@babylonjs/core 5.45.2 → 5.47.0

package/Physics/v2/physicsBody.js.map

@@ -1 +1 @@
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type { IPhysicsEnginePluginV2, MassProperties } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Mesh, TransformNode, AbstractMesh } from \"../../Meshes\";\r\nimport type { Nullable } from \"core/types\";\r\n\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    disablePreStep: boolean = true;\r\n\r\n    private static _DEFAULT_OBJECT_SIZE: Vector3 = new Vector3(1, 1, 1);\r\n    private static _IDENTITY_QUATERNION = Quaternion.Identity();\r\n\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, m);\r\n        } else {\r\n            // single instance\r\n            this._physicsPlugin.initBody(this, transformNode.position, transformNode.rotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public setShape(shape: PhysicsShape): void {\r\n        this._physicsPlugin.setShape(this, shape);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public getShape(): PhysicsShape | undefined {\r\n        return this._physicsPlugin.getShape(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the filter group of the physics body.\r\n     * @param group - The filter group of the physics body.\r\n     *\r\n     * This method is useful for setting the filter group of the physics body.\r\n     * The filter group is used to determine which bodies should collide with each other.\r\n     * This allows for more control over the physics engine and can be used to create more realistic simulations.\r\n     */\r\n    public setFilterGroup(group: number): void {\r\n        this._physicsPlugin.setFilterGroup(this, group);\r\n    }\r\n\r\n    /**\r\n     * Gets the filter group of the physics engine.\r\n     *\r\n     * @returns The filter group of the physics engine.\r\n     *\r\n     * This method is useful for getting the filter group of the physics engine,\r\n     * which is used to determine which objects will interact with each other.\r\n     * This is important for creating realistic physics simulations.\r\n     */\r\n    public getFilterGroup(): number {\r\n        return this._physicsPlugin.getFilterGroup(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number): void {\r\n        this._physicsPlugin.setEventMask(this, eventMask);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     *\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(): number {\r\n        return this._physicsPlugin.getEventMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: MassProperties): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     *\r\n     * @returns The mass properties of the object, or `undefined` if the physics\r\n     * plugin does not support mass properties.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(): MassProperties | undefined {\r\n        return this._physicsPlugin.getMassProperties(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number): void {\r\n        this._physicsPlugin.setLinearDamping(this, damping);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(): number {\r\n        return this._physicsPlugin.getLinearDamping(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number): void {\r\n        this._physicsPlugin.setAngularDamping(this, damping);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(): number {\r\n        return this._physicsPlugin.getAngularDamping(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.*/\r\n    public getLinearVelocityToRef(linVel: Vector3): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel);\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param location The location of the impulse.\r\n     * @param impulse The impulse vector.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(location: Vector3, impulse: Vector3): void {\r\n        this._physicsPlugin.applyImpulse(this, location, impulse);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param location The location of the force.\r\n     * @param force The force vector.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(location: Vector3, force: Vector3): void {\r\n        this._physicsPlugin.applyForce(this, location, force);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): {} {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Register a collision callback that is called when the body collides\r\n     * Filtering by body is inefficient. It's more preferable to register a collision callback for the entire world\r\n     * and do the filtering on the user side.\r\n     */\r\n    public registerOnCollide(func: (collider: PhysicsBody, collidedAgainst: PhysicsBody, point: Nullable<Vector3>) => void): void {\r\n        return this._physicsPlugin.registerOnBodyCollide(this, func);\r\n    }\r\n\r\n    /**\r\n     * Unregister a collision callback that is called when the body collides\r\n     */\r\n    public unregisterOnCollide(func: (collider: PhysicsBody, collidedAgainst: PhysicsBody, point: Nullable<Vector3>) => void): void {\r\n        return this._physicsPlugin.unregisterOnBodyCollide(this, func);\r\n    }\r\n\r\n    /**\r\n     * Gets the object extents\r\n     * @returns the object extents\r\n     */\r\n    public getObjectExtents(): Vector3 {\r\n        const tmAbstractMesh = this.transformNode as AbstractMesh;\r\n        if (tmAbstractMesh.getBoundingInfo) {\r\n            const q = this.transformNode.rotationQuaternion;\r\n            const scaling = this.transformNode.scaling.clone();\r\n            //reset rotation\r\n            this.transformNode.rotationQuaternion = PhysicsBody._IDENTITY_QUATERNION;\r\n            //calculate the world matrix with no rotation\r\n            const worldMatrix = this.transformNode.computeWorldMatrix && this.transformNode.computeWorldMatrix(true);\r\n            if (worldMatrix) {\r\n                worldMatrix.decompose(scaling, undefined, undefined);\r\n            }\r\n            const boundingInfo = tmAbstractMesh.getBoundingInfo();\r\n            // get the global scaling of the object\r\n            const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\r\n            size.x = Math.abs(size.x);\r\n            size.y = Math.abs(size.y);\r\n            size.z = Math.abs(size.z);\r\n            //bring back the rotation\r\n            this.transformNode.rotationQuaternion = q;\r\n            //calculate the world matrix with the new rotation\r\n            this.transformNode.computeWorldMatrix && this.transformNode.computeWorldMatrix(true);\r\n            return size;\r\n        } else {\r\n            return PhysicsBody._DEFAULT_OBJECT_SIZE;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * return geometric center of the associated mesh\r\n     */\r\n    public getObjectCenter(): Vector3 {\r\n        // TODO\r\n        return new Vector3(0, 0, 0);\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n    }\r\n}\r\n"]}
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type { IPhysicsEnginePluginV2, MassProperties } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Mesh, TransformNode, AbstractMesh } from \"../../Meshes\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    disablePreStep: boolean = true;\r\n\r\n    private static _DEFAULT_OBJECT_SIZE: Vector3 = new Vector3(1, 1, 1);\r\n    private static _IDENTITY_QUATERNION = Quaternion.Identity();\r\n\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, m);\r\n        } else {\r\n            // single instance\r\n            this._physicsPlugin.initBody(this, transformNode.position, transformNode.rotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public setShape(shape: PhysicsShape): void {\r\n        this._physicsPlugin.setShape(this, shape);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public getShape(): PhysicsShape | undefined {\r\n        return this._physicsPlugin.getShape(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the filter group of the physics body.\r\n     * @param group - The filter group of the physics body.\r\n     *\r\n     * This method is useful for setting the filter group of the physics body.\r\n     * The filter group is used to determine which bodies should collide with each other.\r\n     * This allows for more control over the physics engine and can be used to create more realistic simulations.\r\n     */\r\n    public setFilterGroup(group: number): void {\r\n        this._physicsPlugin.setFilterGroup(this, group);\r\n    }\r\n\r\n    /**\r\n     * Gets the filter group of the physics engine.\r\n     *\r\n     * @returns The filter group of the physics engine.\r\n     *\r\n     * This method is useful for getting the filter group of the physics engine,\r\n     * which is used to determine which objects will interact with each other.\r\n     * This is important for creating realistic physics simulations.\r\n     */\r\n    public getFilterGroup(): number {\r\n        return this._physicsPlugin.getFilterGroup(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number): void {\r\n        this._physicsPlugin.setEventMask(this, eventMask);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     *\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(): number {\r\n        return this._physicsPlugin.getEventMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: MassProperties): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     *\r\n     * @returns The mass properties of the object, or `undefined` if the physics\r\n     * plugin does not support mass properties.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(): MassProperties | undefined {\r\n        return this._physicsPlugin.getMassProperties(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number): void {\r\n        this._physicsPlugin.setLinearDamping(this, damping);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(): number {\r\n        return this._physicsPlugin.getLinearDamping(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number): void {\r\n        this._physicsPlugin.setAngularDamping(this, damping);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(): number {\r\n        return this._physicsPlugin.getAngularDamping(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.*/\r\n    public getLinearVelocityToRef(linVel: Vector3): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel);\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param location The location of the impulse.\r\n     * @param impulse The impulse vector.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(location: Vector3, impulse: Vector3): void {\r\n        this._physicsPlugin.applyImpulse(this, location, impulse);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param location The location of the force.\r\n     * @param force The force vector.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(location: Vector3, force: Vector3): void {\r\n        this._physicsPlugin.applyForce(this, location, force);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): {} {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Register a collision callback that is called when the body collides\r\n     * Filtering by body is inefficient. It's more preferable to register a collision callback for the entire world\r\n     * and do the filtering on the user side.\r\n     */\r\n    public registerOnCollide(func: (collider: PhysicsBody, collidedAgainst: PhysicsBody, point: Nullable<Vector3>) => void): void {\r\n        return this._physicsPlugin.registerOnBodyCollide(this, func);\r\n    }\r\n\r\n    /**\r\n     * Unregister a collision callback that is called when the body collides\r\n     */\r\n    public unregisterOnCollide(func: (collider: PhysicsBody, collidedAgainst: PhysicsBody, point: Nullable<Vector3>) => void): void {\r\n        return this._physicsPlugin.unregisterOnBodyCollide(this, func);\r\n    }\r\n\r\n    /**\r\n     * Gets the object extents\r\n     * @returns the object extents\r\n     */\r\n    public getObjectExtents(): Vector3 {\r\n        const tmAbstractMesh = this.transformNode as AbstractMesh;\r\n        if (tmAbstractMesh.getBoundingInfo) {\r\n            const q = this.transformNode.rotationQuaternion;\r\n            const scaling = this.transformNode.scaling.clone();\r\n            //reset rotation\r\n            this.transformNode.rotationQuaternion = PhysicsBody._IDENTITY_QUATERNION;\r\n            //calculate the world matrix with no rotation\r\n            const worldMatrix = this.transformNode.computeWorldMatrix && this.transformNode.computeWorldMatrix(true);\r\n            if (worldMatrix) {\r\n                worldMatrix.decompose(scaling, undefined, undefined);\r\n            }\r\n            const boundingInfo = tmAbstractMesh.getBoundingInfo();\r\n            // get the global scaling of the object\r\n            const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\r\n            size.x = Math.abs(size.x);\r\n            size.y = Math.abs(size.y);\r\n            size.z = Math.abs(size.z);\r\n            //bring back the rotation\r\n            this.transformNode.rotationQuaternion = q;\r\n            //calculate the world matrix with the new rotation\r\n            this.transformNode.computeWorldMatrix && this.transformNode.computeWorldMatrix(true);\r\n            return size;\r\n        } else {\r\n            return PhysicsBody._DEFAULT_OBJECT_SIZE;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenter(): Vector3 {\r\n        // TODO\r\n        return new Vector3(0, 0, 0);\r\n    }\r\n\r\n    /**\r\n     * Adds a constraint to the physics engine.\r\n     *\r\n     * @param childBody - The body to which the constraint will be applied.\r\n     * @param constraint - The constraint to be applied.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint);\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n        this._pluginData = null;\r\n        this._pluginDataInstances.length = 0;\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsConstraint.d.ts

@@ -2,7 +2,6 @@ import type { Scene } from "../../scene";
 import type { Vector3 } from "../../Maths/math.vector";
 import type { IPhysicsEnginePluginV2, ConstraintAxis, PhysicsConstraintParameters, ConstraintAxisLimitMode, ConstraintMotorType } from "./IPhysicsEnginePlugin";
 import { ConstraintType } from "./IPhysicsEnginePlugin";
-import type { PhysicsBody } from "./physicsBody";
 /**
  * This is a holder class for the physics constraint created by the physics plugin
  * It holds a set of functions to control the underlying constraint
@@ -17,6 +16,8 @@ export declare class PhysicsConstraint {
      * The V2 plugin used to create and manage this Physics Body
      */
     protected _physicsPlugin: IPhysicsEnginePluginV2;
+    protected _options: PhysicsConstraintParameters;
+    protected _type: ConstraintType;
     /**
      * Constructs a new constraint for the physics constraint.
      * @param type The type of constraint to create.
@@ -28,176 +29,248 @@ export declare class PhysicsConstraint {
      */
     constructor(type: ConstraintType, options: PhysicsConstraintParameters, scene: Scene);
     /**
-     * Sets the parent body of this body.
-     * @param body - The parent body to set.
+     * Gets the type of the constraint.
      *
-     * This method is useful for setting the parent body of a physics body in a physics engine.
-     * This allows the engine to accurately simulate the motion of the body in relation to its parent body.
-     * For example, if the parent body is a planet, the engine can accurately simulate the motion of the body in relation to the planet's gravity.
-     */
-    setParentBody(body: PhysicsBody): void;
-    /**
-     * Retrieves the parent body of the current physics constraint.
+     * @returns The type of the constraint.
      *
-     * @returns The parent body of the current physics constraint, or `undefined` if the
-     * current constraint does not have a parent body.
      */
-    getParentBody(): PhysicsBody | undefined;
+    getType(): ConstraintType;
     /**
-     * Sets the child body of the current body.
+     * Retrieves the options of the physics constraint.
      *
-     * @param body - The child body to set.
+     * @returns The physics constraint parameters.
      *
-     * This method is useful for setting the child body of the current body in a physics engine.
-     * This allows for the creation of complex structures of bodies that interact with each other in a realistic way.
      */
-    setChildBody(body: PhysicsBody): void;
+    getOptions(): PhysicsConstraintParameters;
     /**
-     * Retrieves the child body of the current physics constraint.
-     *
-     * @returns The child body of the current physics constraint, or `undefined` if no
-     * child body is present.
-     */
-    getChildBody(): PhysicsBody | undefined;
-    /**
-     *
-     * @param pivot +
-     * @param axisX
-     * @param axisY
-     */
-    setAnchorInParent(pivot: Vector3, axisX: Vector3, axisY: Vector3): void;
-    /**
-     *
-     * @param pivot
-     * @param axisX
-     * @param axisY
-     */
-    setAnchorInChild(pivot: Vector3, axisX: Vector3, axisY: Vector3): void;
-    /**
-     *
-     * @param isEnabled
+     * Enable/disable the constraint
+     * @param isEnabled value for the constraint
      */
     setEnabled(isEnabled: boolean): void;
     /**
      *
-     * @returns
+     * @returns true if constraint is enabled
      */
     getEnabled(): boolean;
     /**
+     * Enables or disables collisions for the physics engine.
+     *
+     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.
      *
-     * @param isEnabled
      */
     setCollisionsEnabled(isEnabled: boolean): void;
     /**
+     * Gets whether collisions are enabled for this physics object.
+     *
+     * @returns `true` if collisions are enabled, `false` otherwise.
      *
-     * @returns
      */
     getCollisionsEnabled(): boolean;
     /**
+     * Sets the friction of the given axis of the physics engine.
+     * @param axis - The axis of the physics engine to set the friction for.
+     * @param friction - The friction to set for the given axis.
      *
-     * @param axis
-     * @param friction
      */
     setAxisFriction(axis: ConstraintAxis, friction: number): void;
     /**
+     * Gets the friction of the given axis of the physics engine.
+     * @param axis - The axis of the physics engine.
+     * @returns The friction of the given axis.
      *
-     * @param axis
-     * @returns
      */
     getAxisFriction(axis: ConstraintAxis): number;
     /**
+     * Sets the limit mode for the given axis of the constraint.
+     * @param axis The axis to set the limit mode for.
+     * @param limitMode The limit mode to set.
      *
-     * @param axis
-     * @param limitMode
+     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for
+     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,
+     * the engine can be configured to either stop the motion of the objects, or to allow them to continue
+     * moving beyond the constraint.
      */
     setAxisMode(axis: ConstraintAxis, limitMode: ConstraintAxisLimitMode): void;
     /**
+     * Gets the limit mode of the given axis of the constraint.
+     *
+     * @param axis - The axis of the constraint.
+     * @returns The limit mode of the given axis.
      *
-     * @param axis
      */
     getAxisMode(axis: ConstraintAxis): ConstraintAxisLimitMode;
     /**
+     * Sets the minimum limit of a given axis of a constraint.
+     * @param axis - The axis of the constraint.
+     * @param minLimit - The minimum limit of the axis.
      *
      */
     setAxisMinLimit(axis: ConstraintAxis, minLimit: number): void;
     /**
+     * Gets the minimum limit of the given axis of the physics engine.
+     * @param axis - The axis of the physics engine.
+     * @returns The minimum limit of the given axis.
      *
      */
     getAxisMinLimit(axis: ConstraintAxis): number;
     /**
+     * Sets the maximum limit of the given axis for the physics engine.
+     * @param axis - The axis to set the limit for.
+     * @param limit - The maximum limit of the axis.
      *
+     * This method is useful for setting the maximum limit of the given axis for the physics engine,
+     * which can be used to control the movement of the physics object. This helps to ensure that the
+     * physics object does not move beyond the given limit.
      */
     setAxisMaxLimit(axis: ConstraintAxis, limit: number): void;
     /**
+     * Gets the maximum limit of the given axis of the physics engine.
+     * @param axis - The axis of the physics engine.
+     * @returns The maximum limit of the given axis.
      *
      */
     getAxisMaxLimit(axis: ConstraintAxis): number;
     /**
+     * Sets the motor type of the given axis of the constraint.
+     * @param axis - The axis of the constraint.
+     * @param motorType - The type of motor to use.
+     * @returns void
      *
      */
     setAxisMotorType(axis: ConstraintAxis, motorType: ConstraintMotorType): void;
     /**
+     * Gets the motor type of the specified axis of the constraint.
+     *
+     * @param axis - The axis of the constraint.
+     * @returns The motor type of the specified axis.
      *
      */
     getAxisMotorType(axis: ConstraintAxis): ConstraintMotorType;
     /**
+     * Sets the target velocity of the motor associated with the given axis of the constraint.
+     * @param axis - The axis of the constraint.
+     * @param target - The target velocity of the motor.
      *
+     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.
      */
     setAxisMotorTarget(axis: ConstraintAxis, target: number): void;
     /**
+     * Gets the target velocity of the motor associated to the given constraint axis.
+     * @param axis - The constraint axis associated to the motor.
+     * @returns The target velocity of the motor.
      *
      */
     getAxisMotorTarget(axis: ConstraintAxis): number;
     /**
+     * Sets the maximum force of the motor of the given axis of the constraint.
+     * @param axis - The axis of the constraint.
+     * @param maxForce - The maximum force of the motor.
      *
      */
     setAxisMotorMaxForce(axis: ConstraintAxis, maxForce: number): void;
     /**
+     * Gets the maximum force of the motor of the given axis of the constraint.
+     * @param axis - The axis of the constraint.
+     * @returns The maximum force of the motor.
      *
      */
     getAxisMotorMaxForce(axis: ConstraintAxis): number;
     /**
+     * Disposes the constraint from the physics engine.
      *
+     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.
      */
     dispose(): void;
 }
 /**
+ * Represents a Ball and Socket Constraint, used to simulate a joint
  *
+ * @param pivotA - The first pivot, defined locally in the first body frame
+ * @param pivotB - The second pivot, defined locally in the second body frame
+ * @param axisA - The axis of the first body
+ * @param axisB - The axis of the second body
+ * @param scene - The scene the constraint is applied to
+ * @returns The Ball and Socket Constraint
+ *
+ * This class is useful for simulating a joint between two bodies in a physics engine.
+ * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint.
  */
-/** @internal */
-export declare class PhysicsConstraintBallAndSocket extends PhysicsConstraint {
-    /** @internal */
+export declare class BallAndSocketConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);
 }
 /**
+ * Creates a distance constraint.
+ * @param maxDistance distance between bodies
+ * @param scene The scene the constraint belongs to
+ * @returns DistanceConstraint
+ *
+ * This code is useful for creating a distance constraint in a physics engine.
+ * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.
+ * The scene is used to add the constraint to the physics engine.
+ */
+export declare class DistanceConstraint extends PhysicsConstraint {
+    constructor(maxDistance: number, scene: Scene);
+}
+/**
+ * Creates a HingeConstraint, which is a type of PhysicsConstraint.
+ *
+ * @param pivotA - The first pivot point, in world space.
+ * @param pivotB - The second pivot point, in world space.
+ * @param scene - The scene the constraint is used in.
+ * @returns The new HingeConstraint.
  *
+ * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.
+ * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.
  */
-/** @internal */
-export declare class PhysicsConstraintDistance extends PhysicsConstraint {
-    /** @internal */
+export declare class HingeConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);
 }
 /**
+ * Creates a SliderConstraint, which is a type of PhysicsConstraint.
  *
+ * @param pivotA - The first pivot of the constraint, in world space.
+ * @param pivotB - The second pivot of the constraint, in world space.
+ * @param axisA - The first axis of the constraint, in world space.
+ * @param axisB - The second axis of the constraint, in world space.
+ * @param scene - The scene the constraint belongs to.
+ * @returns The created SliderConstraint.
+ *
+ * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.
+ * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to.
+ * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.
  */
-/** @internal */
-export declare class PhysicsConstraintHinge extends PhysicsConstraint {
-    /** @internal */
+export declare class SliderConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);
 }
 /**
+ * Creates a LockConstraint, which is a type of PhysicsConstraint.
+ *
+ * @param pivotA - The first pivot of the constraint in local space.
+ * @param pivotB - The second pivot of the constraint in local space.
+ * @param axisA - The first axis of the constraint in local space.
+ * @param axisB - The second axis of the constraint in local space.
+ * @param scene - The scene the constraint belongs to.
+ * @returns The created LockConstraint.
  *
+ * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.
+ * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.
  */
-/** @internal */
-export declare class PhysicsConstraintSlider extends PhysicsConstraint {
-    /** @internal */
+export declare class LockConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);
 }
 /**
+ * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.
+ *
+ * @param pivotA - The first pivot of the constraint in local space.
+ * @param pivotB - The second pivot of the constraint in local space.
+ * @param axisA - The first axis of the constraint in local space.
+ * @param axisB - The second axis of the constraint in local space.
+ * @param scene - The scene the constraint belongs to.
+ * @returns The created LockConstraint.
  *
+ * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.
+ * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.
  */
-/** @internal */
-export declare class PhysicsConstraintLock extends PhysicsConstraint {
-    /** @internal */
+export declare class PrismaticConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);
 }