@babylonjs/core 5.56.0 → 5.57.1

package/Physics/v2/physicsAggregate.js

@@ -1,9 +1,10 @@
 import { PhysicsBody } from "./physicsBody.js";
 import { PhysicsShape } from "./physicsShape.js";
 import { Logger } from "../../Misc/logger.js";
-import { Vector3 } from "../../Maths/math.vector.js";
+import { TmpVectors, Vector3 } from "../../Maths/math.vector.js";
 import { Scalar } from "../../Maths/math.scalar.js";
-import { PhysicsMotionType, ShapeType } from "./IPhysicsEnginePlugin.js";
+import { PhysicsMotionType, PhysicsShapeType } from "./IPhysicsEnginePlugin.js";
+import { BoundingBox } from "../../Culling/boundingBox.js";
 /**
  * Helper class to create and interact with a PhysicsAggregate.
  * This is a transition object that works like Physics Plugin V1 Impostors.
@@ -26,6 +27,7 @@ export class PhysicsAggregate {
         this.type = type;
         this._options = _options;
         this._scene = _scene;
+        this._disposeShapeWhenDisposed = true;
         //sanity check!
         if (!this.transformNode) {
             Logger.Error("No object was provided. A physics object is obligatory");
@@ -46,58 +48,89 @@ export class PhysicsAggregate {
         this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;
         this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;
         const motionType = this._options.mass === 0 ? PhysicsMotionType.STATIC : PhysicsMotionType.DYNAMIC;
-        this.body = new PhysicsBody(transformNode, motionType, this._scene);
+        const startAsleep = (_a = this._options.startAsleep) !== null && _a !== void 0 ? _a : false;
+        this.body = new PhysicsBody(transformNode, motionType, startAsleep, this._scene);
         this._addSizeOptions();
-        this._options.center = (_a = _options.center) !== null && _a !== void 0 ? _a : this.body.getObjectCenterDelta();
-        this.shape = new PhysicsShape({ type, parameters: this._options }, this._scene);
+        if (type.getClassName && type.getClassName() === "PhysicsShape") {
+            this.shape = type;
+            this._disposeShapeWhenDisposed = false;
+        }
+        else {
+            this.shape = new PhysicsShape({ type: type, parameters: this._options }, this._scene);
+        }
         this.material = { friction: this._options.friction, restitution: this._options.restitution };
         this.body.shape = this.shape;
         this.shape.material = this.material;
-        this.body.massProperties = { mass: this._options.mass };
+        this.body.setMassProperties({ mass: this._options.mass });
         this._nodeDisposeObserver = this.transformNode.onDisposeObservable.add(() => {
-            // The body is already disposed on its own observable, so it's not necessary to dispose it here.
-            this.shape.dispose();
+            this.dispose();
         });
     }
+    _getObjectBoundingBox() {
+        if (this.transformNode.getRawBoundingInfo) {
+            return this.transformNode.getRawBoundingInfo().boundingBox;
+        }
+        else {
+            return new BoundingBox(new Vector3(-0.5, -0.5, -0.5), new Vector3(0.5, 0.5, 0.5));
+        }
+    }
     _addSizeOptions() {
-        var _a, _b, _c;
-        const impostorExtents = this.body.getObjectExtents();
+        var _a, _b, _c, _d, _e, _f, _g;
+        this.transformNode.computeWorldMatrix(true);
+        const bb = this._getObjectBoundingBox();
+        const extents = TmpVectors.Vector3[0];
+        extents.copyFrom(bb.extendSizeWorld);
+        extents.scaleInPlace(2);
+        extents.multiplyInPlace(this.transformNode.scaling);
+        const min = TmpVectors.Vector3[1];
+        min.copyFrom(bb.minimum);
+        min.scaleInPlace(2);
+        min.multiplyInPlace(this.transformNode.scaling);
+        if (!this._options.center) {
+            const center = new Vector3();
+            center.copyFrom(bb.center);
+            center.multiplyInPlace(this.transformNode.scaling);
+            this._options.center = center;
+        }
         switch (this.type) {
-            case ShapeType.SPHERE:
-                if (Scalar.WithinEpsilon(impostorExtents.x, impostorExtents.y, 0.0001) && Scalar.WithinEpsilon(impostorExtents.x, impostorExtents.z, 0.0001)) {
-                    this._options.radius = this._options.radius ? this._options.radius : impostorExtents.x / 2;
+            case PhysicsShapeType.SPHERE:
+                if (!this._options.radius && Scalar.WithinEpsilon(extents.x, extents.y, 0.0001) && Scalar.WithinEpsilon(extents.x, extents.z, 0.0001)) {
+                    this._options.radius = extents.x / 2;
                 }
                 else {
-                    Logger.Warn("Non uniform scaling is unsupported for sphere shapes.");
+                    Logger.Warn("Non uniform scaling is unsupported for sphere shapes. Setting the radius to the biggest bounding box extent.");
+                    this._options.radius = Math.max(extents.x, extents.y, extents.z) / 2;
                 }
                 break;
-            case ShapeType.CAPSULE:
+            case PhysicsShapeType.CAPSULE:
                 {
-                    const capRadius = impostorExtents.x / 2;
+                    const capRadius = extents.x / 2;
                     this._options.radius = (_a = this._options.radius) !== null && _a !== void 0 ? _a : capRadius;
-                    this._options.pointA = (_b = this._options.pointA) !== null && _b !== void 0 ? _b : new Vector3(0, -impostorExtents.y * 0.5 + capRadius, 0);
-                    this._options.pointB = (_c = this._options.pointB) !== null && _c !== void 0 ? _c : new Vector3(0, impostorExtents.y * 0.5 - capRadius, 0);
+                    this._options.pointA = (_b = this._options.pointA) !== null && _b !== void 0 ? _b : new Vector3(0, min.y + capRadius, 0);
+                    this._options.pointB = (_c = this._options.pointB) !== null && _c !== void 0 ? _c : new Vector3(0, min.y + extents.y - capRadius, 0);
                 }
                 break;
-            case ShapeType.CYLINDER:
+            case PhysicsShapeType.CYLINDER:
                 {
-                    const capRadius = impostorExtents.x / 2;
-                    this._options.radius = this._options.radius ? this._options.radius : capRadius;
-                    this._options.pointA = this._options.pointA ? this._options.pointA : new Vector3(0, -impostorExtents.y * 0.5, 0);
-                    this._options.pointB = this._options.pointB ? this._options.pointB : new Vector3(0, impostorExtents.y * 0.5, 0);
+                    const capRadius = extents.x / 2;
+                    this._options.radius = (_d = this._options.radius) !== null && _d !== void 0 ? _d : capRadius;
+                    this._options.pointA = (_e = this._options.pointA) !== null && _e !== void 0 ? _e : new Vector3(0, min.y, 0);
+                    this._options.pointB = (_f = this._options.pointB) !== null && _f !== void 0 ? _f : new Vector3(0, min.y + extents.y, 0);
                 }
                 break;
-            case ShapeType.MESH:
-            case ShapeType.CONVEX_HULL:
+            case PhysicsShapeType.MESH:
+            case PhysicsShapeType.CONVEX_HULL:
                 if (!this._options.mesh && (this.transformNode.getClassName() === "Mesh" || this.transformNode.getClassName() === "InstancedMesh")) {
                     this._options.mesh = this.transformNode;
                 }
-                else {
-                    Logger.Warn("No mesh was provided for the mesh shape");
+                else if (!(this._options.mesh &&
+                    this._options.mesh.getClassName &&
+                    (this._options.mesh.getClassName() === "Mesh" || this._options.mesh.getClassName() === "InstancedMesh"))) {
+                    throw new Error("No valid mesh was provided for mesh or convex hull shape parameter.");
                 }
                 break;
-            case ShapeType.BOX:
-                this._options.extents = this._options.extents ? this._options.extents : new Vector3(impostorExtents.x, impostorExtents.y, impostorExtents.z);
+            case PhysicsShapeType.BOX:
+                this._options.extents = (_g = this._options.extents) !== null && _g !== void 0 ? _g : new Vector3(extents.x, extents.y, extents.z);
                 break;
         }
     }
@@ -110,7 +143,9 @@ export class PhysicsAggregate {
             this._nodeDisposeObserver = null;
         }
         this.body.dispose();
-        this.shape.dispose();
+        if (this._disposeShapeWhenDisposed) {
+            this.shape.dispose();
+        }
     }
 }
 //# sourceMappingURL=physicsAggregate.js.map

package/Physics/v2/physicsAggregate.js.map

@@ -1 +1 @@
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{ PhysicsBody } from \"./physicsBody\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { PhysicsShape } from \"./physicsShape\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { Vector3 } from \"../../Maths/math.vector\";\r\nimport { Scalar } from \"../../Maths/math.scalar\";\r\nimport { PhysicsMotionType, ShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Node } from \"../../node\";\r\n\r\n/**\r\n * The interface for the physics aggregate parameters\r\n */\r\nexport interface PhysicsAggregateParameters {\r\n    /**\r\n     * The mass of the physics aggregate\r\n     */\r\n    mass: number;\r\n    /**\r\n     * The friction of the physics aggregate\r\n     */\r\n    friction?: number;\r\n    /**\r\n     * The coefficient of restitution of the physics aggregate\r\n     */\r\n    restitution?: number;\r\n    /**\r\n     * The native options of the physics aggregate\r\n     */\r\n    nativeOptions?: any;\r\n    /**\r\n     * Specifies if the parent should be ignored\r\n     */\r\n    ignoreParent?: boolean;\r\n    /**\r\n     * Specifies if bi-directional transformations should be disabled\r\n     */\r\n    disableBidirectionalTransformation?: boolean;\r\n    /**\r\n     * The pressure inside the physics aggregate, soft object only\r\n     */\r\n    pressure?: number;\r\n    /**\r\n     * The stiffness the physics aggregate, soft object only\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex velocities, soft object only\r\n     */\r\n    velocityIterations?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex positions, soft object only\r\n     */\r\n    positionIterations?: number;\r\n    /**\r\n     * The number used to fix points on a cloth (0, 1, 2, 4, 8) or rope (0, 1, 2) only\r\n     * 0 None, 1, back left or top, 2, back right or bottom, 4, front left, 8, front right\r\n     * Add to fix multiple points\r\n     */\r\n    fixedPoints?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    margin?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    damping?: number;\r\n    /**\r\n     * The path for a rope based on an extrusion\r\n     */\r\n    path?: any;\r\n    /**\r\n     * The shape of an extrusion used for a rope based on an extrusion\r\n     */\r\n    shape?: any;\r\n\r\n    /**\r\n     * Radius for sphere, cylinder and capsule\r\n     */\r\n    radius?: number;\r\n\r\n    /**\r\n     * Starting point for cylinder/capsule\r\n     */\r\n    pointA?: Vector3;\r\n\r\n    /**\r\n     * Ending point for cylinder/capsule\r\n     */\r\n    pointB?: Vector3;\r\n\r\n    /**\r\n     * Extents for box\r\n     */\r\n    extents?: Vector3;\r\n\r\n    /**\r\n     * mesh local center\r\n     */\r\n    center?: Vector3;\r\n\r\n    /**\r\n     * mesh object. Used for mesh and convex hull aggregates.\r\n     */\r\n    mesh?: Mesh;\r\n}\r\n/**\r\n * Helper class to create and interact with a PhysicsAggregate.\r\n * This is a transition object that works like Physics Plugin V1 Impostors.\r\n * This helper instanciate all mandatory physics objects to get a body/shape and material.\r\n * It's less efficient that handling body and shapes independently but for prototyping or\r\n * a small numbers of physics objects, it's good enough.\r\n */\r\nexport class PhysicsAggregate {\r\n    /**\r\n     * The body that is associated with this aggregate\r\n     */\r\n    public body: PhysicsBody;\r\n\r\n    /**\r\n     * The shape that is associated with this aggregate\r\n     */\r\n    public shape: PhysicsShape;\r\n\r\n    /**\r\n     * The material that is associated with this aggregate\r\n     */\r\n    public material: PhysicsMaterial;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    constructor(\r\n        /**\r\n         * The physics-enabled object used as the physics aggregate\r\n         */\r\n        public transformNode: TransformNode,\r\n        /**\r\n         * The type of the physics aggregate\r\n         */\r\n        public type: number,\r\n        private _options: PhysicsAggregateParameters = { mass: 0 },\r\n        private _scene?: Scene\r\n    ) {\r\n        //sanity check!\r\n        if (!this.transformNode) {\r\n            Logger.Error(\"No object was provided. A physics object is obligatory\");\r\n            return;\r\n        }\r\n        if (this.transformNode.parent && this._options.mass !== 0) {\r\n            Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\r\n        }\r\n\r\n        // Legacy support for old syntax.\r\n        if (!this._scene && transformNode.getScene) {\r\n            this._scene = transformNode.getScene();\r\n        }\r\n\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n\r\n        //default options params\r\n        this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\r\n        this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\r\n        this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\r\n\r\n        const motionType = this._options.mass === 0 ? PhysicsMotionType.STATIC : PhysicsMotionType.DYNAMIC;\r\n        this.body = new PhysicsBody(transformNode, motionType, this._scene);\r\n        this._addSizeOptions();\r\n        this._options.center = _options.center ?? this.body.getObjectCenterDelta();\r\n        this.shape = new PhysicsShape({ type, parameters: this._options as any }, this._scene);\r\n\r\n        this.material = { friction: this._options.friction, restitution: this._options.restitution };\r\n        this.body.shape = this.shape;\r\n        this.shape.material = this.material;\r\n\r\n        this.body.massProperties = { mass: this._options.mass };\r\n\r\n        this._nodeDisposeObserver = this.transformNode.onDisposeObservable.add(() => {\r\n            // The body is already disposed on its own observable, so it's not necessary to dispose it here.\r\n            this.shape.dispose();\r\n        });\r\n    }\r\n\r\n    private _addSizeOptions(): void {\r\n        const impostorExtents = this.body.getObjectExtents();\r\n\r\n        switch (this.type) {\r\n            case ShapeType.SPHERE:\r\n                if (Scalar.WithinEpsilon(impostorExtents.x, impostorExtents.y, 0.0001) && Scalar.WithinEpsilon(impostorExtents.x, impostorExtents.z, 0.0001)) {\r\n                    this._options.radius = this._options.radius ? this._options.radius : impostorExtents.x / 2;\r\n                } else {\r\n                    Logger.Warn(\"Non uniform scaling is unsupported for sphere shapes.\");\r\n                }\r\n                break;\r\n            case ShapeType.CAPSULE:\r\n                {\r\n                    const capRadius = impostorExtents.x / 2;\r\n                    this._options.radius = this._options.radius ?? capRadius;\r\n                    this._options.pointA = this._options.pointA ?? new Vector3(0, -impostorExtents.y * 0.5 + capRadius, 0);\r\n                    this._options.pointB = this._options.pointB ?? new Vector3(0, impostorExtents.y * 0.5 - capRadius, 0);\r\n                }\r\n                break;\r\n            case ShapeType.CYLINDER:\r\n                {\r\n                    const capRadius = impostorExtents.x / 2;\r\n                    this._options.radius = this._options.radius ? this._options.radius : capRadius;\r\n                    this._options.pointA = this._options.pointA ? this._options.pointA : new Vector3(0, -impostorExtents.y * 0.5, 0);\r\n                    this._options.pointB = this._options.pointB ? this._options.pointB : new Vector3(0, impostorExtents.y * 0.5, 0);\r\n                }\r\n                break;\r\n            case ShapeType.MESH:\r\n            case ShapeType.CONVEX_HULL:\r\n                if (!this._options.mesh && (this.transformNode.getClassName() === \"Mesh\" || this.transformNode.getClassName() === \"InstancedMesh\")) {\r\n                    this._options.mesh = this.transformNode as Mesh;\r\n                } else {\r\n                    Logger.Warn(\"No mesh was provided for the mesh shape\");\r\n                }\r\n                break;\r\n            case ShapeType.BOX:\r\n                this._options.extents = this._options.extents ? this._options.extents : new Vector3(impostorExtents.x, impostorExtents.y, impostorExtents.z);\r\n                break;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Releases the body, shape and material\r\n     */\r\n    public dispose(): void {\r\n        if (this._nodeDisposeObserver) {\r\n            this.body.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this.body.dispose();\r\n        this.shape.dispose();\r\n    }\r\n}\r\n"]}
+{"version":3,"file":"physicsAggregate.js","sourceRoot":"","sources":["../../../../../lts/core/generated/Physics/v2/physicsAggregate.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,WAAW,EAAE,MAAM,eAAe,CAAC;AAE5C,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAC9C,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAG3C,OAAO,EAAE,UAAU,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAC;AAC9D,OAAO,EAAE,MAAM,EAAE,MAAM,yBAAyB,CAAC;AACjD,OAAO,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAM7E,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAqGxD;;;;;;GAMG;AACH,MAAM,OAAO,gBAAgB;IAoBzB;IACI;;OAEG;IACI,aAA4B;IACnC;;OAEG;IACI,IAAqC,EACpC,WAAuC,EAAE,IAAI,EAAE,CAAC,EAAE,EAClD,MAAc;;QANf,kBAAa,GAAb,aAAa,CAAe;QAI5B,SAAI,GAAJ,IAAI,CAAiC;QACpC,aAAQ,GAAR,QAAQ,CAA0C;QAClD,WAAM,GAAN,MAAM,CAAQ;QAdlB,8BAAyB,GAAG,IAAI,CAAC;QAgBrC,eAAe;QACf,IAAI,CAAC,IAAI,CAAC,aAAa,EAAE;YACrB,MAAM,CAAC,KAAK,CAAC,wDAAwD,CAAC,CAAC;YACvE,OAAO;SACV;QACD,IAAI,IAAI,CAAC,aAAa,CAAC,MAAM,IAAI,IAAI,CAAC,QAAQ,CAAC,IAAI,KAAK,CAAC,EAAE;YACvD,MAAM,CAAC,IAAI,CAAC,sJAAsJ,CAAC,CAAC;SACvK;QAED,iCAAiC;QACjC,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,aAAa,CAAC,QAAQ,EAAE;YACxC,IAAI,CAAC,MAAM,GAAG,aAAa,CAAC,QAAQ,EAAE,CAAC;SAC1C;QAED,IAAI,CAAC,IAAI,CAAC,MAAM,EAAE;YACd,OAAO;SACV;QAED,wBAAwB;QACxB,IAAI,CAAC,QAAQ,CAAC,IAAI,GAAG,QAAQ,CAAC,IAAI,KAAK,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC;QAClE,IAAI,CAAC,QAAQ,CAAC,QAAQ,GAAG,QAAQ,CAAC,QAAQ,KAAK,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,QAAQ,CAAC;QAChF,IAAI,CAAC,QAAQ,CAAC,WAAW,GAAG,QAAQ,CAAC,WAAW,KAAK,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,WAAW,CAAC;QAEzF,MAAM,UAAU,GAAG,IAAI,CAAC,QAAQ,CAAC,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC,CAAC,iBAAiB,CAAC,OAAO,CAAC;QACnG,MAAM,WAAW,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,WAAW,mCAAI,KAAK,CAAC;QACvD,IAAI,CAAC,IAAI,GAAG,IAAI,WAAW,CAAC,aAAa,EAAE,UAAU,EAAE,WAAW,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC;QACjF,IAAI,CAAC,eAAe,EAAE,CAAC;QACvB,IAAK,IAAY,CAAC,YAAY,IAAK,IAAY,CAAC,YAAY,EAAE,KAAK,cAAc,EAAE;YAC/E,IAAI,CAAC,KAAK,GAAG,IAAoB,CAAC;YAClC,IAAI,CAAC,yBAAyB,GAAG,KAAK,CAAC;SAC1C;aAAM;YACH,IAAI,CAAC,KAAK,GAAG,IAAI,YAAY,CAAC,EAAE,IAAI,EAAE,IAAwB,EAAE,UAAU,EAAE,IAAI,CAAC,QAAe,EAAE,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC;SACpH;QAED,IAAI,CAAC,QAAQ,GAAG,EAAE,QAAQ,EAAE,IAAI,CAAC,QAAQ,CAAC,QAAQ,EAAE,WAAW,EAAE,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;QAC7F,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;QAC7B,IAAI,CAAC,KAAK,CAAC,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;QAEpC,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,IAAI,CAAC,QAAQ,CAAC,IAAI,EAAE,CAAC,CAAC;QAE1D,IAAI,CAAC,oBAAoB,GAAG,IAAI,CAAC,aAAa,CAAC,mBAAmB,CAAC,GAAG,CAAC,GAAG,EAAE;YACxE,IAAI,CAAC,OAAO,EAAE,CAAC;QACnB,CAAC,CAAC,CAAC;IACP,CAAC;IAEO,qBAAqB;QACzB,IAAK,IAAI,CAAC,aAA8B,CAAC,kBAAkB,EAAE;YACzD,OAAQ,IAAI,CAAC,aAA8B,CAAC,kBAAkB,EAAE,CAAC,WAAW,CAAC;SAChF;aAAM;YACH,OAAO,IAAI,WAAW,CAAC,IAAI,OAAO,CAAC,CAAC,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,CAAC,EAAE,IAAI,OAAO,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC;SACrF;IACL,CAAC;IAEO,eAAe;;QACnB,IAAI,CAAC,aAAa,CAAC,kBAAkB,CAAC,IAAI,CAAC,CAAC;QAC5C,MAAM,EAAE,GAAG,IAAI,CAAC,qBAAqB,EAAE,CAAC;QAExC,MAAM,OAAO,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACtC,OAAO,CAAC,QAAQ,CAAC,EAAE,CAAC,eAAe,CAAC,CAAC;QACrC,OAAO,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QACxB,OAAO,CAAC,eAAe,CAAC,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;QAEpD,MAAM,GAAG,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAClC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC,OAAO,CAAC,CAAC;QACzB,GAAG,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QACpB,GAAG,CAAC,eAAe,CAAC,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;QAEhD,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE;YACvB,MAAM,MAAM,GAAG,IAAI,OAAO,EAAE,CAAC;YAC7B,MAAM,CAAC,QAAQ,CAAC,EAAE,CAAC,MAAM,CAAC,CAAC;YAC3B,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC;YACnD,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAM,CAAC;SACjC;QAED,QAAQ,IAAI,CAAC,IAAI,EAAE;YACf,KAAK,gBAAgB,CAAC,MAAM;gBACxB,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,MAAM,IAAI,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,EAAE,MAAM,CAAC,IAAI,MAAM,CAAC,aAAa,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,EAAE,MAAM,CAAC,EAAE;oBACnI,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC;iBACxC;qBAAM;oBACH,MAAM,CAAC,IAAI,CAAC,8GAA8G,CAAC,CAAC;oBAC5H,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;iBACxE;gBACD,MAAM;YACV,KAAK,gBAAgB,CAAC,OAAO;gBACzB;oBACI,MAAM,SAAS,GAAG,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC;oBAChC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,MAAM,mCAAI,SAAS,CAAC;oBACzD,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,MAAM,mCAAI,IAAI,OAAO,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,SAAS,EAAE,CAAC,CAAC,CAAC;oBACpF,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,MAAM,mCAAI,IAAI,OAAO,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,GAAG,SAAS,EAAE,CAAC,CAAC,CAAC;iBACnG;gBACD,MAAM;YACV,KAAK,gBAAgB,CAAC,QAAQ;gBAC1B;oBACI,MAAM,SAAS,GAAG,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC;oBAChC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,MAAM,mCAAI,SAAS,CAAC;oBACzD,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,MAAA,IAAI,CAAC,QAAQ,CAAC,MAAM,mCAAI,IAAI,OAAO,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;oBACx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{ PhysicsBody } from \"./physicsBody\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { PhysicsShape } from \"./physicsShape\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { TmpVectors, Vector3 } from \"../../Maths/math.vector\";\r\nimport { Scalar } from \"../../Maths/math.scalar\";\r\nimport { PhysicsMotionType, PhysicsShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Node } from \"../../node\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { BoundingBox } from \"../../Culling/boundingBox\";\r\n\r\n/**\r\n * The interface for the physics aggregate parameters\r\n */\r\nexport interface PhysicsAggregateParameters {\r\n    /**\r\n     * The mass of the physics aggregate\r\n     */\r\n    mass: number;\r\n    /**\r\n     * The friction of the physics aggregate\r\n     */\r\n    friction?: number;\r\n    /**\r\n     * The coefficient of restitution of the physics aggregate\r\n     */\r\n    restitution?: number;\r\n    /**\r\n     * The native options of the physics aggregate\r\n     */\r\n    nativeOptions?: any;\r\n    /**\r\n     * Specifies if the parent should be ignored\r\n     */\r\n    ignoreParent?: boolean;\r\n    /**\r\n     * Specifies if bi-directional transformations should be disabled\r\n     */\r\n    disableBidirectionalTransformation?: boolean;\r\n    /**\r\n     * The pressure inside the physics aggregate, soft object only\r\n     */\r\n    pressure?: number;\r\n    /**\r\n     * The stiffness the physics aggregate, soft object only\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex velocities, soft object only\r\n     */\r\n    velocityIterations?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex positions, soft object only\r\n     */\r\n    positionIterations?: number;\r\n    /**\r\n     * The number used to fix points on a cloth (0, 1, 2, 4, 8) or rope (0, 1, 2) only\r\n     * 0 None, 1, back left or top, 2, back right or bottom, 4, front left, 8, front right\r\n     * Add to fix multiple points\r\n     */\r\n    fixedPoints?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    margin?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    damping?: number;\r\n    /**\r\n     * The path for a rope based on an extrusion\r\n     */\r\n    path?: any;\r\n    /**\r\n     * The shape of an extrusion used for a rope based on an extrusion\r\n     */\r\n    shape?: any;\r\n\r\n    /**\r\n     * Radius for sphere, cylinder and capsule\r\n     */\r\n    radius?: number;\r\n\r\n    /**\r\n     * Starting point for cylinder/capsule\r\n     */\r\n    pointA?: Vector3;\r\n\r\n    /**\r\n     * Ending point for cylinder/capsule\r\n     */\r\n    pointB?: Vector3;\r\n\r\n    /**\r\n     * Extents for box\r\n     */\r\n    extents?: Vector3;\r\n\r\n    /**\r\n     * mesh local center\r\n     */\r\n    center?: Vector3;\r\n\r\n    /**\r\n     * mesh object. Used for mesh and convex hull aggregates.\r\n     */\r\n    mesh?: Mesh;\r\n\r\n    startAsleep?: boolean;\r\n}\r\n/**\r\n * Helper class to create and interact with a PhysicsAggregate.\r\n * This is a transition object that works like Physics Plugin V1 Impostors.\r\n * This helper instanciate all mandatory physics objects to get a body/shape and material.\r\n * It's less efficient that handling body and shapes independently but for prototyping or\r\n * a small numbers of physics objects, it's good enough.\r\n */\r\nexport class PhysicsAggregate {\r\n    /**\r\n     * The body that is associated with this aggregate\r\n     */\r\n    public body: PhysicsBody;\r\n\r\n    /**\r\n     * The shape that is associated with this aggregate\r\n     */\r\n    public shape: PhysicsShape;\r\n\r\n    /**\r\n     * The material that is associated with this aggregate\r\n     */\r\n    public material: PhysicsMaterial;\r\n\r\n    private _disposeShapeWhenDisposed = true;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    constructor(\r\n        /**\r\n         * The physics-enabled object used as the physics aggregate\r\n         */\r\n        public transformNode: TransformNode,\r\n        /**\r\n         * The type of the physics aggregate\r\n         */\r\n        public type: PhysicsShapeType | PhysicsShape,\r\n        private _options: PhysicsAggregateParameters = { mass: 0 },\r\n        private _scene?: Scene\r\n    ) {\r\n        //sanity check!\r\n        if (!this.transformNode) {\r\n            Logger.Error(\"No object was provided. A physics object is obligatory\");\r\n            return;\r\n        }\r\n        if (this.transformNode.parent && this._options.mass !== 0) {\r\n            Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\r\n        }\r\n\r\n        // Legacy support for old syntax.\r\n        if (!this._scene && transformNode.getScene) {\r\n            this._scene = transformNode.getScene();\r\n        }\r\n\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n\r\n        //default options params\r\n        this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\r\n        this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\r\n        this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\r\n\r\n        const motionType = this._options.mass === 0 ? PhysicsMotionType.STATIC : PhysicsMotionType.DYNAMIC;\r\n        const startAsleep = this._options.startAsleep ?? false;\r\n        this.body = new PhysicsBody(transformNode, motionType, startAsleep, this._scene);\r\n        this._addSizeOptions();\r\n        if ((type as any).getClassName && (type as any).getClassName() === \"PhysicsShape\") {\r\n            this.shape = type as PhysicsShape;\r\n            this._disposeShapeWhenDisposed = false;\r\n        } else {\r\n            this.shape = new PhysicsShape({ type: type as PhysicsShapeType, parameters: this._options as any }, this._scene);\r\n        }\r\n\r\n        this.material = { friction: this._options.friction, restitution: this._options.restitution };\r\n        this.body.shape = this.shape;\r\n        this.shape.material = this.material;\r\n\r\n        this.body.setMassProperties({ mass: this._options.mass });\r\n\r\n        this._nodeDisposeObserver = this.transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    private _getObjectBoundingBox() {\r\n        if ((this.transformNode as AbstractMesh).getRawBoundingInfo) {\r\n            return (this.transformNode as AbstractMesh).getRawBoundingInfo().boundingBox;\r\n        } else {\r\n            return new BoundingBox(new Vector3(-0.5, -0.5, -0.5), new Vector3(0.5, 0.5, 0.5));\r\n        }\r\n    }\r\n\r\n    private _addSizeOptions(): void {\r\n        this.transformNode.computeWorldMatrix(true);\r\n        const bb = this._getObjectBoundingBox();\r\n\r\n        const extents = TmpVectors.Vector3[0];\r\n        extents.copyFrom(bb.extendSizeWorld);\r\n        extents.scaleInPlace(2);\r\n        extents.multiplyInPlace(this.transformNode.scaling);\r\n\r\n        const min = TmpVectors.Vector3[1];\r\n        min.copyFrom(bb.minimum);\r\n        min.scaleInPlace(2);\r\n        min.multiplyInPlace(this.transformNode.scaling);\r\n\r\n        if (!this._options.center) {\r\n            const center = new Vector3();\r\n            center.copyFrom(bb.center);\r\n            center.multiplyInPlace(this.transformNode.scaling);\r\n            this._options.center = center;\r\n        }\r\n\r\n        switch (this.type) {\r\n            case PhysicsShapeType.SPHERE:\r\n                if (!this._options.radius && Scalar.WithinEpsilon(extents.x, extents.y, 0.0001) && Scalar.WithinEpsilon(extents.x, extents.z, 0.0001)) {\r\n                    this._options.radius = extents.x / 2;\r\n                } else {\r\n                    Logger.Warn(\"Non uniform scaling is unsupported for sphere shapes. Setting the radius to the biggest bounding box extent.\");\r\n                    this._options.radius = Math.max(extents.x, extents.y, extents.z) / 2;\r\n                }\r\n                break;\r\n            case PhysicsShapeType.CAPSULE:\r\n                {\r\n                    const capRadius = extents.x / 2;\r\n                    this._options.radius = this._options.radius ?? capRadius;\r\n                    this._options.pointA = this._options.pointA ?? new Vector3(0, min.y + capRadius, 0);\r\n                    this._options.pointB = this._options.pointB ?? new Vector3(0, min.y + extents.y - capRadius, 0);\r\n                }\r\n                break;\r\n            case PhysicsShapeType.CYLINDER:\r\n                {\r\n                    const capRadius = extents.x / 2;\r\n                    this._options.radius = this._options.radius ?? capRadius;\r\n                    this._options.pointA = this._options.pointA ?? new Vector3(0, min.y, 0);\r\n                    this._options.pointB = this._options.pointB ?? new Vector3(0, min.y + extents.y, 0);\r\n                }\r\n                break;\r\n            case PhysicsShapeType.MESH:\r\n            case PhysicsShapeType.CONVEX_HULL:\r\n                if (!this._options.mesh && (this.transformNode.getClassName() === \"Mesh\" || this.transformNode.getClassName() === \"InstancedMesh\")) {\r\n                    this._options.mesh = this.transformNode as Mesh;\r\n                } else if (\r\n                    !(\r\n                        this._options.mesh &&\r\n                        this._options.mesh.getClassName &&\r\n                        (this._options.mesh.getClassName() === \"Mesh\" || this._options.mesh.getClassName() === \"InstancedMesh\")\r\n                    )\r\n                ) {\r\n                    throw new Error(\"No valid mesh was provided for mesh or convex hull shape parameter.\");\r\n                }\r\n                break;\r\n            case PhysicsShapeType.BOX:\r\n                this._options.extents = this._options.extents ?? new Vector3(extents.x, extents.y, extents.z);\r\n                break;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Releases the body, shape and material\r\n     */\r\n    public dispose(): void {\r\n        if (this._nodeDisposeObserver) {\r\n            this.body.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this.body.dispose();\r\n        if (this._disposeShapeWhenDisposed) {\r\n            this.shape.dispose();\r\n        }\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsBody.d.ts

@@ -1,9 +1,9 @@
-import type { IPhysicsCollisionEvent, MassProperties, PhysicsMotionType } from "./IPhysicsEnginePlugin";
+import type { IPhysicsCollisionEvent, PhysicsMassProperties, PhysicsMotionType } from "./IPhysicsEnginePlugin";
 import type { PhysicsShape } from "./physicsShape";
 import { Vector3, Quaternion } from "../../Maths/math.vector";
 import type { Scene } from "../../scene";
-import type { AbstractMesh } from "../../Meshes/abstractMesh";
-import type { TransformNode } from "../../Meshes/transformNode";
+import type { TransformNode, AbstractMesh } from "../../Meshes";
+import type { Nullable } from "../../types.js";
 import type { PhysicsConstraint } from "./physicsConstraint";
 import type { Bone } from "../../Bones/bone.js";
 import type { Observable } from "../../Misc/observable";
@@ -29,6 +29,10 @@ export declare class PhysicsBody {
      * The engine used to create and manage this Physics Body
      */
     private _physicsEngine;
+    /**
+     * If the collision callback is enabled
+     */
+    private _collisionCBEnabled;
     /**
      * The transform node associated with this Physics Body
      */
@@ -38,8 +42,7 @@ export declare class PhysicsBody {
      * True by default for maximum performance.
      */
     disablePreStep: boolean;
-    private static _DEFAULT_OBJECT_SIZE;
-    private static _IDENTITY_QUATERNION;
+    startAsleep: boolean;
     private _nodeDisposeObserver;
     /**
      * Constructs a new physics body for the given node.
@@ -51,7 +54,12 @@ export declare class PhysicsBody {
      * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.
      * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.
      */
-    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, scene: Scene);
+    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, startsAsleep: boolean, scene: Scene);
+    /**
+     * Returns the string "PhysicsBody".
+     * @returns "PhysicsBody"
+     */
+    getClassName(): string;
     /**
      * Clone the PhysicsBody to a new body and assign it to the transformNode parameter
      * @param transformNode transformNode that will be used for the cloned PhysicsBody
@@ -63,10 +71,9 @@ export declare class PhysicsBody {
      */
     updateBodyInstances(): void;
     /**
-     * Adds the physics shape associated with the transform node to this body
-     * @param shapeNode - A node with a physics shape. Should be a child of the body node
+     * This returns the number of internal instances of the physics body
      */
-    addNodeShape(shapeNode: TransformNode): void;
+    get numInstances(): number;
     /**
      * Sets the shape of the physics body.
      * @param shape - The shape of the physics body.
@@ -74,7 +81,7 @@ export declare class PhysicsBody {
      * 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.
      * The shape is used to calculate the body's mass, inertia, and other properties.
      */
-    set shape(shape: PhysicsShape);
+    set shape(shape: Nullable<PhysicsShape>);
     /**
      * Retrieves the physics shape associated with this object.
      *
@@ -84,26 +91,7 @@ export declare class PhysicsBody {
      * This method is useful for retrieving the physics shape associated with this object,
      * which can be used to apply physical forces to the object or to detect collisions.
      */
-    get shape(): PhysicsShape;
-    /**
-     * Sets the filter group of the physics body.
-     * @param group - The filter group of the physics body.
-     *
-     * This method is useful for setting the filter group of the physics body.
-     * The filter group is used to determine which bodies should collide with each other.
-     * This allows for more control over the physics engine and can be used to create more realistic simulations.
-     */
-    set filterGroup(group: number);
-    /**
-     * Gets the filter group of the physics engine.
-     *
-     * @returns The filter group of the physics engine.
-     *
-     * This method is useful for getting the filter group of the physics engine,
-     * which is used to determine which objects will interact with each other.
-     * This is important for creating realistic physics simulations.
-     */
-    get filterGroup(): number;
+    get shape(): Nullable<PhysicsShape>;
     /**
      * Sets the event mask for the physics engine.
      *
@@ -112,7 +100,7 @@ export declare class PhysicsBody {
      * This method is useful for setting the event mask for the physics engine, which determines which events
      * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.
      */
-    set eventMask(eventMask: number);
+    setEventMask(eventMask: number, instanceIndex?: number): void;
     /**
      * Gets the event mask of the physics engine.
      *
@@ -123,15 +111,15 @@ export declare class PhysicsBody {
      * This is important for ensuring that the engine is responding to the correct events and not
      * wasting resources on unnecessary events.
      */
-    get eventMask(): number;
+    getEventMask(instanceIndex?: number): number;
     /**
      * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.
      */
-    set motionType(motionType: PhysicsMotionType);
+    setMotionType(motionType: PhysicsMotionType, instanceIndex?: number): void;
     /**
      * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.
      */
-    get motionType(): PhysicsMotionType;
+    getMotionType(instanceIndex?: number): PhysicsMotionType;
     /**
      * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.
      * This method is useful for computing the initial mass properties of a physics object, such as its mass,
@@ -139,16 +127,17 @@ export declare class PhysicsBody {
      * object in the physics engine, and computing values based on the shape will provide you with reasonable
      * intial values, which you can then customize.
      */
-    computeMassProperties(): MassProperties;
+    computeMassProperties(instanceIndex?: number): PhysicsMassProperties;
     /**
      * Sets the mass properties of the physics object.
      *
      * @param massProps - The mass properties to set.
+     * @param instanceIndex - The index of the instance to set the mass properties for. If not defined, the mass properties will be set for all instances.
      *
      * This method is useful for setting the mass properties of a physics object, such as its mass,
      * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.
      */
-    set massProperties(massProps: MassProperties);
+    setMassProperties(massProps: PhysicsMassProperties, instanceIndex?: number): void;
     /**
      * Retrieves the mass properties of the object.
      *
@@ -159,7 +148,7 @@ export declare class PhysicsBody {
      * and moment of inertia. This information is necessary for accurate physics
      * simulations.
      */
-    get massProperties(): MassProperties;
+    getMassProperties(instanceIndex?: number): PhysicsMassProperties;
     /**
      * Sets the linear damping of the physics body.
      *
@@ -169,7 +158,7 @@ export declare class PhysicsBody {
      * which is the rate at which the body's velocity decreases over time. This is useful for simulating
      * the effects of air resistance or other forms of friction.
      */
-    set linearDamping(damping: number);
+    setLinearDamping(damping: number, instanceIndex?: number): void;
     /**
      * Gets the linear damping of the physics body.
      * @returns The linear damping of the physics body.
@@ -178,7 +167,7 @@ export declare class PhysicsBody {
      * resistance the body has to linear motion. This is useful for simulating realistic physics behavior
      * in a game.
      */
-    get linearDamping(): number;
+    getLinearDamping(instanceIndex?: number): number;
     /**
      * Sets the angular damping of the physics body.
      * @param damping The angular damping of the body.
@@ -187,7 +176,7 @@ export declare class PhysicsBody {
      * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.
      * This can be used to create realistic physical behavior in a physics engine.
      */
-    set angularDamping(damping: number);
+    setAngularDamping(damping: number, instanceIndex?: number): void;
     /**
      * Gets the angular damping of the physics body.
      *
@@ -197,7 +186,7 @@ export declare class PhysicsBody {
      * which is the rate of reduction of the angular velocity over time.
      * This is important for simulating realistic physics behavior in a game.
      */
-    get angularDamping(): number;
+    getAngularDamping(instanceIndex?: number): number;
     /**
      * Sets the linear velocity of the physics object.
      * @param linVel - The linear velocity to set.
@@ -207,14 +196,14 @@ export declare class PhysicsBody {
      * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.
      * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.
      */
-    setLinearVelocity(linVel: Vector3): void;
+    setLinearVelocity(linVel: Vector3, instanceIndex?: number): void;
     /**
      * Gets the linear velocity of the physics body and stores it in the given vector3.
      * @param linVel - The vector3 to store the linear velocity in.
      *
      * This method is useful for getting the linear velocity of a physics body in a physics engine.
      * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.*/
-    getLinearVelocityToRef(linVel: Vector3): void;
+    getLinearVelocityToRef(linVel: Vector3, instanceIndex?: number): void;
     /**
      * Sets the angular velocity of the physics object.
      * @param angVel - The angular velocity to set.
@@ -223,7 +212,7 @@ export declare class PhysicsBody {
      * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,
      * which is important for simulating realistic motion.
      */
-    setAngularVelocity(angVel: Vector3): void;
+    setAngularVelocity(angVel: Vector3, instanceIndex?: number): void;
     /**
      * Gets the angular velocity of the physics body and stores it in the given vector3.
      * @param angVel - The vector3 to store the angular velocity in.
@@ -231,27 +220,29 @@ export declare class PhysicsBody {
      * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's
      * rotational speed. This information can be used to create realistic physics simulations.
      */
-    getAngularVelocityToRef(angVel: Vector3): void;
+    getAngularVelocityToRef(angVel: Vector3, instanceIndex?: number): void;
     /**
      * Applies an impulse to the physics object.
      *
      * @param impulse The impulse vector.
      * @param location The location of the impulse.
+     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.
      *
      * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,
      * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.
      */
-    applyImpulse(impulse: Vector3, location: Vector3): void;
+    applyImpulse(impulse: Vector3, location: Vector3, instanceIndex?: number): void;
     /**
      * Applies a force to the physics object.
      *
      * @param force The force vector.
      * @param location The location of the force.
+     * @param instanceIndex For a instanced body, the instance to where the force should be applied. If not specified, the force is applied to all instances.
      *
      * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,
      * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.
      */
-    applyForce(force: Vector3, location: Vector3): void;
+    applyForce(force: Vector3, location: Vector3, instanceIndex?: number): void;
     /**
      * Retrieves the geometry of the body from the physics plugin.
      *
@@ -270,28 +261,18 @@ export declare class PhysicsBody {
      * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable
      */
     setCollisionCallbackEnabled(enabled: boolean): void;
-    /**
-     * Gets the object extents
-     * @returns the object extents
-     */
-    getObjectExtents(): Vector3;
-    /**
-     * returns the delta between the object bounding box center and the mesh origin
-     * @returns delta between object bounding box center and origin
-     */
-    getObjectCenterDelta(): Vector3;
-    /**
-     * @returns geometric center of the associated mesh
-     */
-    getObjectCenter(): Vector3;
+    getObjectCenterWorld(instanceIndex?: number): Vector3;
+    getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3;
     /**
      * Adds a constraint to the physics engine.
      *
      * @param childBody - The body to which the constraint will be applied.
      * @param constraint - The constraint to be applied.
+     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
+     * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
      *
      */
-    addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint): void;
+    addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;
     /**
      * Sync with a bone
      * @param bone The bone that the impostor will be synced to.
@@ -302,6 +283,11 @@ export declare class PhysicsBody {
      * @param boneAxis Optional vector3 axis the bone is aligned with
      */
     syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3): void;
+    /**
+     * Executes a callback on the body or all of the instances of a body
+     * @param callback the callback to execute
+     */
+    iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void): void;
     /**
      * Disposes the body from the physics engine.
      *