@babylonjs/core 6.19.0 → 6.20.0

package/Compute/computeShader.js.map

@@ -1 +1 @@
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type { UniformBuffer } from \"../Materials/uniformBuffer\";\r\nimport type { ThinEngine } from \"../Engines/thinEngine\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { Nullable } from \"../types\";\r\nimport { SerializationHelper, serialize } from \"../Misc/decorators\";\r\nimport { RegisterClass } from \"../Misc/typeStore\";\r\nimport type { ComputeEffect, IComputeEffectCreationOptions } from \"./computeEffect\";\r\nimport type { ComputeBindingMapping } from \"../Engines/Extensions/engine.computeShader\";\r\nimport { ComputeBindingType } from \"../Engines/Extensions/engine.computeShader\";\r\nimport type { BaseTexture } from \"../Materials/Textures/baseTexture\";\r\nimport { Texture } from \"../Materials/Textures/texture\";\r\nimport { UniqueIdGenerator } from \"../Misc/uniqueIdGenerator\";\r\nimport type { IComputeContext } from \"./IComputeContext\";\r\nimport type { StorageBuffer } from \"../Buffers/storageBuffer\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { TextureSampler } from \"../Materials/Textures/textureSampler\";\r\nimport type { DataBuffer } from \"core/Buffers/dataBuffer\";\r\n\r\n/**\r\n * Defines the options associated with the creation of a compute shader.\r\n */\r\nexport interface IComputeShaderOptions {\r\n    /**\r\n     * list of bindings mapping (key is property name, value is binding location)\r\n     * Must be provided because browsers don't support reflection for wgsl shaders yet (so there's no way to query the binding/group from a variable name)\r\n     * TODO: remove this when browsers support reflection for wgsl shaders\r\n     */\r\n    bindingsMapping: ComputeBindingMapping;\r\n\r\n    /**\r\n     * The list of defines used in the shader\r\n     */\r\n    defines?: string[];\r\n\r\n    /**\r\n     * The name of the entry point in the shader source (default: \"main\")\r\n     */\r\n    entryPoint?: string;\r\n\r\n    /**\r\n     * If provided, will be called with the shader code so that this code can be updated before it is compiled by the GPU\r\n     */\r\n    processFinalCode?: Nullable<(code: string) => string>;\r\n}\r\n\r\ntype ComputeBindingListInternal = { [key: string]: { type: ComputeBindingType; object: any; indexInGroupEntries?: number; buffer?: Nullable<DataBuffer> } };\r\n\r\n/**\r\n * The ComputeShader object lets you execute a compute shader on your GPU (if supported by the engine)\r\n */\r\nexport class ComputeShader {\r\n    private _engine: ThinEngine;\r\n    private _shaderPath: any;\r\n    private _options: IComputeShaderOptions;\r\n    private _effect: ComputeEffect;\r\n    private _cachedDefines: string;\r\n    private _bindings: ComputeBindingListInternal = {};\r\n    private _samplers: { [key: string]: TextureSampler } = {};\r\n    private _context: IComputeContext;\r\n    private _contextIsDirty = false;\r\n\r\n    /**\r\n     * Gets the unique id of the compute shader\r\n     */\r\n    public readonly uniqueId: number;\r\n\r\n    /**\r\n     * The name of the shader\r\n     */\r\n    @serialize()\r\n    public name: string;\r\n\r\n    /**\r\n     * The options used to create the shader\r\n     */\r\n    public get options() {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * The shaderPath used to create the shader\r\n     */\r\n    public get shaderPath() {\r\n        return this._shaderPath;\r\n    }\r\n\r\n    /**\r\n     * Callback triggered when the shader is compiled\r\n     */\r\n    public onCompiled: Nullable<(effect: ComputeEffect) => void> = null;\r\n\r\n    /**\r\n     * Callback triggered when an error occurs\r\n     */\r\n    public onError: Nullable<(effect: ComputeEffect, errors: string) => void> = null;\r\n\r\n    /**\r\n     * Instantiates a new compute shader.\r\n     * @param name Defines the name of the compute shader in the scene\r\n     * @param engine Defines the engine the compute shader belongs to\r\n     * @param shaderPath Defines  the route to the shader code in one of three ways:\r\n     *  * object: \\{ compute: \"custom\" \\}, used with ShaderStore.ShadersStoreWGSL[\"customComputeShader\"]\r\n     *  * object: \\{ computeElement: \"HTMLElementId\" \\}, used with shader code in script tags\r\n     *  * object: \\{ computeSource: \"compute shader code string\" \\}, where the string contains the shader code\r\n     *  * string: try first to find the code in ShaderStore.ShadersStoreWGSL[shaderPath + \"ComputeShader\"]. If not, assumes it is a file with name shaderPath.compute.fx in index.html folder.\r\n     * @param options Define the options used to create the shader\r\n     */\r\n    constructor(name: string, engine: ThinEngine, shaderPath: any, options: Partial<IComputeShaderOptions> = {}) {\r\n        this.name = name;\r\n        this._engine = engine;\r\n        this.uniqueId = UniqueIdGenerator.UniqueId;\r\n\r\n        if (!this._engine.getCaps().supportComputeShaders) {\r\n            Logger.Error(\"This engine does not support compute shaders!\");\r\n            return;\r\n        }\r\n        if (!options.bindingsMapping) {\r\n            Logger.Error(\"You must provide the binding mappings as browsers don't support reflection for wgsl shaders yet!\");\r\n            return;\r\n        }\r\n\r\n        this._context = engine.createComputeContext()!;\r\n        this._shaderPath = shaderPath;\r\n        this._options = {\r\n            bindingsMapping: {},\r\n            defines: [],\r\n            ...options,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Gets the current class name of the material e.g. \"ComputeShader\"\r\n     * Mainly use in serialization.\r\n     * @returns the class name\r\n     */\r\n    public getClassName(): string {\r\n        return \"ComputeShader\";\r\n    }\r\n\r\n    /**\r\n     * Binds a texture to the shader\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     * @param bindSampler Bind the sampler corresponding to the texture (default: true). The sampler will be bound just before the binding index of the texture\r\n     */\r\n    public setTexture(name: string, texture: BaseTexture, bindSampler = true): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._bindings[name] = {\r\n            type: bindSampler ? ComputeBindingType.Texture : ComputeBindingType.TextureWithoutSampler,\r\n            object: texture,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n\r\n        this._contextIsDirty ||= !current || current.object !== texture || current.type !== this._bindings[name].type;\r\n    }\r\n\r\n    /**\r\n     * Binds a storage texture to the shader\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     */\r\n    public setStorageTexture(name: string, texture: BaseTexture): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== texture;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.StorageTexture,\r\n            object: texture,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a uniform buffer to the shader\r\n     * @param name Binding name of the buffer\r\n     * @param buffer Buffer to bind\r\n     */\r\n    public setUniformBuffer(name: string, buffer: UniformBuffer): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== buffer;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.UniformBuffer,\r\n            object: buffer,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a storage buffer to the shader\r\n     * @param name Binding name of the buffer\r\n     * @param buffer Buffer to bind\r\n     */\r\n    public setStorageBuffer(name: string, buffer: StorageBuffer): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== buffer;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.StorageBuffer,\r\n            object: buffer,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a texture sampler to the shader\r\n     * @param name Binding name of the sampler\r\n     * @param sampler Sampler to bind\r\n     */\r\n    public setTextureSampler(name: string, sampler: TextureSampler): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || !sampler.compareSampler(current.object);\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.Sampler,\r\n            object: sampler,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Specifies that the compute shader is ready to be executed (the compute effect and all the resources are ready)\r\n     * @returns true if the compute shader is ready to be executed\r\n     */\r\n    public isReady(): boolean {\r\n        let effect = this._effect;\r\n\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key],\r\n                type = binding.type,\r\n                object = binding.object;\r\n\r\n            switch (type) {\r\n                case ComputeBindingType.Texture:\r\n                case ComputeBindingType.TextureWithoutSampler:\r\n                case ComputeBindingType.StorageTexture: {\r\n                    const texture = object as BaseTexture;\r\n                    if (!texture.isReady()) {\r\n                        return false;\r\n                    }\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        const defines = [];\r\n\r\n        const shaderName = this._shaderPath;\r\n\r\n        if (this._options.defines) {\r\n            for (let index = 0; index < this._options.defines.length; index++) {\r\n                defines.push(this._options.defines[index]);\r\n            }\r\n        }\r\n\r\n        const join = defines.join(\"\\n\");\r\n\r\n        if (this._cachedDefines !== join) {\r\n            this._cachedDefines = join;\r\n\r\n            effect = this._engine.createComputeEffect(shaderName, <IComputeEffectCreationOptions>{\r\n                defines: join,\r\n                entryPoint: this._options.entryPoint,\r\n                onCompiled: this.onCompiled,\r\n                onError: this.onError,\r\n            });\r\n\r\n            this._effect = effect;\r\n        }\r\n\r\n        if (!effect.isReady()) {\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Dispatches (executes) the compute shader\r\n     * @param x Number of workgroups to execute on the X dimension\r\n     * @param y Number of workgroups to execute on the Y dimension (default: 1)\r\n     * @param z Number of workgroups to execute on the Z dimension (default: 1)\r\n     * @returns True if the dispatch could be done, else false (meaning either the compute effect or at least one of the bound resources was not ready)\r\n     */\r\n    public dispatch(x: number, y?: number, z?: number): boolean {\r\n        if (!this.isReady()) {\r\n            return false;\r\n        }\r\n\r\n        // If the sampling parameters of a texture bound to the shader have changed, we must clear the compute context so that it is recreated with the updated values\r\n        // Also, if the actual (gpu) buffer used by a uniform buffer has changed, we must clear the compute context so that it is recreated with the updated value\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key];\r\n\r\n            if (!this._options.bindingsMapping[key]) {\r\n                throw new Error(\"ComputeShader ('\" + this.name + \"'): No binding mapping has been provided for the property '\" + key + \"'\");\r\n            }\r\n\r\n            switch (binding.type) {\r\n                case ComputeBindingType.Texture: {\r\n                    const sampler = this._samplers[key];\r\n                    const texture = binding.object as BaseTexture;\r\n\r\n                    if (!sampler || !texture._texture || !sampler.compareSampler(texture._texture)) {\r\n                        this._samplers[key] = new TextureSampler().setParameters(\r\n                            texture.wrapU,\r\n                            texture.wrapV,\r\n                            texture.wrapR,\r\n                            texture.anisotropicFilteringLevel,\r\n                            texture._texture!.samplingMode,\r\n                            texture._texture?._comparisonFunction\r\n                        );\r\n                        this._contextIsDirty = true;\r\n                    }\r\n                    break;\r\n                }\r\n                case ComputeBindingType.UniformBuffer: {\r\n                    const ubo = binding.object as UniformBuffer;\r\n                    if (ubo.getBuffer() !== binding.buffer) {\r\n                        binding.buffer = ubo.getBuffer();\r\n                        this._contextIsDirty = true;\r\n                    }\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        if (this._contextIsDirty) {\r\n            this._contextIsDirty = false;\r\n            this._context.clear();\r\n        }\r\n\r\n        this._engine.computeDispatch(this._effect, this._context, this._bindings, x, y, z, this._options.bindingsMapping);\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Waits for the compute shader to be ready and executes it\r\n     * @param x Number of workgroups to execute on the X dimension\r\n     * @param y Number of workgroups to execute on the Y dimension (default: 1)\r\n     * @param z Number of workgroups to execute on the Z dimension (default: 1)\r\n     * @param delay Delay between the retries while the shader is not ready (in milliseconds - 10 by default)\r\n     * @returns A promise that is resolved once the shader has been sent to the GPU. Note that it does not mean that the shader execution itself is finished!\r\n     */\r\n    public dispatchWhenReady(x: number, y?: number, z?: number, delay = 10): Promise<void> {\r\n        return new Promise((resolve) => {\r\n            const check = () => {\r\n                if (!this.dispatch(x, y, z)) {\r\n                    setTimeout(check, delay);\r\n                } else {\r\n                    resolve();\r\n                }\r\n            };\r\n\r\n            check();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Serializes this compute shader in a JSON representation\r\n     * @returns the serialized compute shader object\r\n     */\r\n    public serialize(): any {\r\n        const serializationObject = SerializationHelper.Serialize(this);\r\n\r\n        serializationObject.options = this._options;\r\n        serializationObject.shaderPath = this._shaderPath;\r\n        serializationObject.bindings = {};\r\n        serializationObject.textures = {};\r\n\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key];\r\n            const object = binding.object;\r\n\r\n            switch (binding.type) {\r\n                case ComputeBindingType.Texture:\r\n                case ComputeBindingType.TextureWithoutSampler:\r\n                case ComputeBindingType.StorageTexture: {\r\n                    const serializedData = (object as BaseTexture).serialize();\r\n                    if (serializedData) {\r\n                        serializationObject.textures[key] = serializedData;\r\n                        serializationObject.bindings[key] = {\r\n                            type: binding.type,\r\n                        };\r\n                    }\r\n                    break;\r\n                }\r\n\r\n                case ComputeBindingType.UniformBuffer: {\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        return serializationObject;\r\n    }\r\n\r\n    /**\r\n     * Creates a compute shader from parsed compute shader data\r\n     * @param source defines the JSON representation of the compute shader\r\n     * @param scene defines the hosting scene\r\n     * @param rootUrl defines the root URL to use to load textures and relative dependencies\r\n     * @returns a new compute shader\r\n     */\r\n    public static Parse(source: any, scene: Scene, rootUrl: string): ComputeShader {\r\n        const compute = SerializationHelper.Parse(() => new ComputeShader(source.name, scene.getEngine(), source.shaderPath, source.options), source, scene, rootUrl);\r\n\r\n        for (const key in source.textures) {\r\n            const binding = source.bindings[key];\r\n            const texture = <Texture>Texture.Parse(source.textures[key], scene, rootUrl);\r\n\r\n            if (binding.type === ComputeBindingType.Texture) {\r\n                compute.setTexture(key, texture);\r\n            } else if (binding.type === ComputeBindingType.TextureWithoutSampler) {\r\n                compute.setTexture(key, texture, false);\r\n            } else {\r\n                compute.setStorageTexture(key, texture);\r\n            }\r\n        }\r\n\r\n        return compute;\r\n    }\r\n}\r\n\r\nRegisterClass(\"BABYLON.ComputeShader\", ComputeShader);\r\n"]}
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type { UniformBuffer } from \"../Materials/uniformBuffer\";\r\nimport type { ThinEngine } from \"../Engines/thinEngine\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { Nullable } from \"../types\";\r\nimport { SerializationHelper, serialize } from \"../Misc/decorators\";\r\nimport { RegisterClass } from \"../Misc/typeStore\";\r\nimport type { ComputeEffect, IComputeEffectCreationOptions } from \"./computeEffect\";\r\nimport type { ComputeBindingMapping } from \"../Engines/Extensions/engine.computeShader\";\r\nimport { ComputeBindingType } from \"../Engines/Extensions/engine.computeShader\";\r\nimport type { BaseTexture } from \"../Materials/Textures/baseTexture\";\r\nimport { Texture } from \"../Materials/Textures/texture\";\r\nimport { UniqueIdGenerator } from \"../Misc/uniqueIdGenerator\";\r\nimport type { IComputeContext } from \"./IComputeContext\";\r\nimport type { StorageBuffer } from \"../Buffers/storageBuffer\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { TextureSampler } from \"../Materials/Textures/textureSampler\";\r\nimport type { DataBuffer } from \"core/Buffers/dataBuffer\";\r\nimport type { ExternalTexture } from \"core/Materials/Textures/externalTexture\";\r\nimport type { VideoTexture } from \"core/Materials/Textures/videoTexture\";\r\n\r\n/**\r\n * Defines the options associated with the creation of a compute shader.\r\n */\r\nexport interface IComputeShaderOptions {\r\n    /**\r\n     * list of bindings mapping (key is property name, value is binding location)\r\n     * Must be provided because browsers don't support reflection for wgsl shaders yet (so there's no way to query the binding/group from a variable name)\r\n     * TODO: remove this when browsers support reflection for wgsl shaders\r\n     */\r\n    bindingsMapping: ComputeBindingMapping;\r\n\r\n    /**\r\n     * The list of defines used in the shader\r\n     */\r\n    defines?: string[];\r\n\r\n    /**\r\n     * The name of the entry point in the shader source (default: \"main\")\r\n     */\r\n    entryPoint?: string;\r\n\r\n    /**\r\n     * If provided, will be called with the shader code so that this code can be updated before it is compiled by the GPU\r\n     */\r\n    processFinalCode?: Nullable<(code: string) => string>;\r\n}\r\n\r\ntype ComputeBindingListInternal = { [key: string]: { type: ComputeBindingType; object: any; indexInGroupEntries?: number; buffer?: Nullable<DataBuffer> } };\r\n\r\n/**\r\n * The ComputeShader object lets you execute a compute shader on your GPU (if supported by the engine)\r\n */\r\nexport class ComputeShader {\r\n    private _engine: ThinEngine;\r\n    private _shaderPath: any;\r\n    private _options: IComputeShaderOptions;\r\n    private _effect: ComputeEffect;\r\n    private _cachedDefines: string;\r\n    private _bindings: ComputeBindingListInternal = {};\r\n    private _samplers: { [key: string]: TextureSampler } = {};\r\n    private _context: IComputeContext;\r\n    private _contextIsDirty = false;\r\n\r\n    /**\r\n     * Gets the unique id of the compute shader\r\n     */\r\n    public readonly uniqueId: number;\r\n\r\n    /**\r\n     * The name of the shader\r\n     */\r\n    @serialize()\r\n    public name: string;\r\n\r\n    /**\r\n     * The options used to create the shader\r\n     */\r\n    public get options() {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * The shaderPath used to create the shader\r\n     */\r\n    public get shaderPath() {\r\n        return this._shaderPath;\r\n    }\r\n\r\n    /**\r\n     * Callback triggered when the shader is compiled\r\n     */\r\n    public onCompiled: Nullable<(effect: ComputeEffect) => void> = null;\r\n\r\n    /**\r\n     * Callback triggered when an error occurs\r\n     */\r\n    public onError: Nullable<(effect: ComputeEffect, errors: string) => void> = null;\r\n\r\n    /**\r\n     * Instantiates a new compute shader.\r\n     * @param name Defines the name of the compute shader in the scene\r\n     * @param engine Defines the engine the compute shader belongs to\r\n     * @param shaderPath Defines  the route to the shader code in one of three ways:\r\n     *  * object: \\{ compute: \"custom\" \\}, used with ShaderStore.ShadersStoreWGSL[\"customComputeShader\"]\r\n     *  * object: \\{ computeElement: \"HTMLElementId\" \\}, used with shader code in script tags\r\n     *  * object: \\{ computeSource: \"compute shader code string\" \\}, where the string contains the shader code\r\n     *  * string: try first to find the code in ShaderStore.ShadersStoreWGSL[shaderPath + \"ComputeShader\"]. If not, assumes it is a file with name shaderPath.compute.fx in index.html folder.\r\n     * @param options Define the options used to create the shader\r\n     */\r\n    constructor(name: string, engine: ThinEngine, shaderPath: any, options: Partial<IComputeShaderOptions> = {}) {\r\n        this.name = name;\r\n        this._engine = engine;\r\n        this.uniqueId = UniqueIdGenerator.UniqueId;\r\n\r\n        if (!this._engine.getCaps().supportComputeShaders) {\r\n            Logger.Error(\"This engine does not support compute shaders!\");\r\n            return;\r\n        }\r\n        if (!options.bindingsMapping) {\r\n            Logger.Error(\"You must provide the binding mappings as browsers don't support reflection for wgsl shaders yet!\");\r\n            return;\r\n        }\r\n\r\n        this._context = engine.createComputeContext()!;\r\n        this._shaderPath = shaderPath;\r\n        this._options = {\r\n            bindingsMapping: {},\r\n            defines: [],\r\n            ...options,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Gets the current class name of the material e.g. \"ComputeShader\"\r\n     * Mainly use in serialization.\r\n     * @returns the class name\r\n     */\r\n    public getClassName(): string {\r\n        return \"ComputeShader\";\r\n    }\r\n\r\n    /**\r\n     * Binds a texture to the shader\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     * @param bindSampler Bind the sampler corresponding to the texture (default: true). The sampler will be bound just before the binding index of the texture\r\n     */\r\n    public setTexture(name: string, texture: BaseTexture, bindSampler = true): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._bindings[name] = {\r\n            type: bindSampler ? ComputeBindingType.Texture : ComputeBindingType.TextureWithoutSampler,\r\n            object: texture,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n\r\n        this._contextIsDirty ||= !current || current.object !== texture || current.type !== this._bindings[name].type;\r\n    }\r\n\r\n    /**\r\n     * Binds a storage texture to the shader\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     */\r\n    public setStorageTexture(name: string, texture: BaseTexture): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== texture;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.StorageTexture,\r\n            object: texture,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds an external texture to the shader\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     */\r\n    public setExternalTexture(name: string, texture: ExternalTexture): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== texture;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.ExternalTexture,\r\n            object: texture,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a video texture to the shader (by binding the external texture attached to this video)\r\n     * @param name Binding name of the texture\r\n     * @param texture Texture to bind\r\n     * @returns true if the video texture was successfully bound, else false. false will be returned if the current engine does not support external textures\r\n     */\r\n    public setVideoTexture(name: string, texture: VideoTexture) {\r\n        if (texture.externalTexture) {\r\n            this.setExternalTexture(name, texture.externalTexture);\r\n            return true;\r\n        }\r\n\r\n        return false;\r\n    }\r\n\r\n    /**\r\n     * Binds a uniform buffer to the shader\r\n     * @param name Binding name of the buffer\r\n     * @param buffer Buffer to bind\r\n     */\r\n    public setUniformBuffer(name: string, buffer: UniformBuffer): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== buffer;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.UniformBuffer,\r\n            object: buffer,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a storage buffer to the shader\r\n     * @param name Binding name of the buffer\r\n     * @param buffer Buffer to bind\r\n     */\r\n    public setStorageBuffer(name: string, buffer: StorageBuffer): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || current.object !== buffer;\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.StorageBuffer,\r\n            object: buffer,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Binds a texture sampler to the shader\r\n     * @param name Binding name of the sampler\r\n     * @param sampler Sampler to bind\r\n     */\r\n    public setTextureSampler(name: string, sampler: TextureSampler): void {\r\n        const current = this._bindings[name];\r\n\r\n        this._contextIsDirty ||= !current || !sampler.compareSampler(current.object);\r\n\r\n        this._bindings[name] = {\r\n            type: ComputeBindingType.Sampler,\r\n            object: sampler,\r\n            indexInGroupEntries: current?.indexInGroupEntries,\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Specifies that the compute shader is ready to be executed (the compute effect and all the resources are ready)\r\n     * @returns true if the compute shader is ready to be executed\r\n     */\r\n    public isReady(): boolean {\r\n        let effect = this._effect;\r\n\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key],\r\n                type = binding.type,\r\n                object = binding.object;\r\n\r\n            switch (type) {\r\n                case ComputeBindingType.Texture:\r\n                case ComputeBindingType.TextureWithoutSampler:\r\n                case ComputeBindingType.StorageTexture: {\r\n                    const texture = object as BaseTexture;\r\n                    if (!texture.isReady()) {\r\n                        return false;\r\n                    }\r\n                    break;\r\n                }\r\n                case ComputeBindingType.ExternalTexture: {\r\n                    const texture = object as ExternalTexture;\r\n                    if (!texture.isReady()) {\r\n                        return false;\r\n                    }\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        const defines = [];\r\n\r\n        const shaderName = this._shaderPath;\r\n\r\n        if (this._options.defines) {\r\n            for (let index = 0; index < this._options.defines.length; index++) {\r\n                defines.push(this._options.defines[index]);\r\n            }\r\n        }\r\n\r\n        const join = defines.join(\"\\n\");\r\n\r\n        if (this._cachedDefines !== join) {\r\n            this._cachedDefines = join;\r\n\r\n            effect = this._engine.createComputeEffect(shaderName, <IComputeEffectCreationOptions>{\r\n                defines: join,\r\n                entryPoint: this._options.entryPoint,\r\n                onCompiled: this.onCompiled,\r\n                onError: this.onError,\r\n            });\r\n\r\n            this._effect = effect;\r\n        }\r\n\r\n        if (!effect.isReady()) {\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Dispatches (executes) the compute shader\r\n     * @param x Number of workgroups to execute on the X dimension\r\n     * @param y Number of workgroups to execute on the Y dimension (default: 1)\r\n     * @param z Number of workgroups to execute on the Z dimension (default: 1)\r\n     * @returns True if the dispatch could be done, else false (meaning either the compute effect or at least one of the bound resources was not ready)\r\n     */\r\n    public dispatch(x: number, y?: number, z?: number): boolean {\r\n        if (!this.isReady()) {\r\n            return false;\r\n        }\r\n\r\n        // If the sampling parameters of a texture bound to the shader have changed, we must clear the compute context so that it is recreated with the updated values\r\n        // Also, if the actual (gpu) buffer used by a uniform buffer has changed, we must clear the compute context so that it is recreated with the updated value\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key];\r\n\r\n            if (!this._options.bindingsMapping[key]) {\r\n                throw new Error(\"ComputeShader ('\" + this.name + \"'): No binding mapping has been provided for the property '\" + key + \"'\");\r\n            }\r\n\r\n            switch (binding.type) {\r\n                case ComputeBindingType.Texture: {\r\n                    const sampler = this._samplers[key];\r\n                    const texture = binding.object as BaseTexture;\r\n\r\n                    if (!sampler || !texture._texture || !sampler.compareSampler(texture._texture)) {\r\n                        this._samplers[key] = new TextureSampler().setParameters(\r\n                            texture.wrapU,\r\n                            texture.wrapV,\r\n                            texture.wrapR,\r\n                            texture.anisotropicFilteringLevel,\r\n                            texture._texture!.samplingMode,\r\n                            texture._texture?._comparisonFunction\r\n                        );\r\n                        this._contextIsDirty = true;\r\n                    }\r\n                    break;\r\n                }\r\n                case ComputeBindingType.ExternalTexture: {\r\n                    // we must recreate the bind groups each time if there's an external texture, because device.importExternalTexture must be called each frame\r\n                    this._contextIsDirty = true;\r\n                    break;\r\n                }\r\n                case ComputeBindingType.UniformBuffer: {\r\n                    const ubo = binding.object as UniformBuffer;\r\n                    if (ubo.getBuffer() !== binding.buffer) {\r\n                        binding.buffer = ubo.getBuffer();\r\n                        this._contextIsDirty = true;\r\n                    }\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        if (this._contextIsDirty) {\r\n            this._contextIsDirty = false;\r\n            this._context.clear();\r\n        }\r\n\r\n        this._engine.computeDispatch(this._effect, this._context, this._bindings, x, y, z, this._options.bindingsMapping);\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Waits for the compute shader to be ready and executes it\r\n     * @param x Number of workgroups to execute on the X dimension\r\n     * @param y Number of workgroups to execute on the Y dimension (default: 1)\r\n     * @param z Number of workgroups to execute on the Z dimension (default: 1)\r\n     * @param delay Delay between the retries while the shader is not ready (in milliseconds - 10 by default)\r\n     * @returns A promise that is resolved once the shader has been sent to the GPU. Note that it does not mean that the shader execution itself is finished!\r\n     */\r\n    public dispatchWhenReady(x: number, y?: number, z?: number, delay = 10): Promise<void> {\r\n        return new Promise((resolve) => {\r\n            const check = () => {\r\n                if (!this.dispatch(x, y, z)) {\r\n                    setTimeout(check, delay);\r\n                } else {\r\n                    resolve();\r\n                }\r\n            };\r\n\r\n            check();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Serializes this compute shader in a JSON representation\r\n     * @returns the serialized compute shader object\r\n     */\r\n    public serialize(): any {\r\n        const serializationObject = SerializationHelper.Serialize(this);\r\n\r\n        serializationObject.options = this._options;\r\n        serializationObject.shaderPath = this._shaderPath;\r\n        serializationObject.bindings = {};\r\n        serializationObject.textures = {};\r\n\r\n        for (const key in this._bindings) {\r\n            const binding = this._bindings[key];\r\n            const object = binding.object;\r\n\r\n            switch (binding.type) {\r\n                case ComputeBindingType.Texture:\r\n                case ComputeBindingType.TextureWithoutSampler:\r\n                case ComputeBindingType.StorageTexture: {\r\n                    const serializedData = (object as BaseTexture).serialize();\r\n                    if (serializedData) {\r\n                        serializationObject.textures[key] = serializedData;\r\n                        serializationObject.bindings[key] = {\r\n                            type: binding.type,\r\n                        };\r\n                    }\r\n                    break;\r\n                }\r\n\r\n                case ComputeBindingType.UniformBuffer: {\r\n                    break;\r\n                }\r\n            }\r\n        }\r\n\r\n        return serializationObject;\r\n    }\r\n\r\n    /**\r\n     * Creates a compute shader from parsed compute shader data\r\n     * @param source defines the JSON representation of the compute shader\r\n     * @param scene defines the hosting scene\r\n     * @param rootUrl defines the root URL to use to load textures and relative dependencies\r\n     * @returns a new compute shader\r\n     */\r\n    public static Parse(source: any, scene: Scene, rootUrl: string): ComputeShader {\r\n        const compute = SerializationHelper.Parse(() => new ComputeShader(source.name, scene.getEngine(), source.shaderPath, source.options), source, scene, rootUrl);\r\n\r\n        for (const key in source.textures) {\r\n            const binding = source.bindings[key];\r\n            const texture = <Texture>Texture.Parse(source.textures[key], scene, rootUrl);\r\n\r\n            if (binding.type === ComputeBindingType.Texture) {\r\n                compute.setTexture(key, texture);\r\n            } else if (binding.type === ComputeBindingType.TextureWithoutSampler) {\r\n                compute.setTexture(key, texture, false);\r\n            } else {\r\n                compute.setStorageTexture(key, texture);\r\n            }\r\n        }\r\n\r\n        return compute;\r\n    }\r\n}\r\n\r\nRegisterClass(\"BABYLON.ComputeShader\", ComputeShader);\r\n"]}

package/Debug/physicsViewer.d.ts

@@ -2,10 +2,12 @@ import type { Nullable } from "../types";
 import type { Scene } from "../scene";
 import type { AbstractMesh } from "../Meshes/abstractMesh";
 import { Mesh } from "../Meshes/mesh";
+import { Vector3 } from "../Maths/math.vector";
 import type { IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from "../Physics/v1/IPhysicsEnginePlugin";
 import type { IPhysicsEnginePluginV2 } from "../Physics/v2/IPhysicsEnginePlugin";
 import { PhysicsImpostor } from "../Physics/v1/physicsImpostor";
 import type { PhysicsBody } from "../Physics/v2/physicsBody";
+import type { PhysicsConstraint } from "../Physics/v2/physicsConstraint";
 /**
  * Used to show the physics impostor around the specific mesh
  */
@@ -16,22 +18,31 @@ export declare class PhysicsViewer {
     protected _meshes: Array<Nullable<AbstractMesh>>;
     /** @internal */
     protected _bodies: Array<Nullable<PhysicsBody>>;
+    /** @internal */
     protected _inertiaBodies: Array<Nullable<PhysicsBody>>;
     /** @internal */
+    protected _constraints: Array<Nullable<PhysicsConstraint>>;
+    /** @internal */
     protected _bodyMeshes: Array<Nullable<AbstractMesh>>;
     /** @internal */
     protected _inertiaMeshes: Array<Nullable<AbstractMesh>>;
     /** @internal */
+    protected _constraintMeshes: Array<Nullable<AbstractMesh>>;
+    /** @internal */
     protected _scene: Nullable<Scene>;
     /** @internal */
     protected _numMeshes: number;
     /** @internal */
     protected _numBodies: number;
+    /** @internal */
     protected _numInertiaBodies: number;
     /** @internal */
+    protected _numConstraints: number;
+    /** @internal */
     protected _physicsEnginePlugin: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2 | null;
     private _renderFunction;
     private _inertiaRenderFunction;
+    private _constraintRenderFunction;
     private _utilityLayer;
     private _debugBoxMesh;
     private _debugSphereMesh;
@@ -40,6 +51,7 @@ export declare class PhysicsViewer {
     private _debugMaterial;
     private _debugInertiaMaterial;
     private _debugMeshMeshes;
+    private _constraintAxesSize;
     /**
      * Creates a new PhysicsViewer
      * @param scene defines the hosting scene
@@ -71,6 +83,14 @@ export declare class PhysicsViewer {
     protected _updateDebugMeshesV2(): void;
     protected _updateInertiaMeshes(): void;
     protected _updateDebugInertia(body: PhysicsBody, inertiaMesh: AbstractMesh): void;
+    protected _updateDebugConstraints(): void;
+    /**
+     * Given a scaling vector, make all of its components
+     * 1, preserving the sign
+     * @param scaling
+     */
+    protected _makeScalingUnitInPlace(scaling: Vector3): void;
+    protected _updateDebugConstraint(constraint: PhysicsConstraint, parentingMesh: AbstractMesh): void;
     /**
      * Renders a specified physic impostor
      * @param impostor defines the impostor to render
@@ -93,6 +113,12 @@ export declare class PhysicsViewer {
      * @param body
      */
     showInertia(body: PhysicsBody): Nullable<AbstractMesh>;
+    /**
+     * Shows a debug mesh for a given physics constraint.
+     * @param constraint the physics constraint to show
+     * @returns the debug mesh, or null if the constraint is already shown
+     */
+    showConstraint(constraint: PhysicsConstraint): Nullable<AbstractMesh>;
     /**
      * Hides an impostor from the scene.
      * @param impostor - The impostor to hide.
@@ -114,6 +140,11 @@ export declare class PhysicsViewer {
      */
     hideBody(body: Nullable<PhysicsBody>): void;
     hideInertia(body: Nullable<PhysicsBody>): void;
+    /**
+     * Hide a physics constraint from the viewer utility layer
+     * @param constraint the constraint to hide
+     */
+    hideConstraint(constraint: Nullable<PhysicsConstraint>): void;
     private _getDebugMaterial;
     private _getDebugInertiaMaterial;
     private _getDebugBoxMesh;
@@ -135,6 +166,8 @@ export declare class PhysicsViewer {
     private _getDebugBodyMesh;
     private _getMeshDebugInertiaMatrixToRef;
     private _getDebugInertiaMesh;
+    private _getTransformFromBodyToRef;
+    private _getDebugConstraintMesh;
     /**
      * Clean up physics debug display
      */

package/Debug/physicsViewer.js

@@ -12,6 +12,9 @@ import { CreateCapsule } from "../Meshes/Builders/capsuleBuilder.js";
 import { Logger } from "../Misc/logger.js";
 import { VertexData } from "../Meshes/mesh.vertexData.js";
 import { MeshBuilder } from "../Meshes/meshBuilder.js";
+import { AxesViewer } from "./axesViewer.js";
+import { TransformNode } from "../Meshes/transformNode.js";
+import { Epsilon } from "../Maths/math.constants.js";
 /**
  * Used to show the physics impostor around the specific mesh
  */
@@ -27,17 +30,26 @@ export class PhysicsViewer {
         this._meshes = [];
         /** @internal */
         this._bodies = [];
+        /** @internal */
         this._inertiaBodies = [];
         /** @internal */
+        this._constraints = [];
+        /** @internal */
         this._bodyMeshes = [];
         /** @internal */
         this._inertiaMeshes = [];
         /** @internal */
+        this._constraintMeshes = [];
+        /** @internal */
         this._numMeshes = 0;
         /** @internal */
         this._numBodies = 0;
+        /** @internal */
         this._numInertiaBodies = 0;
+        /** @internal */
+        this._numConstraints = 0;
         this._debugMeshMeshes = new Array();
+        this._constraintAxesSize = 0.4;
         this._scene = scene || EngineStore.LastCreatedScene;
         if (!this._scene) {
             return;
@@ -151,6 +163,62 @@ export class PhysicsViewer {
             inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);
         }
     }
+    _updateDebugConstraints() {
+        for (let i = 0; i < this._numConstraints; i++) {
+            const constraint = this._constraints[i];
+            const mesh = this._constraintMeshes[i];
+            if (constraint && mesh) {
+                this._updateDebugConstraint(constraint, mesh);
+            }
+        }
+    }
+    /**
+     * Given a scaling vector, make all of its components
+     * 1, preserving the sign
+     * @param scaling
+     */
+    _makeScalingUnitInPlace(scaling) {
+        if (Math.abs(scaling.x - 1) > Epsilon) {
+            scaling.x = 1 * Math.sign(scaling.x);
+        }
+        if (Math.abs(scaling.y - 1) > Epsilon) {
+            scaling.y = 1 * Math.sign(scaling.y);
+        }
+        if (Math.abs(scaling.z - 1) > Epsilon) {
+            scaling.z = 1 * Math.sign(scaling.z);
+        }
+    }
+    _updateDebugConstraint(constraint, parentingMesh) {
+        if (!constraint._initOptions) {
+            return;
+        }
+        // Get constraint pivot and axes
+        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;
+        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {
+            return;
+        }
+        parentingMesh.getDescendants(true).forEach((parentConstraintMesh) => {
+            // Get the parent transform
+            const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0];
+            const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1];
+            const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;
+            const { childBody, childBodyIndex } = childCoordSystemNode.metadata;
+            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);
+            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);
+            parentTransform.decomposeToTransformNode(parentCoordSystemNode);
+            this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);
+            childTransform.decomposeToTransformNode(childCoordSystemNode);
+            this._makeScalingUnitInPlace(childCoordSystemNode.scaling);
+            // Create a transform node and set its matrix
+            const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0];
+            parentTransformNode.position.copyFrom(pivotA);
+            const childTransformNode = childCoordSystemNode.getDescendants(true)[0];
+            childTransformNode.position.copyFrom(pivotB);
+            // Get the transform to align the XYZ axes to the constraint axes
+            Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]), parentTransformNode.rotationQuaternion);
+            Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]), childTransformNode.rotationQuaternion);
+        });
+    }
     /**
      * Renders a specified physic impostor
      * @param impostor defines the impostor to render
@@ -233,6 +301,32 @@ export class PhysicsViewer {
         }
         return debugMesh;
     }
+    /**
+     * Shows a debug mesh for a given physics constraint.
+     * @param constraint the physics constraint to show
+     * @returns the debug mesh, or null if the constraint is already shown
+     */
+    showConstraint(constraint) {
+        if (!this._scene) {
+            return null;
+        }
+        for (let i = 0; i < this._numConstraints; i++) {
+            if (this._constraints[i] == constraint) {
+                return null;
+            }
+        }
+        const debugMesh = this._getDebugConstraintMesh(constraint);
+        if (debugMesh) {
+            this._constraints[this._numConstraints] = constraint;
+            this._constraintMeshes[this._numConstraints] = debugMesh;
+            if (this._numConstraints === 0) {
+                this._constraintRenderFunction = this._updateDebugConstraints.bind(this);
+                this._scene.registerBeforeRender(this._constraintRenderFunction);
+            }
+            this._numConstraints++;
+        }
+        return debugMesh;
+    }
     /**
      * Hides an impostor from the scene.
      * @param impostor - The impostor to hide.
@@ -346,6 +440,45 @@ export class PhysicsViewer {
             this._scene.unregisterBeforeRender(this._inertiaRenderFunction);
         }
     }
+    /**
+     * Hide a physics constraint from the viewer utility layer
+     * @param constraint the constraint to hide
+     */
+    hideConstraint(constraint) {
+        if (!constraint || !this._scene || !this._utilityLayer) {
+            return;
+        }
+        let removed = false;
+        const utilityLayerScene = this._utilityLayer.utilityLayerScene;
+        for (let i = 0; i < this._numConstraints; i++) {
+            if (this._constraints[i] === constraint) {
+                const mesh = this._constraintMeshes[i];
+                if (!mesh) {
+                    continue;
+                }
+                utilityLayerScene.removeMesh(mesh);
+                mesh.dispose();
+                this._constraints.splice(i, 1);
+                this._constraintMeshes.splice(i, 1);
+                this._numConstraints--;
+                if (this._numConstraints > 0) {
+                    this._constraints[i] = this._constraints[this._numConstraints];
+                    this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];
+                    this._constraints[this._numConstraints] = null;
+                    this._constraintMeshes[this._numConstraints] = null;
+                }
+                else {
+                    this._constraints[0] = null;
+                    this._constraintMeshes[0] = null;
+                }
+                removed = true;
+                break;
+            }
+        }
+        if (removed && this._numConstraints === 0) {
+            this._scene.unregisterBeforeRender(this._constraintRenderFunction);
+        }
+    }
     _getDebugMaterial(scene) {
         if (!this._debugMaterial) {
             this._debugMaterial = new StandardMaterial("", scene);
@@ -576,6 +709,78 @@ export class PhysicsViewer {
         inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);
         return inertiaBoxMesh;
     }
+    _getTransformFromBodyToRef(body, matrix, instanceIndex) {
+        const tnode = body.transformNode;
+        if (instanceIndex && instanceIndex >= 0) {
+            return Matrix.FromArrayToRef(tnode._thinInstanceDataStorage.matrixData, instanceIndex, matrix);
+        }
+        else {
+            return matrix.copyFrom(tnode.getWorldMatrix());
+        }
+    }
+    _getDebugConstraintMesh(constraint) {
+        if (!this._utilityLayer) {
+            return null;
+        }
+        const utilityLayerScene = this._utilityLayer.utilityLayerScene;
+        if (!constraint._initOptions) {
+            return null;
+        }
+        // Get constraint pivot and axes
+        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;
+        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {
+            return null;
+        }
+        // Create a mesh to parent all the constraint debug meshes to
+        const parentingMesh = new Mesh("parentingDebugConstraint", utilityLayerScene);
+        // First, get a reference to all physic bodies that are using this constraint
+        const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();
+        for (const bodyPairInfo of bodiesUsingConstraint) {
+            // Create a mesh to keep the pair of constraint axes
+            const parentOfPair = new TransformNode("parentOfPair", utilityLayerScene);
+            parentOfPair.parent = parentingMesh;
+            const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;
+            // Get the parent transform
+            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);
+            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);
+            const parentCoordSystemNode = new TransformNode("parentCoordSystem", utilityLayerScene);
+            // parentCoordSystemNode.parent = parentingMesh;
+            parentCoordSystemNode.parent = parentOfPair;
+            // Save parent and index here to be able to get the transform on update
+            parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };
+            parentTransform.decomposeToTransformNode(parentCoordSystemNode);
+            const childCoordSystemNode = new TransformNode("childCoordSystem", utilityLayerScene);
+            // childCoordSystemNode.parent = parentingMesh;
+            childCoordSystemNode.parent = parentOfPair;
+            // Save child and index here to be able to get the transform on update
+            childCoordSystemNode.metadata = { childBody, childBodyIndex };
+            childTransform.decomposeToTransformNode(childCoordSystemNode);
+            // Get the transform to align the XYZ axes to the constraint axes
+            const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));
+            const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));
+            const translateTransformParent = pivotA;
+            const translateTransformChild = pivotB;
+            // Create a transform node and set its matrix
+            const parentTransformNode = new TransformNode("constraint_parent", utilityLayerScene);
+            parentTransformNode.position.copyFrom(translateTransformParent);
+            parentTransformNode.rotationQuaternion = rotTransformParent;
+            parentTransformNode.parent = parentCoordSystemNode;
+            const childTransformNode = new TransformNode("constraint_child", utilityLayerScene);
+            childTransformNode.parent = childCoordSystemNode;
+            childTransformNode.position.copyFrom(translateTransformChild);
+            childTransformNode.rotationQuaternion = rotTransformChild;
+            // Create axes for the constraint
+            const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);
+            parentAxes.xAxis.parent = parentTransformNode;
+            parentAxes.yAxis.parent = parentTransformNode;
+            parentAxes.zAxis.parent = parentTransformNode;
+            const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);
+            childAxes.xAxis.parent = childTransformNode;
+            childAxes.yAxis.parent = childTransformNode;
+            childAxes.zAxis.parent = childTransformNode;
+        }
+        return parentingMesh;
+    }
     /**
      * Clean up physics debug display
      */