@galacean/engine-physics-physx 2.0.0-alpha.5 → 2.0.0-alpha.50

package/types/PhysXCharacterController.d.ts

@@ -1,12 +1,23 @@
 import { ICharacterController } from "@galacean/engine-design";
 import { Vector3 } from "@galacean/engine";
 import { PhysXPhysics } from "./PhysXPhysics";
+import { PhysXPhysicsScene } from "./PhysXPhysicsScene";
 import { PhysXColliderShape } from "./shape/PhysXColliderShape";
 /**
  * Base class for character controllers.
  */
 export declare class PhysXCharacterController implements ICharacterController {
     private static _tempVec;
+    /** @internal  */
+    _scene: PhysXPhysicsScene | null;
+    /** @internal */
+    _id: number;
+    /** @internal */
+    _pxController: any;
+    /** @internal */
+    _pxManager: PhysXPhysicsScene | null;
+    /** @internal */
+    _shape: PhysXColliderShape | null;
     private _shapeScaledPosition;
     private _worldPosition;
     private _physXPhysics;
@@ -55,5 +66,17 @@ export declare class PhysXCharacterController implements ICharacterController {
      * {@inheritDoc ICharacterController.destroy }
      */
     destroy(): void;
+    /**
+     * @internal
+     */
+    _createPXController(pxManager: PhysXPhysicsScene, shape: PhysXColliderShape): void;
+    /**
+     * @internal
+     */
+    _destroyPXController(): void;
+    /**
+     * @internal
+     */
+    _updateShapePosition(shapePosition: Vector3, worldScale: Vector3): void;
     private _updateNativePosition;
 }

package/types/PhysXCollider.d.ts

@@ -2,11 +2,18 @@ import { ICollider } from "@galacean/engine-design";
 import { Quaternion, Vector3 } from "@galacean/engine";
 import { PhysXPhysics } from "./PhysXPhysics";
 import { PhysXColliderShape } from "./shape/PhysXColliderShape";
+import { PhysXPhysicsScene } from "./PhysXPhysicsScene";
 /**
  * Abstract class of physical collider.
  */
 export declare abstract class PhysXCollider implements ICollider {
     private static _tempTransform;
+    /** @internal  */
+    _scene: PhysXPhysicsScene | null;
+    /** @internal */
+    _pxActor: any;
+    /** @internal */
+    _shapes: PhysXColliderShape[];
     protected _physXPhysics: PhysXPhysics;
     constructor(physXPhysics: PhysXPhysics);
     /**
@@ -33,4 +40,11 @@ export declare abstract class PhysXCollider implements ICollider {
      * {@inheritDoc ICollider.destroy }
      */
     destroy(): void;
+    /**
+     * @internal
+     */
+    _transform(pos: Vector3, rot: Quaternion): {
+        translation: Vector3;
+        rotation: Quaternion;
+    };
 }

package/types/PhysXDynamicCollider.d.ts

@@ -87,18 +87,14 @@ export declare class PhysXDynamicCollider extends PhysXCollider implements IDyna
      * {@inheritDoc IDynamicCollider.setSolverIterations }
      */
     setSolverIterations(value: number): void;
-    /**
-     * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
-     */
-    setCollisionDetectionMode(value: number): void;
     /**
      * {@inheritDoc IDynamicCollider.setUseGravity }
      */
     setUseGravity(value: boolean): void;
     /**
-     * {@inheritDoc IDynamicCollider.setIsKinematic }
+     * {@inheritDoc IDynamicCollider.setMotionState }
      */
-    setIsKinematic(value: boolean): void;
+    setMotionState(isKinematic: boolean, collisionDetectionMode: number): void;
     /**
      * {@inheritDoc IDynamicCollider.setConstraints }
      */
@@ -107,6 +103,10 @@ export declare class PhysXDynamicCollider extends PhysXCollider implements IDyna
      * {@inheritDoc IDynamicCollider.addForce }
      */
     addForce(force: Vector3): void;
+    /**
+     * {@inheritDoc IDynamicCollider.addForceAtPosition }
+     */
+    addForceAtPosition(force: Vector3, position: Vector3): void;
     /**
      * {@inheritDoc IDynamicCollider.addTorque }
      */

package/types/PhysXPhysics.d.ts

@@ -1,5 +1,5 @@
 import { Quaternion, Vector3 } from "@galacean/engine";
-import { IBoxColliderShape, ICapsuleColliderShape, ICharacterController, ICollision, IDynamicCollider, IFixedJoint, IHingeJoint, IMeshColliderShape, IPhysics, IPhysicsManager, IPhysicsMaterial, IPhysicsScene, IPlaneColliderShape, ISphereColliderShape, ISpringJoint, IStaticCollider } from "@galacean/engine-design";
+import { IBoxColliderShape, ICapsuleColliderShape, ICharacterController, IDynamicCollider, IFixedJoint, IHingeJoint, IMeshColliderShape, IPhysics, IPhysicsManager, IPhysicsMaterial, IPhysicsScene, IPlaneColliderShape, ISphereColliderShape, ISpringJoint, IStaticCollider } from "@galacean/engine-design";
 import { PhysXCollider } from "./PhysXCollider";
 import { PhysXPhysicsManager } from "./PhysXPhysicsManager";
 import { PhysXPhysicsMaterial } from "./PhysXPhysicsMaterial";
@@ -8,6 +8,16 @@ import { PhysXRuntimeMode } from "./enum/PhysXRuntimeMode";
  * PhysX object creation.
  */
 export declare class PhysXPhysics implements IPhysics {
+    /** @internal PhysX wasm object */
+    _physX: any;
+    /** @internal PhysX Foundation SDK singleton class */
+    _pxFoundation: any;
+    /** @internal PhysX physics object */
+    _pxPhysics: any;
+    /** @internal PhysX cooking object for mesh colliders */
+    _pxCooking: any;
+    /** @internal PhysX cooking params */
+    _pxCookingParams: any;
     private _runTimeMode;
     private _initializeState;
     private _initializePromise;
@@ -39,7 +49,7 @@ export declare class PhysXPhysics implements IPhysics {
     /**
      * {@inheritDoc IPhysics.createPhysicsScene }
      */
-    createPhysicsScene(physicsManager: PhysXPhysicsManager, onContactBegin?: (collision: ICollision) => void, onContactEnd?: (collision: ICollision) => void, onContactStay?: (collision: ICollision) => void, onTriggerBegin?: (obj1: number, obj2: number) => void, onTriggerEnd?: (obj1: number, obj2: number) => void, onTriggerStay?: (obj1: number, obj2: number) => void): IPhysicsScene;
+    createPhysicsScene(physicsManager: PhysXPhysicsManager): IPhysicsScene;
     /**
      * {@inheritDoc IPhysics.createStaticCollider }
      */

package/types/PhysXPhysicsManager.d.ts

@@ -1,3 +1,6 @@
 import { IPhysicsManager } from "@galacean/engine-design";
+import { TriggerEvent } from "./PhysXPhysicsScene";
 export declare class PhysXPhysicsManager implements IPhysicsManager {
+    /** @internal */
+    _eventMap: Record<number, Record<number, TriggerEvent | undefined>>;
 }

package/types/PhysXPhysicsMaterial.d.ts

@@ -4,6 +4,8 @@ import { PhysXPhysics } from "./PhysXPhysics";
  * Physics material describes how to handle colliding objects (friction, bounciness).
  */
 export declare class PhysXPhysicsMaterial implements IPhysicsMaterial {
+    /** @internal */
+    _pxMaterial: any;
     protected _physXPhysics: PhysXPhysics;
     constructor(physXPhysics: PhysXPhysics, staticFriction: number, dynamicFriction: number, bounciness: number, frictionCombine: CombineMode, bounceCombine: CombineMode);
     /**

package/types/PhysXPhysicsScene.d.ts

@@ -1,5 +1,5 @@
-import { Ray, Vector3, Quaternion } from "@galacean/engine";
-import { ICollision, IPhysicsScene } from "@galacean/engine-design";
+import { Vector3, Quaternion } from "@galacean/engine";
+import { IPhysicsScene, IPhysicsEvents, ITriggerEvent } from "@galacean/engine-design";
 import { PhysXCharacterController } from "./PhysXCharacterController";
 import { PhysXCollider } from "./PhysXCollider";
 import { PhysXPhysics } from "./PhysXPhysics";
@@ -8,6 +8,8 @@ import { PhysXPhysicsManager } from "./PhysXPhysicsManager";
  * A manager is a collection of colliders and constraints which can interact.
  */
 export declare class PhysXPhysicsScene implements IPhysicsScene {
+    /** @internal */
+    _pxControllerManager: any;
     private static _tempPosition;
     private static _tempQuaternion;
     private static _tempNormal;
@@ -19,18 +21,20 @@ export declare class PhysXPhysicsScene implements IPhysicsScene {
     private _physXPhysics;
     private _physXManager;
     private _pxRaycastHit;
+    private _pxSweepHit;
     private _pxFilterData;
+    private _pxRaycastSweepFilterData;
     private _pxScene;
     private _physXSimulationCallbackInstance;
-    private readonly _onContactEnter?;
-    private readonly _onContactExit?;
-    private readonly _onContactStay?;
-    private readonly _onTriggerEnter?;
-    private readonly _onTriggerExit?;
-    private readonly _onTriggerStay?;
-    private _currentEvents;
-    private _eventPool;
-    constructor(physXPhysics: PhysXPhysics, physicsManager: PhysXPhysicsManager, onContactEnter?: (collision: ICollision) => void, onContactExit?: (collision: ICollision) => void, onContactStay?: (collision: ICollision) => void, onTriggerEnter?: (obj1: number, obj2: number) => void, onTriggerExit?: (obj1: number, obj2: number) => void, onTriggerStay?: (obj1: number, obj2: number) => void);
+    private _pxQueryCallback;
+    private _currentOnQuery;
+    private _activeTriggers;
+    private _contactEvents;
+    private _contactEventCount;
+    private _triggerEvents;
+    private _physicsEvents;
+    private _triggerEventPool;
+    constructor(physXPhysics: PhysXPhysics, physicsManager: PhysXPhysicsManager);
     /**
      * {@inheritDoc IPhysicsScene.setGravity }
      */
@@ -55,10 +59,18 @@ export declare class PhysXPhysicsScene implements IPhysicsScene {
      * {@inheritDoc IPhysicsScene.update }
      */
     update(elapsedTime: number): void;
+    /**
+     * {@inheritDoc IPhysicsScene.setContactEventEnabled }
+     */
+    setContactEventEnabled(enabled: boolean): void;
+    /**
+     * {@inheritDoc IPhysicsScene.updateEvents }
+     */
+    updateEvents(): IPhysicsEvents;
     /**
      * {@inheritDoc IPhysicsScene.raycast }
      */
-    raycast(ray: Ray, distance: number, onRaycast: (obj: number) => boolean, hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
+    raycast(origin: Vector3, direction: Vector3, distance: number, onRaycast: (obj: number) => boolean, hit?: (shapeUniqueID: number, distance: number, position: Vector3, normal: Vector3) => void): boolean;
     /**
      * {@inheritDoc IPhysicsScene.boxCast }
      */
@@ -83,32 +95,40 @@ export declare class PhysXPhysicsScene implements IPhysicsScene {
      * {@inheritDoc IPhysicsScene.overlapCapsuleAll }
      */
     overlapCapsuleAll(center: Vector3, radius: number, height: number, orientation: Quaternion, onOverlap: (obj: number) => boolean): number[];
+    /**
+     * {@inheritDoc IPhysicsScene.gc }
+     */
+    gc(): void;
     /**
      * {@inheritDoc IPhysicsScene.destroy }
      */
     destroy(): void;
+    /**
+     * @internal
+     */
+    _getControllerManager(): any;
+    /**
+     * @internal
+     */
+    _addColliderShape(id: number): void;
+    /**
+     * @internal
+     */
+    _removeColliderShape(id: number): void;
     private _sweepSingle;
     private _overlapMultiple;
     private _simulate;
     private _fetchResults;
     private _getTrigger;
-    private _fireEvent;
-}
-/**
- * Physics state
- */
-declare enum TriggerEventState {
-    Enter = 0,
-    Stay = 1,
-    Exit = 2
+    private _bufferContactEvent;
 }
 /**
  * Trigger event to store interactive object ids and state.
  */
-export declare class TriggerEvent {
-    state: TriggerEventState;
+export declare class TriggerEvent implements ITriggerEvent {
+    state: number;
+    dispatchState: number;
     index1: number;
     index2: number;
     constructor(index1: number, index2: number);
 }
-export {};

package/types/shape/PhysXBoxColliderShape.d.ts

@@ -8,6 +8,8 @@ import { PhysXColliderShape } from "./PhysXColliderShape";
  */
 export declare class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxColliderShape {
     private static _tempHalfExtents;
+    /** @internal */
+    _halfSize: Vector3;
     constructor(physXPhysics: PhysXPhysics, uniqueID: number, size: Vector3, material: PhysXPhysicsMaterial);
     /**
      * {@inheritDoc IBoxColliderShape.setSize }

package/types/shape/PhysXCapsuleColliderShape.d.ts

@@ -7,6 +7,12 @@ import { PhysXColliderShape } from "./PhysXColliderShape";
  * Capsule collider shape in PhysX.
  */
 export declare class PhysXCapsuleColliderShape extends PhysXColliderShape implements ICapsuleColliderShape {
+    /** @internal */
+    _radius: number;
+    /** @internal */
+    _halfHeight: number;
+    /** @internal */
+    _upAxis: ColliderShapeUpAxis;
     constructor(physXPhysics: PhysXPhysics, uniqueID: number, radius: number, height: number, material: PhysXPhysicsMaterial);
     /**
      * {@inheritDoc ICapsuleColliderShape.setRadius }

package/types/shape/PhysXColliderShape.d.ts

@@ -1,5 +1,6 @@
-import { Quaternion, Vector3, Vector4 } from "@galacean/engine";
+import { Quaternion, Vector3, DisorderedArray, Vector4 } from "@galacean/engine";
 import { IColliderShape } from "@galacean/engine-design";
+import { PhysXCharacterController } from "../PhysXCharacterController";
 import { PhysXPhysics } from "../PhysXPhysics";
 import { PhysXPhysicsMaterial } from "../PhysXPhysicsMaterial";
 /**
@@ -20,12 +21,29 @@ export declare abstract class PhysXColliderShape implements IColliderShape {
     static readonly halfSqrt: number;
     static transform: {
         translation: Vector3;
-        rotation: any;
+        rotation: Quaternion | null;
     };
     protected static _tempVector4: Vector4;
+    /** @internal */
+    _controllers: DisorderedArray<PhysXCharacterController>;
+    /** @internal */
+    _contractOffset: number;
+    /** @internal */
+    _worldScale: Vector3;
+    /** @internal */
+    _position: Vector3;
+    /** @internal */
+    _pxMaterial: any;
+    /** @internal */
+    _pxShape: any;
+    /** @internal */
+    /** @internal */
+    _id: number;
+    /** @internal */
+    _rotation: Vector3;
     protected _physXPhysics: PhysXPhysics;
     protected _pxGeometry: any;
-    protected _axis: Quaternion;
+    protected _axis: Quaternion | null;
     protected _physXRotation: Quaternion;
     private _shapeFlags;
     constructor(physXPhysics: PhysXPhysics);
@@ -62,6 +80,10 @@ export declare abstract class PhysXColliderShape implements IColliderShape {
      * {@inheritDoc IColliderShape.destroy }
      */
     destroy(): void;
+    /**
+     *  @internal
+     */
+    _setShapeFlags(flags: ShapeFlag): void;
     protected _setLocalPose(): void;
     protected _initialize(material: PhysXPhysicsMaterial, id: number): void;
     private _modifyFlag;