@babylonjs/core 6.18.0 → 6.19.0

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

@@ -44,6 +44,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
     private _bodies;
     private _bodyBuffer;
     private _bodyCollisionObservable;
+    private _bodyCollisionEndedObservable;
     /**
      * Observable for collision started and collision continued events
      */
@@ -568,7 +569,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The friction value of the specified axis.
      *
      */
-    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;
+    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
     /**
      * Sets the limit mode of the specified axis of the given constraint.
      * @param constraint - The constraint to set the axis mode of.
@@ -584,7 +585,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The axis limit mode of the given constraint.
      *
      */
-    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintAxisLimitMode;
+    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode>;
     /**
      * Sets the minimum limit of the given axis of the given constraint.
      * @param constraint - The constraint to set the minimum limit of.
@@ -600,7 +601,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The minimum limit of the specified axis of the given constraint.
      *
      */
-    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;
+    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
     /**
      * Sets the maximum limit of the given axis of the given constraint.
      * @param constraint - The constraint to set the maximum limit of the given axis.
@@ -617,7 +618,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The maximum limit of the given axis of the given constraint.
      *
      */
-    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;
+    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
     /**
      * Sets the motor type of the given axis of the given constraint.
      * @param constraint - The constraint to set the motor type of.
@@ -634,7 +635,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The motor type of the specified axis of the given constraint.
      *
      */
-    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): PhysicsConstraintMotorType;
+    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType>;
     /**
      * Sets the target of an axis motor of a constraint.
      *
@@ -652,7 +653,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The target of the motor of the given axis of the given constraint.
      *
      */
-    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;
+    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
     /**
      * Sets the maximum force that can be applied by the motor of the given constraint axis.
      * @param constraint - The constraint to set the motor max force for.
@@ -669,7 +670,7 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * @returns The maximum force of the motor of the given constraint axis.
      *
      */
-    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): number;
+    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
     /**
      * Disposes a physics constraint.
      *
@@ -697,11 +698,23 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      */
     getCollisionObservable(body: PhysicsBody): Observable<IPhysicsCollisionEvent>;
     /**
-     * Enable collision to be reported for a body when a callback is settup on the world
+     * Return the collision ended observable for a particular physics body.
+     * @param body the physics body
+     * @returns
+     */
+    getCollisionEndedObservable(body: PhysicsBody): Observable<IBasePhysicsCollisionEvent>;
+    /**
+     * Enable collision to be reported for a body when a callback is setup on the world
      * @param body the physics body
      * @param enabled
      */
     setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean): void;
+    /**
+     * Enable collision ended to be reported for a body when a callback is setup on the world
+     * @param body
+     * @param enabled
+     */
+    setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean): void;
     private _notifyTriggers;
     /**
      * Runs thru all detected collisions and filter by body

package/Physics/v2/Plugins/havokPlugin.js

@@ -219,6 +219,7 @@ export class HavokPlugin {
         this._tmpVec3 = ArrayTools.BuildArray(3, Vector3.Zero);
         this._bodies = new Map();
         this._bodyCollisionObservable = new Map();
+        this._bodyCollisionEndedObservable = new Map();
         /**
          * Observable for collision started and collision continued events
          */
@@ -1216,7 +1217,7 @@ export class HavokPlugin {
      * This function is useful for setting up a physics constraint in a physics engine.
      */
     initConstraint(constraint, body, childBody, instanceIndex, childInstanceIndex) {
-        var _a, _b, _c, _d;
+        var _a, _b, _c, _d, _e;
         const type = constraint.type;
         const options = constraint.options;
         if (!type || !options) {
@@ -1227,8 +1228,9 @@ export class HavokPlugin {
             Logger.Warn("Body is instanced but no instance index was specified. Constraint will not be applied.");
             return;
         }
+        constraint._pluginData = (_a = constraint._pluginData) !== null && _a !== void 0 ? _a : [];
         const jointId = this._hknp.HP_Constraint_Create()[1];
-        constraint._pluginData = jointId;
+        constraint._pluginData.push(jointId);
         // body parenting
         const bodyA = this._getPluginReference(body, instanceIndex).hpBodyId;
         const bodyB = this._getPluginReference(childBody, childInstanceIndex).hpBodyId;
@@ -1236,7 +1238,7 @@ export class HavokPlugin {
         this._hknp.HP_Constraint_SetChildBody(jointId, bodyB);
         // anchors
         const pivotA = options.pivotA ? this._bVecToV3(options.pivotA) : this._bVecToV3(Vector3.Zero());
-        const axisA = (_a = options.axisA) !== null && _a !== void 0 ? _a : new Vector3(1, 0, 0);
+        const axisA = (_b = options.axisA) !== null && _b !== void 0 ? _b : new Vector3(1, 0, 0);
         const perpAxisA = this._tmpVec3[0];
         if (options.perpAxisA) {
             perpAxisA.copyFrom(options.perpAxisA);
@@ -1246,7 +1248,7 @@ export class HavokPlugin {
         }
         this._hknp.HP_Constraint_SetAnchorInParent(jointId, pivotA, this._bVecToV3(axisA), this._bVecToV3(perpAxisA));
         const pivotB = options.pivotB ? this._bVecToV3(options.pivotB) : this._bVecToV3(Vector3.Zero());
-        const axisB = (_b = options.axisB) !== null && _b !== void 0 ? _b : new Vector3(1, 0, 0);
+        const axisB = (_c = options.axisB) !== null && _c !== void 0 ? _c : new Vector3(1, 0, 0);
         const perpAxisB = this._tmpVec3[0];
         if (options.perpAxisB) {
             perpAxisB.copyFrom(options.perpAxisB);
@@ -1299,7 +1301,7 @@ export class HavokPlugin {
             const sixdofData = constraint;
             for (const l of sixdofData.limits) {
                 const axId = this._constraintAxisToNative(l.axis);
-                if (((_c = l.minLimit) !== null && _c !== void 0 ? _c : -1) == 0 && ((_d = l.maxLimit) !== null && _d !== void 0 ? _d : -1) == 0) {
+                if (((_d = l.minLimit) !== null && _d !== void 0 ? _d : -1) == 0 && ((_e = l.maxLimit) !== null && _e !== void 0 ? _e : -1) == 0) {
                     this._hknp.HP_Constraint_SetAxisMode(jointId, axId, this._hknp.ConstraintAxisLimitMode.LOCKED);
                 }
                 else {
@@ -1347,7 +1349,9 @@ export class HavokPlugin {
      *
      */
     setEnabled(constraint, isEnabled) {
-        this._hknp.HP_Constraint_SetEnabled(constraint._pluginData, isEnabled);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetEnabled(jointId, isEnabled);
+        }
     }
     /**
      * Gets the enabled state of the given constraint.
@@ -1356,7 +1360,11 @@ export class HavokPlugin {
      *
      */
     getEnabled(constraint) {
-        return this._hknp.HP_Constraint_GetEnabled(constraint._pluginData)[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetEnabled(firstId)[1];
+        }
+        return false;
     }
     /**
      * Enables or disables collisions for the given constraint.
@@ -1365,7 +1373,9 @@ export class HavokPlugin {
      *
      */
     setCollisionsEnabled(constraint, isEnabled) {
-        this._hknp.HP_Constraint_SetCollisionsEnabled(constraint._pluginData, isEnabled);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetCollisionsEnabled(jointId, isEnabled);
+        }
     }
     /**
      * Gets whether collisions are enabled for the given constraint.
@@ -1374,7 +1384,11 @@ export class HavokPlugin {
      *
      */
     getCollisionsEnabled(constraint) {
-        return this._hknp.HP_Constraint_GetCollisionsEnabled(constraint._pluginData)[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetCollisionsEnabled(firstId)[1];
+        }
+        return false;
     }
     /**
      * Sets the friction of the given axis of the given constraint.
@@ -1386,7 +1400,9 @@ export class HavokPlugin {
      *
      */
     setAxisFriction(constraint, axis, friction) {
-        this._hknp.HP_Constraint_SetAxisFriction(constraint._pluginData, this._constraintAxisToNative(axis), friction);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisFriction(jointId, this._constraintAxisToNative(axis), friction);
+        }
     }
     /**
      * Gets the friction value of the specified axis of the given constraint.
@@ -1397,7 +1413,11 @@ export class HavokPlugin {
      *
      */
     getAxisFriction(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisFriction(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetAxisFriction(firstId, this._constraintAxisToNative(axis))[1];
+        }
+        return null;
     }
     /**
      * Sets the limit mode of the specified axis of the given constraint.
@@ -1406,7 +1426,9 @@ export class HavokPlugin {
      * @param limitMode - The limit mode to set.
      */
     setAxisMode(constraint, axis, limitMode) {
-        this._hknp.HP_Constraint_SetAxisMode(constraint._pluginData, this._constraintAxisToNative(axis), this._limitModeToNative(limitMode));
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMode(jointId, this._constraintAxisToNative(axis), this._limitModeToNative(limitMode));
+        }
     }
     /**
      * Gets the axis limit mode of the given constraint.
@@ -1417,8 +1439,12 @@ export class HavokPlugin {
      *
      */
     getAxisMode(constraint, axis) {
-        const mode = this._hknp.HP_Constraint_GetAxisMode(constraint._pluginData, this._constraintAxisToNative(axis))[1];
-        return this._nativeToLimitMode(mode);
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            const mode = this._hknp.HP_Constraint_GetAxisMode(firstId, this._constraintAxisToNative(axis))[1];
+            return this._nativeToLimitMode(mode);
+        }
+        return null;
     }
     /**
      * Sets the minimum limit of the given axis of the given constraint.
@@ -1428,7 +1454,9 @@ export class HavokPlugin {
      *
      */
     setAxisMinLimit(constraint, axis, limit) {
-        this._hknp.HP_Constraint_SetAxisMinLimit(constraint._pluginData, this._constraintAxisToNative(axis), limit);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMinLimit(jointId, this._constraintAxisToNative(axis), limit);
+        }
     }
     /**
      * Gets the minimum limit of the specified axis of the given constraint.
@@ -1438,7 +1466,11 @@ export class HavokPlugin {
      *
      */
     getAxisMinLimit(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisMinLimit(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetAxisMinLimit(firstId, this._constraintAxisToNative(axis))[1];
+        }
+        return null;
     }
     /**
      * Sets the maximum limit of the given axis of the given constraint.
@@ -1448,7 +1480,9 @@ export class HavokPlugin {
      *
      */
     setAxisMaxLimit(constraint, axis, limit) {
-        this._hknp.HP_Constraint_SetAxisMaxLimit(constraint._pluginData, this._constraintAxisToNative(axis), limit);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMaxLimit(jointId, this._constraintAxisToNative(axis), limit);
+        }
     }
     /**
      * Gets the maximum limit of the given axis of the given constraint.
@@ -1459,7 +1493,11 @@ export class HavokPlugin {
      *
      */
     getAxisMaxLimit(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisMaxLimit(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetAxisMaxLimit(firstId, this._constraintAxisToNative(axis))[1];
+        }
+        return null;
     }
     /**
      * Sets the motor type of the given axis of the given constraint.
@@ -1470,7 +1508,9 @@ export class HavokPlugin {
      *
      */
     setAxisMotorType(constraint, axis, motorType) {
-        this._hknp.HP_Constraint_SetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis), this._constraintMotorTypeToNative(motorType));
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMotorType(jointId, this._constraintAxisToNative(axis), this._constraintMotorTypeToNative(motorType));
+        }
     }
     /**
      * Gets the motor type of the specified axis of the given constraint.
@@ -1480,7 +1520,11 @@ export class HavokPlugin {
      *
      */
     getAxisMotorType(constraint, axis) {
-        return this._nativeToMotorType(this._hknp.HP_Constraint_GetAxisMotorType(constraint._pluginData, this._constraintAxisToNative(axis))[1]);
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._nativeToMotorType(this._hknp.HP_Constraint_GetAxisMotorType(firstId, this._constraintAxisToNative(axis))[1]);
+        }
+        return null;
     }
     /**
      * Sets the target of an axis motor of a constraint.
@@ -1491,7 +1535,9 @@ export class HavokPlugin {
      *
      */
     setAxisMotorTarget(constraint, axis, target) {
-        this._hknp.HP_Constraint_SetAxisMotorTarget(constraint._pluginData, this._constraintAxisToNative(axis), target);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMotorTarget(jointId, this._constraintAxisToNative(axis), target);
+        }
     }
     /**
      * Gets the target of the motor of the given axis of the given constraint.
@@ -1502,7 +1548,11 @@ export class HavokPlugin {
      *
      */
     getAxisMotorTarget(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisMotorTarget(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetAxisMotorTarget(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        }
+        return null;
     }
     /**
      * Sets the maximum force that can be applied by the motor of the given constraint axis.
@@ -1512,7 +1562,9 @@ export class HavokPlugin {
      *
      */
     setAxisMotorMaxForce(constraint, axis, maxForce) {
-        this._hknp.HP_Constraint_SetAxisMotorMaxForce(constraint._pluginData, this._constraintAxisToNative(axis), maxForce);
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetAxisMotorMaxForce(jointId, this._constraintAxisToNative(axis), maxForce);
+        }
     }
     /**
      * Gets the maximum force of the motor of the given constraint axis.
@@ -1523,7 +1575,11 @@ export class HavokPlugin {
      *
      */
     getAxisMotorMaxForce(constraint, axis) {
-        return this._hknp.HP_Constraint_GetAxisMotorMaxForce(constraint._pluginData, this._constraintAxisToNative(axis))[1];
+        const firstId = constraint._pluginData && constraint._pluginData[0];
+        if (firstId) {
+            return this._hknp.HP_Constraint_GetAxisMotorMaxForce(firstId, this._constraintAxisToNative(axis))[1];
+        }
+        return null;
     }
     /**
      * Disposes a physics constraint.
@@ -1534,10 +1590,11 @@ export class HavokPlugin {
      * the Havok constraint, when it is no longer needed. This is important for avoiding memory leaks.
      */
     disposeConstraint(constraint) {
-        const jointId = constraint._pluginData;
-        this._hknp.HP_Constraint_SetEnabled(jointId, false);
-        this._hknp.HP_Constraint_Release(jointId);
-        constraint._pluginData = undefined;
+        for (const jointId of constraint._pluginData) {
+            this._hknp.HP_Constraint_SetEnabled(jointId, false);
+            this._hknp.HP_Constraint_Release(jointId);
+        }
+        constraint._pluginData.length = 0;
     }
     /**
      * Performs a raycast from a given start point to a given end point and stores the result in a given PhysicsRaycastResult object.
@@ -1583,7 +1640,21 @@ export class HavokPlugin {
         return observable;
     }
     /**
-     * Enable collision to be reported for a body when a callback is settup on the world
+     * Return the collision ended observable for a particular physics body.
+     * @param body the physics body
+     * @returns
+     */
+    getCollisionEndedObservable(body) {
+        const bodyId = body._pluginData.hpBodyId[0];
+        let observable = this._bodyCollisionEndedObservable.get(bodyId);
+        if (!observable) {
+            observable = new Observable();
+            this._bodyCollisionEndedObservable.set(bodyId, observable);
+        }
+        return observable;
+    }
+    /**
+     * Enable collision to be reported for a body when a callback is setup on the world
      * @param body the physics body
      * @param enabled
      */
@@ -1599,6 +1670,28 @@ export class HavokPlugin {
             this._hknp.HP_Body_SetEventMask(body._pluginData.hpBodyId, enabled ? collideEvents : 0);
         }
     }
+    /**
+     * Enable collision ended to be reported for a body when a callback is setup on the world
+     * @param body
+     * @param enabled
+     */
+    setCollisionEndedCallbackEnabled(body, enabled) {
+        // Register to collide ended events
+        const pluginRef = this._getPluginReference(body);
+        let currentCollideEvents = this._hknp.HP_Body_GetEventMask(pluginRef.hpBodyId)[1];
+        // update with the ended mask
+        currentCollideEvents = enabled
+            ? currentCollideEvents | this._hknp.EventType.COLLISION_FINISHED.value
+            : currentCollideEvents & ~this._hknp.EventType.COLLISION_FINISHED.value;
+        if (body._pluginDataInstances && body._pluginDataInstances.length) {
+            body._pluginDataInstances.forEach((bodyId) => {
+                this._hknp.HP_Body_SetEventMask(bodyId.hpBodyId, currentCollideEvents);
+            });
+        }
+        else if (body._pluginData) {
+            this._hknp.HP_Body_SetEventMask(body._pluginData.hpBodyId, currentCollideEvents);
+        }
+    }
     _notifyTriggers() {
         let eventAddress = this._hknp.HP_World_GetTriggerEvents(this.world)[1];
         const event = new TriggerEvent();
@@ -1664,6 +1757,23 @@ export class HavokPlugin {
                     observableB.notifyObservers(collisionInfo);
                 }
             }
+            else if (this._bodyCollisionEndedObservable.size) {
+                const observableA = this._bodyCollisionEndedObservable.get(event.contactOnA.bodyId);
+                const observableB = this._bodyCollisionEndedObservable.get(event.contactOnB.bodyId);
+                if (observableA) {
+                    observableA.notifyObservers(collisionInfo);
+                }
+                else if (observableB) {
+                    //<todo This seems like it would give unexpected results when both bodies have observers?
+                    // Flip collision info:
+                    collisionInfo.collider = bodyInfoB.body;
+                    collisionInfo.colliderIndex = bodyInfoB.index;
+                    collisionInfo.collidedAgainst = bodyInfoA.body;
+                    collisionInfo.collidedAgainstIndex = bodyInfoA.index;
+                    collisionInfo.normal = event.contactOnB.normal;
+                    observableB.notifyObservers(collisionInfo);
+                }
+            }
             eventAddress = this._hknp.HP_World_GetNextCollisionEvent(worldAddr, eventAddress);
         }
     }