@babylonjs/core 5.57.1 → 6.0.0

package/Physics/v2/physicsBody.js.map

@@ -1 +1 @@
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type { IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } 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\nimport type { Bone } from \"core/Bones/bone\";\r\nimport { Space } from \"core/Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\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     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\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    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\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 motionType - The motion type of the physics body.\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, motionType: PhysicsMotionType, startsAsleep: boolean, 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\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            this._physicsPlugin.initBody(this, motionType, 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        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\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 set shape(shape: Nullable<PhysicsShape>) {\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 get shape(): Nullable<PhysicsShape> {\r\n        return this._physicsPlugin.getShape(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, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * intial values, which you can then customize.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\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     * @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.\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: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\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.\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(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\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, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\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, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\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, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @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.\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(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @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.\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(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\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     * Returns an observable that will be notified for all collisions happening for event-enabled bodies\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\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     * @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.\r\n     * @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.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\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        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\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"]}
+{"version":3,"file":"physicsBody.js","sourceRoot":"","sources":["../../../../../lts/core/generated/Physics/v2/physicsBody.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,OAAO,EAAE,UAAU,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AAO1E,OAAO,EAAE,KAAK,EAAE,iCAA6B;AAI7C;;;;GAIG;AACH,MAAM,OAAO,WAAW;IAsCpB;;;;;;;;;OASG;IACH,YAAY,aAA4B,EAAE,UAA6B,EAAE,YAAqB,EAAE,KAAY;QA/C5G;;WAEG;QACI,gBAAW,GAAQ,SAAS,CAAC;QACpC;;WAEG;QACI,yBAAoB,GAAe,EAAE,CAAC;QAS7C;;WAEG;QACK,wBAAmB,GAAY,KAAK,CAAC;QAK7C;;;WAGG;QACH,mBAAc,GAAY,IAAI,CAAC;QAoB3B,IAAI,CAAC,KAAK,EAAE;YACR,OAAO;SACV;QACD,MAAM,aAAa,GAAG,KAAK,CAAC,gBAAgB,EAAmB,CAAC;QAChE,IAAI,CAAC,aAAa,EAAE;YAChB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;SACnD;QACD,IAAI,CAAC,cAAc,GAAG,aAAa,CAAC;QACpC,IAAI,aAAa,CAAC,gBAAgB,EAAE,IAAI,CAAC,EAAE;YACvC,MAAM,IAAI,KAAK,CAAC,kDAAkD,CAAC,CAAC;SACvE;QACD,MAAM,aAAa,GAAG,aAAa,CAAC,gBAAgB,EAAE,CAAC;QACvD,IAAI,CAAC,aAAa,EAAE;YAChB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;SACnD;QAED,IAAI,CAAC,cAAc,GAAG,aAAuC,CAAC;QAC9D,IAAI,CAAC,aAAa,CAAC,kBAAkB,EAAE;YACnC,aAAa,CAAC,kBAAkB,GAAG,UAAU,CAAC,eAAe,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC,EAAE,aAAa,CAAC,QAAQ,CAAC,CAAC,EAAE,aAAa,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;SAC/I;QAED,IAAI,CAAC,WAAW,GAAG,YAAY,CAAC;QAEhC,aAAa;QACb,MAAM,CAAC,GAAG,aAAqB,CAAC;QAChC,IAAI,CAAC,CAAC,gBAAgB,EAAE;YACpB,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,CAAC;SAC9D;aAAM;YACH,kBAAkB;YAClB,IAAI,CAAC,cAAc,CAAC,QAAQ,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,CAAC,QAAQ,EAAE,aAAa,CAAC,kBAAkB,CAAC,CAAC;SAC5G;QACD,IAAI,CAAC,aAAa,GAAG,aAAa,CAAC;QACnC,aAAa,CAAC,WAAW,GAAG,IAAI,CAAC;QACjC,aAAa,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;QAE5B,IAAI,CAAC,oBAAoB,GAAG,aAAa,CAAC,mBAAmB,CAAC,GAAG,CAAC,GAAG,EAAE;YACnE,IAAI,CAAC,OAAO,EAAE,CAAC;QACnB,CAAC,CAAC,CAAC;IACP,CAAC;IAED;;;OAGG;IACI,YAAY;QACf,OAAO,aAAa,CAAC;IACzB,CAAC;IAED;;;;OAIG;IACI,KAAK,CAAC,aAA4B;QACrC,MAAM,UAAU,GAAG,IAAI,WAAW,CAAC,aAAa,EAAE,IAAI,CAAC,aAAa,EAAE,EAAE,IAAI,CAAC,WAAW,EAAE,IAAI,CAAC,aAAa,CAAC,QAAQ,EAAE,CAAC,CAAC;QACzH,UAAU,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;QAC9B,OAAO,UAAU,CAAC;IACtB,CAAC;IAED;;OAEG;IACI,mBAAmB;QACtB,MAAM,CAAC,GAAG,IAAI,CAAC,aAAqB,CAAC;QACrC,IAAI,CAAC,CAAC,gBAAgB,EAAE;YACpB,IAAI,CAAC,cAAc,CAAC,mBAAmB,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;SACpD;IACL,CAAC;IAED;;OAEG;IACH,IAAW,YAAY;QACnB,OAAO,IAAI,CAAC,oBAAoB,CAAC,MAAM,CAAC;IAC5C,CAAC;IAED;;;;;;OAMG;IACH,IAAW,KAAK,CAAC,KAA6B;QAC1C,IAAI,CAAC,cAAc,CAAC,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;IAC9C,CAAC;IAED;;;;;;;;OAQG;IACH,IAAW,KAAK;QACZ,OAAO,IAAI,CAAC,cAAc,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;IAC9C,CAAC;IAED;;;;;;;OAOG;IACI,YAAY,CAAC,SAAiB,EAAE,aAAsB;QACzD,IAAI,CAAC,cAAc,CAAC,YAAY,CAAC,IAAI,EAAE,SAAS,EAAE,aAAa,CAAC,CAAC;IACrE,CAAC;IAED;;;;;;;;;OASG;IACI,YAAY,CAAC,aAAsB;QACtC,OAAO,IAAI,CAAC,cAAc,CAAC,YAAY,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACjE,CAAC;IAED;;OAEG;IACI,aAAa,CAAC,UAA6B,EAAE,aAAsB;QACtE,IAAI,CAAC,cAAc,CAAC,aAAa,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,CAAC,CAAC;IACvE,CAAC;IAED;;OAEG;IACI,aAAa,CAAC,aAAsB;QACvC,OAAO,IAAI,CAAC,cAAc,CAAC,aAAa,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IAClE,CAAC;IAED;;;;;;OAMG;IACI,qBAAqB,CAAC,aAAsB;QAC/C,OAAO,IAAI,CAAC,cAAc,CAAC,qBAAqB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IAC1E,CAAC;IAED;;;;;;;;OAQG;IACI,iBAAiB,CAAC,SAAgC,EAAE,aAAsB;QAC7E,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,SAAS,EAAE,aAAa,CAAC,CAAC;IAC1E,CAAC;IAED;;;;;;;;;OASG;IACI,iBAAiB,CAAC,aAAsB;QAC3C,OAAO,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACtE,CAAC;IAED;;;;;;;;OAQG;IACI,gBAAgB,CAAC,OAAe,EAAE,aAAsB;QAC3D,IAAI,CAAC,cAAc,CAAC,gBAAgB,CAAC,IAAI,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IACvE,CAAC;IAED;;;;;;;OAOG;IACI,gBAAgB,CAAC,aAAsB;QAC1C,OAAO,IAAI,CAAC,cAAc,CAAC,gBAAgB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACrE,CAAC;IAED;;;;;;;OAOG;IACI,iBAAiB,CAAC,OAAe,EAAE,aAAsB;QAC5D,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IACxE,CAAC;IAED;;;;;;;;OAQG;IACI,iBAAiB,CAAC,aAAsB;QAC3C,OAAO,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACtE,CAAC;IAED;;;;;;;;OAQG;IACI,iBAAiB,CAAC,MAAe,EAAE,aAAsB;QAC5D,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,EAAE,MAAM,EAAE,aAAa,CAAC,CAAC;IACvE,CAAC;IAED;;;;;kIAK8H;IACvH,sBAAsB,CAAC,MAAe,EAAE,aAAsB;QACjE,OAAO,IAAI,CAAC,cAAc,CAAC,sBAAsB,CAAC,IAAI,EAAE,MAAM,EAAE,aAAa,CAAC,CAAC;IACnF,CAAC;IAED;;;;;;;OAOG;IACI,kBAAkB,CAAC,MAAe,EAAE,aAAsB;QAC7D,IAAI,CAAC,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,aAAa,CAAC,CAAC;IACxE,CAAC;IAED;;;;;;OAMG;IACI,uBAAuB,CAAC,MAAe,EAAE,aAAsB;QAClE,OAAO,IAAI,CAAC,cAAc,CAAC,uBAAuB,CAAC,IAAI,EAAE,MAAM,EAAE,aAAa,CAAC,CAAC;IACpF,CAAC;IAED;;;;;;;;;OASG;IACI,YAAY,CAAC,OAAgB,EAAE,QAAiB,EAAE,aAAsB;QAC3E,IAAI,CAAC,cAAc,CAAC,YAAY,CAAC,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,aAAa,CAAC,CAAC;IAC7E,CAAC;IAED;;;;;;;;;OASG;IACI,UAAU,CAAC,KAAc,EAAE,QAAiB,EAAE,aAAsB;QACvE,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,CAAC,CAAC;IACzE,CAAC;IAED;;;;;;OAMG;IACI,WAAW;QACd,OAAO,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,CAAC,CAAC;IACrD,CAAC;IAED;;;OAGG;IACI,sBAAsB;QACzB,OAAO,IAAI,CAAC,cAAc,CAAC,sBAAsB,CAAC,IAAI,CAAC,CAAC;IAC5D,CAAC;IAED;;;OAGG;IACI,2BAA2B,CAAC,OAAgB;QAC/C,IAAI,CAAC,mBAAmB,GAAG,OAAO,CAAC;QACnC,IAAI,CAAC,cAAc,CAAC,2BAA2B,CAAC,IAAI,EAAE,OAAO,CAAC,CAAC;IACnE,C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type { IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } 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\nimport type { Bone } from \"core/Bones/bone\";\r\nimport { Space } from \"core/Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\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     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\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    /**\r\n     * Physics engine will try to make this body sleeping and not active\r\n     */\r\n    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\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 motionType - The motion type of the physics body.\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, motionType: PhysicsMotionType, startsAsleep: boolean, 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\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            this._physicsPlugin.initBody(this, motionType, 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        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\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 set shape(shape: Nullable<PhysicsShape>) {\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 get shape(): Nullable<PhysicsShape> {\r\n        return this._physicsPlugin.getShape(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, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * intial values, which you can then customize.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\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     * @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.\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: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\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.\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(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\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, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\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, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\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(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\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, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\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, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @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.\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(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @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.\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(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\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     * Returns an observable that will be notified for all collisions happening for event-enabled bodies\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\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     * @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.\r\n     * @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.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\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        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\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

@@ -73,12 +73,35 @@ export declare class PhysicsConstraint {
      */
     dispose(): void;
 }
+/**
+ * This describes a single limit used by Physics6DoFConstraint
+ */
 export declare class Physics6DoFLimit {
+    /**
+     * The axis ID to limit
+     */
     axis: PhysicsConstraintAxis;
+    /**
+     * An optional minimum limit for the axis.
+     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.
+     */
     minLimit?: number;
+    /**
+     * An optional maximum limit for the axis.
+     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.
+     */
     maxLimit?: number;
 }
+/**
+ * A generic constraint, which can be used to build more complex constraints than those specified
+ * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space
+ * the constraint operates in. This constraint contains a set of limits, which restrict the
+ * relative movement of the bodies in that coordinate system
+ */
 export declare class Physics6DoFConstraint extends PhysicsConstraint {
+    /**
+     * The collection of limits which this constraint will apply
+     */
     limits: Physics6DoFLimit[];
     constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene);
     /**

package/Physics/v2/physicsConstraint.js

@@ -96,12 +96,12 @@ export class PhysicsConstraint {
         this._physicsPlugin.disposeConstraint(this);
     }
 }
-/*
+/**
  * This describes a single limit used by Physics6DoFConstraint
  */
 export class Physics6DoFLimit {
 }
-/*
+/**
  * A generic constraint, which can be used to build more complex constraints than those specified
  * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space
  * the constraint operates in. This constraint contains a set of limits, which restrict the

package/Physics/v2/physicsConstraint.js.map

@@ -1 +1 @@
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type {\r\n    IPhysicsEnginePluginV2,\r\n    PhysicsConstraintAxis,\r\n    PhysicsConstraintParameters,\r\n    PhysicsConstraintAxisLimitMode,\r\n    PhysicsConstraintMotorType,\r\n} from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\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        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint 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(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/*\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /*\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /*\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /*\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n}\r\n\r\n/*\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /*\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): PhysicsConstraintAxisLimitMode {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     * @returns void\r\n     *\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): PhysicsConstraintMotorType {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n *\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n *\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * 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.\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * 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.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n"]}
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type {\r\n    IPhysicsEnginePluginV2,\r\n    PhysicsConstraintAxis,\r\n    PhysicsConstraintParameters,\r\n    PhysicsConstraintAxisLimitMode,\r\n    PhysicsConstraintMotorType,\r\n} from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\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        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint 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(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/**\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /**\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /**\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /**\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n}\r\n\r\n/**\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /**\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): PhysicsConstraintAxisLimitMode {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     * @returns void\r\n     *\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): PhysicsConstraintMotorType {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): number {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n *\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n *\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * 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.\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * 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.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsShape.d.ts

@@ -118,11 +118,23 @@ export declare class PhysicsShape {
      */
     get density(): number;
     /**
+     * Utility to add a child shape to this container,
+     * automatically computing the relative transform between
+     * the container shape and the child instance.
      *
-     * @param newChild
-     * @param childTransform
+     * @param parentTransform The transform node associated with this shape
+     * @param newChild The new PhysicsShape to add
+     * @param childTransform The transform node associated with the child shape
      */
-    addChild(newChild: PhysicsShape, childTransform: TransformNode): void;
+    addChildFromParent(parentTransform: TransformNode, newChild: PhysicsShape, childTransform: TransformNode): void;
+    /**
+     * Adds a child shape to a container with an optional transform
+     * @param newChild The new PhysicsShape to add
+     * @param translation Optional position of the child shape relative to this shape
+     * @param rotation Optional rotation of the child shape relative to this shape
+     * @param scale Optional scale of the child shape relative to this shape
+     */
+    addChild(newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;
     /**
      *
      * @param childIndex

package/Physics/v2/physicsShape.js

@@ -1,5 +1,5 @@
 import { PhysicsShapeType } from "./IPhysicsEnginePlugin.js";
-import { Vector3, Quaternion } from "../../Maths/math.vector.js";
+import { Matrix, Vector3, Quaternion, TmpVectors } from "../../Maths/math.vector.js";
 /**
  * PhysicsShape class.
  * This class is useful for creating a physics shape that can be used in a physics engine.
@@ -135,12 +135,34 @@ export class PhysicsShape {
         return this._physicsPlugin.getDensity(this);
     }
     /**
+     * Utility to add a child shape to this container,
+     * automatically computing the relative transform between
+     * the container shape and the child instance.
      *
-     * @param newChild
-     * @param childTransform
+     * @param parentTransform The transform node associated with this shape
+     * @param newChild The new PhysicsShape to add
+     * @param childTransform The transform node associated with the child shape
      */
-    addChild(newChild, childTransform) {
-        this._physicsPlugin.addChild(this, newChild, childTransform);
+    addChildFromParent(parentTransform, newChild, childTransform) {
+        const childToWorld = childTransform.computeWorldMatrix(true);
+        const parentToWorld = parentTransform.computeWorldMatrix(true);
+        const childToParent = TmpVectors.Matrix[0];
+        childToWorld.multiplyToRef(Matrix.Invert(parentToWorld), childToParent);
+        const translation = TmpVectors.Vector3[0];
+        const rotation = TmpVectors.Quaternion[0];
+        const scale = TmpVectors.Vector3[1];
+        childToParent.decompose(scale, rotation, translation);
+        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);
+    }
+    /**
+     * Adds a child shape to a container with an optional transform
+     * @param newChild The new PhysicsShape to add
+     * @param translation Optional position of the child shape relative to this shape
+     * @param rotation Optional rotation of the child shape relative to this shape
+     * @param scale Optional scale of the child shape relative to this shape
+     */
+    addChild(newChild, translation, rotation, scale) {
+        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);
     }
     /**
      *
@@ -190,7 +212,8 @@ export class PhysicsShapeSphere extends PhysicsShape {
     static FromMesh(mesh) {
         const bounds = mesh.getBoundingInfo();
         const centerLocal = bounds.boundingSphere.center;
-        const radius = bounds.boundingSphere.radius;
+        const he = bounds.boundingBox.extendSize;
+        const radius = Math.max(he.x, he.y, he.z);
         return new PhysicsShapeSphere(centerLocal, radius, mesh.getScene());
     }
 }

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@@ -1 +1 @@
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type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport { PhysicsShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsShapeParameters } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\n\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\n\r\n/**\r\n * Options for creating a physics shape\r\n */\r\nexport interface PhysicShapeOptions {\r\n    /**\r\n     * The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     */\r\n    type?: PhysicsShapeType;\r\n    /**\r\n     * The parameters of the shape. Varies depending of the shape type.\r\n     */\r\n    parameters?: PhysicsShapeParameters;\r\n    /**\r\n     * Reference to an already existing physics shape in the plugin.\r\n     */\r\n    pluginData?: any;\r\n}\r\n\r\n/**\r\n * PhysicsShape class.\r\n * This class is useful for creating a physics shape that can be used in a physics engine.\r\n * A Physic Shape determine how collision are computed. It must be attached to a body.\r\n */\r\nexport class PhysicsShape {\r\n    /**\r\n     * V2 Physics plugin private data for single shape\r\n     */\r\n    public _pluginData: any = undefined;\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    private _type: PhysicsShapeType;\r\n\r\n    private _material: PhysicsMaterial;\r\n\r\n    /**\r\n     * Constructs a new physics shape.\r\n     * @param options The options for the physics shape. These are:\r\n     *  * type: The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     *  * parameters: The parameters of the shape.\r\n     *  * pluginData: The plugin data of the shape. This is used if you already have a reference to the object on the plugin side.\r\n     * You need to specify either type or pluginData.\r\n     * @param scene The scene the shape belongs to.\r\n     *\r\n     * This code is useful for creating a new physics shape with the given type, options, and scene.\r\n     * It also checks that the physics engine and plugin version are correct.\r\n     * If not, it throws an error. This ensures that the shape is created with the correct parameters and is compatible with the physics engine.\r\n     */\r\n    constructor(options: PhysicShapeOptions, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\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        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n\r\n        if (options.pluginData !== undefined && options.pluginData !== null) {\r\n            this._pluginData = options.pluginData;\r\n            this._type = this._physicsPlugin.getShapeType(this);\r\n        } else if (options.type !== undefined && options.type !== null) {\r\n            this._type = options.type;\r\n            const parameters = options.parameters ?? {};\r\n            this._physicsPlugin.initShape(this, options.type, parameters);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsShape\".\r\n     * @returns \"PhysicsShape\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsShape\";\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public get type(): PhysicsShapeType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Set the membership mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which the shape is a member. This is used in combination\r\n     * with the collide mask to determine if this shape should collide with\r\n     * another.\r\n     *\r\n     * @param membershipMask Bitfield of categories of this shape.\r\n     */\r\n    public set filterMembershipMask(membershipMask: number) {\r\n        this._physicsPlugin.setShapeFilterMembershipMask(this, membershipMask);\r\n    }\r\n\r\n    /**\r\n     * Get the membership mask of a shape.\r\n     * @returns Bitmask of categories which this shape is a member of.\r\n     */\r\n    public get filterMembershipMask(): number {\r\n        return this._physicsPlugin.getShapeFilterMembershipMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the collide mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which this shape collides with. Given two shapes,\r\n     * the engine will check if the collide mask and membership overlap:\r\n     * shapeA.filterMembershipMask & shapeB.filterCollideMask\r\n     *\r\n     * If this value is zero (i.e. shapeB only collides with categories\r\n     * which shapeA is _not_ a member of) then the shapes will not collide.\r\n     *\r\n     * Note, the engine will also perform the same test with shapeA and\r\n     * shapeB swapped; the shapes will not collide if either shape has\r\n     * a collideMask which prevents collision with the other shape.\r\n     *\r\n     * @param collideMask Bitmask of categories this shape should collide with\r\n     */\r\n    public set filterCollideMask(collideMask: number) {\r\n        this._physicsPlugin.setShapeFilterCollideMask(this, collideMask);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns Bitmask of categories that this shape should collide with\r\n     */\r\n    public get filterCollideMask(): number {\r\n        return this._physicsPlugin.getShapeFilterCollideMask(this);\r\n    }\r\n    /**\r\n     *\r\n     * @param material\r\n     */\r\n    public set material(material: PhysicsMaterial) {\r\n        this._physicsPlugin.setMaterial(this, material);\r\n        this._material = material;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns\r\n     */\r\n    public get material(): PhysicsMaterial {\r\n        return this._material;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param density\r\n     */\r\n    public set density(density: number) {\r\n        this._physicsPlugin.setDensity(this, density);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public get density(): number {\r\n        return this._physicsPlugin.getDensity(this);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param newChild\r\n     * @param childTransform\r\n     */\r\n    public addChild(newChild: PhysicsShape, childTransform: TransformNode): void {\r\n        this._physicsPlugin.addChild(this, newChild, childTransform);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param childIndex\r\n     */\r\n    public removeChild(childIndex: number): void {\r\n        this._physicsPlugin.removeChild(this, childIndex);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns\r\n     */\r\n    public getNumChildren(): number {\r\n        return this._physicsPlugin.getNumChildren(this);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBoundingBox(this);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public dispose() {\r\n        this._physicsPlugin.disposeShape(this);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a sphere shape\r\n */\r\nexport class PhysicsShapeSphere extends PhysicsShape {\r\n    /**\r\n     * Constructor for the Sphere Shape\r\n     * @param center local center of the sphere\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.SPHERE, parameters: { center: center, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeSphere\r\n     */\r\n    static FromMesh(mesh: AbstractMesh) {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingSphere.center;\r\n        const radius = bounds.boundingSphere.radius;\r\n        return new PhysicsShapeSphere(centerLocal, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a capsule shape\r\n */\r\nexport class PhysicsShapeCapsule extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the capsule segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CAPSULE, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate capsule from the transform node. Note, this is\r\n     * not the optimal bounding capsule.\r\n     * @param TransformNode node Node from which to derive a cylinder shape\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCapsule {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y - radius, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCapsule(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a cylinder shape\r\n */\r\nexport class PhysicsShapeCylinder extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the cylinder segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CYLINDER, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate cylinder from the transform node. Note, this is\r\n     * not the optimal bounding cylinder.\r\n     * @param TransformNode node Node from which to derive a cylinder shape\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCylinder {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCylinder(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a box shape\r\n */\r\nexport class PhysicsShapeBox extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param center local center of the sphere\r\n     * @param rotation local orientation\r\n     * @param extents size of the box in each direction\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, rotation: Quaternion, extents: Vector3, scene: Scene) {\r\n        super({ type: PhysicsShapeType.BOX, parameters: { center: center, rotation: rotation, extents: extents } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeBox\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeBox {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingBox.center;\r\n        const extents = bounds.boundingBox.extendSize.scale(2.0); //<todo.eoin extendSize seems to really be half-extents?\r\n        return new PhysicsShapeBox(centerLocal, Quaternion.Identity(), extents, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a convex hull shape\r\n */\r\nexport class PhysicsShapeConvexHull extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh to be used as topology infos for the convex hull\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONVEX_HULL, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a mesh shape\r\n */\r\nexport class PhysicsShapeMesh extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh topology that will be used to create the shape\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.MESH, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * A shape container holds a variable number of shapes. Use AddChild to append to newly created parent container.\r\n */\r\nexport class PhysicsShapeContainer extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape container\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONTAINER, parameters: {} }, scene);\r\n    }\r\n}\r\n"]}
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type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport { PhysicsShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsShapeParameters } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { Matrix, Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\n\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\n\r\n/**\r\n * Options for creating a physics shape\r\n */\r\nexport interface PhysicShapeOptions {\r\n    /**\r\n     * The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     */\r\n    type?: PhysicsShapeType;\r\n    /**\r\n     * The parameters of the shape. Varies depending of the shape type.\r\n     */\r\n    parameters?: PhysicsShapeParameters;\r\n    /**\r\n     * Reference to an already existing physics shape in the plugin.\r\n     */\r\n    pluginData?: any;\r\n}\r\n\r\n/**\r\n * PhysicsShape class.\r\n * This class is useful for creating a physics shape that can be used in a physics engine.\r\n * A Physic Shape determine how collision are computed. It must be attached to a body.\r\n */\r\nexport class PhysicsShape {\r\n    /**\r\n     * V2 Physics plugin private data for single shape\r\n     */\r\n    public _pluginData: any = undefined;\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    private _type: PhysicsShapeType;\r\n\r\n    private _material: PhysicsMaterial;\r\n\r\n    /**\r\n     * Constructs a new physics shape.\r\n     * @param options The options for the physics shape. These are:\r\n     *  * type: The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     *  * parameters: The parameters of the shape.\r\n     *  * pluginData: The plugin data of the shape. This is used if you already have a reference to the object on the plugin side.\r\n     * You need to specify either type or pluginData.\r\n     * @param scene The scene the shape belongs to.\r\n     *\r\n     * This code is useful for creating a new physics shape with the given type, options, and scene.\r\n     * It also checks that the physics engine and plugin version are correct.\r\n     * If not, it throws an error. This ensures that the shape is created with the correct parameters and is compatible with the physics engine.\r\n     */\r\n    constructor(options: PhysicShapeOptions, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\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        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n\r\n        if (options.pluginData !== undefined && options.pluginData !== null) {\r\n            this._pluginData = options.pluginData;\r\n            this._type = this._physicsPlugin.getShapeType(this);\r\n        } else if (options.type !== undefined && options.type !== null) {\r\n            this._type = options.type;\r\n            const parameters = options.parameters ?? {};\r\n            this._physicsPlugin.initShape(this, options.type, parameters);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsShape\".\r\n     * @returns \"PhysicsShape\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsShape\";\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public get type(): PhysicsShapeType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Set the membership mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which the shape is a member. This is used in combination\r\n     * with the collide mask to determine if this shape should collide with\r\n     * another.\r\n     *\r\n     * @param membershipMask Bitfield of categories of this shape.\r\n     */\r\n    public set filterMembershipMask(membershipMask: number) {\r\n        this._physicsPlugin.setShapeFilterMembershipMask(this, membershipMask);\r\n    }\r\n\r\n    /**\r\n     * Get the membership mask of a shape.\r\n     * @returns Bitmask of categories which this shape is a member of.\r\n     */\r\n    public get filterMembershipMask(): number {\r\n        return this._physicsPlugin.getShapeFilterMembershipMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the collide mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which this shape collides with. Given two shapes,\r\n     * the engine will check if the collide mask and membership overlap:\r\n     * shapeA.filterMembershipMask & shapeB.filterCollideMask\r\n     *\r\n     * If this value is zero (i.e. shapeB only collides with categories\r\n     * which shapeA is _not_ a member of) then the shapes will not collide.\r\n     *\r\n     * Note, the engine will also perform the same test with shapeA and\r\n     * shapeB swapped; the shapes will not collide if either shape has\r\n     * a collideMask which prevents collision with the other shape.\r\n     *\r\n     * @param collideMask Bitmask of categories this shape should collide with\r\n     */\r\n    public set filterCollideMask(collideMask: number) {\r\n        this._physicsPlugin.setShapeFilterCollideMask(this, collideMask);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns Bitmask of categories that this shape should collide with\r\n     */\r\n    public get filterCollideMask(): number {\r\n        return this._physicsPlugin.getShapeFilterCollideMask(this);\r\n    }\r\n    /**\r\n     *\r\n     * @param material\r\n     */\r\n    public set material(material: PhysicsMaterial) {\r\n        this._physicsPlugin.setMaterial(this, material);\r\n        this._material = material;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns\r\n     */\r\n    public get material(): PhysicsMaterial {\r\n        return this._material;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param density\r\n     */\r\n    public set density(density: number) {\r\n        this._physicsPlugin.setDensity(this, density);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public get density(): number {\r\n        return this._physicsPlugin.getDensity(this);\r\n    }\r\n\r\n    /**\r\n     * Utility to add a child shape to this container,\r\n     * automatically computing the relative transform between\r\n     * the container shape and the child instance.\r\n     *\r\n     * @param parentTransform The transform node associated with this shape\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param childTransform The transform node associated with the child shape\r\n     */\r\n    public addChildFromParent(parentTransform: TransformNode, newChild: PhysicsShape, childTransform: TransformNode): void {\r\n        const childToWorld = childTransform.computeWorldMatrix(true);\r\n        const parentToWorld = parentTransform.computeWorldMatrix(true);\r\n        const childToParent = TmpVectors.Matrix[0];\r\n        childToWorld.multiplyToRef(Matrix.Invert(parentToWorld), childToParent);\r\n        const translation = TmpVectors.Vector3[0];\r\n        const rotation = TmpVectors.Quaternion[0];\r\n        const scale = TmpVectors.Vector3[1];\r\n        childToParent.decompose(scale, rotation, translation);\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     * Adds a child shape to a container with an optional transform\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param translation Optional position of the child shape relative to this shape\r\n     * @param rotation Optional rotation of the child shape relative to this shape\r\n     * @param scale Optional scale of the child shape relative to this shape\r\n     */\r\n    public addChild(newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void {\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param childIndex\r\n     */\r\n    public removeChild(childIndex: number): void {\r\n        this._physicsPlugin.removeChild(this, childIndex);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns\r\n     */\r\n    public getNumChildren(): number {\r\n        return this._physicsPlugin.getNumChildren(this);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBoundingBox(this);\r\n    }\r\n\r\n    /**\r\n     *\r\n     */\r\n    public dispose() {\r\n        this._physicsPlugin.disposeShape(this);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a sphere shape\r\n */\r\nexport class PhysicsShapeSphere extends PhysicsShape {\r\n    /**\r\n     * Constructor for the Sphere Shape\r\n     * @param center local center of the sphere\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.SPHERE, parameters: { center: center, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeSphere\r\n     */\r\n    static FromMesh(mesh: AbstractMesh) {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingSphere.center;\r\n        const he = bounds.boundingBox.extendSize;\r\n        const radius = Math.max(he.x, he.y, he.z);\r\n        return new PhysicsShapeSphere(centerLocal, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a capsule shape\r\n */\r\nexport class PhysicsShapeCapsule extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the capsule segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CAPSULE, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate capsule from the transform node. Note, this is\r\n     * not the optimal bounding capsule.\r\n     * @param TransformNode node Node from which to derive a cylinder shape\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCapsule {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y - radius, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCapsule(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a cylinder shape\r\n */\r\nexport class PhysicsShapeCylinder extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the cylinder segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CYLINDER, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate cylinder from the transform node. Note, this is\r\n     * not the optimal bounding cylinder.\r\n     * @param TransformNode node Node from which to derive a cylinder shape\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCylinder {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCylinder(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a box shape\r\n */\r\nexport class PhysicsShapeBox extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param center local center of the sphere\r\n     * @param rotation local orientation\r\n     * @param extents size of the box in each direction\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, rotation: Quaternion, extents: Vector3, scene: Scene) {\r\n        super({ type: PhysicsShapeType.BOX, parameters: { center: center, rotation: rotation, extents: extents } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeBox\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeBox {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingBox.center;\r\n        const extents = bounds.boundingBox.extendSize.scale(2.0); //<todo.eoin extendSize seems to really be half-extents?\r\n        return new PhysicsShapeBox(centerLocal, Quaternion.Identity(), extents, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a convex hull shape\r\n */\r\nexport class PhysicsShapeConvexHull extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh to be used as topology infos for the convex hull\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONVEX_HULL, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a mesh shape\r\n */\r\nexport class PhysicsShapeMesh extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh topology that will be used to create the shape\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.MESH, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * A shape container holds a variable number of shapes. Use AddChild to append to newly created parent container.\r\n */\r\nexport class PhysicsShapeContainer extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape container\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONTAINER, parameters: {} }, scene);\r\n    }\r\n}\r\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "@babylonjs/core",
-    "version": "5.57.1",
+    "version": "6.0.0",
     "main": "index.js",
     "module": "index.js",
     "types": "index.d.ts",