@galacean/engine-physics-physx 2.0.0-alpha.5 → 2.0.0-alpha.51

package/dist/module.js

@@ -293,7 +293,8 @@ PhysXBoxColliderShape._tempHalfExtents = new Vector3();
     /**
    * {@inheritDoc ICapsuleColliderShape.setUpAxis }
    */ _proto.setUpAxis = function setUpAxis(upAxis) {
-        var _this = this, rotation = _this._rotation, axis = _this._axis, physXRotation = _this._physXRotation;
+        var _this = this, rotation = _this._rotation, physXRotation = _this._physXRotation;
+        var axis = this._axis;
         this._upAxis = upAxis;
         switch(this._upAxis){
             case 0:
@@ -521,7 +522,9 @@ PhysXCharacterController._tempVec = new Vector3();
    * {@inheritDoc ICollider.addShape }
    */ _proto.addShape = function addShape(shape) {
         var _this__scene;
-        this._pxActor.attachShape(shape._pxShape);
+        if (!this._pxActor.attachShape(shape._pxShape)) {
+            throw new Error("PhysXCollider: failed to attach shape to the native actor.");
+        }
         this._shapes.push(shape);
         (_this__scene = this._scene) == null ? void 0 : _this__scene._addColliderShape(shape._id);
     };
@@ -670,44 +673,27 @@ PhysXCollider._tempTransform = {
         this._pxActor.setSolverIterationCounts(value, 1);
     };
     /**
-   * {@inheritDoc IDynamicCollider.setCollisionDetectionMode }
-   */ _proto.setCollisionDetectionMode = function setCollisionDetectionMode(value) {
-        var physX = this._physXPhysics._physX;
-        switch(value){
-            case 1:
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-                break;
-            case 2:
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, true);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-                break;
-            case 3:
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
-                break;
-            case 0:
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD, false);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
-                this._pxActor.setRigidBodyFlag(physX.PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
-                break;
-        }
-    };
-    /**
    * {@inheritDoc IDynamicCollider.setUseGravity }
    */ _proto.setUseGravity = function setUseGravity(value) {
         this._pxActor.setActorFlag(this._physXPhysics._physX.PxActorFlag.eDISABLE_GRAVITY, !value);
     };
     /**
-   * {@inheritDoc IDynamicCollider.setIsKinematic }
-   */ _proto.setIsKinematic = function setIsKinematic(value) {
-        if (value) {
-            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, true);
-        } else {
-            this._pxActor.setRigidBodyFlag(this._physXPhysics._physX.PxRigidBodyFlag.eKINEMATIC, false);
+   * {@inheritDoc IDynamicCollider.setMotionState }
+   */ _proto.setMotionState = function setMotionState(isKinematic, collisionDetectionMode) {
+        var PxRigidBodyFlag = this._physXPhysics._physX.PxRigidBodyFlag;
+        // PhysX 4.1 does not support sweep-based CCD on kinematic bodies
+        var useSpeculativeCCD = collisionDetectionMode === 3 || isKinematic && collisionDetectionMode !== 0;
+        this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_CCD, false);
+        this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_CCD_FRICTION, false);
+        this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, false);
+        this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eKINEMATIC, isKinematic);
+        if (useSpeculativeCCD) {
+            this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_SPECULATIVE_CCD, true);
+        } else if (collisionDetectionMode !== 0) {
+            this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_CCD, true);
+            if (collisionDetectionMode === 2) {
+                this._pxActor.setRigidBodyFlag(PxRigidBodyFlag.eENABLE_CCD_FRICTION, true);
+            }
         }
     };
     /**
@@ -718,20 +704,17 @@ PhysXCollider._tempTransform = {
     /**
    * {@inheritDoc IDynamicCollider.addForce }
    */ _proto.addForce = function addForce(force) {
-        this._pxActor.addForce({
-            x: force.x,
-            y: force.y,
-            z: force.z
-        });
+        this._pxActor.addForce(force);
+    };
+    /**
+   * {@inheritDoc IDynamicCollider.addForceAtPosition }
+   */ _proto.addForceAtPosition = function addForceAtPosition(force, position) {
+        this._pxActor.addForceAtPos(force, position);
     };
     /**
    * {@inheritDoc IDynamicCollider.addTorque }
    */ _proto.addTorque = function addTorque(torque) {
-        this._pxActor.addTorque({
-            x: torque.x,
-            y: torque.y,
-            z: torque.z
-        });
+        this._pxActor.addTorque(torque);
     };
     /**
    * {@inheritDoc IDynamicCollider.move }
@@ -817,44 +800,68 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     return PhysXPhysicsMaterial;
 }();
 
+function _defineProperties(target, props) {
+    for (var i = 0; i < props.length; i++) {
+        var descriptor = props[i];
+        descriptor.enumerable = descriptor.enumerable || false;
+        descriptor.configurable = true;
+
+        if ("value" in descriptor) descriptor.writable = true;
+
+        Object.defineProperty(target, descriptor.key, descriptor);
+    }
+}
+function _create_class(Constructor, protoProps, staticProps) {
+    if (protoProps) _defineProperties(Constructor.prototype, protoProps);
+    if (staticProps) _defineProperties(Constructor, staticProps);
+
+    return Constructor;
+}
+
 /**
  * A manager is a collection of colliders and constraints which can interact.
  */ var PhysXPhysicsScene = /*#__PURE__*/ function() {
-    function PhysXPhysicsScene(physXPhysics, physicsManager, onContactEnter, onContactExit, onContactStay, onTriggerEnter, onTriggerExit, onTriggerStay) {
+    function PhysXPhysicsScene(physXPhysics, physicsManager) {
         var _this = this;
         /** @internal */ this._pxControllerManager = null;
         // Cached geometry objects for reuse
         this._boxGeometry = null;
         this._sphereGeometry = null;
         this._capsuleGeometry = null;
-        this._currentEvents = new DisorderedArray();
-        this._eventPool = [];
+        this._currentOnQuery = null;
+        this._activeTriggers = new DisorderedArray();
+        this._contactEvents = [];
+        this._contactEventCount = 0;
+        this._triggerEvents = [];
+        this._physicsEvents = {
+            contactEvents: [],
+            contactEventCount: 0,
+            triggerEvents: []
+        };
+        this._triggerEventPool = [];
         this._physXPhysics = physXPhysics;
         this._physXManager = physicsManager;
         var physX = physXPhysics._physX;
         this._pxRaycastHit = new physX.PxRaycastHit();
+        this._pxSweepHit = new physX.PxSweepHit();
         this._pxFilterData = new physX.PxQueryFilterData();
         this._pxFilterData.flags = new physX.PxQueryFlags(1 | 2 | 4);
-        this._onContactEnter = onContactEnter;
-        this._onContactExit = onContactExit;
-        this._onContactStay = onContactStay;
-        this._onTriggerEnter = onTriggerEnter;
-        this._onTriggerExit = onTriggerExit;
-        this._onTriggerStay = onTriggerStay;
+        this._pxRaycastSweepFilterData = new physX.PxQueryFilterData();
+        this._pxRaycastSweepFilterData.flags = new physX.PxQueryFlags(1 | 2 | 4 | 8);
         var triggerCallback = {
             onContactBegin: function(collision) {
-                _this._onContactEnter(collision);
+                _this._bufferContactEvent(collision, 0);
             },
             onContactEnd: function(collision) {
-                _this._onContactExit(collision);
+                _this._bufferContactEvent(collision, 2);
             },
             onContactPersist: function(collision) {
-                _this._onContactStay(collision);
+                _this._bufferContactEvent(collision, 1);
             },
             onTriggerBegin: function(index1, index2) {
                 var event = index1 < index2 ? _this._getTrigger(index1, index2) : _this._getTrigger(index2, index1);
                 event.state = 0;
-                _this._currentEvents.add(event);
+                _this._activeTriggers.add(event);
             },
             onTriggerEnd: function(index1, index2) {
                 var event;
@@ -875,6 +882,16 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         var sceneDesc = physX.getDefaultSceneDesc(pxPhysics.getTolerancesScale(), 0, this._physXSimulationCallbackInstance);
         this._pxScene = pxPhysics.createScene(sceneDesc);
         sceneDesc.delete();
+        this._pxQueryCallback = physX.PxQueryFilterCallback.implement({
+            preFilter: function(_filterData, index, _actor) {
+                return _this._currentOnQuery(index) ? 2 : 0;
+            },
+            // distance <= 0 means initial overlap — drop the hit so subsequent hits can be considered.
+            // Only invoked when the query's filter data includes POST_FILTER (raycast/sweep, not overlap).
+            postFilter: function(_filterData, distance) {
+                return distance <= 0 ? 0 : 2;
+            }
+        });
     }
     var _proto = PhysXPhysicsScene.prototype;
     /**
@@ -932,27 +949,53 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     /**
    * {@inheritDoc IPhysicsScene.update }
    */ _proto.update = function update(elapsedTime) {
+        this._contactEventCount = 0;
         this._simulate(elapsedTime);
         this._fetchResults();
-        this._fireEvent();
+    };
+    /**
+   * {@inheritDoc IPhysicsScene.setContactEventEnabled }
+   */ _proto.setContactEventEnabled = function setContactEventEnabled(enabled) {
+        this._physXPhysics._physX.setContactEventEnabled(this._physXSimulationCallbackInstance, enabled);
+        if (!enabled) {
+            this._contactEventCount = 0;
+        }
+    };
+    /**
+   * {@inheritDoc IPhysicsScene.updateEvents }
+   */ _proto.updateEvents = function updateEvents() {
+        var physicsEvents = this._physicsEvents;
+        // Collect trigger events: snapshot state for dispatch, then advance
+        var _this = this, triggerEventPool = _this._triggerEventPool, activeTriggers = _this._activeTriggers, triggerEvents = _this._triggerEvents;
+        triggerEvents.length = 0;
+        activeTriggers.forEach(function(event, i) {
+            event.dispatchState = event.state;
+            triggerEvents.push(event);
+            if (event.state === 0) {
+                event.state = 1;
+            } else if (event.state === 2) {
+                activeTriggers.deleteByIndex(i);
+                triggerEventPool.push(event);
+            }
+        });
+        physicsEvents.contactEvents = this._contactEvents;
+        physicsEvents.contactEventCount = this._contactEventCount;
+        physicsEvents.triggerEvents = triggerEvents;
+        return physicsEvents;
     };
     /**
    * {@inheritDoc IPhysicsScene.raycast }
-   */ _proto.raycast = function raycast(ray, distance, onRaycast, hit) {
+   */ _proto.raycast = function raycast(origin, direction, distance, onRaycast, hit) {
         var _this = this, pxHitResult = _this._pxRaycastHit;
         distance = Math.min(distance, 3.4e38); // float32 max value limit in physX raycast.
-        var raycastCallback = {
-            preFilter: function(filterData, index, actor) {
-                if (onRaycast(index)) {
-                    return 2; // eBLOCK
-                } else {
-                    return 0; // eNONE
-                }
-            }
-        };
-        var pxRaycastCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(raycastCallback);
-        var result = this._pxScene.raycastSingle(ray.origin, ray.direction, distance, pxHitResult, this._pxFilterData, pxRaycastCallback);
-        pxRaycastCallback.delete();
+        var prevOnQuery = this._currentOnQuery;
+        this._currentOnQuery = onRaycast;
+        var result;
+        try {
+            result = this._pxScene.raycastSingle(origin, direction, distance, pxHitResult, this._pxRaycastSweepFilterData, this._pxQueryCallback);
+        } finally{
+            this._currentOnQuery = prevOnQuery;
+        }
         if (result && hit != undefined) {
             var position = PhysXPhysicsScene._tempPosition, normal = PhysXPhysicsScene._tempNormal;
             var pxPosition = pxHitResult.position, pxNormal = pxHitResult.normal;
@@ -1049,6 +1092,11 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         return this._overlapMultiple(this._capsuleGeometry, pose, onOverlap);
     };
     /**
+   * {@inheritDoc IPhysicsScene.gc }
+   */ _proto.gc = function gc() {
+        this._contactEvents.length = this._contactEventCount;
+    };
+    /**
    * {@inheritDoc IPhysicsScene.destroy }
    */ _proto.destroy = function destroy() {
         var _this__boxGeometry, _this__sphereGeometry, _this__capsuleGeometry, // Need to release the controller manager before release the scene.
@@ -1058,8 +1106,12 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         (_this__capsuleGeometry = this._capsuleGeometry) == null ? void 0 : _this__capsuleGeometry.delete();
         this._physXSimulationCallbackInstance.delete();
         this._pxRaycastHit.delete();
+        this._pxSweepHit.delete();
         this._pxFilterData.flags.delete();
         this._pxFilterData.delete();
+        this._pxRaycastSweepFilterData.flags.delete();
+        this._pxRaycastSweepFilterData.delete();
+        this._pxQueryCallback.delete();
         (_this__pxControllerManager = this._pxControllerManager) == null ? void 0 : _this__pxControllerManager.release();
         this._pxScene.release();
     };
@@ -1080,15 +1132,15 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     /**
    * @internal
    */ _proto._removeColliderShape = function _removeColliderShape(id) {
-        var _this = this, eventPool = _this._eventPool, currentEvents = _this._currentEvents;
+        var _this = this, triggerEventPool = _this._triggerEventPool, activeTriggers = _this._activeTriggers;
         var _this__physXManager = this._physXManager, eventMap = _this__physXManager._eventMap;
-        currentEvents.forEach(function(event, i) {
+        activeTriggers.forEach(function(event, i) {
             if (event.index1 == id) {
-                currentEvents.deleteByIndex(i);
-                eventPool.push(event);
+                activeTriggers.deleteByIndex(i);
+                triggerEventPool.push(event);
             } else if (event.index2 == id) {
-                currentEvents.deleteByIndex(i);
-                eventPool.push(event);
+                activeTriggers.deleteByIndex(i);
+                triggerEventPool.push(event);
                 // If the shape is big index, should clear from the small index shape subMap
                 eventMap[event.index1][id] = undefined;
             }
@@ -1096,19 +1148,16 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         delete eventMap[id];
     };
     _proto._sweepSingle = function _sweepSingle(geometry, pose, direction, distance, onSweep, outHitResult) {
+        var _this = this, pxSweepHit = _this._pxSweepHit;
         distance = Math.min(distance, 3.4e38); // float32 max value limit in physx sweep
-        var sweepCallback = {
-            preFilter: function(filterData, index, actor) {
-                if (onSweep(index)) {
-                    return 2; // eBLOCK
-                } else {
-                    return 0; // eNONE
-                }
-            }
-        };
-        var pxSweepCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(sweepCallback);
-        var pxSweepHit = new this._physXPhysics._physX.PxSweepHit();
-        var result = this._pxScene.sweepSingle(geometry, pose, direction, distance, pxSweepHit, this._pxFilterData, pxSweepCallback);
+        var prevOnQuery = this._currentOnQuery;
+        this._currentOnQuery = onSweep;
+        var result;
+        try {
+            result = this._pxScene.sweepSingle(geometry, pose, direction, distance, pxSweepHit, this._pxRaycastSweepFilterData, this._pxQueryCallback);
+        } finally{
+            this._currentOnQuery = prevOnQuery;
+        }
         if (result && outHitResult != undefined) {
             var position = PhysXPhysicsScene._tempPosition, normal = PhysXPhysicsScene._tempNormal;
             var pxPosition = pxSweepHit.position, pxNormal = pxSweepHit.normal;
@@ -1116,19 +1165,18 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
             normal.set(pxNormal.x, pxNormal.y, pxNormal.z);
             outHitResult(pxSweepHit.getShape().getUUID(), pxSweepHit.distance, position, normal);
         }
-        pxSweepCallback.delete();
-        pxSweepHit.delete();
         return result;
     };
     _proto._overlapMultiple = function _overlapMultiple(geometry, pose, onOverlap) {
-        var overlapCallback = {
-            preFilter: function(filterData, index, actor) {
-                return onOverlap(index) ? 2 : 0;
-            }
-        };
-        var pxOverlapCallback = this._physXPhysics._physX.PxQueryFilterCallback.implement(overlapCallback);
+        var prevOnQuery = this._currentOnQuery;
+        this._currentOnQuery = onOverlap;
         var maxHits = 256;
-        var hits = this._pxScene.overlapMultiple(geometry, pose, maxHits, this._pxFilterData, pxOverlapCallback);
+        var hits;
+        try {
+            hits = this._pxScene.overlapMultiple(geometry, pose, maxHits, this._pxFilterData, this._pxQueryCallback);
+        } finally{
+            this._currentOnQuery = prevOnQuery;
+        }
         var result = PhysXPhysicsScene._tempShapeIDs;
         result.length = 0;
         if (hits) {
@@ -1137,7 +1185,6 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
                 result.push(hits.get(i).getShape().getUUID());
             }
         }
-        pxOverlapCallback.delete();
         hits == null ? void 0 : hits.delete();
         return result;
     };
@@ -1150,8 +1197,8 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
     };
     _proto._getTrigger = function _getTrigger(index1, index2) {
         var event;
-        if (this._eventPool.length) {
-            event = this._eventPool.pop();
+        if (this._triggerEventPool.length) {
+            event = this._triggerEventPool.pop();
             event.index1 = index1;
             event.index2 = index2;
         } else {
@@ -1160,21 +1207,27 @@ var PhysXPhysicsManager = function PhysXPhysicsManager() {
         this._physXManager._eventMap[index1][index2] = event;
         return event;
     };
-    _proto._fireEvent = function _fireEvent() {
-        var _this = this;
-        var _this1 = this, eventPool = _this1._eventPool, currentEvents = _this1._currentEvents;
-        currentEvents.forEach(function(event, i) {
-            if (event.state == 0) {
-                _this._onTriggerEnter(event.index1, event.index2);
-                event.state = 1;
-            } else if (event.state == 1) {
-                _this._onTriggerStay(event.index1, event.index2);
-            } else if (event.state == 2) {
-                currentEvents.deleteByIndex(i);
-                _this._onTriggerExit(event.index1, event.index2);
-                eventPool.push(event);
-            }
-        });
+    _proto._bufferContactEvent = function _bufferContactEvent(collision, state) {
+        var _this__contactEvents, _index;
+        var index = this._contactEventCount++;
+        var event = (_this__contactEvents = this._contactEvents)[_index = index] || (_this__contactEvents[_index] = new ContactEvent());
+        event.shape0Id = collision.shape0Id;
+        event.shape1Id = collision.shape1Id;
+        event.state = state;
+        // Copy contact points from PhysX (the native data is only valid during fetchResults)
+        var nativeContacts = collision.getContacts();
+        var count = nativeContacts.size();
+        var bufferedContacts = event._bufferedContacts;
+        bufferedContacts.contactCount = count;
+        for(var i = 0; i < count; i++){
+            var _bufferedContacts_contacts, _i;
+            var src = nativeContacts.get(i);
+            var dst = (_bufferedContacts_contacts = bufferedContacts.contacts)[_i = i] || (_bufferedContacts_contacts[_i] = new BufferedContactPoint());
+            dst.position.copyFrom(src.position);
+            dst.normal.copyFrom(src.normal);
+            dst.impulse.copyFrom(src.impulse);
+            dst.separation = src.separation;
+        }
     };
     return PhysXPhysicsScene;
 }();
@@ -1192,6 +1245,49 @@ PhysXPhysicsScene._tempShapeIDs = [];
     this.index1 = index1;
     this.index2 = index2;
 };
+/**
+ * Buffered contact point data, copied from PhysX during fetchResults.
+ */ var BufferedContactPoint = function BufferedContactPoint() {
+    this.position = new Vector3();
+    this.normal = new Vector3();
+    this.impulse = new Vector3();
+    this.separation = 0;
+};
+/**
+ * Contact event buffered from PhysX fetchResults callback.
+ * Implements ICollision so it can be passed directly to the core layer.
+ */ var BufferedContacts = /*#__PURE__*/ function() {
+    function BufferedContacts() {
+        this.contactCount = 0;
+        this.contacts = [];
+    }
+    var _proto = BufferedContacts.prototype;
+    _proto.size = function size() {
+        return this.contactCount;
+    };
+    _proto.get = function get(index) {
+        return this.contacts[index];
+    };
+    return BufferedContacts;
+}();
+var ContactEvent = /*#__PURE__*/ function() {
+    function ContactEvent() {
+        /** @internal */ this._bufferedContacts = new BufferedContacts();
+    }
+    var _proto = ContactEvent.prototype;
+    _proto.getContacts = function getContacts() {
+        return this._bufferedContacts;
+    };
+    _create_class(ContactEvent, [
+        {
+            key: "contactCount",
+            get: function get() {
+                return this._bufferedContacts.contactCount;
+            }
+        }
+    ]);
+    return ContactEvent;
+}();
 
 /**
  * A static collider component that will not move.
@@ -1669,9 +1765,9 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
         this._initializeState = 0;
         this._runTimeMode = runtimeMode;
         var _runtimeUrls_wasmSIMDModeUrl;
-        this._wasmSIMDModeUrl = (_runtimeUrls_wasmSIMDModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmSIMDModeUrl) != null ? _runtimeUrls_wasmSIMDModeUrl : "https://mdn.alipayobjects.com/rms/afts/file/A*FHYHS4_ZL5UAAAAAQ4AAAAgAehQnAQ/physx.release.simd.js";
+        this._wasmSIMDModeUrl = (_runtimeUrls_wasmSIMDModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmSIMDModeUrl) != null ? _runtimeUrls_wasmSIMDModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1787063975729/suyi/physx.release.simd.js";
         var _runtimeUrls_wasmModeUrl;
-        this._wasmModeUrl = (_runtimeUrls_wasmModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmModeUrl) != null ? _runtimeUrls_wasmModeUrl : "https://mdn.alipayobjects.com/rms/afts/file/A*2fv0RLMK1d0AAAAAQ4AAAAgAehQnAQ/physx.release.js";
+        this._wasmModeUrl = (_runtimeUrls_wasmModeUrl = runtimeUrls == null ? void 0 : runtimeUrls.wasmModeUrl) != null ? _runtimeUrls_wasmModeUrl : "https://mdn.alipayobjects.com/rms/uri/file/as/apwallet/1787063975729/suyi/physx.release.js";
     }
     var _proto = PhysXPhysics.prototype;
     /**
@@ -1736,8 +1832,8 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
     };
     /**
    * {@inheritDoc IPhysics.createPhysicsScene }
-   */ _proto.createPhysicsScene = function createPhysicsScene(physicsManager, onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay) {
-        var scene = new PhysXPhysicsScene(this, physicsManager, onContactBegin, onContactEnd, onContactStay, onTriggerBegin, onTriggerEnd, onTriggerStay);
+   */ _proto.createPhysicsScene = function createPhysicsScene(physicsManager) {
+        var scene = new PhysXPhysicsScene(this, physicsManager);
         return scene;
     };
     /**
@@ -1841,7 +1937,7 @@ PhysXMeshColliderShape._tightBoundsFlag = 1 // eTIGHT_BOUNDS = 1 (1<<0)
 }();
 
 //@ts-ignore
-var version = "2.0.0-alpha.5";
+var version = "2.0.0-alpha.51";
 console.log("Galacean Engine Physics PhysX Version: " + version);
 
 export { PhysXPhysics, PhysXRuntimeMode, version };