function(t){return new g(this,t)},i.createStaticCollider=function(t,e){return new P(this,t,e)},i.createDynamicCollider=function(t,e){return new y(this,t,e)},i.createCharacterController=function(){return new u(this)},i.createPhysicsMaterial=function(t,e,i,s,o){return new f(this,t,e,i,s,o)},i.createBoxColliderShape=function(t,e,i){return new c(this,t,e,i)},i.createSphereColliderShape=function(t,e,i){return new G(this,t,e,i)},i.createPlaneColliderShape=function(t,e){return new X(this,t,e)},i.createCapsuleColliderShape=function(t,e,i,s){return new _(this,t,e,i,s)},i.createMeshColliderShape=function(t,e,i,s,o,n){var r=new b(this,t,e,i,s,o,n);return r._pxShape?r:null},i.createFixedJoint=function(t){return new w(this,t)},i.createHingeJoint=function(t){return new F(this,t)},i.createSpringJoint=function(t){return new E(this,t)},i.getColliderLayerCollision=function(t,e){return this._physX.getGroupCollisionFlag(t,e)},i.setColliderLayerCollision=function(t,e,i){this._physX.setGroupCollisionFlag(t,e,i)},i._init=function(t){var e=t.PX_PHYSICS_VERSION,i=new t.PxDefaultErrorCallback,s=new t.PxDefaultAllocator,o=t.PxCreateFoundation(e,s,i),n=new t.PxTolerancesScale,r=t.PxCreatePhysics(e,o,n,!1,null);t.PxInitExtensions(r,null);var a=new t.PxCookingParams(n);t.setCookingMeshPreprocessParams(a,1),a.meshWeldTolerance=.001,this._runTimeMode===M.WebAssemblySIMD&&t.setCookingMidphaseType(a,1);var l=t.PxCreateCooking(e,o,a);this._physX=t,this._pxFoundation=o,this._pxPhysics=r,this._pxCooking=l,this._pxCookingParams=a,this._defaultErrorCallback=i,this._allocator=s,this._tolerancesScale=n},t}(),T="2.0.0-alpha.25";console.log("Galacean Engine Physics PhysX Version: "+T),t.PhysXPhysics=R,t.PhysXRuntimeMode=M,t.version=T,Object.defineProperty(t,"__esModule",{value:!0})});
 //# sourceMappingURL=browser.min.js.map

package/dist/main.js

@@ -1941,7 +1941,7 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
 }();
 
 //@ts-ignore
-var version = "2.0.0-alpha.23";
+var version = "2.0.0-alpha.25";
 console.log("Galacean Engine Physics PhysX Version: " + version);
 
 exports.PhysXPhysics = PhysXPhysics;

package/dist/module.js

@@ -1937,7 +1937,7 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
 }();
 
 //@ts-ignore
-var version = "2.0.0-alpha.23";
+var version = "2.0.0-alpha.25";
 console.log("Galacean Engine Physics PhysX Version: " + version);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@galacean/engine-physics-physx",
-  "version": "2.0.0-alpha.23",
+  "version": "2.0.0-alpha.25",
   "publishConfig": {
     "access": "public",
     "registry": "https://registry.npmjs.org"
@@ -26,11 +26,11 @@
     "types/**/*"
   ],
   "devDependencies": {
-    "@galacean/engine-design": "2.0.0-alpha.23",
-    "@galacean/engine": "2.0.0-alpha.23"
+    "@galacean/engine-design": "2.0.0-alpha.25",
+    "@galacean/engine": "2.0.0-alpha.25"
   },
   "peerDependencies": {
-    "@galacean/engine": "2.0.0-alpha.23"
+    "@galacean/engine": "2.0.0-alpha.25"
   },
   "scripts": {
     "b:types": "tsc"