@babylonjs/core 6.2.0 → 6.3.0

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

@@ -99,6 +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.
@@ -348,6 +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.
      *
@@ -479,7 +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;

package/Physics/v2/Plugins/havokPlugin.js

@@ -274,6 +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.
@@ -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.
@@ -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) {