@babylonjs/core 5.35.0 → 5.36.0

package/Physics/v1/Plugins/oimoJSPlugin.js

@@ -0,0 +1,450 @@
+import { PhysicsImpostor } from "../physicsImpostor.js";
+import { PhysicsJoint } from "../physicsJoint.js";
+import { Vector3, Quaternion } from "../../../Maths/math.vector.js";
+import { Logger } from "../../../Misc/logger.js";
+import { PhysicsRaycastResult } from "../../physicsRaycastResult.js";
+import { Epsilon } from "../../../Maths/math.constants.js";
+/** @internal */
+export class OimoJSPlugin {
+    constructor(_useDeltaForWorldStep = true, iterations, oimoInjection = OIMO) {
+        this._useDeltaForWorldStep = _useDeltaForWorldStep;
+        this.name = "OimoJSPlugin";
+        this._fixedTimeStep = 1 / 60;
+        this._tmpImpostorsArray = [];
+        this._tmpPositionVector = Vector3.Zero();
+        this.BJSOIMO = oimoInjection;
+        this.world = new this.BJSOIMO.World({
+            iterations: iterations,
+        });
+        this.world.clear();
+        this._raycastResult = new PhysicsRaycastResult();
+    }
+    /**
+     *
+     * @returns plugin version
+     */
+    getPluginVersion() {
+        return 1;
+    }
+    setGravity(gravity) {
+        this.world.gravity.set(gravity.x, gravity.y, gravity.z);
+    }
+    setTimeStep(timeStep) {
+        this.world.timeStep = timeStep;
+    }
+    getTimeStep() {
+        return this.world.timeStep;
+    }
+    executeStep(delta, impostors) {
+        impostors.forEach(function (impostor) {
+            impostor.beforeStep();
+        });
+        this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;
+        this.world.step();
+        impostors.forEach((impostor) => {
+            impostor.afterStep();
+            //update the ordered impostors array
+            this._tmpImpostorsArray[impostor.uniqueId] = impostor;
+        });
+        //check for collisions
+        let contact = this.world.contacts;
+        while (contact !== null) {
+            if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {
+                contact = contact.next;
+                continue;
+            }
+            //is this body colliding with any other? get the impostor
+            const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];
+            const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];
+            if (!mainImpostor || !collidingImpostor) {
+                contact = contact.next;
+                continue;
+            }
+            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });
+            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });
+            contact = contact.next;
+        }
+    }
+    applyImpulse(impostor, force, contactPoint) {
+        const mass = impostor.physicsBody.mass;
+        impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));
+    }
+    applyForce(impostor, force, contactPoint) {
+        Logger.Warn("Oimo doesn't support applying force. Using impulse instead.");
+        this.applyImpulse(impostor, force, contactPoint);
+    }
+    generatePhysicsBody(impostor) {
+        //parent-child relationship. Does this impostor has a parent impostor?
+        if (impostor.parent) {
+            if (impostor.physicsBody) {
+                this.removePhysicsBody(impostor);
+                //TODO is that needed?
+                impostor.forceUpdate();
+            }
+            return;
+        }
+        if (impostor.isBodyInitRequired()) {
+            const bodyConfig = {
+                name: impostor.uniqueId,
+                //Oimo must have mass, also for static objects.
+                config: [impostor.getParam("mass") || 0.001, impostor.getParam("friction"), impostor.getParam("restitution")],
+                size: [],
+                type: [],
+                pos: [],
+                posShape: [],
+                rot: [],
+                rotShape: [],
+                move: impostor.getParam("mass") !== 0,
+                density: impostor.getParam("mass"),
+                friction: impostor.getParam("friction"),
+                restitution: impostor.getParam("restitution"),
+                //Supporting older versions of Oimo
+                world: this.world,
+            };
+            const impostors = [impostor];
+            const addToArray = (parent) => {
+                if (!parent.getChildMeshes) {
+                    return;
+                }
+                parent.getChildMeshes().forEach(function (m) {
+                    if (m.physicsImpostor) {
+                        impostors.push(m.physicsImpostor);
+                        //m.physicsImpostor._init();
+                    }
+                });
+            };
+            addToArray(impostor.object);
+            const checkWithEpsilon = (value) => {
+                return Math.max(value, Epsilon);
+            };
+            const globalQuaternion = new Quaternion();
+            impostors.forEach((i) => {
+                if (!i.object.rotationQuaternion) {
+                    return;
+                }
+                //get the correct bounding box
+                const oldQuaternion = i.object.rotationQuaternion;
+                globalQuaternion.copyFrom(oldQuaternion);
+                i.object.rotationQuaternion.set(0, 0, 0, 1);
+                i.object.computeWorldMatrix(true);
+                const rot = globalQuaternion.toEulerAngles();
+                const impostorExtents = i.getObjectExtents();
+                // eslint-disable-next-line no-loss-of-precision
+                const radToDeg = 57.295779513082320876;
+                if (i === impostor) {
+                    const center = impostor.getObjectCenter();
+                    impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);
+                    this._tmpPositionVector.divideInPlace(impostor.object.scaling);
+                    //Can also use Array.prototype.push.apply
+                    bodyConfig.pos.push(center.x);
+                    bodyConfig.pos.push(center.y);
+                    bodyConfig.pos.push(center.z);
+                    bodyConfig.posShape.push(0, 0, 0);
+                    bodyConfig.rotShape.push(0, 0, 0);
+                }
+                else {
+                    const localPosition = i.object.position.clone();
+                    bodyConfig.posShape.push(localPosition.x);
+                    bodyConfig.posShape.push(localPosition.y);
+                    bodyConfig.posShape.push(localPosition.z);
+                    // bodyConfig.pos.push(0, 0, 0);
+                    bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);
+                }
+                i.object.rotationQuaternion.copyFrom(globalQuaternion);
+                // register mesh
+                switch (i.type) {
+                    case PhysicsImpostor.ParticleImpostor:
+                        Logger.Warn("No Particle support in OIMO.js. using SphereImpostor instead");
+                    // eslint-disable-next-line no-fallthrough
+                    case PhysicsImpostor.SphereImpostor: {
+                        const radiusX = impostorExtents.x;
+                        const radiusY = impostorExtents.y;
+                        const radiusZ = impostorExtents.z;
+                        const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;
+                        bodyConfig.type.push("sphere");
+                        //due to the way oimo works with compounds, add 3 times
+                        bodyConfig.size.push(size);
+                        bodyConfig.size.push(size);
+                        bodyConfig.size.push(size);
+                        break;
+                    }
+                    case PhysicsImpostor.CylinderImpostor: {
+                        const sizeX = checkWithEpsilon(impostorExtents.x) / 2;
+                        const sizeY = checkWithEpsilon(impostorExtents.y);
+                        bodyConfig.type.push("cylinder");
+                        bodyConfig.size.push(sizeX);
+                        bodyConfig.size.push(sizeY);
+                        //due to the way oimo works with compounds, add one more value.
+                        bodyConfig.size.push(sizeY);
+                        break;
+                    }
+                    case PhysicsImpostor.PlaneImpostor:
+                    case PhysicsImpostor.BoxImpostor:
+                    default: {
+                        const sizeX = checkWithEpsilon(impostorExtents.x);
+                        const sizeY = checkWithEpsilon(impostorExtents.y);
+                        const sizeZ = checkWithEpsilon(impostorExtents.z);
+                        bodyConfig.type.push("box");
+                        //if (i === impostor) {
+                        bodyConfig.size.push(sizeX);
+                        bodyConfig.size.push(sizeY);
+                        bodyConfig.size.push(sizeZ);
+                        //} else {
+                        //    bodyConfig.size.push(0,0,0);
+                        //}
+                        break;
+                    }
+                }
+                //actually not needed, but hey...
+                i.object.rotationQuaternion = oldQuaternion;
+            });
+            impostor.physicsBody = this.world.add(bodyConfig);
+            // set the quaternion, ignoring the previously defined (euler) rotation
+            impostor.physicsBody.resetQuaternion(globalQuaternion);
+            // update with delta 0, so the body will receive the new rotation.
+            impostor.physicsBody.updatePosition(0);
+        }
+        else {
+            this._tmpPositionVector.copyFromFloats(0, 0, 0);
+        }
+        impostor.setDeltaPosition(this._tmpPositionVector);
+        //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);
+        //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);
+    }
+    removePhysicsBody(impostor) {
+        //impostor.physicsBody.dispose();
+        this.world.removeRigidBody(impostor.physicsBody);
+    }
+    generateJoint(impostorJoint) {
+        const mainBody = impostorJoint.mainImpostor.physicsBody;
+        const connectedBody = impostorJoint.connectedImpostor.physicsBody;
+        if (!mainBody || !connectedBody) {
+            return;
+        }
+        const jointData = impostorJoint.joint.jointData;
+        const options = jointData.nativeParams || {};
+        let type;
+        const nativeJointData = {
+            body1: mainBody,
+            body2: connectedBody,
+            axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),
+            axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),
+            pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),
+            pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),
+            min: options.min,
+            max: options.max,
+            collision: options.collision || jointData.collision,
+            spring: options.spring,
+            //supporting older version of Oimo
+            world: this.world,
+        };
+        switch (impostorJoint.joint.type) {
+            case PhysicsJoint.BallAndSocketJoint:
+                type = "jointBall";
+                break;
+            case PhysicsJoint.SpringJoint: {
+                Logger.Warn("OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead");
+                const springData = jointData;
+                nativeJointData.min = springData.length || nativeJointData.min;
+                //Max should also be set, just make sure it is at least min
+                nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);
+            }
+            // eslint-disable-next-line no-fallthrough
+            case PhysicsJoint.DistanceJoint:
+                type = "jointDistance";
+                nativeJointData.max = jointData.maxDistance;
+                break;
+            case PhysicsJoint.PrismaticJoint:
+                type = "jointPrisme";
+                break;
+            case PhysicsJoint.SliderJoint:
+                type = "jointSlide";
+                break;
+            case PhysicsJoint.WheelJoint:
+                type = "jointWheel";
+                break;
+            case PhysicsJoint.HingeJoint:
+            default:
+                type = "jointHinge";
+                break;
+        }
+        nativeJointData.type = type;
+        impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);
+    }
+    removeJoint(impostorJoint) {
+        //Bug in Oimo prevents us from disposing a joint in the playground
+        //joint.joint.physicsJoint.dispose();
+        //So we will bruteforce it!
+        try {
+            this.world.removeJoint(impostorJoint.joint.physicsJoint);
+        }
+        catch (e) {
+            Logger.Warn(e);
+        }
+    }
+    isSupported() {
+        return this.BJSOIMO !== undefined;
+    }
+    setTransformationFromPhysicsBody(impostor) {
+        if (!impostor.physicsBody.sleeping) {
+            if (impostor.physicsBody.shapes.next) {
+                let parent = impostor.physicsBody.shapes;
+                while (parent.next) {
+                    parent = parent.next;
+                }
+                impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);
+            }
+            else {
+                const pos = impostor.physicsBody.getPosition();
+                impostor.object.position.set(pos.x, pos.y, pos.z);
+            }
+            if (impostor.object.rotationQuaternion) {
+                const quat = impostor.physicsBody.getQuaternion();
+                impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);
+            }
+        }
+    }
+    setPhysicsBodyTransformation(impostor, newPosition, newRotation) {
+        const body = impostor.physicsBody;
+        // disable bidirectional for compound meshes
+        if (impostor.physicsBody.shapes.next) {
+            return;
+        }
+        body.position.set(newPosition.x, newPosition.y, newPosition.z);
+        body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);
+        body.syncShapes();
+        body.awake();
+    }
+    /*private _getLastShape(body: any): any {
+        var lastShape = body.shapes;
+        while (lastShape.next) {
+            lastShape = lastShape.next;
+        }
+        return lastShape;
+    }*/
+    setLinearVelocity(impostor, velocity) {
+        impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);
+    }
+    setAngularVelocity(impostor, velocity) {
+        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);
+    }
+    getLinearVelocity(impostor) {
+        const v = impostor.physicsBody.linearVelocity;
+        if (!v) {
+            return null;
+        }
+        return new Vector3(v.x, v.y, v.z);
+    }
+    getAngularVelocity(impostor) {
+        const v = impostor.physicsBody.angularVelocity;
+        if (!v) {
+            return null;
+        }
+        return new Vector3(v.x, v.y, v.z);
+    }
+    setBodyMass(impostor, mass) {
+        const staticBody = mass === 0;
+        //this will actually set the body's density and not its mass.
+        //But this is how oimo treats the mass variable.
+        impostor.physicsBody.shapes.density = staticBody ? 1 : mass;
+        impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);
+    }
+    getBodyMass(impostor) {
+        return impostor.physicsBody.shapes.density;
+    }
+    getBodyFriction(impostor) {
+        return impostor.physicsBody.shapes.friction;
+    }
+    setBodyFriction(impostor, friction) {
+        impostor.physicsBody.shapes.friction = friction;
+    }
+    getBodyRestitution(impostor) {
+        return impostor.physicsBody.shapes.restitution;
+    }
+    setBodyRestitution(impostor, restitution) {
+        impostor.physicsBody.shapes.restitution = restitution;
+    }
+    sleepBody(impostor) {
+        impostor.physicsBody.sleep();
+    }
+    wakeUpBody(impostor) {
+        impostor.physicsBody.awake();
+    }
+    updateDistanceJoint(joint, maxDistance, minDistance) {
+        joint.physicsJoint.limitMotor.upperLimit = maxDistance;
+        if (minDistance !== void 0) {
+            joint.physicsJoint.limitMotor.lowerLimit = minDistance;
+        }
+    }
+    setMotor(joint, speed, force, motorIndex) {
+        if (force !== undefined) {
+            Logger.Warn("OimoJS plugin currently has unexpected behavior when using setMotor with force parameter");
+        }
+        else {
+            force = 1e6;
+        }
+        speed *= -1;
+        //TODO separate rotational and transational motors.
+        const motor = motorIndex
+            ? joint.physicsJoint.rotationalLimitMotor2
+            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;
+        if (motor) {
+            motor.setMotor(speed, force);
+        }
+    }
+    setLimit(joint, upperLimit, lowerLimit, motorIndex) {
+        //TODO separate rotational and transational motors.
+        const motor = motorIndex
+            ? joint.physicsJoint.rotationalLimitMotor2
+            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;
+        if (motor) {
+            motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);
+        }
+    }
+    syncMeshWithImpostor(mesh, impostor) {
+        const body = impostor.physicsBody;
+        mesh.position.x = body.position.x;
+        mesh.position.y = body.position.y;
+        mesh.position.z = body.position.z;
+        if (mesh.rotationQuaternion) {
+            mesh.rotationQuaternion.x = body.orientation.x;
+            mesh.rotationQuaternion.y = body.orientation.y;
+            mesh.rotationQuaternion.z = body.orientation.z;
+            mesh.rotationQuaternion.w = body.orientation.w;
+        }
+    }
+    getRadius(impostor) {
+        return impostor.physicsBody.shapes.radius;
+    }
+    getBoxSizeToRef(impostor, result) {
+        const shape = impostor.physicsBody.shapes;
+        result.x = shape.halfWidth * 2;
+        result.y = shape.halfHeight * 2;
+        result.z = shape.halfDepth * 2;
+    }
+    dispose() {
+        this.world.clear();
+    }
+    /**
+     * Does a raycast in the physics world
+     * @param from when should the ray start?
+     * @param to when should the ray end?
+     * @returns PhysicsRaycastResult
+     */
+    raycast(from, to) {
+        Logger.Warn("raycast is not currently supported by the Oimo physics plugin");
+        this._raycastResult.reset(from, to);
+        return this._raycastResult;
+    }
+    /**
+     * Does a raycast in the physics world
+     * @param from when should the ray start?
+     * @param to when should the ray end?
+     * @param result resulting PhysicsRaycastResult
+     */
+    raycastToRef(from, to, result) {
+        Logger.Warn("raycast is not currently supported by the Oimo physics plugin");
+        result.reset(from, to);
+    }
+}
+//# sourceMappingURL=oimoJSPlugin.js.map

package/Physics/v1/Plugins/oimoJSPlugin.js.map

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type { IPhysicsEnabledObject } from \"..//physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport { Vector3, Quaternion } from \"../../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\ndeclare let OIMO: any;\r\n\r\n/** @internal */\r\nexport class OimoJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"OimoJSPlugin\";\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSOIMO: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _fixedTimeStep: number = 1 / 60;\r\n\r\n    constructor(private _useDeltaForWorldStep: boolean = true, iterations?: number, oimoInjection = OIMO) {\r\n        this.BJSOIMO = oimoInjection;\r\n        this.world = new this.BJSOIMO.World({\r\n            iterations: iterations,\r\n        });\r\n        this.world.clear();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3) {\r\n        this.world.gravity.set(gravity.x, gravity.y, gravity.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this.world.timeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this.world.timeStep;\r\n    }\r\n\r\n    private _tmpImpostorsArray: Array<PhysicsImpostor> = [];\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>) {\r\n        impostors.forEach(function (impostor) {\r\n            impostor.beforeStep();\r\n        });\r\n\r\n        this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\r\n        this.world.step();\r\n\r\n        impostors.forEach((impostor) => {\r\n            impostor.afterStep();\r\n            //update the ordered impostors array\r\n            this._tmpImpostorsArray[impostor.uniqueId] = impostor;\r\n        });\r\n\r\n        //check for collisions\r\n        let contact = this.world.contacts;\r\n\r\n        while (contact !== null) {\r\n            if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n            //is this body colliding with any other? get the impostor\r\n            const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];\r\n            const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];\r\n\r\n            if (!mainImpostor || !collidingImpostor) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n\r\n            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            contact = contact.next;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const mass = impostor.physicsBody.mass;\r\n        impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));\r\n    }\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        Logger.Warn(\"Oimo doesn't support applying force. Using impulse instead.\");\r\n        this.applyImpulse(impostor, force, contactPoint);\r\n    }\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        //parent-child relationship. Does this impostor has a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        if (impostor.isBodyInitRequired()) {\r\n            const bodyConfig: any = {\r\n                name: impostor.uniqueId,\r\n                //Oimo must have mass, also for static objects.\r\n                config: [impostor.getParam(\"mass\") || 0.001, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\")],\r\n                size: [],\r\n                type: [],\r\n                pos: [],\r\n                posShape: [],\r\n                rot: [],\r\n                rotShape: [],\r\n                move: impostor.getParam(\"mass\") !== 0,\r\n                density: impostor.getParam(\"mass\"),\r\n                friction: impostor.getParam(\"friction\"),\r\n                restitution: impostor.getParam(\"restitution\"),\r\n                //Supporting older versions of Oimo\r\n                world: this.world,\r\n            };\r\n\r\n            const impostors = [impostor];\r\n            const addToArray = (parent: IPhysicsEnabledObject) => {\r\n                if (!parent.getChildMeshes) {\r\n                    return;\r\n                }\r\n                parent.getChildMeshes().forEach(function (m) {\r\n                    if (m.physicsImpostor) {\r\n                        impostors.push(m.physicsImpostor);\r\n                        //m.physicsImpostor._init();\r\n                    }\r\n                });\r\n            };\r\n            addToArray(impostor.object);\r\n\r\n            const checkWithEpsilon = (value: number): number => {\r\n                return Math.max(value, Epsilon);\r\n            };\r\n\r\n            const globalQuaternion: Quaternion = new Quaternion();\r\n\r\n            impostors.forEach((i) => {\r\n                if (!i.object.rotationQuaternion) {\r\n                    return;\r\n                }\r\n                //get the correct bounding box\r\n                const oldQuaternion = i.object.rotationQuaternion;\r\n                globalQuaternion.copyFrom(oldQuaternion);\r\n\r\n                i.object.rotationQuaternion.set(0, 0, 0, 1);\r\n                i.object.computeWorldMatrix(true);\r\n\r\n                const rot = globalQuaternion.toEulerAngles();\r\n                const impostorExtents = i.getObjectExtents();\r\n\r\n                // eslint-disable-next-line no-loss-of-precision\r\n                const radToDeg = 57.295779513082320876;\r\n\r\n                if (i === impostor) {\r\n                    const center = impostor.getObjectCenter();\r\n\r\n                    impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);\r\n                    this._tmpPositionVector.divideInPlace(impostor.object.scaling);\r\n\r\n                    //Can also use Array.prototype.push.apply\r\n                    bodyConfig.pos.push(center.x);\r\n                    bodyConfig.pos.push(center.y);\r\n                    bodyConfig.pos.push(center.z);\r\n                    bodyConfig.posShape.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(0, 0, 0);\r\n                } else {\r\n                    const localPosition = i.object.position.clone();\r\n                    bodyConfig.posShape.push(localPosition.x);\r\n                    bodyConfig.posShape.push(localPosition.y);\r\n                    bodyConfig.posShape.push(localPosition.z);\r\n\r\n                    // bodyConfig.pos.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);\r\n                }\r\n\r\n                i.object.rotationQuaternion.copyFrom(globalQuaternion);\r\n\r\n                // register mesh\r\n                switch (i.type) {\r\n                    case PhysicsImpostor.ParticleImpostor:\r\n                        Logger.Warn(\"No Particle support in OIMO.js. using SphereImpostor instead\");\r\n                    // eslint-disable-next-line no-fallthrough\r\n                    case PhysicsImpostor.SphereImpostor: {\r\n                        const radiusX = impostorExtents.x;\r\n                        const radiusY = impostorExtents.y;\r\n                        const radiusZ = impostorExtents.z;\r\n\r\n                        const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;\r\n\r\n                        bodyConfig.type.push(\"sphere\");\r\n                        //due to the way oimo works with compounds, add 3 times\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.CylinderImpostor: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x) / 2;\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        bodyConfig.type.push(\"cylinder\");\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        //due to the way oimo works with compounds, add one more value.\r\n                        bodyConfig.size.push(sizeY);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.PlaneImpostor:\r\n                    case PhysicsImpostor.BoxImpostor:\r\n                    default: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x);\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        const sizeZ = checkWithEpsilon(impostorExtents.z);\r\n\r\n                        bodyConfig.type.push(\"box\");\r\n                        //if (i === impostor) {\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        bodyConfig.size.push(sizeZ);\r\n                        //} else {\r\n                        //    bodyConfig.size.push(0,0,0);\r\n                        //}\r\n                        break;\r\n                    }\r\n                }\r\n\r\n                //actually not needed, but hey...\r\n                i.object.rotationQuaternion = oldQuaternion;\r\n            });\r\n            impostor.physicsBody = this.world.add(bodyConfig);\r\n            // set the quaternion, ignoring the previously defined (euler) rotation\r\n            impostor.physicsBody.resetQuaternion(globalQuaternion);\r\n            // update with delta 0, so the body will receive the new rotation.\r\n            impostor.physicsBody.updatePosition(0);\r\n        } else {\r\n            this._tmpPositionVector.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpPositionVector);\r\n\r\n        //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);\r\n        //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);\r\n    }\r\n\r\n    private _tmpPositionVector: Vector3 = Vector3.Zero();\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        //impostor.physicsBody.dispose();\r\n        this.world.removeRigidBody(impostor.physicsBody);\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        const jointData = impostorJoint.joint.jointData;\r\n        const options = jointData.nativeParams || {};\r\n        let type;\r\n        const nativeJointData: any = {\r\n            body1: mainBody,\r\n            body2: connectedBody,\r\n\r\n            axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),\r\n            axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),\r\n            pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),\r\n            pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),\r\n\r\n            min: options.min,\r\n            max: options.max,\r\n            collision: options.collision || jointData.collision,\r\n            spring: options.spring,\r\n\r\n            //supporting older version of Oimo\r\n            world: this.world,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n                type = \"jointBall\";\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                Logger.Warn(\"OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead\");\r\n                const springData = <SpringJointData>jointData;\r\n                nativeJointData.min = springData.length || nativeJointData.min;\r\n                //Max should also be set, just make sure it is at least min\r\n                nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);\r\n            }\r\n            // eslint-disable-next-line no-fallthrough\r\n            case PhysicsJoint.DistanceJoint:\r\n                type = \"jointDistance\";\r\n                nativeJointData.max = (<DistanceJointData>jointData).maxDistance;\r\n                break;\r\n            case PhysicsJoint.PrismaticJoint:\r\n                type = \"jointPrisme\";\r\n                break;\r\n            case PhysicsJoint.SliderJoint:\r\n                type = \"jointSlide\";\r\n                break;\r\n            case PhysicsJoint.WheelJoint:\r\n                type = \"jointWheel\";\r\n                break;\r\n            case PhysicsJoint.HingeJoint:\r\n            default:\r\n                type = \"jointHinge\";\r\n                break;\r\n        }\r\n        nativeJointData.type = type;\r\n        impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        //Bug in Oimo prevents us from disposing a joint in the playground\r\n        //joint.joint.physicsJoint.dispose();\r\n        //So we will bruteforce it!\r\n        try {\r\n            this.world.removeJoint(impostorJoint.joint.physicsJoint);\r\n        } catch (e) {\r\n            Logger.Warn(e);\r\n        }\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSOIMO !== undefined;\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        if (!impostor.physicsBody.sleeping) {\r\n            if (impostor.physicsBody.shapes.next) {\r\n                let parent = impostor.physicsBody.shapes;\r\n                while (parent.next) {\r\n                    parent = parent.next;\r\n                }\r\n                impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);\r\n            } else {\r\n                const pos = impostor.physicsBody.getPosition();\r\n                impostor.object.position.set(pos.x, pos.y, pos.z);\r\n            }\r\n\r\n            if (impostor.object.rotationQuaternion) {\r\n                const quat = impostor.physicsBody.getQuaternion();\r\n                impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        const body = impostor.physicsBody;\r\n        // disable bidirectional for compound meshes\r\n        if (impostor.physicsBody.shapes.next) {\r\n            return;\r\n        }\r\n        body.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n        body.syncShapes();\r\n        body.awake();\r\n    }\r\n\r\n    /*private _getLastShape(body: any): any {\r\n        var lastShape = body.shapes;\r\n        while (lastShape.next) {\r\n            lastShape = lastShape.next;\r\n        }\r\n        return lastShape;\r\n    }*/\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.linearVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        const staticBody: boolean = mass === 0;\r\n        //this will actually set the body's density and not its mass.\r\n        //But this is how oimo treats the mass variable.\r\n        impostor.physicsBody.shapes.density = staticBody ? 1 : mass;\r\n        impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.density;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.shapes.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.shapes.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.awake();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number, minDistance?: number) {\r\n        joint.physicsJoint.limitMotor.upperLimit = maxDistance;\r\n        if (minDistance !== void 0) {\r\n            joint.physicsJoint.limitMotor.lowerLimit = minDistance;\r\n        }\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed: number, force?: number, motorIndex?: number) {\r\n        if (force !== undefined) {\r\n            Logger.Warn(\"OimoJS plugin currently has unexpected behavior when using setMotor with force parameter\");\r\n        } else {\r\n            force = 1e6;\r\n        }\r\n        speed *= -1;\r\n\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setMotor(speed, force);\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, upperLimit: number, lowerLimit?: number, motorIndex?: number) {\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);\r\n        }\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.orientation.x;\r\n            mesh.rotationQuaternion.y = body.orientation.y;\r\n            mesh.rotationQuaternion.z = body.orientation.z;\r\n            mesh.rotationQuaternion.w = body.orientation.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.radius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes;\r\n        result.x = shape.halfWidth * 2;\r\n        result.y = shape.halfHeight * 2;\r\n        result.z = shape.halfDepth * 2;\r\n    }\r\n\r\n    public dispose() {\r\n        this.world.clear();\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        this._raycastResult.reset(from, to);\r\n\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        result.reset(from, to);\r\n    }\r\n}\r\n"]}

package/Physics/v1/index.d.ts

@@ -0,0 +1,7 @@
+export * from "./IPhysicsEnginePlugin";
+export * from "./physicsEngine";
+export * from "./physicsEngineComponent";
+export * from "./physicsImpostor";
+export * from "./physicsJoint";
+export * from "./Plugins/index";
+export * from "./physicsHelper";

package/Physics/v1/index.js

@@ -0,0 +1,9 @@
+/* eslint-disable import/no-internal-modules */
+export * from "./IPhysicsEnginePlugin.js";
+export * from "./physicsEngine.js";
+export * from "./physicsEngineComponent.js";
+export * from "./physicsImpostor.js";
+export * from "./physicsJoint.js";
+export * from "./Plugins/index.js";
+export * from "./physicsHelper.js";
+//# sourceMappingURL=index.js.map

package/Physics/v1/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../../lts/core/generated/Physics/v1/index.ts"],"names":[],"mappings":"AAAA,+CAA+C;AAC/C,cAAc,wBAAwB,CAAC;AACvC,cAAc,iBAAiB,CAAC;AAChC,cAAc,0BAA0B,CAAC;AACzC,cAAc,mBAAmB,CAAC;AAClC,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC;AAChC,cAAc,iBAAiB,CAAC","sourcesContent":["/* eslint-disable import/no-internal-modules */\r\nexport * from \"./IPhysicsEnginePlugin\";\r\nexport * from \"./physicsEngine\";\r\nexport * from \"./physicsEngineComponent\";\r\nexport * from \"./physicsImpostor\";\r\nexport * from \"./physicsJoint\";\r\nexport * from \"./Plugins/index\";\r\nexport * from \"./physicsHelper\";\r\n"]}