@babylonjs/core 6.1.0 → 6.3.0

package/Physics/v2/IPhysicsEnginePlugin.js.map

@@ -1 +1 @@
-{"version":3,"file":"IPhysicsEnginePlugin.js","sourceRoot":"","sources":["../../../../../lts/core/generated/Physics/v2/IPhysicsEnginePlugin.ts"],"names":[],"mappings":"AAYA,6CAA6C;AAC7C,MAAM,CAAN,IAAY,8BAaX;AAbD,WAAY,8BAA8B;IACtC;;OAEG;IACH,mFAAI,CAAA;IACJ;;OAEG;IACH,yFAAO,CAAA;IACP;;OAEG;IACH,uFAAM,CAAA;AACV,CAAC,EAbW,8BAA8B,KAA9B,8BAA8B,QAazC;AAED,2GAA2G;AAC3G,MAAM,CAAN,IAAY,qBAqCX;AArCD,WAAY,qBAAqB;IAC7B;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;;OAIG;IACH,uFAAe,CAAA;AACnB,CAAC,EArCW,qBAAqB,KAArB,qBAAqB,QAqChC;AAED,yBAAyB;AACzB,MAAM,CAAN,IAAY,qBAsCX;AAtCD,WAAY,qBAAqB;IAC7B;;;OAGG;IACH,uFAAmB,CAAA;IACnB;;;OAGG;IACH,yEAAY,CAAA;IACZ;;;OAGG;IACH,mEAAS,CAAA;IACT;;;;OAIG;IACH,qEAAU,CAAA;IACV;;;OAGG;IACH,iEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAa,CAAA;IACb;;;;OAIG;IACH,uEAAW,CAAA;AACf,CAAC,EAtCW,qBAAqB,KAArB,qBAAqB,QAsChC;AAED,oBAAoB;AACpB,MAAM,CAAN,IAAY,gBASX;AATD,WAAY,gBAAgB;IACxB,2DAAM,CAAA;IACN,6DAAO,CAAA;IACP,+DAAQ,CAAA;IACR,qDAAG,CAAA;IACH,qEAAW,CAAA;IACX,iEAAS,CAAA;IACT,uDAAI,CAAA;IACJ,qEAAW,CAAA;AACf,CAAC,EATW,gBAAgB,KAAhB,gBAAgB,QAS3B;AAED,qGAAqG;AACrG,MAAM,CAAN,IAAY,0BAIX;AAJD,WAAY,0BAA0B;IAClC,2EAAI,CAAA;IACJ,mFAAQ,CAAA;IACR,mFAAQ,CAAA;AACZ,CAAC,EAJW,0BAA0B,KAA1B,0BAA0B,QAIrC;AA+KD;;GAEG;AACH,MAAM,CAAN,IAAY,iBAIX;AAJD,WAAY,iBAAiB;IACzB,6DAAM,CAAA;IACN,iEAAQ,CAAA;IACR,+DAAO,CAAA;AACX,CAAC,EAJW,iBAAiB,KAAjB,iBAAiB,QAI5B","sourcesContent":["import type { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { Observable } from \"core/Misc/observable\";\r\n\r\n/** How a specific axis can be constrained */\r\nexport enum PhysicsConstraintAxisLimitMode {\r\n    /*\r\n     * The axis is not restricted at all\r\n     */\r\n    FREE,\r\n    /*\r\n     * The axis has a minimum/maximum limit\r\n     */\r\n    LIMITED,\r\n    /*\r\n     * The axis allows no relative movement of the pivots\r\n     */\r\n    LOCKED,\r\n}\r\n\r\n/** The constraint specific axis to use when setting Friction, `ConstraintAxisLimitMode`, max force, ... */\r\nexport enum PhysicsConstraintAxis {\r\n    /*\r\n     * Translation along the primary axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    LINEAR_X,\r\n    /*\r\n     * Translation along the second axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Y,\r\n    /*\r\n     * Translation along the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Z,\r\n    /*\r\n     * Rotation around the primary axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    ANGULAR_X,\r\n    /*\r\n     * Rotation around the second axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Y,\r\n    /*\r\n     * Rotation around the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Z,\r\n    /*\r\n     * A 3D distance limit; similar to specifying the LINEAR_X/Y/Z axes\r\n     * individually, but the distance calculation uses all three axes\r\n     * simultaneously, instead of individually.\r\n     */\r\n    LINEAR_DISTANCE,\r\n}\r\n\r\n/** Type of Constraint */\r\nexport enum PhysicsConstraintType {\r\n    /**\r\n     * A ball and socket constraint will attempt to line up the pivot\r\n     * positions in each body, and have no restrictions on rotation\r\n     */\r\n    BALL_AND_SOCKET = 1,\r\n    /**\r\n     * A distance constraint will attempt to keep the pivot locations\r\n     * within a specified distance.\r\n     */\r\n    DISTANCE = 2,\r\n    /**\r\n     * A hinge constraint will keep the pivot positions aligned as well\r\n     * as two angular axes. The remaining angular axis will be free to rotate.\r\n     */\r\n    HINGE = 3,\r\n    /**\r\n     * A slider constraint allows bodies to translate along one axis and\r\n     * rotate about the same axis. The remaining two axes are locked in\r\n     * place\r\n     */\r\n    SLIDER = 4,\r\n    /**\r\n     * A lock constraint will attempt to keep the pivots completely lined\r\n     * up between both bodies, allowing no relative movement.\r\n     */\r\n    LOCK = 5,\r\n    /*\r\n     * A prismatic will lock the rotations of the bodies, and allow translation\r\n     * only along one axis\r\n     */\r\n    PRISMATIC = 6,\r\n    /*\r\n     * A generic constraint; this starts with no limits on how the bodies can\r\n     * move relative to each other, but limits can be added via the PhysicsConstraint\r\n     * interfaces. This can be used to specify a large variety of constraints\r\n     */\r\n    SIX_DOF = 7,\r\n}\r\n\r\n/** Type of Shape */\r\nexport enum PhysicsShapeType {\r\n    SPHERE,\r\n    CAPSULE,\r\n    CYLINDER,\r\n    BOX,\r\n    CONVEX_HULL,\r\n    CONTAINER,\r\n    MESH,\r\n    HEIGHTFIELD,\r\n}\r\n\r\n/** Optional motor which attempts to move a body at a specific velocity, or at a specific position */\r\nexport enum PhysicsConstraintMotorType {\r\n    NONE,\r\n    VELOCITY,\r\n    POSITION,\r\n}\r\n\r\n/**\r\n * Collision object that is the parameter when notification for collision fires.\r\n */\r\nexport interface IPhysicsCollisionEvent {\r\n    /**\r\n     * 1st physics body that collided\r\n     */\r\n    collider: PhysicsBody;\r\n    /**\r\n     * 2nd physics body that collided\r\n     */\r\n    collidedAgainst: PhysicsBody;\r\n    /**\r\n     * index in instances array for the collider\r\n     */\r\n    colliderIndex: number;\r\n    /**\r\n     * index in instances array for the collidedAgainst\r\n     */\r\n    collidedAgainstIndex: number;\r\n    /**\r\n     * World position where the collision occured\r\n     */\r\n    point: Nullable<Vector3>;\r\n    /**\r\n     * Penetration distance\r\n     */\r\n    distance: number;\r\n    /**\r\n     * Impulse value computed by the solver response\r\n     */\r\n    impulse: number;\r\n    /**\r\n     * Collision world normal direction\r\n     */\r\n    normal: Nullable<Vector3>;\r\n}\r\n\r\n/**\r\n * Parameters used to describe the Shape\r\n */\r\nexport interface PhysicsShapeParameters {\r\n    /**\r\n     * Shape center position\r\n     */\r\n    center?: Vector3;\r\n    /**\r\n     * Radius for cylinder, shape and capsule\r\n     */\r\n    radius?: number;\r\n    /**\r\n     * First point position that defines the cylinder or capsule\r\n     */\r\n    pointA?: Vector3;\r\n    /**\r\n     * Second point position that defines the cylinder or capsule\r\n     */\r\n    pointB?: Vector3;\r\n    /**\r\n     * Shape orientation\r\n     */\r\n    rotation?: Quaternion;\r\n    /**\r\n     * Dimesion extention for the box\r\n     */\r\n    extents?: Vector3;\r\n    /**\r\n     * Mesh used for Mesh shape or convex hull. It can be different than the mesh the body is attached to.\r\n     */\r\n    mesh?: Mesh;\r\n    /**\r\n     * Use children hierarchy\r\n     */\r\n    includeChildMeshes?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe a Constraint\r\n */\r\nexport interface PhysicsConstraintParameters {\r\n    /**\r\n     * Location of the constraint pivot in the space of first body\r\n     */\r\n    pivotA?: Vector3;\r\n    /**\r\n     * Location of the constraint pivot in the space of the second body\r\n     */\r\n    pivotB?: Vector3;\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisA?: Vector3;\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisB?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisA?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisB?: Vector3;\r\n\r\n    /**\r\n     * The maximum distance that can seperate the two pivots.\r\n     * Only used for DISTANCE constraints\r\n     */\r\n    maxDistance?: number;\r\n\r\n    /**\r\n     * Determines if the connected bodies should collide. Generally,\r\n     * it is preferable to set this to false, especially if the constraint\r\n     * positions the bodies so that they overlap. Otherwise, the constraint\r\n     * will \"fight\" the collision detection and may cause jitter.\r\n     */\r\n    collision?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe mass and inertia of the Physics Body\r\n */\r\nexport interface PhysicsMassProperties {\r\n    /**\r\n     * The center of mass, in local space. This is The\r\n     * point the body will rotate around when applying\r\n     * an angular velocity.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    centerOfMass?: Vector3;\r\n    /**\r\n     * The total mass of this object, in kilograms. This\r\n     * affects how easy it is to move the body. A value\r\n     * of zero will be used as an infinite mass.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    mass?: number;\r\n    /**\r\n     * The principal moments of inertia of this object\r\n     * for a unit mass. This determines how easy it is\r\n     * for the body to rotate. A value of zero on any\r\n     * axis will be used as infinite interia about that\r\n     * axis.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertia?: Vector3;\r\n    /**\r\n     * The rotation rotating from inertia major axis space\r\n     * to parent space (i.e., the rotation which, when\r\n     * applied to the 3x3 inertia tensor causes the inertia\r\n     * tensor to become a diagonal matrix). This determines\r\n     * how the values of inertia are aligned with the parent\r\n     * object.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertiaOrientation?: Quaternion;\r\n}\r\n\r\n/**\r\n * Indicates how the body will behave.\r\n */\r\nexport enum PhysicsMotionType {\r\n    STATIC,\r\n    ANIMATED,\r\n    DYNAMIC,\r\n}\r\n\r\n/** @internal */\r\nexport interface IPhysicsEnginePluginV2 {\r\n    /**\r\n     * Physics plugin world instance\r\n     */\r\n    world: any;\r\n    /**\r\n     * Physics plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Collision observable\r\n     */\r\n    onCollisionObservable: Observable<IPhysicsCollisionEvent>;\r\n\r\n    setGravity(gravity: Vector3): void;\r\n    setTimeStep(timeStep: number): void;\r\n    getTimeStep(): number;\r\n    executeStep(delta: number, bodies: Array<PhysicsBody>): void; //not forgetting pre and post events\r\n    getPluginVersion(): number;\r\n\r\n    // body\r\n    initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void;\r\n    initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void;\r\n    updateBodyInstances(body: PhysicsBody, mesh: Mesh): void;\r\n    removeBody(body: PhysicsBody): void;\r\n    sync(body: PhysicsBody): void;\r\n    syncTransform(body: PhysicsBody, transformNode: TransformNode): void;\r\n    setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void;\r\n    getShape(body: PhysicsBody): Nullable<PhysicsShape>;\r\n    getShapeType(shape: PhysicsShape): PhysicsShapeType;\r\n    setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void;\r\n    getEventMask(body: PhysicsBody, instanceIndex?: number): number;\r\n    setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void;\r\n    getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType;\r\n    computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void;\r\n    getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getLinearDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getAngularDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getBodyGeometry(body: PhysicsBody): {};\r\n    disposeBody(body: PhysicsBody): void;\r\n    setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;\r\n    getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent>;\r\n\r\n    // shape\r\n    initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;\r\n    setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void;\r\n    getShapeFilterMembershipMask(shape: PhysicsShape): number;\r\n    setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void;\r\n    getShapeFilterCollideMask(shape: PhysicsShape): number;\r\n    setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void;\r\n    setDensity(shape: PhysicsShape, density: number): void;\r\n    getDensity(shape: PhysicsShape): number;\r\n    addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;\r\n    removeChild(shape: PhysicsShape, childIndex: number): void;\r\n    getNumChildren(shape: PhysicsShape): number;\r\n    getBoundingBox(shape: PhysicsShape): BoundingBox;\r\n    disposeShape(shape: PhysicsShape): void;\r\n\r\n    // constraint\r\n    initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody): void;\r\n    setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getEnabled(constraint: PhysicsConstraint): boolean;\r\n    setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getCollisionsEnabled(constraint: PhysicsConstraint): boolean;\r\n    setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void;\r\n    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void;\r\n    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintAxisLimitMode;\r\n    setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void;\r\n    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void;\r\n    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void;\r\n    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintMotorType;\r\n    setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void;\r\n    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void;\r\n    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    disposeConstraint(constraint: PhysicsConstraint): void;\r\n\r\n    // raycast\r\n    raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void;\r\n\r\n    dispose(): void;\r\n}\r\n"]}
+{"version":3,"file":"IPhysicsEnginePlugin.js","sourceRoot":"","sources":["../../../../../lts/core/generated/Physics/v2/IPhysicsEnginePlugin.ts"],"names":[],"mappings":"AAYA,6CAA6C;AAC7C,MAAM,CAAN,IAAY,8BAaX;AAbD,WAAY,8BAA8B;IACtC;;OAEG;IACH,mFAAI,CAAA;IACJ;;OAEG;IACH,yFAAO,CAAA;IACP;;OAEG;IACH,uFAAM,CAAA;AACV,CAAC,EAbW,8BAA8B,KAA9B,8BAA8B,QAazC;AAED,2GAA2G;AAC3G,MAAM,CAAN,IAAY,qBAqCX;AArCD,WAAY,qBAAqB;IAC7B;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;;OAIG;IACH,uFAAe,CAAA;AACnB,CAAC,EArCW,qBAAqB,KAArB,qBAAqB,QAqChC;AAED,yBAAyB;AACzB,MAAM,CAAN,IAAY,qBAsCX;AAtCD,WAAY,qBAAqB;IAC7B;;;OAGG;IACH,uFAAmB,CAAA;IACnB;;;OAGG;IACH,yEAAY,CAAA;IACZ;;;OAGG;IACH,mEAAS,CAAA;IACT;;;;OAIG;IACH,qEAAU,CAAA;IACV;;;OAGG;IACH,iEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAa,CAAA;IACb;;;;OAIG;IACH,uEAAW,CAAA;AACf,CAAC,EAtCW,qBAAqB,KAArB,qBAAqB,QAsChC;AAED,oBAAoB;AACpB,MAAM,CAAN,IAAY,gBASX;AATD,WAAY,gBAAgB;IACxB,2DAAM,CAAA;IACN,6DAAO,CAAA;IACP,+DAAQ,CAAA;IACR,qDAAG,CAAA;IACH,qEAAW,CAAA;IACX,iEAAS,CAAA;IACT,uDAAI,CAAA;IACJ,qEAAW,CAAA;AACf,CAAC,EATW,gBAAgB,KAAhB,gBAAgB,QAS3B;AAED,qGAAqG;AACrG,MAAM,CAAN,IAAY,0BAIX;AAJD,WAAY,0BAA0B;IAClC,2EAAI,CAAA;IACJ,mFAAQ,CAAA;IACR,mFAAQ,CAAA;AACZ,CAAC,EAJW,0BAA0B,KAA1B,0BAA0B,QAIrC;AA+KD;;GAEG;AACH,MAAM,CAAN,IAAY,iBAIX;AAJD,WAAY,iBAAiB;IACzB,6DAAM,CAAA;IACN,iEAAQ,CAAA;IACR,+DAAO,CAAA;AACX,CAAC,EAJW,iBAAiB,KAAjB,iBAAiB,QAI5B","sourcesContent":["import type { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { Observable } from \"core/Misc/observable\";\r\n\r\n/** How a specific axis can be constrained */\r\nexport enum PhysicsConstraintAxisLimitMode {\r\n    /*\r\n     * The axis is not restricted at all\r\n     */\r\n    FREE,\r\n    /*\r\n     * The axis has a minimum/maximum limit\r\n     */\r\n    LIMITED,\r\n    /*\r\n     * The axis allows no relative movement of the pivots\r\n     */\r\n    LOCKED,\r\n}\r\n\r\n/** The constraint specific axis to use when setting Friction, `ConstraintAxisLimitMode`, max force, ... */\r\nexport enum PhysicsConstraintAxis {\r\n    /*\r\n     * Translation along the primary axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    LINEAR_X,\r\n    /*\r\n     * Translation along the second axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Y,\r\n    /*\r\n     * Translation along the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Z,\r\n    /*\r\n     * Rotation around the primary axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    ANGULAR_X,\r\n    /*\r\n     * Rotation around the second axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Y,\r\n    /*\r\n     * Rotation around the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Z,\r\n    /*\r\n     * A 3D distance limit; similar to specifying the LINEAR_X/Y/Z axes\r\n     * individually, but the distance calculation uses all three axes\r\n     * simultaneously, instead of individually.\r\n     */\r\n    LINEAR_DISTANCE,\r\n}\r\n\r\n/** Type of Constraint */\r\nexport enum PhysicsConstraintType {\r\n    /**\r\n     * A ball and socket constraint will attempt to line up the pivot\r\n     * positions in each body, and have no restrictions on rotation\r\n     */\r\n    BALL_AND_SOCKET = 1,\r\n    /**\r\n     * A distance constraint will attempt to keep the pivot locations\r\n     * within a specified distance.\r\n     */\r\n    DISTANCE = 2,\r\n    /**\r\n     * A hinge constraint will keep the pivot positions aligned as well\r\n     * as two angular axes. The remaining angular axis will be free to rotate.\r\n     */\r\n    HINGE = 3,\r\n    /**\r\n     * A slider constraint allows bodies to translate along one axis and\r\n     * rotate about the same axis. The remaining two axes are locked in\r\n     * place\r\n     */\r\n    SLIDER = 4,\r\n    /**\r\n     * A lock constraint will attempt to keep the pivots completely lined\r\n     * up between both bodies, allowing no relative movement.\r\n     */\r\n    LOCK = 5,\r\n    /*\r\n     * A prismatic will lock the rotations of the bodies, and allow translation\r\n     * only along one axis\r\n     */\r\n    PRISMATIC = 6,\r\n    /*\r\n     * A generic constraint; this starts with no limits on how the bodies can\r\n     * move relative to each other, but limits can be added via the PhysicsConstraint\r\n     * interfaces. This can be used to specify a large variety of constraints\r\n     */\r\n    SIX_DOF = 7,\r\n}\r\n\r\n/** Type of Shape */\r\nexport enum PhysicsShapeType {\r\n    SPHERE,\r\n    CAPSULE,\r\n    CYLINDER,\r\n    BOX,\r\n    CONVEX_HULL,\r\n    CONTAINER,\r\n    MESH,\r\n    HEIGHTFIELD,\r\n}\r\n\r\n/** Optional motor which attempts to move a body at a specific velocity, or at a specific position */\r\nexport enum PhysicsConstraintMotorType {\r\n    NONE,\r\n    VELOCITY,\r\n    POSITION,\r\n}\r\n\r\n/**\r\n * Collision object that is the parameter when notification for collision fires.\r\n */\r\nexport interface IPhysicsCollisionEvent {\r\n    /**\r\n     * 1st physics body that collided\r\n     */\r\n    collider: PhysicsBody;\r\n    /**\r\n     * 2nd physics body that collided\r\n     */\r\n    collidedAgainst: PhysicsBody;\r\n    /**\r\n     * index in instances array for the collider\r\n     */\r\n    colliderIndex: number;\r\n    /**\r\n     * index in instances array for the collidedAgainst\r\n     */\r\n    collidedAgainstIndex: number;\r\n    /**\r\n     * World position where the collision occured\r\n     */\r\n    point: Nullable<Vector3>;\r\n    /**\r\n     * Penetration distance\r\n     */\r\n    distance: number;\r\n    /**\r\n     * Impulse value computed by the solver response\r\n     */\r\n    impulse: number;\r\n    /**\r\n     * Collision world normal direction\r\n     */\r\n    normal: Nullable<Vector3>;\r\n}\r\n\r\n/**\r\n * Parameters used to describe the Shape\r\n */\r\nexport interface PhysicsShapeParameters {\r\n    /**\r\n     * Shape center position\r\n     */\r\n    center?: Vector3;\r\n    /**\r\n     * Radius for cylinder, shape and capsule\r\n     */\r\n    radius?: number;\r\n    /**\r\n     * First point position that defines the cylinder or capsule\r\n     */\r\n    pointA?: Vector3;\r\n    /**\r\n     * Second point position that defines the cylinder or capsule\r\n     */\r\n    pointB?: Vector3;\r\n    /**\r\n     * Shape orientation\r\n     */\r\n    rotation?: Quaternion;\r\n    /**\r\n     * Dimesion extention for the box\r\n     */\r\n    extents?: Vector3;\r\n    /**\r\n     * Mesh used for Mesh shape or convex hull. It can be different than the mesh the body is attached to.\r\n     */\r\n    mesh?: Mesh;\r\n    /**\r\n     * Use children hierarchy\r\n     */\r\n    includeChildMeshes?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe a Constraint\r\n */\r\nexport interface PhysicsConstraintParameters {\r\n    /**\r\n     * Location of the constraint pivot in the space of first body\r\n     */\r\n    pivotA?: Vector3;\r\n    /**\r\n     * Location of the constraint pivot in the space of the second body\r\n     */\r\n    pivotB?: Vector3;\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisA?: Vector3;\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisB?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisA?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisB?: Vector3;\r\n\r\n    /**\r\n     * The maximum distance that can seperate the two pivots.\r\n     * Only used for DISTANCE constraints\r\n     */\r\n    maxDistance?: number;\r\n\r\n    /**\r\n     * Determines if the connected bodies should collide. Generally,\r\n     * it is preferable to set this to false, especially if the constraint\r\n     * positions the bodies so that they overlap. Otherwise, the constraint\r\n     * will \"fight\" the collision detection and may cause jitter.\r\n     */\r\n    collision?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe mass and inertia of the Physics Body\r\n */\r\nexport interface PhysicsMassProperties {\r\n    /**\r\n     * The center of mass, in local space. This is The\r\n     * point the body will rotate around when applying\r\n     * an angular velocity.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    centerOfMass?: Vector3;\r\n    /**\r\n     * The total mass of this object, in kilograms. This\r\n     * affects how easy it is to move the body. A value\r\n     * of zero will be used as an infinite mass.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    mass?: number;\r\n    /**\r\n     * The principal moments of inertia of this object\r\n     * for a unit mass. This determines how easy it is\r\n     * for the body to rotate. A value of zero on any\r\n     * axis will be used as infinite interia about that\r\n     * axis.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertia?: Vector3;\r\n    /**\r\n     * The rotation rotating from inertia major axis space\r\n     * to parent space (i.e., the rotation which, when\r\n     * applied to the 3x3 inertia tensor causes the inertia\r\n     * tensor to become a diagonal matrix). This determines\r\n     * how the values of inertia are aligned with the parent\r\n     * object.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertiaOrientation?: Quaternion;\r\n}\r\n\r\n/**\r\n * Indicates how the body will behave.\r\n */\r\nexport enum PhysicsMotionType {\r\n    STATIC,\r\n    ANIMATED,\r\n    DYNAMIC,\r\n}\r\n\r\n/** @internal */\r\nexport interface IPhysicsEnginePluginV2 {\r\n    /**\r\n     * Physics plugin world instance\r\n     */\r\n    world: any;\r\n    /**\r\n     * Physics plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Collision observable\r\n     */\r\n    onCollisionObservable: Observable<IPhysicsCollisionEvent>;\r\n\r\n    setGravity(gravity: Vector3): void;\r\n    setTimeStep(timeStep: number): void;\r\n    getTimeStep(): number;\r\n    executeStep(delta: number, bodies: Array<PhysicsBody>): void; //not forgetting pre and post events\r\n    getPluginVersion(): number;\r\n\r\n    // body\r\n    initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void;\r\n    initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void;\r\n    updateBodyInstances(body: PhysicsBody, mesh: Mesh): void;\r\n    removeBody(body: PhysicsBody): void;\r\n    sync(body: PhysicsBody): void;\r\n    syncTransform(body: PhysicsBody, transformNode: TransformNode): void;\r\n    setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void;\r\n    getShape(body: PhysicsBody): Nullable<PhysicsShape>;\r\n    getShapeType(shape: PhysicsShape): PhysicsShapeType;\r\n    setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void;\r\n    getEventMask(body: PhysicsBody, instanceIndex?: number): number;\r\n    setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void;\r\n    getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType;\r\n    computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void;\r\n    getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getLinearDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getAngularDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getBodyGeometry(body: PhysicsBody): {};\r\n    disposeBody(body: PhysicsBody): void;\r\n    setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;\r\n    getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent>;\r\n    setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void;\r\n    getGravityFactor(body: PhysicsBody, instanceIndex?: number): number;\r\n\r\n    // shape\r\n    initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;\r\n    setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void;\r\n    getShapeFilterMembershipMask(shape: PhysicsShape): number;\r\n    setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void;\r\n    getShapeFilterCollideMask(shape: PhysicsShape): number;\r\n    setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void;\r\n    setDensity(shape: PhysicsShape, density: number): void;\r\n    getDensity(shape: PhysicsShape): number;\r\n    addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;\r\n    removeChild(shape: PhysicsShape, childIndex: number): void;\r\n    getNumChildren(shape: PhysicsShape): number;\r\n    getBoundingBox(shape: PhysicsShape): BoundingBox;\r\n    disposeShape(shape: PhysicsShape): void;\r\n\r\n    // constraint\r\n    initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody): void;\r\n    setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getEnabled(constraint: PhysicsConstraint): boolean;\r\n    setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getCollisionsEnabled(constraint: PhysicsConstraint): boolean;\r\n    setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void;\r\n    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void;\r\n    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintAxisLimitMode;\r\n    setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void;\r\n    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void;\r\n    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void;\r\n    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintMotorType;\r\n    setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void;\r\n    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void;\r\n    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;\r\n    disposeConstraint(constraint: PhysicsConstraint): void;\r\n\r\n    // raycast\r\n    raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void;\r\n\r\n    dispose(): void;\r\n}\r\n"]}

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";
@@ -101,6 +99,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * Initializes a physics body with the given position and orientation.
      *
      * @param body - The physics body to initialize.
+     * @param motionType - The motion type of the body.
      * @param position - The position of the body.
      * @param orientation - The orientation of the body.
      * This code is useful for initializing a physics body with the given position and orientation.
@@ -350,6 +349,20 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * same transformation.
      */
     setPhysicsBodyTransformation(body: PhysicsBody, node: TransformNode): void;
+    /**
+     * Sets the gravity factor of a body
+     * @param body the physics body to set the gravity factor for
+     * @param factor the gravity factor
+     * @param instanceIndex the index of the instance in an instanced body
+     */
+    setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void;
+    /**
+     * Get the gravity factor of a body
+     * @param body the physics body to get the gravity factor from
+     * @param instanceIndex the index of the instance in an instanced body. If not specified, the gravity factor of the first instance will be returned.
+     * @returns the gravity factor
+     */
+    getGravityFactor(body: PhysicsBody, instanceIndex?: number): number;
     /**
      * Disposes a physics body.
      *
@@ -481,7 +494,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @param body - The main body to which the constraint is applied.
      * @param childBody - The body to which the constraint is applied.
      * @param constraint - The constraint to be applied.
-     * * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
+     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
      * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
      */
     addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;
@@ -679,6 +692,8 @@ 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";
@@ -276,6 +274,7 @@ export class HavokPlugin {
      * Initializes a physics body with the given position and orientation.
      *
      * @param body - The physics body to initialize.
+     * @param motionType - The motion type of the body.
      * @param position - The position of the body.
      * @param orientation - The orientation of the body.
      * This code is useful for initializing a physics body with the given position and orientation.
@@ -384,12 +383,14 @@ 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);
             }
@@ -449,8 +450,21 @@ export class HavokPlugin {
                 const bodyTranslation = bodyTransform[0];
                 const bodyOrientation = bodyTransform[1];
                 const quat = TmpVectors.Quaternion[0];
-                transformNode.position.set(bodyTranslation[0], bodyTranslation[1], bodyTranslation[2]);
                 quat.set(bodyOrientation[0], bodyOrientation[1], bodyOrientation[2], bodyOrientation[3]);
+                const parent = transformNode.parent;
+                // transform position/orientation in parent space
+                if (parent && parent.absoluteRotationQuaternion) {
+                    TmpVectors.Vector3[2].set(bodyTranslation[0], bodyTranslation[1], bodyTranslation[2]);
+                    parent.absoluteRotationQuaternion.conjugateToRef(TmpVectors.Quaternion[1]);
+                    quat.multiplyInPlace(TmpVectors.Quaternion[1]);
+                    TmpVectors.Vector3[2].subtractToRef(parent.absolutePosition, TmpVectors.Vector3[0]);
+                    const localPosition = TmpVectors.Vector3[1];
+                    TmpVectors.Vector3[0].rotateByQuaternionToRef(TmpVectors.Quaternion[1], localPosition);
+                    transformNode.position.set(localPosition.x, localPosition.y, localPosition.z); // use set so position._isDirty is true
+                }
+                else {
+                    transformNode.position.set(bodyTranslation[0], bodyTranslation[1], bodyTranslation[2]);
+                }
                 if (transformNode.rotationQuaternion) {
                     transformNode.rotationQuaternion.copyFrom(quat);
                 }
@@ -837,6 +851,27 @@ export class HavokPlugin {
             this._hknp.HP_Body_SetQTransform(body._pluginData.hpBodyId, this._getTransformInfos(node));
         }
     }
+    /**
+     * Sets the gravity factor of a body
+     * @param body the physics body to set the gravity factor for
+     * @param factor the gravity factor
+     * @param instanceIndex the index of the instance in an instanced body
+     */
+    setGravityFactor(body, factor, instanceIndex) {
+        this._applyToBodyOrInstances(body, (pluginRef) => {
+            this._hknp.HP_Body_SetGravityFactor(pluginRef.hpBodyId, factor);
+        }, instanceIndex);
+    }
+    /**
+     * Get the gravity factor of a body
+     * @param body the physics body to get the gravity factor from
+     * @param instanceIndex the index of the instance in an instanced body. If not specified, the gravity factor of the first instance will be returned.
+     * @returns the gravity factor
+     */
+    getGravityFactor(body, instanceIndex) {
+        const pluginRef = this._getPluginReference(body, instanceIndex);
+        return this._hknp.HP_Body_GetGravityFactor(pluginRef.hpBodyId)[1];
+    }
     /**
      * Disposes a physics body.
      *
@@ -996,6 +1031,10 @@ export class HavokPlugin {
      * It then creates an array containing the position and orientation of the node and returns it.
      */
     _getTransformInfos(node) {
+        if (node.parent) {
+            node.computeWorldMatrix();
+            return [this._bVecToV3(node.absolutePosition), this._bQuatToV4(node.absoluteRotationQuaternion)];
+        }
         let orientation = TmpVectors.Quaternion[0];
         if (node.rotationQuaternion) {
             orientation = node.rotationQuaternion;
@@ -1205,7 +1244,7 @@ export class HavokPlugin {
      * @param body - The main body to which the constraint is applied.
      * @param childBody - The body to which the constraint is applied.
      * @param constraint - The constraint to be applied.
-     * * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
+     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
      * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.
      */
     addConstraint(body, childBody, constraint, instanceIndex, childInstanceIndex) {
@@ -1269,7 +1308,7 @@ export class HavokPlugin {
      *
      */
     getAxisFriction(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisfriction(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        return this._hknp.HP_Constraint_GetAxisFriction(constraint._pluginData, this._constraintAxisToNative(axis))[1];
     }
     /**
      * Sets the limit mode of the specified axis of the given constraint.
@@ -1342,7 +1381,7 @@ 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 +1391,7 @@ 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.
@@ -1424,6 +1463,7 @@ export class HavokPlugin {
     raycast(from, to, result) {
         const queryMembership = ~0;
         const queryCollideWith = ~0;
+        result.reset(from, to);
         const query = [this._bVecToV3(from), this._bVecToV3(to), [queryMembership, queryCollideWith]];
         this._hknp.HP_World_CastRayWithCollector(this.world, this._queryCollector, query);
         if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
@@ -1535,6 +1575,24 @@ 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: