H bridge heating issue when driving BLDC
You need a GROUND PLANE. 
You need a POWER PLANE. 

You need fast time-constants, and 10Kohm+10nF Cgate is 100,000 nanoseconds Tau; thus your gate drive is underpowered.

You need large Cbypassing between GND and Power planes, able to support one amp load for 0.5 * 1/60 Hz period,  with only 0.1volt sag. Using Q = C * V, differentiating to become I = C * dV/dT, and re-arranging to show C = I * T / V, we compute Cminimum_bypass = 1amp / 0.08 Second * 0.1volt = 8,000 uF.

Because that Cbypass must support the entire 1amp load (assumed) between recharge cycles, you need to design your VDD filtering to be Rectifier--1,000uF and 1 volt ripple --- linear regulator (lotta HEAT here) with 8,000uF (plus its large lead inductance) in parallel with 10uF ceramic between the VDD and GND planes using 5 vias at each end of the 10uF to achieve LOW inductance.