fix(physics): make mesh rebuilds atomic and scale PhysX defaults

packages/core/src/physics/CharacterController.ts

@@ -19,7 +19,7 @@ export class CharacterController extends Collider {
 
   /**
    * The step offset for the controller, the value must be greater than or equal to 0.
-   * @remarks Character can overcome obstacle less than the height(stepOffset + contractOffset of the shape).
+   * @remarks Character can overcome obstacle less than the height(stepOffset + contactOffset of the shape).
    */
   get stepOffset(): number {
     return this._stepOffset;

packages/core/src/physics/Collider.ts

@@ -1,4 +1,4 @@
-import { ICollider, IStaticCollider } from "@galacean/engine-design";
+import { ICollider, IColliderShape, IStaticCollider } from "@galacean/engine-design";
 import { BoolUpdateFlag } from "../BoolUpdateFlag";
 import { deepClone, ignoreClone } from "../clone/CloneManager";
 import { ICustomClone } from "../clone/ComponentCloner";
@@ -196,6 +196,21 @@ export class Collider extends Component implements ICustomClone {
     }
   }
 
+  /**
+   * Replace an attached native shape while keeping attachment ownership in the collider.
+   * @internal
+   */
+  _replaceNativeShape(shape: ColliderShape, nativeShape: IColliderShape | null): void {
+    const previousShape = shape._nativeShape;
+    if (previousShape === nativeShape) return;
+
+    previousShape && this._nativeCollider.removeShape(previousShape);
+    shape._nativeShape = nativeShape;
+    nativeShape && this._nativeCollider.addShape(nativeShape);
+    previousShape?.destroy();
+    this._handleShapesChanged(ColliderShapeChangeFlag.Property);
+  }
+
   private _setCollisionLayer(): void {
     this._nativeCollider.setCollisionLayer(this._collisionLayerIndex);
   }

packages/core/src/physics/DynamicCollider.ts

@@ -33,7 +33,7 @@ export class DynamicCollider extends Collider {
   private _isKinematic = false;
   private _constraints: DynamicColliderConstraints = 0;
   private _collisionDetectionMode: CollisionDetectionMode = CollisionDetectionMode.Discrete;
-  private _sleepThreshold = 5e-3;
+  private _sleepThreshold: number | undefined;
   private _automaticCenterOfMass = true;
   private _automaticInertiaTensor = true;
 
@@ -221,9 +221,11 @@ export class DynamicCollider extends Collider {
 
   /**
    * The mass-normalized energy threshold, below which objects start going to sleep.
+   * @remarks The default is determined by the physics backend. PhysX uses
+   * `5e-5 * tolerancesScale.speed * tolerancesScale.speed`.
    */
   get sleepThreshold(): number {
-    return this._sleepThreshold;
+    return this._sleepThreshold ?? Engine._nativePhysics?.getDefaultSleepThreshold?.() ?? 5e-3;
   }
 
   set sleepThreshold(value: number) {
@@ -498,7 +500,9 @@ export class DynamicCollider extends Collider {
     }
     (<IDynamicCollider>this._nativeCollider).setMaxAngularVelocity(this._maxAngularVelocity);
     (<IDynamicCollider>this._nativeCollider).setMaxDepenetrationVelocity(this._maxDepenetrationVelocity);
-    (<IDynamicCollider>this._nativeCollider).setSleepThreshold(this._sleepThreshold);
+    if (this._sleepThreshold !== undefined) {
+      (<IDynamicCollider>this._nativeCollider).setSleepThreshold(this._sleepThreshold);
+    }
     (<IDynamicCollider>this._nativeCollider).setSolverIterations(this._solverIterations);
     (<IDynamicCollider>this._nativeCollider).setUseGravity(this._useGravity);
     (<IDynamicCollider>this._nativeCollider).setIsKinematic(this._isKinematic);

packages/core/src/physics/PhysicsMaterial.ts

@@ -21,8 +21,8 @@ export class PhysicsMaterial {
       this._staticFriction,
       this._dynamicFriction,
       this._bounciness,
-      this._bounceCombine,
-      this._frictionCombine
+      this._frictionCombine,
+      this._bounceCombine
     );
   }
 

packages/core/src/physics/shape/ColliderShape.ts

@@ -21,13 +21,14 @@ export abstract class ColliderShape implements ICustomClone {
 
   @ignoreClone
   protected _id: number;
+  @ignoreClone
   protected _material: PhysicsMaterial;
   private _isTrigger: boolean = false;
   @deepClone
   private _rotation: Vector3 = new Vector3();
   @deepClone
   private _position: Vector3 = new Vector3();
-  private _contactOffset: number = 0.02;
+  private _contactOffset: number | undefined;
 
   /**
    * @internal
@@ -52,10 +53,10 @@ export abstract class ColliderShape implements ICustomClone {
 
   /**
    * Contact offset for this shape, the value must be greater than or equal to 0.
-   * @defaultValue 0.02
+   * @remarks The default is determined by the physics backend. PhysX uses `0.02 * tolerancesScale.length`.
    */
   get contactOffset(): number {
-    return this._contactOffset;
+    return this._contactOffset ?? Engine._nativePhysics?.getDefaultContactOffset?.() ?? 0.02;
   }
 
   set contactOffset(value: number) {
@@ -165,7 +166,10 @@ export abstract class ColliderShape implements ICustomClone {
    * @internal
    */
   _cloneTo(target: ColliderShape) {
+    const defaultMaterial = target._material;
+    target._material = this._material;
     target._syncNative();
+    defaultMaterial.destroy();
   }
 
   /**
@@ -180,16 +184,23 @@ export abstract class ColliderShape implements ICustomClone {
   }
 
   protected _syncNative(): void {
-    if (!this._nativeShape) return;
-    this._nativeShape.setPosition(this._position);
-    this._nativeShape.setRotation(this._rotation);
-    this._nativeShape.setContactOffset(this._contactOffset);
-    this._nativeShape.setIsTrigger(this._isTrigger);
-    this._nativeShape.setMaterial(this._material._nativeMaterial);
+    const nativeShape = this._nativeShape;
+    if (!nativeShape) return;
+    this._syncNativeShape(nativeShape);
 
     this._collider?._handleShapesChanged(ColliderShapeChangeFlag.Property);
   }
 
+  protected _syncNativeShape(nativeShape: IColliderShape): void {
+    nativeShape.setPosition(this._position);
+    nativeShape.setRotation(this._rotation);
+    if (this._contactOffset !== undefined) {
+      nativeShape.setContactOffset(this._contactOffset);
+    }
+    nativeShape.setIsTrigger(this._isTrigger);
+    nativeShape.setMaterial(this._material._nativeMaterial);
+  }
+
   @ignoreClone
   private _setPosition(): void {
     this._nativeShape?.setPosition(this._position);