refactor: opt code

Author: luzhuang

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

@@ -147,15 +147,8 @@ export abstract class ColliderShape implements ICustomClone {
       console.warn("The collider is not active in scene.");
       return -1;
     }
-    const tempQuat = ColliderShape._tempWorldRot;
-    const tempPos = ColliderShape._tempWorldPos;
-    Vector3.transformCoordinate(this._position, collider.entity.transform.worldMatrix, tempPos);
 
-    const rotation = this._rotation;
-    Quaternion.rotationEuler(rotation.x, rotation.y, rotation.z, tempQuat);
-    Quaternion.multiply(this._collider.entity.transform.rotationQuaternion, tempQuat, tempQuat);
-
-    const res = this._nativeShape.pointDistance(tempPos, tempQuat, point);
+    const res = this._nativeShape.pointDistance(point);
     const distance = res.w;
     if (distance > 0) {
       outClosestPoint.set(res.x, res.y, res.z);

packages/design/src/physics/shape/IColliderShape.ts

@@ -43,12 +43,10 @@ export interface IColliderShape {
 
   /**
    * Get the distance between a point and the shape.
-   * @param position - The position in world space
-   * @param rotation - The rotation in world space
    * @param point - The point
    * @returns The distance information
    */
-  pointDistance(position: Vector3, rotation: Quaternion, point: Vector3): Vector4;
+  pointDistance(point: Vector3): Vector4;
   /**
    * Decrements the reference count of a shape and releases it if the new reference count is zero.
    */

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

@@ -60,7 +60,10 @@ export class LiteBoxColliderShape extends LiteColliderShape implements IBoxColli
   /**
    * {@inheritDoc IColliderShape.pointDistance }
    */
-  override pointDistance(position: Vector3, rotation: Quaternion, point: Vector3): Vector4 {
+  override pointDistance(point: Vector3): Vector4 {
+    const position = LiteColliderShape._tempPos;
+    const rotation = LiteColliderShape._tempRot;
+    this._transform.worldMatrix.decompose(position, rotation, LiteColliderShape._tempScale);
     const { position: shapePosition } = this._transform;
     const m = LiteBoxColliderShape._tempMatrix;
     const invM = LiteBoxColliderShape._tempInvMatrix;
@@ -71,10 +74,12 @@ export class LiteBoxColliderShape extends LiteColliderShape implements IBoxColli
     const { _boxMin, _boxMax } = this;
     p.copyFrom(_boxMin);
     p.subtract(shapePosition);
-    boundingBox.min.set(p.x / scale.x, p.y / scale.y, p.z / scale.z);
+    p.divide(scale);
+    boundingBox.min.copyFrom(p);
     p.copyFrom(_boxMax);
     p.subtract(shapePosition);
-    boundingBox.max.set(p.x / scale.x, p.y / scale.y, p.z / scale.z);
+    p.divide(scale);
+    boundingBox.max.copyFrom(p);
 
     Matrix.affineTransformation(scale, rotation, position, m);
     Matrix.invert(m, invM);

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

@@ -9,6 +9,9 @@ import { LiteUpdateFlag } from "../LiteUpdateFlag";
  * Abstract class for collider shapes.
  */
 export abstract class LiteColliderShape implements IColliderShape {
+  protected static _tempPos = new Vector3();
+  protected static _tempRot = new Quaternion();
+  protected static _tempScale = new Vector3();
   protected static _tempPoint = new Vector3();
   protected static _tempVector4 = new Vector4();
 

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

@@ -47,7 +47,9 @@ export class LiteSphereColliderShape extends LiteColliderShape implements ISpher
   /**
    * {@inheritDoc IColliderShape.pointDistance }
    */
-  override pointDistance(position: Vector3, rotation: Quaternion, point: Vector3): Vector4 {
+  override pointDistance(point: Vector3): Vector4 {
+    const position = LiteColliderShape._tempPos;
+    this._transform.worldMatrix.decompose(position, LiteColliderShape._tempRot, LiteColliderShape._tempScale);
     const p = LiteColliderShape._tempPoint;
     Vector3.subtract(point, position, p);
     const direction = p.normalize();

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

@@ -129,7 +129,7 @@ export abstract class PhysXColliderShape implements IColliderShape {
   /**
    * {@inheritDoc IColliderShape.pointDistance }
    */
-  pointDistance(translation: Vector3, rotation: Quaternion, point: Vector3): Vector4 {
+  pointDistance(point: Vector3): Vector4 {
     const info = this._pxGeometry.pointDistance(this._pxShape.getGlobalPose(), point);
     const closestPoint = info.closestPoint;
     const res = PhysXColliderShape._tempVector4;