@alexandernanberg/rapier3d 0.0.1

package/dist/rapier.mjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"rapier.mjs","names":["version","vers","wasmInit","RAPIER"],"sources":["../wasm/release/rapier_wasm_3d.js","../src/math.ts","../src/dynamics/rigid_body.ts","../src/coarena.ts","../src/dynamics/rigid_body_set.ts","../src/dynamics/integration_parameters.ts","../src/dynamics/impulse_joint.ts","../src/dynamics/impulse_joint_set.ts","../src/dynamics/multibody_joint.ts","../src/dynamics/multibody_joint_set.ts","../src/dynamics/coefficient_combine_rule.ts","../src/dynamics/ccd_solver.ts","../src/dynamics/island_manager.ts","../src/geometry/feature.ts","../src/geometry/point.ts","../src/geometry/ray.ts","../src/geometry/toi.ts","../src/geometry/broad_phase.ts","../src/geometry/narrow_phase.ts","../src/geometry/contact.ts","../src/geometry/shape.ts","../src/control/character_controller.ts","../src/control/pid_controller.ts","../src/control/ray_cast_vehicle_controller.ts","../src/pipeline/debug_render_pipeline.ts","../src/pipeline/physics_pipeline.ts","../src/pipeline/serialization_pipeline.ts","../src/pipeline/world.ts","../src/pipeline/event_queue.ts","../src/pipeline/physics_hooks.ts","../src/pipeline/query_pipeline.ts","../src/geometry/collider.ts","../src/geometry/collider_set.ts","../src/exports.ts","../src/init.ts","../src/rapier.ts"],"sourcesContent":["/* @ts-self-types=\"./rapier_wasm_3d.d.ts\" */\n\nexport class RawBroadPhase {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawBroadPhase.prototype);\n        obj.__wbg_ptr = ptr;\n        RawBroadPhaseFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawBroadPhaseFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawbroadphase_free(ptr, 0);\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {RawRayColliderHit | undefined}\n     */\n    castRay(narrow_phase, bodies, colliders, rayOrig, rayDir, maxToi, solid, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(rayOrig, RawVector);\n            _assertClass(rayDir, RawVector);\n            const ret = wasm.rawbroadphase_castRay(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            return ret === 0 ? undefined : RawRayColliderHit.__wrap(ret);\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {RawRayColliderIntersection | undefined}\n     */\n    castRayAndGetNormal(narrow_phase, bodies, colliders, rayOrig, rayDir, maxToi, solid, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(rayOrig, RawVector);\n            _assertClass(rayDir, RawVector);\n            const ret = wasm.rawbroadphase_castRayAndGetNormal(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            return ret === 0 ? undefined : RawRayColliderIntersection.__wrap(ret);\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} shapeVel\n     * @param {RawShape} shape\n     * @param {number} target_distance\n     * @param {number} maxToi\n     * @param {boolean} stop_at_penetration\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {RawColliderShapeCastHit | undefined}\n     */\n    castShape(narrow_phase, bodies, colliders, shapePos, shapeRot, shapeVel, shape, target_distance, maxToi, stop_at_penetration, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(shapePos, RawVector);\n            _assertClass(shapeRot, RawRotation);\n            _assertClass(shapeVel, RawVector);\n            _assertClass(shape, RawShape);\n            const ret = wasm.rawbroadphase_castShape(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, shapeVel.__wbg_ptr, shape.__wbg_ptr, target_distance, maxToi, stop_at_penetration, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            return ret === 0 ? undefined : RawColliderShapeCastHit.__wrap(ret);\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} aabbCenter\n     * @param {RawVector} aabbHalfExtents\n     * @param {Function} callback\n     */\n    collidersWithAabbIntersectingAabb(narrow_phase, bodies, colliders, aabbCenter, aabbHalfExtents, callback) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(aabbCenter, RawVector);\n            _assertClass(aabbHalfExtents, RawVector);\n            wasm.rawbroadphase_collidersWithAabbIntersectingAabb(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, aabbCenter.__wbg_ptr, aabbHalfExtents.__wbg_ptr, addBorrowedObject(callback));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawShape} shape\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {number | undefined}\n     */\n    intersectionWithShape(narrow_phase, bodies, colliders, shapePos, shapeRot, shape, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(shapePos, RawVector);\n            _assertClass(shapeRot, RawRotation);\n            _assertClass(shape, RawShape);\n            wasm.rawbroadphase_intersectionWithShape(retptr, this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, shape.__wbg_ptr, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r2 = getDataViewMemory0().getFloat64(retptr + 8 * 1, true);\n            return r0 === 0 ? undefined : r2;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} point\n     * @param {Function} callback\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     */\n    intersectionsWithPoint(narrow_phase, bodies, colliders, point, callback, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(point, RawVector);\n            wasm.rawbroadphase_intersectionsWithPoint(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, point.__wbg_ptr, addBorrowedObject(callback), filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @param {Function} callback\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     */\n    intersectionsWithRay(narrow_phase, bodies, colliders, rayOrig, rayDir, maxToi, solid, callback, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(rayOrig, RawVector);\n            _assertClass(rayDir, RawVector);\n            wasm.rawbroadphase_intersectionsWithRay(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid, addBorrowedObject(callback), filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawShape} shape\n     * @param {Function} callback\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     */\n    intersectionsWithShape(narrow_phase, bodies, colliders, shapePos, shapeRot, shape, callback, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(shapePos, RawVector);\n            _assertClass(shapeRot, RawRotation);\n            _assertClass(shape, RawShape);\n            wasm.rawbroadphase_intersectionsWithShape(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, shape.__wbg_ptr, addBorrowedObject(callback), filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    constructor() {\n        const ret = wasm.rawbroadphase_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawBroadPhaseFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} point\n     * @param {boolean} solid\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {RawPointColliderProjection | undefined}\n     */\n    projectPoint(narrow_phase, bodies, colliders, point, solid, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(point, RawVector);\n            const ret = wasm.rawbroadphase_projectPoint(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, point.__wbg_ptr, solid, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            return ret === 0 ? undefined : RawPointColliderProjection.__wrap(ret);\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawVector} point\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {number | null | undefined} filter_exclude_collider\n     * @param {number | null | undefined} filter_exclude_rigid_body\n     * @param {Function} filter_predicate\n     * @returns {RawPointColliderProjection | undefined}\n     */\n    projectPointAndGetFeature(narrow_phase, bodies, colliders, point, filter_flags, filter_groups, filter_exclude_collider, filter_exclude_rigid_body, filter_predicate) {\n        try {\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(point, RawVector);\n            const ret = wasm.rawbroadphase_projectPointAndGetFeature(this.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, point.__wbg_ptr, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, !isLikeNone(filter_exclude_collider), isLikeNone(filter_exclude_collider) ? 0 : filter_exclude_collider, !isLikeNone(filter_exclude_rigid_body), isLikeNone(filter_exclude_rigid_body) ? 0 : filter_exclude_rigid_body, addBorrowedObject(filter_predicate));\n            return ret === 0 ? undefined : RawPointColliderProjection.__wrap(ret);\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n}\nif (Symbol.dispose) RawBroadPhase.prototype[Symbol.dispose] = RawBroadPhase.prototype.free;\n\nexport class RawCCDSolver {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawCCDSolverFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawccdsolver_free(ptr, 0);\n    }\n    constructor() {\n        const ret = wasm.rawccdsolver_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawCCDSolverFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n}\nif (Symbol.dispose) RawCCDSolver.prototype[Symbol.dispose] = RawCCDSolver.prototype.free;\n\nexport class RawCharacterCollision {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawCharacterCollisionFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcharactercollision_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    handle() {\n        const ret = wasm.rawcharactercollision_handle(this.__wbg_ptr);\n        return ret;\n    }\n    constructor() {\n        const ret = wasm.rawcharactercollision_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawCharacterCollisionFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @returns {number}\n     */\n    toi() {\n        const ret = wasm.rawcharactercollision_toi(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    translationDeltaApplied() {\n        const ret = wasm.rawcharactercollision_translationDeltaApplied(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    translationDeltaRemaining() {\n        const ret = wasm.rawcharactercollision_translationDeltaRemaining(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    worldNormal1() {\n        const ret = wasm.rawcharactercollision_worldNormal1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    worldNormal2() {\n        const ret = wasm.rawcharactercollision_worldNormal2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    worldWitness1() {\n        const ret = wasm.rawcharactercollision_worldWitness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    worldWitness2() {\n        const ret = wasm.rawcharactercollision_worldWitness2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawCharacterCollision.prototype[Symbol.dispose] = RawCharacterCollision.prototype.free;\n\nexport class RawColliderSet {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawColliderSet.prototype);\n        obj.__wbg_ptr = ptr;\n        RawColliderSetFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawColliderSetFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcolliderset_free(ptr, 0);\n    }\n    /**\n     * The collision types enabled for this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coActiveCollisionTypes(handle) {\n        const ret = wasm.rawcolliderset_coActiveCollisionTypes(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The events enabled for this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coActiveEvents(handle) {\n        const ret = wasm.rawcolliderset_coActiveEvents(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The physics hooks enabled for this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coActiveHooks(handle) {\n        const ret = wasm.rawcolliderset_coActiveHooks(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} collider1Vel\n     * @param {number} collider2handle\n     * @param {RawVector} collider2Vel\n     * @param {number} target_distance\n     * @param {number} max_toi\n     * @param {boolean} stop_at_penetration\n     * @returns {RawColliderShapeCastHit | undefined}\n     */\n    coCastCollider(handle, collider1Vel, collider2handle, collider2Vel, target_distance, max_toi, stop_at_penetration) {\n        _assertClass(collider1Vel, RawVector);\n        _assertClass(collider2Vel, RawVector);\n        const ret = wasm.rawcolliderset_coCastCollider(this.__wbg_ptr, handle, collider1Vel.__wbg_ptr, collider2handle, collider2Vel.__wbg_ptr, target_distance, max_toi, stop_at_penetration);\n        return ret === 0 ? undefined : RawColliderShapeCastHit.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @returns {number}\n     */\n    coCastRay(handle, rayOrig, rayDir, maxToi, solid) {\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawcolliderset_coCastRay(this.__wbg_ptr, handle, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @returns {RawRayIntersection | undefined}\n     */\n    coCastRayAndGetNormal(handle, rayOrig, rayDir, maxToi, solid) {\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawcolliderset_coCastRayAndGetNormal(this.__wbg_ptr, handle, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid);\n        return ret === 0 ? undefined : RawRayIntersection.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} colliderVel\n     * @param {RawShape} shape2\n     * @param {RawVector} shape2Pos\n     * @param {RawRotation} shape2Rot\n     * @param {RawVector} shape2Vel\n     * @param {number} target_distance\n     * @param {number} maxToi\n     * @param {boolean} stop_at_penetration\n     * @returns {RawShapeCastHit | undefined}\n     */\n    coCastShape(handle, colliderVel, shape2, shape2Pos, shape2Rot, shape2Vel, target_distance, maxToi, stop_at_penetration) {\n        _assertClass(colliderVel, RawVector);\n        _assertClass(shape2, RawShape);\n        _assertClass(shape2Pos, RawVector);\n        _assertClass(shape2Rot, RawRotation);\n        _assertClass(shape2Vel, RawVector);\n        const ret = wasm.rawcolliderset_coCastShape(this.__wbg_ptr, handle, colliderVel.__wbg_ptr, shape2.__wbg_ptr, shape2Pos.__wbg_ptr, shape2Rot.__wbg_ptr, shape2Vel.__wbg_ptr, target_distance, maxToi, stop_at_penetration);\n        return ret === 0 ? undefined : RawShapeCastHit.__wrap(ret);\n    }\n    /**\n     * The collision groups of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coCollisionGroups(handle) {\n        const ret = wasm.rawcolliderset_coCollisionGroups(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} handle1\n     * @param {number} handle2\n     * @param {number} shift_x\n     * @param {number} shift_y\n     * @param {number} shift_z\n     */\n    coCombineVoxelStates(handle1, handle2, shift_x, shift_y, shift_z) {\n        wasm.rawcolliderset_coCombineVoxelStates(this.__wbg_ptr, handle1, handle2, shift_x, shift_y, shift_z);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} collider2handle\n     * @param {number} prediction\n     * @returns {RawShapeContact | undefined}\n     */\n    coContactCollider(handle, collider2handle, prediction) {\n        const ret = wasm.rawcolliderset_coContactCollider(this.__wbg_ptr, handle, collider2handle, prediction);\n        return ret === 0 ? undefined : RawShapeContact.__wrap(ret);\n    }\n    /**\n     * The total force magnitude beyond which a contact force event can be emitted.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coContactForceEventThreshold(handle) {\n        const ret = wasm.rawcolliderset_coContactForceEventThreshold(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawShape} shape2\n     * @param {RawVector} shapePos2\n     * @param {RawRotation} shapeRot2\n     * @param {number} prediction\n     * @returns {RawShapeContact | undefined}\n     */\n    coContactShape(handle, shape2, shapePos2, shapeRot2, prediction) {\n        _assertClass(shape2, RawShape);\n        _assertClass(shapePos2, RawVector);\n        _assertClass(shapeRot2, RawRotation);\n        const ret = wasm.rawcolliderset_coContactShape(this.__wbg_ptr, handle, shape2.__wbg_ptr, shapePos2.__wbg_ptr, shapeRot2.__wbg_ptr, prediction);\n        return ret === 0 ? undefined : RawShapeContact.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    coContactSkin(handle) {\n        const ret = wasm.rawcolliderset_coContactSkin(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} point\n     * @returns {boolean}\n     */\n    coContainsPoint(handle, point) {\n        _assertClass(point, RawVector);\n        const ret = wasm.rawcolliderset_coContainsPoint(this.__wbg_ptr, handle, point.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * The density of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coDensity(handle) {\n        const ret = wasm.rawcolliderset_coDensity(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The friction coefficient of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coFriction(handle) {\n        const ret = wasm.rawcolliderset_coFriction(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    coFrictionCombineRule(handle) {\n        const ret = wasm.rawcolliderset_coFrictionCombineRule(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The half-extents of this collider if it is has a cuboid shape.\n     * @param {number} handle\n     * @returns {RawVector | undefined}\n     */\n    coHalfExtents(handle) {\n        const ret = wasm.rawcolliderset_coHalfExtents(this.__wbg_ptr, handle);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * The half height of this collider if it is a capsule, cylinder, or cone shape.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coHalfHeight(handle) {\n        const ret = wasm.rawcolliderset_coHalfHeight(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} handle\n     * @returns {RawVector | undefined}\n     */\n    coHalfspaceNormal(handle) {\n        const ret = wasm.rawcolliderset_coHalfspaceNormal(this.__wbg_ptr, handle);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coHeightFieldFlags(handle) {\n        const ret = wasm.rawcolliderset_coHeightFieldFlags(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * The height of this heightfield if it is one.\n     * @param {number} handle\n     * @returns {Float32Array | undefined}\n     */\n    coHeightfieldHeights(handle) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawcolliderset_coHeightfieldHeights(retptr, this.__wbg_ptr, handle);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true);\n            let v1;\n            if (r0 !== 0) {\n                v1 = getArrayF32FromWasm0(r0, r1).slice();\n                wasm.__wbindgen_export2(r0, r1 * 4, 4);\n            }\n            return v1;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * The number of columns on this heightfield's height matrix, if it is one.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coHeightfieldNCols(handle) {\n        const ret = wasm.rawcolliderset_coHeightfieldNCols(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * The number of rows on this heightfield's height matrix, if it is one.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coHeightfieldNRows(handle) {\n        const ret = wasm.rawcolliderset_coHeightfieldNRows(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * The scaling factor applied of this heightfield if it is one.\n     * @param {number} handle\n     * @returns {RawVector | undefined}\n     */\n    coHeightfieldScale(handle) {\n        const ret = wasm.rawcolliderset_coHeightfieldScale(this.__wbg_ptr, handle);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * The indices of this triangle mesh, polyline, or convex polyhedron, if it is one.\n     * @param {number} handle\n     * @returns {Uint32Array | undefined}\n     */\n    coIndices(handle) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawcolliderset_coIndices(retptr, this.__wbg_ptr, handle);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true);\n            let v1;\n            if (r0 !== 0) {\n                v1 = getArrayU32FromWasm0(r0, r1).slice();\n                wasm.__wbindgen_export2(r0, r1 * 4, 4);\n            }\n            return v1;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @returns {boolean}\n     */\n    coIntersectsRay(handle, rayOrig, rayDir, maxToi) {\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawcolliderset_coIntersectsRay(this.__wbg_ptr, handle, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi);\n        return ret !== 0;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawShape} shape2\n     * @param {RawVector} shapePos2\n     * @param {RawRotation} shapeRot2\n     * @returns {boolean}\n     */\n    coIntersectsShape(handle, shape2, shapePos2, shapeRot2) {\n        _assertClass(shape2, RawShape);\n        _assertClass(shapePos2, RawVector);\n        _assertClass(shapeRot2, RawRotation);\n        const ret = wasm.rawcolliderset_coIntersectsShape(this.__wbg_ptr, handle, shape2.__wbg_ptr, shapePos2.__wbg_ptr, shapeRot2.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    coIsEnabled(handle) {\n        const ret = wasm.rawcolliderset_coIsEnabled(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is this collider a sensor?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    coIsSensor(handle) {\n        const ret = wasm.rawcolliderset_coIsSensor(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * The mass of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coMass(handle) {\n        const ret = wasm.rawcolliderset_coMass(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The unique integer identifier of the collider this collider is attached to.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coParent(handle) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawcolliderset_coParent(retptr, this.__wbg_ptr, handle);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r2 = getDataViewMemory0().getFloat64(retptr + 8 * 1, true);\n            return r0 === 0 ? undefined : r2;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * @param {number} handle\n     * @param {RawVector} point\n     * @param {boolean} solid\n     * @returns {RawPointProjection}\n     */\n    coProjectPoint(handle, point, solid) {\n        _assertClass(point, RawVector);\n        const ret = wasm.rawcolliderset_coProjectPoint(this.__wbg_ptr, handle, point.__wbg_ptr, solid);\n        return RawPointProjection.__wrap(ret);\n    }\n    /**\n     * @param {number} handle1\n     * @param {number} handle2\n     * @param {number} ix\n     * @param {number} iy\n     * @param {number} iz\n     * @param {number} shift_x\n     * @param {number} shift_y\n     * @param {number} shift_z\n     */\n    coPropagateVoxelChange(handle1, handle2, ix, iy, iz, shift_x, shift_y, shift_z) {\n        wasm.rawcolliderset_coPropagateVoxelChange(this.__wbg_ptr, handle1, handle2, ix, iy, iz, shift_x, shift_y, shift_z);\n    }\n    /**\n     * The radius of this collider if it is a ball, capsule, cylinder, or cone shape.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coRadius(handle) {\n        const ret = wasm.rawcolliderset_coRadius(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * The restitution coefficient of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coRestitution(handle) {\n        const ret = wasm.rawcolliderset_coRestitution(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    coRestitutionCombineRule(handle) {\n        const ret = wasm.rawcolliderset_coRestitutionCombineRule(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The world-space orientation of this collider, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    coRotation(handle, buffer) {\n        try {\n            wasm.rawcolliderset_coRotation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The orientation of this collider relative to its parent rigid-body, written to a buffer.\n     * Returns false if it doesn't have a parent.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     * @returns {boolean}\n     */\n    coRotationWrtParent(handle, buffer) {\n        try {\n            const ret = wasm.rawcolliderset_coRotationWrtParent(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n            return ret !== 0;\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The radius of the round edges of this collider.\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coRoundRadius(handle) {\n        const ret = wasm.rawcolliderset_coRoundRadius(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} handle\n     * @param {number} types\n     */\n    coSetActiveCollisionTypes(handle, types) {\n        wasm.rawcolliderset_coSetActiveCollisionTypes(this.__wbg_ptr, handle, types);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} events\n     */\n    coSetActiveEvents(handle, events) {\n        wasm.rawcolliderset_coSetActiveEvents(this.__wbg_ptr, handle, events);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} hooks\n     */\n    coSetActiveHooks(handle, hooks) {\n        wasm.rawcolliderset_coSetActiveHooks(this.__wbg_ptr, handle, hooks);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} groups\n     */\n    coSetCollisionGroups(handle, groups) {\n        wasm.rawcolliderset_coSetCollisionGroups(this.__wbg_ptr, handle, groups);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} threshold\n     */\n    coSetContactForceEventThreshold(handle, threshold) {\n        wasm.rawcolliderset_coSetContactForceEventThreshold(this.__wbg_ptr, handle, threshold);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} contact_skin\n     */\n    coSetContactSkin(handle, contact_skin) {\n        wasm.rawcolliderset_coSetContactSkin(this.__wbg_ptr, handle, contact_skin);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} density\n     */\n    coSetDensity(handle, density) {\n        wasm.rawcolliderset_coSetDensity(this.__wbg_ptr, handle, density);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} enabled\n     */\n    coSetEnabled(handle, enabled) {\n        wasm.rawcolliderset_coSetEnabled(this.__wbg_ptr, handle, enabled);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} friction\n     */\n    coSetFriction(handle, friction) {\n        wasm.rawcolliderset_coSetFriction(this.__wbg_ptr, handle, friction);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} rule\n     */\n    coSetFrictionCombineRule(handle, rule) {\n        wasm.rawcolliderset_coSetFrictionCombineRule(this.__wbg_ptr, handle, rule);\n    }\n    /**\n     * Set the half-extents of this collider if it has a cuboid shape.\n     * @param {number} handle\n     * @param {RawVector} newHalfExtents\n     */\n    coSetHalfExtents(handle, newHalfExtents) {\n        _assertClass(newHalfExtents, RawVector);\n        wasm.rawcolliderset_coSetHalfExtents(this.__wbg_ptr, handle, newHalfExtents.__wbg_ptr);\n    }\n    /**\n     * Set the half height of this collider if it is a capsule, cylinder, or cone shape.\n     * @param {number} handle\n     * @param {number} newHalfheight\n     */\n    coSetHalfHeight(handle, newHalfheight) {\n        wasm.rawcolliderset_coSetHalfHeight(this.__wbg_ptr, handle, newHalfheight);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} mass\n     */\n    coSetMass(handle, mass) {\n        wasm.rawcolliderset_coSetMass(this.__wbg_ptr, handle, mass);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} mass\n     * @param {RawVector} centerOfMass\n     * @param {RawVector} principalAngularInertia\n     * @param {RawRotation} angularInertiaFrame\n     */\n    coSetMassProperties(handle, mass, centerOfMass, principalAngularInertia, angularInertiaFrame) {\n        _assertClass(centerOfMass, RawVector);\n        _assertClass(principalAngularInertia, RawVector);\n        _assertClass(angularInertiaFrame, RawRotation);\n        wasm.rawcolliderset_coSetMassProperties(this.__wbg_ptr, handle, mass, centerOfMass.__wbg_ptr, principalAngularInertia.__wbg_ptr, angularInertiaFrame.__wbg_ptr);\n    }\n    /**\n     * Set the radius of this collider if it is a ball, capsule, cylinder, or cone shape.\n     * @param {number} handle\n     * @param {number} newRadius\n     */\n    coSetRadius(handle, newRadius) {\n        wasm.rawcolliderset_coSetRadius(this.__wbg_ptr, handle, newRadius);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} restitution\n     */\n    coSetRestitution(handle, restitution) {\n        wasm.rawcolliderset_coSetRestitution(this.__wbg_ptr, handle, restitution);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} rule\n     */\n    coSetRestitutionCombineRule(handle, rule) {\n        wasm.rawcolliderset_coSetRestitutionCombineRule(this.__wbg_ptr, handle, rule);\n    }\n    /**\n     * Sets the rotation quaternion of this collider.\n     *\n     * This does nothing if a zero quaternion is provided.\n     *\n     * # Parameters\n     * - `x`: the first vector component of the quaternion.\n     * - `y`: the second vector component of the quaternion.\n     * - `z`: the third vector component of the quaternion.\n     * - `w`: the scalar component of the quaternion.\n     * - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it\n     * wasn't moving before modifying its position.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {number} w\n     */\n    coSetRotation(handle, x, y, z, w) {\n        wasm.rawcolliderset_coSetRotation(this.__wbg_ptr, handle, x, y, z, w);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {number} w\n     */\n    coSetRotationWrtParent(handle, x, y, z, w) {\n        wasm.rawcolliderset_coSetRotationWrtParent(this.__wbg_ptr, handle, x, y, z, w);\n    }\n    /**\n     * Set the radius of the round edges of this collider.\n     * @param {number} handle\n     * @param {number} newBorderRadius\n     */\n    coSetRoundRadius(handle, newBorderRadius) {\n        wasm.rawcolliderset_coSetRoundRadius(this.__wbg_ptr, handle, newBorderRadius);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} is_sensor\n     */\n    coSetSensor(handle, is_sensor) {\n        wasm.rawcolliderset_coSetSensor(this.__wbg_ptr, handle, is_sensor);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawShape} shape\n     */\n    coSetShape(handle, shape) {\n        _assertClass(shape, RawShape);\n        wasm.rawcolliderset_coSetShape(this.__wbg_ptr, handle, shape.__wbg_ptr);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} groups\n     */\n    coSetSolverGroups(handle, groups) {\n        wasm.rawcolliderset_coSetSolverGroups(this.__wbg_ptr, handle, groups);\n    }\n    /**\n     * Sets the translation of this collider.\n     *\n     * # Parameters\n     * - `x`: the world-space position of the collider along the `x` axis.\n     * - `y`: the world-space position of the collider along the `y` axis.\n     * - `z`: the world-space position of the collider along the `z` axis.\n     * - `wakeUp`: forces the collider to wake-up so it is properly affected by forces if it\n     * wasn't moving before modifying its position.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     */\n    coSetTranslation(handle, x, y, z) {\n        wasm.rawcolliderset_coSetTranslation(this.__wbg_ptr, handle, x, y, z);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     */\n    coSetTranslationWrtParent(handle, x, y, z) {\n        wasm.rawcolliderset_coSetTranslationWrtParent(this.__wbg_ptr, handle, x, y, z);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} ix\n     * @param {number} iy\n     * @param {number} iz\n     * @param {boolean} filled\n     */\n    coSetVoxel(handle, ix, iy, iz, filled) {\n        wasm.rawcolliderset_coSetVoxel(this.__wbg_ptr, handle, ix, iy, iz, filled);\n    }\n    /**\n     * The type of the shape of this collider.\n     * @param {number} handle\n     * @returns {RawShapeType}\n     */\n    coShapeType(handle) {\n        const ret = wasm.rawcolliderset_coShapeType(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The solver groups of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coSolverGroups(handle) {\n        const ret = wasm.rawcolliderset_coSolverGroups(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The world-space translation of this collider, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    coTranslation(handle, buffer) {\n        try {\n            wasm.rawcolliderset_coTranslation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The translation of this collider relative to its parent rigid-body, written to a buffer.\n     * Returns false if it doesn't have a parent.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     * @returns {boolean}\n     */\n    coTranslationWrtParent(handle, buffer) {\n        try {\n            const ret = wasm.rawcolliderset_coTranslationWrtParent(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n            return ret !== 0;\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} handle\n     * @returns {number | undefined}\n     */\n    coTriMeshFlags(handle) {\n        const ret = wasm.rawcolliderset_coTriMeshFlags(this.__wbg_ptr, handle);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * The vertices of this triangle mesh, polyline, convex polyhedron, segment, triangle or convex polyhedron, if it is one.\n     * @param {number} handle\n     * @returns {Float32Array | undefined}\n     */\n    coVertices(handle) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawcolliderset_coVertices(retptr, this.__wbg_ptr, handle);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true);\n            let v1;\n            if (r0 !== 0) {\n                v1 = getArrayF32FromWasm0(r0, r1).slice();\n                wasm.__wbindgen_export2(r0, r1 * 4, 4);\n            }\n            return v1;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * The volume of this collider.\n     * @param {number} handle\n     * @returns {number}\n     */\n    coVolume(handle) {\n        const ret = wasm.rawcolliderset_coVolume(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @returns {Int32Array | undefined}\n     */\n    coVoxelData(handle) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawcolliderset_coVoxelData(retptr, this.__wbg_ptr, handle);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true);\n            let v1;\n            if (r0 !== 0) {\n                v1 = getArrayI32FromWasm0(r0, r1).slice();\n                wasm.__wbindgen_export2(r0, r1 * 4, 4);\n            }\n            return v1;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * @param {number} handle\n     * @returns {RawVector | undefined}\n     */\n    coVoxelSize(handle) {\n        const ret = wasm.rawcolliderset_coVoxelSize(this.__wbg_ptr, handle);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    contains(handle) {\n        const ret = wasm.rawcolliderset_contains(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @param {boolean} enabled\n     * @param {RawShape} shape\n     * @param {RawVector} translation\n     * @param {RawRotation} rotation\n     * @param {number} massPropsMode\n     * @param {number} mass\n     * @param {RawVector} centerOfMass\n     * @param {RawVector} principalAngularInertia\n     * @param {RawRotation} angularInertiaFrame\n     * @param {number} density\n     * @param {number} friction\n     * @param {number} restitution\n     * @param {number} frictionCombineRule\n     * @param {number} restitutionCombineRule\n     * @param {boolean} isSensor\n     * @param {number} collisionGroups\n     * @param {number} solverGroups\n     * @param {number} activeCollisionTypes\n     * @param {number} activeHooks\n     * @param {number} activeEvents\n     * @param {number} contactForceEventThreshold\n     * @param {number} contactSkin\n     * @param {boolean} hasParent\n     * @param {number} parent\n     * @param {RawRigidBodySet} bodies\n     * @returns {number | undefined}\n     */\n    createCollider(enabled, shape, translation, rotation, massPropsMode, mass, centerOfMass, principalAngularInertia, angularInertiaFrame, density, friction, restitution, frictionCombineRule, restitutionCombineRule, isSensor, collisionGroups, solverGroups, activeCollisionTypes, activeHooks, activeEvents, contactForceEventThreshold, contactSkin, hasParent, parent, bodies) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            _assertClass(shape, RawShape);\n            _assertClass(translation, RawVector);\n            _assertClass(rotation, RawRotation);\n            _assertClass(centerOfMass, RawVector);\n            _assertClass(principalAngularInertia, RawVector);\n            _assertClass(angularInertiaFrame, RawRotation);\n            _assertClass(bodies, RawRigidBodySet);\n            wasm.rawcolliderset_createCollider(retptr, this.__wbg_ptr, enabled, shape.__wbg_ptr, translation.__wbg_ptr, rotation.__wbg_ptr, massPropsMode, mass, centerOfMass.__wbg_ptr, principalAngularInertia.__wbg_ptr, angularInertiaFrame.__wbg_ptr, density, friction, restitution, frictionCombineRule, restitutionCombineRule, isSensor, collisionGroups, solverGroups, activeCollisionTypes, activeHooks, activeEvents, contactForceEventThreshold, contactSkin, hasParent, parent, bodies.__wbg_ptr);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r2 = getDataViewMemory0().getFloat64(retptr + 8 * 1, true);\n            return r0 === 0 ? undefined : r2;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each collider managed by this collider set.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each collider managed by this collider set. Called as `f(handle)`.\n     * @param {Function} f\n     */\n    forEachColliderHandle(f) {\n        try {\n            wasm.rawcolliderset_forEachColliderHandle(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * Checks if a collider with the given integer handle exists.\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    isHandleValid(handle) {\n        const ret = wasm.rawcolliderset_contains(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @returns {number}\n     */\n    len() {\n        const ret = wasm.rawcolliderset_len(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    constructor() {\n        const ret = wasm.rawcolliderset_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawColliderSetFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * Removes a collider from this set and wake-up the rigid-body it is attached to.\n     * @param {number} handle\n     * @param {RawIslandManager} islands\n     * @param {RawRigidBodySet} bodies\n     * @param {boolean} wakeUp\n     */\n    remove(handle, islands, bodies, wakeUp) {\n        _assertClass(islands, RawIslandManager);\n        _assertClass(bodies, RawRigidBodySet);\n        wasm.rawcolliderset_remove(this.__wbg_ptr, handle, islands.__wbg_ptr, bodies.__wbg_ptr, wakeUp);\n    }\n}\nif (Symbol.dispose) RawColliderSet.prototype[Symbol.dispose] = RawColliderSet.prototype.free;\n\nexport class RawColliderShapeCastHit {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawColliderShapeCastHit.prototype);\n        obj.__wbg_ptr = ptr;\n        RawColliderShapeCastHitFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawColliderShapeCastHitFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcollidershapecasthit_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    colliderHandle() {\n        const ret = wasm.rawcollidershapecasthit_colliderHandle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal1() {\n        const ret = wasm.rawcollidershapecasthit_normal1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal2() {\n        const ret = wasm.rawcollidershapecasthit_normal2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    time_of_impact() {\n        const ret = wasm.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    witness1() {\n        const ret = wasm.rawcollidershapecasthit_witness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    witness2() {\n        const ret = wasm.rawcollidershapecasthit_witness2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawColliderShapeCastHit.prototype[Symbol.dispose] = RawColliderShapeCastHit.prototype.free;\n\nexport class RawContactForceEvent {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawContactForceEvent.prototype);\n        obj.__wbg_ptr = ptr;\n        RawContactForceEventFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawContactForceEventFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcontactforceevent_free(ptr, 0);\n    }\n    /**\n     * The first collider involved in the contact.\n     * @returns {number}\n     */\n    collider1() {\n        const ret = wasm.rawcollidershapecasthit_colliderHandle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The second collider involved in the contact.\n     * @returns {number}\n     */\n    collider2() {\n        const ret = wasm.rawcontactforceevent_collider2(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The world-space (unit) direction of the force with strongest magnitude.\n     * @returns {RawVector}\n     */\n    max_force_direction() {\n        const ret = wasm.rawcontactforceevent_max_force_direction(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The magnitude of the largest force at a contact point of this contact pair.\n     * @returns {number}\n     */\n    max_force_magnitude() {\n        const ret = wasm.rawcontactforceevent_max_force_magnitude(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The sum of all the forces between the two colliders.\n     * @returns {RawVector}\n     */\n    total_force() {\n        const ret = wasm.rawcontactforceevent_total_force(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The sum of the magnitudes of each force between the two colliders.\n     *\n     * Note that this is **not** the same as the magnitude of `self.total_force`.\n     * Here we are summing the magnitude of all the forces, instead of taking\n     * the magnitude of their sum.\n     * @returns {number}\n     */\n    total_force_magnitude() {\n        const ret = wasm.rawcontactforceevent_total_force_magnitude(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawContactForceEvent.prototype[Symbol.dispose] = RawContactForceEvent.prototype.free;\n\nexport class RawContactManifold {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawContactManifold.prototype);\n        obj.__wbg_ptr = ptr;\n        RawContactManifoldFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawContactManifoldFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcontactmanifold_free(ptr, 0);\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_dist(i) {\n        const ret = wasm.rawcontactmanifold_contact_dist(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_fid1(i) {\n        const ret = wasm.rawcontactmanifold_contact_fid1(this.__wbg_ptr, i);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_fid2(i) {\n        const ret = wasm.rawcontactmanifold_contact_fid2(this.__wbg_ptr, i);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_impulse(i) {\n        const ret = wasm.rawcontactmanifold_contact_impulse(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    contact_local_p1(i) {\n        const ret = wasm.rawcontactmanifold_contact_local_p1(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    contact_local_p2(i) {\n        const ret = wasm.rawcontactmanifold_contact_local_p2(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_tangent_impulse_x(i) {\n        const ret = wasm.rawcontactmanifold_contact_tangent_impulse_x(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    contact_tangent_impulse_y(i) {\n        const ret = wasm.rawcontactmanifold_contact_tangent_impulse_y(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    local_n1() {\n        const ret = wasm.rawcontactmanifold_local_n1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    local_n2() {\n        const ret = wasm.rawcontactmanifold_local_n2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal() {\n        const ret = wasm.rawcontactmanifold_normal(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    num_contacts() {\n        const ret = wasm.rawcontactmanifold_num_contacts(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    num_solver_contacts() {\n        const ret = wasm.rawcontactmanifold_num_solver_contacts(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    solver_contact_dist(i) {\n        const ret = wasm.rawcontactmanifold_solver_contact_dist(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    solver_contact_friction(i) {\n        const ret = wasm.rawcontactmanifold_solver_contact_friction(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    solver_contact_point(i) {\n        const ret = wasm.rawcontactmanifold_solver_contact_point(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {number}\n     */\n    solver_contact_restitution(i) {\n        const ret = wasm.rawcontactmanifold_solver_contact_restitution(this.__wbg_ptr, i);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector}\n     */\n    solver_contact_tangent_velocity(i) {\n        const ret = wasm.rawcontactmanifold_solver_contact_tangent_velocity(this.__wbg_ptr, i);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    subshape1() {\n        const ret = wasm.rawcontactmanifold_subshape1(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    subshape2() {\n        const ret = wasm.rawcontactmanifold_subshape2(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n}\nif (Symbol.dispose) RawContactManifold.prototype[Symbol.dispose] = RawContactManifold.prototype.free;\n\nexport class RawContactPair {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawContactPair.prototype);\n        obj.__wbg_ptr = ptr;\n        RawContactPairFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawContactPairFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawcontactpair_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    collider1() {\n        const ret = wasm.rawcontactpair_collider1(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    collider2() {\n        const ret = wasm.rawcontactpair_collider2(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {RawContactManifold | undefined}\n     */\n    contactManifold(i) {\n        const ret = wasm.rawcontactpair_contactManifold(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawContactManifold.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    numContactManifolds() {\n        const ret = wasm.rawcontactpair_numContactManifolds(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n}\nif (Symbol.dispose) RawContactPair.prototype[Symbol.dispose] = RawContactPair.prototype.free;\n\nexport class RawDebugRenderPipeline {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawDebugRenderPipelineFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawdebugrenderpipeline_free(ptr, 0);\n    }\n    /**\n     * @returns {Float32Array}\n     */\n    colors() {\n        const ret = wasm.rawdebugrenderpipeline_colors(this.__wbg_ptr);\n        return takeObject(ret);\n    }\n    constructor() {\n        const ret = wasm.rawdebugrenderpipeline_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawDebugRenderPipelineFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawImpulseJointSet} impulse_joints\n     * @param {RawMultibodyJointSet} multibody_joints\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {number} filter_flags\n     * @param {Function} filter_predicate\n     */\n    render(bodies, colliders, impulse_joints, multibody_joints, narrow_phase, filter_flags, filter_predicate) {\n        try {\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(impulse_joints, RawImpulseJointSet);\n            _assertClass(multibody_joints, RawMultibodyJointSet);\n            _assertClass(narrow_phase, RawNarrowPhase);\n            wasm.rawdebugrenderpipeline_render(this.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, impulse_joints.__wbg_ptr, multibody_joints.__wbg_ptr, narrow_phase.__wbg_ptr, filter_flags, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @returns {Float32Array}\n     */\n    vertices() {\n        const ret = wasm.rawdebugrenderpipeline_vertices(this.__wbg_ptr);\n        return takeObject(ret);\n    }\n}\nif (Symbol.dispose) RawDebugRenderPipeline.prototype[Symbol.dispose] = RawDebugRenderPipeline.prototype.free;\n\nexport class RawDeserializedWorld {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawDeserializedWorld.prototype);\n        obj.__wbg_ptr = ptr;\n        RawDeserializedWorldFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawDeserializedWorldFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawdeserializedworld_free(ptr, 0);\n    }\n    /**\n     * @returns {RawRigidBodySet | undefined}\n     */\n    takeBodies() {\n        const ret = wasm.rawdeserializedworld_takeBodies(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawRigidBodySet.__wrap(ret);\n    }\n    /**\n     * @returns {RawBroadPhase | undefined}\n     */\n    takeBroadPhase() {\n        const ret = wasm.rawdeserializedworld_takeBroadPhase(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawBroadPhase.__wrap(ret);\n    }\n    /**\n     * @returns {RawColliderSet | undefined}\n     */\n    takeColliders() {\n        const ret = wasm.rawdeserializedworld_takeColliders(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawColliderSet.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector | undefined}\n     */\n    takeGravity() {\n        const ret = wasm.rawdeserializedworld_takeGravity(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawImpulseJointSet | undefined}\n     */\n    takeImpulseJoints() {\n        const ret = wasm.rawdeserializedworld_takeImpulseJoints(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawImpulseJointSet.__wrap(ret);\n    }\n    /**\n     * @returns {RawIntegrationParameters | undefined}\n     */\n    takeIntegrationParameters() {\n        const ret = wasm.rawdeserializedworld_takeIntegrationParameters(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawIntegrationParameters.__wrap(ret);\n    }\n    /**\n     * @returns {RawIslandManager | undefined}\n     */\n    takeIslandManager() {\n        const ret = wasm.rawdeserializedworld_takeIslandManager(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawIslandManager.__wrap(ret);\n    }\n    /**\n     * @returns {RawMultibodyJointSet | undefined}\n     */\n    takeMultibodyJoints() {\n        const ret = wasm.rawdeserializedworld_takeMultibodyJoints(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawMultibodyJointSet.__wrap(ret);\n    }\n    /**\n     * @returns {RawNarrowPhase | undefined}\n     */\n    takeNarrowPhase() {\n        const ret = wasm.rawdeserializedworld_takeNarrowPhase(this.__wbg_ptr);\n        return ret === 0 ? undefined : RawNarrowPhase.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawDeserializedWorld.prototype[Symbol.dispose] = RawDeserializedWorld.prototype.free;\n\nexport class RawDynamicRayCastVehicleController {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawDynamicRayCastVehicleControllerFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawdynamicraycastvehiclecontroller_free(ptr, 0);\n    }\n    /**\n     * @param {RawVector} chassis_connection_cs\n     * @param {RawVector} direction_cs\n     * @param {RawVector} axle_cs\n     * @param {number} suspension_rest_length\n     * @param {number} radius\n     */\n    add_wheel(chassis_connection_cs, direction_cs, axle_cs, suspension_rest_length, radius) {\n        _assertClass(chassis_connection_cs, RawVector);\n        _assertClass(direction_cs, RawVector);\n        _assertClass(axle_cs, RawVector);\n        wasm.rawdynamicraycastvehiclecontroller_add_wheel(this.__wbg_ptr, chassis_connection_cs.__wbg_ptr, direction_cs.__wbg_ptr, axle_cs.__wbg_ptr, suspension_rest_length, radius);\n    }\n    /**\n     * @returns {number}\n     */\n    chassis() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_chassis(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    current_vehicle_speed() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_current_vehicle_speed(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    index_forward_axis() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_index_forward_axis(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    index_up_axis() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_index_up_axis(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} chassis\n     */\n    constructor(chassis) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_new(chassis);\n        this.__wbg_ptr = ret >>> 0;\n        RawDynamicRayCastVehicleControllerFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @returns {number}\n     */\n    num_wheels() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_num_wheels(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} axis\n     */\n    set_index_forward_axis(axis) {\n        wasm.rawdynamicraycastvehiclecontroller_set_index_forward_axis(this.__wbg_ptr, axis);\n    }\n    /**\n     * @param {number} axis\n     */\n    set_index_up_axis(axis) {\n        wasm.rawdynamicraycastvehiclecontroller_set_index_up_axis(this.__wbg_ptr, axis);\n    }\n    /**\n     * @param {number} i\n     * @param {RawVector} value\n     */\n    set_wheel_axle_cs(i, value) {\n        _assertClass(value, RawVector);\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_axle_cs(this.__wbg_ptr, i, value.__wbg_ptr);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_brake(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_brake(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {RawVector} value\n     */\n    set_wheel_chassis_connection_point_cs(i, value) {\n        _assertClass(value, RawVector);\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_chassis_connection_point_cs(this.__wbg_ptr, i, value.__wbg_ptr);\n    }\n    /**\n     * @param {number} i\n     * @param {RawVector} value\n     */\n    set_wheel_direction_cs(i, value) {\n        _assertClass(value, RawVector);\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_direction_cs(this.__wbg_ptr, i, value.__wbg_ptr);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_engine_force(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_engine_force(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_friction_slip(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_friction_slip(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_max_suspension_force(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_max_suspension_force(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_max_suspension_travel(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_max_suspension_travel(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_radius(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_radius(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} stiffness\n     */\n    set_wheel_side_friction_stiffness(i, stiffness) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_side_friction_stiffness(this.__wbg_ptr, i, stiffness);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_steering(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_steering(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_suspension_compression(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_suspension_compression(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_suspension_relaxation(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_suspension_relaxation(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_suspension_rest_length(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_suspension_rest_length(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} i\n     * @param {number} value\n     */\n    set_wheel_suspension_stiffness(i, value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_wheel_suspension_stiffness(this.__wbg_ptr, i, value);\n    }\n    /**\n     * @param {number} dt\n     * @param {RawBroadPhase} broad_phase\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {Function} filter_predicate\n     */\n    update_vehicle(dt, broad_phase, narrow_phase, bodies, colliders, filter_flags, filter_groups, filter_predicate) {\n        try {\n            _assertClass(broad_phase, RawBroadPhase);\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            wasm.rawdynamicraycastvehiclecontroller_update_vehicle(this.__wbg_ptr, dt, broad_phase.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_axle_cs(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_axle_cs(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_brake(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_brake(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_chassis_connection_point_cs(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_chassis_connection_point_cs(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_contact_normal_ws(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_contact_normal_ws(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_contact_point_ws(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_contact_point_ws(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_direction_cs(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_direction_cs(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_engine_force(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_engine_force(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_forward_impulse(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_forward_impulse(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_friction_slip(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_friction_slip(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_ground_object(i) {\n        try {\n            const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n            wasm.rawdynamicraycastvehiclecontroller_wheel_ground_object(retptr, this.__wbg_ptr, i);\n            var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n            var r2 = getDataViewMemory0().getFloat64(retptr + 8 * 1, true);\n            return r0 === 0 ? undefined : r2;\n        } finally {\n            wasm.__wbindgen_add_to_stack_pointer(16);\n        }\n    }\n    /**\n     * @param {number} i\n     * @returns {RawVector | undefined}\n     */\n    wheel_hard_point_ws(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_hard_point_ws(this.__wbg_ptr, i);\n        return ret === 0 ? undefined : RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} i\n     * @returns {boolean}\n     */\n    wheel_is_in_contact(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_is_in_contact(this.__wbg_ptr, i);\n        return ret !== 0;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_max_suspension_force(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_max_suspension_force(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_max_suspension_travel(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_max_suspension_travel(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_radius(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_radius(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_rotation(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_rotation(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_side_friction_stiffness(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_side_friction_stiffness(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_side_impulse(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_side_impulse(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_steering(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_steering(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_compression(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_compression(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_force(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_force(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_length(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_length(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_relaxation(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_relaxation(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_rest_length(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_rest_length(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} i\n     * @returns {number | undefined}\n     */\n    wheel_suspension_stiffness(i) {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_wheel_suspension_stiffness(this.__wbg_ptr, i);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n}\nif (Symbol.dispose) RawDynamicRayCastVehicleController.prototype[Symbol.dispose] = RawDynamicRayCastVehicleController.prototype.free;\n\n/**\n * A structure responsible for collecting events generated\n * by the physics engine.\n */\nexport class RawEventQueue {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawEventQueueFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_raweventqueue_free(ptr, 0);\n    }\n    /**\n     * Removes all events contained by this collector.\n     */\n    clear() {\n        wasm.raweventqueue_clear(this.__wbg_ptr);\n    }\n    /**\n     * Applies the given javascript closure on each collision event of this collector, then clear\n     * the internal collision event buffer.\n     *\n     * # Parameters\n     * - `f(handle1, handle2, started)`:  JavaScript closure applied to each collision event. The\n     * closure should take three arguments: two integers representing the handles of the colliders\n     * involved in the collision, and a boolean indicating if the collision started (true) or stopped\n     * (false).\n     * @param {Function} f\n     */\n    drainCollisionEvents(f) {\n        try {\n            wasm.raweventqueue_drainCollisionEvents(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {Function} f\n     */\n    drainContactForceEvents(f) {\n        try {\n            wasm.raweventqueue_drainContactForceEvents(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * Creates a new event collector.\n     *\n     * # Parameters\n     * - `autoDrain`: setting this to `true` is strongly recommended. If true, the collector will\n     * be automatically drained before each `world.step(collector)`. If false, the collector will\n     * keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of\n     * RAM if no drain is performed.\n     * @param {boolean} autoDrain\n     */\n    constructor(autoDrain) {\n        const ret = wasm.raweventqueue_new(autoDrain);\n        this.__wbg_ptr = ret >>> 0;\n        RawEventQueueFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n}\nif (Symbol.dispose) RawEventQueue.prototype[Symbol.dispose] = RawEventQueue.prototype.free;\n\n/**\n * @enum {0 | 1 | 2 | 3}\n */\nexport const RawFeatureType = Object.freeze({\n    Vertex: 0, \"0\": \"Vertex\",\n    Edge: 1, \"1\": \"Edge\",\n    Face: 2, \"2\": \"Face\",\n    Unknown: 3, \"3\": \"Unknown\",\n});\n\nexport class RawGenericJoint {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawGenericJoint.prototype);\n        obj.__wbg_ptr = ptr;\n        RawGenericJointFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawGenericJointFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawgenericjoint_free(ptr, 0);\n    }\n    /**\n     * Creates a new joint descriptor that builds a Fixed joint.\n     *\n     * A fixed joint removes all the degrees of freedom between the affected bodies.\n     * @param {RawVector} anchor1\n     * @param {RawRotation} axes1\n     * @param {RawVector} anchor2\n     * @param {RawRotation} axes2\n     * @returns {RawGenericJoint}\n     */\n    static fixed(anchor1, axes1, anchor2, axes2) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(axes1, RawRotation);\n        _assertClass(anchor2, RawVector);\n        _assertClass(axes2, RawRotation);\n        const ret = wasm.rawgenericjoint_fixed(anchor1.__wbg_ptr, axes1.__wbg_ptr, anchor2.__wbg_ptr, axes2.__wbg_ptr);\n        return RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * Creates a new joint descriptor that builds generic joints.\n     *\n     * Generic joints allow arbitrary axes of freedom to be selected\n     * for the joint from the available 6 degrees of freedom.\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @param {RawVector} axis\n     * @param {number} lockedAxes\n     * @returns {RawGenericJoint | undefined}\n     */\n    static generic(anchor1, anchor2, axis, lockedAxes) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        _assertClass(axis, RawVector);\n        const ret = wasm.rawgenericjoint_generic(anchor1.__wbg_ptr, anchor2.__wbg_ptr, axis.__wbg_ptr, lockedAxes);\n        return ret === 0 ? undefined : RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * Creates a new joint descriptor that builds a Prismatic joint.\n     *\n     * A prismatic joint removes all the degrees of freedom between the\n     * affected bodies, except for the translation along one axis.\n     *\n     * Returns `None` if any of the provided axes cannot be normalized.\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @param {RawVector} axis\n     * @param {boolean} limitsEnabled\n     * @param {number} limitsMin\n     * @param {number} limitsMax\n     * @returns {RawGenericJoint | undefined}\n     */\n    static prismatic(anchor1, anchor2, axis, limitsEnabled, limitsMin, limitsMax) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        _assertClass(axis, RawVector);\n        const ret = wasm.rawgenericjoint_prismatic(anchor1.__wbg_ptr, anchor2.__wbg_ptr, axis.__wbg_ptr, limitsEnabled, limitsMin, limitsMax);\n        return ret === 0 ? undefined : RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * Create a new joint descriptor that builds Revolute joints.\n     *\n     * A revolute joint removes all degrees of freedom between the affected\n     * bodies except for the rotation along one axis.\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @param {RawVector} axis\n     * @returns {RawGenericJoint | undefined}\n     */\n    static revolute(anchor1, anchor2, axis) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        _assertClass(axis, RawVector);\n        const ret = wasm.rawgenericjoint_revolute(anchor1.__wbg_ptr, anchor2.__wbg_ptr, axis.__wbg_ptr);\n        return ret === 0 ? undefined : RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * @param {number} length\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @returns {RawGenericJoint}\n     */\n    static rope(length, anchor1, anchor2) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        const ret = wasm.rawgenericjoint_rope(length, anchor1.__wbg_ptr, anchor2.__wbg_ptr);\n        return RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * Create a new joint descriptor that builds spherical joints.\n     *\n     * A spherical joints allows three relative rotational degrees of freedom\n     * by preventing any relative translation between the anchors of the\n     * two attached rigid-bodies.\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @returns {RawGenericJoint}\n     */\n    static spherical(anchor1, anchor2) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        const ret = wasm.rawgenericjoint_spherical(anchor1.__wbg_ptr, anchor2.__wbg_ptr);\n        return RawGenericJoint.__wrap(ret);\n    }\n    /**\n     * @param {number} rest_length\n     * @param {number} stiffness\n     * @param {number} damping\n     * @param {RawVector} anchor1\n     * @param {RawVector} anchor2\n     * @returns {RawGenericJoint}\n     */\n    static spring(rest_length, stiffness, damping, anchor1, anchor2) {\n        _assertClass(anchor1, RawVector);\n        _assertClass(anchor2, RawVector);\n        const ret = wasm.rawgenericjoint_spring(rest_length, stiffness, damping, anchor1.__wbg_ptr, anchor2.__wbg_ptr);\n        return RawGenericJoint.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawGenericJoint.prototype[Symbol.dispose] = RawGenericJoint.prototype.free;\n\nexport class RawImpulseJointSet {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawImpulseJointSet.prototype);\n        obj.__wbg_ptr = ptr;\n        RawImpulseJointSetFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawImpulseJointSetFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawimpulsejointset_free(ptr, 0);\n    }\n    /**\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    contains(handle) {\n        const ret = wasm.rawimpulsejointset_contains(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @param {RawGenericJoint} params\n     * @param {number} parent1\n     * @param {number} parent2\n     * @param {boolean} wake_up\n     * @returns {number}\n     */\n    createJoint(params, parent1, parent2, wake_up) {\n        _assertClass(params, RawGenericJoint);\n        const ret = wasm.rawimpulsejointset_createJoint(this.__wbg_ptr, params.__wbg_ptr, parent1, parent2, wake_up);\n        return ret;\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each joint attached to the given rigid-body.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each joint attached to the rigid-body. Called as `f(collider)`.\n     * @param {number} body\n     * @param {Function} f\n     */\n    forEachJointAttachedToRigidBody(body, f) {\n        try {\n            wasm.rawimpulsejointset_forEachJointAttachedToRigidBody(this.__wbg_ptr, body, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each joint managed by this physics world.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each joint managed by this set. Called as `f(collider)`.\n     * @param {Function} f\n     */\n    forEachJointHandle(f) {\n        try {\n            wasm.rawimpulsejointset_forEachJointHandle(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The position of the first anchor of this joint.\n     *\n     * The first anchor gives the position of the points application point on the\n     * local frame of the first rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    jointAnchor1(handle) {\n        const ret = wasm.rawimpulsejointset_jointAnchor1(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The position of the second anchor of this joint.\n     *\n     * The second anchor gives the position of the points application point on the\n     * local frame of the second rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    jointAnchor2(handle) {\n        const ret = wasm.rawimpulsejointset_jointAnchor2(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The unique integer identifier of the first rigid-body this joint it attached to.\n     * @param {number} handle\n     * @returns {number}\n     */\n    jointBodyHandle1(handle) {\n        const ret = wasm.rawimpulsejointset_jointBodyHandle1(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The unique integer identifier of the second rigid-body this joint is attached to.\n     * @param {number} handle\n     * @returns {number}\n     */\n    jointBodyHandle2(handle) {\n        const ret = wasm.rawimpulsejointset_jointBodyHandle2(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @param {number} targetPos\n     * @param {number} targetVel\n     * @param {number} stiffness\n     * @param {number} damping\n     */\n    jointConfigureMotor(handle, axis, targetPos, targetVel, stiffness, damping) {\n        wasm.rawimpulsejointset_jointConfigureMotor(this.__wbg_ptr, handle, axis, targetPos, targetVel, stiffness, damping);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @param {RawMotorModel} model\n     */\n    jointConfigureMotorModel(handle, axis, model) {\n        wasm.rawimpulsejointset_jointConfigureMotorModel(this.__wbg_ptr, handle, axis, model);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @param {number} targetPos\n     * @param {number} stiffness\n     * @param {number} damping\n     */\n    jointConfigureMotorPosition(handle, axis, targetPos, stiffness, damping) {\n        wasm.rawimpulsejointset_jointConfigureMotorPosition(this.__wbg_ptr, handle, axis, targetPos, stiffness, damping);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @param {number} targetVel\n     * @param {number} factor\n     */\n    jointConfigureMotorVelocity(handle, axis, targetVel, factor) {\n        wasm.rawimpulsejointset_jointConfigureMotorVelocity(this.__wbg_ptr, handle, axis, targetVel, factor);\n    }\n    /**\n     * Are contacts between the rigid-bodies attached by this joint enabled?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    jointContactsEnabled(handle) {\n        const ret = wasm.rawimpulsejointset_jointContactsEnabled(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * The angular part of the joint’s local frame relative to the first rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawRotation}\n     */\n    jointFrameX1(handle) {\n        const ret = wasm.rawimpulsejointset_jointFrameX1(this.__wbg_ptr, handle);\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * The angular part of the joint’s local frame relative to the second rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawRotation}\n     */\n    jointFrameX2(handle) {\n        const ret = wasm.rawimpulsejointset_jointFrameX2(this.__wbg_ptr, handle);\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * Are the limits for this joint enabled?\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {boolean}\n     */\n    jointLimitsEnabled(handle, axis) {\n        const ret = wasm.rawimpulsejointset_jointLimitsEnabled(this.__wbg_ptr, handle, axis);\n        return ret !== 0;\n    }\n    /**\n     * If this is a prismatic joint, returns its upper limit.\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {number}\n     */\n    jointLimitsMax(handle, axis) {\n        const ret = wasm.rawimpulsejointset_jointLimitsMax(this.__wbg_ptr, handle, axis);\n        return ret;\n    }\n    /**\n     * Return the lower limit along the given joint axis.\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {number}\n     */\n    jointLimitsMin(handle, axis) {\n        const ret = wasm.rawimpulsejointset_jointLimitsMin(this.__wbg_ptr, handle, axis);\n        return ret;\n    }\n    /**\n     * Sets the position of the first local anchor\n     * @param {number} handle\n     * @param {RawVector} newPos\n     */\n    jointSetAnchor1(handle, newPos) {\n        _assertClass(newPos, RawVector);\n        wasm.rawimpulsejointset_jointSetAnchor1(this.__wbg_ptr, handle, newPos.__wbg_ptr);\n    }\n    /**\n     * Sets the position of the second local anchor\n     * @param {number} handle\n     * @param {RawVector} newPos\n     */\n    jointSetAnchor2(handle, newPos) {\n        _assertClass(newPos, RawVector);\n        wasm.rawimpulsejointset_jointSetAnchor2(this.__wbg_ptr, handle, newPos.__wbg_ptr);\n    }\n    /**\n     * Sets whether contacts are enabled between the rigid-bodies attached by this joint.\n     * @param {number} handle\n     * @param {boolean} enabled\n     */\n    jointSetContactsEnabled(handle, enabled) {\n        wasm.rawimpulsejointset_jointSetContactsEnabled(this.__wbg_ptr, handle, enabled);\n    }\n    /**\n     * Enables and sets the joint limits\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @param {number} min\n     * @param {number} max\n     */\n    jointSetLimits(handle, axis, min, max) {\n        wasm.rawimpulsejointset_jointSetLimits(this.__wbg_ptr, handle, axis, min, max);\n    }\n    /**\n     * The type of this joint.\n     * @param {number} handle\n     * @returns {RawJointType}\n     */\n    jointType(handle) {\n        const ret = wasm.rawimpulsejointset_jointType(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    len() {\n        const ret = wasm.rawimpulsejointset_len(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    constructor() {\n        const ret = wasm.rawimpulsejointset_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawImpulseJointSetFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} wakeUp\n     */\n    remove(handle, wakeUp) {\n        wasm.rawimpulsejointset_remove(this.__wbg_ptr, handle, wakeUp);\n    }\n}\nif (Symbol.dispose) RawImpulseJointSet.prototype[Symbol.dispose] = RawImpulseJointSet.prototype.free;\n\nexport class RawIntegrationParameters {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawIntegrationParameters.prototype);\n        obj.__wbg_ptr = ptr;\n        RawIntegrationParametersFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawIntegrationParametersFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawintegrationparameters_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    get contact_erp() {\n        const ret = wasm.rawintegrationparameters_contact_erp(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    get dt() {\n        const ret = wasm.rawintegrationparameters_dt(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    get lengthUnit() {\n        const ret = wasm.rawintegrationparameters_lengthUnit(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    get maxCcdSubsteps() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_index_forward_axis(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    get minIslandSize() {\n        const ret = wasm.rawdynamicraycastvehiclecontroller_index_up_axis(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    constructor() {\n        const ret = wasm.rawintegrationparameters_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawIntegrationParametersFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @returns {number}\n     */\n    get normalizedAllowedLinearError() {\n        const ret = wasm.rawintegrationparameters_normalizedAllowedLinearError(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    get normalizedPredictionDistance() {\n        const ret = wasm.rawintegrationparameters_normalizedPredictionDistance(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    get numInternalPgsIterations() {\n        const ret = wasm.rawintegrationparameters_numInternalPgsIterations(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    get numSolverIterations() {\n        const ret = wasm.rawintegrationparameters_numSolverIterations(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @param {number} value\n     */\n    set contact_natural_frequency(value) {\n        wasm.rawintegrationparameters_set_contact_natural_frequency(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set dt(value) {\n        wasm.rawintegrationparameters_set_dt(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set lengthUnit(value) {\n        wasm.rawintegrationparameters_set_lengthUnit(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set maxCcdSubsteps(value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_index_forward_axis(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set minIslandSize(value) {\n        wasm.rawdynamicraycastvehiclecontroller_set_index_up_axis(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set normalizedAllowedLinearError(value) {\n        wasm.rawintegrationparameters_set_normalizedAllowedLinearError(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set normalizedPredictionDistance(value) {\n        wasm.rawintegrationparameters_set_normalizedPredictionDistance(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set numInternalPgsIterations(value) {\n        wasm.rawintegrationparameters_set_numInternalPgsIterations(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    set numSolverIterations(value) {\n        wasm.rawintegrationparameters_set_numSolverIterations(this.__wbg_ptr, value);\n    }\n}\nif (Symbol.dispose) RawIntegrationParameters.prototype[Symbol.dispose] = RawIntegrationParameters.prototype.free;\n\nexport class RawIslandManager {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawIslandManager.prototype);\n        obj.__wbg_ptr = ptr;\n        RawIslandManagerFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawIslandManagerFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawislandmanager_free(ptr, 0);\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each active rigid-body\n     * managed by this island manager.\n     *\n     * After a short time of inactivity, a rigid-body is automatically deactivated (\"asleep\") by\n     * the physics engine in order to save computational power. A sleeping rigid-body never moves\n     * unless it is moved manually by the user.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each active rigid-body managed by this\n     *   set. Called as `f(collider)`.\n     * @param {Function} f\n     */\n    forEachActiveRigidBodyHandle(f) {\n        try {\n            wasm.rawislandmanager_forEachActiveRigidBodyHandle(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    constructor() {\n        const ret = wasm.rawislandmanager_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawIslandManagerFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n}\nif (Symbol.dispose) RawIslandManager.prototype[Symbol.dispose] = RawIslandManager.prototype.free;\n\n/**\n * @enum {0 | 1 | 2 | 3 | 4 | 5}\n */\nexport const RawJointAxis = Object.freeze({\n    LinX: 0, \"0\": \"LinX\",\n    LinY: 1, \"1\": \"LinY\",\n    LinZ: 2, \"2\": \"LinZ\",\n    AngX: 3, \"3\": \"AngX\",\n    AngY: 4, \"4\": \"AngY\",\n    AngZ: 5, \"5\": \"AngZ\",\n});\n\n/**\n * @enum {0 | 1 | 2 | 3 | 4 | 5 | 6}\n */\nexport const RawJointType = Object.freeze({\n    Revolute: 0, \"0\": \"Revolute\",\n    Fixed: 1, \"1\": \"Fixed\",\n    Prismatic: 2, \"2\": \"Prismatic\",\n    Rope: 3, \"3\": \"Rope\",\n    Spring: 4, \"4\": \"Spring\",\n    Spherical: 5, \"5\": \"Spherical\",\n    Generic: 6, \"6\": \"Generic\",\n});\n\nexport class RawKinematicCharacterController {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawKinematicCharacterControllerFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawkinematiccharactercontroller_free(ptr, 0);\n    }\n    /**\n     * @returns {boolean}\n     */\n    autostepEnabled() {\n        const ret = wasm.rawkinematiccharactercontroller_autostepEnabled(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {boolean | undefined}\n     */\n    autostepIncludesDynamicBodies() {\n        const ret = wasm.rawkinematiccharactercontroller_autostepIncludesDynamicBodies(this.__wbg_ptr);\n        return ret === 0xFFFFFF ? undefined : ret !== 0;\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    autostepMaxHeight() {\n        const ret = wasm.rawkinematiccharactercontroller_autostepMaxHeight(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    autostepMinWidth() {\n        const ret = wasm.rawkinematiccharactercontroller_autostepMinWidth(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @param {number} dt\n     * @param {RawBroadPhase} broad_phase\n     * @param {RawNarrowPhase} narrow_phase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {number} collider_handle\n     * @param {RawVector} desired_translation_delta\n     * @param {boolean} apply_impulses_to_dynamic_bodies\n     * @param {number | null | undefined} character_mass\n     * @param {number} filter_flags\n     * @param {number | null | undefined} filter_groups\n     * @param {Function} filter_predicate\n     */\n    computeColliderMovement(dt, broad_phase, narrow_phase, bodies, colliders, collider_handle, desired_translation_delta, apply_impulses_to_dynamic_bodies, character_mass, filter_flags, filter_groups, filter_predicate) {\n        try {\n            _assertClass(broad_phase, RawBroadPhase);\n            _assertClass(narrow_phase, RawNarrowPhase);\n            _assertClass(bodies, RawRigidBodySet);\n            _assertClass(colliders, RawColliderSet);\n            _assertClass(desired_translation_delta, RawVector);\n            wasm.rawkinematiccharactercontroller_computeColliderMovement(this.__wbg_ptr, dt, broad_phase.__wbg_ptr, narrow_phase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, collider_handle, desired_translation_delta.__wbg_ptr, apply_impulses_to_dynamic_bodies, isLikeNone(character_mass) ? 0x100000001 : Math.fround(character_mass), filter_flags, isLikeNone(filter_groups) ? 0x100000001 : (filter_groups) >>> 0, addBorrowedObject(filter_predicate));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} i\n     * @param {RawCharacterCollision} collision\n     * @returns {boolean}\n     */\n    computedCollision(i, collision) {\n        _assertClass(collision, RawCharacterCollision);\n        const ret = wasm.rawkinematiccharactercontroller_computedCollision(this.__wbg_ptr, i, collision.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {boolean}\n     */\n    computedGrounded() {\n        const ret = wasm.rawkinematiccharactercontroller_computedGrounded(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    computedMovement() {\n        const ret = wasm.rawkinematiccharactercontroller_computedMovement(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    disableAutostep() {\n        wasm.rawkinematiccharactercontroller_disableAutostep(this.__wbg_ptr);\n    }\n    disableSnapToGround() {\n        wasm.rawkinematiccharactercontroller_disableSnapToGround(this.__wbg_ptr);\n    }\n    /**\n     * @param {number} maxHeight\n     * @param {number} minWidth\n     * @param {boolean} includeDynamicBodies\n     */\n    enableAutostep(maxHeight, minWidth, includeDynamicBodies) {\n        wasm.rawkinematiccharactercontroller_enableAutostep(this.__wbg_ptr, maxHeight, minWidth, includeDynamicBodies);\n    }\n    /**\n     * @param {number} distance\n     */\n    enableSnapToGround(distance) {\n        wasm.rawkinematiccharactercontroller_enableSnapToGround(this.__wbg_ptr, distance);\n    }\n    /**\n     * @returns {number}\n     */\n    maxSlopeClimbAngle() {\n        const ret = wasm.rawkinematiccharactercontroller_maxSlopeClimbAngle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    minSlopeSlideAngle() {\n        const ret = wasm.rawkinematiccharactercontroller_minSlopeSlideAngle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @param {number} offset\n     */\n    constructor(offset) {\n        const ret = wasm.rawkinematiccharactercontroller_new(offset);\n        this.__wbg_ptr = ret >>> 0;\n        RawKinematicCharacterControllerFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @returns {number}\n     */\n    normalNudgeFactor() {\n        const ret = wasm.rawkinematiccharactercontroller_normalNudgeFactor(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    numComputedCollisions() {\n        const ret = wasm.rawkinematiccharactercontroller_numComputedCollisions(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    /**\n     * @returns {number}\n     */\n    offset() {\n        const ret = wasm.rawkinematiccharactercontroller_offset(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @param {number} angle\n     */\n    setMaxSlopeClimbAngle(angle) {\n        wasm.rawkinematiccharactercontroller_setMaxSlopeClimbAngle(this.__wbg_ptr, angle);\n    }\n    /**\n     * @param {number} angle\n     */\n    setMinSlopeSlideAngle(angle) {\n        wasm.rawkinematiccharactercontroller_setMinSlopeSlideAngle(this.__wbg_ptr, angle);\n    }\n    /**\n     * @param {number} value\n     */\n    setNormalNudgeFactor(value) {\n        wasm.rawkinematiccharactercontroller_setNormalNudgeFactor(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {number} value\n     */\n    setOffset(value) {\n        wasm.rawkinematiccharactercontroller_setOffset(this.__wbg_ptr, value);\n    }\n    /**\n     * @param {boolean} enabled\n     */\n    setSlideEnabled(enabled) {\n        wasm.rawkinematiccharactercontroller_setSlideEnabled(this.__wbg_ptr, enabled);\n    }\n    /**\n     * @param {RawVector} vector\n     */\n    setUp(vector) {\n        _assertClass(vector, RawVector);\n        wasm.rawkinematiccharactercontroller_setUp(this.__wbg_ptr, vector.__wbg_ptr);\n    }\n    /**\n     * @returns {boolean}\n     */\n    slideEnabled() {\n        const ret = wasm.rawkinematiccharactercontroller_slideEnabled(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    snapToGroundDistance() {\n        const ret = wasm.rawkinematiccharactercontroller_snapToGroundDistance(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @returns {boolean}\n     */\n    snapToGroundEnabled() {\n        const ret = wasm.rawkinematiccharactercontroller_snapToGroundEnabled(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    up() {\n        const ret = wasm.rawcollidershapecasthit_normal1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawKinematicCharacterController.prototype[Symbol.dispose] = RawKinematicCharacterController.prototype.free;\n\n/**\n * @enum {0 | 1}\n */\nexport const RawMotorModel = Object.freeze({\n    AccelerationBased: 0, \"0\": \"AccelerationBased\",\n    ForceBased: 1, \"1\": \"ForceBased\",\n});\n\nexport class RawMultibodyJointSet {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawMultibodyJointSet.prototype);\n        obj.__wbg_ptr = ptr;\n        RawMultibodyJointSetFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawMultibodyJointSetFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawmultibodyjointset_free(ptr, 0);\n    }\n    /**\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    contains(handle) {\n        const ret = wasm.rawmultibodyjointset_contains(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @param {RawGenericJoint} params\n     * @param {number} parent1\n     * @param {number} parent2\n     * @param {boolean} wakeUp\n     * @returns {number}\n     */\n    createJoint(params, parent1, parent2, wakeUp) {\n        _assertClass(params, RawGenericJoint);\n        const ret = wasm.rawmultibodyjointset_createJoint(this.__wbg_ptr, params.__wbg_ptr, parent1, parent2, wakeUp);\n        return ret;\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each joint attached to the given rigid-body.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each joint attached to the rigid-body. Called as `f(collider)`.\n     * @param {number} body\n     * @param {Function} f\n     */\n    forEachJointAttachedToRigidBody(body, f) {\n        try {\n            wasm.rawmultibodyjointset_forEachJointAttachedToRigidBody(this.__wbg_ptr, body, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each joint managed by this physics world.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each joint managed by this set. Called as `f(collider)`.\n     * @param {Function} f\n     */\n    forEachJointHandle(f) {\n        try {\n            wasm.rawmultibodyjointset_forEachJointHandle(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The position of the first anchor of this joint.\n     *\n     * The first anchor gives the position of the points application point on the\n     * local frame of the first rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    jointAnchor1(handle) {\n        const ret = wasm.rawmultibodyjointset_jointAnchor1(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The position of the second anchor of this joint.\n     *\n     * The second anchor gives the position of the points application point on the\n     * local frame of the second rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    jointAnchor2(handle) {\n        const ret = wasm.rawmultibodyjointset_jointAnchor2(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Are contacts between the rigid-bodies attached by this joint enabled?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    jointContactsEnabled(handle) {\n        const ret = wasm.rawmultibodyjointset_jointContactsEnabled(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * The angular part of the joint’s local frame relative to the first rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawRotation}\n     */\n    jointFrameX1(handle) {\n        const ret = wasm.rawmultibodyjointset_jointFrameX1(this.__wbg_ptr, handle);\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * The angular part of the joint’s local frame relative to the second rigid-body it is attached to.\n     * @param {number} handle\n     * @returns {RawRotation}\n     */\n    jointFrameX2(handle) {\n        const ret = wasm.rawmultibodyjointset_jointFrameX2(this.__wbg_ptr, handle);\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * Are the limits for this joint enabled?\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {boolean}\n     */\n    jointLimitsEnabled(handle, axis) {\n        const ret = wasm.rawmultibodyjointset_jointLimitsEnabled(this.__wbg_ptr, handle, axis);\n        return ret !== 0;\n    }\n    /**\n     * If this is a prismatic joint, returns its upper limit.\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {number}\n     */\n    jointLimitsMax(handle, axis) {\n        const ret = wasm.rawmultibodyjointset_jointLimitsMax(this.__wbg_ptr, handle, axis);\n        return ret;\n    }\n    /**\n     * Return the lower limit along the given joint axis.\n     * @param {number} handle\n     * @param {RawJointAxis} axis\n     * @returns {number}\n     */\n    jointLimitsMin(handle, axis) {\n        const ret = wasm.rawmultibodyjointset_jointLimitsMin(this.__wbg_ptr, handle, axis);\n        return ret;\n    }\n    /**\n     * Sets whether contacts are enabled between the rigid-bodies attached by this joint.\n     * @param {number} handle\n     * @param {boolean} enabled\n     */\n    jointSetContactsEnabled(handle, enabled) {\n        wasm.rawmultibodyjointset_jointSetContactsEnabled(this.__wbg_ptr, handle, enabled);\n    }\n    /**\n     * The type of this joint.\n     * @param {number} handle\n     * @returns {RawJointType}\n     */\n    jointType(handle) {\n        const ret = wasm.rawmultibodyjointset_jointType(this.__wbg_ptr, handle);\n        return ret;\n    }\n    constructor() {\n        const ret = wasm.rawmultibodyjointset_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawMultibodyJointSetFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} wakeUp\n     */\n    remove(handle, wakeUp) {\n        wasm.rawmultibodyjointset_remove(this.__wbg_ptr, handle, wakeUp);\n    }\n}\nif (Symbol.dispose) RawMultibodyJointSet.prototype[Symbol.dispose] = RawMultibodyJointSet.prototype.free;\n\nexport class RawNarrowPhase {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawNarrowPhase.prototype);\n        obj.__wbg_ptr = ptr;\n        RawNarrowPhaseFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawNarrowPhaseFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawnarrowphase_free(ptr, 0);\n    }\n    /**\n     * @param {number} handle1\n     * @param {number} handle2\n     * @returns {RawContactPair | undefined}\n     */\n    contact_pair(handle1, handle2) {\n        const ret = wasm.rawnarrowphase_contact_pair(this.__wbg_ptr, handle1, handle2);\n        return ret === 0 ? undefined : RawContactPair.__wrap(ret);\n    }\n    /**\n     * @param {number} handle1\n     * @param {Function} f\n     */\n    contact_pairs_with(handle1, f) {\n        wasm.rawnarrowphase_contact_pairs_with(this.__wbg_ptr, handle1, addHeapObject(f));\n    }\n    /**\n     * @param {number} handle1\n     * @param {number} handle2\n     * @returns {boolean}\n     */\n    intersection_pair(handle1, handle2) {\n        const ret = wasm.rawnarrowphase_intersection_pair(this.__wbg_ptr, handle1, handle2);\n        return ret !== 0;\n    }\n    /**\n     * @param {number} handle1\n     * @param {Function} f\n     */\n    intersection_pairs_with(handle1, f) {\n        wasm.rawnarrowphase_intersection_pairs_with(this.__wbg_ptr, handle1, addHeapObject(f));\n    }\n    constructor() {\n        const ret = wasm.rawnarrowphase_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawNarrowPhaseFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n}\nif (Symbol.dispose) RawNarrowPhase.prototype[Symbol.dispose] = RawNarrowPhase.prototype.free;\n\nexport class RawPhysicsPipeline {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawPhysicsPipelineFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawphysicspipeline_free(ptr, 0);\n    }\n    /**\n     * @returns {boolean}\n     */\n    is_profiler_enabled() {\n        const ret = wasm.rawphysicspipeline_is_profiler_enabled(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    constructor() {\n        const ret = wasm.rawphysicspipeline_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawPhysicsPipelineFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {boolean} enabled\n     */\n    set_profiler_enabled(enabled) {\n        wasm.rawphysicspipeline_set_profiler_enabled(this.__wbg_ptr, enabled);\n    }\n    /**\n     * @param {RawVector} gravity\n     * @param {RawIntegrationParameters} integrationParameters\n     * @param {RawIslandManager} islands\n     * @param {RawBroadPhase} broadPhase\n     * @param {RawNarrowPhase} narrowPhase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawImpulseJointSet} joints\n     * @param {RawMultibodyJointSet} articulations\n     * @param {RawCCDSolver} ccd_solver\n     */\n    step(gravity, integrationParameters, islands, broadPhase, narrowPhase, bodies, colliders, joints, articulations, ccd_solver) {\n        _assertClass(gravity, RawVector);\n        _assertClass(integrationParameters, RawIntegrationParameters);\n        _assertClass(islands, RawIslandManager);\n        _assertClass(broadPhase, RawBroadPhase);\n        _assertClass(narrowPhase, RawNarrowPhase);\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(colliders, RawColliderSet);\n        _assertClass(joints, RawImpulseJointSet);\n        _assertClass(articulations, RawMultibodyJointSet);\n        _assertClass(ccd_solver, RawCCDSolver);\n        wasm.rawphysicspipeline_step(this.__wbg_ptr, gravity.__wbg_ptr, integrationParameters.__wbg_ptr, islands.__wbg_ptr, broadPhase.__wbg_ptr, narrowPhase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, joints.__wbg_ptr, articulations.__wbg_ptr, ccd_solver.__wbg_ptr);\n    }\n    /**\n     * @param {RawVector} gravity\n     * @param {RawIntegrationParameters} integrationParameters\n     * @param {RawIslandManager} islands\n     * @param {RawBroadPhase} broadPhase\n     * @param {RawNarrowPhase} narrowPhase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawImpulseJointSet} joints\n     * @param {RawMultibodyJointSet} articulations\n     * @param {RawCCDSolver} ccd_solver\n     * @param {RawEventQueue} eventQueue\n     * @param {object} hookObject\n     * @param {Function} hookFilterContactPair\n     * @param {Function} hookFilterIntersectionPair\n     */\n    stepWithEvents(gravity, integrationParameters, islands, broadPhase, narrowPhase, bodies, colliders, joints, articulations, ccd_solver, eventQueue, hookObject, hookFilterContactPair, hookFilterIntersectionPair) {\n        _assertClass(gravity, RawVector);\n        _assertClass(integrationParameters, RawIntegrationParameters);\n        _assertClass(islands, RawIslandManager);\n        _assertClass(broadPhase, RawBroadPhase);\n        _assertClass(narrowPhase, RawNarrowPhase);\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(colliders, RawColliderSet);\n        _assertClass(joints, RawImpulseJointSet);\n        _assertClass(articulations, RawMultibodyJointSet);\n        _assertClass(ccd_solver, RawCCDSolver);\n        _assertClass(eventQueue, RawEventQueue);\n        wasm.rawphysicspipeline_stepWithEvents(this.__wbg_ptr, gravity.__wbg_ptr, integrationParameters.__wbg_ptr, islands.__wbg_ptr, broadPhase.__wbg_ptr, narrowPhase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, joints.__wbg_ptr, articulations.__wbg_ptr, ccd_solver.__wbg_ptr, eventQueue.__wbg_ptr, addHeapObject(hookObject), addHeapObject(hookFilterContactPair), addHeapObject(hookFilterIntersectionPair));\n    }\n    /**\n     * @returns {number}\n     */\n    timing_broad_phase() {\n        const ret = wasm.rawphysicspipeline_timing_broad_phase(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_ccd() {\n        const ret = wasm.rawphysicspipeline_timing_ccd(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_ccd_broad_phase() {\n        const ret = wasm.rawphysicspipeline_timing_ccd_broad_phase(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_ccd_narrow_phase() {\n        const ret = wasm.rawphysicspipeline_timing_ccd_narrow_phase(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_ccd_solver() {\n        const ret = wasm.rawphysicspipeline_timing_ccd_solver(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_ccd_toi_computation() {\n        const ret = wasm.rawphysicspipeline_timing_ccd_toi_computation(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_collision_detection() {\n        const ret = wasm.rawphysicspipeline_timing_collision_detection(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_island_construction() {\n        const ret = wasm.rawphysicspipeline_timing_island_construction(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_narrow_phase() {\n        const ret = wasm.rawphysicspipeline_timing_narrow_phase(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_solver() {\n        const ret = wasm.rawphysicspipeline_timing_solver(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_step() {\n        const ret = wasm.rawphysicspipeline_timing_step(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_user_changes() {\n        const ret = wasm.rawphysicspipeline_timing_user_changes(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_velocity_assembly() {\n        const ret = wasm.rawphysicspipeline_timing_velocity_assembly(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_velocity_resolution() {\n        const ret = wasm.rawphysicspipeline_timing_velocity_resolution(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_velocity_update() {\n        const ret = wasm.rawphysicspipeline_timing_velocity_update(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timing_velocity_writeback() {\n        const ret = wasm.rawphysicspipeline_timing_velocity_writeback(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawPhysicsPipeline.prototype[Symbol.dispose] = RawPhysicsPipeline.prototype.free;\n\nexport class RawPidController {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawPidControllerFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawpidcontroller_free(ptr, 0);\n    }\n    /**\n     * @param {number} dt\n     * @param {RawRigidBodySet} bodies\n     * @param {number} rb_handle\n     * @param {RawRotation} target_rotation\n     * @param {RawVector} target_angvel\n     * @returns {RawVector}\n     */\n    angular_correction(dt, bodies, rb_handle, target_rotation, target_angvel) {\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(target_rotation, RawRotation);\n        _assertClass(target_angvel, RawVector);\n        const ret = wasm.rawpidcontroller_angular_correction(this.__wbg_ptr, dt, bodies.__wbg_ptr, rb_handle, target_rotation.__wbg_ptr, target_angvel.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} dt\n     * @param {RawRigidBodySet} bodies\n     * @param {number} rb_handle\n     * @param {RawRotation} target_rotation\n     * @param {RawVector} target_angvel\n     */\n    apply_angular_correction(dt, bodies, rb_handle, target_rotation, target_angvel) {\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(target_rotation, RawRotation);\n        _assertClass(target_angvel, RawVector);\n        wasm.rawpidcontroller_apply_angular_correction(this.__wbg_ptr, dt, bodies.__wbg_ptr, rb_handle, target_rotation.__wbg_ptr, target_angvel.__wbg_ptr);\n    }\n    /**\n     * @param {number} dt\n     * @param {RawRigidBodySet} bodies\n     * @param {number} rb_handle\n     * @param {RawVector} target_translation\n     * @param {RawVector} target_linvel\n     */\n    apply_linear_correction(dt, bodies, rb_handle, target_translation, target_linvel) {\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(target_translation, RawVector);\n        _assertClass(target_linvel, RawVector);\n        wasm.rawpidcontroller_apply_linear_correction(this.__wbg_ptr, dt, bodies.__wbg_ptr, rb_handle, target_translation.__wbg_ptr, target_linvel.__wbg_ptr);\n    }\n    /**\n     * @param {number} dt\n     * @param {RawRigidBodySet} bodies\n     * @param {number} rb_handle\n     * @param {RawVector} target_translation\n     * @param {RawVector} target_linvel\n     * @returns {RawVector}\n     */\n    linear_correction(dt, bodies, rb_handle, target_translation, target_linvel) {\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(target_translation, RawVector);\n        _assertClass(target_linvel, RawVector);\n        const ret = wasm.rawpidcontroller_linear_correction(this.__wbg_ptr, dt, bodies.__wbg_ptr, rb_handle, target_translation.__wbg_ptr, target_linvel.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @param {number} kp\n     * @param {number} ki\n     * @param {number} kd\n     * @param {number} axes_mask\n     */\n    constructor(kp, ki, kd, axes_mask) {\n        const ret = wasm.rawpidcontroller_new(kp, ki, kd, axes_mask);\n        this.__wbg_ptr = ret >>> 0;\n        RawPidControllerFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    reset_integrals() {\n        wasm.rawpidcontroller_reset_integrals(this.__wbg_ptr);\n    }\n    /**\n     * @param {number} axes_mask\n     */\n    set_axes_mask(axes_mask) {\n        wasm.rawpidcontroller_set_axes_mask(this.__wbg_ptr, axes_mask);\n    }\n    /**\n     * @param {number} kd\n     * @param {number} axes\n     */\n    set_kd(kd, axes) {\n        wasm.rawpidcontroller_set_kd(this.__wbg_ptr, kd, axes);\n    }\n    /**\n     * @param {number} ki\n     * @param {number} axes\n     */\n    set_ki(ki, axes) {\n        wasm.rawpidcontroller_set_ki(this.__wbg_ptr, ki, axes);\n    }\n    /**\n     * @param {number} kp\n     * @param {number} axes\n     */\n    set_kp(kp, axes) {\n        wasm.rawpidcontroller_set_kp(this.__wbg_ptr, kp, axes);\n    }\n}\nif (Symbol.dispose) RawPidController.prototype[Symbol.dispose] = RawPidController.prototype.free;\n\nexport class RawPointColliderProjection {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawPointColliderProjection.prototype);\n        obj.__wbg_ptr = ptr;\n        RawPointColliderProjectionFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawPointColliderProjectionFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawpointcolliderprojection_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    colliderHandle() {\n        const ret = wasm.rawpointcolliderprojection_colliderHandle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    featureId() {\n        const ret = wasm.rawpointcolliderprojection_featureId(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @returns {RawFeatureType}\n     */\n    featureType() {\n        const ret = wasm.rawpointcolliderprojection_featureType(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {boolean}\n     */\n    isInside() {\n        const ret = wasm.rawpointcolliderprojection_isInside(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    point() {\n        const ret = wasm.rawpointcolliderprojection_point(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawPointColliderProjection.prototype[Symbol.dispose] = RawPointColliderProjection.prototype.free;\n\nexport class RawPointProjection {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawPointProjection.prototype);\n        obj.__wbg_ptr = ptr;\n        RawPointProjectionFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawPointProjectionFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawpointprojection_free(ptr, 0);\n    }\n    /**\n     * @returns {boolean}\n     */\n    isInside() {\n        const ret = wasm.rawpointprojection_isInside(this.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    point() {\n        const ret = wasm.rawpointprojection_point(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawPointProjection.prototype[Symbol.dispose] = RawPointProjection.prototype.free;\n\nexport class RawRayColliderHit {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawRayColliderHit.prototype);\n        obj.__wbg_ptr = ptr;\n        RawRayColliderHitFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawRayColliderHitFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawraycolliderhit_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    colliderHandle() {\n        const ret = wasm.rawcollidershapecasthit_colliderHandle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number}\n     */\n    timeOfImpact() {\n        const ret = wasm.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawRayColliderHit.prototype[Symbol.dispose] = RawRayColliderHit.prototype.free;\n\nexport class RawRayColliderIntersection {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawRayColliderIntersection.prototype);\n        obj.__wbg_ptr = ptr;\n        RawRayColliderIntersectionFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawRayColliderIntersectionFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawraycolliderintersection_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    colliderHandle() {\n        const ret = wasm.rawpointcolliderprojection_colliderHandle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    featureId() {\n        const ret = wasm.rawpointcolliderprojection_featureId(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @returns {RawFeatureType}\n     */\n    featureType() {\n        const ret = wasm.rawpointcolliderprojection_featureType(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal() {\n        const ret = wasm.rawcollidershapecasthit_witness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    time_of_impact() {\n        const ret = wasm.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawRayColliderIntersection.prototype[Symbol.dispose] = RawRayColliderIntersection.prototype.free;\n\nexport class RawRayIntersection {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawRayIntersection.prototype);\n        obj.__wbg_ptr = ptr;\n        RawRayIntersectionFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawRayIntersectionFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawrayintersection_free(ptr, 0);\n    }\n    /**\n     * @returns {number | undefined}\n     */\n    featureId() {\n        const ret = wasm.rawpointcolliderprojection_featureId(this.__wbg_ptr);\n        return ret === 0x100000001 ? undefined : ret;\n    }\n    /**\n     * @returns {RawFeatureType}\n     */\n    featureType() {\n        const ret = wasm.rawpointcolliderprojection_featureType(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal() {\n        const ret = wasm.rawcollidershapecasthit_witness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    time_of_impact() {\n        const ret = wasm.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawRayIntersection.prototype[Symbol.dispose] = RawRayIntersection.prototype.free;\n\nexport class RawRigidBodySet {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawRigidBodySet.prototype);\n        obj.__wbg_ptr = ptr;\n        RawRigidBodySetFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawRigidBodySetFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawrigidbodyset_free(ptr, 0);\n    }\n    /**\n     * Checks if a rigid-body with the given integer handle exists.\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    contains(handle) {\n        const ret = wasm.rawrigidbodyset_contains(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @param {boolean} enabled\n     * @param {RawVector} translation\n     * @param {RawRotation} rotation\n     * @param {number} gravityScale\n     * @param {number} mass\n     * @param {boolean} massOnly\n     * @param {RawVector} centerOfMass\n     * @param {RawVector} linvel\n     * @param {RawVector} angvel\n     * @param {RawVector} principalAngularInertia\n     * @param {RawRotation} angularInertiaFrame\n     * @param {boolean} translationEnabledX\n     * @param {boolean} translationEnabledY\n     * @param {boolean} translationEnabledZ\n     * @param {boolean} rotationEnabledX\n     * @param {boolean} rotationEnabledY\n     * @param {boolean} rotationEnabledZ\n     * @param {number} linearDamping\n     * @param {number} angularDamping\n     * @param {RawRigidBodyType} rb_type\n     * @param {boolean} canSleep\n     * @param {boolean} sleeping\n     * @param {number} softCcdPrediction\n     * @param {boolean} ccdEnabled\n     * @param {number} dominanceGroup\n     * @param {number} additional_solver_iterations\n     * @returns {number}\n     */\n    createRigidBody(enabled, translation, rotation, gravityScale, mass, massOnly, centerOfMass, linvel, angvel, principalAngularInertia, angularInertiaFrame, translationEnabledX, translationEnabledY, translationEnabledZ, rotationEnabledX, rotationEnabledY, rotationEnabledZ, linearDamping, angularDamping, rb_type, canSleep, sleeping, softCcdPrediction, ccdEnabled, dominanceGroup, additional_solver_iterations) {\n        _assertClass(translation, RawVector);\n        _assertClass(rotation, RawRotation);\n        _assertClass(centerOfMass, RawVector);\n        _assertClass(linvel, RawVector);\n        _assertClass(angvel, RawVector);\n        _assertClass(principalAngularInertia, RawVector);\n        _assertClass(angularInertiaFrame, RawRotation);\n        const ret = wasm.rawrigidbodyset_createRigidBody(this.__wbg_ptr, enabled, translation.__wbg_ptr, rotation.__wbg_ptr, gravityScale, mass, massOnly, centerOfMass.__wbg_ptr, linvel.__wbg_ptr, angvel.__wbg_ptr, principalAngularInertia.__wbg_ptr, angularInertiaFrame.__wbg_ptr, translationEnabledX, translationEnabledY, translationEnabledZ, rotationEnabledX, rotationEnabledY, rotationEnabledZ, linearDamping, angularDamping, rb_type, canSleep, sleeping, softCcdPrediction, ccdEnabled, dominanceGroup, additional_solver_iterations);\n        return ret;\n    }\n    /**\n     * Applies the given JavaScript function to the integer handle of each rigid-body managed by this set.\n     *\n     * # Parameters\n     * - `f(handle)`: the function to apply to the integer handle of each rigid-body managed by this set. Called as `f(collider)`.\n     * @param {Function} f\n     */\n    forEachRigidBodyHandle(f) {\n        try {\n            wasm.rawrigidbodyset_forEachRigidBodyHandle(this.__wbg_ptr, addBorrowedObject(f));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The number of rigid-bodies on this set.\n     * @returns {number}\n     */\n    len() {\n        const ret = wasm.rawrigidbodyset_len(this.__wbg_ptr);\n        return ret >>> 0;\n    }\n    constructor() {\n        const ret = wasm.rawrigidbodyset_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawRigidBodySetFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {RawColliderSet} colliders\n     */\n    propagateModifiedBodyPositionsToColliders(colliders) {\n        _assertClass(colliders, RawColliderSet);\n        wasm.rawrigidbodyset_propagateModifiedBodyPositionsToColliders(this.__wbg_ptr, colliders.__wbg_ptr);\n    }\n    /**\n     * Adds a force at the center-of-mass of this rigid-body.\n     *\n     * # Parameters\n     * - `force`: the world-space force to apply on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} force\n     * @param {boolean} wakeUp\n     */\n    rbAddForce(handle, force, wakeUp) {\n        _assertClass(force, RawVector);\n        wasm.rawrigidbodyset_rbAddForce(this.__wbg_ptr, handle, force.__wbg_ptr, wakeUp);\n    }\n    /**\n     * Adds a force at the given world-space point of this rigid-body.\n     *\n     * # Parameters\n     * - `force`: the world-space force to apply on the rigid-body.\n     * - `point`: the world-space point where the impulse is to be applied on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} force\n     * @param {RawVector} point\n     * @param {boolean} wakeUp\n     */\n    rbAddForceAtPoint(handle, force, point, wakeUp) {\n        _assertClass(force, RawVector);\n        _assertClass(point, RawVector);\n        wasm.rawrigidbodyset_rbAddForceAtPoint(this.__wbg_ptr, handle, force.__wbg_ptr, point.__wbg_ptr, wakeUp);\n    }\n    /**\n     * Adds a torque at the center-of-mass of this rigid-body.\n     *\n     * # Parameters\n     * - `torque`: the world-space torque to apply on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} torque\n     * @param {boolean} wakeUp\n     */\n    rbAddTorque(handle, torque, wakeUp) {\n        _assertClass(torque, RawVector);\n        wasm.rawrigidbodyset_rbAddTorque(this.__wbg_ptr, handle, torque.__wbg_ptr, wakeUp);\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbAdditionalSolverIterations(handle) {\n        const ret = wasm.rawrigidbodyset_rbAdditionalSolverIterations(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The angular damping coefficient of this rigid-body.\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbAngularDamping(handle) {\n        const ret = wasm.rawrigidbodyset_rbAngularDamping(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The angular velocity of this rigid-body, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbAngvel(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbAngvel(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * Applies an impulse at the center-of-mass of this rigid-body.\n     *\n     * # Parameters\n     * - `impulse`: the world-space impulse to apply on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} impulse\n     * @param {boolean} wakeUp\n     */\n    rbApplyImpulse(handle, impulse, wakeUp) {\n        _assertClass(impulse, RawVector);\n        wasm.rawrigidbodyset_rbApplyImpulse(this.__wbg_ptr, handle, impulse.__wbg_ptr, wakeUp);\n    }\n    /**\n     * Applies an impulse at the given world-space point of this rigid-body.\n     *\n     * # Parameters\n     * - `impulse`: the world-space impulse to apply on the rigid-body.\n     * - `point`: the world-space point where the impulse is to be applied on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} impulse\n     * @param {RawVector} point\n     * @param {boolean} wakeUp\n     */\n    rbApplyImpulseAtPoint(handle, impulse, point, wakeUp) {\n        _assertClass(impulse, RawVector);\n        _assertClass(point, RawVector);\n        wasm.rawrigidbodyset_rbApplyImpulseAtPoint(this.__wbg_ptr, handle, impulse.__wbg_ptr, point.__wbg_ptr, wakeUp);\n    }\n    /**\n     * Applies an impulsive torque at the center-of-mass of this rigid-body.\n     *\n     * # Parameters\n     * - `torque impulse`: the world-space torque impulse to apply on the rigid-body.\n     * - `wakeUp`: should the rigid-body be automatically woken-up?\n     * @param {number} handle\n     * @param {RawVector} torque_impulse\n     * @param {boolean} wakeUp\n     */\n    rbApplyTorqueImpulse(handle, torque_impulse, wakeUp) {\n        _assertClass(torque_impulse, RawVector);\n        wasm.rawrigidbodyset_rbApplyTorqueImpulse(this.__wbg_ptr, handle, torque_impulse.__wbg_ptr, wakeUp);\n    }\n    /**\n     * The status of this rigid-body: fixed, dynamic, or kinematic.\n     * @param {number} handle\n     * @returns {RawRigidBodyType}\n     */\n    rbBodyType(handle) {\n        const ret = wasm.rawrigidbodyset_rbBodyType(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * Retrieves the `i-th` collider attached to this rigid-body.\n     *\n     * # Parameters\n     * - `at`: The index of the collider to retrieve. Must be a number in `[0, this.numColliders()[`.\n     *         This index is **not** the same as the unique identifier of the collider.\n     * @param {number} handle\n     * @param {number} at\n     * @returns {number}\n     */\n    rbCollider(handle, at) {\n        const ret = wasm.rawrigidbodyset_rbCollider(this.__wbg_ptr, handle, at);\n        return ret;\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbDominanceGroup(handle) {\n        const ret = wasm.rawrigidbodyset_rbDominanceGroup(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The effective world-space angular inertia (that takes the potential rotation locking into account) of\n     * this rigid-body.\n     * @param {number} handle\n     * @returns {RawSdpMatrix3}\n     */\n    rbEffectiveAngularInertia(handle) {\n        const ret = wasm.rawrigidbodyset_rbEffectiveAngularInertia(this.__wbg_ptr, handle);\n        return RawSdpMatrix3.__wrap(ret);\n    }\n    /**\n     * The inverse mass taking into account translation locking.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    rbEffectiveInvMass(handle) {\n        const ret = wasm.rawrigidbodyset_rbEffectiveInvMass(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The world-space inverse angular inertia tensor of the rigid-body,\n     * taking into account rotation locking.\n     * @param {number} handle\n     * @returns {RawSdpMatrix3}\n     */\n    rbEffectiveWorldInvInertia(handle) {\n        const ret = wasm.rawrigidbodyset_rbEffectiveWorldInvInertia(this.__wbg_ptr, handle);\n        return RawSdpMatrix3.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} enabled\n     */\n    rbEnableCcd(handle, enabled) {\n        wasm.rawrigidbodyset_rbEnableCcd(this.__wbg_ptr, handle, enabled);\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbGravityScale(handle) {\n        const ret = wasm.rawrigidbodyset_rbGravityScale(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The inverse of the mass of a rigid-body.\n     *\n     * If this is zero, the rigid-body is assumed to have infinite mass.\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbInvMass(handle) {\n        const ret = wasm.rawrigidbodyset_rbInvMass(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The inverse of the principal angular inertia of the rigid-body.\n     *\n     * Components set to zero are assumed to be infinite along the corresponding principal axis.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    rbInvPrincipalInertia(handle) {\n        const ret = wasm.rawrigidbodyset_rbInvPrincipalInertia(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Is Continuous Collision Detection enabled for this rigid-body?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsCcdEnabled(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsCcdEnabled(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is this rigid-body dynamic?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsDynamic(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsDynamic(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsEnabled(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsEnabled(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is this rigid-body fixed?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsFixed(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsFixed(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is this rigid-body kinematic?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsKinematic(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsKinematic(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is the velocity of this rigid-body not zero?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsMoving(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsMoving(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * Is this rigid-body sleeping?\n     * @param {number} handle\n     * @returns {boolean}\n     */\n    rbIsSleeping(handle) {\n        const ret = wasm.rawrigidbodyset_rbIsSleeping(this.__wbg_ptr, handle);\n        return ret !== 0;\n    }\n    /**\n     * The linear damping coefficient of this rigid-body.\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbLinearDamping(handle) {\n        const ret = wasm.rawrigidbodyset_rbLinearDamping(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The linear velocity of this rigid-body, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbLinvel(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbLinvel(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The center of mass of a rigid-body expressed in its local-space, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbLocalCom(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbLocalCom(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} locked\n     * @param {boolean} wake_up\n     */\n    rbLockRotations(handle, locked, wake_up) {\n        wasm.rawrigidbodyset_rbLockRotations(this.__wbg_ptr, handle, locked, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} locked\n     * @param {boolean} wake_up\n     */\n    rbLockTranslations(handle, locked, wake_up) {\n        wasm.rawrigidbodyset_rbLockTranslations(this.__wbg_ptr, handle, locked, wake_up);\n    }\n    /**\n     * The mass of this rigid-body.\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbMass(handle) {\n        const ret = wasm.rawrigidbodyset_rbMass(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The world-space next orientation of this rigid-body, written to a buffer.\n     *\n     * If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`\n     * method and is used for estimating the kinematic body velocity at the next timestep.\n     * For non-kinematic bodies, this value is currently unspecified.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbNextRotation(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbNextRotation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The world-space next translation of this rigid-body, written to a buffer.\n     *\n     * If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation`\n     * method and is used for estimating the kinematic body velocity at the next timestep.\n     * For non-kinematic bodies, this value is currently unspecified.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbNextTranslation(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbNextTranslation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * The number of colliders attached to this rigid-body.\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbNumColliders(handle) {\n        const ret = wasm.rawrigidbodyset_rbNumColliders(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * The angular inertia along the principal inertia axes of the rigid-body.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    rbPrincipalInertia(handle) {\n        const ret = wasm.rawrigidbodyset_rbPrincipalInertia(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The principal vectors of the local angular inertia tensor of the rigid-body.\n     * @param {number} handle\n     * @returns {RawRotation}\n     */\n    rbPrincipalInertiaLocalFrame(handle) {\n        const ret = wasm.rawrigidbodyset_rbPrincipalInertiaLocalFrame(this.__wbg_ptr, handle);\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * @param {number} handle\n     * @param {RawColliderSet} colliders\n     */\n    rbRecomputeMassPropertiesFromColliders(handle, colliders) {\n        _assertClass(colliders, RawColliderSet);\n        wasm.rawrigidbodyset_rbRecomputeMassPropertiesFromColliders(this.__wbg_ptr, handle, colliders.__wbg_ptr);\n    }\n    /**\n     * Resets to zero all user-added forces added to this rigid-body.\n     * @param {number} handle\n     * @param {boolean} wakeUp\n     */\n    rbResetForces(handle, wakeUp) {\n        wasm.rawrigidbodyset_rbResetForces(this.__wbg_ptr, handle, wakeUp);\n    }\n    /**\n     * Resets to zero all user-added torques added to this rigid-body.\n     * @param {number} handle\n     * @param {boolean} wakeUp\n     */\n    rbResetTorques(handle, wakeUp) {\n        wasm.rawrigidbodyset_rbResetTorques(this.__wbg_ptr, handle, wakeUp);\n    }\n    /**\n     * The world-space orientation of this rigid-body, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbRotation(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbRotation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} handle\n     * @param {number} mass\n     * @param {boolean} wake_up\n     */\n    rbSetAdditionalMass(handle, mass, wake_up) {\n        wasm.rawrigidbodyset_rbSetAdditionalMass(this.__wbg_ptr, handle, mass, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} mass\n     * @param {RawVector} centerOfMass\n     * @param {RawVector} principalAngularInertia\n     * @param {RawRotation} angularInertiaFrame\n     * @param {boolean} wake_up\n     */\n    rbSetAdditionalMassProperties(handle, mass, centerOfMass, principalAngularInertia, angularInertiaFrame, wake_up) {\n        _assertClass(centerOfMass, RawVector);\n        _assertClass(principalAngularInertia, RawVector);\n        _assertClass(angularInertiaFrame, RawRotation);\n        wasm.rawrigidbodyset_rbSetAdditionalMassProperties(this.__wbg_ptr, handle, mass, centerOfMass.__wbg_ptr, principalAngularInertia.__wbg_ptr, angularInertiaFrame.__wbg_ptr, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} iters\n     */\n    rbSetAdditionalSolverIterations(handle, iters) {\n        wasm.rawrigidbodyset_rbSetAdditionalSolverIterations(this.__wbg_ptr, handle, iters);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} factor\n     */\n    rbSetAngularDamping(handle, factor) {\n        wasm.rawrigidbodyset_rbSetAngularDamping(this.__wbg_ptr, handle, factor);\n    }\n    /**\n     * Sets the angular velocity of this rigid-body.\n     * @param {number} handle\n     * @param {RawVector} angvel\n     * @param {boolean} wakeUp\n     */\n    rbSetAngvel(handle, angvel, wakeUp) {\n        _assertClass(angvel, RawVector);\n        wasm.rawrigidbodyset_rbSetAngvel(this.__wbg_ptr, handle, angvel.__wbg_ptr, wakeUp);\n    }\n    /**\n     * Set a new status for this rigid-body: fixed, dynamic, or kinematic.\n     * @param {number} handle\n     * @param {RawRigidBodyType} status\n     * @param {boolean} wake_up\n     */\n    rbSetBodyType(handle, status, wake_up) {\n        wasm.rawrigidbodyset_rbSetBodyType(this.__wbg_ptr, handle, status, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} group\n     */\n    rbSetDominanceGroup(handle, group) {\n        wasm.rawrigidbodyset_rbSetDominanceGroup(this.__wbg_ptr, handle, group);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} enabled\n     */\n    rbSetEnabled(handle, enabled) {\n        wasm.rawrigidbodyset_rbSetEnabled(this.__wbg_ptr, handle, enabled);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} allow_x\n     * @param {boolean} allow_y\n     * @param {boolean} allow_z\n     * @param {boolean} wake_up\n     */\n    rbSetEnabledRotations(handle, allow_x, allow_y, allow_z, wake_up) {\n        wasm.rawrigidbodyset_rbSetEnabledRotations(this.__wbg_ptr, handle, allow_x, allow_y, allow_z, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {boolean} allow_x\n     * @param {boolean} allow_y\n     * @param {boolean} allow_z\n     * @param {boolean} wake_up\n     */\n    rbSetEnabledTranslations(handle, allow_x, allow_y, allow_z, wake_up) {\n        wasm.rawrigidbodyset_rbSetEnabledTranslations(this.__wbg_ptr, handle, allow_x, allow_y, allow_z, wake_up);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} factor\n     * @param {boolean} wakeUp\n     */\n    rbSetGravityScale(handle, factor, wakeUp) {\n        wasm.rawrigidbodyset_rbSetGravityScale(this.__wbg_ptr, handle, factor, wakeUp);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} factor\n     */\n    rbSetLinearDamping(handle, factor) {\n        wasm.rawrigidbodyset_rbSetLinearDamping(this.__wbg_ptr, handle, factor);\n    }\n    /**\n     * Sets the linear velocity of this rigid-body.\n     * @param {number} handle\n     * @param {RawVector} linvel\n     * @param {boolean} wakeUp\n     */\n    rbSetLinvel(handle, linvel, wakeUp) {\n        _assertClass(linvel, RawVector);\n        wasm.rawrigidbodyset_rbSetLinvel(this.__wbg_ptr, handle, linvel.__wbg_ptr, wakeUp);\n    }\n    /**\n     * If this rigid body is kinematic, sets its future rotation after the next timestep integration.\n     *\n     * This should be used instead of `rigidBody.setRotation` to make the dynamic object\n     * interacting with this kinematic body behave as expected. Internally, Rapier will compute\n     * an artificial velocity for this rigid-body from its current position and its next kinematic\n     * position. This velocity will be used to compute forces on dynamic bodies interacting with\n     * this body.\n     *\n     * # Parameters\n     * - `x`: the first vector component of the quaternion.\n     * - `y`: the second vector component of the quaternion.\n     * - `z`: the third vector component of the quaternion.\n     * - `w`: the scalar component of the quaternion.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {number} w\n     */\n    rbSetNextKinematicRotation(handle, x, y, z, w) {\n        wasm.rawrigidbodyset_rbSetNextKinematicRotation(this.__wbg_ptr, handle, x, y, z, w);\n    }\n    /**\n     * If this rigid body is kinematic, sets its future translation after the next timestep integration.\n     *\n     * This should be used instead of `rigidBody.setTranslation` to make the dynamic object\n     * interacting with this kinematic body behave as expected. Internally, Rapier will compute\n     * an artificial velocity for this rigid-body from its current position and its next kinematic\n     * position. This velocity will be used to compute forces on dynamic bodies interacting with\n     * this body.\n     *\n     * # Parameters\n     * - `x`: the world-space position of the rigid-body along the `x` axis.\n     * - `y`: the world-space position of the rigid-body along the `y` axis.\n     * - `z`: the world-space position of the rigid-body along the `z` axis.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     */\n    rbSetNextKinematicTranslation(handle, x, y, z) {\n        wasm.rawrigidbodyset_rbSetNextKinematicTranslation(this.__wbg_ptr, handle, x, y, z);\n    }\n    /**\n     * Sets the rotation quaternion of this rigid-body.\n     *\n     * This does nothing if a zero quaternion is provided.\n     *\n     * # Parameters\n     * - `x`: the first vector component of the quaternion.\n     * - `y`: the second vector component of the quaternion.\n     * - `z`: the third vector component of the quaternion.\n     * - `w`: the scalar component of the quaternion.\n     * - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it\n     * wasn't moving before modifying its position.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {number} w\n     * @param {boolean} wakeUp\n     */\n    rbSetRotation(handle, x, y, z, w, wakeUp) {\n        wasm.rawrigidbodyset_rbSetRotation(this.__wbg_ptr, handle, x, y, z, w, wakeUp);\n    }\n    /**\n     * @param {number} handle\n     * @param {number} prediction\n     */\n    rbSetSoftCcdPrediction(handle, prediction) {\n        wasm.rawrigidbodyset_rbSetSoftCcdPrediction(this.__wbg_ptr, handle, prediction);\n    }\n    /**\n     * Sets the translation of this rigid-body.\n     *\n     * # Parameters\n     * - `x`: the world-space position of the rigid-body along the `x` axis.\n     * - `y`: the world-space position of the rigid-body along the `y` axis.\n     * - `z`: the world-space position of the rigid-body along the `z` axis.\n     * - `wakeUp`: forces the rigid-body to wake-up so it is properly affected by forces if it\n     * wasn't moving before modifying its position.\n     * @param {number} handle\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {boolean} wakeUp\n     */\n    rbSetTranslation(handle, x, y, z, wakeUp) {\n        wasm.rawrigidbodyset_rbSetTranslation(this.__wbg_ptr, handle, x, y, z, wakeUp);\n    }\n    /**\n     * Sets the user-defined 32-bit integer of this rigid-body.\n     *\n     * # Parameters\n     * - `data`: an arbitrary user-defined 32-bit integer.\n     * @param {number} handle\n     * @param {number} data\n     */\n    rbSetUserData(handle, data) {\n        wasm.rawrigidbodyset_rbSetUserData(this.__wbg_ptr, handle, data);\n    }\n    /**\n     * Put the given rigid-body to sleep.\n     * @param {number} handle\n     */\n    rbSleep(handle) {\n        wasm.rawrigidbodyset_rbSleep(this.__wbg_ptr, handle);\n    }\n    /**\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbSoftCcdPrediction(handle) {\n        const ret = wasm.rawrigidbodyset_rbSoftCcdPrediction(this.__wbg_ptr, handle);\n        return ret;\n    }\n    /**\n     * The world-space translation of this rigid-body, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbTranslation(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbTranslation(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * An arbitrary user-defined 32-bit integer\n     * @param {number} handle\n     * @returns {number}\n     */\n    rbUserData(handle) {\n        const ret = wasm.rawrigidbodyset_rbUserData(this.__wbg_ptr, handle);\n        return ret >>> 0;\n    }\n    /**\n     * Retrieves the constant force(s) the user added to this rigid-body.\n     * Returns zero if the rigid-body is not dynamic.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    rbUserForce(handle) {\n        const ret = wasm.rawrigidbodyset_rbUserForce(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Retrieves the constant torque(s) the user added to this rigid-body.\n     * Returns zero if the rigid-body is not dynamic.\n     * @param {number} handle\n     * @returns {RawVector}\n     */\n    rbUserTorque(handle) {\n        const ret = wasm.rawrigidbodyset_rbUserTorque(this.__wbg_ptr, handle);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The velocity of the given world-space point on this rigid-body.\n     * @param {number} handle\n     * @param {RawVector} point\n     * @returns {RawVector}\n     */\n    rbVelocityAtPoint(handle, point) {\n        _assertClass(point, RawVector);\n        const ret = wasm.rawrigidbodyset_rbVelocityAtPoint(this.__wbg_ptr, handle, point.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Wakes this rigid-body up.\n     *\n     * A dynamic rigid-body that does not move during several consecutive frames will\n     * be put to sleep by the physics engine, i.e., it will stop being simulated in order\n     * to avoid useless computations.\n     * This method forces a sleeping rigid-body to wake-up. This is useful, e.g., before modifying\n     * the position of a dynamic body so that it is properly simulated afterwards.\n     * @param {number} handle\n     */\n    rbWakeUp(handle) {\n        wasm.rawrigidbodyset_rbWakeUp(this.__wbg_ptr, handle);\n    }\n    /**\n     * The world-space center of mass of the rigid-body, written to a buffer.\n     * @param {number} handle\n     * @param {Float32Array} buffer\n     */\n    rbWorldCom(handle, buffer) {\n        try {\n            wasm.rawrigidbodyset_rbWorldCom(this.__wbg_ptr, handle, addBorrowedObject(buffer));\n        } finally {\n            heap[stack_pointer++] = undefined;\n        }\n    }\n    /**\n     * @param {number} handle\n     * @param {RawIslandManager} islands\n     * @param {RawColliderSet} colliders\n     * @param {RawImpulseJointSet} joints\n     * @param {RawMultibodyJointSet} articulations\n     */\n    remove(handle, islands, colliders, joints, articulations) {\n        _assertClass(islands, RawIslandManager);\n        _assertClass(colliders, RawColliderSet);\n        _assertClass(joints, RawImpulseJointSet);\n        _assertClass(articulations, RawMultibodyJointSet);\n        wasm.rawrigidbodyset_remove(this.__wbg_ptr, handle, islands.__wbg_ptr, colliders.__wbg_ptr, joints.__wbg_ptr, articulations.__wbg_ptr);\n    }\n}\nif (Symbol.dispose) RawRigidBodySet.prototype[Symbol.dispose] = RawRigidBodySet.prototype.free;\n\n/**\n * @enum {0 | 1 | 2 | 3}\n */\nexport const RawRigidBodyType = Object.freeze({\n    Dynamic: 0, \"0\": \"Dynamic\",\n    Fixed: 1, \"1\": \"Fixed\",\n    KinematicPositionBased: 2, \"2\": \"KinematicPositionBased\",\n    KinematicVelocityBased: 3, \"3\": \"KinematicVelocityBased\",\n});\n\n/**\n * A rotation quaternion.\n */\nexport class RawRotation {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawRotation.prototype);\n        obj.__wbg_ptr = ptr;\n        RawRotationFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawRotationFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawrotation_free(ptr, 0);\n    }\n    /**\n     * The identity quaternion.\n     * @returns {RawRotation}\n     */\n    static identity() {\n        const ret = wasm.rawrotation_identity();\n        return RawRotation.__wrap(ret);\n    }\n    /**\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     * @param {number} w\n     */\n    constructor(x, y, z, w) {\n        const ret = wasm.rawrotation_new(x, y, z, w);\n        this.__wbg_ptr = ret >>> 0;\n        RawRotationFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * The `w` component of this quaternion.\n     * @returns {number}\n     */\n    get w() {\n        const ret = wasm.rawrotation_w(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The `x` component of this quaternion.\n     * @returns {number}\n     */\n    get x() {\n        const ret = wasm.rawrotation_x(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The `y` component of this quaternion.\n     * @returns {number}\n     */\n    get y() {\n        const ret = wasm.rawrotation_y(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * The `z` component of this quaternion.\n     * @returns {number}\n     */\n    get z() {\n        const ret = wasm.rawrotation_z(this.__wbg_ptr);\n        return ret;\n    }\n}\nif (Symbol.dispose) RawRotation.prototype[Symbol.dispose] = RawRotation.prototype.free;\n\nexport class RawSdpMatrix3 {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawSdpMatrix3.prototype);\n        obj.__wbg_ptr = ptr;\n        RawSdpMatrix3Finalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawSdpMatrix3Finalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawsdpmatrix3_free(ptr, 0);\n    }\n    /**\n     * Row major list of the upper-triangular part of the symmetric matrix.\n     * @returns {Float32Array}\n     */\n    elements() {\n        const ret = wasm.rawsdpmatrix3_elements(this.__wbg_ptr);\n        return takeObject(ret);\n    }\n}\nif (Symbol.dispose) RawSdpMatrix3.prototype[Symbol.dispose] = RawSdpMatrix3.prototype.free;\n\nexport class RawSerializationPipeline {\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawSerializationPipelineFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawserializationpipeline_free(ptr, 0);\n    }\n    /**\n     * @param {Uint8Array} data\n     * @returns {RawDeserializedWorld | undefined}\n     */\n    deserializeAll(data) {\n        const ret = wasm.rawserializationpipeline_deserializeAll(this.__wbg_ptr, addHeapObject(data));\n        return ret === 0 ? undefined : RawDeserializedWorld.__wrap(ret);\n    }\n    constructor() {\n        const ret = wasm.rawccdsolver_new();\n        this.__wbg_ptr = ret >>> 0;\n        RawSerializationPipelineFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * @param {RawVector} gravity\n     * @param {RawIntegrationParameters} integrationParameters\n     * @param {RawIslandManager} islands\n     * @param {RawBroadPhase} broadPhase\n     * @param {RawNarrowPhase} narrowPhase\n     * @param {RawRigidBodySet} bodies\n     * @param {RawColliderSet} colliders\n     * @param {RawImpulseJointSet} impulse_joints\n     * @param {RawMultibodyJointSet} multibody_joints\n     * @returns {Uint8Array | undefined}\n     */\n    serializeAll(gravity, integrationParameters, islands, broadPhase, narrowPhase, bodies, colliders, impulse_joints, multibody_joints) {\n        _assertClass(gravity, RawVector);\n        _assertClass(integrationParameters, RawIntegrationParameters);\n        _assertClass(islands, RawIslandManager);\n        _assertClass(broadPhase, RawBroadPhase);\n        _assertClass(narrowPhase, RawNarrowPhase);\n        _assertClass(bodies, RawRigidBodySet);\n        _assertClass(colliders, RawColliderSet);\n        _assertClass(impulse_joints, RawImpulseJointSet);\n        _assertClass(multibody_joints, RawMultibodyJointSet);\n        const ret = wasm.rawserializationpipeline_serializeAll(this.__wbg_ptr, gravity.__wbg_ptr, integrationParameters.__wbg_ptr, islands.__wbg_ptr, broadPhase.__wbg_ptr, narrowPhase.__wbg_ptr, bodies.__wbg_ptr, colliders.__wbg_ptr, impulse_joints.__wbg_ptr, multibody_joints.__wbg_ptr);\n        return takeObject(ret);\n    }\n}\nif (Symbol.dispose) RawSerializationPipeline.prototype[Symbol.dispose] = RawSerializationPipeline.prototype.free;\n\nexport class RawShape {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawShape.prototype);\n        obj.__wbg_ptr = ptr;\n        RawShapeFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawShapeFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawshape_free(ptr, 0);\n    }\n    /**\n     * @param {number} radius\n     * @returns {RawShape}\n     */\n    static ball(radius) {\n        const ret = wasm.rawshape_ball(radius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} halfHeight\n     * @param {number} radius\n     * @returns {RawShape}\n     */\n    static capsule(halfHeight, radius) {\n        const ret = wasm.rawshape_capsule(halfHeight, radius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @returns {number}\n     */\n    castRay(shapePos, shapeRot, rayOrig, rayDir, maxToi, solid) {\n        _assertClass(shapePos, RawVector);\n        _assertClass(shapeRot, RawRotation);\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawshape_castRay(this.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid);\n        return ret;\n    }\n    /**\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @param {boolean} solid\n     * @returns {RawRayIntersection | undefined}\n     */\n    castRayAndGetNormal(shapePos, shapeRot, rayOrig, rayDir, maxToi, solid) {\n        _assertClass(shapePos, RawVector);\n        _assertClass(shapeRot, RawRotation);\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawshape_castRayAndGetNormal(this.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi, solid);\n        return ret === 0 ? undefined : RawRayIntersection.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos1\n     * @param {RawRotation} shapeRot1\n     * @param {RawVector} shapeVel1\n     * @param {RawShape} shape2\n     * @param {RawVector} shapePos2\n     * @param {RawRotation} shapeRot2\n     * @param {RawVector} shapeVel2\n     * @param {number} target_distance\n     * @param {number} maxToi\n     * @param {boolean} stop_at_penetration\n     * @returns {RawShapeCastHit | undefined}\n     */\n    castShape(shapePos1, shapeRot1, shapeVel1, shape2, shapePos2, shapeRot2, shapeVel2, target_distance, maxToi, stop_at_penetration) {\n        _assertClass(shapePos1, RawVector);\n        _assertClass(shapeRot1, RawRotation);\n        _assertClass(shapeVel1, RawVector);\n        _assertClass(shape2, RawShape);\n        _assertClass(shapePos2, RawVector);\n        _assertClass(shapeRot2, RawRotation);\n        _assertClass(shapeVel2, RawVector);\n        const ret = wasm.rawshape_castShape(this.__wbg_ptr, shapePos1.__wbg_ptr, shapeRot1.__wbg_ptr, shapeVel1.__wbg_ptr, shape2.__wbg_ptr, shapePos2.__wbg_ptr, shapeRot2.__wbg_ptr, shapeVel2.__wbg_ptr, target_distance, maxToi, stop_at_penetration);\n        return ret === 0 ? undefined : RawShapeCastHit.__wrap(ret);\n    }\n    /**\n     * @param {number} halfHeight\n     * @param {number} radius\n     * @returns {RawShape}\n     */\n    static cone(halfHeight, radius) {\n        const ret = wasm.rawshape_cone(halfHeight, radius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos1\n     * @param {RawRotation} shapeRot1\n     * @param {RawShape} shape2\n     * @param {RawVector} shapePos2\n     * @param {RawRotation} shapeRot2\n     * @param {number} prediction\n     * @returns {RawShapeContact | undefined}\n     */\n    contactShape(shapePos1, shapeRot1, shape2, shapePos2, shapeRot2, prediction) {\n        _assertClass(shapePos1, RawVector);\n        _assertClass(shapeRot1, RawRotation);\n        _assertClass(shape2, RawShape);\n        _assertClass(shapePos2, RawVector);\n        _assertClass(shapeRot2, RawRotation);\n        const ret = wasm.rawshape_contactShape(this.__wbg_ptr, shapePos1.__wbg_ptr, shapeRot1.__wbg_ptr, shape2.__wbg_ptr, shapePos2.__wbg_ptr, shapeRot2.__wbg_ptr, prediction);\n        return ret === 0 ? undefined : RawShapeContact.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} point\n     * @returns {boolean}\n     */\n    containsPoint(shapePos, shapeRot, point) {\n        _assertClass(shapePos, RawVector);\n        _assertClass(shapeRot, RawRotation);\n        _assertClass(point, RawVector);\n        const ret = wasm.rawshape_containsPoint(this.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, point.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @param {Float32Array} points\n     * @returns {RawShape | undefined}\n     */\n    static convexHull(points) {\n        const ptr0 = passArrayF32ToWasm0(points, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_convexHull(ptr0, len0);\n        return ret === 0 ? undefined : RawShape.__wrap(ret);\n    }\n    /**\n     * @param {Float32Array} vertices\n     * @param {Uint32Array} indices\n     * @returns {RawShape | undefined}\n     */\n    static convexMesh(vertices, indices) {\n        const ptr0 = passArrayF32ToWasm0(vertices, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ptr1 = passArray32ToWasm0(indices, wasm.__wbindgen_export3);\n        const len1 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_convexMesh(ptr0, len0, ptr1, len1);\n        return ret === 0 ? undefined : RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} hx\n     * @param {number} hy\n     * @param {number} hz\n     * @returns {RawShape}\n     */\n    static cuboid(hx, hy, hz) {\n        const ret = wasm.rawshape_cuboid(hx, hy, hz);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} halfHeight\n     * @param {number} radius\n     * @returns {RawShape}\n     */\n    static cylinder(halfHeight, radius) {\n        const ret = wasm.rawshape_cylinder(halfHeight, radius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} normal\n     * @returns {RawShape}\n     */\n    static halfspace(normal) {\n        _assertClass(normal, RawVector);\n        const ret = wasm.rawshape_halfspace(normal.__wbg_ptr);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} nrows\n     * @param {number} ncols\n     * @param {Float32Array} heights\n     * @param {RawVector} scale\n     * @param {number} flags\n     * @returns {RawShape}\n     */\n    static heightfield(nrows, ncols, heights, scale, flags) {\n        const ptr0 = passArrayF32ToWasm0(heights, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        _assertClass(scale, RawVector);\n        const ret = wasm.rawshape_heightfield(nrows, ncols, ptr0, len0, scale.__wbg_ptr, flags);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} rayOrig\n     * @param {RawVector} rayDir\n     * @param {number} maxToi\n     * @returns {boolean}\n     */\n    intersectsRay(shapePos, shapeRot, rayOrig, rayDir, maxToi) {\n        _assertClass(shapePos, RawVector);\n        _assertClass(shapeRot, RawRotation);\n        _assertClass(rayOrig, RawVector);\n        _assertClass(rayDir, RawVector);\n        const ret = wasm.rawshape_intersectsRay(this.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, rayOrig.__wbg_ptr, rayDir.__wbg_ptr, maxToi);\n        return ret !== 0;\n    }\n    /**\n     * @param {RawVector} shapePos1\n     * @param {RawRotation} shapeRot1\n     * @param {RawShape} shape2\n     * @param {RawVector} shapePos2\n     * @param {RawRotation} shapeRot2\n     * @returns {boolean}\n     */\n    intersectsShape(shapePos1, shapeRot1, shape2, shapePos2, shapeRot2) {\n        _assertClass(shapePos1, RawVector);\n        _assertClass(shapeRot1, RawRotation);\n        _assertClass(shape2, RawShape);\n        _assertClass(shapePos2, RawVector);\n        _assertClass(shapeRot2, RawRotation);\n        const ret = wasm.rawshape_intersectsShape(this.__wbg_ptr, shapePos1.__wbg_ptr, shapeRot1.__wbg_ptr, shape2.__wbg_ptr, shapePos2.__wbg_ptr, shapeRot2.__wbg_ptr);\n        return ret !== 0;\n    }\n    /**\n     * @param {Float32Array} vertices\n     * @param {Uint32Array} indices\n     * @returns {RawShape}\n     */\n    static polyline(vertices, indices) {\n        const ptr0 = passArrayF32ToWasm0(vertices, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ptr1 = passArray32ToWasm0(indices, wasm.__wbindgen_export3);\n        const len1 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_polyline(ptr0, len0, ptr1, len1);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} shapePos\n     * @param {RawRotation} shapeRot\n     * @param {RawVector} point\n     * @param {boolean} solid\n     * @returns {RawPointProjection}\n     */\n    projectPoint(shapePos, shapeRot, point, solid) {\n        _assertClass(shapePos, RawVector);\n        _assertClass(shapeRot, RawRotation);\n        _assertClass(point, RawVector);\n        const ret = wasm.rawshape_projectPoint(this.__wbg_ptr, shapePos.__wbg_ptr, shapeRot.__wbg_ptr, point.__wbg_ptr, solid);\n        return RawPointProjection.__wrap(ret);\n    }\n    /**\n     * @param {number} halfHeight\n     * @param {number} radius\n     * @param {number} borderRadius\n     * @returns {RawShape}\n     */\n    static roundCone(halfHeight, radius, borderRadius) {\n        const ret = wasm.rawshape_roundCone(halfHeight, radius, borderRadius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {Float32Array} points\n     * @param {number} borderRadius\n     * @returns {RawShape | undefined}\n     */\n    static roundConvexHull(points, borderRadius) {\n        const ptr0 = passArrayF32ToWasm0(points, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_roundConvexHull(ptr0, len0, borderRadius);\n        return ret === 0 ? undefined : RawShape.__wrap(ret);\n    }\n    /**\n     * @param {Float32Array} vertices\n     * @param {Uint32Array} indices\n     * @param {number} borderRadius\n     * @returns {RawShape | undefined}\n     */\n    static roundConvexMesh(vertices, indices, borderRadius) {\n        const ptr0 = passArrayF32ToWasm0(vertices, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ptr1 = passArray32ToWasm0(indices, wasm.__wbindgen_export3);\n        const len1 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_roundConvexMesh(ptr0, len0, ptr1, len1, borderRadius);\n        return ret === 0 ? undefined : RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} hx\n     * @param {number} hy\n     * @param {number} hz\n     * @param {number} borderRadius\n     * @returns {RawShape}\n     */\n    static roundCuboid(hx, hy, hz, borderRadius) {\n        const ret = wasm.rawshape_roundCuboid(hx, hy, hz, borderRadius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {number} halfHeight\n     * @param {number} radius\n     * @param {number} borderRadius\n     * @returns {RawShape}\n     */\n    static roundCylinder(halfHeight, radius, borderRadius) {\n        const ret = wasm.rawshape_roundCylinder(halfHeight, radius, borderRadius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} p1\n     * @param {RawVector} p2\n     * @param {RawVector} p3\n     * @param {number} borderRadius\n     * @returns {RawShape}\n     */\n    static roundTriangle(p1, p2, p3, borderRadius) {\n        _assertClass(p1, RawVector);\n        _assertClass(p2, RawVector);\n        _assertClass(p3, RawVector);\n        const ret = wasm.rawshape_roundTriangle(p1.__wbg_ptr, p2.__wbg_ptr, p3.__wbg_ptr, borderRadius);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} p1\n     * @param {RawVector} p2\n     * @returns {RawShape}\n     */\n    static segment(p1, p2) {\n        _assertClass(p1, RawVector);\n        _assertClass(p2, RawVector);\n        const ret = wasm.rawshape_segment(p1.__wbg_ptr, p2.__wbg_ptr);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} p1\n     * @param {RawVector} p2\n     * @param {RawVector} p3\n     * @returns {RawShape}\n     */\n    static triangle(p1, p2, p3) {\n        _assertClass(p1, RawVector);\n        _assertClass(p2, RawVector);\n        _assertClass(p3, RawVector);\n        const ret = wasm.rawshape_triangle(p1.__wbg_ptr, p2.__wbg_ptr, p3.__wbg_ptr);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {Float32Array} vertices\n     * @param {Uint32Array} indices\n     * @param {number} flags\n     * @returns {RawShape | undefined}\n     */\n    static trimesh(vertices, indices, flags) {\n        const ptr0 = passArrayF32ToWasm0(vertices, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ptr1 = passArray32ToWasm0(indices, wasm.__wbindgen_export3);\n        const len1 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_trimesh(ptr0, len0, ptr1, len1, flags);\n        return ret === 0 ? undefined : RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} voxel_size\n     * @param {Int32Array} grid_coords\n     * @returns {RawShape}\n     */\n    static voxels(voxel_size, grid_coords) {\n        _assertClass(voxel_size, RawVector);\n        const ptr0 = passArray32ToWasm0(grid_coords, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_voxels(voxel_size.__wbg_ptr, ptr0, len0);\n        return RawShape.__wrap(ret);\n    }\n    /**\n     * @param {RawVector} voxel_size\n     * @param {Float32Array} points\n     * @returns {RawShape}\n     */\n    static voxelsFromPoints(voxel_size, points) {\n        _assertClass(voxel_size, RawVector);\n        const ptr0 = passArrayF32ToWasm0(points, wasm.__wbindgen_export3);\n        const len0 = WASM_VECTOR_LEN;\n        const ret = wasm.rawshape_voxelsFromPoints(voxel_size.__wbg_ptr, ptr0, len0);\n        return RawShape.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawShape.prototype[Symbol.dispose] = RawShape.prototype.free;\n\nexport class RawShapeCastHit {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawShapeCastHit.prototype);\n        obj.__wbg_ptr = ptr;\n        RawShapeCastHitFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawShapeCastHitFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawshapecasthit_free(ptr, 0);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal1() {\n        const ret = wasm.rawshapecasthit_normal1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal2() {\n        const ret = wasm.rawshapecasthit_normal2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {number}\n     */\n    time_of_impact() {\n        const ret = wasm.rawintegrationparameters_dt(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    witness1() {\n        const ret = wasm.rawshapecasthit_witness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    witness2() {\n        const ret = wasm.rawcontactforceevent_total_force(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawShapeCastHit.prototype[Symbol.dispose] = RawShapeCastHit.prototype.free;\n\nexport class RawShapeContact {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawShapeContact.prototype);\n        obj.__wbg_ptr = ptr;\n        RawShapeContactFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawShapeContactFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawshapecontact_free(ptr, 0);\n    }\n    /**\n     * @returns {number}\n     */\n    distance() {\n        const ret = wasm.rawkinematiccharactercontroller_maxSlopeClimbAngle(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal1() {\n        const ret = wasm.rawcollidershapecasthit_witness2(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    normal2() {\n        const ret = wasm.rawcollidershapecasthit_normal1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    point1() {\n        const ret = wasm.rawpointprojection_point(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * @returns {RawVector}\n     */\n    point2() {\n        const ret = wasm.rawcollidershapecasthit_witness1(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawShapeContact.prototype[Symbol.dispose] = RawShapeContact.prototype.free;\n\n/**\n * @enum {0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18}\n */\nexport const RawShapeType = Object.freeze({\n    Ball: 0, \"0\": \"Ball\",\n    Cuboid: 1, \"1\": \"Cuboid\",\n    Capsule: 2, \"2\": \"Capsule\",\n    Segment: 3, \"3\": \"Segment\",\n    Polyline: 4, \"4\": \"Polyline\",\n    Triangle: 5, \"5\": \"Triangle\",\n    TriMesh: 6, \"6\": \"TriMesh\",\n    HeightField: 7, \"7\": \"HeightField\",\n    Compound: 8, \"8\": \"Compound\",\n    ConvexPolyhedron: 9, \"9\": \"ConvexPolyhedron\",\n    Cylinder: 10, \"10\": \"Cylinder\",\n    Cone: 11, \"11\": \"Cone\",\n    RoundCuboid: 12, \"12\": \"RoundCuboid\",\n    RoundTriangle: 13, \"13\": \"RoundTriangle\",\n    RoundCylinder: 14, \"14\": \"RoundCylinder\",\n    RoundCone: 15, \"15\": \"RoundCone\",\n    RoundConvexPolyhedron: 16, \"16\": \"RoundConvexPolyhedron\",\n    HalfSpace: 17, \"17\": \"HalfSpace\",\n    Voxels: 18, \"18\": \"Voxels\",\n});\n\n/**\n * A vector.\n */\nexport class RawVector {\n    static __wrap(ptr) {\n        ptr = ptr >>> 0;\n        const obj = Object.create(RawVector.prototype);\n        obj.__wbg_ptr = ptr;\n        RawVectorFinalization.register(obj, obj.__wbg_ptr, obj);\n        return obj;\n    }\n    __destroy_into_raw() {\n        const ptr = this.__wbg_ptr;\n        this.__wbg_ptr = 0;\n        RawVectorFinalization.unregister(this);\n        return ptr;\n    }\n    free() {\n        const ptr = this.__destroy_into_raw();\n        wasm.__wbg_rawvector_free(ptr, 0);\n    }\n    /**\n     * Creates a new 3D vector from its two components.\n     *\n     * # Parameters\n     * - `x`: the `x` component of this 3D vector.\n     * - `y`: the `y` component of this 3D vector.\n     * - `z`: the `z` component of this 3D vector.\n     * @param {number} x\n     * @param {number} y\n     * @param {number} z\n     */\n    constructor(x, y, z) {\n        const ret = wasm.rawvector_new(x, y, z);\n        this.__wbg_ptr = ret >>> 0;\n        RawVectorFinalization.register(this, this.__wbg_ptr, this);\n        return this;\n    }\n    /**\n     * Sets the `x` component of this vector.\n     * @param {number} x\n     */\n    set x(x) {\n        wasm.rawintegrationparameters_set_dt(this.__wbg_ptr, x);\n    }\n    /**\n     * Sets the `y` component of this vector.\n     * @param {number} y\n     */\n    set y(y) {\n        wasm.rawvector_set_y(this.__wbg_ptr, y);\n    }\n    /**\n     * Sets the `z` component of this vector.\n     * @param {number} z\n     */\n    set z(z) {\n        wasm.rawintegrationparameters_set_contact_natural_frequency(this.__wbg_ptr, z);\n    }\n    /**\n     * The `x` component of this vector.\n     * @returns {number}\n     */\n    get x() {\n        const ret = wasm.rawintegrationparameters_dt(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{x, y, z}`.\n     *\n     * This will effectively return a copy of `this`. This method exist for completeness with the\n     * other swizzling functions.\n     * @returns {RawVector}\n     */\n    xyz() {\n        const ret = wasm.rawpointprojection_point(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{x, z, y}`.\n     * @returns {RawVector}\n     */\n    xzy() {\n        const ret = wasm.rawvector_xzy(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The `y` component of this vector.\n     * @returns {number}\n     */\n    get y() {\n        const ret = wasm.rawkinematiccharactercontroller_offset(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{y, x, z}`.\n     * @returns {RawVector}\n     */\n    yxz() {\n        const ret = wasm.rawvector_yxz(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{y, z, x}`.\n     * @returns {RawVector}\n     */\n    yzx() {\n        const ret = wasm.rawvector_yzx(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * The `z` component of this vector.\n     * @returns {number}\n     */\n    get z() {\n        const ret = wasm.rawcollidershapecasthit_time_of_impact(this.__wbg_ptr);\n        return ret;\n    }\n    /**\n     * Creates a new vector filled with zeros.\n     * @returns {RawVector}\n     */\n    static zero() {\n        const ret = wasm.rawvector_zero();\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{z, x, y}`.\n     * @returns {RawVector}\n     */\n    zxy() {\n        const ret = wasm.rawvector_zxy(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n    /**\n     * Create a new 3D vector from this vector with its components rearranged as `{z, y, x}`.\n     * @returns {RawVector}\n     */\n    zyx() {\n        const ret = wasm.rawvector_zyx(this.__wbg_ptr);\n        return RawVector.__wrap(ret);\n    }\n}\nif (Symbol.dispose) RawVector.prototype[Symbol.dispose] = RawVector.prototype.free;\n\n/**\n * @param {number} extra_bytes_count\n */\nexport function reserve_memory(extra_bytes_count) {\n    wasm.reserve_memory(extra_bytes_count);\n}\n\n/**\n * @returns {string}\n */\nexport function version() {\n    let deferred1_0;\n    let deferred1_1;\n    try {\n        const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);\n        wasm.version(retptr);\n        var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true);\n        var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true);\n        deferred1_0 = r0;\n        deferred1_1 = r1;\n        return getStringFromWasm0(r0, r1);\n    } finally {\n        wasm.__wbindgen_add_to_stack_pointer(16);\n        wasm.__wbindgen_export2(deferred1_0, deferred1_1, 1);\n    }\n}\n\nfunction __wbg_get_imports() {\n    const import0 = {\n        __proto__: null,\n        __wbg___wbindgen_boolean_get_bbbb1c18aa2f5e25: function(arg0) {\n            const v = getObject(arg0);\n            const ret = typeof(v) === 'boolean' ? v : undefined;\n            return isLikeNone(ret) ? 0xFFFFFF : ret ? 1 : 0;\n        },\n        __wbg___wbindgen_is_function_0095a73b8b156f76: function(arg0) {\n            const ret = typeof(getObject(arg0)) === 'function';\n            return ret;\n        },\n        __wbg___wbindgen_number_get_8ff4255516ccad3e: function(arg0, arg1) {\n            const obj = getObject(arg1);\n            const ret = typeof(obj) === 'number' ? obj : undefined;\n            getDataViewMemory0().setFloat64(arg0 + 8 * 1, isLikeNone(ret) ? 0 : ret, true);\n            getDataViewMemory0().setInt32(arg0 + 4 * 0, !isLikeNone(ret), true);\n        },\n        __wbg___wbindgen_throw_be289d5034ed271b: function(arg0, arg1) {\n            throw new Error(getStringFromWasm0(arg0, arg1));\n        },\n        __wbg_call_41bedb84c3e5c0c9: function() { return handleError(function (arg0, arg1, arg2, arg3, arg4, arg5) {\n            const ret = getObject(arg0).call(getObject(arg1), getObject(arg2), getObject(arg3), getObject(arg4), getObject(arg5));\n            return addHeapObject(ret);\n        }, arguments); },\n        __wbg_call_4708e0c13bdc8e95: function() { return handleError(function (arg0, arg1, arg2) {\n            const ret = getObject(arg0).call(getObject(arg1), getObject(arg2));\n            return addHeapObject(ret);\n        }, arguments); },\n        __wbg_call_e8c868596c950cf6: function() { return handleError(function (arg0, arg1, arg2, arg3, arg4) {\n            const ret = getObject(arg0).call(getObject(arg1), getObject(arg2), getObject(arg3), getObject(arg4));\n            return addHeapObject(ret);\n        }, arguments); },\n        __wbg_length_32ed9a279acd054c: function(arg0) {\n            const ret = getObject(arg0).length;\n            return ret;\n        },\n        __wbg_length_9a7876c9728a0979: function(arg0) {\n            const ret = getObject(arg0).length;\n            return ret;\n        },\n        __wbg_new_from_slice_a3d2629dc1826784: function(arg0, arg1) {\n            const ret = new Uint8Array(getArrayU8FromWasm0(arg0, arg1));\n            return addHeapObject(ret);\n        },\n        __wbg_new_with_length_63f2683cc2521026: function(arg0) {\n            const ret = new Float32Array(arg0 >>> 0);\n            return addHeapObject(ret);\n        },\n        __wbg_prototypesetcall_bdcdcc5842e4d77d: function(arg0, arg1, arg2) {\n            Uint8Array.prototype.set.call(getArrayU8FromWasm0(arg0, arg1), getObject(arg2));\n        },\n        __wbg_rawcontactforceevent_new: function(arg0) {\n            const ret = RawContactForceEvent.__wrap(arg0);\n            return addHeapObject(ret);\n        },\n        __wbg_rawraycolliderintersection_new: function(arg0) {\n            const ret = RawRayColliderIntersection.__wrap(arg0);\n            return addHeapObject(ret);\n        },\n        __wbg_set_f8edeec46569cc70: function(arg0, arg1, arg2) {\n            getObject(arg0).set(getArrayF32FromWasm0(arg1, arg2));\n        },\n        __wbg_set_index_41955224420ba3c6: function(arg0, arg1, arg2) {\n            getObject(arg0)[arg1 >>> 0] = arg2;\n        },\n        __wbindgen_cast_0000000000000001: function(arg0) {\n            // Cast intrinsic for `F64 -> Externref`.\n            const ret = arg0;\n            return addHeapObject(ret);\n        },\n        __wbindgen_object_drop_ref: function(arg0) {\n            takeObject(arg0);\n        },\n    };\n    return {\n        __proto__: null,\n        \"./rapier_wasm_3d_bg.js\": import0,\n    };\n}\n\nconst RawBroadPhaseFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawbroadphase_free(ptr >>> 0, 1));\nconst RawCCDSolverFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawccdsolver_free(ptr >>> 0, 1));\nconst RawCharacterCollisionFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcharactercollision_free(ptr >>> 0, 1));\nconst RawColliderSetFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcolliderset_free(ptr >>> 0, 1));\nconst RawColliderShapeCastHitFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcollidershapecasthit_free(ptr >>> 0, 1));\nconst RawContactForceEventFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcontactforceevent_free(ptr >>> 0, 1));\nconst RawContactManifoldFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcontactmanifold_free(ptr >>> 0, 1));\nconst RawContactPairFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawcontactpair_free(ptr >>> 0, 1));\nconst RawDebugRenderPipelineFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawdebugrenderpipeline_free(ptr >>> 0, 1));\nconst RawDeserializedWorldFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawdeserializedworld_free(ptr >>> 0, 1));\nconst RawDynamicRayCastVehicleControllerFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawdynamicraycastvehiclecontroller_free(ptr >>> 0, 1));\nconst RawEventQueueFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_raweventqueue_free(ptr >>> 0, 1));\nconst RawGenericJointFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawgenericjoint_free(ptr >>> 0, 1));\nconst RawImpulseJointSetFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawimpulsejointset_free(ptr >>> 0, 1));\nconst RawIntegrationParametersFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawintegrationparameters_free(ptr >>> 0, 1));\nconst RawIslandManagerFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawislandmanager_free(ptr >>> 0, 1));\nconst RawKinematicCharacterControllerFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawkinematiccharactercontroller_free(ptr >>> 0, 1));\nconst RawMultibodyJointSetFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawmultibodyjointset_free(ptr >>> 0, 1));\nconst RawNarrowPhaseFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawnarrowphase_free(ptr >>> 0, 1));\nconst RawPhysicsPipelineFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawphysicspipeline_free(ptr >>> 0, 1));\nconst RawPidControllerFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawpidcontroller_free(ptr >>> 0, 1));\nconst RawPointColliderProjectionFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawpointcolliderprojection_free(ptr >>> 0, 1));\nconst RawPointProjectionFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawpointprojection_free(ptr >>> 0, 1));\nconst RawRayColliderHitFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawraycolliderhit_free(ptr >>> 0, 1));\nconst RawRayColliderIntersectionFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawraycolliderintersection_free(ptr >>> 0, 1));\nconst RawRayIntersectionFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawrayintersection_free(ptr >>> 0, 1));\nconst RawRigidBodySetFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawrigidbodyset_free(ptr >>> 0, 1));\nconst RawRotationFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawrotation_free(ptr >>> 0, 1));\nconst RawSdpMatrix3Finalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawsdpmatrix3_free(ptr >>> 0, 1));\nconst RawSerializationPipelineFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawserializationpipeline_free(ptr >>> 0, 1));\nconst RawShapeFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawshape_free(ptr >>> 0, 1));\nconst RawShapeCastHitFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawshapecasthit_free(ptr >>> 0, 1));\nconst RawShapeContactFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawshapecontact_free(ptr >>> 0, 1));\nconst RawVectorFinalization = (typeof FinalizationRegistry === 'undefined')\n    ? { register: () => {}, unregister: () => {} }\n    : new FinalizationRegistry(ptr => wasm.__wbg_rawvector_free(ptr >>> 0, 1));\n\nfunction addHeapObject(obj) {\n    if (heap_next === heap.length) heap.push(heap.length + 1);\n    const idx = heap_next;\n    heap_next = heap[idx];\n\n    heap[idx] = obj;\n    return idx;\n}\n\nfunction _assertClass(instance, klass) {\n    if (!(instance instanceof klass)) {\n        throw new Error(`expected instance of ${klass.name}`);\n    }\n}\n\nfunction addBorrowedObject(obj) {\n    if (stack_pointer == 1) throw new Error('out of js stack');\n    heap[--stack_pointer] = obj;\n    return stack_pointer;\n}\n\nfunction dropObject(idx) {\n    if (idx < 132) return;\n    heap[idx] = heap_next;\n    heap_next = idx;\n}\n\nfunction getArrayF32FromWasm0(ptr, len) {\n    ptr = ptr >>> 0;\n    return getFloat32ArrayMemory0().subarray(ptr / 4, ptr / 4 + len);\n}\n\nfunction getArrayI32FromWasm0(ptr, len) {\n    ptr = ptr >>> 0;\n    return getInt32ArrayMemory0().subarray(ptr / 4, ptr / 4 + len);\n}\n\nfunction getArrayU32FromWasm0(ptr, len) {\n    ptr = ptr >>> 0;\n    return getUint32ArrayMemory0().subarray(ptr / 4, ptr / 4 + len);\n}\n\nfunction getArrayU8FromWasm0(ptr, len) {\n    ptr = ptr >>> 0;\n    return getUint8ArrayMemory0().subarray(ptr / 1, ptr / 1 + len);\n}\n\nlet cachedDataViewMemory0 = null;\nfunction getDataViewMemory0() {\n    if (cachedDataViewMemory0 === null || cachedDataViewMemory0.buffer.detached === true || (cachedDataViewMemory0.buffer.detached === undefined && cachedDataViewMemory0.buffer !== wasm.memory.buffer)) {\n        cachedDataViewMemory0 = new DataView(wasm.memory.buffer);\n    }\n    return cachedDataViewMemory0;\n}\n\nlet cachedFloat32ArrayMemory0 = null;\nfunction getFloat32ArrayMemory0() {\n    if (cachedFloat32ArrayMemory0 === null || cachedFloat32ArrayMemory0.byteLength === 0) {\n        cachedFloat32ArrayMemory0 = new Float32Array(wasm.memory.buffer);\n    }\n    return cachedFloat32ArrayMemory0;\n}\n\nlet cachedInt32ArrayMemory0 = null;\nfunction getInt32ArrayMemory0() {\n    if (cachedInt32ArrayMemory0 === null || cachedInt32ArrayMemory0.byteLength === 0) {\n        cachedInt32ArrayMemory0 = new Int32Array(wasm.memory.buffer);\n    }\n    return cachedInt32ArrayMemory0;\n}\n\nfunction getStringFromWasm0(ptr, len) {\n    ptr = ptr >>> 0;\n    return decodeText(ptr, len);\n}\n\nlet cachedUint32ArrayMemory0 = null;\nfunction getUint32ArrayMemory0() {\n    if (cachedUint32ArrayMemory0 === null || cachedUint32ArrayMemory0.byteLength === 0) {\n        cachedUint32ArrayMemory0 = new Uint32Array(wasm.memory.buffer);\n    }\n    return cachedUint32ArrayMemory0;\n}\n\nlet cachedUint8ArrayMemory0 = null;\nfunction getUint8ArrayMemory0() {\n    if (cachedUint8ArrayMemory0 === null || cachedUint8ArrayMemory0.byteLength === 0) {\n        cachedUint8ArrayMemory0 = new Uint8Array(wasm.memory.buffer);\n    }\n    return cachedUint8ArrayMemory0;\n}\n\nfunction getObject(idx) { return heap[idx]; }\n\nfunction handleError(f, args) {\n    try {\n        return f.apply(this, args);\n    } catch (e) {\n        wasm.__wbindgen_export(addHeapObject(e));\n    }\n}\n\nlet heap = new Array(128).fill(undefined);\nheap.push(undefined, null, true, false);\n\nlet heap_next = heap.length;\n\nfunction isLikeNone(x) {\n    return x === undefined || x === null;\n}\n\nfunction passArray32ToWasm0(arg, malloc) {\n    const ptr = malloc(arg.length * 4, 4) >>> 0;\n    getUint32ArrayMemory0().set(arg, ptr / 4);\n    WASM_VECTOR_LEN = arg.length;\n    return ptr;\n}\n\nfunction passArrayF32ToWasm0(arg, malloc) {\n    const ptr = malloc(arg.length * 4, 4) >>> 0;\n    getFloat32ArrayMemory0().set(arg, ptr / 4);\n    WASM_VECTOR_LEN = arg.length;\n    return ptr;\n}\n\nlet stack_pointer = 128;\n\nfunction takeObject(idx) {\n    const ret = getObject(idx);\n    dropObject(idx);\n    return ret;\n}\n\nlet cachedTextDecoder = new TextDecoder('utf-8', { ignoreBOM: true, fatal: true });\ncachedTextDecoder.decode();\nconst MAX_SAFARI_DECODE_BYTES = 2146435072;\nlet numBytesDecoded = 0;\nfunction decodeText(ptr, len) {\n    numBytesDecoded += len;\n    if (numBytesDecoded >= MAX_SAFARI_DECODE_BYTES) {\n        cachedTextDecoder = new TextDecoder('utf-8', { ignoreBOM: true, fatal: true });\n        cachedTextDecoder.decode();\n        numBytesDecoded = len;\n    }\n    return cachedTextDecoder.decode(getUint8ArrayMemory0().subarray(ptr, ptr + len));\n}\n\nlet WASM_VECTOR_LEN = 0;\n\nlet wasmModule, wasm;\nfunction __wbg_finalize_init(instance, module) {\n    wasm = instance.exports;\n    wasmModule = module;\n    cachedDataViewMemory0 = null;\n    cachedFloat32ArrayMemory0 = null;\n    cachedInt32ArrayMemory0 = null;\n    cachedUint32ArrayMemory0 = null;\n    cachedUint8ArrayMemory0 = null;\n    return wasm;\n}\n\nasync function __wbg_load(module, imports) {\n    if (typeof Response === 'function' && module instanceof Response) {\n        if (typeof WebAssembly.instantiateStreaming === 'function') {\n            try {\n                return await WebAssembly.instantiateStreaming(module, imports);\n            } catch (e) {\n                const validResponse = module.ok && expectedResponseType(module.type);\n\n                if (validResponse && module.headers.get('Content-Type') !== 'application/wasm') {\n                    console.warn(\"`WebAssembly.instantiateStreaming` failed because your server does not serve Wasm with `application/wasm` MIME type. Falling back to `WebAssembly.instantiate` which is slower. Original error:\\n\", e);\n\n                } else { throw e; }\n            }\n        }\n\n        const bytes = await module.arrayBuffer();\n        return await WebAssembly.instantiate(bytes, imports);\n    } else {\n        const instance = await WebAssembly.instantiate(module, imports);\n\n        if (instance instanceof WebAssembly.Instance) {\n            return { instance, module };\n        } else {\n            return instance;\n        }\n    }\n\n    function expectedResponseType(type) {\n        switch (type) {\n            case 'basic': case 'cors': case 'default': return true;\n        }\n        return false;\n    }\n}\n\nfunction initSync(module) {\n    if (wasm !== undefined) return wasm;\n\n\n    if (module !== undefined) {\n        if (Object.getPrototypeOf(module) === Object.prototype) {\n            ({module} = module)\n        } else {\n            console.warn('using deprecated parameters for `initSync()`; pass a single object instead')\n        }\n    }\n\n    const imports = __wbg_get_imports();\n    if (!(module instanceof WebAssembly.Module)) {\n        module = new WebAssembly.Module(module);\n    }\n    const instance = new WebAssembly.Instance(module, imports);\n    return __wbg_finalize_init(instance, module);\n}\n\nasync function __wbg_init(module_or_path) {\n    if (wasm !== undefined) return wasm;\n\n\n    if (module_or_path !== undefined) {\n        if (Object.getPrototypeOf(module_or_path) === Object.prototype) {\n            ({module_or_path} = module_or_path)\n        } else {\n            console.warn('using deprecated parameters for the initialization function; pass a single object instead')\n        }\n    }\n\n    if (module_or_path === undefined) {\n        module_or_path = new URL('rapier_wasm_3d_bg.wasm', import.meta.url);\n    }\n    const imports = __wbg_get_imports();\n\n    if (typeof module_or_path === 'string' || (typeof Request === 'function' && module_or_path instanceof Request) || (typeof URL === 'function' && module_or_path instanceof URL)) {\n        module_or_path = fetch(module_or_path);\n    }\n\n    const { instance, module } = await __wbg_load(await module_or_path, imports);\n\n    return __wbg_finalize_init(instance, module);\n}\n\nexport { initSync, __wbg_init as default };\n","import {RawVector, RawRotation, RawSdpMatrix3} from \"./raw\";\n\nexport interface Vector {\n    x: number;\n    y: number;\n    z: number;\n}\n\n/**\n * A 3D vector.\n */\nexport class Vector3 implements Vector {\n    x: number;\n    y: number;\n    z: number;\n\n    constructor(x: number, y: number, z: number) {\n        this.x = x;\n        this.y = y;\n        this.z = z;\n    }\n}\n\nexport class VectorOps {\n    public static new(x: number, y: number, z: number): Vector {\n        return new Vector3(x, y, z);\n    }\n\n    public static intoRaw(v: Vector): RawVector {\n        return new RawVector(v.x, v.y, v.z);\n    }\n\n    public static zeros(): Vector {\n        return VectorOps.new(0.0, 0.0, 0.0);\n    }\n\n    public static fromRaw(raw: RawVector, target?: Vector): Vector | null {\n        if (!raw) return null;\n\n        target ??= VectorOps.zeros();\n        target.x = raw.x;\n        target.y = raw.y;\n        target.z = raw.z;\n        raw.free();\n        return target;\n    }\n\n    public static copy(out: Vector, input: Vector) {\n        out.x = input.x;\n        out.y = input.y;\n        out.z = input.z;\n    }\n\n    public static fromBuffer(buffer: Float32Array, target?: Vector): Vector {\n        target ??= VectorOps.zeros();\n        target.x = buffer[0];\n        target.y = buffer[1];\n        target.z = buffer[2];\n        return target;\n    }\n}\n\nexport interface Rotation {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n}\n\n/**\n * A quaternion.\n */\nexport class Quaternion implements Rotation {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n\n    constructor(x: number, y: number, z: number, w: number) {\n        this.x = x;\n        this.y = y;\n        this.z = z;\n        this.w = w;\n    }\n}\n\nexport class RotationOps {\n    public static identity(): Rotation {\n        return new Quaternion(0.0, 0.0, 0.0, 1.0);\n    }\n\n    public static fromRaw(raw: RawRotation, target?: Rotation): Rotation | null {\n        if (!raw) return null;\n\n        target ??= RotationOps.identity();\n        target.x = raw.x;\n        target.y = raw.y;\n        target.z = raw.z;\n        target.w = raw.w;\n        raw.free();\n        return target;\n    }\n\n    public static intoRaw(rot: Rotation): RawRotation {\n        return new RawRotation(rot.x, rot.y, rot.z, rot.w);\n    }\n\n    public static copy(out: Rotation, input: Rotation) {\n        out.x = input.x;\n        out.y = input.y;\n        out.z = input.z;\n        out.w = input.w;\n    }\n\n    public static fromBuffer(buffer: Float32Array, target?: Rotation): Rotation {\n        target ??= RotationOps.identity();\n        target.x = buffer[0];\n        target.y = buffer[1];\n        target.z = buffer[2];\n        target.w = buffer[3];\n        return target;\n    }\n}\n\n/**\n * A 3D symmetric-positive-definite matrix.\n */\nexport class SdpMatrix3 {\n    /**\n     * Row major list of the upper-triangular part of the symmetric matrix.\n     */\n    elements: Float32Array;\n\n    /**\n     * Matrix element at row 1, column 1.\n     */\n    public get m11(): number {\n        return this.elements[0];\n    }\n\n    /**\n     * Matrix element at row 1, column 2.\n     */\n    public get m12(): number {\n        return this.elements[1];\n    }\n\n    /**\n     * Matrix element at row 2, column 1.\n     */\n    public get m21(): number {\n        return this.m12;\n    }\n\n    /**\n     * Matrix element at row 1, column 3.\n     */\n    public get m13(): number {\n        return this.elements[2];\n    }\n\n    /**\n     * Matrix element at row 3, column 1.\n     */\n    public get m31(): number {\n        return this.m13;\n    }\n\n    /**\n     * Matrix element at row 2, column 2.\n     */\n    public get m22(): number {\n        return this.elements[3];\n    }\n\n    /**\n     * Matrix element at row 2, column 3.\n     */\n    public get m23(): number {\n        return this.elements[4];\n    }\n\n    /**\n     * Matrix element at row 3, column 2.\n     */\n    public get m32(): number {\n        return this.m23;\n    }\n\n    /**\n     * Matrix element at row 3, column 3.\n     */\n    public get m33(): number {\n        return this.elements[5];\n    }\n\n    constructor(elements: Float32Array) {\n        this.elements = elements;\n    }\n}\n\nexport class SdpMatrix3Ops {\n    public static fromRaw(raw: RawSdpMatrix3): SdpMatrix3 {\n        const sdpMatrix3 = new SdpMatrix3(raw.elements());\n        raw.free();\n        return sdpMatrix3;\n    }\n}\n","import {Collider, ColliderSet} from \"../geometry\";\nimport {Rotation, RotationOps, Vector, VectorOps} from \"../math\";\nimport {SdpMatrix3, SdpMatrix3Ops} from \"../math\";\nimport {RawRigidBodySet, RawRigidBodyType} from \"../raw\";\n\n/**\n * The integer identifier of a collider added to a `ColliderSet`.\n */\nexport type RigidBodyHandle = number;\n\n/**\n * The simulation status of a rigid-body.\n */\n// TODO: rename this to RigidBodyType\nexport enum RigidBodyType {\n    /**\n     * A `RigidBodyType::Dynamic` body can be affected by all external forces.\n     */\n    Dynamic = 0,\n    /**\n     * A `RigidBodyType::Fixed` body cannot be affected by external forces.\n     */\n    Fixed,\n    /**\n     * A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled\n     * by the user at the position level while keeping realistic one-way interaction with dynamic bodies.\n     *\n     * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body\n     * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be\n     * modified by the user and is independent from any contact or joint it is involved in.\n     */\n    KinematicPositionBased,\n    /**\n     * A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled\n     * by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.\n     *\n     * One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body\n     * cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be\n     * modified by the user and is independent from any contact or joint it is involved in.\n     */\n    KinematicVelocityBased,\n}\n\n/**\n * A rigid-body.\n */\nexport class RigidBody {\n    private rawSet: RawRigidBodySet; // The RigidBody won't need to free this.\n    private colliderSet: ColliderSet;\n    readonly handle: RigidBodyHandle;\n    private scratchBuffer: Float32Array;\n\n    /**\n     * An arbitrary user-defined object associated with this rigid-body.\n     */\n    public userData?: unknown;\n\n    constructor(rawSet: RawRigidBodySet, colliderSet: ColliderSet, handle: RigidBodyHandle) {\n        this.rawSet = rawSet;\n        this.colliderSet = colliderSet;\n        this.handle = handle;\n        this.scratchBuffer = new Float32Array(4);\n    }\n\n    /** @internal */\n    public finalizeDeserialization(colliderSet: ColliderSet) {\n        this.colliderSet = colliderSet;\n    }\n\n    /**\n     * Checks if this rigid-body is still valid (i.e. that it has\n     * not been deleted from the rigid-body set yet.\n     */\n    public isValid(): boolean {\n        return this.rawSet.contains(this.handle);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to translate.\n     *\n     * @param locked - If `true`, this rigid-body will no longer translate due to forces and impulses.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     */\n    public lockTranslations(locked: boolean, wakeUp: boolean) {\n        return this.rawSet.rbLockTranslations(this.handle, locked, wakeUp);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to rotate.\n     *\n     * @param locked - If `true`, this rigid-body will no longer rotate due to torques and impulses.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     */\n    public lockRotations(locked: boolean, wakeUp: boolean) {\n        return this.rawSet.rbLockRotations(this.handle, locked, wakeUp);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes.\n     *\n     * @param enableX - If `false`, this rigid-body will no longer translate due to torques and impulses, along the X coordinate axis.\n     * @param enableY - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Y coordinate axis.\n     * @param enableZ - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Z coordinate axis.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     */\n    public setEnabledTranslations(\n        enableX: boolean,\n        enableY: boolean,\n        enableZ: boolean,\n        wakeUp: boolean,\n    ) {\n        return this.rawSet.rbSetEnabledTranslations(this.handle, enableX, enableY, enableZ, wakeUp);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to translate along individual coordinate axes.\n     *\n     * @param enableX - If `false`, this rigid-body will no longer translate due to torques and impulses, along the X coordinate axis.\n     * @param enableY - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Y coordinate axis.\n     * @param enableZ - If `false`, this rigid-body will no longer translate due to torques and impulses, along the Z coordinate axis.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     * @deprecated use `this.setEnabledTranslations` with the same arguments instead.\n     */\n    public restrictTranslations(\n        enableX: boolean,\n        enableY: boolean,\n        enableZ: boolean,\n        wakeUp: boolean,\n    ) {\n        this.setEnabledTranslations(enableX, enableY, enableZ, wakeUp);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to rotate along individual coordinate axes.\n     *\n     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.\n     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.\n     * @param enableZ - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Z coordinate axis.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     */\n    public setEnabledRotations(\n        enableX: boolean,\n        enableY: boolean,\n        enableZ: boolean,\n        wakeUp: boolean,\n    ) {\n        return this.rawSet.rbSetEnabledRotations(this.handle, enableX, enableY, enableZ, wakeUp);\n    }\n\n    /**\n     * Locks or unlocks the ability of this rigid-body to rotate along individual coordinate axes.\n     *\n     * @param enableX - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the X coordinate axis.\n     * @param enableY - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Y coordinate axis.\n     * @param enableZ - If `false`, this rigid-body will no longer rotate due to torques and impulses, along the Z coordinate axis.\n     * @param wakeUp - If `true`, this rigid-body will be automatically awaken if it is currently asleep.\n     * @deprecated use `this.setEnabledRotations` with the same arguments instead.\n     */\n    public restrictRotations(\n        enableX: boolean,\n        enableY: boolean,\n        enableZ: boolean,\n        wakeUp: boolean,\n    ) {\n        this.setEnabledRotations(enableX, enableY, enableZ, wakeUp);\n    }\n\n    /**\n     * The dominance group, in [-127, +127] this rigid-body is part of.\n     */\n    public dominanceGroup(): number {\n        return this.rawSet.rbDominanceGroup(this.handle);\n    }\n\n    /**\n     * Sets the dominance group of this rigid-body.\n     *\n     * @param group - The dominance group of this rigid-body. Must be a signed integer in the range [-127, +127].\n     */\n    public setDominanceGroup(group: number) {\n        this.rawSet.rbSetDominanceGroup(this.handle, group);\n    }\n\n    /**\n     * The number of additional solver iterations that will be run for this\n     * rigid-body and everything that interacts with it directly or indirectly\n     * through contacts or joints.\n     */\n    public additionalSolverIterations(): number {\n        return this.rawSet.rbAdditionalSolverIterations(this.handle);\n    }\n\n    /**\n     * Sets the number of additional solver iterations that will be run for this\n     * rigid-body and everything that interacts with it directly or indirectly\n     * through contacts or joints.\n     *\n     * Compared to increasing the global `World.numSolverIteration`, setting this\n     * value lets you increase accuracy on only a subset of the scene, resulting in reduced\n     * performance loss.\n     *\n     * @param iters - The new number of additional solver iterations (default: 0).\n     */\n    public setAdditionalSolverIterations(iters: number) {\n        this.rawSet.rbSetAdditionalSolverIterations(this.handle, iters);\n    }\n\n    /**\n     * Enable or disable CCD (Continuous Collision Detection) for this rigid-body.\n     *\n     * @param enabled - If `true`, CCD will be enabled for this rigid-body.\n     */\n    public enableCcd(enabled: boolean) {\n        this.rawSet.rbEnableCcd(this.handle, enabled);\n    }\n\n    /**\n     * Sets the soft-CCD prediction distance for this rigid-body.\n     *\n     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for\n     * additional details.\n     */\n    public setSoftCcdPrediction(distance: number) {\n        this.rawSet.rbSetSoftCcdPrediction(this.handle, distance);\n    }\n\n    /**\n     * Gets the soft-CCD prediction distance for this rigid-body.\n     *\n     * See the documentation of `RigidBodyDesc.setSoftCcdPrediction` for\n     * additional details.\n     */\n    public softCcdPrediction(): number {\n        return this.rawSet.rbSoftCcdPrediction(this.handle);\n    }\n\n    /**\n     * The world-space translation of this rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public translation(target?: Vector): Vector {\n        this.rawSet.rbTranslation(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The world-space orientation of this rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public rotation(target?: Rotation): Rotation {\n        this.rawSet.rbRotation(this.handle, this.scratchBuffer);\n        return RotationOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The world-space next translation of this rigid-body.\n     *\n     * If this rigid-body is kinematic this value is set by the `setNextKinematicTranslation`\n     * method and is used for estimating the kinematic body velocity at the next timestep.\n     * For non-kinematic bodies, this value is currently unspecified.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public nextTranslation(target?: Vector): Vector {\n        this.rawSet.rbNextTranslation(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The world-space next orientation of this rigid-body.\n     *\n     * If this rigid-body is kinematic this value is set by the `setNextKinematicRotation`\n     * method and is used for estimating the kinematic body velocity at the next timestep.\n     * For non-kinematic bodies, this value is currently unspecified.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public nextRotation(target?: Rotation): Rotation {\n        this.rawSet.rbNextRotation(this.handle, this.scratchBuffer);\n        return RotationOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * Sets the translation of this rigid-body.\n     *\n     * @param tra - The world-space position of the rigid-body.\n     * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it\n     *                 wasn't moving before modifying its position.\n     */\n    public setTranslation(tra: Vector, wakeUp: boolean) {\n        this.rawSet.rbSetTranslation(this.handle, tra.x, tra.y, tra.z, wakeUp);\n    }\n\n    /**\n     * Sets the linear velocity of this rigid-body.\n     *\n     * @param vel - The linear velocity to set.\n     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.\n     */\n    public setLinvel(vel: Vector, wakeUp: boolean) {\n        let rawVel = VectorOps.intoRaw(vel);\n        this.rawSet.rbSetLinvel(this.handle, rawVel, wakeUp);\n        rawVel.free();\n    }\n\n    /**\n     * The scale factor applied to the gravity affecting\n     * this rigid-body.\n     */\n    public gravityScale(): number {\n        return this.rawSet.rbGravityScale(this.handle);\n    }\n\n    /**\n     * Sets the scale factor applied to the gravity affecting\n     * this rigid-body.\n     *\n     * @param factor - The scale factor to set. A value of 0.0 means\n     *   that this rigid-body will on longer be affected by gravity.\n     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.\n     */\n    public setGravityScale(factor: number, wakeUp: boolean) {\n        this.rawSet.rbSetGravityScale(this.handle, factor, wakeUp);\n    }\n\n    /**\n     * Sets the rotation quaternion of this rigid-body.\n     *\n     * This does nothing if a zero quaternion is provided.\n     *\n     * @param rotation - The rotation to set.\n     * @param wakeUp - Forces the rigid-body to wake-up so it is properly affected by forces if it\n     * wasn't moving before modifying its position.\n     */\n    public setRotation(rot: Rotation, wakeUp: boolean) {\n        this.rawSet.rbSetRotation(this.handle, rot.x, rot.y, rot.z, rot.w, wakeUp);\n    }\n\n    /**\n     * Sets the angular velocity fo this rigid-body.\n     *\n     * @param vel - The angular velocity to set.\n     * @param wakeUp - Forces the rigid-body to wake-up if it was asleep.\n     */\n    public setAngvel(vel: Vector, wakeUp: boolean) {\n        let rawVel = VectorOps.intoRaw(vel);\n        this.rawSet.rbSetAngvel(this.handle, rawVel, wakeUp);\n        rawVel.free();\n    }\n\n    /**\n     * If this rigid body is kinematic, sets its future translation after the next timestep integration.\n     *\n     * This should be used instead of `rigidBody.setTranslation` to make the dynamic object\n     * interacting with this kinematic body behave as expected. Internally, Rapier will compute\n     * an artificial velocity for this rigid-body from its current position and its next kinematic\n     * position. This velocity will be used to compute forces on dynamic bodies interacting with\n     * this body.\n     *\n     * @param t - The kinematic translation to set.\n     */\n    public setNextKinematicTranslation(t: Vector) {\n        this.rawSet.rbSetNextKinematicTranslation(this.handle, t.x, t.y, t.z);\n    }\n\n    /**\n     * If this rigid body is kinematic, sets its future rotation after the next timestep integration.\n     *\n     * This should be used instead of `rigidBody.setRotation` to make the dynamic object\n     * interacting with this kinematic body behave as expected. Internally, Rapier will compute\n     * an artificial velocity for this rigid-body from its current position and its next kinematic\n     * position. This velocity will be used to compute forces on dynamic bodies interacting with\n     * this body.\n     *\n     * @param rot - The kinematic rotation to set.\n     */\n    public setNextKinematicRotation(rot: Rotation) {\n        this.rawSet.rbSetNextKinematicRotation(this.handle, rot.x, rot.y, rot.z, rot.w);\n    }\n\n    /**\n     * The linear velocity of this rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public linvel(target?: Vector): Vector {\n        this.rawSet.rbLinvel(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The velocity of the given world-space point on this rigid-body.\n     */\n    public velocityAtPoint(point: Vector): Vector {\n        const rawPoint = VectorOps.intoRaw(point);\n        let result = VectorOps.fromRaw(this.rawSet.rbVelocityAtPoint(this.handle, rawPoint));\n        rawPoint.free();\n        return result!;\n    }\n\n    /**\n     * The angular velocity of this rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public angvel(target?: Vector): Vector {\n        this.rawSet.rbAngvel(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The mass of this rigid-body.\n     */\n    public mass(): number {\n        return this.rawSet.rbMass(this.handle);\n    }\n\n    /**\n     * The inverse mass taking into account translation locking.\n     */\n    public effectiveInvMass(): Vector {\n        return VectorOps.fromRaw(this.rawSet.rbEffectiveInvMass(this.handle))!;\n    }\n\n    /**\n     * The inverse of the mass of a rigid-body.\n     *\n     * If this is zero, the rigid-body is assumed to have infinite mass.\n     */\n    public invMass(): number {\n        return this.rawSet.rbInvMass(this.handle);\n    }\n\n    /**\n     * The center of mass of a rigid-body expressed in its local-space.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public localCom(target?: Vector): Vector {\n        this.rawSet.rbLocalCom(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The world-space center of mass of the rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public worldCom(target?: Vector): Vector {\n        this.rawSet.rbWorldCom(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The inverse of the principal angular inertia of the rigid-body.\n     *\n     * Components set to zero are assumed to be infinite along the corresponding principal axis.\n     */\n    public invPrincipalInertia(): Vector {\n        return VectorOps.fromRaw(this.rawSet.rbInvPrincipalInertia(this.handle))!;\n    }\n\n    /**\n     * The angular inertia along the principal inertia axes of the rigid-body.\n     */\n    public principalInertia(): Vector {\n        return VectorOps.fromRaw(this.rawSet.rbPrincipalInertia(this.handle))!;\n    }\n\n    /**\n     * The principal vectors of the local angular inertia tensor of the rigid-body.\n     */\n    public principalInertiaLocalFrame(): Rotation {\n        return RotationOps.fromRaw(this.rawSet.rbPrincipalInertiaLocalFrame(this.handle))!;\n    }\n\n    /**\n     * The world-space inverse angular inertia tensor of the rigid-body,\n     * taking into account rotation locking.\n     */\n    public effectiveWorldInvInertia(): SdpMatrix3 {\n        return SdpMatrix3Ops.fromRaw(this.rawSet.rbEffectiveWorldInvInertia(this.handle));\n    }\n\n    /**\n     * The effective world-space angular inertia (that takes the potential rotation locking into account) of\n     * this rigid-body.\n     */\n    public effectiveAngularInertia(): SdpMatrix3 {\n        return SdpMatrix3Ops.fromRaw(this.rawSet.rbEffectiveAngularInertia(this.handle));\n    }\n\n    /**\n     * Put this rigid body to sleep.\n     *\n     * A sleeping body no longer moves and is no longer simulated by the physics engine unless\n     * it is waken up. It can be woken manually with `this.wakeUp()` or automatically due to\n     * external forces like contacts.\n     */\n    public sleep() {\n        this.rawSet.rbSleep(this.handle);\n    }\n\n    /**\n     * Wakes this rigid-body up.\n     *\n     * A dynamic rigid-body that does not move during several consecutive frames will\n     * be put to sleep by the physics engine, i.e., it will stop being simulated in order\n     * to avoid useless computations.\n     * This methods forces a sleeping rigid-body to wake-up. This is useful, e.g., before modifying\n     * the position of a dynamic body so that it is properly simulated afterwards.\n     */\n    public wakeUp() {\n        this.rawSet.rbWakeUp(this.handle);\n    }\n\n    /**\n     * Is CCD enabled for this rigid-body?\n     */\n    public isCcdEnabled(): boolean {\n        return this.rawSet.rbIsCcdEnabled(this.handle);\n    }\n\n    /**\n     * The number of colliders attached to this rigid-body.\n     */\n    public numColliders(): number {\n        return this.rawSet.rbNumColliders(this.handle);\n    }\n\n    /**\n     * Retrieves the `i-th` collider attached to this rigid-body.\n     *\n     * @param i - The index of the collider to retrieve. Must be a number in `[0, this.numColliders()[`.\n     *         This index is **not** the same as the unique identifier of the collider.\n     */\n    public collider(i: number): Collider {\n        return this.colliderSet.get(this.rawSet.rbCollider(this.handle, i))!;\n    }\n\n    /**\n     * Sets whether this rigid-body is enabled or not.\n     *\n     * @param enabled - Set to `false` to disable this rigid-body and all its attached colliders.\n     */\n    public setEnabled(enabled: boolean) {\n        this.rawSet.rbSetEnabled(this.handle, enabled);\n    }\n\n    /**\n     * Is this rigid-body enabled?\n     */\n    public isEnabled(): boolean {\n        return this.rawSet.rbIsEnabled(this.handle);\n    }\n\n    /**\n     * The status of this rigid-body: static, dynamic, or kinematic.\n     */\n    public bodyType(): RigidBodyType {\n        return this.rawSet.rbBodyType(this.handle) as number as RigidBodyType;\n    }\n\n    /**\n     * Set a new status for this rigid-body: static, dynamic, or kinematic.\n     */\n    public setBodyType(type: RigidBodyType, wakeUp: boolean) {\n        return this.rawSet.rbSetBodyType(this.handle, type as number as RawRigidBodyType, wakeUp);\n    }\n\n    /**\n     * Is this rigid-body sleeping?\n     */\n    public isSleeping(): boolean {\n        return this.rawSet.rbIsSleeping(this.handle);\n    }\n\n    /**\n     * Is the velocity of this rigid-body not zero?\n     */\n    public isMoving(): boolean {\n        return this.rawSet.rbIsMoving(this.handle);\n    }\n\n    /**\n     * Is this rigid-body static?\n     */\n    public isFixed(): boolean {\n        return this.rawSet.rbIsFixed(this.handle);\n    }\n\n    /**\n     * Is this rigid-body kinematic?\n     */\n    public isKinematic(): boolean {\n        return this.rawSet.rbIsKinematic(this.handle);\n    }\n\n    /**\n     * Is this rigid-body dynamic?\n     */\n    public isDynamic(): boolean {\n        return this.rawSet.rbIsDynamic(this.handle);\n    }\n\n    /**\n     * The linear damping coefficient of this rigid-body.\n     */\n    public linearDamping(): number {\n        return this.rawSet.rbLinearDamping(this.handle);\n    }\n\n    /**\n     * The angular damping coefficient of this rigid-body.\n     */\n    public angularDamping(): number {\n        return this.rawSet.rbAngularDamping(this.handle);\n    }\n\n    /**\n     * Sets the linear damping factor applied to this rigid-body.\n     *\n     * @param factor - The damping factor to set.\n     */\n    public setLinearDamping(factor: number) {\n        this.rawSet.rbSetLinearDamping(this.handle, factor);\n    }\n\n    /**\n     * Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.\n     */\n    public recomputeMassPropertiesFromColliders() {\n        this.rawSet.rbRecomputeMassPropertiesFromColliders(this.handle, this.colliderSet.raw);\n    }\n\n    /**\n     * Sets the rigid-body's additional mass.\n     *\n     * The total angular inertia of the rigid-body will be scaled automatically based on this additional mass. If this\n     * scaling effect isn’t desired, use Self::additional_mass_properties instead of this method.\n     *\n     * This is only the \"additional\" mass because the total mass of the rigid-body is equal to the sum of this\n     * additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.\n     *\n     * That total mass (which includes the attached colliders’ contributions) will be updated at the name physics step,\n     * or can be updated manually with `this.recomputeMassPropertiesFromColliders`.\n     *\n     * This will override any previous additional mass-properties set by `this.setAdditionalMass`,\n     * `this.setAdditionalMassProperties`, `RigidBodyDesc::setAdditionalMass`, or\n     * `RigidBodyDesc.setAdditionalMassfProperties` for this rigid-body.\n     *\n     * @param mass - The additional mass to set.\n     * @param wakeUp - If `true` then the rigid-body will be woken up if it was put to sleep because it did not move for a while.\n     */\n    public setAdditionalMass(mass: number, wakeUp: boolean) {\n        this.rawSet.rbSetAdditionalMass(this.handle, mass, wakeUp);\n    }\n\n    /**\n     * Sets the rigid-body's additional mass-properties.\n     *\n     * This is only the \"additional\" mass-properties because the total mass-properties of the rigid-body is equal to the\n     * sum of this additional mass-properties and the mass computed from the colliders (with non-zero densities) attached\n     * to this rigid-body.\n     *\n     * That total mass-properties (which include the attached colliders’ contributions) will be updated at the name\n     * physics step, or can be updated manually with `this.recomputeMassPropertiesFromColliders`.\n     *\n     * This will override any previous mass-properties set by `this.setAdditionalMass`,\n     * `this.setAdditionalMassProperties`, `RigidBodyDesc.setAdditionalMass`, or `RigidBodyDesc.setAdditionalMassProperties`\n     * for this rigid-body.\n     *\n     * If `wake_up` is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.\n     */\n    public setAdditionalMassProperties(\n        mass: number,\n        centerOfMass: Vector,\n        principalAngularInertia: Vector,\n        angularInertiaLocalFrame: Rotation,\n        wakeUp: boolean,\n    ) {\n        let rawCom = VectorOps.intoRaw(centerOfMass);\n        let rawPrincipalInertia = VectorOps.intoRaw(principalAngularInertia);\n        let rawInertiaFrame = RotationOps.intoRaw(angularInertiaLocalFrame);\n\n        this.rawSet.rbSetAdditionalMassProperties(\n            this.handle,\n            mass,\n            rawCom,\n            rawPrincipalInertia,\n            rawInertiaFrame,\n            wakeUp,\n        );\n\n        rawCom.free();\n        rawPrincipalInertia.free();\n        rawInertiaFrame.free();\n    }\n\n    /**\n     * Sets the linear damping factor applied to this rigid-body.\n     *\n     * @param factor - The damping factor to set.\n     */\n    public setAngularDamping(factor: number) {\n        this.rawSet.rbSetAngularDamping(this.handle, factor);\n    }\n\n    /**\n     * Resets to zero the user forces (but not torques) applied to this rigid-body.\n     *\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public resetForces(wakeUp: boolean) {\n        this.rawSet.rbResetForces(this.handle, wakeUp);\n    }\n\n    /**\n     * Resets to zero the user torques applied to this rigid-body.\n     *\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public resetTorques(wakeUp: boolean) {\n        this.rawSet.rbResetTorques(this.handle, wakeUp);\n    }\n\n    /**\n     * Adds a force at the center-of-mass of this rigid-body.\n     *\n     * @param force - the world-space force to add to the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public addForce(force: Vector, wakeUp: boolean) {\n        const rawForce = VectorOps.intoRaw(force);\n        this.rawSet.rbAddForce(this.handle, rawForce, wakeUp);\n        rawForce.free();\n    }\n\n    /**\n     * Applies an impulse at the center-of-mass of this rigid-body.\n     *\n     * @param impulse - the world-space impulse to apply on the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public applyImpulse(impulse: Vector, wakeUp: boolean) {\n        const rawImpulse = VectorOps.intoRaw(impulse);\n        this.rawSet.rbApplyImpulse(this.handle, rawImpulse, wakeUp);\n        rawImpulse.free();\n    }\n\n    /**\n     * Adds a torque at the center-of-mass of this rigid-body.\n     *\n     * @param torque - the world-space torque to add to the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public addTorque(torque: Vector, wakeUp: boolean) {\n        const rawTorque = VectorOps.intoRaw(torque);\n        this.rawSet.rbAddTorque(this.handle, rawTorque, wakeUp);\n        rawTorque.free();\n    }\n\n    /**\n     * Applies an impulsive torque at the center-of-mass of this rigid-body.\n     *\n     * @param torqueImpulse - the world-space torque impulse to apply on the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public applyTorqueImpulse(torqueImpulse: Vector, wakeUp: boolean) {\n        const rawTorqueImpulse = VectorOps.intoRaw(torqueImpulse);\n        this.rawSet.rbApplyTorqueImpulse(this.handle, rawTorqueImpulse, wakeUp);\n        rawTorqueImpulse.free();\n    }\n\n    /**\n     * Adds a force at the given world-space point of this rigid-body.\n     *\n     * @param force - the world-space force to add to the rigid-body.\n     * @param point - the world-space point where the impulse is to be applied on the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public addForceAtPoint(force: Vector, point: Vector, wakeUp: boolean) {\n        const rawForce = VectorOps.intoRaw(force);\n        const rawPoint = VectorOps.intoRaw(point);\n        this.rawSet.rbAddForceAtPoint(this.handle, rawForce, rawPoint, wakeUp);\n        rawForce.free();\n        rawPoint.free();\n    }\n\n    /**\n     * Applies an impulse at the given world-space point of this rigid-body.\n     *\n     * @param impulse - the world-space impulse to apply on the rigid-body.\n     * @param point - the world-space point where the impulse is to be applied on the rigid-body.\n     * @param wakeUp - should the rigid-body be automatically woken-up?\n     */\n    public applyImpulseAtPoint(impulse: Vector, point: Vector, wakeUp: boolean) {\n        const rawImpulse = VectorOps.intoRaw(impulse);\n        const rawPoint = VectorOps.intoRaw(point);\n        this.rawSet.rbApplyImpulseAtPoint(this.handle, rawImpulse, rawPoint, wakeUp);\n        rawImpulse.free();\n        rawPoint.free();\n    }\n\n    /**\n     * Retrieves the constant force(s) the user added to this rigid-body\n     * Returns zero if the rigid-body is not dynamic.\n     */\n    public userForce(): Vector {\n        return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle))!;\n    }\n\n    /**\n     * Retrieves the constant torque(s) the user added to this rigid-body\n     * Returns zero if the rigid-body is not dynamic.\n     */\n    public userTorque(): Vector {\n        return VectorOps.fromRaw(this.rawSet.rbUserTorque(this.handle))!;\n    }\n}\n\nexport class RigidBodyDesc {\n    enabled: boolean;\n    translation: Vector;\n    rotation: Rotation;\n    gravityScale: number;\n    mass: number;\n    massOnly: boolean;\n    centerOfMass: Vector;\n    translationsEnabledX: boolean;\n    translationsEnabledY: boolean;\n    linvel: Vector;\n    angvel: Vector;\n    principalAngularInertia: Vector;\n    angularInertiaLocalFrame: Rotation;\n    translationsEnabledZ: boolean;\n    rotationsEnabledX: boolean;\n    rotationsEnabledY: boolean;\n    rotationsEnabledZ: boolean;\n    linearDamping: number;\n    angularDamping: number;\n    status: RigidBodyType;\n    canSleep: boolean;\n    sleeping: boolean;\n    ccdEnabled: boolean;\n    softCcdPrediction: number;\n    dominanceGroup: number;\n    additionalSolverIterations: number;\n    userData?: unknown;\n\n    constructor(status: RigidBodyType) {\n        this.enabled = true;\n        this.status = status;\n        this.translation = VectorOps.zeros();\n        this.rotation = RotationOps.identity();\n        this.gravityScale = 1.0;\n        this.linvel = VectorOps.zeros();\n        this.mass = 0.0;\n        this.massOnly = false;\n        this.centerOfMass = VectorOps.zeros();\n        this.translationsEnabledX = true;\n        this.translationsEnabledY = true;\n        this.angvel = VectorOps.zeros();\n        this.principalAngularInertia = VectorOps.zeros();\n        this.angularInertiaLocalFrame = RotationOps.identity();\n        this.translationsEnabledZ = true;\n        this.rotationsEnabledX = true;\n        this.rotationsEnabledY = true;\n        this.rotationsEnabledZ = true;\n        this.linearDamping = 0.0;\n        this.angularDamping = 0.0;\n        this.canSleep = true;\n        this.sleeping = false;\n        this.ccdEnabled = false;\n        this.softCcdPrediction = 0.0;\n        this.dominanceGroup = 0;\n        this.additionalSolverIterations = 0;\n    }\n\n    /**\n     * A rigid-body descriptor used to build a dynamic rigid-body.\n     */\n    public static dynamic(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.Dynamic);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a position-based kinematic rigid-body.\n     */\n    public static kinematicPositionBased(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.KinematicPositionBased);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a velocity-based kinematic rigid-body.\n     */\n    public static kinematicVelocityBased(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a fixed rigid-body.\n     */\n    public static fixed(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.Fixed);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a dynamic rigid-body.\n     *\n     * @deprecated The method has been renamed to `.dynamic()`.\n     */\n    public static newDynamic(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.Dynamic);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a position-based kinematic rigid-body.\n     *\n     * @deprecated The method has been renamed to `.kinematicPositionBased()`.\n     */\n    public static newKinematicPositionBased(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.KinematicPositionBased);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a velocity-based kinematic rigid-body.\n     *\n     * @deprecated The method has been renamed to `.kinematicVelocityBased()`.\n     */\n    public static newKinematicVelocityBased(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.KinematicVelocityBased);\n    }\n\n    /**\n     * A rigid-body descriptor used to build a fixed rigid-body.\n     *\n     * @deprecated The method has been renamed to `.fixed()`.\n     */\n    public static newStatic(): RigidBodyDesc {\n        return new RigidBodyDesc(RigidBodyType.Fixed);\n    }\n\n    public setDominanceGroup(group: number): RigidBodyDesc {\n        this.dominanceGroup = group;\n        return this;\n    }\n\n    /**\n     * Sets the number of additional solver iterations that will be run for this\n     * rigid-body and everything that interacts with it directly or indirectly\n     * through contacts or joints.\n     *\n     * Compared to increasing the global `World.numSolverIteration`, setting this\n     * value lets you increase accuracy on only a subset of the scene, resulting in reduced\n     * performance loss.\n     *\n     * @param iters - The new number of additional solver iterations (default: 0).\n     */\n    public setAdditionalSolverIterations(iters: number): RigidBodyDesc {\n        this.additionalSolverIterations = iters;\n        return this;\n    }\n\n    /**\n     * Sets whether the created rigid-body will be enabled or disabled.\n     * @param enabled − If set to `false` the rigid-body will be disabled at creation.\n     */\n    public setEnabled(enabled: boolean): RigidBodyDesc {\n        this.enabled = enabled;\n        return this;\n    }\n\n    /**\n     * Sets the initial translation of the rigid-body to create.\n     *\n     * @param tra - The translation to set.\n     */\n    public setTranslation(x: number, y: number, z: number): RigidBodyDesc {\n        if (typeof x != \"number\" || typeof y != \"number\" || typeof z != \"number\")\n            throw TypeError(\"The translation components must be numbers.\");\n\n        this.translation = {x: x, y: y, z: z};\n        return this;\n    }\n\n    /**\n     * Sets the initial rotation of the rigid-body to create.\n     *\n     * @param rot - The rotation to set.\n     */\n    public setRotation(rot: Rotation): RigidBodyDesc {\n        RotationOps.copy(this.rotation, rot);\n        return this;\n    }\n\n    /**\n     * Sets the scale factor applied to the gravity affecting\n     * the rigid-body being built.\n     *\n     * @param scale - The scale factor. Set this to `0.0` if the rigid-body\n     *   needs to ignore gravity.\n     */\n    public setGravityScale(scale: number): RigidBodyDesc {\n        this.gravityScale = scale;\n        return this;\n    }\n\n    /**\n     * Sets the initial mass of the rigid-body being built, before adding colliders' contributions.\n     *\n     * @param mass − The initial mass of the rigid-body to create.\n     */\n    public setAdditionalMass(mass: number): RigidBodyDesc {\n        this.mass = mass;\n        this.massOnly = true;\n        return this;\n    }\n\n    /**\n     * Sets the initial linear velocity of the rigid-body to create.\n     *\n     * @param x - The linear velocity to set along the `x` axis.\n     * @param y - The linear velocity to set along the `y` axis.\n     * @param z - The linear velocity to set along the `z` axis.\n     */\n    public setLinvel(x: number, y: number, z: number): RigidBodyDesc {\n        if (typeof x != \"number\" || typeof y != \"number\" || typeof z != \"number\")\n            throw TypeError(\"The linvel components must be numbers.\");\n\n        this.linvel = {x: x, y: y, z: z};\n        return this;\n    }\n\n    /**\n     * Sets the initial angular velocity of the rigid-body to create.\n     *\n     * @param vel - The angular velocity to set.\n     */\n    public setAngvel(vel: Vector): RigidBodyDesc {\n        VectorOps.copy(this.angvel, vel);\n        return this;\n    }\n\n    /**\n     * Sets the mass properties of the rigid-body being built.\n     *\n     * Note that the final mass properties of the rigid-bodies depends\n     * on the initial mass-properties of the rigid-body (set by this method)\n     * to which is added the contributions of all the colliders with non-zero density\n     * attached to this rigid-body.\n     *\n     * Therefore, if you want your provided mass properties to be the final\n     * mass properties of your rigid-body, don't attach colliders to it, or\n     * only attach colliders with densities equal to zero.\n     *\n     * @param mass − The initial mass of the rigid-body to create.\n     * @param centerOfMass − The initial center-of-mass of the rigid-body to create.\n     * @param principalAngularInertia − The initial principal angular inertia of the rigid-body to create.\n     *                                  These are the eigenvalues of the angular inertia matrix.\n     * @param angularInertiaLocalFrame − The initial local angular inertia frame of the rigid-body to create.\n     *                                   These are the eigenvectors of the angular inertia matrix.\n     */\n    public setAdditionalMassProperties(\n        mass: number,\n        centerOfMass: Vector,\n        principalAngularInertia: Vector,\n        angularInertiaLocalFrame: Rotation,\n    ): RigidBodyDesc {\n        this.mass = mass;\n        VectorOps.copy(this.centerOfMass, centerOfMass);\n        VectorOps.copy(this.principalAngularInertia, principalAngularInertia);\n        RotationOps.copy(this.angularInertiaLocalFrame, angularInertiaLocalFrame);\n        this.massOnly = false;\n        return this;\n    }\n\n    /**\n     * Allow translation of this rigid-body only along specific axes.\n     * @param translationsEnabledX - Are translations along the X axis enabled?\n     * @param translationsEnabledY - Are translations along the y axis enabled?\n     * @param translationsEnabledZ - Are translations along the Z axis enabled?\n     */\n    public enabledTranslations(\n        translationsEnabledX: boolean,\n        translationsEnabledY: boolean,\n        translationsEnabledZ: boolean,\n    ): RigidBodyDesc {\n        this.translationsEnabledX = translationsEnabledX;\n        this.translationsEnabledY = translationsEnabledY;\n        this.translationsEnabledZ = translationsEnabledZ;\n        return this;\n    }\n\n    /**\n     * Allow translation of this rigid-body only along specific axes.\n     * @param translationsEnabledX - Are translations along the X axis enabled?\n     * @param translationsEnabledY - Are translations along the y axis enabled?\n     * @param translationsEnabledZ - Are translations along the Z axis enabled?\n     * @deprecated use `this.enabledTranslations` with the same arguments instead.\n     */\n    public restrictTranslations(\n        translationsEnabledX: boolean,\n        translationsEnabledY: boolean,\n        translationsEnabledZ: boolean,\n    ): RigidBodyDesc {\n        return this.enabledTranslations(\n            translationsEnabledX,\n            translationsEnabledY,\n            translationsEnabledZ,\n        );\n    }\n\n    /**\n     * Locks all translations that would have resulted from forces on\n     * the created rigid-body.\n     */\n    public lockTranslations(): RigidBodyDesc {\n        return this.enabledTranslations(false, false, false);\n    }\n\n    /**\n     * Allow rotation of this rigid-body only along specific axes.\n     * @param rotationsEnabledX - Are rotations along the X axis enabled?\n     * @param rotationsEnabledY - Are rotations along the y axis enabled?\n     * @param rotationsEnabledZ - Are rotations along the Z axis enabled?\n     */\n    public enabledRotations(\n        rotationsEnabledX: boolean,\n        rotationsEnabledY: boolean,\n        rotationsEnabledZ: boolean,\n    ): RigidBodyDesc {\n        this.rotationsEnabledX = rotationsEnabledX;\n        this.rotationsEnabledY = rotationsEnabledY;\n        this.rotationsEnabledZ = rotationsEnabledZ;\n        return this;\n    }\n\n    /**\n     * Allow rotation of this rigid-body only along specific axes.\n     * @param rotationsEnabledX - Are rotations along the X axis enabled?\n     * @param rotationsEnabledY - Are rotations along the y axis enabled?\n     * @param rotationsEnabledZ - Are rotations along the Z axis enabled?\n     * @deprecated use `this.enabledRotations` with the same arguments instead.\n     */\n    public restrictRotations(\n        rotationsEnabledX: boolean,\n        rotationsEnabledY: boolean,\n        rotationsEnabledZ: boolean,\n    ): RigidBodyDesc {\n        return this.enabledRotations(rotationsEnabledX, rotationsEnabledY, rotationsEnabledZ);\n    }\n\n    /**\n     * Locks all rotations that would have resulted from forces on\n     * the created rigid-body.\n     */\n    public lockRotations(): RigidBodyDesc {\n        return this.restrictRotations(false, false, false);\n    }\n\n    /**\n     * Sets the linear damping of the rigid-body to create.\n     *\n     * This will progressively slowdown the translational movement of the rigid-body.\n     *\n     * @param damping - The angular damping coefficient. Should be >= 0. The higher this\n     *                  value is, the stronger the translational slowdown will be.\n     */\n    public setLinearDamping(damping: number): RigidBodyDesc {\n        this.linearDamping = damping;\n        return this;\n    }\n\n    /**\n     * Sets the angular damping of the rigid-body to create.\n     *\n     * This will progressively slowdown the rotational movement of the rigid-body.\n     *\n     * @param damping - The angular damping coefficient. Should be >= 0. The higher this\n     *                  value is, the stronger the rotational slowdown will be.\n     */\n    public setAngularDamping(damping: number): RigidBodyDesc {\n        this.angularDamping = damping;\n        return this;\n    }\n\n    /**\n     * Sets whether or not the rigid-body to create can sleep.\n     *\n     * @param can - true if the rigid-body can sleep, false if it can't.\n     */\n    public setCanSleep(can: boolean): RigidBodyDesc {\n        this.canSleep = can;\n        return this;\n    }\n\n    /**\n     * Sets whether or not the rigid-body is to be created asleep.\n     *\n     * @param can - true if the rigid-body should be in sleep, default false.\n     */\n    setSleeping(sleeping: boolean): RigidBodyDesc {\n        this.sleeping = sleeping;\n        return this;\n    }\n\n    /**\n     * Sets whether Continuous Collision Detection (CCD) is enabled for this rigid-body.\n     *\n     * @param enabled - true if the rigid-body has CCD enabled.\n     */\n    public setCcdEnabled(enabled: boolean): RigidBodyDesc {\n        this.ccdEnabled = enabled;\n        return this;\n    }\n\n    /**\n     * Sets the maximum prediction distance Soft Continuous Collision-Detection.\n     *\n     * When set to 0, soft-CCD is disabled. Soft-CCD helps prevent tunneling especially of\n     * slow-but-thin to moderately fast objects. The soft CCD prediction distance indicates how\n     * far in the object’s path the CCD algorithm is allowed to inspect. Large values can impact\n     * performance badly by increasing the work needed from the broad-phase.\n     *\n     * It is a generally cheaper variant of regular CCD (that can be enabled with\n     * `RigidBodyDesc::setCcdEnabled` since it relies on predictive constraints instead of\n     * shape-cast and substeps.\n     */\n    public setSoftCcdPrediction(distance: number): RigidBodyDesc {\n        this.softCcdPrediction = distance;\n        return this;\n    }\n\n    /**\n     * Sets the user-defined object of this rigid-body.\n     *\n     * @param userData - The user-defined object to set.\n     */\n    public setUserData(data?: unknown): RigidBodyDesc {\n        this.userData = data;\n        return this;\n    }\n}\n","export class Coarena<T> {\n    fconv: Float64Array;\n    uconv: Uint32Array;\n    data: Array<T | null>;\n    size: number;\n\n    public constructor() {\n        this.fconv = new Float64Array(1);\n        this.uconv = new Uint32Array(this.fconv.buffer);\n        this.data = new Array<T | null>();\n        this.size = 0;\n    }\n\n    public set(handle: number, data: T) {\n        let i = this.index(handle);\n        while (this.data.length <= i) {\n            this.data.push(null);\n        }\n\n        if (this.data[i] == null) this.size += 1;\n        this.data[i] = data;\n    }\n\n    public len(): number {\n        return this.size;\n    }\n\n    public delete(handle: number) {\n        let i = this.index(handle);\n        if (i < this.data.length) {\n            if (this.data[i] != null) this.size -= 1;\n            this.data[i] = null;\n        }\n    }\n\n    public clear() {\n        this.data = new Array<T | null>();\n    }\n\n    public get(handle: number): T | null {\n        let i = this.index(handle);\n        if (i < this.data.length) {\n            return this.data[i];\n        } else {\n            return null;\n        }\n    }\n\n    public forEach(f: (elt: T) => void) {\n        for (const elt of this.data) {\n            if (elt != null) f(elt);\n        }\n    }\n\n    public getAll(): Array<T> {\n        return this.data.filter((elt) => elt != null);\n    }\n\n    private index(handle: number): number {\n        /// Extracts the index part of a handle (the lower 32 bits).\n        /// This is done by first injecting the handle into an Float64Array\n        /// which is itself injected into an Uint32Array (at construction time).\n        /// The 0-th value of the Uint32Array will become the `number` integer\n        /// representation of the lower 32 bits.\n        /// Also `this.uconv[1]` then contains the generation number as a `number`,\n        /// which we don’t really need.\n        this.fconv[0] = handle;\n        return this.uconv[0];\n    }\n}\n","import {Coarena} from \"../coarena\";\nimport {ColliderSet} from \"../geometry\";\nimport {VectorOps, RotationOps} from \"../math\";\nimport {RawRigidBodySet, RawRigidBodyType} from \"../raw\";\nimport {ImpulseJointSet} from \"./impulse_joint_set\";\nimport {IslandManager} from \"./island_manager\";\nimport {MultibodyJointSet} from \"./multibody_joint_set\";\nimport {RigidBody, RigidBodyDesc, RigidBodyHandle} from \"./rigid_body\";\n\n/**\n * A set of rigid bodies that can be handled by a physics pipeline.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `rigidBodySet.free()`\n * once you are done using it (and all the rigid-bodies it created).\n */\nexport class RigidBodySet {\n    raw: RawRigidBodySet;\n    private map: Coarena<RigidBody>;\n\n    /**\n     * Release the WASM memory occupied by this rigid-body set.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n\n        if (!!this.map) {\n            this.map.clear();\n        }\n        this.map = undefined!;\n    }\n\n    constructor(raw?: RawRigidBodySet) {\n        this.raw = raw || new RawRigidBodySet();\n        this.map = new Coarena<RigidBody>();\n        // deserialize\n        if (raw) {\n            raw.forEachRigidBodyHandle((handle: RigidBodyHandle) => {\n                this.map.set(handle, new RigidBody(raw, null!, handle));\n            });\n        }\n    }\n\n    /**\n     * Internal method, do not call this explicitly.\n     */\n    public finalizeDeserialization(colliderSet: ColliderSet) {\n        this.map.forEach((rb) => rb.finalizeDeserialization(colliderSet));\n    }\n\n    /**\n     * Creates a new rigid-body and return its integer handle.\n     *\n     * @param desc - The description of the rigid-body to create.\n     */\n    public createRigidBody(colliderSet: ColliderSet, desc: RigidBodyDesc): RigidBody {\n        let rawTra = VectorOps.intoRaw(desc.translation);\n        let rawRot = RotationOps.intoRaw(desc.rotation);\n        let rawLv = VectorOps.intoRaw(desc.linvel);\n        let rawCom = VectorOps.intoRaw(desc.centerOfMass);\n\n        let rawAv = VectorOps.intoRaw(desc.angvel);\n        let rawPrincipalInertia = VectorOps.intoRaw(desc.principalAngularInertia);\n        let rawInertiaFrame = RotationOps.intoRaw(desc.angularInertiaLocalFrame);\n\n        let handle = this.raw.createRigidBody(\n            desc.enabled,\n            rawTra,\n            rawRot,\n            desc.gravityScale,\n            desc.mass,\n            desc.massOnly,\n            rawCom,\n            rawLv,\n            rawAv,\n            rawPrincipalInertia,\n            rawInertiaFrame,\n            desc.translationsEnabledX,\n            desc.translationsEnabledY,\n            desc.translationsEnabledZ,\n            desc.rotationsEnabledX,\n            desc.rotationsEnabledY,\n            desc.rotationsEnabledZ,\n            desc.linearDamping,\n            desc.angularDamping,\n            desc.status as number as RawRigidBodyType,\n            desc.canSleep,\n            desc.sleeping,\n            desc.softCcdPrediction,\n            desc.ccdEnabled,\n            desc.dominanceGroup,\n            desc.additionalSolverIterations,\n        );\n\n        rawTra.free();\n        rawRot.free();\n        rawLv.free();\n        rawCom.free();\n\n        rawAv.free();\n        rawPrincipalInertia.free();\n        rawInertiaFrame.free();\n\n        const body = new RigidBody(this.raw, colliderSet, handle);\n        body.userData = desc.userData;\n\n        this.map.set(handle, body);\n\n        return body;\n    }\n\n    /**\n     * Removes a rigid-body from this set.\n     *\n     * This will also remove all the colliders and joints attached to the rigid-body.\n     *\n     * @param handle - The integer handle of the rigid-body to remove.\n     * @param colliders - The set of colliders that may contain colliders attached to the removed rigid-body.\n     * @param impulseJoints - The set of impulse joints that may contain joints attached to the removed rigid-body.\n     * @param multibodyJoints - The set of multibody joints that may contain joints attached to the removed rigid-body.\n     */\n    public remove(\n        handle: RigidBodyHandle,\n        islands: IslandManager,\n        colliders: ColliderSet,\n        impulseJoints: ImpulseJointSet,\n        multibodyJoints: MultibodyJointSet,\n    ) {\n        // Unmap the entities that will be removed automatically because of the rigid-body removals.\n        for (let i = 0; i < this.raw.rbNumColliders(handle); i += 1) {\n            colliders.unmap(this.raw.rbCollider(handle, i));\n        }\n\n        impulseJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) =>\n            impulseJoints.unmap(handle),\n        );\n        multibodyJoints.forEachJointHandleAttachedToRigidBody(handle, (handle) =>\n            multibodyJoints.unmap(handle),\n        );\n\n        // Remove the rigid-body.\n        this.raw.remove(handle, islands.raw, colliders.raw, impulseJoints.raw, multibodyJoints.raw);\n        this.map.delete(handle);\n    }\n\n    /**\n     * The number of rigid-bodies on this set.\n     */\n    public len(): number {\n        return this.map.len();\n    }\n\n    /**\n     * Does this set contain a rigid-body with the given handle?\n     *\n     * @param handle - The rigid-body handle to check.\n     */\n    public contains(handle: RigidBodyHandle): boolean {\n        return this.get(handle) != null;\n    }\n\n    /**\n     * Gets the rigid-body with the given handle.\n     *\n     * @param handle - The handle of the rigid-body to retrieve.\n     */\n    public get(handle: RigidBodyHandle): RigidBody | null {\n        return this.map.get(handle);\n    }\n\n    /**\n     * Applies the given closure to each rigid-body contained by this set.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEach(f: (body: RigidBody) => void) {\n        this.map.forEach(f);\n    }\n\n    /**\n     * Applies the given closure to each active rigid-bodies contained by this set.\n     *\n     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEachActiveRigidBody(islands: IslandManager, f: (body: RigidBody) => void) {\n        islands.forEachActiveRigidBodyHandle((handle) => {\n            f(this.get(handle)!);\n        });\n    }\n\n    /**\n     * Gets all rigid-bodies in the list.\n     *\n     * @returns rigid-bodies list.\n     */\n    public getAll(): RigidBody[] {\n        return this.map.getAll();\n    }\n}\n","import {RawIntegrationParameters} from \"../raw\";\n\nexport class IntegrationParameters {\n    raw: RawIntegrationParameters;\n\n    constructor(raw?: RawIntegrationParameters) {\n        this.raw = raw || new RawIntegrationParameters();\n    }\n\n    /**\n     * Free the WASM memory used by these integration parameters.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    /**\n     * The timestep length (default: `1.0 / 60.0`)\n     */\n    get dt(): number {\n        return this.raw.dt;\n    }\n\n    /**\n     * The Error Reduction Parameter in `[0, 1]` is the proportion of\n     * the positional error to be corrected at each time step (default: `0.2`).\n     */\n    get contact_erp(): number {\n        return this.raw.contact_erp;\n    }\n\n    get lengthUnit(): number {\n        return this.raw.lengthUnit;\n    }\n\n    /**\n     * Normalized amount of penetration the engine won’t attempt to correct (default: `0.001m`).\n     *\n     * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`.\n     */\n    get normalizedAllowedLinearError(): number {\n        return this.raw.normalizedAllowedLinearError;\n    }\n\n    /**\n     * The maximal normalized distance separating two objects that will generate predictive contacts (default: `0.002`).\n     *\n     * This threshold considered by the physics engine is this value multiplied by the `lengthUnit`.\n     */\n    get normalizedPredictionDistance(): number {\n        return this.raw.normalizedPredictionDistance;\n    }\n\n    /**\n     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).\n     */\n    get numSolverIterations(): number {\n        return this.raw.numSolverIterations;\n    }\n\n    /**\n     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).\n     */\n    get numInternalPgsIterations(): number {\n        return this.raw.numInternalPgsIterations;\n    }\n\n    /**\n     * Minimum number of dynamic bodies in each active island (default: `128`).\n     */\n    get minIslandSize(): number {\n        return this.raw.minIslandSize;\n    }\n\n    /**\n     * Maximum number of substeps performed by the  solver (default: `1`).\n     */\n    get maxCcdSubsteps(): number {\n        return this.raw.maxCcdSubsteps;\n    }\n\n    set dt(value: number) {\n        this.raw.dt = value;\n    }\n\n    set contact_natural_frequency(value: number) {\n        this.raw.contact_natural_frequency = value;\n    }\n\n    set lengthUnit(value: number) {\n        this.raw.lengthUnit = value;\n    }\n\n    set normalizedAllowedLinearError(value: number) {\n        this.raw.normalizedAllowedLinearError = value;\n    }\n\n    set normalizedPredictionDistance(value: number) {\n        this.raw.normalizedPredictionDistance = value;\n    }\n\n    /**\n     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).\n     */\n    set numSolverIterations(value: number) {\n        this.raw.numSolverIterations = value;\n    }\n\n    /**\n     * Sets the number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).\n     */\n    set numInternalPgsIterations(value: number) {\n        this.raw.numInternalPgsIterations = value;\n    }\n\n    set minIslandSize(value: number) {\n        this.raw.minIslandSize = value;\n    }\n\n    set maxCcdSubsteps(value: number) {\n        this.raw.maxCcdSubsteps = value;\n    }\n}\n","import {Rotation, Vector, VectorOps, RotationOps} from \"../math\";\nimport {\n    RawGenericJoint,\n    RawImpulseJointSet,\n    RawJointAxis,\n    RawJointType,\n    RawMotorModel,\n} from \"../raw\";\nimport {RigidBody} from \"./rigid_body\";\nimport {RigidBodySet} from \"./rigid_body_set\";\n\n/**\n * The integer identifier of a collider added to a `ColliderSet`.\n */\nexport type ImpulseJointHandle = number;\n\n/**\n * An enum grouping all possible types of joints:\n *\n * - `Revolute`: A revolute joint that removes all degrees of freedom between the affected\n *               bodies except for the rotation along one axis.\n * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.\n * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected\n *                bodies except for the translation along one axis.\n * - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.\n * - `Generic`: (3D only) A joint with customizable degrees of freedom, allowing any of the 6 axes to be locked.\n */\nexport enum JointType {\n    Revolute,\n    Fixed,\n    Prismatic,\n    Rope,\n    Spring,\n    Spherical,\n    Generic,\n}\n\nexport enum MotorModel {\n    AccelerationBased,\n    ForceBased,\n}\n\n/**\n * An enum representing the possible joint axes of a generic joint.\n * They can be ORed together, like:\n * JointAxesMask.LinX || JointAxesMask.LinY\n * to get a joint that is only free in the X and Y translational (positional) axes.\n *\n * Possible free axes are:\n *\n * - `X`: X translation axis\n * - `Y`: Y translation axis\n * - `Z`: Z translation axis\n * - `AngX`: X angular rotation axis\n * - `AngY`: Y angular rotations axis\n * - `AngZ`: Z angular rotation axis\n */\nexport enum JointAxesMask {\n    LinX = 1 << 0,\n    LinY = 1 << 1,\n    LinZ = 1 << 2,\n    AngX = 1 << 3,\n    AngY = 1 << 4,\n    AngZ = 1 << 5,\n}\n\nexport class ImpulseJoint {\n    protected rawSet: RawImpulseJointSet; // The ImpulseJoint won't need to free this.\n    protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this.\n    handle: ImpulseJointHandle;\n\n    constructor(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: ImpulseJointHandle) {\n        this.rawSet = rawSet;\n        this.bodySet = bodySet;\n        this.handle = handle;\n    }\n\n    public static newTyped(\n        rawSet: RawImpulseJointSet,\n        bodySet: RigidBodySet,\n        handle: ImpulseJointHandle,\n    ): ImpulseJoint {\n        switch (rawSet.jointType(handle)) {\n            case RawJointType.Revolute:\n                return new RevoluteImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Prismatic:\n                return new PrismaticImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Fixed:\n                return new FixedImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Spring:\n                return new SpringImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Rope:\n                return new RopeImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Spherical:\n                return new SphericalImpulseJoint(rawSet, bodySet, handle);\n            case RawJointType.Generic:\n                return new GenericImpulseJoint(rawSet, bodySet, handle);\n            default:\n                return new ImpulseJoint(rawSet, bodySet, handle);\n        }\n    }\n\n    /** @internal */\n    public finalizeDeserialization(bodySet: RigidBodySet) {\n        this.bodySet = bodySet;\n    }\n\n    /**\n     * Checks if this joint is still valid (i.e. that it has\n     * not been deleted from the joint set yet).\n     */\n    public isValid(): boolean {\n        return this.rawSet.contains(this.handle);\n    }\n\n    /**\n     * The first rigid-body this joint it attached to.\n     */\n    public body1(): RigidBody {\n        return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle))!;\n    }\n\n    /**\n     * The second rigid-body this joint is attached to.\n     */\n    public body2(): RigidBody {\n        return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle))!;\n    }\n\n    /**\n     * The type of this joint given as a string.\n     */\n    public type(): JointType {\n        return this.rawSet.jointType(this.handle) as number as JointType;\n    }\n\n    /**\n     * The rotation quaternion that aligns this joint's first local axis to the `x` axis.\n     */\n    public frameX1(): Rotation {\n        return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle))!;\n    }\n\n    /**\n     * The rotation matrix that aligns this joint's second local axis to the `x` axis.\n     */\n    public frameX2(): Rotation {\n        return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle))!;\n    }\n\n    /**\n     * The position of the first anchor of this joint.\n     *\n     * The first anchor gives the position of the application point on the\n     * local frame of the first rigid-body it is attached to.\n     */\n    public anchor1(): Vector {\n        return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle))!;\n    }\n\n    /**\n     * The position of the second anchor of this joint.\n     *\n     * The second anchor gives the position of the application point on the\n     * local frame of the second rigid-body it is attached to.\n     */\n    public anchor2(): Vector {\n        return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle))!;\n    }\n\n    /**\n     * Sets the position of the first anchor of this joint.\n     *\n     * The first anchor gives the position of the application point on the\n     * local frame of the first rigid-body it is attached to.\n     */\n    public setAnchor1(newPos: Vector) {\n        const rawPoint = VectorOps.intoRaw(newPos);\n        this.rawSet.jointSetAnchor1(this.handle, rawPoint);\n        rawPoint.free();\n    }\n\n    /**\n     * Sets the position of the second anchor of this joint.\n     *\n     * The second anchor gives the position of the application point on the\n     * local frame of the second rigid-body it is attached to.\n     */\n    public setAnchor2(newPos: Vector) {\n        const rawPoint = VectorOps.intoRaw(newPos);\n        this.rawSet.jointSetAnchor2(this.handle, rawPoint);\n        rawPoint.free();\n    }\n\n    /**\n     * Controls whether contacts are computed between colliders attached\n     * to the rigid-bodies linked by this joint.\n     */\n    public setContactsEnabled(enabled: boolean) {\n        this.rawSet.jointSetContactsEnabled(this.handle, enabled);\n    }\n\n    /**\n     * Indicates if contacts are enabled between colliders attached\n     * to the rigid-bodies linked by this joint.\n     */\n    public contactsEnabled(): boolean {\n        return this.rawSet.jointContactsEnabled(this.handle);\n    }\n}\n\nexport class UnitImpulseJoint extends ImpulseJoint {\n    /**\n     * The axis left free by this joint.\n     */\n    protected rawAxis(): RawJointAxis {\n        throw new Error(\"rawAxis must be implemented by subclasses\");\n    }\n\n    /**\n     * Are the limits enabled for this joint?\n     */\n    public limitsEnabled(): boolean {\n        return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());\n    }\n\n    /**\n     * The min limit of this joint.\n     */\n    public limitsMin(): number {\n        return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());\n    }\n\n    /**\n     * The max limit of this joint.\n     */\n    public limitsMax(): number {\n        return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());\n    }\n\n    /**\n     * Sets the limits of this joint.\n     *\n     * @param min - The minimum bound of this joint’s free coordinate.\n     * @param max - The maximum bound of this joint’s free coordinate.\n     */\n    public setLimits(min: number, max: number) {\n        this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);\n    }\n\n    public configureMotorModel(model: MotorModel) {\n        this.rawSet.jointConfigureMotorModel(\n            this.handle,\n            this.rawAxis(),\n            model as number as RawMotorModel,\n        );\n    }\n\n    public configureMotorVelocity(targetVel: number, factor: number) {\n        this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);\n    }\n\n    public configureMotorPosition(targetPos: number, stiffness: number, damping: number) {\n        this.rawSet.jointConfigureMotorPosition(\n            this.handle,\n            this.rawAxis(),\n            targetPos,\n            stiffness,\n            damping,\n        );\n    }\n\n    public configureMotor(\n        targetPos: number,\n        targetVel: number,\n        stiffness: number,\n        damping: number,\n    ) {\n        this.rawSet.jointConfigureMotor(\n            this.handle,\n            this.rawAxis(),\n            targetPos,\n            targetVel,\n            stiffness,\n            damping,\n        );\n    }\n}\n\nexport class FixedImpulseJoint extends ImpulseJoint {}\n\nexport class RopeImpulseJoint extends ImpulseJoint {}\n\nexport class SpringImpulseJoint extends ImpulseJoint {}\n\nexport class PrismaticImpulseJoint extends UnitImpulseJoint {\n    public rawAxis(): RawJointAxis {\n        return RawJointAxis.LinX;\n    }\n}\n\nexport class RevoluteImpulseJoint extends UnitImpulseJoint {\n    public rawAxis(): RawJointAxis {\n        return RawJointAxis.AngX;\n    }\n}\n\nexport class GenericImpulseJoint extends ImpulseJoint {}\n\nexport class SphericalImpulseJoint extends ImpulseJoint {\n    /* Unsupported by this alpha release.\n    public configureMotorModel(model: MotorModel) {\n        this.rawSet.jointConfigureMotorModel(this.handle, model);\n    }\n\n    public configureMotorVelocity(targetVel: Vector, factor: number) {\n        this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);\n    }\n\n    public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {\n        this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);\n    }\n\n    public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {\n        this.rawSet.jointConfigureBallMotor(this.handle,\n            targetPos.w, targetPos.x, targetPos.y, targetPos.z,\n            targetVel.x, targetVel.y, targetVel.z,\n            stiffness, damping);\n    }\n     */\n}\n\nexport class JointData {\n    anchor1!: Vector;\n    anchor2!: Vector;\n    axis!: Vector;\n    frame1!: Rotation;\n    frame2!: Rotation;\n    jointType!: JointType;\n    limitsEnabled!: boolean;\n    limits!: Array<number>;\n    axesMask!: JointAxesMask;\n    stiffness!: number;\n    damping!: number;\n    length!: number;\n\n    private constructor() {}\n\n    /**\n     * Creates a new joint descriptor that builds a Fixed joint.\n     *\n     * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their\n     * anchor and local frames coincide in world-space.\n     *\n     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param frame1 - The reference orientation of the joint wrt. the first rigid-body.\n     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param frame2 - The reference orientation of the joint wrt. the second rigid-body.\n     */\n    public static fixed(\n        anchor1: Vector,\n        frame1: Rotation,\n        anchor2: Vector,\n        frame2: Rotation,\n    ): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.frame1 = frame1;\n        res.frame2 = frame2;\n        res.jointType = JointType.Fixed;\n        return res;\n    }\n\n    public static spring(\n        rest_length: number,\n        stiffness: number,\n        damping: number,\n        anchor1: Vector,\n        anchor2: Vector,\n    ): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.length = rest_length;\n        res.stiffness = stiffness;\n        res.damping = damping;\n        res.jointType = JointType.Spring;\n        return res;\n    }\n\n    public static rope(length: number, anchor1: Vector, anchor2: Vector): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.length = length;\n        res.jointType = JointType.Rope;\n        return res;\n    }\n\n    /**\n     * Create a new joint descriptor that builds generic joints.\n     *\n     * A generic joint allows customizing its degrees of freedom\n     * by supplying a mask of the joint axes that should remain locked.\n     *\n     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param axis - The X axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.\n     * @param axesMask - Mask representing the locked axes of the joint. You can use logical OR to select these from\n     *                   the JointAxesMask enum. For example, passing (JointAxesMask.AngX || JointAxesMask.AngY) will\n     *                   create a joint locked in the X and Y rotational axes.\n     */\n    public static generic(\n        anchor1: Vector,\n        anchor2: Vector,\n        axis: Vector,\n        axesMask: JointAxesMask,\n    ): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.axis = axis;\n        res.axesMask = axesMask;\n        res.jointType = JointType.Generic;\n        return res;\n    }\n\n    /**\n     * Create a new joint descriptor that builds spherical joints.\n     *\n     * A spherical joint allows three relative rotational degrees of freedom\n     * by preventing any relative translation between the anchors of the\n     * two attached rigid-bodies.\n     *\n     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     */\n    public static spherical(anchor1: Vector, anchor2: Vector): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.jointType = JointType.Spherical;\n        return res;\n    }\n\n    /**\n     * Creates a new joint descriptor that builds a Prismatic joint.\n     *\n     * A prismatic joint removes all the degrees of freedom between the\n     * affected bodies, except for the translation along one axis.\n     *\n     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.\n     */\n    public static prismatic(anchor1: Vector, anchor2: Vector, axis: Vector): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.axis = axis;\n        res.jointType = JointType.Prismatic;\n        return res;\n    }\n\n    /**\n     * Create a new joint descriptor that builds Revolute joints.\n     *\n     * A revolute joint removes all degrees of freedom between the affected\n     * bodies except for the rotation along one axis.\n     *\n     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the\n     *                  local-space of the rigid-body.\n     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.\n     */\n    public static revolute(anchor1: Vector, anchor2: Vector, axis: Vector): JointData {\n        let res = new JointData();\n        res.anchor1 = anchor1;\n        res.anchor2 = anchor2;\n        res.axis = axis;\n        res.jointType = JointType.Revolute;\n        return res;\n    }\n\n    public intoRaw(): RawGenericJoint {\n        let rawA1 = VectorOps.intoRaw(this.anchor1);\n        let rawA2 = VectorOps.intoRaw(this.anchor2);\n        let rawAx;\n        let result;\n        let limitsEnabled = false;\n        let limitsMin = 0.0;\n        let limitsMax = 0.0;\n\n        switch (this.jointType) {\n            case JointType.Fixed:\n                let rawFra1 = RotationOps.intoRaw(this.frame1);\n                let rawFra2 = RotationOps.intoRaw(this.frame2);\n                result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);\n                rawFra1.free();\n                rawFra2.free();\n                break;\n            case JointType.Spring:\n                result = RawGenericJoint.spring(\n                    this.length,\n                    this.stiffness,\n                    this.damping,\n                    rawA1,\n                    rawA2,\n                );\n                break;\n            case JointType.Rope:\n                result = RawGenericJoint.rope(this.length, rawA1, rawA2);\n                break;\n            case JointType.Prismatic:\n                rawAx = VectorOps.intoRaw(this.axis);\n\n                if (!!this.limitsEnabled) {\n                    limitsEnabled = true;\n                    limitsMin = this.limits[0];\n                    limitsMax = this.limits[1];\n                }\n\n                result = RawGenericJoint.prismatic(\n                    rawA1,\n                    rawA2,\n                    rawAx,\n                    limitsEnabled,\n                    limitsMin,\n                    limitsMax,\n                );\n\n                rawAx.free();\n                break;\n            case JointType.Generic:\n                rawAx = VectorOps.intoRaw(this.axis);\n                // implicit type cast: axesMask is a JointAxesMask bitflag enum,\n                // we're treating it as a u8 on the Rust side\n                let rawAxesMask = this.axesMask;\n                result = RawGenericJoint.generic(rawA1, rawA2, rawAx, rawAxesMask);\n                break;\n            case JointType.Spherical:\n                result = RawGenericJoint.spherical(rawA1, rawA2);\n                break;\n            case JointType.Revolute:\n                rawAx = VectorOps.intoRaw(this.axis);\n                result = RawGenericJoint.revolute(rawA1, rawA2, rawAx);\n                rawAx.free();\n                break;\n        }\n\n        rawA1.free();\n        rawA2.free();\n\n        return result!;\n    }\n}\n","import {Coarena} from \"../coarena\";\nimport {RawImpulseJointSet} from \"../raw\";\nimport {ImpulseJoint, ImpulseJointHandle, JointData} from \"./impulse_joint\";\nimport {RigidBodyHandle} from \"./rigid_body\";\nimport {RigidBodySet} from \"./rigid_body_set\";\n\n/**\n * A set of joints.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`\n * once you are done using it (and all the joints it created).\n */\nexport class ImpulseJointSet {\n    raw: RawImpulseJointSet;\n    private map: Coarena<ImpulseJoint>;\n\n    /**\n     * Release the WASM memory occupied by this joint set.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n\n        if (!!this.map) {\n            this.map.clear();\n        }\n        this.map = undefined!;\n    }\n\n    constructor(raw?: RawImpulseJointSet) {\n        this.raw = raw || new RawImpulseJointSet();\n        this.map = new Coarena<ImpulseJoint>();\n        // Initialize the map with the existing elements, if any.\n        if (raw) {\n            raw.forEachJointHandle((handle: ImpulseJointHandle) => {\n                this.map.set(handle, ImpulseJoint.newTyped(raw, null!, handle));\n            });\n        }\n    }\n\n    /** @internal */\n    public finalizeDeserialization(bodies: RigidBodySet) {\n        this.map.forEach((joint) => joint.finalizeDeserialization(bodies));\n    }\n\n    /**\n     * Creates a new joint and return its integer handle.\n     *\n     * @param bodies - The set of rigid-bodies containing the bodies the joint is attached to.\n     * @param desc - The joint's parameters.\n     * @param parent1 - The handle of the first rigid-body this joint is attached to.\n     * @param parent2 - The handle of the second rigid-body this joint is attached to.\n     * @param wakeUp - Should the attached rigid-bodies be awakened?\n     */\n    public createJoint(\n        bodies: RigidBodySet,\n        desc: JointData,\n        parent1: RigidBodyHandle,\n        parent2: RigidBodyHandle,\n        wakeUp: boolean,\n    ): ImpulseJoint {\n        const rawParams = desc.intoRaw();\n        const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp);\n        rawParams.free();\n        let joint = ImpulseJoint.newTyped(this.raw, bodies, handle);\n        this.map.set(handle, joint);\n        return joint;\n    }\n\n    /**\n     * Remove a joint from this set.\n     *\n     * @param handle - The integer handle of the joint.\n     * @param wakeUp - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.\n     */\n    public remove(handle: ImpulseJointHandle, wakeUp: boolean) {\n        this.raw.remove(handle, wakeUp);\n        this.unmap(handle);\n    }\n\n    /**\n     * Calls the given closure with the integer handle of each impulse joint attached to this rigid-body.\n     *\n     * @param f - The closure called with the integer handle of each impulse joint attached to the rigid-body.\n     */\n    public forEachJointHandleAttachedToRigidBody(\n        handle: RigidBodyHandle,\n        f: (handle: ImpulseJointHandle) => void,\n    ) {\n        this.raw.forEachJointAttachedToRigidBody(handle, f);\n    }\n\n    /**\n     * Internal function, do not call directly.\n     * @param handle\n     */\n    public unmap(handle: ImpulseJointHandle) {\n        this.map.delete(handle);\n    }\n\n    /**\n     * The number of joints on this set.\n     */\n    public len(): number {\n        return this.map.len();\n    }\n\n    /**\n     * Does this set contain a joint with the given handle?\n     *\n     * @param handle - The joint handle to check.\n     */\n    public contains(handle: ImpulseJointHandle): boolean {\n        return this.get(handle) != null;\n    }\n\n    /**\n     * Gets the joint with the given handle.\n     *\n     * Returns `null` if no joint with the specified handle exists.\n     *\n     * @param handle - The integer handle of the joint to retrieve.\n     */\n    public get(handle: ImpulseJointHandle): ImpulseJoint | null {\n        return this.map.get(handle);\n    }\n\n    /**\n     * Applies the given closure to each joint contained by this set.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEach(f: (joint: ImpulseJoint) => void) {\n        this.map.forEach(f);\n    }\n\n    /**\n     * Gets all joints in the list.\n     *\n     * @returns joint list.\n     */\n    public getAll(): ImpulseJoint[] {\n        return this.map.getAll();\n    }\n}\n","import {RawJointAxis, RawJointType, RawMultibodyJointSet} from \"../raw\";\n\n/**\n * The integer identifier of a collider added to a `ColliderSet`.\n */\nexport type MultibodyJointHandle = number;\n\nexport class MultibodyJoint {\n    protected rawSet: RawMultibodyJointSet; // The MultibodyJoint won't need to free this.\n    handle: MultibodyJointHandle;\n\n    constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle) {\n        this.rawSet = rawSet;\n        this.handle = handle;\n    }\n\n    public static newTyped(\n        rawSet: RawMultibodyJointSet,\n        handle: MultibodyJointHandle,\n    ): MultibodyJoint {\n        switch (rawSet.jointType(handle)) {\n            case RawJointType.Revolute:\n                return new RevoluteMultibodyJoint(rawSet, handle);\n            case RawJointType.Prismatic:\n                return new PrismaticMultibodyJoint(rawSet, handle);\n            case RawJointType.Fixed:\n                return new FixedMultibodyJoint(rawSet, handle);\n            case RawJointType.Spherical:\n                return new SphericalMultibodyJoint(rawSet, handle);\n            default:\n                return new MultibodyJoint(rawSet, handle);\n        }\n    }\n\n    /**\n     * Checks if this joint is still valid (i.e. that it has\n     * not been deleted from the joint set yet).\n     */\n    public isValid(): boolean {\n        return this.rawSet.contains(this.handle);\n    }\n\n    // /**\n    //  * The unique integer identifier of the first rigid-body this joint it attached to.\n    //  */\n    // public bodyHandle1(): RigidBodyHandle {\n    //     return this.rawSet.jointBodyHandle1(this.handle);\n    // }\n    //\n    // /**\n    //  * The unique integer identifier of the second rigid-body this joint is attached to.\n    //  */\n    // public bodyHandle2(): RigidBodyHandle {\n    //     return this.rawSet.jointBodyHandle2(this.handle);\n    // }\n    //\n    // /**\n    //  * The type of this joint given as a string.\n    //  */\n    // public type(): JointType {\n    //     return this.rawSet.jointType(this.handle);\n    // }\n    //\n    // /**\n    //  * The rotation quaternion that aligns this joint's first local axis to the `x` axis.\n    //  */\n    // public frameX1(): Rotation {\n    //     return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));\n    // }\n    //\n    //\n    // /**\n    //  * The rotation matrix that aligns this joint's second local axis to the `x` axis.\n    //  */\n    // public frameX2(): Rotation {\n    //     return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));\n    // }\n    //\n    //\n    // /**\n    //  * The position of the first anchor of this joint.\n    //  *\n    //  * The first anchor gives the position of the points application point on the\n    //  * local frame of the first rigid-body it is attached to.\n    //  */\n    // public anchor1(): Vector {\n    //     return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));\n    // }\n    //\n    // /**\n    //  * The position of the second anchor of this joint.\n    //  *\n    //  * The second anchor gives the position of the points application point on the\n    //  * local frame of the second rigid-body it is attached to.\n    //  */\n    // public anchor2(): Vector {\n    //     return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));\n    // }\n\n    /**\n     * Controls whether contacts are computed between colliders attached\n     * to the rigid-bodies linked by this joint.\n     */\n    public setContactsEnabled(enabled: boolean) {\n        this.rawSet.jointSetContactsEnabled(this.handle, enabled);\n    }\n\n    /**\n     * Indicates if contacts are enabled between colliders attached\n     * to the rigid-bodies linked by this joint.\n     */\n    public contactsEnabled(): boolean {\n        return this.rawSet.jointContactsEnabled(this.handle);\n    }\n}\n\nexport class UnitMultibodyJoint extends MultibodyJoint {\n    /**\n     * The axis left free by this joint.\n     */\n    protected rawAxis(): RawJointAxis {\n        throw new Error(\"rawAxis must be implemented by subclasses\");\n    }\n\n    // /**\n    //  * Are the limits enabled for this joint?\n    //  */\n    // public limitsEnabled(): boolean {\n    //     return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());\n    // }\n    //\n    // /**\n    //  * The min limit of this joint.\n    //  */\n    // public limitsMin(): number {\n    //     return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());\n    // }\n    //\n    // /**\n    //  * The max limit of this joint.\n    //  */\n    // public limitsMax(): number {\n    //     return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());\n    // }\n    //\n    // public configureMotorModel(model: MotorModel) {\n    //     this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);\n    // }\n    //\n    // public configureMotorVelocity(targetVel: number, factor: number) {\n    //     this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);\n    // }\n    //\n    // public configureMotorPosition(targetPos: number, stiffness: number, damping: number) {\n    //     this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);\n    // }\n    //\n    // public configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number) {\n    //     this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);\n    // }\n}\n\nexport class FixedMultibodyJoint extends MultibodyJoint {}\n\nexport class PrismaticMultibodyJoint extends UnitMultibodyJoint {\n    public rawAxis(): RawJointAxis {\n        return RawJointAxis.LinX;\n    }\n}\n\nexport class RevoluteMultibodyJoint extends UnitMultibodyJoint {\n    public rawAxis(): RawJointAxis {\n        return RawJointAxis.AngX;\n    }\n}\n\nexport class SphericalMultibodyJoint extends MultibodyJoint {\n    /* Unsupported by this alpha release.\n    public configureMotorModel(model: MotorModel) {\n        this.rawSet.jointConfigureMotorModel(this.handle, model);\n    }\n\n    public configureMotorVelocity(targetVel: Vector, factor: number) {\n        this.rawSet.jointConfigureBallMotorVelocity(this.handle, targetVel.x, targetVel.y, targetVel.z, factor);\n    }\n\n    public configureMotorPosition(targetPos: Quaternion, stiffness: number, damping: number) {\n        this.rawSet.jointConfigureBallMotorPosition(this.handle, targetPos.w, targetPos.x, targetPos.y, targetPos.z, stiffness, damping);\n    }\n\n    public configureMotor(targetPos: Quaternion, targetVel: Vector, stiffness: number, damping: number) {\n        this.rawSet.jointConfigureBallMotor(this.handle,\n            targetPos.w, targetPos.x, targetPos.y, targetPos.z,\n            targetVel.x, targetVel.y, targetVel.z,\n            stiffness, damping);\n    }\n     */\n}\n","import {Coarena} from \"../coarena\";\nimport {RawMultibodyJointSet} from \"../raw\";\nimport {JointData} from \"./impulse_joint\";\nimport {MultibodyJoint, MultibodyJointHandle} from \"./multibody_joint\";\nimport {RigidBodyHandle} from \"./rigid_body\";\n\n/**\n * A set of joints.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`\n * once you are done using it (and all the joints it created).\n */\nexport class MultibodyJointSet {\n    raw: RawMultibodyJointSet;\n    private map: Coarena<MultibodyJoint>;\n\n    /**\n     * Release the WASM memory occupied by this joint set.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n\n        if (!!this.map) {\n            this.map.clear();\n        }\n        this.map = undefined!;\n    }\n\n    constructor(raw?: RawMultibodyJointSet) {\n        this.raw = raw || new RawMultibodyJointSet();\n        this.map = new Coarena<MultibodyJoint>();\n        // Initialize the map with the existing elements, if any.\n        if (raw) {\n            raw.forEachJointHandle((handle: MultibodyJointHandle) => {\n                this.map.set(handle, MultibodyJoint.newTyped(this.raw, handle));\n            });\n        }\n    }\n\n    /**\n     * Creates a new joint and return its integer handle.\n     *\n     * @param desc - The joint's parameters.\n     * @param parent1 - The handle of the first rigid-body this joint is attached to.\n     * @param parent2 - The handle of the second rigid-body this joint is attached to.\n     * @param wakeUp - Should the attached rigid-bodies be awakened?\n     */\n    public createJoint(\n        desc: JointData,\n        parent1: RigidBodyHandle,\n        parent2: RigidBodyHandle,\n        wakeUp: boolean,\n    ): MultibodyJoint {\n        const rawParams = desc.intoRaw();\n        const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp);\n        rawParams.free();\n        let joint = MultibodyJoint.newTyped(this.raw, handle);\n        this.map.set(handle, joint);\n        return joint;\n    }\n\n    /**\n     * Remove a joint from this set.\n     *\n     * @param handle - The integer handle of the joint.\n     * @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.\n     */\n    public remove(handle: MultibodyJointHandle, wake_up: boolean) {\n        this.raw.remove(handle, wake_up);\n        this.map.delete(handle);\n    }\n\n    /**\n     * Internal function, do not call directly.\n     * @param handle\n     */\n    public unmap(handle: MultibodyJointHandle) {\n        this.map.delete(handle);\n    }\n\n    /**\n     * The number of joints on this set.\n     */\n    public len(): number {\n        return this.map.len();\n    }\n\n    /**\n     * Does this set contain a joint with the given handle?\n     *\n     * @param handle - The joint handle to check.\n     */\n    public contains(handle: MultibodyJointHandle): boolean {\n        return this.get(handle) != null;\n    }\n\n    /**\n     * Gets the joint with the given handle.\n     *\n     * Returns `null` if no joint with the specified handle exists.\n     *\n     * @param handle - The integer handle of the joint to retrieve.\n     */\n    public get(handle: MultibodyJointHandle): MultibodyJoint | null {\n        return this.map.get(handle);\n    }\n\n    /**\n     * Applies the given closure to each joint contained by this set.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEach(f: (joint: MultibodyJoint) => void) {\n        this.map.forEach(f);\n    }\n\n    /**\n     * Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.\n     *\n     * @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body.\n     */\n    public forEachJointHandleAttachedToRigidBody(\n        handle: RigidBodyHandle,\n        f: (handle: MultibodyJointHandle) => void,\n    ) {\n        this.raw.forEachJointAttachedToRigidBody(handle, f);\n    }\n\n    /**\n     * Gets all joints in the list.\n     *\n     * @returns joint list.\n     */\n    public getAll(): MultibodyJoint[] {\n        return this.map.getAll();\n    }\n}\n","/**\n * A rule applied to combine coefficients.\n *\n * Use this when configuring the `ColliderDesc` to specify\n * how friction and restitution coefficient should be combined\n * in a contact.\n */\nexport enum CoefficientCombineRule {\n    Average = 0,\n    Min = 1,\n    Multiply = 2,\n    Max = 3,\n}\n","import {RawCCDSolver} from \"../raw\";\n\n/**\n * The CCD solver responsible for resolving Continuous Collision Detection.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`\n * once you are done using it.\n */\nexport class CCDSolver {\n    raw: RawCCDSolver;\n\n    /**\n     * Release the WASM memory occupied by this narrow-phase.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw?: RawCCDSolver) {\n        this.raw = raw || new RawCCDSolver();\n    }\n}\n","import {RawIslandManager} from \"../raw\";\nimport {RigidBodyHandle} from \"./rigid_body\";\n\n/**\n * The CCD solver responsible for resolving Continuous Collision Detection.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`\n * once you are done using it.\n */\nexport class IslandManager {\n    raw: RawIslandManager;\n\n    /**\n     * Release the WASM memory occupied by this narrow-phase.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw?: RawIslandManager) {\n        this.raw = raw || new RawIslandManager();\n    }\n\n    /**\n     * Applies the given closure to the handle of each active rigid-bodies contained by this set.\n     *\n     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEachActiveRigidBodyHandle(f: (handle: RigidBodyHandle) => void) {\n        this.raw.forEachActiveRigidBodyHandle(f);\n    }\n}\n","export enum FeatureType {\n    Vertex,\n    Edge,\n    Face,\n    Unknown,\n}\n","import {Vector, VectorOps} from \"../math\";\nimport {RawPointColliderProjection, RawPointProjection} from \"../raw\";\nimport {Collider} from \"./collider\";\nimport {ColliderSet} from \"./collider_set\";\nimport {FeatureType} from \"./feature\";\n\n/**\n * The projection of a point on a collider.\n */\nexport class PointProjection {\n    /**\n     * The projection of the point on the collider.\n     */\n    point: Vector;\n    /**\n     * Is the point inside of the collider?\n     */\n    isInside: boolean;\n\n    constructor(point: Vector, isInside: boolean) {\n        this.point = point;\n        this.isInside = isInside;\n    }\n\n    public static fromRaw(raw: RawPointProjection): PointProjection | null {\n        if (!raw) return null;\n\n        const result = new PointProjection(VectorOps.fromRaw(raw.point())!, raw.isInside());\n        raw.free();\n        return result;\n    }\n}\n\n/**\n * The projection of a point on a collider (includes the collider handle).\n */\nexport class PointColliderProjection {\n    /**\n     * The collider hit by the ray.\n     */\n    collider: Collider;\n    /**\n     * The projection of the point on the collider.\n     */\n    point: Vector;\n    /**\n     * Is the point inside of the collider?\n     */\n    isInside: boolean;\n\n    /**\n     * The type of the geometric feature the point was projected on.\n     */\n    featureType = FeatureType.Unknown;\n\n    /**\n     * The id of the geometric feature the point was projected on.\n     */\n    featureId: number | undefined = undefined;\n\n    constructor(\n        collider: Collider,\n        point: Vector,\n        isInside: boolean,\n        featureType?: FeatureType,\n        featureId?: number,\n    ) {\n        this.collider = collider;\n        this.point = point;\n        this.isInside = isInside;\n        if (featureId !== undefined) this.featureId = featureId;\n        if (featureType !== undefined) this.featureType = featureType;\n    }\n\n    public static fromRaw(\n        colliderSet: ColliderSet,\n        raw: RawPointColliderProjection,\n    ): PointColliderProjection | null {\n        if (!raw) return null;\n\n        const result = new PointColliderProjection(\n            colliderSet.get(raw.colliderHandle())!,\n            VectorOps.fromRaw(raw.point())!,\n            raw.isInside(),\n            raw.featureType() as number as FeatureType,\n            raw.featureId(),\n        );\n        raw.free();\n        return result;\n    }\n}\n","import {Vector, VectorOps} from \"../math\";\nimport {RawRayColliderIntersection, RawRayColliderHit, RawRayIntersection} from \"../raw\";\nimport {Collider} from \"./collider\";\nimport {ColliderSet} from \"./collider_set\";\nimport {FeatureType} from \"./feature\";\n\n/**\n * A ray. This is a directed half-line.\n */\nexport class Ray {\n    /**\n     * The starting point of the ray.\n     */\n    public origin: Vector;\n    /**\n     * The direction of propagation of the ray.\n     */\n    public dir: Vector;\n\n    /**\n     * Builds a ray from its origin and direction.\n     *\n     * @param origin - The ray's starting point.\n     * @param dir - The ray's direction of propagation.\n     */\n    constructor(origin: Vector, dir: Vector) {\n        this.origin = origin;\n        this.dir = dir;\n    }\n\n    public pointAt(t: number): Vector {\n        return {\n            x: this.origin.x + this.dir.x * t,\n            y: this.origin.y + this.dir.y * t,\n            z: this.origin.z + this.dir.z * t,\n        };\n    }\n}\n\n/**\n * The intersection between a ray and a collider.\n */\nexport class RayIntersection {\n    /**\n     * The time-of-impact of the ray with the collider.\n     *\n     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.\n     */\n    timeOfImpact: number;\n    /**\n     * The normal of the collider at the hit point.\n     */\n    normal: Vector;\n\n    /**\n     * The type of the geometric feature the point was projected on.\n     */\n    featureType = FeatureType.Unknown;\n\n    /**\n     * The id of the geometric feature the point was projected on.\n     */\n    featureId: number | undefined = undefined;\n\n    constructor(\n        timeOfImpact: number,\n        normal: Vector,\n        featureType?: FeatureType,\n        featureId?: number,\n    ) {\n        this.timeOfImpact = timeOfImpact;\n        this.normal = normal;\n        if (featureId !== undefined) this.featureId = featureId;\n        if (featureType !== undefined) this.featureType = featureType;\n    }\n\n    public static fromRaw(raw: RawRayIntersection): RayIntersection | null {\n        if (!raw) return null;\n\n        const result = new RayIntersection(\n            raw.time_of_impact(),\n            VectorOps.fromRaw(raw.normal())!,\n            raw.featureType() as number as FeatureType,\n            raw.featureId(),\n        );\n        raw.free();\n        return result;\n    }\n}\n\n/**\n * The intersection between a ray and a collider (includes the collider handle).\n */\nexport class RayColliderIntersection {\n    /**\n     * The collider hit by the ray.\n     */\n    collider: Collider;\n    /**\n     * The time-of-impact of the ray with the collider.\n     *\n     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.\n     */\n    timeOfImpact: number;\n    /**\n     * The normal of the collider at the hit point.\n     */\n    normal: Vector;\n\n    /**\n     * The type of the geometric feature the point was projected on.\n     */\n    featureType = FeatureType.Unknown;\n\n    /**\n     * The id of the geometric feature the point was projected on.\n     */\n    featureId: number | undefined = undefined;\n\n    constructor(\n        collider: Collider,\n        timeOfImpact: number,\n        normal: Vector,\n        featureType?: FeatureType,\n        featureId?: number,\n    ) {\n        this.collider = collider;\n        this.timeOfImpact = timeOfImpact;\n        this.normal = normal;\n        if (featureId !== undefined) this.featureId = featureId;\n        if (featureType !== undefined) this.featureType = featureType;\n    }\n\n    public static fromRaw(\n        colliderSet: ColliderSet,\n        raw: RawRayColliderIntersection,\n    ): RayColliderIntersection | null {\n        if (!raw) return null;\n\n        const result = new RayColliderIntersection(\n            colliderSet.get(raw.colliderHandle())!,\n            raw.time_of_impact(),\n            VectorOps.fromRaw(raw.normal())!,\n            raw.featureType() as number as FeatureType,\n            raw.featureId(),\n        );\n        raw.free();\n        return result;\n    }\n}\n\n/**\n * The time of impact between a ray and a collider.\n */\nexport class RayColliderHit {\n    /**\n     * The handle of the collider hit by the ray.\n     */\n    collider: Collider;\n    /**\n     * The time-of-impact of the ray with the collider.\n     *\n     * The hit point is obtained from the ray's origin and direction: `origin + dir * timeOfImpact`.\n     */\n    timeOfImpact: number;\n\n    constructor(collider: Collider, timeOfImpact: number) {\n        this.collider = collider;\n        this.timeOfImpact = timeOfImpact;\n    }\n\n    public static fromRaw(colliderSet: ColliderSet, raw: RawRayColliderHit): RayColliderHit | null {\n        if (!raw) return null;\n\n        const result = new RayColliderHit(\n            colliderSet.get(raw.colliderHandle())!,\n            raw.timeOfImpact(),\n        );\n        raw.free();\n        return result;\n    }\n}\n","import {Vector, VectorOps} from \"../math\";\nimport {RawShapeCastHit, RawColliderShapeCastHit} from \"../raw\";\nimport {Collider} from \"./collider\";\nimport {ColliderSet} from \"./collider_set\";\n\n/**\n * The intersection between a ray and a collider.\n */\nexport class ShapeCastHit {\n    /**\n     * The time of impact of the two shapes.\n     */\n    time_of_impact: number;\n    /**\n     * The local-space contact point on the first shape, at\n     * the time of impact.\n     */\n    witness1: Vector;\n    /**\n     * The local-space contact point on the second shape, at\n     * the time of impact.\n     */\n    witness2: Vector;\n    /**\n     * The local-space normal on the first shape, at\n     * the time of impact.\n     */\n    normal1: Vector;\n    /**\n     * The local-space normal on the second shape, at\n     * the time of impact.\n     */\n    normal2: Vector;\n\n    constructor(\n        time_of_impact: number,\n        witness1: Vector,\n        witness2: Vector,\n        normal1: Vector,\n        normal2: Vector,\n    ) {\n        this.time_of_impact = time_of_impact;\n        this.witness1 = witness1;\n        this.witness2 = witness2;\n        this.normal1 = normal1;\n        this.normal2 = normal2;\n    }\n\n    public static fromRaw(\n        colliderSet: ColliderSet | null,\n        raw: RawShapeCastHit,\n    ): ShapeCastHit | null {\n        if (!raw) return null;\n\n        const result = new ShapeCastHit(\n            raw.time_of_impact(),\n            VectorOps.fromRaw(raw.witness1())!,\n            VectorOps.fromRaw(raw.witness2())!,\n            VectorOps.fromRaw(raw.normal1())!,\n            VectorOps.fromRaw(raw.normal2())!,\n        );\n        raw.free();\n        return result;\n    }\n}\n\n/**\n * The intersection between a ray and a collider.\n */\nexport class ColliderShapeCastHit extends ShapeCastHit {\n    /**\n     * The handle of the collider hit by the ray.\n     */\n    collider: Collider;\n\n    constructor(\n        collider: Collider,\n        time_of_impact: number,\n        witness1: Vector,\n        witness2: Vector,\n        normal1: Vector,\n        normal2: Vector,\n    ) {\n        super(time_of_impact, witness1, witness2, normal1, normal2);\n        this.collider = collider;\n    }\n\n    public static fromRaw(\n        colliderSet: ColliderSet,\n        raw: RawColliderShapeCastHit,\n    ): ColliderShapeCastHit | null {\n        if (!raw) return null;\n\n        const result = new ColliderShapeCastHit(\n            colliderSet.get(raw.colliderHandle())!,\n            raw.time_of_impact(),\n            VectorOps.fromRaw(raw.witness1())!,\n            VectorOps.fromRaw(raw.witness2())!,\n            VectorOps.fromRaw(raw.normal1())!,\n            VectorOps.fromRaw(raw.normal2())!,\n        );\n        raw.free();\n        return result;\n    }\n}\n","import {RigidBodyHandle, RigidBodySet} from \"../dynamics\";\nimport {Rotation, RotationOps, Vector, VectorOps} from \"../math\";\nimport {QueryFilterFlags} from \"../pipeline\";\nimport {RawBroadPhase, RawRayColliderIntersection} from \"../raw\";\nimport {ColliderHandle} from \"./collider\";\nimport {ColliderSet} from \"./collider_set\";\nimport {InteractionGroups} from \"./interaction_groups\";\nimport {NarrowPhase} from \"./narrow_phase\";\nimport {PointColliderProjection} from \"./point\";\nimport {Ray, RayColliderHit, RayColliderIntersection} from \"./ray\";\nimport {Shape} from \"./shape\";\nimport {ColliderShapeCastHit} from \"./toi\";\n\n/**\n * The broad-phase used for coarse collision-detection.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `broadPhase.free()`\n * once you are done using it.\n */\nexport class BroadPhase {\n    raw: RawBroadPhase;\n\n    /**\n     * Release the WASM memory occupied by this broad-phase.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw?: RawBroadPhase) {\n        this.raw = raw || new RawBroadPhase();\n    }\n\n    /**\n     * Find the closest intersection between a ray and a set of collider.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     * @param filter - The callback to filter out which collider will be hit.\n     */\n    public castRay(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): RayColliderHit | null {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let result = RayColliderHit.fromRaw(\n            colliders,\n            this.raw.castRay(\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                rawOrig,\n                rawDir,\n                maxToi,\n                solid,\n                filterFlags ?? 0,\n                filterGroups,\n                filterExcludeCollider,\n                filterExcludeRigidBody,\n                filterPredicate as unknown as Function,\n            )!,\n        );\n\n        rawOrig.free();\n        rawDir.free();\n\n        return result;\n    }\n\n    /**\n     * Find the closest intersection between a ray and a set of collider.\n     *\n     * This also computes the normal at the hit point.\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     */\n    public castRayAndGetNormal(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): RayColliderIntersection | null {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let result = RayColliderIntersection.fromRaw(\n            colliders,\n            this.raw.castRayAndGetNormal(\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                rawOrig,\n                rawDir,\n                maxToi,\n                solid,\n                filterFlags ?? 0,\n                filterGroups,\n                filterExcludeCollider,\n                filterExcludeRigidBody,\n                filterPredicate as unknown as Function,\n            )!,\n        );\n\n        rawOrig.free();\n        rawDir.free();\n\n        return result;\n    }\n\n    /**\n     * Cast a ray and collects all the intersections between a ray and the scene.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     * @param callback - The callback called once per hit (in no particular order) between a ray and a collider.\n     *   If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.\n     */\n    public intersectionsWithRay(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        callback: (intersect: RayColliderIntersection) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ) {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let rawCallback = (rawInter: RawRayColliderIntersection) => {\n            return callback(RayColliderIntersection.fromRaw(colliders, rawInter)!);\n        };\n\n        this.raw.intersectionsWithRay(\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            rawOrig,\n            rawDir,\n            maxToi,\n            solid,\n            rawCallback,\n            filterFlags ?? 0,\n            filterGroups,\n            filterExcludeCollider,\n            filterExcludeRigidBody,\n            filterPredicate as unknown as Function,\n        );\n\n        rawOrig.free();\n        rawDir.free();\n    }\n\n    /**\n     * Gets the handle of up to one collider intersecting the given shape.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param shapePos - The position of the shape used for the intersection test.\n     * @param shapeRot - The orientation of the shape used for the intersection test.\n     * @param shape - The shape used for the intersection test.\n     * @param groups - The bit groups and filter associated to the ray, in order to only\n     *   hit the colliders with collision groups compatible with the ray's group.\n     */\n    public intersectionWithShape(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shape: Shape,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): ColliderHandle | null {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawShape = shape.intoRaw();\n        let result = this.raw.intersectionWithShape(\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            rawPos,\n            rawRot,\n            rawShape,\n            filterFlags ?? 0,\n            filterGroups,\n            filterExcludeCollider,\n            filterExcludeRigidBody,\n            filterPredicate as unknown as Function,\n        );\n\n        rawPos.free();\n        rawRot.free();\n        rawShape.free();\n\n        return result ?? null;\n    }\n\n    /**\n     * Find the projection of a point on the closest collider.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param point - The point to project.\n     * @param solid - If this is set to `true` then the collider shapes are considered to\n     *   be plain (if the point is located inside of a plain shape, its projection is the point\n     *   itself). If it is set to `false` the collider shapes are considered to be hollow\n     *   (if the point is located inside of an hollow shape, it is projected on the shape's\n     *   boundary).\n     * @param groups - The bit groups and filter associated to the point to project, in order to only\n     *   project on colliders with collision groups compatible with the ray's group.\n     */\n    public projectPoint(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        point: Vector,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): PointColliderProjection | null {\n        let rawPoint = VectorOps.intoRaw(point);\n        let result = PointColliderProjection.fromRaw(\n            colliders,\n            this.raw.projectPoint(\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                rawPoint,\n                solid,\n                filterFlags ?? 0,\n                filterGroups,\n                filterExcludeCollider,\n                filterExcludeRigidBody,\n                filterPredicate as unknown as Function,\n            )!,\n        );\n\n        rawPoint.free();\n\n        return result;\n    }\n\n    /**\n     * Find the projection of a point on the closest collider.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param point - The point to project.\n     * @param groups - The bit groups and filter associated to the point to project, in order to only\n     *   project on colliders with collision groups compatible with the ray's group.\n     */\n    public projectPointAndGetFeature(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        point: Vector,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): PointColliderProjection | null {\n        let rawPoint = VectorOps.intoRaw(point);\n        let result = PointColliderProjection.fromRaw(\n            colliders,\n            this.raw.projectPointAndGetFeature(\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                rawPoint,\n                filterFlags ?? 0,\n                filterGroups,\n                filterExcludeCollider,\n                filterExcludeRigidBody,\n                filterPredicate as unknown as Function,\n            )!,\n        );\n\n        rawPoint.free();\n\n        return result;\n    }\n\n    /**\n     * Find all the colliders containing the given point.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param point - The point used for the containment test.\n     * @param groups - The bit groups and filter associated to the point to test, in order to only\n     *   test on colliders with collision groups compatible with the ray's group.\n     * @param callback - A function called with the handles of each collider with a shape\n     *   containing the `point`.\n     */\n    public intersectionsWithPoint(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        point: Vector,\n        callback: (handle: ColliderHandle) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ) {\n        let rawPoint = VectorOps.intoRaw(point);\n\n        this.raw.intersectionsWithPoint(\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            rawPoint,\n            callback,\n            filterFlags ?? 0,\n            filterGroups,\n            filterExcludeCollider,\n            filterExcludeRigidBody,\n            filterPredicate as unknown as Function,\n        );\n\n        rawPoint.free();\n    }\n\n    /**\n     * Casts a shape at a constant linear velocity and retrieve the first collider it hits.\n     * This is similar to ray-casting except that we are casting a whole shape instead of\n     * just a point (the ray origin).\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param shapePos - The initial position of the shape to cast.\n     * @param shapeRot - The initial rotation of the shape to cast.\n     * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).\n     * @param shape - The shape to cast.\n     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit\n     *                       will be returned.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.\n     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if\n     *   the shape is penetrating another shape at its starting point **and** its trajectory is such\n     *   that it’s on a path to exit that penetration state.\n     * @param groups - The bit groups and filter associated to the shape to cast, in order to only\n     *   test on colliders with collision groups compatible with this group.\n     */\n    public castShape(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shapeVel: Vector,\n        shape: Shape,\n        targetDistance: number,\n        maxToi: number,\n        stopAtPenetration: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ): ColliderShapeCastHit | null {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawVel = VectorOps.intoRaw(shapeVel);\n        let rawShape = shape.intoRaw();\n\n        let result = ColliderShapeCastHit.fromRaw(\n            colliders,\n            this.raw.castShape(\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                rawPos,\n                rawRot,\n                rawVel,\n                rawShape,\n                targetDistance,\n                maxToi,\n                stopAtPenetration,\n                filterFlags ?? 0,\n                filterGroups,\n                filterExcludeCollider,\n                filterExcludeRigidBody,\n                filterPredicate as unknown as Function,\n            )!,\n        );\n\n        rawPos.free();\n        rawRot.free();\n        rawVel.free();\n        rawShape.free();\n\n        return result;\n    }\n\n    /**\n     * Retrieve all the colliders intersecting the given shape.\n     *\n     * @param colliders - The set of colliders taking part in this pipeline.\n     * @param shapePos - The position of the shape to test.\n     * @param shapeRot - The orientation of the shape to test.\n     * @param shape - The shape to test.\n     * @param groups - The bit groups and filter associated to the shape to test, in order to only\n     *   test on colliders with collision groups compatible with this group.\n     * @param callback - A function called with the handles of each collider intersecting the `shape`.\n     */\n    public intersectionsWithShape(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shape: Shape,\n        callback: (handle: ColliderHandle) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: ColliderHandle,\n        filterExcludeRigidBody?: RigidBodyHandle,\n        filterPredicate?: (collider: ColliderHandle) => boolean,\n    ) {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawShape = shape.intoRaw();\n\n        this.raw.intersectionsWithShape(\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            rawPos,\n            rawRot,\n            rawShape,\n            callback,\n            filterFlags ?? 0,\n            filterGroups,\n            filterExcludeCollider,\n            filterExcludeRigidBody,\n            filterPredicate as unknown as Function,\n        );\n\n        rawPos.free();\n        rawRot.free();\n        rawShape.free();\n    }\n\n    /**\n     * Finds the handles of all the colliders with an AABB intersecting the given AABB.\n     *\n     * @param aabbCenter - The center of the AABB to test.\n     * @param aabbHalfExtents - The half-extents of the AABB to test.\n     * @param callback - The callback that will be called with the handles of all the colliders\n     *                   currently intersecting the given AABB.\n     */\n    public collidersWithAabbIntersectingAabb(\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        aabbCenter: Vector,\n        aabbHalfExtents: Vector,\n        callback: (handle: ColliderHandle) => boolean,\n    ) {\n        let rawCenter = VectorOps.intoRaw(aabbCenter);\n        let rawHalfExtents = VectorOps.intoRaw(aabbHalfExtents);\n        this.raw.collidersWithAabbIntersectingAabb(\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            rawCenter,\n            rawHalfExtents,\n            callback,\n        );\n        rawCenter.free();\n        rawHalfExtents.free();\n    }\n}\n","import {Vector, VectorOps} from \"../math\";\nimport {RawNarrowPhase, RawContactManifold} from \"../raw\";\nimport {ColliderHandle} from \"./collider\";\n\n/**\n * The narrow-phase used for precise collision-detection.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `narrowPhase.free()`\n * once you are done using it.\n */\nexport class NarrowPhase {\n    raw: RawNarrowPhase;\n    tempManifold: TempContactManifold;\n\n    /**\n     * Release the WASM memory occupied by this narrow-phase.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw?: RawNarrowPhase) {\n        this.raw = raw || new RawNarrowPhase();\n        this.tempManifold = new TempContactManifold(null!);\n    }\n\n    /**\n     * Enumerates all the colliders potentially in contact with the given collider.\n     *\n     * @param collider1 - The second collider involved in the contact.\n     * @param f - Closure that will be called on each collider that is in contact with `collider1`.\n     */\n    public contactPairsWith(collider1: ColliderHandle, f: (collider2: ColliderHandle) => void) {\n        this.raw.contact_pairs_with(collider1, f);\n    }\n\n    /**\n     * Enumerates all the colliders intersecting the given colliders, assuming one of them\n     * is a sensor.\n     */\n    public intersectionPairsWith(\n        collider1: ColliderHandle,\n        f: (collider2: ColliderHandle) => void,\n    ) {\n        this.raw.intersection_pairs_with(collider1, f);\n    }\n\n    /**\n     * Iterates through all the contact manifolds between the given pair of colliders.\n     *\n     * @param collider1 - The first collider involved in the contact.\n     * @param collider2 - The second collider involved in the contact.\n     * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument\n     *            passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`\n     *            actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.\n     */\n    public contactPair(\n        collider1: ColliderHandle,\n        collider2: ColliderHandle,\n        f: (manifold: TempContactManifold, flipped: boolean) => void,\n    ) {\n        const rawPair = this.raw.contact_pair(collider1, collider2);\n\n        if (!!rawPair) {\n            const flipped = rawPair.collider1() != collider1;\n\n            let i;\n            for (i = 0; i < rawPair.numContactManifolds(); ++i) {\n                this.tempManifold.raw = rawPair.contactManifold(i)!;\n                if (!!this.tempManifold.raw) {\n                    f(this.tempManifold, flipped);\n                }\n\n                // SAFETY: The RawContactManifold stores a raw pointer that will be invalidated\n                //         at the next timestep. So we must be sure to free the pair here\n                //         to avoid unsoundness in the Rust code.\n                this.tempManifold.free();\n            }\n            rawPair.free();\n        }\n    }\n\n    /**\n     * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.\n     * @param collider1 − The first collider involved in the intersection.\n     * @param collider2 − The second collider involved in the intersection.\n     */\n    public intersectionPair(collider1: ColliderHandle, collider2: ColliderHandle): boolean {\n        return this.raw.intersection_pair(collider1, collider2);\n    }\n}\n\nexport class TempContactManifold {\n    raw: RawContactManifold;\n\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw: RawContactManifold) {\n        this.raw = raw;\n    }\n\n    public normal(target?: Vector): Vector {\n        return VectorOps.fromRaw(this.raw.normal(), target)!;\n    }\n\n    public localNormal1(target?: Vector): Vector {\n        return VectorOps.fromRaw(this.raw.local_n1(), target)!;\n    }\n\n    public localNormal2(target?: Vector): Vector {\n        return VectorOps.fromRaw(this.raw.local_n2(), target)!;\n    }\n\n    public subshape1(): number {\n        return this.raw.subshape1();\n    }\n\n    public subshape2(): number {\n        return this.raw.subshape2();\n    }\n\n    public numContacts(): number {\n        return this.raw.num_contacts();\n    }\n\n    public localContactPoint1(i: number, target?: Vector): Vector | null {\n        return VectorOps.fromRaw(this.raw.contact_local_p1(i)!, target);\n    }\n\n    public localContactPoint2(i: number, target?: Vector): Vector | null {\n        return VectorOps.fromRaw(this.raw.contact_local_p2(i)!, target);\n    }\n\n    public contactDist(i: number): number {\n        return this.raw.contact_dist(i);\n    }\n\n    public contactFid1(i: number): number {\n        return this.raw.contact_fid1(i);\n    }\n\n    public contactFid2(i: number): number {\n        return this.raw.contact_fid2(i);\n    }\n\n    public contactImpulse(i: number): number {\n        return this.raw.contact_impulse(i);\n    }\n\n    public contactTangentImpulseX(i: number): number {\n        return this.raw.contact_tangent_impulse_x(i);\n    }\n\n    public contactTangentImpulseY(i: number): number {\n        return this.raw.contact_tangent_impulse_y(i);\n    }\n\n    public numSolverContacts(): number {\n        return this.raw.num_solver_contacts();\n    }\n\n    public solverContactPoint(i: number, target?: Vector): Vector {\n        return VectorOps.fromRaw(this.raw.solver_contact_point(i)!, target)!;\n    }\n\n    public solverContactDist(i: number): number {\n        return this.raw.solver_contact_dist(i);\n    }\n\n    public solverContactFriction(i: number): number {\n        return this.raw.solver_contact_friction(i);\n    }\n\n    public solverContactRestitution(i: number): number {\n        return this.raw.solver_contact_restitution(i);\n    }\n\n    public solverContactTangentVelocity(i: number, target?: Vector): Vector {\n        return VectorOps.fromRaw(this.raw.solver_contact_tangent_velocity(i)!, target)!;\n    }\n}\n","import {Vector, VectorOps} from \"../math\";\nimport {RawShapeContact} from \"../raw\";\n\n/**\n * The contact info between two shapes.\n */\nexport class ShapeContact {\n    /**\n     * Distance between the two contact points.\n     * If this is negative, this contact represents a penetration.\n     */\n    distance: number;\n\n    /**\n     * Position of the contact on the first shape.\n     */\n    point1: Vector;\n\n    /**\n     * Position of the contact on the second shape.\n     */\n    point2: Vector;\n\n    /**\n     * Contact normal, pointing towards the exterior of the first shape.\n     */\n    normal1: Vector;\n\n    /**\n     * Contact normal, pointing towards the exterior of the second shape.\n     * If these contact data are expressed in world-space, this normal is equal to -normal1.\n     */\n    normal2: Vector;\n\n    constructor(dist: number, point1: Vector, point2: Vector, normal1: Vector, normal2: Vector) {\n        this.distance = dist;\n        this.point1 = point1;\n        this.point2 = point2;\n        this.normal1 = normal1;\n        this.normal2 = normal2;\n    }\n\n    public static fromRaw(raw: RawShapeContact): ShapeContact | null {\n        if (!raw) return null;\n\n        const result = new ShapeContact(\n            raw.distance(),\n            VectorOps.fromRaw(raw.point1())!,\n            VectorOps.fromRaw(raw.point2())!,\n            VectorOps.fromRaw(raw.normal1())!,\n            VectorOps.fromRaw(raw.normal2())!,\n        );\n        raw.free();\n        return result;\n    }\n}\n","import {Vector, VectorOps, Rotation, RotationOps} from \"../math\";\nimport {RawColliderSet, RawShape, RawShapeType} from \"../raw\";\nimport {ColliderHandle} from \"./collider\";\nimport {ShapeContact} from \"./contact\";\nimport {PointProjection} from \"./point\";\nimport {Ray, RayIntersection} from \"./ray\";\nimport {ShapeCastHit} from \"./toi\";\n\nexport abstract class Shape {\n    public abstract intoRaw(): RawShape;\n\n    /**\n     * The concrete type of this shape.\n     */\n    public abstract get type(): ShapeType;\n\n    /**\n     * instant mode without cache\n     */\n    public static fromRaw(rawSet: RawColliderSet, handle: ColliderHandle): Shape {\n        const rawType = rawSet.coShapeType(handle);\n\n        let extents: Vector;\n        let borderRadius: number;\n        let vs: Float32Array;\n        let indices: Uint32Array;\n        let halfHeight: number;\n        let radius: number;\n        let normal: Vector;\n\n        switch (rawType) {\n            case RawShapeType.Ball:\n                return new Ball(rawSet.coRadius(handle)!);\n            case RawShapeType.Cuboid:\n                extents = rawSet.coHalfExtents(handle)!;\n\n                return new Cuboid(extents.x, extents.y, extents.z);\n\n            case RawShapeType.RoundCuboid:\n                extents = rawSet.coHalfExtents(handle)!;\n                borderRadius = rawSet.coRoundRadius(handle)!;\n\n                return new RoundCuboid(extents.x, extents.y, extents.z, borderRadius);\n\n            case RawShapeType.Capsule:\n                halfHeight = rawSet.coHalfHeight(handle)!;\n                radius = rawSet.coRadius(handle)!;\n                return new Capsule(halfHeight, radius);\n            case RawShapeType.Segment:\n                vs = rawSet.coVertices(handle)!;\n\n                return new Segment(\n                    VectorOps.new(vs[0], vs[1], vs[2]),\n                    VectorOps.new(vs[3], vs[4], vs[5]),\n                );\n\n            case RawShapeType.Polyline:\n                vs = rawSet.coVertices(handle)!;\n                indices = rawSet.coIndices(handle)!;\n                return new Polyline(vs, indices);\n            case RawShapeType.Triangle:\n                vs = rawSet.coVertices(handle)!;\n\n                return new Triangle(\n                    VectorOps.new(vs[0], vs[1], vs[2]),\n                    VectorOps.new(vs[3], vs[4], vs[5]),\n                    VectorOps.new(vs[6], vs[7], vs[8]),\n                );\n\n            case RawShapeType.RoundTriangle:\n                vs = rawSet.coVertices(handle)!;\n                borderRadius = rawSet.coRoundRadius(handle)!;\n\n                return new RoundTriangle(\n                    VectorOps.new(vs[0], vs[1], vs[2]),\n                    VectorOps.new(vs[3], vs[4], vs[5]),\n                    VectorOps.new(vs[6], vs[7], vs[8]),\n                    borderRadius,\n                );\n\n            case RawShapeType.HalfSpace:\n                normal = VectorOps.fromRaw(rawSet.coHalfspaceNormal(handle)!)!;\n                return new HalfSpace(normal);\n\n            case RawShapeType.Voxels:\n                const vox_data = rawSet.coVoxelData(handle)!;\n                const vox_size = rawSet.coVoxelSize(handle)!;\n                return new Voxels(vox_data, vox_size);\n\n            case RawShapeType.TriMesh:\n                vs = rawSet.coVertices(handle)!;\n                indices = rawSet.coIndices(handle)!;\n                const tri_flags = rawSet.coTriMeshFlags(handle);\n                return new TriMesh(vs, indices, tri_flags);\n\n            case RawShapeType.HeightField:\n                const scale = rawSet.coHeightfieldScale(handle)!;\n                const heights = rawSet.coHeightfieldHeights(handle)!;\n\n                const nrows = rawSet.coHeightfieldNRows(handle)!;\n                const ncols = rawSet.coHeightfieldNCols(handle)!;\n                const hf_flags = rawSet.coHeightFieldFlags(handle);\n                return new Heightfield(nrows, ncols, heights, scale, hf_flags);\n\n            case RawShapeType.ConvexPolyhedron:\n                vs = rawSet.coVertices(handle)!;\n                indices = rawSet.coIndices(handle)!;\n                return new ConvexPolyhedron(vs, indices);\n            case RawShapeType.RoundConvexPolyhedron:\n                vs = rawSet.coVertices(handle)!;\n                indices = rawSet.coIndices(handle)!;\n                borderRadius = rawSet.coRoundRadius(handle)!;\n                return new RoundConvexPolyhedron(vs, indices, borderRadius);\n            case RawShapeType.Cylinder:\n                halfHeight = rawSet.coHalfHeight(handle)!;\n                radius = rawSet.coRadius(handle)!;\n                return new Cylinder(halfHeight, radius);\n            case RawShapeType.RoundCylinder:\n                halfHeight = rawSet.coHalfHeight(handle)!;\n                radius = rawSet.coRadius(handle)!;\n                borderRadius = rawSet.coRoundRadius(handle)!;\n                return new RoundCylinder(halfHeight, radius, borderRadius);\n            case RawShapeType.Cone:\n                halfHeight = rawSet.coHalfHeight(handle)!;\n                radius = rawSet.coRadius(handle)!;\n                return new Cone(halfHeight, radius);\n            case RawShapeType.RoundCone:\n                halfHeight = rawSet.coHalfHeight(handle)!;\n                radius = rawSet.coRadius(handle)!;\n                borderRadius = rawSet.coRoundRadius(handle)!;\n                return new RoundCone(halfHeight, radius, borderRadius);\n\n            default:\n                throw new Error(\"unknown shape type: \" + rawType);\n        }\n    }\n\n    /**\n     * Computes the time of impact between two moving shapes.\n     * @param shapePos1 - The initial position of this sahpe.\n     * @param shapeRot1 - The rotation of this shape.\n     * @param shapeVel1 - The velocity of this shape.\n     * @param shape2 - The second moving shape.\n     * @param shapePos2 - The initial position of the second shape.\n     * @param shapeRot2 - The rotation of the second shape.\n     * @param shapeVel2 - The velocity of the second shape.\n     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit\n     *                         will be returned.\n     * @param maxToi - The maximum time when the impact can happen.\n     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if\n     *   the shape is penetrating another shape at its starting point **and** its trajectory is such\n     *   that it’s on a path to exit that penetration state.\n     * @returns If the two moving shapes collider at some point along their trajectories, this returns the\n     *  time at which the two shape collider as well as the contact information during the impact. Returns\n     *  `null`if the two shapes never collide along their paths.\n     */\n    public castShape(\n        shapePos1: Vector,\n        shapeRot1: Rotation,\n        shapeVel1: Vector,\n        shape2: Shape,\n        shapePos2: Vector,\n        shapeRot2: Rotation,\n        shapeVel2: Vector,\n        targetDistance: number,\n        maxToi: number,\n        stopAtPenetration: boolean,\n    ): ShapeCastHit | null {\n        let rawPos1 = VectorOps.intoRaw(shapePos1);\n        let rawRot1 = RotationOps.intoRaw(shapeRot1);\n        let rawVel1 = VectorOps.intoRaw(shapeVel1);\n        let rawPos2 = VectorOps.intoRaw(shapePos2);\n        let rawRot2 = RotationOps.intoRaw(shapeRot2);\n        let rawVel2 = VectorOps.intoRaw(shapeVel2);\n\n        let rawShape1 = this.intoRaw();\n        let rawShape2 = shape2.intoRaw();\n\n        let result = ShapeCastHit.fromRaw(\n            null,\n            rawShape1.castShape(\n                rawPos1,\n                rawRot1,\n                rawVel1,\n                rawShape2,\n                rawPos2,\n                rawRot2,\n                rawVel2,\n                targetDistance,\n                maxToi,\n                stopAtPenetration,\n            )!,\n        );\n\n        rawPos1.free();\n        rawRot1.free();\n        rawVel1.free();\n        rawPos2.free();\n        rawRot2.free();\n        rawVel2.free();\n\n        rawShape1.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    /**\n     * Tests if this shape intersects another shape.\n     *\n     * @param shapePos1 - The position of this shape.\n     * @param shapeRot1 - The rotation of this shape.\n     * @param shape2  - The second shape to test.\n     * @param shapePos2 - The position of the second shape.\n     * @param shapeRot2 - The rotation of the second shape.\n     * @returns `true` if the two shapes intersect, `false` if they don’t.\n     */\n    public intersectsShape(\n        shapePos1: Vector,\n        shapeRot1: Rotation,\n        shape2: Shape,\n        shapePos2: Vector,\n        shapeRot2: Rotation,\n    ): boolean {\n        let rawPos1 = VectorOps.intoRaw(shapePos1);\n        let rawRot1 = RotationOps.intoRaw(shapeRot1);\n        let rawPos2 = VectorOps.intoRaw(shapePos2);\n        let rawRot2 = RotationOps.intoRaw(shapeRot2);\n\n        let rawShape1 = this.intoRaw();\n        let rawShape2 = shape2.intoRaw();\n\n        let result = rawShape1.intersectsShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2);\n\n        rawPos1.free();\n        rawRot1.free();\n        rawPos2.free();\n        rawRot2.free();\n\n        rawShape1.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    /**\n     * Computes one pair of contact points between two shapes.\n     *\n     * @param shapePos1 - The initial position of this sahpe.\n     * @param shapeRot1 - The rotation of this shape.\n     * @param shape2 - The second shape.\n     * @param shapePos2 - The initial position of the second shape.\n     * @param shapeRot2 - The rotation of the second shape.\n     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.\n     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.\n     */\n    contactShape(\n        shapePos1: Vector,\n        shapeRot1: Rotation,\n        shape2: Shape,\n        shapePos2: Vector,\n        shapeRot2: Rotation,\n        prediction: number,\n    ): ShapeContact | null {\n        let rawPos1 = VectorOps.intoRaw(shapePos1);\n        let rawRot1 = RotationOps.intoRaw(shapeRot1);\n        let rawPos2 = VectorOps.intoRaw(shapePos2);\n        let rawRot2 = RotationOps.intoRaw(shapeRot2);\n\n        let rawShape1 = this.intoRaw();\n        let rawShape2 = shape2.intoRaw();\n\n        let result = ShapeContact.fromRaw(\n            rawShape1.contactShape(rawPos1, rawRot1, rawShape2, rawPos2, rawRot2, prediction)!,\n        );\n\n        rawPos1.free();\n        rawRot1.free();\n        rawPos2.free();\n        rawRot2.free();\n\n        rawShape1.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    containsPoint(shapePos: Vector, shapeRot: Rotation, point: Vector): boolean {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawPoint = VectorOps.intoRaw(point);\n        let rawShape = this.intoRaw();\n\n        let result = rawShape.containsPoint(rawPos, rawRot, rawPoint);\n\n        rawPos.free();\n        rawRot.free();\n        rawPoint.free();\n        rawShape.free();\n\n        return result;\n    }\n\n    projectPoint(\n        shapePos: Vector,\n        shapeRot: Rotation,\n        point: Vector,\n        solid: boolean,\n    ): PointProjection {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawPoint = VectorOps.intoRaw(point);\n        let rawShape = this.intoRaw();\n\n        let result = PointProjection.fromRaw(\n            rawShape.projectPoint(rawPos, rawRot, rawPoint, solid),\n        );\n\n        rawPos.free();\n        rawRot.free();\n        rawPoint.free();\n        rawShape.free();\n\n        return result!;\n    }\n\n    intersectsRay(ray: Ray, shapePos: Vector, shapeRot: Rotation, maxToi: number): boolean {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawRayOrig = VectorOps.intoRaw(ray.origin);\n        let rawRayDir = VectorOps.intoRaw(ray.dir);\n        let rawShape = this.intoRaw();\n\n        let result = rawShape.intersectsRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi);\n\n        rawPos.free();\n        rawRot.free();\n        rawRayOrig.free();\n        rawRayDir.free();\n        rawShape.free();\n\n        return result;\n    }\n\n    castRay(\n        ray: Ray,\n        shapePos: Vector,\n        shapeRot: Rotation,\n        maxToi: number,\n        solid: boolean,\n    ): number {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawRayOrig = VectorOps.intoRaw(ray.origin);\n        let rawRayDir = VectorOps.intoRaw(ray.dir);\n        let rawShape = this.intoRaw();\n\n        let result = rawShape.castRay(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid);\n\n        rawPos.free();\n        rawRot.free();\n        rawRayOrig.free();\n        rawRayDir.free();\n        rawShape.free();\n\n        return result;\n    }\n\n    castRayAndGetNormal(\n        ray: Ray,\n        shapePos: Vector,\n        shapeRot: Rotation,\n        maxToi: number,\n        solid: boolean,\n    ): RayIntersection {\n        let rawPos = VectorOps.intoRaw(shapePos);\n        let rawRot = RotationOps.intoRaw(shapeRot);\n        let rawRayOrig = VectorOps.intoRaw(ray.origin);\n        let rawRayDir = VectorOps.intoRaw(ray.dir);\n        let rawShape = this.intoRaw();\n\n        let result = RayIntersection.fromRaw(\n            rawShape.castRayAndGetNormal(rawPos, rawRot, rawRayOrig, rawRayDir, maxToi, solid)!,\n        );\n\n        rawPos.free();\n        rawRot.free();\n        rawRayOrig.free();\n        rawRayDir.free();\n        rawShape.free();\n\n        return result!;\n    }\n}\n\n/**\n * An enumeration representing the type of a shape.\n */\nexport enum ShapeType {\n    Ball = 0,\n    Cuboid = 1,\n    Capsule = 2,\n    Segment = 3,\n    Polyline = 4,\n    Triangle = 5,\n    TriMesh = 6,\n    HeightField = 7,\n    // Compound = 8,\n    ConvexPolyhedron = 9,\n    Cylinder = 10,\n    Cone = 11,\n    RoundCuboid = 12,\n    RoundTriangle = 13,\n    RoundCylinder = 14,\n    RoundCone = 15,\n    RoundConvexPolyhedron = 16,\n    HalfSpace = 17,\n    Voxels = 18,\n}\n\n// NOTE: this **must** match the bits in the HeightFieldFlags on the rust side.\n/**\n * Flags controlling the behavior of some operations involving heightfields.\n */\nexport enum HeightFieldFlags {\n    /**\n     * If set, a special treatment will be applied to contact manifold calculation to eliminate\n     * or fix contacts normals that could lead to incorrect bumps in physics simulation (especially\n     * on flat surfaces).\n     *\n     * This is achieved by taking into account adjacent triangle normals when computing contact\n     * points for a given triangle.\n     */\n    FIX_INTERNAL_EDGES = 0b0000_0001,\n}\n\n// NOTE: this **must** match the TriMeshFlags on the rust side.\n/**\n * Flags controlling the behavior of the triangle mesh creation and of some\n * operations involving triangle meshes.\n */\nexport enum TriMeshFlags {\n    // NOTE: these two flags are not really useful in JS.\n    //\n    // /**\n    //  * If set, the half-edge topology of the trimesh will be computed if possible.\n    //  */\n    // HALF_EDGE_TOPOLOGY = 0b0000_0001,\n    // /** If set, the half-edge topology and connected components of the trimesh will be computed if possible.\n    //  *\n    //  * Because of the way it is currently implemented, connected components can only be computed on\n    //  * a mesh where the half-edge topology computation succeeds. It will no longer be the case in the\n    //  * future once we decouple the computations.\n    //  */\n    // CONNECTED_COMPONENTS = 0b0000_0010,\n    /**\n     * If set, any triangle that results in a failing half-hedge topology computation will be deleted.\n     */\n    DELETE_BAD_TOPOLOGY_TRIANGLES = 0b0000_0100,\n    /**\n     * If set, the trimesh will be assumed to be oriented (with outward normals).\n     *\n     * The pseudo-normals of its vertices and edges will be computed.\n     */\n    ORIENTED = 0b0000_1000,\n    /**\n     * If set, the duplicate vertices of the trimesh will be merged.\n     *\n     * Two vertices with the exact same coordinates will share the same entry on the\n     * vertex buffer and the index buffer is adjusted accordingly.\n     */\n    MERGE_DUPLICATE_VERTICES = 0b0001_0000,\n    /**\n     * If set, the triangles sharing two vertices with identical index values will be removed.\n     *\n     * Because of the way it is currently implemented, this methods implies that duplicate\n     * vertices will be merged. It will no longer be the case in the future once we decouple\n     * the computations.\n     */\n    DELETE_DEGENERATE_TRIANGLES = 0b0010_0000,\n    /**\n     * If set, two triangles sharing three vertices with identical index values (in any order)\n     * will be removed.\n     *\n     * Because of the way it is currently implemented, this methods implies that duplicate\n     * vertices will be merged. It will no longer be the case in the future once we decouple\n     * the computations.\n     */\n    DELETE_DUPLICATE_TRIANGLES = 0b0100_0000,\n    /**\n     * If set, a special treatment will be applied to contact manifold calculation to eliminate\n     * or fix contacts normals that could lead to incorrect bumps in physics simulation\n     * (especially on flat surfaces).\n     *\n     * This is achieved by taking into account adjacent triangle normals when computing contact\n     * points for a given triangle.\n     *\n     * /!\\ NOT SUPPORTED IN THE 2D VERSION OF RAPIER.\n     */\n    FIX_INTERNAL_EDGES = 0b1000_0000 | TriMeshFlags.MERGE_DUPLICATE_VERTICES,\n}\n\n/**\n * A shape that is a sphere in 3D and a circle in 2D.\n */\nexport class Ball extends Shape {\n    readonly type = ShapeType.Ball;\n\n    /**\n     * The balls radius.\n     */\n    radius: number;\n\n    /**\n     * Creates a new ball with the given radius.\n     * @param radius - The balls radius.\n     */\n    constructor(radius: number) {\n        super();\n        this.radius = radius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.ball(this.radius);\n    }\n}\n\nexport class HalfSpace extends Shape {\n    readonly type = ShapeType.HalfSpace;\n\n    /**\n     * The outward normal of the half-space.\n     */\n    normal: Vector;\n\n    /**\n     * Creates a new halfspace delimited by an infinite plane.\n     *\n     * @param normal - The outward normal of the plane.\n     */\n    constructor(normal: Vector) {\n        super();\n        this.normal = normal;\n    }\n\n    public intoRaw(): RawShape {\n        let n = VectorOps.intoRaw(this.normal);\n        let result = RawShape.halfspace(n);\n        n.free();\n        return result;\n    }\n}\n\n/**\n * A shape that is a box in 3D and a rectangle in 2D.\n */\nexport class Cuboid extends Shape {\n    readonly type = ShapeType.Cuboid;\n\n    /**\n     * The half extent of the cuboid along each coordinate axis.\n     */\n    halfExtents: Vector;\n\n    /**\n     * Creates a new 3D cuboid.\n     * @param hx - The half width of the cuboid.\n     * @param hy - The half height of the cuboid.\n     * @param hz - The half depth of the cuboid.\n     */\n    constructor(hx: number, hy: number, hz: number) {\n        super();\n        this.halfExtents = VectorOps.new(hx, hy, hz);\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.cuboid(this.halfExtents.x, this.halfExtents.y, this.halfExtents.z);\n    }\n}\n\n/**\n * A shape that is a box in 3D and a rectangle in 2D, with round corners.\n */\nexport class RoundCuboid extends Shape {\n    readonly type = ShapeType.RoundCuboid;\n\n    /**\n     * The half extent of the cuboid along each coordinate axis.\n     */\n    halfExtents: Vector;\n\n    /**\n     * The radius of the cuboid's round border.\n     */\n    borderRadius: number;\n\n    /**\n     * Creates a new 3D cuboid.\n     * @param hx - The half width of the cuboid.\n     * @param hy - The half height of the cuboid.\n     * @param hz - The half depth of the cuboid.\n     * @param borderRadius - The radius of the borders of this cuboid. This will\n     *   effectively increase the half-extents of the cuboid by this radius.\n     */\n    constructor(hx: number, hy: number, hz: number, borderRadius: number) {\n        super();\n        this.halfExtents = VectorOps.new(hx, hy, hz);\n        this.borderRadius = borderRadius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.roundCuboid(\n            this.halfExtents.x,\n            this.halfExtents.y,\n            this.halfExtents.z,\n            this.borderRadius,\n        );\n    }\n}\n\n/**\n * A shape that is a capsule.\n */\nexport class Capsule extends Shape {\n    readonly type = ShapeType.Capsule;\n\n    /**\n     * The radius of the capsule's basis.\n     */\n    radius: number;\n\n    /**\n     * The capsule's half height, along the `y` axis.\n     */\n    halfHeight: number;\n\n    /**\n     * Creates a new capsule with the given radius and half-height.\n     * @param halfHeight - The balls half-height along the `y` axis.\n     * @param radius - The balls radius.\n     */\n    constructor(halfHeight: number, radius: number) {\n        super();\n        this.halfHeight = halfHeight;\n        this.radius = radius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.capsule(this.halfHeight, this.radius);\n    }\n}\n\n/**\n * A shape that is a segment.\n */\nexport class Segment extends Shape {\n    readonly type = ShapeType.Segment;\n\n    /**\n     * The first point of the segment.\n     */\n    a: Vector;\n\n    /**\n     * The second point of the segment.\n     */\n    b: Vector;\n\n    /**\n     * Creates a new segment shape.\n     * @param a - The first point of the segment.\n     * @param b - The second point of the segment.\n     */\n    constructor(a: Vector, b: Vector) {\n        super();\n        this.a = a;\n        this.b = b;\n    }\n\n    public intoRaw(): RawShape {\n        let ra = VectorOps.intoRaw(this.a);\n        let rb = VectorOps.intoRaw(this.b);\n        let result = RawShape.segment(ra, rb);\n        ra.free();\n        rb.free();\n        return result;\n    }\n}\n\n/**\n * A shape that is a segment.\n */\nexport class Triangle extends Shape {\n    readonly type = ShapeType.Triangle;\n\n    /**\n     * The first point of the triangle.\n     */\n    a: Vector;\n\n    /**\n     * The second point of the triangle.\n     */\n    b: Vector;\n\n    /**\n     * The second point of the triangle.\n     */\n    c: Vector;\n\n    /**\n     * Creates a new triangle shape.\n     *\n     * @param a - The first point of the triangle.\n     * @param b - The second point of the triangle.\n     * @param c - The third point of the triangle.\n     */\n    constructor(a: Vector, b: Vector, c: Vector) {\n        super();\n        this.a = a;\n        this.b = b;\n        this.c = c;\n    }\n\n    public intoRaw(): RawShape {\n        let ra = VectorOps.intoRaw(this.a);\n        let rb = VectorOps.intoRaw(this.b);\n        let rc = VectorOps.intoRaw(this.c);\n        let result = RawShape.triangle(ra, rb, rc);\n        ra.free();\n        rb.free();\n        rc.free();\n        return result;\n    }\n}\n\n/**\n * A shape that is a triangle with round borders and a non-zero thickness.\n */\nexport class RoundTriangle extends Shape {\n    readonly type = ShapeType.RoundTriangle;\n\n    /**\n     * The first point of the triangle.\n     */\n    a: Vector;\n\n    /**\n     * The second point of the triangle.\n     */\n    b: Vector;\n\n    /**\n     * The second point of the triangle.\n     */\n    c: Vector;\n\n    /**\n     * The radius of the triangles's rounded edges and vertices.\n     * In 3D, this is also equal to half the thickness of the round triangle.\n     */\n    borderRadius: number;\n\n    /**\n     * Creates a new triangle shape with round corners.\n     *\n     * @param a - The first point of the triangle.\n     * @param b - The second point of the triangle.\n     * @param c - The third point of the triangle.\n     * @param borderRadius - The radius of the borders of this triangle. In 3D,\n     *   this is also equal to half the thickness of the triangle.\n     */\n    constructor(a: Vector, b: Vector, c: Vector, borderRadius: number) {\n        super();\n        this.a = a;\n        this.b = b;\n        this.c = c;\n        this.borderRadius = borderRadius;\n    }\n\n    public intoRaw(): RawShape {\n        let ra = VectorOps.intoRaw(this.a);\n        let rb = VectorOps.intoRaw(this.b);\n        let rc = VectorOps.intoRaw(this.c);\n        let result = RawShape.roundTriangle(ra, rb, rc, this.borderRadius);\n        ra.free();\n        rb.free();\n        rc.free();\n        return result;\n    }\n}\n\n/**\n * A shape that is a triangle mesh.\n */\nexport class Polyline extends Shape {\n    readonly type = ShapeType.Polyline;\n\n    /**\n     * The vertices of the polyline.\n     */\n    vertices: Float32Array;\n\n    /**\n     * The indices of the segments.\n     */\n    indices: Uint32Array;\n\n    /**\n     * Creates a new polyline shape.\n     *\n     * @param vertices - The coordinates of the polyline's vertices.\n     * @param indices - The indices of the polyline's segments. If this is `null` or not provided, then\n     *    the vertices are assumed to form a line strip.\n     */\n    constructor(vertices: Float32Array, indices?: Uint32Array) {\n        super();\n        this.vertices = vertices;\n        this.indices = indices ?? new Uint32Array(0);\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.polyline(this.vertices, this.indices);\n    }\n}\n\n/**\n * A shape made of voxels.\n */\nexport class Voxels extends Shape {\n    readonly type = ShapeType.Voxels;\n\n    /**\n     * The points or grid coordinates used to initialize the voxels.\n     */\n    data: Float32Array | Int32Array;\n\n    /**\n     * The dimensions of each voxel.\n     */\n    voxelSize: Vector;\n\n    /**\n     * Creates a new shape made of voxels.\n     *\n     * @param data - Defines the set of voxels. If this is a `Int32Array` then\n     *               each voxel is defined from its (signed) grid coordinates,\n     *               with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).\n     *               If this is a `Float32Array`, each voxel will be such that\n     *               they contain at least one point from this array (where each\n     *               point is defined from 3 (resp 2) contiguous numbers per point\n     *               in 3D (resp 2D).\n     * @param voxelSize - The size of each voxel.\n     */\n    constructor(data: Float32Array | Int32Array, voxelSize: Vector) {\n        super();\n        this.data = data;\n        this.voxelSize = voxelSize;\n    }\n\n    public intoRaw(): RawShape {\n        let voxelSize = VectorOps.intoRaw(this.voxelSize);\n\n        let result;\n        if (this.data instanceof Int32Array) {\n            result = RawShape.voxels(voxelSize, this.data);\n        } else {\n            result = RawShape.voxelsFromPoints(voxelSize, this.data);\n        }\n\n        voxelSize.free();\n        return result;\n    }\n}\n\n/**\n * A shape that is a triangle mesh.\n */\nexport class TriMesh extends Shape {\n    readonly type = ShapeType.TriMesh;\n\n    /**\n     * The vertices of the triangle mesh.\n     */\n    vertices: Float32Array;\n\n    /**\n     * The indices of the triangles.\n     */\n    indices: Uint32Array;\n\n    /**\n     * The triangle mesh flags.\n     */\n    flags?: TriMeshFlags;\n\n    /**\n     * Creates a new triangle mesh shape.\n     *\n     * @param vertices - The coordinates of the triangle mesh's vertices.\n     * @param indices - The indices of the triangle mesh's triangles.\n     */\n    constructor(vertices: Float32Array, indices: Uint32Array, flags?: TriMeshFlags) {\n        super();\n        this.vertices = vertices;\n        this.indices = indices;\n        this.flags = flags;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.trimesh(this.vertices, this.indices, this.flags ?? 0)!;\n    }\n}\n\n/**\n * A shape that is a convex polygon.\n */\nexport class ConvexPolyhedron extends Shape {\n    readonly type = ShapeType.ConvexPolyhedron;\n\n    /**\n     * The vertices of the convex polygon.\n     */\n    vertices: Float32Array;\n\n    /**\n     * The indices of the convex polygon.\n     */\n    indices?: Uint32Array | null;\n\n    /**\n     * Creates a new convex polygon shape.\n     *\n     * @param vertices - The coordinates of the convex polygon's vertices.\n     * @param indices - The index buffer of this convex mesh. If this is `null`\n     *   or `undefined`, the convex-hull of the input vertices will be computed\n     *   automatically. Otherwise, it will be assumed that the mesh you provide\n     *   is already convex.\n     */\n    constructor(vertices: Float32Array, indices?: Uint32Array | null) {\n        super();\n        this.vertices = vertices;\n        this.indices = indices;\n    }\n\n    public intoRaw(): RawShape {\n        if (!!this.indices) {\n            return RawShape.convexMesh(this.vertices, this.indices)!;\n        } else {\n            return RawShape.convexHull(this.vertices)!;\n        }\n    }\n}\n\n/**\n * A shape that is a convex polygon.\n */\nexport class RoundConvexPolyhedron extends Shape {\n    readonly type = ShapeType.RoundConvexPolyhedron;\n\n    /**\n     * The vertices of the convex polygon.\n     */\n    vertices: Float32Array;\n\n    /**\n     * The indices of the convex polygon.\n     */\n    indices?: Uint32Array | null;\n\n    /**\n     * The radius of the convex polyhedron's rounded edges and vertices.\n     */\n    borderRadius: number;\n\n    /**\n     * Creates a new convex polygon shape.\n     *\n     * @param vertices - The coordinates of the convex polygon's vertices.\n     * @param indices - The index buffer of this convex mesh. If this is `null`\n     *   or `undefined`, the convex-hull of the input vertices will be computed\n     *   automatically. Otherwise, it will be assumed that the mesh you provide\n     *   is already convex.\n     * @param borderRadius - The radius of the borders of this convex polyhedron.\n     */\n    constructor(\n        vertices: Float32Array,\n        indices: Uint32Array | null | undefined,\n        borderRadius: number,\n    ) {\n        super();\n        this.vertices = vertices;\n        this.indices = indices;\n        this.borderRadius = borderRadius;\n    }\n\n    public intoRaw(): RawShape {\n        if (!!this.indices) {\n            return RawShape.roundConvexMesh(this.vertices, this.indices, this.borderRadius)!;\n        } else {\n            return RawShape.roundConvexHull(this.vertices, this.borderRadius)!;\n        }\n    }\n}\n\n/**\n * A shape that is a heightfield.\n */\nexport class Heightfield extends Shape {\n    readonly type = ShapeType.HeightField;\n\n    /**\n     * The number of rows in the heights matrix.\n     */\n    nrows: number;\n\n    /**\n     * The number of columns in the heights matrix.\n     */\n    ncols: number;\n\n    /**\n     * The heights of the heightfield along its local `y` axis,\n     * provided as a matrix stored in column-major order.\n     */\n    heights: Float32Array;\n\n    /**\n     * The dimensions of the heightfield's local `x,z` plane.\n     */\n    scale: Vector;\n\n    /**\n     * Flags applied to the heightfield.\n     */\n    flags?: HeightFieldFlags;\n\n    /**\n     * Creates a new heightfield shape.\n     *\n     * @param nrows − The number of rows in the heights matrix.\n     * @param ncols - The number of columns in the heights matrix.\n     * @param heights - The heights of the heightfield along its local `y` axis,\n     *                  provided as a matrix stored in column-major order.\n     * @param scale - The dimensions of the heightfield's local `x,z` plane.\n     */\n    constructor(\n        nrows: number,\n        ncols: number,\n        heights: Float32Array,\n        scale: Vector,\n        flags?: HeightFieldFlags,\n    ) {\n        super();\n        this.nrows = nrows;\n        this.ncols = ncols;\n        this.heights = heights;\n        this.scale = scale;\n        this.flags = flags;\n    }\n\n    public intoRaw(): RawShape {\n        let rawScale = VectorOps.intoRaw(this.scale);\n        let rawShape = RawShape.heightfield(\n            this.nrows,\n            this.ncols,\n            this.heights,\n            rawScale,\n            this.flags ?? 0,\n        );\n        rawScale.free();\n        return rawShape;\n    }\n}\n\n/**\n * A shape that is a 3D cylinder.\n */\nexport class Cylinder extends Shape {\n    readonly type = ShapeType.Cylinder;\n\n    /**\n     * The radius of the cylinder's basis.\n     */\n    radius: number;\n\n    /**\n     * The cylinder's half height, along the `y` axis.\n     */\n    halfHeight: number;\n\n    /**\n     * Creates a new cylinder with the given radius and half-height.\n     * @param halfHeight - The balls half-height along the `y` axis.\n     * @param radius - The balls radius.\n     */\n    constructor(halfHeight: number, radius: number) {\n        super();\n        this.halfHeight = halfHeight;\n        this.radius = radius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.cylinder(this.halfHeight, this.radius);\n    }\n}\n\n/**\n * A shape that is a 3D cylinder with round corners.\n */\nexport class RoundCylinder extends Shape {\n    readonly type = ShapeType.RoundCylinder;\n\n    /**\n     * The radius of the cylinder's basis.\n     */\n    radius: number;\n\n    /**\n     * The cylinder's half height, along the `y` axis.\n     */\n    halfHeight: number;\n\n    /**\n     * The radius of the cylinder's rounded edges and vertices.\n     */\n    borderRadius: number;\n\n    /**\n     * Creates a new cylinder with the given radius and half-height.\n     * @param halfHeight - The balls half-height along the `y` axis.\n     * @param radius - The balls radius.\n     * @param borderRadius - The radius of the borders of this cylinder.\n     */\n    constructor(halfHeight: number, radius: number, borderRadius: number) {\n        super();\n        this.borderRadius = borderRadius;\n        this.halfHeight = halfHeight;\n        this.radius = radius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.roundCylinder(this.halfHeight, this.radius, this.borderRadius);\n    }\n}\n\n/**\n * A shape that is a 3D cone.\n */\nexport class Cone extends Shape {\n    readonly type = ShapeType.Cone;\n\n    /**\n     * The radius of the cone's basis.\n     */\n    radius: number;\n\n    /**\n     * The cone's half height, along the `y` axis.\n     */\n    halfHeight: number;\n\n    /**\n     * Creates a new cone with the given radius and half-height.\n     * @param halfHeight - The balls half-height along the `y` axis.\n     * @param radius - The balls radius.\n     */\n    constructor(halfHeight: number, radius: number) {\n        super();\n        this.halfHeight = halfHeight;\n        this.radius = radius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.cone(this.halfHeight, this.radius);\n    }\n}\n\n/**\n * A shape that is a 3D cone with round corners.\n */\nexport class RoundCone extends Shape {\n    readonly type = ShapeType.RoundCone;\n\n    /**\n     * The radius of the cone's basis.\n     */\n    radius: number;\n\n    /**\n     * The cone's half height, along the `y` axis.\n     */\n    halfHeight: number;\n\n    /**\n     * The radius of the cylinder's rounded edges and vertices.\n     */\n    borderRadius: number;\n\n    /**\n     * Creates a new cone with the given radius and half-height.\n     * @param halfHeight - The balls half-height along the `y` axis.\n     * @param radius - The balls radius.\n     * @param borderRadius - The radius of the borders of this cone.\n     */\n    constructor(halfHeight: number, radius: number, borderRadius: number) {\n        super();\n        this.halfHeight = halfHeight;\n        this.radius = radius;\n        this.borderRadius = borderRadius;\n    }\n\n    public intoRaw(): RawShape {\n        return RawShape.roundCone(this.halfHeight, this.radius, this.borderRadius);\n    }\n}\n","import {IntegrationParameters, RigidBodySet} from \"../dynamics\";\nimport {\n    BroadPhase,\n    Collider,\n    ColliderSet,\n    InteractionGroups,\n    NarrowPhase,\n} from \"../geometry\";\nimport {Vector, VectorOps} from \"../math\";\nimport {QueryFilterFlags} from \"../pipeline\";\nimport {RawKinematicCharacterController, RawCharacterCollision} from \"../raw\";\n\n/**\n * A collision between the character and an obstacle hit on its path.\n */\nexport class CharacterCollision {\n    /** The collider involved in the collision. Null if the collider no longer exists in the physics world. */\n    public collider: Collider | null = null;\n    /** The translation delta applied to the character before this collision took place. */\n    public translationDeltaApplied!: Vector;\n    /** The translation delta the character would move after this collision if there is no other obstacles. */\n    public translationDeltaRemaining!: Vector;\n    /** The time-of-impact between the character and the obstacles. */\n    public toi!: number;\n    /** The world-space contact point on the collider when the collision happens. */\n    public witness1!: Vector;\n    /** The local-space contact point on the character when the collision happens. */\n    public witness2!: Vector;\n    /** The world-space outward contact normal on the collider when the collision happens. */\n    public normal1!: Vector;\n    /** The local-space outward contact normal on the character when the collision happens. */\n    public normal2!: Vector;\n}\n\n/**\n * A character controller for controlling kinematic bodies and parentless colliders by hitting\n * and sliding against obstacles.\n */\nexport class KinematicCharacterController {\n    private raw: RawKinematicCharacterController;\n    private rawCharacterCollision: RawCharacterCollision;\n\n    private params: IntegrationParameters;\n    private broadPhase: BroadPhase;\n    private narrowPhase: NarrowPhase;\n    private bodies: RigidBodySet;\n    private colliders: ColliderSet;\n    private _applyImpulsesToDynamicBodies: boolean;\n    private _characterMass: number | null;\n\n    constructor(\n        offset: number,\n        params: IntegrationParameters,\n        broadPhase: BroadPhase,\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n    ) {\n        this.params = params;\n        this.bodies = bodies;\n        this.colliders = colliders;\n        this.broadPhase = broadPhase;\n        this.narrowPhase = narrowPhase;\n        this.raw = new RawKinematicCharacterController(offset);\n        this.rawCharacterCollision = new RawCharacterCollision();\n        this._applyImpulsesToDynamicBodies = false;\n        this._characterMass = null;\n    }\n\n    /** @internal */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n            this.rawCharacterCollision.free();\n        }\n\n        this.raw = undefined!;\n        this.rawCharacterCollision = undefined!;\n    }\n\n    /**\n     * The direction that goes \"up\". Used to determine where the floor is, and the floor’s angle.\n     */\n    public up(): Vector {\n        return this.raw.up();\n    }\n\n    /**\n     * Sets the direction that goes \"up\". Used to determine where the floor is, and the floor’s angle.\n     */\n    public setUp(vector: Vector) {\n        let rawVect = VectorOps.intoRaw(vector);\n        this.raw.setUp(rawVect);\n        rawVect.free();\n    }\n\n    public applyImpulsesToDynamicBodies(): boolean {\n        return this._applyImpulsesToDynamicBodies;\n    }\n\n    public setApplyImpulsesToDynamicBodies(enabled: boolean) {\n        this._applyImpulsesToDynamicBodies = enabled;\n    }\n\n    /**\n     * Returns the custom value of the character mass, if it was set by `this.setCharacterMass`.\n     */\n    public characterMass(): number | null {\n        return this._characterMass;\n    }\n\n    /**\n     * Set the mass of the character to be used for impulse resolution if `self.applyImpulsesToDynamicBodies`\n     * is set to `true`.\n     *\n     * If no character mass is set explicitly (or if it is set to `null`) it is automatically assumed to be equal\n     * to the mass of the rigid-body the character collider is attached to; or equal to 0 if the character collider\n     * isn’t attached to any rigid-body.\n     *\n     * @param mass - The mass to set.\n     */\n    public setCharacterMass(mass: number | null) {\n        this._characterMass = mass;\n    }\n\n    /**\n     * A small gap to preserve between the character and its surroundings.\n     *\n     * This value should not be too large to avoid visual artifacts, but shouldn’t be too small\n     * (must not be zero) to improve numerical stability of the character controller.\n     */\n    public offset(): number {\n        return this.raw.offset();\n    }\n\n    /**\n     * Sets a small gap to preserve between the character and its surroundings.\n     *\n     * This value should not be too large to avoid visual artifacts, but shouldn’t be too small\n     * (must not be zero) to improve numerical stability of the character controller.\n     */\n    public setOffset(value: number) {\n        this.raw.setOffset(value);\n    }\n\n    /// Increase this number if your character appears to get stuck when sliding against surfaces.\n    ///\n    /// This is a small distance applied to the movement toward the contact normals of shapes hit\n    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating\n    /// state during the sliding calculation.\n    ///\n    /// This value should remain fairly small since it can introduce artificial \"bumps\" when sliding\n    /// along a flat surface.\n    public normalNudgeFactor(): number {\n        return this.raw.normalNudgeFactor();\n    }\n\n    /// Increase this number if your character appears to get stuck when sliding against surfaces.\n    ///\n    /// This is a small distance applied to the movement toward the contact normals of shapes hit\n    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating\n    /// state during the sliding calculation.\n    ///\n    /// This value should remain fairly small since it can introduce artificial \"bumps\" when sliding\n    /// along a flat surface.\n    public setNormalNudgeFactor(value: number) {\n        this.raw.setNormalNudgeFactor(value);\n    }\n\n    /**\n     * Is sliding against obstacles enabled?\n     */\n    public slideEnabled(): boolean {\n        return this.raw.slideEnabled();\n    }\n\n    /**\n     * Enable or disable sliding against obstacles.\n     */\n    public setSlideEnabled(enabled: boolean) {\n        this.raw.setSlideEnabled(enabled);\n    }\n\n    /**\n     * The maximum step height a character can automatically step over.\n     */\n    public autostepMaxHeight(): number | null {\n        return this.raw.autostepMaxHeight() ?? null;\n    }\n\n    /**\n     * The minimum width of free space that must be available after stepping on a stair.\n     */\n    public autostepMinWidth(): number | null {\n        return this.raw.autostepMinWidth() ?? null;\n    }\n\n    /**\n     * Can the character automatically step over dynamic bodies too?\n     */\n    public autostepIncludesDynamicBodies(): boolean | null {\n        return this.raw.autostepIncludesDynamicBodies() ?? null;\n    }\n\n    /**\n     * Is automatically stepping over small objects enabled?\n     */\n    public autostepEnabled(): boolean {\n        return this.raw.autostepEnabled();\n    }\n\n    /**\n     * Enabled automatically stepping over small objects.\n     *\n     * @param maxHeight - The maximum step height a character can automatically step over.\n     * @param minWidth - The minimum width of free space that must be available after stepping on a stair.\n     * @param includeDynamicBodies - Can the character automatically step over dynamic bodies too?\n     */\n    public enableAutostep(maxHeight: number, minWidth: number, includeDynamicBodies: boolean) {\n        this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies);\n    }\n\n    /**\n     * Disable automatically stepping over small objects.\n     */\n    public disableAutostep() {\n        return this.raw.disableAutostep();\n    }\n\n    /**\n     * The maximum angle (radians) between the floor’s normal and the `up` vector that the\n     * character is able to climb.\n     */\n    public maxSlopeClimbAngle(): number {\n        return this.raw.maxSlopeClimbAngle();\n    }\n\n    /**\n     * Sets the maximum angle (radians) between the floor’s normal and the `up` vector that the\n     * character is able to climb.\n     */\n    public setMaxSlopeClimbAngle(angle: number) {\n        this.raw.setMaxSlopeClimbAngle(angle);\n    }\n\n    /**\n     * The minimum angle (radians) between the floor’s normal and the `up` vector before the\n     * character starts to slide down automatically.\n     */\n    public minSlopeSlideAngle(): number {\n        return this.raw.minSlopeSlideAngle();\n    }\n\n    /**\n     * Sets the minimum angle (radians) between the floor’s normal and the `up` vector before the\n     * character starts to slide down automatically.\n     */\n    public setMinSlopeSlideAngle(angle: number) {\n        this.raw.setMinSlopeSlideAngle(angle);\n    }\n\n    /**\n     * If snap-to-ground is enabled, should the character be automatically snapped to the ground if\n     * the distance between the ground and its feet are smaller than the specified threshold?\n     */\n    public snapToGroundDistance(): number | null {\n        return this.raw.snapToGroundDistance() ?? null;\n    }\n\n    /**\n     * Enables automatically snapping the character to the ground if the distance between\n     * the ground and its feet are smaller than the specified threshold.\n     */\n    public enableSnapToGround(distance: number) {\n        this.raw.enableSnapToGround(distance);\n    }\n\n    /**\n     * Disables automatically snapping the character to the ground.\n     */\n    public disableSnapToGround() {\n        this.raw.disableSnapToGround();\n    }\n\n    /**\n     * Is automatically snapping the character to the ground enabled?\n     */\n    public snapToGroundEnabled(): boolean {\n        return this.raw.snapToGroundEnabled();\n    }\n\n    /**\n     * Computes the movement the given collider is able to execute after hitting and sliding on obstacles.\n     *\n     * @param collider - The collider to move.\n     * @param desiredTranslationDelta - The desired collider movement.\n     * @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account.\n     * @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles\n     *                       taken into account.\n     * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the\n     *                          obstacles taken into account.\n     */\n    public computeColliderMovement(\n        collider: Collider,\n        desiredTranslationDelta: Vector,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        let rawTranslationDelta = VectorOps.intoRaw(desiredTranslationDelta);\n        this.raw.computeColliderMovement(\n            this.params.dt,\n            this.broadPhase.raw,\n            this.narrowPhase.raw,\n            this.bodies.raw,\n            this.colliders.raw,\n            collider.handle,\n            rawTranslationDelta,\n            this._applyImpulsesToDynamicBodies,\n            this._characterMass,\n            filterFlags ?? 0,\n            filterGroups,\n            this.colliders.castClosure(filterPredicate) as unknown as Function,\n        );\n        rawTranslationDelta.free();\n    }\n\n    /**\n     * The movement computed by the last call to `this.computeColliderMovement`.\n     */\n    public computedMovement(): Vector {\n        return VectorOps.fromRaw(this.raw.computedMovement())!;\n    }\n\n    /**\n     * The result of ground detection computed by the last call to `this.computeColliderMovement`.\n     */\n    public computedGrounded(): boolean {\n        return this.raw.computedGrounded();\n    }\n\n    /**\n     * The number of collisions against obstacles detected along the path of the last call\n     * to `this.computeColliderMovement`.\n     */\n    public numComputedCollisions(): number {\n        return this.raw.numComputedCollisions();\n    }\n\n    /**\n     * Returns the collision against one of the obstacles detected along the path of the last\n     * call to `this.computeColliderMovement`.\n     *\n     * @param i - The i-th collision will be returned.\n     * @param out - If this argument is set, it will be filled with the collision information.\n     */\n    public computedCollision(i: number, out?: CharacterCollision): CharacterCollision | null {\n        if (!this.raw.computedCollision(i, this.rawCharacterCollision)) {\n            return null;\n        } else {\n            let c = this.rawCharacterCollision;\n            out = out ?? new CharacterCollision();\n            out.translationDeltaApplied = VectorOps.fromRaw(c.translationDeltaApplied())!;\n            out.translationDeltaRemaining = VectorOps.fromRaw(c.translationDeltaRemaining())!;\n            out.toi = c.toi();\n            out.witness1 = VectorOps.fromRaw(c.worldWitness1())!;\n            out.witness2 = VectorOps.fromRaw(c.worldWitness2())!;\n            out.normal1 = VectorOps.fromRaw(c.worldNormal1())!;\n            out.normal2 = VectorOps.fromRaw(c.worldNormal2())!;\n            out.collider = this.colliders.get(c.handle());\n            return out;\n        }\n    }\n}\n","import {IntegrationParameters, RigidBody, RigidBodySet} from \"../dynamics\";\nimport {Rotation, RotationOps, Vector, VectorOps} from \"../math\";\nimport {RawPidController} from \"../raw\";\n\n// TODO: unify with the JointAxesMask\n/**\n * An enum representing the possible joint axes controlled by a PidController.\n * They can be ORed together, like:\n * PidAxesMask.LinX || PidAxesMask.LinY\n * to get a pid controller that only constraints the translational X and Y axes.\n *\n * Possible axes are:\n *\n * - `X`: X translation axis\n * - `Y`: Y translation axis\n * - `Z`: Z translation axis\n * - `AngX`: X angular rotation axis (3D only)\n * - `AngY`: Y angular rotation axis (3D only)\n * - `AngZ`: Z angular rotation axis\n */\nexport enum PidAxesMask {\n    None = 0,\n    LinX = 1 << 0,\n    LinY = 1 << 1,\n    LinZ = 1 << 2,\n    AngX = 1 << 3,\n    AngY = 1 << 4,\n    AngZ = 1 << 5,\n    AllLin = PidAxesMask.LinX | PidAxesMask.LinY | PidAxesMask.LinZ,\n    AllAng = PidAxesMask.AngX | PidAxesMask.AngY | PidAxesMask.AngZ,\n    All = PidAxesMask.AllLin | PidAxesMask.AllAng,\n}\n\n/**\n * A controller for controlling dynamic bodies using the\n * Proportional-Integral-Derivative correction model.\n */\nexport class PidController {\n    private raw: RawPidController;\n\n    private params: IntegrationParameters;\n    private bodies: RigidBodySet;\n\n    constructor(\n        params: IntegrationParameters,\n        bodies: RigidBodySet,\n        kp: number,\n        ki: number,\n        kd: number,\n        axes: PidAxesMask,\n    ) {\n        this.params = params;\n        this.bodies = bodies;\n        this.raw = new RawPidController(kp, ki, kd, axes);\n    }\n\n    /** @internal */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n\n        this.raw = undefined!;\n    }\n\n    public setKp(kp: number, axes: PidAxesMask) {\n        this.raw.set_kp(kp, axes);\n    }\n\n    public setKi(ki: number, axes: PidAxesMask) {\n        this.raw.set_kp(ki, axes);\n    }\n\n    public setKd(kd: number, axes: PidAxesMask) {\n        this.raw.set_kp(kd, axes);\n    }\n\n    public setAxes(axes: PidAxesMask) {\n        this.raw.set_axes_mask(axes);\n    }\n\n    public resetIntegrals() {\n        this.raw.reset_integrals();\n    }\n\n    public applyLinearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector) {\n        let rawPos = VectorOps.intoRaw(targetPosition);\n        let rawVel = VectorOps.intoRaw(targetLinvel);\n        this.raw.apply_linear_correction(\n            this.params.dt,\n            this.bodies.raw,\n            body.handle,\n            rawPos,\n            rawVel,\n        );\n        rawPos.free();\n        rawVel.free();\n    }\n\n    public applyAngularCorrection(body: RigidBody, targetRotation: Rotation, targetAngVel: Vector) {\n        let rawPos = RotationOps.intoRaw(targetRotation);\n        let rawVel = VectorOps.intoRaw(targetAngVel);\n        this.raw.apply_angular_correction(\n            this.params.dt,\n            this.bodies.raw,\n            body.handle,\n            rawPos,\n            rawVel,\n        );\n        rawPos.free();\n        rawVel.free();\n    }\n\n    public linearCorrection(body: RigidBody, targetPosition: Vector, targetLinvel: Vector): Vector {\n        let rawPos = VectorOps.intoRaw(targetPosition);\n        let rawVel = VectorOps.intoRaw(targetLinvel);\n        let correction = this.raw.linear_correction(\n            this.params.dt,\n            this.bodies.raw,\n            body.handle,\n            rawPos,\n            rawVel,\n        );\n        rawPos.free();\n        rawVel.free();\n\n        return VectorOps.fromRaw(correction)!;\n    }\n\n    public angularCorrection(\n        body: RigidBody,\n        targetRotation: Rotation,\n        targetAngVel: Vector,\n    ): Vector {\n        let rawPos = RotationOps.intoRaw(targetRotation);\n        let rawVel = VectorOps.intoRaw(targetAngVel);\n        let correction = this.raw.angular_correction(\n            this.params.dt,\n            this.bodies.raw,\n            body.handle,\n            rawPos,\n            rawVel,\n        );\n        rawPos.free();\n        rawVel.free();\n\n        return VectorOps.fromRaw(correction)!;\n    }\n}\n","import {RigidBody, RigidBodySet} from \"../dynamics\";\nimport {BroadPhase, Collider, ColliderSet, InteractionGroups, NarrowPhase} from \"../geometry\";\nimport {Vector, VectorOps} from \"../math\";\nimport {QueryFilterFlags} from \"../pipeline\";\nimport {RawDynamicRayCastVehicleController} from \"../raw\";\n\n/**\n * A character controller to simulate vehicles using ray-casting for the wheels.\n */\nexport class DynamicRayCastVehicleController {\n    private raw: RawDynamicRayCastVehicleController;\n    private broadPhase: BroadPhase;\n    private narrowPhase: NarrowPhase;\n    private bodies: RigidBodySet;\n    private colliders: ColliderSet;\n    private _chassis: RigidBody;\n\n    constructor(\n        chassis: RigidBody,\n        broadPhase: BroadPhase,\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n    ) {\n        this.raw = new RawDynamicRayCastVehicleController(chassis.handle);\n        this.broadPhase = broadPhase;\n        this.narrowPhase = narrowPhase;\n        this.bodies = bodies;\n        this.colliders = colliders;\n        this._chassis = chassis;\n    }\n\n    /** @internal */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n\n        this.raw = undefined!;\n    }\n\n    /**\n     * Updates the vehicle’s velocity based on its suspension, engine force, and brake.\n     *\n     * This directly updates the velocity of its chassis rigid-body.\n     *\n     * @param dt - Time increment used to integrate forces.\n     * @param filterFlags - Flag to exclude categories of objects from the wheels’ ray-cast.\n     * @param filterGroups - Only colliders compatible with these groups will be hit by the wheels’ ray-casts.\n     * @param filterPredicate - Callback to filter out which collider will be hit by the wheels’ ray-casts.\n     */\n    public updateVehicle(\n        dt: number,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        this.raw.update_vehicle(\n            dt,\n            this.broadPhase.raw,\n            this.narrowPhase.raw,\n            this.bodies.raw,\n            this.colliders.raw,\n            filterFlags ?? 0,\n            filterGroups,\n            this.colliders.castClosure(filterPredicate) as unknown as Function,\n        );\n    }\n\n    /**\n     * The current forward speed of the vehicle.\n     */\n    public currentVehicleSpeed(): number {\n        return this.raw.current_vehicle_speed();\n    }\n\n    /**\n     * The rigid-body used as the chassis.\n     */\n    public chassis(): RigidBody {\n        return this._chassis;\n    }\n\n    /**\n     * The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).\n     */\n    get indexUpAxis(): number {\n        return this.raw.index_up_axis();\n    }\n\n    /**\n     * Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).\n     */\n    set indexUpAxis(axis: number) {\n        this.raw.set_index_up_axis(axis);\n    }\n\n    /**\n     * The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).\n     */\n    get indexForwardAxis(): number {\n        return this.raw.index_forward_axis();\n    }\n\n    /**\n     * Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).\n     */\n    set setIndexForwardAxis(axis: number) {\n        this.raw.set_index_forward_axis(axis);\n    }\n\n    /**\n     * Adds a new wheel attached to this vehicle.\n     * @param chassisConnectionCs  - The position of the wheel relative to the chassis.\n     * @param directionCs - The direction of the wheel’s suspension, relative to the chassis. The ray-casting will\n     *                      happen following this direction to detect the ground.\n     * @param axleCs - The wheel’s axle axis, relative to the chassis.\n     * @param suspensionRestLength - The rest length of the wheel’s suspension spring.\n     * @param radius - The wheel’s radius.\n     */\n    public addWheel(\n        chassisConnectionCs: Vector,\n        directionCs: Vector,\n        axleCs: Vector,\n        suspensionRestLength: number,\n        radius: number,\n    ) {\n        let rawChassisConnectionCs = VectorOps.intoRaw(chassisConnectionCs);\n        let rawDirectionCs = VectorOps.intoRaw(directionCs);\n        let rawAxleCs = VectorOps.intoRaw(axleCs);\n\n        this.raw.add_wheel(\n            rawChassisConnectionCs,\n            rawDirectionCs,\n            rawAxleCs,\n            suspensionRestLength,\n            radius,\n        );\n\n        rawChassisConnectionCs.free();\n        rawDirectionCs.free();\n        rawAxleCs.free();\n    }\n\n    /**\n     * The number of wheels attached to this vehicle.\n     */\n    public numWheels(): number {\n        return this.raw.num_wheels();\n    }\n\n    /*\n     *\n     * Access to wheel properties.\n     *\n     */\n    /*\n     * Getters + setters\n     */\n    /**\n     * The position of the i-th wheel, relative to the chassis.\n     */\n    public wheelChassisConnectionPointCs(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i)!);\n    }\n\n    /**\n     * Sets the position of the i-th wheel, relative to the chassis.\n     */\n    public setWheelChassisConnectionPointCs(i: number, value: Vector) {\n        let rawValue = VectorOps.intoRaw(value);\n        this.raw.set_wheel_chassis_connection_point_cs(i, rawValue);\n        rawValue.free();\n    }\n\n    /**\n     * The rest length of the i-th wheel’s suspension spring.\n     */\n    public wheelSuspensionRestLength(i: number): number | null {\n        return this.raw.wheel_suspension_rest_length(i) ?? null;\n    }\n\n    /**\n     * Sets the rest length of the i-th wheel’s suspension spring.\n     */\n    public setWheelSuspensionRestLength(i: number, value: number) {\n        this.raw.set_wheel_suspension_rest_length(i, value);\n    }\n\n    /**\n     * The maximum distance the i-th wheel suspension can travel before and after its resting length.\n     */\n    public wheelMaxSuspensionTravel(i: number): number | null {\n        return this.raw.wheel_max_suspension_travel(i) ?? null;\n    }\n\n    /**\n     * Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.\n     */\n    public setWheelMaxSuspensionTravel(i: number, value: number) {\n        this.raw.set_wheel_max_suspension_travel(i, value);\n    }\n\n    /**\n     * The i-th wheel’s radius.\n     */\n    public wheelRadius(i: number): number | null {\n        return this.raw.wheel_radius(i) ?? null;\n    }\n\n    /**\n     * Sets the i-th wheel’s radius.\n     */\n    public setWheelRadius(i: number, value: number) {\n        this.raw.set_wheel_radius(i, value);\n    }\n\n    /**\n     * The i-th wheel’s suspension stiffness.\n     *\n     * Increase this value if the suspension appears to not push the vehicle strong enough.\n     */\n    public wheelSuspensionStiffness(i: number): number | null {\n        return this.raw.wheel_suspension_stiffness(i) ?? null;\n    }\n\n    /**\n     * Sets the i-th wheel’s suspension stiffness.\n     *\n     * Increase this value if the suspension appears to not push the vehicle strong enough.\n     */\n    public setWheelSuspensionStiffness(i: number, value: number) {\n        this.raw.set_wheel_suspension_stiffness(i, value);\n    }\n\n    /**\n     * The i-th wheel’s suspension’s damping when it is being compressed.\n     */\n    public wheelSuspensionCompression(i: number): number | null {\n        return this.raw.wheel_suspension_compression(i) ?? null;\n    }\n\n    /**\n     * The i-th wheel’s suspension’s damping when it is being compressed.\n     */\n    public setWheelSuspensionCompression(i: number, value: number) {\n        this.raw.set_wheel_suspension_compression(i, value);\n    }\n\n    /**\n     * The i-th wheel’s suspension’s damping when it is being released.\n     *\n     * Increase this value if the suspension appears to overshoot.\n     */\n    public wheelSuspensionRelaxation(i: number): number | null {\n        return this.raw.wheel_suspension_relaxation(i) ?? null;\n    }\n\n    /**\n     * Sets the i-th wheel’s suspension’s damping when it is being released.\n     *\n     * Increase this value if the suspension appears to overshoot.\n     */\n    public setWheelSuspensionRelaxation(i: number, value: number) {\n        this.raw.set_wheel_suspension_relaxation(i, value);\n    }\n\n    /**\n     * The maximum force applied by the i-th wheel’s suspension.\n     */\n    public wheelMaxSuspensionForce(i: number): number | null {\n        return this.raw.wheel_max_suspension_force(i) ?? null;\n    }\n\n    /**\n     * Sets the maximum force applied by the i-th wheel’s suspension.\n     */\n    public setWheelMaxSuspensionForce(i: number, value: number) {\n        this.raw.set_wheel_max_suspension_force(i, value);\n    }\n\n    /**\n     * The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.\n     */\n    public wheelBrake(i: number): number | null {\n        return this.raw.wheel_brake(i) ?? null;\n    }\n\n    /**\n     * Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.\n     */\n    public setWheelBrake(i: number, value: number) {\n        this.raw.set_wheel_brake(i, value);\n    }\n\n    /**\n     * The steering angle (radians) for the i-th wheel.\n     */\n    public wheelSteering(i: number): number | null {\n        return this.raw.wheel_steering(i) ?? null;\n    }\n\n    /**\n     * Sets the steering angle (radians) for the i-th wheel.\n     */\n    public setWheelSteering(i: number, value: number) {\n        this.raw.set_wheel_steering(i, value);\n    }\n\n    /**\n     * The forward force applied by the i-th wheel on the chassis.\n     */\n    public wheelEngineForce(i: number): number | null {\n        return this.raw.wheel_engine_force(i) ?? null;\n    }\n\n    /**\n     * Sets the forward force applied by the i-th wheel on the chassis.\n     */\n    public setWheelEngineForce(i: number, value: number) {\n        this.raw.set_wheel_engine_force(i, value);\n    }\n\n    /**\n     * The direction of the i-th wheel’s suspension, relative to the chassis.\n     *\n     * The ray-casting will happen following this direction to detect the ground.\n     */\n    public wheelDirectionCs(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_direction_cs(i)!);\n    }\n\n    /**\n     * Sets the direction of the i-th wheel’s suspension, relative to the chassis.\n     *\n     * The ray-casting will happen following this direction to detect the ground.\n     */\n    public setWheelDirectionCs(i: number, value: Vector) {\n        let rawValue = VectorOps.intoRaw(value);\n        this.raw.set_wheel_direction_cs(i, rawValue);\n        rawValue.free();\n    }\n\n    /**\n     * The i-th wheel’s axle axis, relative to the chassis.\n     *\n     * The axis index defined as 0 = X, 1 = Y, 2 = Z.\n     */\n    public wheelAxleCs(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_axle_cs(i)!);\n    }\n\n    /**\n     * Sets the i-th wheel’s axle axis, relative to the chassis.\n     *\n     * The axis index defined as 0 = X, 1 = Y, 2 = Z.\n     */\n    public setWheelAxleCs(i: number, value: Vector) {\n        let rawValue = VectorOps.intoRaw(value);\n        this.raw.set_wheel_axle_cs(i, rawValue);\n        rawValue.free();\n    }\n\n    /**\n     * Parameter controlling how much traction the tire has.\n     *\n     * The larger the value, the more instantaneous braking will happen (with the risk of\n     * causing the vehicle to flip if it’s too strong).\n     */\n    public wheelFrictionSlip(i: number): number | null {\n        return this.raw.wheel_friction_slip(i) ?? null;\n    }\n\n    /**\n     * Sets the parameter controlling how much traction the tire has.\n     *\n     * The larger the value, the more instantaneous braking will happen (with the risk of\n     * causing the vehicle to flip if it’s too strong).\n     */\n    public setWheelFrictionSlip(i: number, value: number) {\n        this.raw.set_wheel_friction_slip(i, value);\n    }\n\n    /**\n     * The multiplier of friction between a tire and the collider it’s on top of.\n     *\n     * The larger the value, the stronger side friction will be.\n     */\n    public wheelSideFrictionStiffness(i: number): number | null {\n        return this.raw.wheel_side_friction_stiffness(i) ?? null;\n    }\n\n    /**\n     * The multiplier of friction between a tire and the collider it’s on top of.\n     *\n     * The larger the value, the stronger side friction will be.\n     */\n    public setWheelSideFrictionStiffness(i: number, value: number) {\n        this.raw.set_wheel_side_friction_stiffness(i, value);\n    }\n\n    /*\n     * Getters only.\n     */\n\n    /**\n     *  The i-th wheel’s current rotation angle (radians) on its axle.\n     */\n    public wheelRotation(i: number): number | null {\n        return this.raw.wheel_rotation(i) ?? null;\n    }\n\n    /**\n     *  The forward impulses applied by the i-th wheel on the chassis.\n     */\n    public wheelForwardImpulse(i: number): number | null {\n        return this.raw.wheel_forward_impulse(i) ?? null;\n    }\n\n    /**\n     *  The side impulses applied by the i-th wheel on the chassis.\n     */\n    public wheelSideImpulse(i: number): number | null {\n        return this.raw.wheel_side_impulse(i) ?? null;\n    }\n\n    /**\n     *  The force applied by the i-th wheel suspension.\n     */\n    public wheelSuspensionForce(i: number): number | null {\n        return this.raw.wheel_suspension_force(i) ?? null;\n    }\n\n    /**\n     *  The (world-space) contact normal between the i-th wheel and the floor.\n     */\n    public wheelContactNormal(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i)!);\n    }\n\n    /**\n     *  The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.\n     */\n    public wheelContactPoint(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i)!);\n    }\n\n    /**\n     *  The suspension length for the i-th wheel.\n     */\n    public wheelSuspensionLength(i: number): number | null {\n        return this.raw.wheel_suspension_length(i) ?? null;\n    }\n\n    /**\n     *  The (world-space) starting point of the ray-cast for the i-th wheel.\n     */\n    public wheelHardPoint(i: number): Vector | null {\n        return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i)!);\n    }\n\n    /**\n     *  Is the i-th wheel in contact with the ground?\n     */\n    public wheelIsInContact(i: number): boolean {\n        return this.raw.wheel_is_in_contact(i);\n    }\n\n    /**\n     *  The collider hit by the ray-cast for the i-th wheel.\n     */\n    public wheelGroundObject(i: number): Collider | null {\n        return this.colliders.get(this.raw.wheel_ground_object(i)!);\n    }\n}\n","import {ImpulseJointSet, MultibodyJointSet, RigidBodySet} from \"../dynamics\";\nimport {Collider, ColliderSet, NarrowPhase} from \"../geometry\";\nimport {RawDebugRenderPipeline} from \"../raw\";\nimport {QueryFilterFlags} from \"./query_pipeline\";\n\n/**\n * The vertex and color buffers for debug-redering the physics scene.\n */\nexport class DebugRenderBuffers {\n    /**\n     * The lines to render. This is a flat array containing all the lines\n     * to render. Each line is described as two consecutive point. Each\n     * point is described as two (in 2D) or three (in 3D) consecutive\n     * floats. For example, in 2D, the array: `[1, 2, 3, 4, 5, 6, 7, 8]`\n     * describes the two segments `[[1, 2], [3, 4]]` and `[[5, 6], [7, 8]]`.\n     */\n    public vertices: Float32Array;\n    /**\n     * The color buffer. There is one color per vertex, and each color\n     * has four consecutive components (in RGBA format).\n     */\n    public colors: Float32Array;\n\n    constructor(vertices: Float32Array, colors: Float32Array) {\n        this.vertices = vertices;\n        this.colors = colors;\n    }\n}\n\n/**\n * A pipeline for rendering the physics scene.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `debugRenderPipeline.free()`\n * once you are done using it (and all the rigid-bodies it created).\n */\nexport class DebugRenderPipeline {\n    raw: RawDebugRenderPipeline;\n    public vertices!: Float32Array;\n    public colors!: Float32Array;\n\n    /**\n     * Release the WASM memory occupied by this serialization pipeline.\n     */\n    free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n        this.vertices = undefined!;\n        this.colors = undefined!;\n    }\n\n    constructor(raw?: RawDebugRenderPipeline) {\n        this.raw = raw || new RawDebugRenderPipeline();\n    }\n\n    public render(\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        impulse_joints: ImpulseJointSet,\n        multibody_joints: MultibodyJointSet,\n        narrow_phase: NarrowPhase,\n        filterFlags?: QueryFilterFlags,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        this.raw.render(\n            bodies.raw,\n            colliders.raw,\n            impulse_joints.raw,\n            multibody_joints.raw,\n            narrow_phase.raw,\n            filterFlags ?? 0,\n            colliders.castClosure(filterPredicate) as unknown as Function,\n        );\n        this.vertices = this.raw.vertices();\n        this.colors = this.raw.colors();\n    }\n}\n","import {\n    IntegrationParameters,\n    ImpulseJointSet,\n    MultibodyJointSet,\n    RigidBodySet,\n    CCDSolver,\n    IslandManager,\n} from \"../dynamics\";\nimport {BroadPhase, ColliderSet, NarrowPhase} from \"../geometry\";\nimport {Vector, VectorOps} from \"../math\";\nimport {RawPhysicsPipeline, RawVector} from \"../raw\";\nimport {EventQueue} from \"./event_queue\";\nimport {PhysicsHooks} from \"./physics_hooks\";\n\nexport class PhysicsPipeline {\n    raw: RawPhysicsPipeline;\n    private cachedGravity: RawVector | null = null;\n    private lastGravityX = 0;\n    private lastGravityY = 0;\n    private lastGravityZ = 0;\n\n    public free() {\n        if (this.cachedGravity) {\n            this.cachedGravity.free();\n            this.cachedGravity = null;\n        }\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined as unknown as RawPhysicsPipeline;\n    }\n\n    constructor(raw?: RawPhysicsPipeline) {\n        this.raw = raw || new RawPhysicsPipeline();\n    }\n\n    public step(\n        gravity: Vector,\n        integrationParameters: IntegrationParameters,\n        islands: IslandManager,\n        broadPhase: BroadPhase,\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        impulseJoints: ImpulseJointSet,\n        multibodyJoints: MultibodyJointSet,\n        ccdSolver: CCDSolver,\n        eventQueue?: EventQueue,\n        hooks?: PhysicsHooks,\n    ) {\n        if (\n            !this.cachedGravity ||\n            gravity.x !== this.lastGravityX ||\n            gravity.y !== this.lastGravityY ||\n            gravity.z !== this.lastGravityZ\n        ) {\n            this.cachedGravity?.free();\n            this.cachedGravity = VectorOps.intoRaw(gravity);\n            this.lastGravityX = gravity.x;\n            this.lastGravityY = gravity.y;\n            this.lastGravityZ = gravity.z;\n        }\n\n        if (!!eventQueue) {\n            this.raw.stepWithEvents(\n                this.cachedGravity,\n                integrationParameters.raw,\n                islands.raw,\n                broadPhase.raw,\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                impulseJoints.raw,\n                multibodyJoints.raw,\n                ccdSolver.raw,\n                eventQueue.raw,\n                hooks as object,\n                hooks?.filterContactPair as Function,\n                hooks?.filterIntersectionPair as Function,\n            );\n        } else {\n            this.raw.step(\n                this.cachedGravity,\n                integrationParameters.raw,\n                islands.raw,\n                broadPhase.raw,\n                narrowPhase.raw,\n                bodies.raw,\n                colliders.raw,\n                impulseJoints.raw,\n                multibodyJoints.raw,\n                ccdSolver.raw,\n            );\n        }\n    }\n}\n","import {\n    IntegrationParameters,\n    IslandManager,\n    ImpulseJointSet,\n    MultibodyJointSet,\n    RigidBodySet,\n} from \"../dynamics\";\nimport {BroadPhase, ColliderSet, NarrowPhase} from \"../geometry\";\nimport {Vector, VectorOps} from \"../math\";\nimport {RawSerializationPipeline} from \"../raw\";\nimport {World} from \"./world\";\n\n/**\n * A pipeline for serializing the physics scene.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `serializationPipeline.free()`\n * once you are done using it (and all the rigid-bodies it created).\n */\nexport class SerializationPipeline {\n    raw: RawSerializationPipeline;\n\n    /**\n     * Release the WASM memory occupied by this serialization pipeline.\n     */\n    free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    constructor(raw?: RawSerializationPipeline) {\n        this.raw = raw || new RawSerializationPipeline();\n    }\n\n    /**\n     * Serialize a complete physics state into a single byte array.\n     * @param gravity - The current gravity affecting the simulation.\n     * @param integrationParameters - The integration parameters of the simulation.\n     * @param broadPhase - The broad-phase of the simulation.\n     * @param narrowPhase - The narrow-phase of the simulation.\n     * @param bodies - The rigid-bodies taking part into the simulation.\n     * @param colliders - The colliders taking part into the simulation.\n     * @param impulseJoints - The impulse joints taking part into the simulation.\n     * @param multibodyJoints - The multibody joints taking part into the simulation.\n     */\n    public serializeAll(\n        gravity: Vector,\n        integrationParameters: IntegrationParameters,\n        islands: IslandManager,\n        broadPhase: BroadPhase,\n        narrowPhase: NarrowPhase,\n        bodies: RigidBodySet,\n        colliders: ColliderSet,\n        impulseJoints: ImpulseJointSet,\n        multibodyJoints: MultibodyJointSet,\n    ): Uint8Array {\n        let rawGra = VectorOps.intoRaw(gravity);\n\n        const res = this.raw.serializeAll(\n            rawGra,\n            integrationParameters.raw,\n            islands.raw,\n            broadPhase.raw,\n            narrowPhase.raw,\n            bodies.raw,\n            colliders.raw,\n            impulseJoints.raw,\n            multibodyJoints.raw,\n        );\n        rawGra.free();\n\n        return res!;\n    }\n\n    /**\n     * Deserialize the complete physics state from a single byte array.\n     *\n     * @param data - The byte array to deserialize.\n     */\n    public deserializeAll(data: Uint8Array): World | null {\n        return World.fromRaw(this.raw.deserializeAll(data)!);\n    }\n}\n","import {KinematicCharacterController, PidAxesMask, PidController} from \"../control\";\nimport {DynamicRayCastVehicleController} from \"../control\";\nimport {\n    CCDSolver,\n    IntegrationParameters,\n    IslandManager,\n    ImpulseJoint,\n    ImpulseJointHandle,\n    MultibodyJoint,\n    MultibodyJointHandle,\n    JointData,\n    ImpulseJointSet,\n    MultibodyJointSet,\n    RigidBody,\n    RigidBodyDesc,\n    RigidBodyHandle,\n    RigidBodySet,\n} from \"../dynamics\";\nimport {\n    BroadPhase,\n    Collider,\n    ColliderDesc,\n    ColliderHandle,\n    ColliderSet,\n    InteractionGroups,\n    NarrowPhase,\n    PointColliderProjection,\n    Ray,\n    RayColliderIntersection,\n    RayColliderHit,\n    Shape,\n    ColliderShapeCastHit,\n    TempContactManifold,\n} from \"../geometry\";\nimport {Rotation, Vector, VectorOps} from \"../math\";\nimport {\n    RawBroadPhase,\n    RawCCDSolver,\n    RawColliderSet,\n    RawDeserializedWorld,\n    RawIntegrationParameters,\n    RawIslandManager,\n    RawImpulseJointSet,\n    RawMultibodyJointSet,\n    RawNarrowPhase,\n    RawPhysicsPipeline,\n    RawRigidBodySet,\n    RawSerializationPipeline,\n    RawDebugRenderPipeline,\n} from \"../raw\";\nimport {DebugRenderBuffers, DebugRenderPipeline} from \"./debug_render_pipeline\";\nimport {EventQueue} from \"./event_queue\";\nimport {PhysicsHooks} from \"./physics_hooks\";\nimport {PhysicsPipeline} from \"./physics_pipeline\";\nimport {QueryFilterFlags} from \"./query_pipeline\";\nimport {SerializationPipeline} from \"./serialization_pipeline\";\n\n/**\n * The physics world.\n *\n * This contains all the data-structures necessary for creating and simulating\n * bodies with contacts, joints, and external forces.\n */\nexport class World {\n    public gravity: Vector;\n    integrationParameters: IntegrationParameters;\n    islands: IslandManager;\n    broadPhase: BroadPhase;\n    narrowPhase: NarrowPhase;\n    bodies: RigidBodySet;\n    colliders: ColliderSet;\n    impulseJoints: ImpulseJointSet;\n    multibodyJoints: MultibodyJointSet;\n    ccdSolver: CCDSolver;\n    physicsPipeline: PhysicsPipeline;\n    serializationPipeline: SerializationPipeline;\n    debugRenderPipeline: DebugRenderPipeline;\n    characterControllers: Set<KinematicCharacterController>;\n    pidControllers: Set<PidController>;\n\n    vehicleControllers: Set<DynamicRayCastVehicleController>;\n\n    /**\n     * Release the WASM memory occupied by this physics world.\n     *\n     * All the fields of this physics world will be freed as well,\n     * so there is no need to call their `.free()` methods individually.\n     */\n    public free() {\n        this.integrationParameters.free();\n        this.islands.free();\n        this.broadPhase.free();\n        this.narrowPhase.free();\n        this.bodies.free();\n        this.colliders.free();\n        this.impulseJoints.free();\n        this.multibodyJoints.free();\n        this.ccdSolver.free();\n        this.physicsPipeline.free();\n        this.serializationPipeline.free();\n        this.debugRenderPipeline.free();\n        this.characterControllers.forEach((controller) => controller.free());\n        this.pidControllers.forEach((controller) => controller.free());\n\n        this.vehicleControllers.forEach((controller) => controller.free());\n\n        this.integrationParameters = undefined!;\n        this.islands = undefined!;\n        this.broadPhase = undefined!;\n        this.narrowPhase = undefined!;\n        this.bodies = undefined!;\n        this.colliders = undefined!;\n        this.ccdSolver = undefined!;\n        this.impulseJoints = undefined!;\n        this.multibodyJoints = undefined!;\n        this.physicsPipeline = undefined!;\n        this.serializationPipeline = undefined!;\n        this.debugRenderPipeline = undefined!;\n        this.characterControllers = undefined!;\n        this.pidControllers = undefined!;\n\n        this.vehicleControllers = undefined!;\n    }\n\n    constructor(\n        gravity: Vector,\n        rawIntegrationParameters?: RawIntegrationParameters,\n        rawIslands?: RawIslandManager,\n        rawBroadPhase?: RawBroadPhase,\n        rawNarrowPhase?: RawNarrowPhase,\n        rawBodies?: RawRigidBodySet,\n        rawColliders?: RawColliderSet,\n        rawImpulseJoints?: RawImpulseJointSet,\n        rawMultibodyJoints?: RawMultibodyJointSet,\n        rawCCDSolver?: RawCCDSolver,\n        rawPhysicsPipeline?: RawPhysicsPipeline,\n        rawSerializationPipeline?: RawSerializationPipeline,\n        rawDebugRenderPipeline?: RawDebugRenderPipeline,\n    ) {\n        this.gravity = gravity;\n        this.integrationParameters = new IntegrationParameters(rawIntegrationParameters);\n        this.islands = new IslandManager(rawIslands);\n        this.broadPhase = new BroadPhase(rawBroadPhase);\n        this.narrowPhase = new NarrowPhase(rawNarrowPhase);\n        this.bodies = new RigidBodySet(rawBodies);\n        this.colliders = new ColliderSet(rawColliders);\n        this.impulseJoints = new ImpulseJointSet(rawImpulseJoints);\n        this.multibodyJoints = new MultibodyJointSet(rawMultibodyJoints);\n        this.ccdSolver = new CCDSolver(rawCCDSolver);\n        this.physicsPipeline = new PhysicsPipeline(rawPhysicsPipeline);\n        this.serializationPipeline = new SerializationPipeline(rawSerializationPipeline);\n        this.debugRenderPipeline = new DebugRenderPipeline(rawDebugRenderPipeline);\n        this.characterControllers = new Set<KinematicCharacterController>();\n        this.pidControllers = new Set<PidController>();\n\n        this.vehicleControllers = new Set<DynamicRayCastVehicleController>();\n\n        this.impulseJoints.finalizeDeserialization(this.bodies);\n        this.bodies.finalizeDeserialization(this.colliders);\n        this.colliders.finalizeDeserialization(this.bodies);\n    }\n\n    public static fromRaw(raw: RawDeserializedWorld): World | null {\n        if (!raw) return null;\n\n        return new World(\n            VectorOps.fromRaw(raw.takeGravity()!)!,\n            raw.takeIntegrationParameters(),\n            raw.takeIslandManager(),\n            raw.takeBroadPhase(),\n            raw.takeNarrowPhase(),\n            raw.takeBodies(),\n            raw.takeColliders(),\n            raw.takeImpulseJoints(),\n            raw.takeMultibodyJoints(),\n        );\n    }\n\n    /**\n     * Takes a snapshot of this world.\n     *\n     * Use `World.restoreSnapshot` to create a new physics world with a state identical to\n     * the state when `.takeSnapshot()` is called.\n     */\n    public takeSnapshot(): Uint8Array {\n        return this.serializationPipeline.serializeAll(\n            this.gravity,\n            this.integrationParameters,\n            this.islands,\n            this.broadPhase,\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            this.impulseJoints,\n            this.multibodyJoints,\n        );\n    }\n\n    /**\n     * Creates a new physics world from a snapshot.\n     *\n     * This new physics world will be an identical copy of the snapshoted physics world.\n     */\n    public static restoreSnapshot(data: Uint8Array): World | null {\n        let deser = new SerializationPipeline();\n        return deser.deserializeAll(data);\n    }\n\n    /**\n     * Computes all the lines (and their colors) needed to render the scene.\n     *\n     * @param filterFlags - Flags for excluding whole subsets of colliders from rendering.\n     * @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the\n     *                          debug rendering.\n     */\n    public debugRender(\n        filterFlags?: QueryFilterFlags,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): DebugRenderBuffers {\n        this.debugRenderPipeline.render(\n            this.bodies,\n            this.colliders,\n            this.impulseJoints,\n            this.multibodyJoints,\n            this.narrowPhase,\n            filterFlags,\n            filterPredicate,\n        );\n        return new DebugRenderBuffers(\n            this.debugRenderPipeline.vertices,\n            this.debugRenderPipeline.colors,\n        );\n    }\n\n    /**\n     * Advance the simulation by one time step.\n     *\n     * All events generated by the physics engine are ignored.\n     *\n     * @param EventQueue - (optional) structure responsible for collecting\n     *   events generated by the physics engine.\n     */\n    public step(eventQueue?: EventQueue, hooks?: PhysicsHooks) {\n        this.physicsPipeline.step(\n            this.gravity,\n            this.integrationParameters,\n            this.islands,\n            this.broadPhase,\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            this.impulseJoints,\n            this.multibodyJoints,\n            this.ccdSolver,\n            eventQueue,\n            hooks,\n        );\n    }\n\n    /**\n     * Update colliders positions after rigid-bodies moved.\n     *\n     * When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is\n     * generally automatically done at the beginning and the end of each simulation step with World.step.\n     * If the positions need to be updated without running a simulation step this method can be called manually.\n     */\n    public propagateModifiedBodyPositionsToColliders() {\n        this.bodies.raw.propagateModifiedBodyPositionsToColliders(this.colliders.raw);\n    }\n\n    // TODO: This needs to trigger a broad-phase update but without emitting collision events?\n    // /**\n    //  * Ensure subsequent scene queries take into account the collider positions set before this method is called.\n    //  *\n    //  * This does not step the physics simulation forward.\n    //  */\n    // public updateSceneQueries() {\n    //     this.propagateModifiedBodyPositionsToColliders();\n    //     this.queryPipeline.update(this.colliders);\n    // }\n\n    /**\n     * The current simulation timestep.\n     */\n    get timestep(): number {\n        return this.integrationParameters.dt;\n    }\n\n    /**\n     * Sets the new simulation timestep.\n     *\n     * The simulation timestep governs by how much the physics state of the world will\n     * be integrated. A simulation timestep should:\n     * - be as small as possible. Typical values evolve around 0.016 (assuming the chosen unit is milliseconds,\n     * corresponds to the time between two frames of a game running at 60FPS).\n     * - not vary too much during the course of the simulation. A timestep with large variations may\n     * cause instabilities in the simulation.\n     *\n     * @param dt - The timestep length, in seconds.\n     */\n    set timestep(dt: number) {\n        this.integrationParameters.dt = dt;\n    }\n\n    /**\n     * The approximate size of most dynamic objects in the scene.\n     *\n     * See the documentation of the `World.lengthUnit` setter for further details.\n     */\n    get lengthUnit(): number {\n        return this.integrationParameters.lengthUnit;\n    }\n\n    /**\n     * The approximate size of most dynamic objects in the scene.\n     *\n     * This value is used internally to estimate some length-based tolerance. In particular, the\n     * values `IntegrationParameters.allowedLinearError`,\n     * `IntegrationParameters.maxPenetrationCorrection`,\n     * `IntegrationParameters.predictionDistance`, `RigidBodyActivation.linearThreshold`\n     * are scaled by this value implicitly.\n     *\n     * This value can be understood as the number of units-per-meter in your physical world compared\n     * to a human-sized world in meter. For example, in a 2d game, if your typical object size is 100\n     * pixels, set the `[`Self::length_unit`]` parameter to 100.0. The physics engine will interpret\n     * it as if 100 pixels is equivalent to 1 meter in its various internal threshold.\n     * (default `1.0`).\n     */\n    set lengthUnit(unitsPerMeter: number) {\n        this.integrationParameters.lengthUnit = unitsPerMeter;\n    }\n\n    /**\n     * The number of solver iterations run by the constraints solver for calculating forces (default: `4`).\n     */\n    get numSolverIterations(): number {\n        return this.integrationParameters.numSolverIterations;\n    }\n\n    /**\n     * Sets the number of solver iterations run by the constraints solver for calculating forces (default: `4`).\n     *\n     * The greater this value is, the most rigid and realistic the physics simulation will be.\n     * However a greater number of iterations is more computationally intensive.\n     *\n     * @param niter - The new number of solver iterations.\n     */\n    set numSolverIterations(niter: number) {\n        this.integrationParameters.numSolverIterations = niter;\n    }\n\n    /**\n     * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).\n     */\n    get numInternalPgsIterations(): number {\n        return this.integrationParameters.numInternalPgsIterations;\n    }\n\n    /**\n     * Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).\n     *\n     * Increasing this parameter will improve stability of the simulation. It will have a lesser effect than\n     * increasing `numSolverIterations` but is also less computationally expensive.\n     *\n     * @param niter - The new number of internal PGS iterations.\n     */\n    set numInternalPgsIterations(niter: number) {\n        this.integrationParameters.numInternalPgsIterations = niter;\n    }\n\n    /**\n     * The number of substeps continuous collision-detection can run (default: `1`).\n     */\n    get maxCcdSubsteps(): number {\n        return this.integrationParameters.maxCcdSubsteps;\n    }\n\n    /**\n     * Sets the number of substeps continuous collision-detection can run (default: `1`).\n     *\n     * CCD operates using a \"motion clamping\" mechanism where all fast-moving object trajectories will\n     * be truncated to their first impact on their path. The number of CCD substeps beyond 1 indicate how\n     * many times that trajectory will be updated and continued after a hit. This can results in smoother\n     * paths, but at a significant computational cost.\n     *\n     * @param niter - The new maximum number of CCD substeps. Setting to `0` disables CCD entirely.\n     */\n    set maxCcdSubsteps(substeps: number) {\n        this.integrationParameters.maxCcdSubsteps = substeps;\n    }\n\n    /**\n     * Creates a new rigid-body from the given rigid-body descriptor.\n     *\n     * @param body - The description of the rigid-body to create.\n     */\n    public createRigidBody(body: RigidBodyDesc): RigidBody {\n        return this.bodies.createRigidBody(this.colliders, body);\n    }\n\n    /**\n     * Creates a new character controller.\n     *\n     * @param offset - The artificial gap added between the character’s chape and its environment.\n     */\n    public createCharacterController(offset: number): KinematicCharacterController {\n        let controller = new KinematicCharacterController(\n            offset,\n            this.integrationParameters,\n            this.broadPhase,\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n        );\n        this.characterControllers.add(controller);\n        return controller;\n    }\n\n    /**\n     * Removes a character controller from this world.\n     *\n     * @param controller - The character controller to remove.\n     */\n    public removeCharacterController(controller: KinematicCharacterController) {\n        this.characterControllers.delete(controller);\n        controller.free();\n    }\n\n    /**\n     * Creates a new PID (Proportional-Integral-Derivative) controller.\n     *\n     * @param kp - The Proportional gain applied to the instantaneous linear position errors.\n     *             This is usually set to a multiple of the inverse of simulation step time\n     *             (e.g. `60` if the delta-time is `1.0 / 60.0`).\n     * @param ki - The linear gain applied to the Integral part of the PID controller.\n     * @param kd - The Derivative gain applied to the instantaneous linear velocity errors.\n     *             This is usually set to a value in `[0.0, 1.0]` where `0.0` implies no damping\n     *             (no correction of velocity errors) and `1.0` implies complete damping (velocity errors\n     *             are corrected in a single simulation step).\n     * @param axes - The axes affected by this controller.\n     *               Only coordinate axes with a bit flags set to `true` will be taken into\n     *               account when calculating the errors and corrections.\n     */\n    public createPidController(\n        kp: number,\n        ki: number,\n        kd: number,\n        axes: PidAxesMask,\n    ): PidController {\n        let controller = new PidController(\n            this.integrationParameters,\n            this.bodies,\n            kp,\n            ki,\n            kd,\n            axes,\n        );\n        this.pidControllers.add(controller);\n        return controller;\n    }\n\n    /**\n     * Removes a PID controller from this world.\n     *\n     * @param controller - The PID controller to remove.\n     */\n    public removePidController(controller: PidController) {\n        this.pidControllers.delete(controller);\n        controller.free();\n    }\n\n    /**\n     * Creates a new vehicle controller.\n     *\n     * @param chassis - The rigid-body used as the chassis of the vehicle controller. When the vehicle\n     *                  controller is updated, it will change directly the rigid-body’s velocity. This\n     *                  rigid-body must be a dynamic or kinematic-velocity-based rigid-body.\n     */\n    public createVehicleController(chassis: RigidBody): DynamicRayCastVehicleController {\n        let controller = new DynamicRayCastVehicleController(\n            chassis,\n            this.broadPhase,\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n        );\n        this.vehicleControllers.add(controller);\n        return controller;\n    }\n\n    /**\n     * Removes a vehicle controller from this world.\n     *\n     * @param controller - The vehicle controller to remove.\n     */\n    public removeVehicleController(controller: DynamicRayCastVehicleController) {\n        this.vehicleControllers.delete(controller);\n        controller.free();\n    }\n\n    /**\n     * Creates a new collider.\n     *\n     * @param desc - The description of the collider.\n     * @param parent - The rigid-body this collider is attached to.\n     */\n    public createCollider(desc: ColliderDesc, parent?: RigidBody): Collider {\n        let parentHandle = parent ? parent.handle : undefined;\n        return this.colliders.createCollider(this.bodies, desc, parentHandle);\n    }\n\n    /**\n     * Creates a new impulse joint from the given joint descriptor.\n     *\n     * @param params - The description of the joint to create.\n     * @param parent1 - The first rigid-body attached to this joint.\n     * @param parent2 - The second rigid-body attached to this joint.\n     * @param wakeUp - Should the attached rigid-bodies be awakened?\n     */\n    public createImpulseJoint(\n        params: JointData,\n        parent1: RigidBody,\n        parent2: RigidBody,\n        wakeUp: boolean,\n    ): ImpulseJoint {\n        return this.impulseJoints.createJoint(\n            this.bodies,\n            params,\n            parent1.handle,\n            parent2.handle,\n            wakeUp,\n        );\n    }\n\n    /**\n     * Creates a new multibody joint from the given joint descriptor.\n     *\n     * @param params - The description of the joint to create.\n     * @param parent1 - The first rigid-body attached to this joint.\n     * @param parent2 - The second rigid-body attached to this joint.\n     * @param wakeUp - Should the attached rigid-bodies be awakened?\n     */\n    public createMultibodyJoint(\n        params: JointData,\n        parent1: RigidBody,\n        parent2: RigidBody,\n        wakeUp: boolean,\n    ): MultibodyJoint {\n        return this.multibodyJoints.createJoint(params, parent1.handle, parent2.handle, wakeUp);\n    }\n\n    /**\n     * Retrieves a rigid-body from its handle.\n     *\n     * @param handle - The integer handle of the rigid-body to retrieve.\n     */\n    public getRigidBody(handle: RigidBodyHandle): RigidBody | null {\n        return this.bodies.get(handle);\n    }\n\n    /**\n     * Retrieves a collider from its handle.\n     *\n     * @param handle - The integer handle of the collider to retrieve.\n     */\n    public getCollider(handle: ColliderHandle): Collider | null {\n        return this.colliders.get(handle);\n    }\n\n    /**\n     * Retrieves an impulse joint from its handle.\n     *\n     * @param handle - The integer handle of the impulse joint to retrieve.\n     */\n    public getImpulseJoint(handle: ImpulseJointHandle): ImpulseJoint | null {\n        return this.impulseJoints.get(handle);\n    }\n\n    /**\n     * Retrieves an multibody joint from its handle.\n     *\n     * @param handle - The integer handle of the multibody joint to retrieve.\n     */\n    public getMultibodyJoint(handle: MultibodyJointHandle): MultibodyJoint | null {\n        return this.multibodyJoints.get(handle);\n    }\n\n    /**\n     * Removes the given rigid-body from this physics world.\n     *\n     * This will remove this rigid-body as well as all its attached colliders and joints.\n     * Every other bodies touching or attached by joints to this rigid-body will be woken-up.\n     *\n     * @param body - The rigid-body to remove.\n     */\n    public removeRigidBody(body: RigidBody) {\n        if (this.bodies) {\n            this.bodies.remove(\n                body.handle,\n                this.islands,\n                this.colliders,\n                this.impulseJoints,\n                this.multibodyJoints,\n            );\n        }\n    }\n\n    /**\n     * Removes the given collider from this physics world.\n     *\n     * @param collider - The collider to remove.\n     * @param wakeUp - If set to `true`, the rigid-body this collider is attached to will be awaken.\n     */\n    public removeCollider(collider: Collider, wakeUp: boolean) {\n        if (this.colliders) {\n            this.colliders.remove(collider.handle, this.islands, this.bodies, wakeUp);\n        }\n    }\n\n    /**\n     * Removes the given impulse joint from this physics world.\n     *\n     * @param joint - The impulse joint to remove.\n     * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.\n     */\n    public removeImpulseJoint(joint: ImpulseJoint, wakeUp: boolean) {\n        if (this.impulseJoints) {\n            this.impulseJoints.remove(joint.handle, wakeUp);\n        }\n    }\n\n    /**\n     * Removes the given multibody joint from this physics world.\n     *\n     * @param joint - The multibody joint to remove.\n     * @param wakeUp - If set to `true`, the rigid-bodies attached by this joint will be awaken.\n     */\n    public removeMultibodyJoint(joint: MultibodyJoint, wakeUp: boolean) {\n        if (this.impulseJoints) {\n            this.multibodyJoints.remove(joint.handle, wakeUp);\n        }\n    }\n\n    /**\n     * Applies the given closure to each collider managed by this physics world.\n     *\n     * @param f(collider) - The function to apply to each collider managed by this physics world. Called as `f(collider)`.\n     */\n    public forEachCollider(f: (collider: Collider) => void) {\n        this.colliders.forEach(f);\n    }\n\n    /**\n     * Applies the given closure to each rigid-body managed by this physics world.\n     *\n     * @param f(body) - The function to apply to each rigid-body managed by this physics world. Called as `f(collider)`.\n     */\n    public forEachRigidBody(f: (body: RigidBody) => void) {\n        this.bodies.forEach(f);\n    }\n\n    /**\n     * Applies the given closure to each active rigid-body managed by this physics world.\n     *\n     * After a short time of inactivity, a rigid-body is automatically deactivated (\"asleep\") by\n     * the physics engine in order to save computational power. A sleeping rigid-body never moves\n     * unless it is moved manually by the user.\n     *\n     * @param f - The function to apply to each active rigid-body managed by this physics world. Called as `f(collider)`.\n     */\n    public forEachActiveRigidBody(f: (body: RigidBody) => void) {\n        this.bodies.forEachActiveRigidBody(this.islands, f);\n    }\n\n    /**\n     * Find the closest intersection between a ray and the physics world.\n     *\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     * @param filter - The callback to filter out which collider will be hit.\n     */\n    public castRay(\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): RayColliderHit | null {\n        return this.broadPhase.castRay(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            ray,\n            maxToi,\n            solid,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Find the closest intersection between a ray and the physics world.\n     *\n     * This also computes the normal at the hit point.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     */\n    public castRayAndGetNormal(\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): RayColliderIntersection | null {\n        return this.broadPhase.castRayAndGetNormal(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            ray,\n            maxToi,\n            solid,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Cast a ray and collects all the intersections between a ray and the scene.\n     *\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @param groups - Used to filter the colliders that can or cannot be hit by the ray.\n     * @param callback - The callback called once per hit (in no particular order) between a ray and a collider.\n     *   If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.\n     */\n    public intersectionsWithRay(\n        ray: Ray,\n        maxToi: number,\n        solid: boolean,\n        callback: (intersect: RayColliderIntersection) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        this.broadPhase.intersectionsWithRay(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            ray,\n            maxToi,\n            solid,\n            callback,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Gets the handle of up to one collider intersecting the given shape.\n     *\n     * @param shapePos - The position of the shape used for the intersection test.\n     * @param shapeRot - The orientation of the shape used for the intersection test.\n     * @param shape - The shape used for the intersection test.\n     * @param groups - The bit groups and filter associated to the ray, in order to only\n     *   hit the colliders with collision groups compatible with the ray's group.\n     */\n    public intersectionWithShape(\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shape: Shape,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): Collider | null {\n        let handle = this.broadPhase.intersectionWithShape(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            shapePos,\n            shapeRot,\n            shape,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n        return handle != null ? this.colliders.get(handle) : null;\n    }\n\n    /**\n     * Find the projection of a point on the closest collider.\n     *\n     * @param point - The point to project.\n     * @param solid - If this is set to `true` then the collider shapes are considered to\n     *   be plain (if the point is located inside of a plain shape, its projection is the point\n     *   itself). If it is set to `false` the collider shapes are considered to be hollow\n     *   (if the point is located inside of an hollow shape, it is projected on the shape's\n     *   boundary).\n     * @param groups - The bit groups and filter associated to the point to project, in order to only\n     *   project on colliders with collision groups compatible with the ray's group.\n     */\n    public projectPoint(\n        point: Vector,\n        solid: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): PointColliderProjection | null {\n        return this.broadPhase.projectPoint(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            point,\n            solid,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Find the projection of a point on the closest collider.\n     *\n     * @param point - The point to project.\n     * @param groups - The bit groups and filter associated to the point to project, in order to only\n     *   project on colliders with collision groups compatible with the ray's group.\n     */\n    public projectPointAndGetFeature(\n        point: Vector,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): PointColliderProjection | null {\n        return this.broadPhase.projectPointAndGetFeature(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            point,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Find all the colliders containing the given point.\n     *\n     * @param point - The point used for the containment test.\n     * @param groups - The bit groups and filter associated to the point to test, in order to only\n     *   test on colliders with collision groups compatible with the ray's group.\n     * @param callback - A function called with the handles of each collider with a shape\n     *   containing the `point`.\n     */\n    public intersectionsWithPoint(\n        point: Vector,\n        callback: (handle: Collider) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        this.broadPhase.intersectionsWithPoint(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            point,\n            this.colliders.castClosure(callback)!,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Casts a shape at a constant linear velocity and retrieve the first collider it hits.\n     * This is similar to ray-casting except that we are casting a whole shape instead of\n     * just a point (the ray origin).\n     *\n     * @param shapePos - The initial position of the shape to cast.\n     * @param shapeRot - The initial rotation of the shape to cast.\n     * @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).\n     * @param shape - The shape to cast.\n     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit\n     *                         will be returned.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.\n     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if\n     *   the shape is penetrating another shape at its starting point **and** its trajectory is such\n     *   that it’s on a path to exit that penetration state.\n     * @param groups - The bit groups and filter associated to the shape to cast, in order to only\n     *   test on colliders with collision groups compatible with this group.\n     */\n    public castShape(\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shapeVel: Vector,\n        shape: Shape,\n        targetDistance: number,\n        maxToi: number,\n        stopAtPenetration: boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ): ColliderShapeCastHit | null {\n        return this.broadPhase.castShape(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            shapePos,\n            shapeRot,\n            shapeVel,\n            shape,\n            targetDistance,\n            maxToi,\n            stopAtPenetration,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Retrieve all the colliders intersecting the given shape.\n     *\n     * @param shapePos - The position of the shape to test.\n     * @param shapeRot - The orientation of the shape to test.\n     * @param shape - The shape to test.\n     * @param groups - The bit groups and filter associated to the shape to test, in order to only\n     *   test on colliders with collision groups compatible with this group.\n     * @param callback - A function called with the handles of each collider intersecting the `shape`.\n     */\n    public intersectionsWithShape(\n        shapePos: Vector,\n        shapeRot: Rotation,\n        shape: Shape,\n        callback: (collider: Collider) => boolean,\n        filterFlags?: QueryFilterFlags,\n        filterGroups?: InteractionGroups,\n        filterExcludeCollider?: Collider,\n        filterExcludeRigidBody?: RigidBody,\n        filterPredicate?: (collider: Collider) => boolean,\n    ) {\n        this.broadPhase.intersectionsWithShape(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            shapePos,\n            shapeRot,\n            shape,\n            this.colliders.castClosure(callback)!,\n            filterFlags,\n            filterGroups,\n            filterExcludeCollider?.handle,\n            filterExcludeRigidBody?.handle,\n            this.colliders.castClosure(filterPredicate),\n        );\n    }\n\n    /**\n     * Finds the handles of all the colliders with an AABB intersecting the given AABB.\n     *\n     * @param aabbCenter - The center of the AABB to test.\n     * @param aabbHalfExtents - The half-extents of the AABB to test.\n     * @param callback - The callback that will be called with the handles of all the colliders\n     *                   currently intersecting the given AABB.\n     */\n    public collidersWithAabbIntersectingAabb(\n        aabbCenter: Vector,\n        aabbHalfExtents: Vector,\n        callback: (handle: Collider) => boolean,\n    ) {\n        this.broadPhase.collidersWithAabbIntersectingAabb(\n            this.narrowPhase,\n            this.bodies,\n            this.colliders,\n            aabbCenter,\n            aabbHalfExtents,\n            this.colliders.castClosure(callback)!,\n        );\n    }\n\n    /**\n     * Enumerates all the colliders potentially in contact with the given collider.\n     *\n     * @param collider1 - The second collider involved in the contact.\n     * @param f - Closure that will be called on each collider that is in contact with `collider1`.\n     */\n    public contactPairsWith(collider1: Collider, f: (collider2: Collider) => void) {\n        this.narrowPhase.contactPairsWith(collider1.handle, this.colliders.castClosure(f)!);\n    }\n\n    /**\n     * Enumerates all the colliders intersecting the given colliders, assuming one of them\n     * is a sensor.\n     */\n    public intersectionPairsWith(collider1: Collider, f: (collider2: Collider) => void) {\n        this.narrowPhase.intersectionPairsWith(collider1.handle, this.colliders.castClosure(f)!);\n    }\n\n    /**\n     * Iterates through all the contact manifolds between the given pair of colliders.\n     *\n     * @param collider1 - The first collider involved in the contact.\n     * @param collider2 - The second collider involved in the contact.\n     * @param f - Closure that will be called on each contact manifold between the two colliders. If the second argument\n     *            passed to this closure is `true`, then the contact manifold data is flipped, i.e., methods like `localNormal1`\n     *            actually apply to the `collider2` and fields like `localNormal2` apply to the `collider1`.\n     */\n    public contactPair(\n        collider1: Collider,\n        collider2: Collider,\n        f: (manifold: TempContactManifold, flipped: boolean) => void,\n    ) {\n        this.narrowPhase.contactPair(collider1.handle, collider2.handle, f);\n    }\n\n    /**\n     * Returns `true` if `collider1` and `collider2` intersect and at least one of them is a sensor.\n     * @param collider1 − The first collider involved in the intersection.\n     * @param collider2 − The second collider involved in the intersection.\n     */\n    public intersectionPair(collider1: Collider, collider2: Collider): boolean {\n        return this.narrowPhase.intersectionPair(collider1.handle, collider2.handle);\n    }\n\n    /**\n     * Sets whether internal performance profiling is enabled (default: false).\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    set profilerEnabled(enabled: boolean) {\n        this.physicsPipeline.raw.set_profiler_enabled(enabled);\n    }\n\n    /**\n     * Indicates if the internal performance profiling is enabled.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    get profilerEnabled(): boolean {\n        return this.physicsPipeline.raw.is_profiler_enabled();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the entire simulation step.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingStep(): number {\n        return this.physicsPipeline.raw.timing_step();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the collision-detection\n     * (broad-phase + narrow-phase).\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCollisionDetection(): number {\n        return this.physicsPipeline.raw.timing_collision_detection();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the broad-phase.\n     *\n     * This timing is included in `timingCollisionDetection`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingBroadPhase(): number {\n        return this.physicsPipeline.raw.timing_broad_phase();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the narrow-phase.\n     *\n     * This timing is included in `timingCollisionDetection`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingNarrowPhase(): number {\n        return this.physicsPipeline.raw.timing_narrow_phase();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the constraint solver.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingSolver(): number {\n        return this.physicsPipeline.raw.timing_solver();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the constraint\n     * initialization.\n     *\n     * This timing is included in `timingSolver`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingVelocityAssembly(): number {\n        return this.physicsPipeline.raw.timing_velocity_assembly();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the constraint\n     * resolution.\n     *\n     * This timing is included in `timingSolver`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingVelocityResolution(): number {\n        return this.physicsPipeline.raw.timing_velocity_resolution();\n    }\n\n    /**\n     * The time spent in milliseconds by the last step to run the rigid-body\n     * velocity update.\n     *\n     * This timing is included in `timingSolver`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingVelocityUpdate(): number {\n        return this.physicsPipeline.raw.timing_velocity_update();\n    }\n\n    /**\n     * The time spent in milliseconds by writing rigid-body velocities\n     * calculated by the solver back into the rigid-bodies.\n     *\n     * This timing is included in `timingSolver`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingVelocityWriteback(): number {\n        return this.physicsPipeline.raw.timing_velocity_writeback();\n    }\n\n    /**\n     * The total time spent in CCD detection and resolution.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCcd(): number {\n        return this.physicsPipeline.raw.timing_ccd();\n    }\n\n    /**\n     * The total time spent searching for the continuous hits during CCD.\n     *\n     * This timing is included in `timingCcd`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCcdToiComputation(): number {\n        return this.physicsPipeline.raw.timing_ccd_toi_computation();\n    }\n\n    /**\n     * The total time spent in the broad-phase during CCD.\n     *\n     * This timing is included in `timingCcd`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCcdBroadPhase(): number {\n        return this.physicsPipeline.raw.timing_ccd_broad_phase();\n    }\n\n    /**\n     * The total time spent in the narrow-phase during CCD.\n     *\n     * This timing is included in `timingCcd`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCcdNarrowPhase(): number {\n        return this.physicsPipeline.raw.timing_ccd_narrow_phase();\n    }\n\n    /**\n     * The total time spent in the constraints resolution during CCD.\n     *\n     * This timing is included in `timingCcd`.\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingCcdSolver(): number {\n        return this.physicsPipeline.raw.timing_ccd_solver();\n    }\n\n    /**\n     * The total time spent in the islands calculation during CCD.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingIslandConstruction(): number {\n        return this.physicsPipeline.raw.timing_island_construction();\n    }\n\n    /**\n     * The total time spent propagating detected user changes.\n     *\n     * Only works if the internal profiler is enabled with `World.profilerEnabled = true`.\n     */\n    public timingUserChanges(): number {\n        return this.physicsPipeline.raw.timing_user_changes();\n    }\n}\n","import {ColliderHandle} from \"../geometry\";\nimport {Vector, VectorOps} from \"../math\";\nimport {RawContactForceEvent, RawEventQueue} from \"../raw\";\n\n/**\n * Flags indicating what events are enabled for colliders.\n */\nexport enum ActiveEvents {\n    NONE = 0,\n    /**\n     * Enable collision events.\n     */\n    COLLISION_EVENTS = 0b0001,\n    /**\n     * Enable contact force events.\n     */\n    CONTACT_FORCE_EVENTS = 0b0010,\n}\n\n/**\n * Event occurring when the sum of the magnitudes of the\n * contact forces between two colliders exceed a threshold.\n *\n * This object should **not** be stored anywhere. Its properties can only be\n * read from within the closure given to `EventHandler.drainContactForceEvents`.\n */\nexport class TempContactForceEvent {\n    raw!: RawContactForceEvent;\n\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    /**\n     * The first collider involved in the contact.\n     */\n    public collider1(): ColliderHandle {\n        return this.raw.collider1();\n    }\n\n    /**\n     * The second collider involved in the contact.\n     */\n    public collider2(): ColliderHandle {\n        return this.raw.collider2();\n    }\n\n    /**\n     * The sum of all the forces between the two colliders.\n     */\n    public totalForce(): Vector {\n        return VectorOps.fromRaw(this.raw.total_force())!;\n    }\n\n    /**\n     * The sum of the magnitudes of each force between the two colliders.\n     *\n     * Note that this is **not** the same as the magnitude of `self.total_force`.\n     * Here we are summing the magnitude of all the forces, instead of taking\n     * the magnitude of their sum.\n     */\n    public totalForceMagnitude(): number {\n        return this.raw.total_force_magnitude();\n    }\n\n    /**\n     * The world-space (unit) direction of the force with strongest magnitude.\n     */\n    public maxForceDirection(): Vector {\n        return VectorOps.fromRaw(this.raw.max_force_direction())!;\n    }\n\n    /**\n     * The magnitude of the largest force at a contact point of this contact pair.\n     */\n    public maxForceMagnitude(): number {\n        return this.raw.max_force_magnitude();\n    }\n}\n\n/**\n * A structure responsible for collecting events generated\n * by the physics engine.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `eventQueue.free()`\n * once you are done using it.\n */\nexport class EventQueue {\n    raw: RawEventQueue;\n\n    /**\n     * Creates a new event collector.\n     *\n     * @param autoDrain -setting this to `true` is strongly recommended. If true, the collector will\n     * be automatically drained before each `world.step(collector)`. If false, the collector will\n     * keep all events in memory unless it is manually drained/cleared; this may lead to unbounded use of\n     * RAM if no drain is performed.\n     */\n    constructor(autoDrain: boolean, raw?: RawEventQueue) {\n        this.raw = raw || new RawEventQueue(autoDrain);\n    }\n\n    /**\n     * Release the WASM memory occupied by this event-queue.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n    }\n\n    /**\n     * Applies the given javascript closure on each collision event of this collector, then clear\n     * the internal collision event buffer.\n     *\n     * @param f - JavaScript closure applied to each collision event. The\n     * closure must take three arguments: two integers representing the handles of the colliders\n     * involved in the collision, and a boolean indicating if the collision started (true) or stopped\n     * (false).\n     */\n    public drainCollisionEvents(\n        f: (handle1: ColliderHandle, handle2: ColliderHandle, started: boolean) => void,\n    ) {\n        this.raw.drainCollisionEvents(f);\n    }\n\n    /**\n     * Applies the given javascript closure on each contact force event of this collector, then clear\n     * the internal collision event buffer.\n     *\n     * @param f - JavaScript closure applied to each collision event. The\n     *            closure must take one `TempContactForceEvent` argument.\n     */\n    public drainContactForceEvents(f: (event: TempContactForceEvent) => void) {\n        let event = new TempContactForceEvent();\n        this.raw.drainContactForceEvents((raw: RawContactForceEvent) => {\n            event.raw = raw;\n            f(event);\n            event.free();\n        });\n    }\n\n    /**\n     * Removes all events contained by this collector\n     */\n    public clear() {\n        this.raw.clear();\n    }\n}\n","import {RigidBodyHandle} from \"../dynamics\";\nimport {ColliderHandle} from \"../geometry\";\n\nexport enum ActiveHooks {\n    NONE = 0,\n    FILTER_CONTACT_PAIRS = 0b0001,\n    FILTER_INTERSECTION_PAIRS = 0b0010,\n    // MODIFY_SOLVER_CONTACTS = 0b0100, /* Not supported yet in JS. */\n}\n\nexport enum SolverFlags {\n    EMPTY = 0b000,\n    COMPUTE_IMPULSE = 0b001,\n}\n\nexport interface PhysicsHooks {\n    /**\n     * Function that determines if contacts computation should happen between two colliders, and how the\n     * constraints solver should behave for these contacts.\n     *\n     * This will only be executed and taken into account if at least one of the involved colliders contains the\n     * `ActiveHooks.FILTER_CONTACT_PAIR` flag in its active hooks.\n     *\n     * @param collider1 − Handle of the first collider involved in the potential contact.\n     * @param collider2 − Handle of the second collider involved in the potential contact.\n     * @param body1 − Handle of the first body involved in the potential contact.\n     * @param body2 − Handle of the second body involved in the potential contact.\n     */\n    filterContactPair(\n        collider1: ColliderHandle,\n        collider2: ColliderHandle,\n        body1: RigidBodyHandle,\n        body2: RigidBodyHandle,\n    ): SolverFlags | null;\n\n    /**\n     * Function that determines if intersection computation should happen between two colliders (where at least\n     * one is a sensor).\n     *\n     * This will only be executed and taken into account if `one of the involved colliders contains the\n     * `ActiveHooks.FILTER_INTERSECTION_PAIR` flag in its active hooks.\n     *\n     * @param collider1 − Handle of the first collider involved in the potential contact.\n     * @param collider2 − Handle of the second collider involved in the potential contact.\n     * @param body1 − Handle of the first body involved in the potential contact.\n     * @param body2 − Handle of the second body involved in the potential contact.\n     */\n    filterIntersectionPair(\n        collider1: ColliderHandle,\n        collider2: ColliderHandle,\n        body1: RigidBodyHandle,\n        body2: RigidBodyHandle,\n    ): boolean;\n}\n","// NOTE: must match the bits in the QueryFilterFlags on the Rust side.\n\n// NOTE: must match the bits in the QueryFilterFlags on the Rust side.\n/**\n * Flags for excluding whole sets of colliders from a scene query.\n */\nexport enum QueryFilterFlags {\n    /**\n     * Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.\n     */\n    EXCLUDE_FIXED = 0b0000_0001,\n    /**\n     * Exclude from the query any collider attached to a dynamic rigid-body.\n     */\n    EXCLUDE_KINEMATIC = 0b0000_0010,\n    /**\n     * Exclude from the query any collider attached to a kinematic rigid-body.\n     */\n    EXCLUDE_DYNAMIC = 0b0000_0100,\n    /**\n     * Exclude from the query any collider that is a sensor.\n     */\n    EXCLUDE_SENSORS = 0b0000_1000,\n    /**\n     * Exclude from the query any collider that is not a sensor.\n     */\n    EXCLUDE_SOLIDS = 0b0001_0000,\n    /**\n     * Excludes all colliders not attached to a dynamic rigid-body.\n     */\n    ONLY_DYNAMIC = QueryFilterFlags.EXCLUDE_FIXED | QueryFilterFlags.EXCLUDE_KINEMATIC,\n    /**\n     * Excludes all colliders not attached to a kinematic rigid-body.\n     */\n    ONLY_KINEMATIC = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_FIXED,\n    /**\n     * Exclude all colliders attached to a non-fixed rigid-body\n     * (this will not exclude colliders not attached to any rigid-body).\n     */\n    ONLY_FIXED = QueryFilterFlags.EXCLUDE_DYNAMIC | QueryFilterFlags.EXCLUDE_KINEMATIC,\n}\n","import {CoefficientCombineRule, RigidBody, RigidBodySet} from \"../dynamics\";\nimport {Rotation, RotationOps, Vector, VectorOps} from \"../math\";\nimport {ActiveHooks, ActiveEvents} from \"../pipeline\";\nimport {ColliderSet} from \"./collider_set\";\nimport {ShapeContact} from \"./contact\";\nimport {InteractionGroups} from \"./interaction_groups\";\nimport {PointProjection} from \"./point\";\nimport {Ray, RayIntersection} from \"./ray\";\nimport {\n    Shape,\n    Cuboid,\n    Ball,\n    ShapeType,\n    Capsule,\n    Voxels,\n    TriMesh,\n    Polyline,\n    Heightfield,\n    Segment,\n    Triangle,\n    RoundTriangle,\n    RoundCuboid,\n    TriMeshFlags,\n    Cylinder,\n    RoundCylinder,\n    Cone,\n    RoundCone,\n    ConvexPolyhedron,\n    RoundConvexPolyhedron,\n    HeightFieldFlags,\n} from \"./shape\";\nimport {ColliderShapeCastHit, ShapeCastHit} from \"./toi\";\n\n/**\n * Flags affecting whether collision-detection happens between two colliders\n * depending on the type of rigid-bodies they are attached to.\n */\nexport enum ActiveCollisionTypes {\n    /**\n     * Enable collision-detection between a collider attached to a dynamic body\n     * and another collider attached to a dynamic body.\n     */\n    DYNAMIC_DYNAMIC = 0b0000_0000_0000_0001,\n    /**\n     * Enable collision-detection between a collider attached to a dynamic body\n     * and another collider attached to a kinematic body.\n     */\n    DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100,\n    /**\n     * Enable collision-detection between a collider attached to a dynamic body\n     * and another collider attached to a fixed body (or not attached to any body).\n     */\n    DYNAMIC_FIXED = 0b0000_0000_0000_0010,\n    /**\n     * Enable collision-detection between a collider attached to a kinematic body\n     * and another collider attached to a kinematic body.\n     */\n    KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000,\n\n    /**\n     * Enable collision-detection between a collider attached to a kinematic body\n     * and another collider attached to a fixed body (or not attached to any body).\n     */\n    KINEMATIC_FIXED = 0b0010_0010_0000_0000,\n\n    /**\n     * Enable collision-detection between a collider attached to a fixed body (or\n     * not attached to any body) and another collider attached to a fixed body (or\n     * not attached to any body).\n     */\n    FIXED_FIXED = 0b0000_0000_0010_0000,\n    /**\n     * The default active collision types, enabling collisions between a dynamic body\n     * and another body of any type, but not enabling collisions between two non-dynamic bodies.\n     */\n    DEFAULT = DYNAMIC_KINEMATIC | DYNAMIC_DYNAMIC | DYNAMIC_FIXED,\n    /**\n     * Enable collisions between any kind of rigid-bodies (including between two non-dynamic bodies).\n     */\n    ALL = DYNAMIC_KINEMATIC |\n        DYNAMIC_DYNAMIC |\n        DYNAMIC_FIXED |\n        KINEMATIC_KINEMATIC |\n        KINEMATIC_FIXED |\n        KINEMATIC_KINEMATIC,\n}\n\n/**\n * The integer identifier of a collider added to a `ColliderSet`.\n */\nexport type ColliderHandle = number;\n\n/**\n * A geometric entity that can be attached to a body so it can be affected\n * by contacts and proximity queries.\n */\nexport class Collider {\n    private colliderSet: ColliderSet; // The Collider won't need to free this.\n    readonly handle: ColliderHandle;\n    private _shape: Shape; // TODO: deprecate/remove this since it isn't a reliable way of getting the latest shape properties.\n    private _parent: RigidBody | null;\n    private scratchBuffer: Float32Array;\n\n    constructor(\n        colliderSet: ColliderSet,\n        handle: ColliderHandle,\n        parent: RigidBody | null,\n        shape?: Shape,\n    ) {\n        this.colliderSet = colliderSet;\n        this.handle = handle;\n        this._parent = parent;\n        this._shape = shape!;\n        this.scratchBuffer = new Float32Array(4);\n    }\n\n    /** @internal */\n    public finalizeDeserialization(bodies: RigidBodySet) {\n        if (this.handle != null) {\n            this._parent = bodies.get(this.colliderSet.raw.coParent(this.handle)!);\n        }\n    }\n\n    private ensureShapeIsCached() {\n        if (!this._shape) this._shape = Shape.fromRaw(this.colliderSet.raw, this.handle);\n    }\n\n    /**\n     * The shape of this collider.\n     */\n    public get shape(): Shape {\n        this.ensureShapeIsCached();\n        return this._shape;\n    }\n\n    /**\n     * Set the internal cached JS shape to null.\n     *\n     * This can be useful if you want to free some memory (assuming you are not\n     * holding any other references to the shape object), or in order to force\n     * the recalculation of the JS shape (the next time the `shape` getter is\n     * accessed) from the WASM source of truth.\n     */\n    public clearShapeCache() {\n        this._shape = null!;\n    }\n\n    /**\n     * Checks if this collider is still valid (i.e. that it has\n     * not been deleted from the collider set yet).\n     */\n    public isValid(): boolean {\n        return this.colliderSet.raw.contains(this.handle);\n    }\n\n    /**\n     * The world-space translation of this collider.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public translation(target?: Vector): Vector {\n        this.colliderSet.raw.coTranslation(this.handle, this.scratchBuffer);\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The translation of this collider relative to its parent rigid-body.\n     *\n     * Returns `null` if the collider doesn't have a parent rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public translationWrtParent(target?: Vector): Vector | null {\n        const hasParent = this.colliderSet.raw.coTranslationWrtParent(\n            this.handle,\n            this.scratchBuffer,\n        );\n        if (!hasParent) return null;\n        return VectorOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The world-space orientation of this collider.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public rotation(target?: Rotation): Rotation {\n        this.colliderSet.raw.coRotation(this.handle, this.scratchBuffer);\n        return RotationOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * The orientation of this collider relative to its parent rigid-body.\n     *\n     * Returns `null` if the collider doesn't have a parent rigid-body.\n     *\n     * @param target - Optional target object to write the result to (avoids allocation).\n     */\n    public rotationWrtParent(target?: Rotation): Rotation | null {\n        const hasParent = this.colliderSet.raw.coRotationWrtParent(this.handle, this.scratchBuffer);\n        if (!hasParent) return null;\n        return RotationOps.fromBuffer(this.scratchBuffer, target);\n    }\n\n    /**\n     * Is this collider a sensor?\n     */\n    public isSensor(): boolean {\n        return this.colliderSet.raw.coIsSensor(this.handle);\n    }\n\n    /**\n     * Sets whether this collider is a sensor.\n     * @param isSensor - If `true`, the collider will be a sensor.\n     */\n    public setSensor(isSensor: boolean) {\n        this.colliderSet.raw.coSetSensor(this.handle, isSensor);\n    }\n\n    /**\n     * Sets the new shape of the collider.\n     * @param shape - The collider’s new shape.\n     */\n    public setShape(shape: Shape) {\n        let rawShape = shape.intoRaw();\n        this.colliderSet.raw.coSetShape(this.handle, rawShape);\n        rawShape.free();\n        this._shape = shape;\n    }\n\n    /**\n     * Sets whether this collider is enabled or not.\n     *\n     * @param enabled - Set to `false` to disable this collider (its parent rigid-body won’t be disabled automatically by this).\n     */\n    public setEnabled(enabled: boolean) {\n        this.colliderSet.raw.coSetEnabled(this.handle, enabled);\n    }\n\n    /**\n     * Is this collider enabled?\n     */\n    public isEnabled(): boolean {\n        return this.colliderSet.raw.coIsEnabled(this.handle);\n    }\n\n    /**\n     * Sets the restitution coefficient of the collider to be created.\n     *\n     * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior\n     *                   while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the\n     *                   constraints solver).\n     */\n    public setRestitution(restitution: number) {\n        this.colliderSet.raw.coSetRestitution(this.handle, restitution);\n    }\n\n    /**\n     * Sets the friction coefficient of the collider to be created.\n     *\n     * @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The\n     *                   higher the coefficient, the stronger friction forces will be for contacts with the collider\n     *                   being built.\n     */\n    public setFriction(friction: number) {\n        this.colliderSet.raw.coSetFriction(this.handle, friction);\n    }\n\n    /**\n     * Gets the rule used to combine the friction coefficients of two colliders\n     * colliders involved in a contact.\n     */\n    public frictionCombineRule(): CoefficientCombineRule {\n        return this.colliderSet.raw.coFrictionCombineRule(this.handle);\n    }\n\n    /**\n     * Sets the rule used to combine the friction coefficients of two colliders\n     * colliders involved in a contact.\n     *\n     * @param rule − The combine rule to apply.\n     */\n    public setFrictionCombineRule(rule: CoefficientCombineRule) {\n        this.colliderSet.raw.coSetFrictionCombineRule(this.handle, rule);\n    }\n\n    /**\n     * Gets the rule used to combine the restitution coefficients of two colliders\n     * colliders involved in a contact.\n     */\n    public restitutionCombineRule(): CoefficientCombineRule {\n        return this.colliderSet.raw.coRestitutionCombineRule(this.handle);\n    }\n\n    /**\n     * Sets the rule used to combine the restitution coefficients of two colliders\n     * colliders involved in a contact.\n     *\n     * @param rule − The combine rule to apply.\n     */\n    public setRestitutionCombineRule(rule: CoefficientCombineRule) {\n        this.colliderSet.raw.coSetRestitutionCombineRule(this.handle, rule);\n    }\n\n    /**\n     * Sets the collision groups used by this collider.\n     *\n     * Two colliders will interact iff. their collision groups are compatible.\n     * See the documentation of `InteractionGroups` for details on teh used bit pattern.\n     *\n     * @param groups - The collision groups used for the collider being built.\n     */\n    public setCollisionGroups(groups: InteractionGroups) {\n        this.colliderSet.raw.coSetCollisionGroups(this.handle, groups);\n    }\n\n    /**\n     * Sets the solver groups used by this collider.\n     *\n     * Forces between two colliders in contact will be computed iff their solver\n     * groups are compatible.\n     * See the documentation of `InteractionGroups` for details on the used bit pattern.\n     *\n     * @param groups - The solver groups used for the collider being built.\n     */\n    public setSolverGroups(groups: InteractionGroups) {\n        this.colliderSet.raw.coSetSolverGroups(this.handle, groups);\n    }\n\n    /**\n     * Sets the contact skin for this collider.\n     *\n     * See the documentation of `ColliderDesc.setContactSkin` for additional details.\n     */\n    public contactSkin(): number {\n        return this.colliderSet.raw.coContactSkin(this.handle);\n    }\n\n    /**\n     * Sets the contact skin for this collider.\n     *\n     * See the documentation of `ColliderDesc.setContactSkin` for additional details.\n     *\n     * @param thickness - The contact skin thickness.\n     */\n    public setContactSkin(thickness: number) {\n        return this.colliderSet.raw.coSetContactSkin(this.handle, thickness);\n    }\n\n    /**\n     * Get the physics hooks active for this collider.\n     */\n    public activeHooks(): ActiveHooks {\n        return this.colliderSet.raw.coActiveHooks(this.handle);\n    }\n\n    /**\n     * Set the physics hooks active for this collider.\n     *\n     * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider.\n     *\n     * @param activeHooks - The hooks active for contact/intersection pairs involving this collider.\n     */\n    public setActiveHooks(activeHooks: ActiveHooks) {\n        this.colliderSet.raw.coSetActiveHooks(this.handle, activeHooks);\n    }\n\n    /**\n     * The events active for this collider.\n     */\n    public activeEvents(): ActiveEvents {\n        return this.colliderSet.raw.coActiveEvents(this.handle);\n    }\n\n    /**\n     * Set the events active for this collider.\n     *\n     * Use this to enable contact and/or intersection event reporting for this collider.\n     *\n     * @param activeEvents - The events active for contact/intersection pairs involving this collider.\n     */\n    public setActiveEvents(activeEvents: ActiveEvents) {\n        this.colliderSet.raw.coSetActiveEvents(this.handle, activeEvents);\n    }\n\n    /**\n     * Gets the collision types active for this collider.\n     */\n    public activeCollisionTypes(): ActiveCollisionTypes {\n        return this.colliderSet.raw.coActiveCollisionTypes(this.handle);\n    }\n\n    /**\n     * Sets the total force magnitude beyond which a contact force event can be emitted.\n     *\n     * @param threshold - The new force threshold.\n     */\n    public setContactForceEventThreshold(threshold: number) {\n        return this.colliderSet.raw.coSetContactForceEventThreshold(this.handle, threshold);\n    }\n\n    /**\n     * The total force magnitude beyond which a contact force event can be emitted.\n     */\n    public contactForceEventThreshold(): number {\n        return this.colliderSet.raw.coContactForceEventThreshold(this.handle);\n    }\n\n    /**\n     * Set the collision types active for this collider.\n     *\n     * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider.\n     */\n    public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes) {\n        this.colliderSet.raw.coSetActiveCollisionTypes(this.handle, activeCollisionTypes);\n    }\n\n    /**\n     * Sets the uniform density of this collider.\n     *\n     * This will override any previous mass-properties set by `this.setDensity`,\n     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,\n     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.\n     *\n     * The mass and angular inertia of this collider will be computed automatically based on its\n     * shape.\n     */\n    public setDensity(density: number) {\n        this.colliderSet.raw.coSetDensity(this.handle, density);\n    }\n\n    /**\n     * Sets the mass of this collider.\n     *\n     * This will override any previous mass-properties set by `this.setDensity`,\n     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,\n     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.\n     *\n     * The angular inertia of this collider will be computed automatically based on its shape\n     * and this mass value.\n     */\n    public setMass(mass: number) {\n        this.colliderSet.raw.coSetMass(this.handle, mass);\n    }\n\n    /**\n     * Sets the mass of this collider.\n     *\n     * This will override any previous mass-properties set by `this.setDensity`,\n     * `this.setMass`, `this.setMassProperties`, `ColliderDesc.density`,\n     * `ColliderDesc.mass`, or `ColliderDesc.massProperties` for this collider.\n     */\n    public setMassProperties(\n        mass: number,\n        centerOfMass: Vector,\n        principalAngularInertia: Vector,\n        angularInertiaLocalFrame: Rotation,\n    ) {\n        let rawCom = VectorOps.intoRaw(centerOfMass);\n        let rawPrincipalInertia = VectorOps.intoRaw(principalAngularInertia);\n        let rawInertiaFrame = RotationOps.intoRaw(angularInertiaLocalFrame);\n\n        this.colliderSet.raw.coSetMassProperties(\n            this.handle,\n            mass,\n            rawCom,\n            rawPrincipalInertia,\n            rawInertiaFrame,\n        );\n\n        rawCom.free();\n        rawPrincipalInertia.free();\n        rawInertiaFrame.free();\n    }\n\n    /**\n     * Sets the translation of this collider.\n     *\n     * @param tra - The world-space position of the collider.\n     */\n    public setTranslation(tra: Vector) {\n        this.colliderSet.raw.coSetTranslation(this.handle, tra.x, tra.y, tra.z);\n    }\n\n    /**\n     * Sets the translation of this collider relative to its parent rigid-body.\n     *\n     * Does nothing if this collider isn't attached to a rigid-body.\n     *\n     * @param tra - The new translation of the collider relative to its parent.\n     */\n    public setTranslationWrtParent(tra: Vector) {\n        this.colliderSet.raw.coSetTranslationWrtParent(this.handle, tra.x, tra.y, tra.z);\n    }\n\n    /**\n     * Sets the rotation quaternion of this collider.\n     *\n     * This does nothing if a zero quaternion is provided.\n     *\n     * @param rotation - The rotation to set.\n     */\n    public setRotation(rot: Rotation) {\n        this.colliderSet.raw.coSetRotation(this.handle, rot.x, rot.y, rot.z, rot.w);\n    }\n\n    /**\n     * Sets the rotation quaternion of this collider relative to its parent rigid-body.\n     *\n     * This does nothing if a zero quaternion is provided or if this collider isn't\n     * attached to a rigid-body.\n     *\n     * @param rotation - The rotation to set.\n     */\n    public setRotationWrtParent(rot: Rotation) {\n        this.colliderSet.raw.coSetRotationWrtParent(this.handle, rot.x, rot.y, rot.z, rot.w);\n    }\n\n    /**\n     * The type of the shape of this collider.\n     */\n    public shapeType(): ShapeType {\n        return this.colliderSet.raw.coShapeType(this.handle) as number as ShapeType;\n    }\n\n    /**\n     * The half-extents of this collider if it is a cuboid shape.\n     */\n    public halfExtents(): Vector {\n        return VectorOps.fromRaw(this.colliderSet.raw.coHalfExtents(this.handle)!)!;\n    }\n\n    /**\n     * Sets the half-extents of this collider if it is a cuboid shape.\n     *\n     * @param newHalfExtents - desired half extents.\n     */\n    public setHalfExtents(newHalfExtents: Vector) {\n        const rawPoint = VectorOps.intoRaw(newHalfExtents);\n        this.colliderSet.raw.coSetHalfExtents(this.handle, rawPoint);\n    }\n\n    /**\n     * The radius of this collider if it is a ball, cylinder, capsule, or cone shape.\n     */\n    public radius(): number {\n        return this.colliderSet.raw.coRadius(this.handle)!;\n    }\n\n    /**\n     * Sets the radius of this collider if it is a ball, cylinder, capsule, or cone shape.\n     *\n     * @param newRadius - desired radius.\n     */\n    public setRadius(newRadius: number): void {\n        this.colliderSet.raw.coSetRadius(this.handle, newRadius);\n    }\n\n    /**\n     * The radius of the round edges of this collider if it is a round cylinder.\n     */\n    public roundRadius(): number {\n        return this.colliderSet.raw.coRoundRadius(this.handle)!;\n    }\n\n    /**\n     * Sets the radius of the round edges of this collider if it has round edges.\n     *\n     * @param newBorderRadius - desired round edge radius.\n     */\n    public setRoundRadius(newBorderRadius: number) {\n        this.colliderSet.raw.coSetRoundRadius(this.handle, newBorderRadius);\n    }\n\n    /**\n     * The half height of this collider if it is a cylinder, capsule, or cone shape.\n     */\n    public halfHeight(): number {\n        return this.colliderSet.raw.coHalfHeight(this.handle)!;\n    }\n\n    /**\n     * Sets the half height of this collider if it is a cylinder, capsule, or cone shape.\n     *\n     * @param newHalfheight - desired half height.\n     */\n    public setHalfHeight(newHalfheight: number) {\n        this.colliderSet.raw.coSetHalfHeight(this.handle, newHalfheight);\n    }\n\n    /**\n     * If this collider has a Voxels shape, this will mark the voxel at the\n     * given grid coordinates as filled or empty (depending on the `filled`\n     * argument).\n     *\n     * Each input value is assumed to be an integer.\n     *\n     * The operation is O(1), unless the provided coordinates are out of the\n     * bounds of the currently allocated internal grid in which case the grid\n     * will be grown automatically.\n     */\n    public setVoxel(ix: number, iy: number, iz: number, filled: boolean) {\n        this.colliderSet.raw.coSetVoxel(this.handle, ix, iy, iz, filled);\n        // We modified the shape, invalidate it to keep our cache\n        // up-to-date the next time the user requests the shape data.\n        // PERF: this isn’t ideal for performances as this adds a\n        //       hidden, non-constant, cost.\n        this._shape = null!;\n    }\n\n    /**\n     * If this and `voxels2` are voxel colliders, and a voxel from `this` was\n     * modified with `setVoxel`, this will ensure that a\n     * moving object transitioning across the boundaries of these colliders\n     * won’t suffer from the \"internal edges\" artifact.\n     *\n     * The indices `ix, iy, iz` indicate the integer coordinates of the voxel in\n     * the local coordinate frame of `this`.\n     *\n     * If the voxels in `voxels2` live in a different coordinate space from `this`,\n     * then the `shift_*` argument indicate the distance, in voxel units, between\n     * the origin of `this` to the origin of `voxels2`.\n     *\n     * This method is intended to be called between `this` and all the other\n     * voxels colliders with a domain intersecting `this` or sharing a domain\n     * boundary. This is an incremental maintenance of the effect of\n     * `combineVoxelStates`.\n     */\n    public propagateVoxelChange(\n        voxels2: Collider,\n        ix: number,\n        iy: number,\n        iz: number,\n        shift_x: number,\n        shift_y: number,\n        shift_z: number,\n    ) {\n        this.colliderSet.raw.coPropagateVoxelChange(\n            this.handle,\n            voxels2.handle,\n            ix,\n            iy,\n            iz,\n            shift_x,\n            shift_y,\n            shift_z,\n        );\n        // We modified the shape, invalidate it to keep our cache\n        // up-to-date the next time the user requests the shape data.\n        // PERF: this isn’t ideal for performances as this adds a\n        //       hidden, non-constant, cost.\n        this._shape = null!;\n    }\n\n    /**\n     * If this and `voxels2` are voxel colliders, this will ensure that a\n     * moving object transitioning across the boundaries of these colliders\n     * won’t suffer from the \"internal edges\" artifact.\n     *\n     * If the voxels in `voxels2` live in a different coordinate space from `this`,\n     * then the `shift_*` argument indicate the distance, in voxel units, between\n     * the origin of `this` to the origin of `voxels2`.\n     *\n     * This method is intended to be called once between all pairs of voxels\n     * colliders with intersecting domains or shared boundaries.\n     *\n     * If either voxels collider is then modified with `setVoxel`, the\n     * `propagateVoxelChange` method must be called to maintain the coupling\n     * between the voxels shapes after the modification.\n     */\n    public combineVoxelStates(\n        voxels2: Collider,\n        shift_x: number,\n        shift_y: number,\n        shift_z: number,\n    ) {\n        this.colliderSet.raw.coCombineVoxelStates(\n            this.handle,\n            voxels2.handle,\n            shift_x,\n            shift_y,\n            shift_z,\n        );\n        // We modified the shape, invalidate it to keep our cache\n        // up-to-date the next time the user requests the shape data.\n        // PERF: this isn’t ideal for performances as this adds a\n        //       hidden, non-constant, cost.\n        this._shape = null!;\n    }\n\n    /**\n     * If this collider has a triangle mesh, polyline, convex polygon, or convex polyhedron shape,\n     * this returns the vertex buffer of said shape.\n     */\n    public vertices(): Float32Array {\n        return this.colliderSet.raw.coVertices(this.handle)!;\n    }\n\n    /**\n     * If this collider has a triangle mesh, polyline, or convex polyhedron shape,\n     * this returns the index buffer of said shape.\n     */\n    public indices(): Uint32Array | undefined {\n        return this.colliderSet.raw.coIndices(this.handle);\n    }\n\n    /**\n     * If this collider has a heightfield shape, this returns the heights buffer of\n     * the heightfield.\n     * In 3D, the returned height matrix is provided in column-major order.\n     */\n    public heightfieldHeights(): Float32Array {\n        return this.colliderSet.raw.coHeightfieldHeights(this.handle)!;\n    }\n\n    /**\n     * If this collider has a heightfield shape, this returns the scale\n     * applied to it.\n     */\n    public heightfieldScale(): Vector {\n        let scale = this.colliderSet.raw.coHeightfieldScale(this.handle)!;\n        return VectorOps.fromRaw(scale)!;\n    }\n\n    /**\n     * If this collider has a heightfield shape, this returns the number of\n     * rows of its height matrix.\n     */\n    public heightfieldNRows(): number {\n        return this.colliderSet.raw.coHeightfieldNRows(this.handle)!;\n    }\n\n    /**\n     * If this collider has a heightfield shape, this returns the number of\n     * columns of its height matrix.\n     */\n    public heightfieldNCols(): number {\n        return this.colliderSet.raw.coHeightfieldNCols(this.handle)!;\n    }\n\n    /**\n     * The rigid-body this collider is attached to.\n     */\n    public parent(): RigidBody | null {\n        return this._parent;\n    }\n\n    /**\n     * The friction coefficient of this collider.\n     */\n    public friction(): number {\n        return this.colliderSet.raw.coFriction(this.handle);\n    }\n\n    /**\n     * The restitution coefficient of this collider.\n     */\n    public restitution(): number {\n        return this.colliderSet.raw.coRestitution(this.handle);\n    }\n\n    /**\n     * The density of this collider.\n     */\n    public density(): number {\n        return this.colliderSet.raw.coDensity(this.handle);\n    }\n\n    /**\n     * The mass of this collider.\n     */\n    public mass(): number {\n        return this.colliderSet.raw.coMass(this.handle);\n    }\n\n    /**\n     * The volume of this collider.\n     */\n    public volume(): number {\n        return this.colliderSet.raw.coVolume(this.handle);\n    }\n\n    /**\n     * The collision groups of this collider.\n     */\n    public collisionGroups(): InteractionGroups {\n        return this.colliderSet.raw.coCollisionGroups(this.handle);\n    }\n\n    /**\n     * The solver groups of this collider.\n     */\n    public solverGroups(): InteractionGroups {\n        return this.colliderSet.raw.coSolverGroups(this.handle);\n    }\n\n    /**\n     * Tests if this collider contains a point.\n     *\n     * @param point - The point to test.\n     */\n    public containsPoint(point: Vector): boolean {\n        let rawPoint = VectorOps.intoRaw(point);\n        let result = this.colliderSet.raw.coContainsPoint(this.handle, rawPoint);\n\n        rawPoint.free();\n\n        return result;\n    }\n\n    /**\n     * Find the projection of a point on this collider.\n     *\n     * @param point - The point to project.\n     * @param solid - If this is set to `true` then the collider shapes are considered to\n     *   be plain (if the point is located inside of a plain shape, its projection is the point\n     *   itself). If it is set to `false` the collider shapes are considered to be hollow\n     *   (if the point is located inside of an hollow shape, it is projected on the shape's\n     *   boundary).\n     */\n    public projectPoint(point: Vector, solid: boolean): PointProjection | null {\n        let rawPoint = VectorOps.intoRaw(point);\n        let result = PointProjection.fromRaw(\n            this.colliderSet.raw.coProjectPoint(this.handle, rawPoint, solid),\n        );\n\n        rawPoint.free();\n\n        return result;\n    }\n\n    /**\n     * Tests if this collider intersects the given ray.\n     *\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     */\n    public intersectsRay(ray: Ray, maxToi: number): boolean {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let result = this.colliderSet.raw.coIntersectsRay(this.handle, rawOrig, rawDir, maxToi);\n\n        rawOrig.free();\n        rawDir.free();\n\n        return result;\n    }\n\n    /*\n     * Computes the smallest time between this and the given shape under translational movement are separated by a distance smaller or equal to distance.\n     *\n     * @param collider1Vel - The constant velocity of the current shape to cast (i.e. the cast direction).\n     * @param shape2 - The shape to cast against.\n     * @param shape2Pos - The position of the second shape.\n     * @param shape2Rot - The rotation of the second shape.\n     * @param shape2Vel - The constant velocity of the second shape.\n     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit\n     *                         will be returned.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the distance traveled by the shape to `collider1Vel.norm() * maxToi`.\n     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if\n     *   the shape is penetrating another shape at its starting point **and** its trajectory is such\n     *   that it’s on a path to exit that penetration state.\n     */\n    public castShape(\n        collider1Vel: Vector,\n        shape2: Shape,\n        shape2Pos: Vector,\n        shape2Rot: Rotation,\n        shape2Vel: Vector,\n        targetDistance: number,\n        maxToi: number,\n        stopAtPenetration: boolean,\n    ): ShapeCastHit | null {\n        let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);\n        let rawShape2Pos = VectorOps.intoRaw(shape2Pos);\n        let rawShape2Rot = RotationOps.intoRaw(shape2Rot);\n        let rawShape2Vel = VectorOps.intoRaw(shape2Vel);\n        let rawShape2 = shape2.intoRaw();\n\n        let result = ShapeCastHit.fromRaw(\n            this.colliderSet,\n            this.colliderSet.raw.coCastShape(\n                this.handle,\n                rawCollider1Vel,\n                rawShape2,\n                rawShape2Pos,\n                rawShape2Rot,\n                rawShape2Vel,\n                targetDistance,\n                maxToi,\n                stopAtPenetration,\n            )!,\n        );\n\n        rawCollider1Vel.free();\n        rawShape2Pos.free();\n        rawShape2Rot.free();\n        rawShape2Vel.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    /*\n     * Computes the smallest time between this and the given collider under translational movement are separated by a distance smaller or equal to distance.\n     *\n     * @param collider1Vel - The constant velocity of the current collider to cast (i.e. the cast direction).\n     * @param collider2 - The collider to cast against.\n     * @param collider2Vel - The constant velocity of the second collider.\n     * @param targetDistance − If the shape moves closer to this distance from a collider, a hit\n     *                         will be returned.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.\n     * @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if\n     *   the shape is penetrating another shape at its starting point **and** its trajectory is such\n     *   that it’s on a path to exit that penetration state.\n     */\n    public castCollider(\n        collider1Vel: Vector,\n        collider2: Collider,\n        collider2Vel: Vector,\n        targetDistance: number,\n        maxToi: number,\n        stopAtPenetration: boolean,\n    ): ColliderShapeCastHit | null {\n        let rawCollider1Vel = VectorOps.intoRaw(collider1Vel);\n        let rawCollider2Vel = VectorOps.intoRaw(collider2Vel);\n\n        let result = ColliderShapeCastHit.fromRaw(\n            this.colliderSet,\n            this.colliderSet.raw.coCastCollider(\n                this.handle,\n                rawCollider1Vel,\n                collider2.handle,\n                rawCollider2Vel,\n                targetDistance,\n                maxToi,\n                stopAtPenetration,\n            )!,\n        );\n\n        rawCollider1Vel.free();\n        rawCollider2Vel.free();\n\n        return result;\n    }\n\n    public intersectsShape(shape2: Shape, shapePos2: Vector, shapeRot2: Rotation): boolean {\n        let rawPos2 = VectorOps.intoRaw(shapePos2);\n        let rawRot2 = RotationOps.intoRaw(shapeRot2);\n        let rawShape2 = shape2.intoRaw();\n\n        let result = this.colliderSet.raw.coIntersectsShape(\n            this.handle,\n            rawShape2,\n            rawPos2,\n            rawRot2,\n        );\n\n        rawPos2.free();\n        rawRot2.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    /**\n     * Computes one pair of contact points between the shape owned by this collider and the given shape.\n     *\n     * @param shape2 - The second shape.\n     * @param shape2Pos - The initial position of the second shape.\n     * @param shape2Rot - The rotation of the second shape.\n     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.\n     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.\n     */\n    contactShape(\n        shape2: Shape,\n        shape2Pos: Vector,\n        shape2Rot: Rotation,\n        prediction: number,\n    ): ShapeContact | null {\n        let rawPos2 = VectorOps.intoRaw(shape2Pos);\n        let rawRot2 = RotationOps.intoRaw(shape2Rot);\n        let rawShape2 = shape2.intoRaw();\n\n        let result = ShapeContact.fromRaw(\n            this.colliderSet.raw.coContactShape(\n                this.handle,\n                rawShape2,\n                rawPos2,\n                rawRot2,\n                prediction,\n            )!,\n        );\n\n        rawPos2.free();\n        rawRot2.free();\n        rawShape2.free();\n\n        return result;\n    }\n\n    /**\n     * Computes one pair of contact points between the collider and the given collider.\n     *\n     * @param collider2 - The second collider.\n     * @param prediction - The prediction value, if the shapes are separated by a distance greater than this value, test will fail.\n     * @returns `null` if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.\n     */\n    contactCollider(collider2: Collider, prediction: number): ShapeContact | null {\n        let result = ShapeContact.fromRaw(\n            this.colliderSet.raw.coContactCollider(this.handle, collider2.handle, prediction)!,\n        );\n\n        return result;\n    }\n\n    /**\n     * Find the closest intersection between a ray and this collider.\n     *\n     * This also computes the normal at the hit point.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     * @returns The time-of-impact between this collider and the ray, or `-1` if there is no intersection.\n     */\n    public castRay(ray: Ray, maxToi: number, solid: boolean): number {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let result = this.colliderSet.raw.coCastRay(this.handle, rawOrig, rawDir, maxToi, solid);\n\n        rawOrig.free();\n        rawDir.free();\n\n        return result;\n    }\n\n    /**\n     * Find the closest intersection between a ray and this collider.\n     *\n     * This also computes the normal at the hit point.\n     * @param ray - The ray to cast.\n     * @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively\n     *   limits the length of the ray to `ray.dir.norm() * maxToi`.\n     * @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its\n     *   origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,\n     *   whereas `false` implies that all shapes are hollow for this ray-cast.\n     */\n    public castRayAndGetNormal(ray: Ray, maxToi: number, solid: boolean): RayIntersection | null {\n        let rawOrig = VectorOps.intoRaw(ray.origin);\n        let rawDir = VectorOps.intoRaw(ray.dir);\n        let result = RayIntersection.fromRaw(\n            this.colliderSet.raw.coCastRayAndGetNormal(\n                this.handle,\n                rawOrig,\n                rawDir,\n                maxToi,\n                solid,\n            )!,\n        );\n\n        rawOrig.free();\n        rawDir.free();\n\n        return result;\n    }\n}\n\nexport enum MassPropsMode {\n    Density,\n    Mass,\n    MassProps,\n}\n\nexport class ColliderDesc {\n    enabled: boolean;\n    shape: Shape;\n    massPropsMode: MassPropsMode;\n    mass: number;\n    centerOfMass: Vector;\n    principalAngularInertia: Vector;\n    angularInertiaLocalFrame: Rotation;\n    density: number;\n    friction: number;\n    restitution: number;\n    rotation: Rotation;\n    translation: Vector;\n    isSensor: boolean;\n    collisionGroups: InteractionGroups;\n    solverGroups: InteractionGroups;\n    frictionCombineRule: CoefficientCombineRule;\n    restitutionCombineRule: CoefficientCombineRule;\n    activeEvents: ActiveEvents;\n    activeHooks: ActiveHooks;\n    activeCollisionTypes: ActiveCollisionTypes;\n    contactForceEventThreshold: number;\n    contactSkin: number;\n\n    /**\n     * Initializes a collider descriptor from the collision shape.\n     *\n     * @param shape - The shape of the collider being built.\n     */\n    constructor(shape: Shape) {\n        this.enabled = true;\n        this.shape = shape;\n        this.massPropsMode = MassPropsMode.Density;\n        this.density = 1.0;\n        this.friction = 0.5;\n        this.restitution = 0.0;\n        this.rotation = RotationOps.identity();\n        this.translation = VectorOps.zeros();\n        this.isSensor = false;\n        this.collisionGroups = 0xffff_ffff;\n        this.solverGroups = 0xffff_ffff;\n        this.frictionCombineRule = CoefficientCombineRule.Average;\n        this.restitutionCombineRule = CoefficientCombineRule.Average;\n        this.activeCollisionTypes = ActiveCollisionTypes.DEFAULT;\n        this.activeEvents = ActiveEvents.NONE;\n        this.activeHooks = ActiveHooks.NONE;\n        this.mass = 0.0;\n        this.centerOfMass = VectorOps.zeros();\n        this.contactForceEventThreshold = 0.0;\n        this.contactSkin = 0.0;\n\n        this.principalAngularInertia = VectorOps.zeros();\n        this.angularInertiaLocalFrame = RotationOps.identity();\n    }\n\n    /**\n     * Create a new collider descriptor with a ball shape.\n     *\n     * @param radius - The radius of the ball.\n     */\n    public static ball(radius: number): ColliderDesc {\n        const shape = new Ball(radius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Create a new collider descriptor with a capsule shape.\n     *\n     * @param halfHeight - The half-height of the capsule, along the `y` axis.\n     * @param radius - The radius of the capsule basis.\n     */\n    public static capsule(halfHeight: number, radius: number): ColliderDesc {\n        const shape = new Capsule(halfHeight, radius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new segment shape.\n     *\n     * @param a - The first point of the segment.\n     * @param b - The second point of the segment.\n     */\n    public static segment(a: Vector, b: Vector): ColliderDesc {\n        const shape = new Segment(a, b);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new triangle shape.\n     *\n     * @param a - The first point of the triangle.\n     * @param b - The second point of the triangle.\n     * @param c - The third point of the triangle.\n     */\n    public static triangle(a: Vector, b: Vector, c: Vector): ColliderDesc {\n        const shape = new Triangle(a, b, c);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new triangle shape with round corners.\n     *\n     * @param a - The first point of the triangle.\n     * @param b - The second point of the triangle.\n     * @param c - The third point of the triangle.\n     * @param borderRadius - The radius of the borders of this triangle. In 3D,\n     *   this is also equal to half the thickness of the triangle.\n     */\n    public static roundTriangle(\n        a: Vector,\n        b: Vector,\n        c: Vector,\n        borderRadius: number,\n    ): ColliderDesc {\n        const shape = new RoundTriangle(a, b, c, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a polyline shape.\n     *\n     * @param vertices - The coordinates of the polyline's vertices.\n     * @param indices - The indices of the polyline's segments. If this is `undefined` or `null`,\n     *    the vertices are assumed to describe a line strip.\n     */\n    public static polyline(vertices: Float32Array, indices?: Uint32Array | null): ColliderDesc {\n        const shape = new Polyline(vertices, indices ?? undefined);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a shape made of voxels.\n     *\n     * @param data - Defines the set of voxels. If this is a `Int32Array` then\n     *               each voxel is defined from its (signed) grid coordinates,\n     *               with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).\n     *               If this is a `Float32Array`, each voxel will be such that\n     *               they contain at least one point from this array (where each\n     *               point is defined from 3 (resp 2) contiguous numbers per point\n     *               in 3D (resp 2D).\n     * @param voxelSize - The size of each voxel.\n     */\n    public static voxels(voxels: Float32Array | Int32Array, voxelSize: Vector): ColliderDesc {\n        const shape = new Voxels(voxels, voxelSize);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a triangle mesh shape.\n     *\n     * @param vertices - The coordinates of the triangle mesh's vertices.\n     * @param indices - The indices of the triangle mesh's triangles.\n     */\n    public static trimesh(\n        vertices: Float32Array,\n        indices: Uint32Array,\n        flags?: TriMeshFlags,\n    ): ColliderDesc {\n        const shape = new TriMesh(vertices, indices, flags);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a cuboid shape.\n     *\n     * @param hx - The half-width of the rectangle along its local `x` axis.\n     * @param hy - The half-width of the rectangle along its local `y` axis.\n     * @param hz - The half-width of the rectangle along its local `z` axis.\n     */\n    public static cuboid(hx: number, hy: number, hz: number): ColliderDesc {\n        const shape = new Cuboid(hx, hy, hz);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a rectangular shape with round borders.\n     *\n     * @param hx - The half-width of the rectangle along its local `x` axis.\n     * @param hy - The half-width of the rectangle along its local `y` axis.\n     * @param hz - The half-width of the rectangle along its local `z` axis.\n     * @param borderRadius - The radius of the cuboid's borders.\n     */\n    public static roundCuboid(\n        hx: number,\n        hy: number,\n        hz: number,\n        borderRadius: number,\n    ): ColliderDesc {\n        const shape = new RoundCuboid(hx, hy, hz, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor with a heightfield shape.\n     *\n     * @param nrows − The number of rows in the heights matrix.\n     * @param ncols - The number of columns in the heights matrix.\n     * @param heights - The heights of the heightfield along its local `y` axis,\n     *                  provided as a matrix stored in column-major order.\n     * @param scale - The scale factor applied to the heightfield.\n     */\n    public static heightfield(\n        nrows: number,\n        ncols: number,\n        heights: Float32Array,\n        scale: Vector,\n        flags?: HeightFieldFlags,\n    ): ColliderDesc {\n        const shape = new Heightfield(nrows, ncols, heights, scale, flags);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Create a new collider descriptor with a cylinder shape.\n     *\n     * @param halfHeight - The half-height of the cylinder, along the `y` axis.\n     * @param radius - The radius of the cylinder basis.\n     */\n    public static cylinder(halfHeight: number, radius: number): ColliderDesc {\n        const shape = new Cylinder(halfHeight, radius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Create a new collider descriptor with a cylinder shape with rounded corners.\n     *\n     * @param halfHeight - The half-height of the cylinder, along the `y` axis.\n     * @param radius - The radius of the cylinder basis.\n     * @param borderRadius - The radius of the cylinder's rounded edges and vertices.\n     */\n    public static roundCylinder(\n        halfHeight: number,\n        radius: number,\n        borderRadius: number,\n    ): ColliderDesc {\n        const shape = new RoundCylinder(halfHeight, radius, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Create a new collider descriptor with a cone shape.\n     *\n     * @param halfHeight - The half-height of the cone, along the `y` axis.\n     * @param radius - The radius of the cone basis.\n     */\n    public static cone(halfHeight: number, radius: number): ColliderDesc {\n        const shape = new Cone(halfHeight, radius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Create a new collider descriptor with a cone shape with rounded corners.\n     *\n     * @param halfHeight - The half-height of the cone, along the `y` axis.\n     * @param radius - The radius of the cone basis.\n     * @param borderRadius - The radius of the cone's rounded edges and vertices.\n     */\n    public static roundCone(\n        halfHeight: number,\n        radius: number,\n        borderRadius: number,\n    ): ColliderDesc {\n        const shape = new RoundCone(halfHeight, radius, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Computes the convex-hull of the given points and use the resulting\n     * convex polyhedron as the shape for this new collider descriptor.\n     *\n     * @param points - The point that will be used to compute the convex-hull.\n     */\n    public static convexHull(points: Float32Array): ColliderDesc | null {\n        const shape = new ConvexPolyhedron(points, null);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor that uses the given set of points assumed\n     * to form a convex polyline (no convex-hull computation will be done).\n     *\n     * @param vertices - The vertices of the convex polyline.\n     */\n    public static convexMesh(\n        vertices: Float32Array,\n        indices?: Uint32Array | null,\n    ): ColliderDesc | null {\n        const shape = new ConvexPolyhedron(vertices, indices);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Computes the convex-hull of the given points and use the resulting\n     * convex polyhedron as the shape for this new collider descriptor. A\n     * border is added to that convex polyhedron to give it round corners.\n     *\n     * @param points - The point that will be used to compute the convex-hull.\n     * @param borderRadius - The radius of the round border added to the convex polyhedron.\n     */\n    public static roundConvexHull(points: Float32Array, borderRadius: number): ColliderDesc | null {\n        const shape = new RoundConvexPolyhedron(points, null, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Creates a new collider descriptor that uses the given set of points assumed\n     * to form a round convex polyline (no convex-hull computation will be done).\n     *\n     * @param vertices - The vertices of the convex polyline.\n     * @param borderRadius - The radius of the round border added to the convex polyline.\n     */\n    public static roundConvexMesh(\n        vertices: Float32Array,\n        indices: Uint32Array | null,\n        borderRadius: number,\n    ): ColliderDesc | null {\n        const shape = new RoundConvexPolyhedron(vertices, indices, borderRadius);\n        return new ColliderDesc(shape);\n    }\n\n    /**\n     * Sets the position of the collider to be created relative to the rigid-body it is attached to.\n     */\n    public setTranslation(x: number, y: number, z: number): ColliderDesc {\n        if (typeof x != \"number\" || typeof y != \"number\" || typeof z != \"number\")\n            throw TypeError(\"The translation components must be numbers.\");\n\n        this.translation = {x: x, y: y, z: z};\n        return this;\n    }\n\n    /**\n     * Sets the rotation of the collider to be created relative to the rigid-body it is attached to.\n     *\n     * @param rot - The rotation of the collider to be created relative to the rigid-body it is attached to.\n     */\n    public setRotation(rot: Rotation): ColliderDesc {\n        RotationOps.copy(this.rotation, rot);\n        return this;\n    }\n\n    /**\n     * Sets whether or not the collider being created is a sensor.\n     *\n     * A sensor collider does not take part of the physics simulation, but generates\n     * proximity events.\n     *\n     * @param sensor - Set to `true` of the collider built is to be a sensor.\n     */\n    public setSensor(sensor: boolean): ColliderDesc {\n        this.isSensor = sensor;\n        return this;\n    }\n\n    /**\n     * Sets whether the created collider will be enabled or disabled.\n     * @param enabled − If set to `false` the collider will be disabled at creation.\n     */\n    public setEnabled(enabled: boolean): ColliderDesc {\n        this.enabled = enabled;\n        return this;\n    }\n\n    /**\n     * Sets the contact skin of the collider.\n     *\n     * The contact skin acts as if the collider was enlarged with a skin of width `skin_thickness`\n     * around it, keeping objects further apart when colliding.\n     *\n     * A non-zero contact skin can increase performance, and in some cases, stability. However\n     * it creates a small gap between colliding object (equal to the sum of their skin). If the\n     * skin is sufficiently small, this might not be visually significant or can be hidden by the\n     * rendering assets.\n     */\n    public setContactSkin(thickness: number): ColliderDesc {\n        this.contactSkin = thickness;\n        return this;\n    }\n\n    /**\n     * Sets the density of the collider being built.\n     *\n     * The mass and angular inertia tensor will be computed automatically based on this density and the collider’s shape.\n     *\n     * @param density - The density to set, must be greater or equal to 0. A density of 0 means that this collider\n     *                  will not affect the mass or angular inertia of the rigid-body it is attached to.\n     */\n    public setDensity(density: number): ColliderDesc {\n        this.massPropsMode = MassPropsMode.Density;\n        this.density = density;\n        return this;\n    }\n\n    /**\n     * Sets the mass of the collider being built.\n     *\n     * The angular inertia tensor will be computed automatically based on this mass and the collider’s shape.\n     *\n     * @param mass - The mass to set, must be greater or equal to 0.\n     */\n    public setMass(mass: number): ColliderDesc {\n        this.massPropsMode = MassPropsMode.Mass;\n        this.mass = mass;\n        return this;\n    }\n\n    /**\n     * Sets the mass properties of the collider being built.\n     *\n     * This replaces the mass-properties automatically computed from the collider's density and shape.\n     * These mass-properties will be added to the mass-properties of the rigid-body this collider will be attached to.\n     *\n     * @param mass − The mass of the collider to create.\n     * @param centerOfMass − The center-of-mass of the collider to create.\n     * @param principalAngularInertia − The initial principal angular inertia of the collider to create.\n     *                                  These are the eigenvalues of the angular inertia matrix.\n     * @param angularInertiaLocalFrame − The initial local angular inertia frame of the collider to create.\n     *                                   These are the eigenvectors of the angular inertia matrix.\n     */\n    public setMassProperties(\n        mass: number,\n        centerOfMass: Vector,\n        principalAngularInertia: Vector,\n        angularInertiaLocalFrame: Rotation,\n    ): ColliderDesc {\n        this.massPropsMode = MassPropsMode.MassProps;\n        this.mass = mass;\n        VectorOps.copy(this.centerOfMass, centerOfMass);\n        VectorOps.copy(this.principalAngularInertia, principalAngularInertia);\n        RotationOps.copy(this.angularInertiaLocalFrame, angularInertiaLocalFrame);\n        return this;\n    }\n\n    /**\n     * Sets the restitution coefficient of the collider to be created.\n     *\n     * @param restitution - The restitution coefficient in `[0, 1]`. A value of 0 (the default) means no bouncing behavior\n     *                   while 1 means perfect bouncing (though energy may still be lost due to numerical errors of the\n     *                   constraints solver).\n     */\n    public setRestitution(restitution: number): ColliderDesc {\n        this.restitution = restitution;\n        return this;\n    }\n\n    /**\n     * Sets the friction coefficient of the collider to be created.\n     *\n     * @param friction - The friction coefficient. Must be greater or equal to 0. This is generally smaller than 1. The\n     *                   higher the coefficient, the stronger friction forces will be for contacts with the collider\n     *                   being built.\n     */\n    public setFriction(friction: number): ColliderDesc {\n        this.friction = friction;\n        return this;\n    }\n\n    /**\n     * Sets the rule used to combine the friction coefficients of two colliders\n     * colliders involved in a contact.\n     *\n     * @param rule − The combine rule to apply.\n     */\n    public setFrictionCombineRule(rule: CoefficientCombineRule): ColliderDesc {\n        this.frictionCombineRule = rule;\n        return this;\n    }\n\n    /**\n     * Sets the rule used to combine the restitution coefficients of two colliders\n     * colliders involved in a contact.\n     *\n     * @param rule − The combine rule to apply.\n     */\n    public setRestitutionCombineRule(rule: CoefficientCombineRule): ColliderDesc {\n        this.restitutionCombineRule = rule;\n        return this;\n    }\n\n    /**\n     * Sets the collision groups used by this collider.\n     *\n     * Two colliders will interact iff. their collision groups are compatible.\n     * See the documentation of `InteractionGroups` for details on teh used bit pattern.\n     *\n     * @param groups - The collision groups used for the collider being built.\n     */\n    public setCollisionGroups(groups: InteractionGroups): ColliderDesc {\n        this.collisionGroups = groups;\n        return this;\n    }\n\n    /**\n     * Sets the solver groups used by this collider.\n     *\n     * Forces between two colliders in contact will be computed iff their solver\n     * groups are compatible.\n     * See the documentation of `InteractionGroups` for details on the used bit pattern.\n     *\n     * @param groups - The solver groups used for the collider being built.\n     */\n    public setSolverGroups(groups: InteractionGroups): ColliderDesc {\n        this.solverGroups = groups;\n        return this;\n    }\n\n    /**\n     * Set the physics hooks active for this collider.\n     *\n     * Use this to enable custom filtering rules for contact/intersecstion pairs involving this collider.\n     *\n     * @param activeHooks - The hooks active for contact/intersection pairs involving this collider.\n     */\n    public setActiveHooks(activeHooks: ActiveHooks): ColliderDesc {\n        this.activeHooks = activeHooks;\n        return this;\n    }\n\n    /**\n     * Set the events active for this collider.\n     *\n     * Use this to enable contact and/or intersection event reporting for this collider.\n     *\n     * @param activeEvents - The events active for contact/intersection pairs involving this collider.\n     */\n    public setActiveEvents(activeEvents: ActiveEvents): ColliderDesc {\n        this.activeEvents = activeEvents;\n        return this;\n    }\n\n    /**\n     * Set the collision types active for this collider.\n     *\n     * @param activeCollisionTypes - The hooks active for contact/intersection pairs involving this collider.\n     */\n    public setActiveCollisionTypes(activeCollisionTypes: ActiveCollisionTypes): ColliderDesc {\n        this.activeCollisionTypes = activeCollisionTypes;\n        return this;\n    }\n\n    /**\n     * Sets the total force magnitude beyond which a contact force event can be emitted.\n     *\n     * @param threshold - The force threshold to set.\n     */\n    public setContactForceEventThreshold(threshold: number): ColliderDesc {\n        this.contactForceEventThreshold = threshold;\n        return this;\n    }\n}\n","import {Coarena} from \"../coarena\";\nimport {ImpulseJointHandle, IslandManager, RigidBodyHandle} from \"../dynamics\";\nimport {RigidBodySet} from \"../dynamics\";\nimport {RotationOps, VectorOps} from \"../math\";\nimport {RawColliderSet} from \"../raw\";\nimport {Collider, ColliderDesc, ColliderHandle} from \"./collider\";\n\n/**\n * A set of rigid bodies that can be handled by a physics pipeline.\n *\n * To avoid leaking WASM resources, this MUST be freed manually with `colliderSet.free()`\n * once you are done using it (and all the rigid-bodies it created).\n */\nexport class ColliderSet {\n    raw: RawColliderSet;\n    private map: Coarena<Collider>;\n\n    /**\n     * Release the WASM memory occupied by this collider set.\n     */\n    public free() {\n        if (!!this.raw) {\n            this.raw.free();\n        }\n        this.raw = undefined!;\n\n        if (!!this.map) {\n            this.map.clear();\n        }\n        this.map = undefined!;\n    }\n\n    constructor(raw?: RawColliderSet) {\n        this.raw = raw || new RawColliderSet();\n        this.map = new Coarena<Collider>();\n        // Initialize the map with the existing elements, if any.\n        if (raw) {\n            raw.forEachColliderHandle((handle: ColliderHandle) => {\n                this.map.set(handle, new Collider(this, handle, null));\n            });\n        }\n    }\n\n    /** @internal */\n    public castClosure<Res>(\n        f?: (collider: Collider) => Res,\n    ): ((handle: ColliderHandle) => Res) | undefined {\n        if (!f) return undefined;\n        return (handle) => {\n            return f(this.get(handle)!);\n        };\n    }\n\n    /** @internal */\n    public finalizeDeserialization(bodies: RigidBodySet) {\n        this.map.forEach((collider) => collider.finalizeDeserialization(bodies));\n    }\n\n    /**\n     * Creates a new collider and return its integer handle.\n     *\n     * @param bodies - The set of bodies where the collider's parent can be found.\n     * @param desc - The collider's description.\n     * @param parentHandle - The integer handle of the rigid-body this collider is attached to.\n     */\n    public createCollider(\n        bodies: RigidBodySet,\n        desc: ColliderDesc,\n        parentHandle?: RigidBodyHandle,\n    ): Collider {\n        let hasParent = parentHandle != undefined && parentHandle != null;\n\n        if (hasParent && isNaN(parentHandle!))\n            throw Error(\n                \"Cannot create a collider with a parent rigid-body handle that is not a number.\",\n            );\n\n        let rawShape = desc.shape.intoRaw();\n        let rawTra = VectorOps.intoRaw(desc.translation);\n        let rawRot = RotationOps.intoRaw(desc.rotation);\n        let rawCom = VectorOps.intoRaw(desc.centerOfMass);\n\n        let rawPrincipalInertia = VectorOps.intoRaw(desc.principalAngularInertia);\n        let rawInertiaFrame = RotationOps.intoRaw(desc.angularInertiaLocalFrame);\n\n        let handle = this.raw.createCollider(\n            desc.enabled,\n            rawShape,\n            rawTra,\n            rawRot,\n            desc.massPropsMode,\n            desc.mass,\n            rawCom,\n            rawPrincipalInertia,\n            rawInertiaFrame,\n            desc.density,\n            desc.friction,\n            desc.restitution,\n            desc.frictionCombineRule,\n            desc.restitutionCombineRule,\n            desc.isSensor,\n            desc.collisionGroups,\n            desc.solverGroups,\n            desc.activeCollisionTypes,\n            desc.activeHooks,\n            desc.activeEvents,\n            desc.contactForceEventThreshold,\n            desc.contactSkin,\n            hasParent,\n            hasParent ? parentHandle! : 0,\n            bodies.raw,\n        );\n\n        rawShape.free();\n        rawTra.free();\n        rawRot.free();\n        rawCom.free();\n\n        rawPrincipalInertia.free();\n        rawInertiaFrame.free();\n\n        let parent = hasParent ? bodies.get(parentHandle!) : null;\n        let collider = new Collider(this, handle!, parent, desc.shape);\n        this.map.set(handle!, collider);\n        return collider;\n    }\n\n    /**\n     * Remove a collider from this set.\n     *\n     * @param handle - The integer handle of the collider to remove.\n     * @param bodies - The set of rigid-body containing the rigid-body the collider is attached to.\n     * @param wakeUp - If `true`, the rigid-body the removed collider is attached to will be woken-up automatically.\n     */\n    public remove(\n        handle: ColliderHandle,\n        islands: IslandManager,\n        bodies: RigidBodySet,\n        wakeUp: boolean,\n    ) {\n        this.raw.remove(handle, islands.raw, bodies.raw, wakeUp);\n        this.unmap(handle);\n    }\n\n    /**\n     * Internal function, do not call directly.\n     * @param handle\n     */\n    public unmap(handle: ImpulseJointHandle) {\n        this.map.delete(handle);\n    }\n\n    /**\n     * Gets the rigid-body with the given handle.\n     *\n     * @param handle - The handle of the rigid-body to retrieve.\n     */\n    public get(handle: ColliderHandle): Collider | null {\n        return this.map.get(handle);\n    }\n\n    /**\n     * The number of colliders on this set.\n     */\n    public len(): number {\n        return this.map.len();\n    }\n\n    /**\n     * Does this set contain a collider with the given handle?\n     *\n     * @param handle - The collider handle to check.\n     */\n    public contains(handle: ColliderHandle): boolean {\n        return this.get(handle) != null;\n    }\n\n    /**\n     * Applies the given closure to each collider contained by this set.\n     *\n     * @param f - The closure to apply.\n     */\n    public forEach(f: (collider: Collider) => void) {\n        this.map.forEach(f);\n    }\n\n    /**\n     * Gets all colliders in the list.\n     *\n     * @returns collider list.\n     */\n    public getAll(): Collider[] {\n        return this.map.getAll();\n    }\n}\n","import {version as vers, reserve_memory as reserve} from \"./raw\";\n\nexport function version(): string {\n    return vers();\n}\n\n/// Reserves additional memory in WASM land.\n///\n/// This will grow the internal WASM memory buffer so that it can fit at least\n/// the specified amount of extra bytes. This can help reduce future runtime\n/// overhead due to dynamic internal memory growth once the limit of the\n/// pre-allocated memory is reached.\n///\n/// This feature is still experimental. Due to the nature of the internal\n/// allocator, there can be situations where the allocator decides to perform\n/// additional internal memory growth even though not all `extraBytesCount`\n/// are occupied yet.\nexport function reserveMemory(extraBytesCount: number) {\n    reserve(extraBytesCount);\n}\n\nexport * from \"./math\";\nexport * from \"./dynamics\";\nexport * from \"./geometry\";\nexport * from \"./pipeline\";\nexport * from \"./control\";\n","import wasmInit, {InitInput} from \"../wasm/release/rapier_wasm_3d\";\n\n/**\n * Initializes RAPIER using fetch (requires WASM file to be served).\n * Has to be called and awaited before using any library methods.\n */\nexport async function init(input?: InitInput) {\n    if (!input) {\n        input = new URL(\"rapier_wasm_3d_bg.wasm\", import.meta.url);\n    }\n    await wasmInit(input);\n}\n","import * as RAPIER from \"./exports\";\nexport * from \"./exports\";\nexport * from \"./init\";\nexport default 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