Merge branch 'main' into dev/1.1

* main:
  Add physic unit test timeout (#1717)
  "v1.0.0-beta.20"
  Fix `PhysicManager`  fixedTimeStep less than 0 bug (#1715)
  Fix physx unit test (#1714)
  Fix a series of physical system problems (#1712)
  Fix avoid destroyed material error (#1705)
  "v1.0.0-beta.19"

# Conflicts:
#	packages/core/package.json
#	packages/core/src/physics/PhysicsScene.ts
#	packages/design/package.json
#	packages/draco/package.json
#	packages/galacean/package.json
#	packages/loader/package.json
#	packages/math/package.json
#	packages/physics-lite/package.json
#	packages/physics-lite/src/LitePhysicsManager.ts
#	packages/physics-physx/package.json
#	packages/physics-physx/src/PhysXPhysics.ts
#	packages/rhi-webgl/package.json
#	tests/package.json

packages/core/src/physics/PhysicsScene.ts

@@ -1,5 +1,5 @@
 import { ICharacterController, ICollider, IPhysics, IPhysicsScene } from "@galacean/engine-design";
-import { Ray, Vector3 } from "@galacean/engine-math";
+import { MathUtil, Ray, Vector3 } from "@galacean/engine-math";
 import { DisorderedArray } from "../DisorderedArray";
 import { Layer } from "../Layer";
 import { Scene } from "../Scene";
@@ -20,6 +20,7 @@ export class PhysicsScene {
 
   private _scene: Scene;
   private _restTime: number = 0;
+  private _fixedTimeStep: number = 1 / 60;
 
   private _colliders: DisorderedArray<Collider> = new DisorderedArray();
 
@@ -155,9 +156,6 @@ export class PhysicsScene {
     }
   };
 
-  /** The fixed time step in seconds at which physics are performed. */
-  fixedTimeStep: number = 1 / 60;
-
   /**
    * The gravity of physics scene.
    */
@@ -172,6 +170,17 @@ export class PhysicsScene {
     }
   }
 
+  /**
+   * The fixed time step in seconds at which physics are performed.
+   */
+  get fixedTimeStep(): number {
+    return this._fixedTimeStep;
+  }
+
+  set fixedTimeStep(value: number) {
+    this._fixedTimeStep = Math.max(value, MathUtil.zeroTolerance);
+  }
+
   constructor(scene: Scene) {
     this._scene = scene;
 
@@ -302,7 +311,7 @@ export class PhysicsScene {
    * @internal
    */
   _update(deltaTime: number): void {
-    const { fixedTimeStep, _nativePhysicsScene: nativePhysicsManager } = this;
+    const { _fixedTimeStep: fixedTimeStep, _nativePhysicsScene: nativePhysicsManager } = this;
     const componentsManager = this._scene._componentsManager;
 
     const simulateTime = this._restTime + deltaTime;

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

@@ -1,4 +1,4 @@
-import { Quaternion, Vector3 } from "@galacean/engine";
+import { Quaternion, Vector3, version } from "@galacean/engine";
 import {
   IBoxColliderShape,
   ICapsuleColliderShape,
@@ -89,11 +89,9 @@ 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

@@ -21,6 +21,8 @@
     "@galacean/engine-math": "workspace:*",
     "@galacean/engine-rhi-webgl": "workspace:*",
     "@galacean/engine-physics-lite": "workspace:*",
-    "@galacean/engine-shader-lab": "workspace:*"
+    "@galacean/engine-shader-lab": "workspace:*",
+    "@galacean/engine-physics-physx": "workspace:*"
+
   }
 }

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

@@ -0,0 +1,40 @@
+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", function () {
+  this.timeout(5000);
+
+  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);
+  });
+});