Fix physics system stablity

packages/core/src/physics/CharacterController.ts

@@ -97,6 +97,15 @@ export class CharacterController extends Collider {
       throw "only allow single shape on controller!";
     }
     super.addShape(shape);
+
+    const { transform } = this.entity;
+    const shapes = this.shapes;
+    (<ICharacterController>this._nativeCollider).setWorldPosition(transform.worldPosition);
+
+    const worldScale = transform.lossyWorldScale;
+    for (let i = 0, n = shapes.length; i < n; i++) {
+      shapes[i]._nativeShape.setWorldScale(worldScale);
+    }
   }
 
   /**
@@ -116,11 +125,12 @@ export class CharacterController extends Collider {
   _onUpdate() {
     if (this._updateFlag.flag) {
       const { transform } = this.entity;
+      const shapes = this.shapes;
       (<ICharacterController>this._nativeCollider).setWorldPosition(transform.worldPosition);
 
       const worldScale = transform.lossyWorldScale;
-      for (let i = 0, n = this.shapes.length; i < n; i++) {
-        this.shapes[i]._nativeShape.setWorldScale(worldScale);
+      for (let i = 0, n = shapes.length; i < n; i++) {
+        shapes[i]._nativeShape.setWorldScale(worldScale);
       }
       this._updateFlag.flag = false;
     }

packages/core/src/physics/PhysicsManager.ts

@@ -228,7 +228,7 @@ export class PhysicsManager {
   ): boolean {
     let hitResult: HitResult;
 
-    let distance = Number.MAX_VALUE;
+    let distance = 1.0e7;
     if (typeof distanceOrResult === "number") {
       distance = distanceOrResult;
     } else if (distanceOrResult != undefined) {

packages/physics-physx/src/PhysXCharacterController.ts

@@ -29,7 +29,11 @@ export class PhysXCharacterController implements ICharacterController {
    * {@inheritDoc ICharacterController.setWorldPosition }
    */
   setWorldPosition(position: Vector3): boolean {
-    return this._pxController.setPosition(position);
+    if (this._pxController) {
+      return this._pxController.setPosition(position);
+    } else {
+      return false;
+    }
   }
 
   /**
@@ -114,13 +118,16 @@ export class PhysXCharacterController implements ICharacterController {
     desc.setMaterial(shape._pxMaterials[0]);
 
     this._pxController = pxManager._getControllerManager().createController(desc);
+    this._pxController.setQueryFilterData(new PhysXPhysics._physX.PxFilterData(shape._id, 0, 0, 0));
   }
 
   /**
    * @internal
    */
   _destroyPXController(): void {
-    this._pxController.release();
-    this._pxController = null;
+    if (this._pxController) {
+      this._pxController.release();
+      this._pxController = null;
+    }
   }
 }

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

@@ -128,7 +128,7 @@ export abstract class PhysXColliderShape implements IColliderShape {
     this._pxShape = PhysXPhysics._pxPhysics.createShape(
       this._pxGeometry,
       material._pxMaterial,
-      false,
+      true,
       new PhysXPhysics._physX.PxShapeFlags(this._shapeFlags)
     );
     this._pxShape.setQueryFilterData(new PhysXPhysics._physX.PxFilterData(id, 0, 0, 0));