Fix a series of physical system problems (#1712)

* fix: onCollisionEnter not triggered.

* fix: onCollisionEnter not triggered.

* fix: collider setPosition error

* fix: lite Physics rayCast error when distance is lower than hit distance

* feat: opt code

* feat: opt code

* feat: add unit test

* feat: opt code

packages/physics-lite/src/LitePhysicsManager.ts

@@ -126,19 +126,17 @@ export class LitePhysicsManager implements IPhysicsManager {
     for (let i = 0, len = colliders.length; i < len; i++) {
       const collider = colliders[i];
 
-      if (collider._raycast(ray, onRaycast, curHit)) {
+      if (collider._raycast(ray, onRaycast, curHit) && curHit.distance < distance) {
         isHit = true;
-        if (curHit.distance < distance) {
-          if (hitResult) {
-            hitResult.normal.copyFrom(curHit.normal);
-            hitResult.point.copyFrom(curHit.point);
-            hitResult.distance = curHit.distance;
-            hitResult.shapeID = curHit.shapeID;
-          } else {
-            return true;
-          }
-          distance = curHit.distance;
+        if (hitResult) {
+          hitResult.normal.copyFrom(curHit.normal);
+          hitResult.point.copyFrom(curHit.point);
+          hitResult.distance = curHit.distance;
+          hitResult.shapeID = curHit.shapeID;
+        } else {
+          return true;
         }
+        distance = curHit.distance;
       }
     }
 

packages/physics-lite/src/shape/LiteSphereColliderShape.ts

@@ -40,7 +40,7 @@ export class LiteSphereColliderShape extends LiteColliderShape implements ISpher
    * {@inheritDoc IColliderShape.setWorldScale }
    */
   setWorldScale(scale: Vector3): void {
-    this._maxScale = Math.max(scale.x, Math.max(scale.x, scale.y));
+    this._maxScale = Math.max(scale.x, scale.y, scale.z);
   }
 
   /**

packages/physics-physx/src/PhysXCharacterController.ts

@@ -148,6 +148,6 @@ export class PhysXCharacterController implements ICharacterController {
    */
   _setLocalPosition(position: Vector3, scale: Vector3): void {
     Vector3.multiply(position, scale, this._scaledOffset);
-    this.setWorldPosition(this._position);
+    this.setWorldPosition(position);
   }
 }

packages/physics-physx/src/PhysXPhysics.ts

@@ -13,7 +13,7 @@ import {
   ISpringJoint,
   IStaticCollider
 } from "@galacean/engine-design";
-import { Quaternion, Vector3 } from "@galacean/engine";
+import { Quaternion, Vector3, version } from "@galacean/engine";
 import { PhysXRuntimeMode } from "./enum/PhysXRuntimeMode";
 import { PhysXFixedJoint } from "./joint/PhysXFixedJoint";
 import { PhysXHingeJoint } from "./joint/PhysXHingeJoint";
@@ -87,11 +87,9 @@ export class PhysXPhysics implements IPhysics {
       }
 
       if (runtimeMode == PhysXRuntimeMode.JavaScript) {
-        script.src =
-          "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/1.0.0-alpha.4/libs/physx.release.js.js";
+        script.src = `https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/${version}/libs/physx.release.js.js`;
       } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {
-        script.src =
-          "https://gw.alipayobjects.com/os/lib/oasis-engine/physics-physx/1.0.0-alpha.4/libs/physx.release.js";
+        script.src = `https://gw.alipayobjects.com/os/lib/galacean/engine-physics-physx/${version}/libs/physx.release.js`;
       }
     });
 

packages/physics-physx/src/shape/PhysXColliderShape.ts

@@ -72,7 +72,7 @@ export abstract class PhysXColliderShape implements IColliderShape {
     }
     const controllers = this._controllers;
     for (let i = 0, n = controllers.length; i < n; i++) {
-      controllers.get(i)._pxController.setLocalPosition(this._position, this._scale);
+      controllers.get(i)._setLocalPosition(this._position, this._scale);
     }
 
     this._setLocalPose();

packages/physics-physx/src/shape/PhysXSphereColliderShape.ts

@@ -36,7 +36,7 @@ export class PhysXSphereColliderShape extends PhysXColliderShape implements ISph
   override setWorldScale(scale: Vector3): void {
     super.setWorldScale(scale);
 
-    this._maxScale = Math.max(scale.x, Math.max(scale.x, scale.y));
+    this._maxScale = Math.max(scale.x, scale.y, scale.z);
     this._pxGeometry.radius = this._radius * this._maxScale;
     this._pxShape.setGeometry(this._pxGeometry);
   }

tests/package.json

@@ -20,7 +20,8 @@
     "@galacean/engine-design": "workspace:*",
     "@galacean/engine-math": "workspace:*",
     "@galacean/engine-rhi-webgl": "workspace:*",
-    "@galacean/engine-physics-lite": "workspace:*"
+    "@galacean/engine-physics-lite": "workspace:*",
+    "@galacean/engine-physics-physx": "workspace:*"
 
   }
-}
+}

tests/src/core/physics/CharacterController.test.ts

@@ -0,0 +1,38 @@
+import { Entity, CapsuleColliderShape, CharacterController } from "@galacean/engine-core";
+import { Ray, Vector3 } from "@galacean/engine-math";
+import { PhysXPhysics } from "@galacean/engine-physics-physx";
+import { WebGLEngine } from "@galacean/engine-rhi-webgl";
+import { expect } from "chai";
+
+describe("physics collider test", () => {
+  let engine: WebGLEngine;
+  let rootEntity: Entity;
+  let controllerEntity: Entity;
+
+  before(async () => {
+    engine = await WebGLEngine.create({ canvas: document.createElement("canvas"), physics: new PhysXPhysics() });
+    const scene = engine.sceneManager.activeScene;
+    rootEntity = scene.createRootEntity("root");
+
+    engine.run();
+  });
+
+  beforeEach(() => {
+    rootEntity.clearChildren();
+
+    controllerEntity = rootEntity.createChild("controller");
+  });
+
+  it("Set Position", async () => {
+    const physicsCapsule = new CapsuleColliderShape();
+    physicsCapsule.radius = 0.15;
+    physicsCapsule.height = 0.2;
+    const characterController = controllerEntity.addComponent(CharacterController);
+    characterController.addShape(physicsCapsule);
+
+    physicsCapsule.position = new Vector3(5, 3, 3);
+    expect(physicsCapsule.position.x).to.equal(5);
+    expect(physicsCapsule.position.y).to.equal(3);
+    expect(physicsCapsule.position.z).to.equal(3);
+  });
+});