@babylonjs/core 6.1.0 → 6.2.0

package/Physics/v2/Plugins/havokPlugin.d.ts

@@ -1,11 +1,9 @@
 import { Quaternion, Vector3 } from "../../../Maths/math.vector";
-import { PhysicsShapeType, PhysicsMotionType } from "../IPhysicsEnginePlugin";
-import type { PhysicsShapeParameters, PhysicsConstraintMotorType, IPhysicsEnginePluginV2, PhysicsMassProperties, IPhysicsCollisionEvent } from "../IPhysicsEnginePlugin";
+import { PhysicsShapeType, PhysicsMotionType, PhysicsConstraintMotorType, PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode } from "../IPhysicsEnginePlugin";
+import type { PhysicsShapeParameters, IPhysicsEnginePluginV2, PhysicsMassProperties, IPhysicsCollisionEvent } from "../IPhysicsEnginePlugin";
 import type { PhysicsBody } from "../physicsBody";
 import type { PhysicsConstraint } from "../physicsConstraint";
 import type { PhysicsMaterial } from "../physicsMaterial";
-import { PhysicsConstraintAxis } from "../IPhysicsEnginePlugin";
-import { PhysicsConstraintAxisLimitMode } from "../IPhysicsEnginePlugin";
 import { PhysicsShape } from "../physicsShape";
 import type { BoundingBox } from "../../../Culling/boundingBox";
 import type { TransformNode } from "../../../Meshes/transformNode";
@@ -679,6 +677,8 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
     private _v3ToBvecRef;
     private _bVecToV3;
     private _bQuatToV4;
+    private _constraintMotorTypeToNative;
+    private _nativeToMotorType;
     private _materialCombineToNative;
     private _constraintAxisToNative;
     private _nativeToLimitMode;

package/Physics/v2/Plugins/havokPlugin.js

@@ -1,9 +1,7 @@
 import { Matrix, Quaternion, TmpVectors, Vector3 } from "../../../Maths/math.vector.js";
-import { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType } from "../IPhysicsEnginePlugin.js";
+import { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType, PhysicsConstraintMotorType, PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode, } from "../IPhysicsEnginePlugin.js";
 import { Logger } from "../../../Misc/logger.js";
 import { PhysicsMaterialCombineMode } from "../physicsMaterial.js";
-import { PhysicsConstraintAxis } from "../IPhysicsEnginePlugin.js";
-import { PhysicsConstraintAxisLimitMode } from "../IPhysicsEnginePlugin.js";
 import { PhysicsShape } from "../physicsShape.js";
 import { Mesh } from "../../../Meshes/mesh.js";
 import { VertexBuffer } from "../../../Buffers/buffer.js";
@@ -384,12 +382,14 @@ export class HavokPlugin {
             for (let i = pluginInstancesCount; i < instancesCount; i++) {
                 this._hknp.HP_Body_SetShape(body._pluginDataInstances[i].hpBodyId, firstBodyShape);
                 this._internalUpdateMassProperties(body._pluginDataInstances[i]);
+                this._bodies.set(body._pluginDataInstances[i].hpBodyId[0], { body: body, index: i });
             }
         }
         else if (instancesCount < pluginInstancesCount) {
             const instancesToRemove = pluginInstancesCount - instancesCount;
             for (let i = 0; i < instancesToRemove; i++) {
                 const hkbody = body._pluginDataInstances.pop();
+                this._bodies.delete(hkbody.hpBodyId[0]);
                 this._hknp.HP_World_RemoveBody(this.world, hkbody.hpBodyId);
                 this._hknp.HP_Body_Release(hkbody.hpBodyId);
             }
@@ -1342,7 +1342,7 @@ export class HavokPlugin {
      *
      */
     setAxisMotorType(constraint, axis, motorType) {
-        this._hknp.HP_Constraint_SetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis), motorType);
+        this._hknp.HP_Constraint_SetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis), this._constraintMotorTypeToNative(motorType));
     }
     /**
      * Gets the motor type of the specified axis of the given constraint.
@@ -1352,7 +1352,7 @@ export class HavokPlugin {
      *
      */
     getAxisMotorType(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        return this._nativeToMotorType(this._hknp.HP_Constraint_GetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis))[1]);
     }
     /**
      * Sets the target of an axis motor of a constraint.
@@ -1535,6 +1535,24 @@ export class HavokPlugin {
     _bQuatToV4(q) {
         return [q._x, q._y, q._z, q._w];
     }
+    _constraintMotorTypeToNative(motorType) {
+        switch (motorType) {
+            case PhysicsConstraintMotorType.POSITION:
+                return this._hknp.ConstraintMotorType.POSITION;
+            case PhysicsConstraintMotorType.VELOCITY:
+                return this._hknp.ConstraintMotorType.VELOCITY;
+        }
+        return this._hknp.ConstraintMotorType.NONE;
+    }
+    _nativeToMotorType(motorType) {
+        switch (motorType) {
+            case this._hknp.ConstraintMotorType.POSITION:
+                return PhysicsConstraintMotorType.POSITION;
+            case this._hknp.ConstraintMotorType.VELOCITY:
+                return PhysicsConstraintMotorType.VELOCITY;
+        }
+        return PhysicsConstraintMotorType.NONE;
+    }
     _materialCombineToNative(mat) {
         switch (mat) {
             case PhysicsMaterialCombineMode.GEOMETRIC_MEAN: