@babylonjs/core 6.26.0 → 6.27.0

package/Physics/v1/Plugins/cannonJSPlugin.js.map

@@ -1 +1 @@
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type { Nullable, FloatArray } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { Vector3, Matrix, Quaternion } from \"../../../Maths/math.vector\";\r\nimport { VertexBuffer } from \"../../../Buffers/buffer\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { TransformNode } from \"../../../Meshes/transformNode\";\r\nimport { PhysicsEngine } from \"../physicsEngine\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\n//declare var require: any;\r\ndeclare let CANNON: any;\r\n\r\n/** @internal */\r\nexport class CannonJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"CannonJSPlugin\";\r\n    private _physicsMaterials = new Array();\r\n    private _fixedTimeStep: number = 1 / 60;\r\n    private _cannonRaycastResult: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _physicsBodiesToRemoveAfterStep = new Array<any>();\r\n    private _firstFrame = true;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSCANNON: any;\r\n\r\n    public constructor(private _useDeltaForWorldStep: boolean = true, iterations: number = 10, cannonInjection = CANNON) {\r\n        this.BJSCANNON = cannonInjection;\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"CannonJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n\r\n        this._extendNamespace();\r\n\r\n        this.world = new this.BJSCANNON.World();\r\n        this.world.broadphase = new this.BJSCANNON.NaiveBroadphase();\r\n        this.world.solver.iterations = iterations;\r\n        this._cannonRaycastResult = new this.BJSCANNON.RaycastResult();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3): void {\r\n        const vec = gravity;\r\n        this.world.gravity.set(vec.x, vec.y, vec.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this._fixedTimeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this._fixedTimeStep;\r\n    }\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>): void {\r\n        // due to cannon's architecture, the first frame's before-step is skipped.\r\n        if (this._firstFrame) {\r\n            this._firstFrame = false;\r\n            for (const impostor of impostors) {\r\n                if (!(impostor.type == PhysicsImpostor.HeightmapImpostor || impostor.type === PhysicsImpostor.PlaneImpostor)) {\r\n                    impostor.beforeStep();\r\n                }\r\n            }\r\n        }\r\n        this.world.step(this._useDeltaForWorldStep ? delta : this._fixedTimeStep);\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n    }\r\n\r\n    private _removeMarkedPhysicsBodiesFromWorld(): void {\r\n        if (this._physicsBodiesToRemoveAfterStep.length > 0) {\r\n            this._physicsBodiesToRemoveAfterStep.forEach((physicsBody) => {\r\n                if (typeof this.world.removeBody === \"function\") {\r\n                    this.world.removeBody(physicsBody);\r\n                } else {\r\n                    this.world.remove(physicsBody);\r\n                }\r\n            });\r\n            this._physicsBodiesToRemoveAfterStep.length = 0;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyImpulse(impulse, worldPoint);\r\n    }\r\n\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyForce(impulse, worldPoint);\r\n    }\r\n\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        // When calling forceUpdate generatePhysicsBody is called again, ensure that the updated body does not instantly collide with removed body\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n\r\n        //parent-child relationship. Does this impostor have a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        //should a new body be created for this impostor?\r\n        if (impostor.isBodyInitRequired()) {\r\n            const shape = this._createShape(impostor);\r\n            if (!shape) {\r\n                Logger.Warn(\"It was not possible to create a physics body for this object.\");\r\n                return;\r\n            }\r\n\r\n            //unregister events if body is being changed\r\n            const oldBody = impostor.physicsBody;\r\n            if (oldBody) {\r\n                this.removePhysicsBody(impostor);\r\n            }\r\n\r\n            //create the body and material\r\n            const material = this._addMaterial(\"mat-\" + impostor.uniqueId, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\"));\r\n\r\n            const bodyCreationObject = {\r\n                mass: impostor.getParam(\"mass\"),\r\n                material: material,\r\n            };\r\n            // A simple extend, in case native options were used.\r\n            const nativeOptions = impostor.getParam(\"nativeOptions\");\r\n            for (const key in nativeOptions) {\r\n                if (Object.prototype.hasOwnProperty.call(nativeOptions, key)) {\r\n                    (<any>bodyCreationObject)[key] = nativeOptions[key];\r\n                }\r\n            }\r\n            impostor.physicsBody = new this.BJSCANNON.Body(bodyCreationObject);\r\n            impostor.physicsBody.addEventListener(\"collide\", impostor.onCollide);\r\n            this.world.addEventListener(\"preStep\", impostor.beforeStep);\r\n            this.world.addEventListener(\"postStep\", impostor.afterStep);\r\n            impostor.physicsBody.addShape(shape);\r\n            if (typeof this.world.addBody === \"function\") {\r\n                this.world.addBody(impostor.physicsBody);\r\n            } else {\r\n                this.world.add(impostor.physicsBody);\r\n            }\r\n\r\n            //try to keep the body moving in the right direction by taking old properties.\r\n            //Should be tested!\r\n            if (oldBody) {\r\n                [\"force\", \"torque\", \"velocity\", \"angularVelocity\"].forEach(function (param) {\r\n                    const vec = oldBody[param];\r\n                    impostor.physicsBody[param].set(vec.x, vec.y, vec.z);\r\n                });\r\n            }\r\n            this._processChildMeshes(impostor);\r\n        }\r\n\r\n        //now update the body's transformation\r\n        this._updatePhysicsBodyTransformation(impostor);\r\n    }\r\n\r\n    private _processChildMeshes(mainImpostor: PhysicsImpostor) {\r\n        const meshChildren = mainImpostor.object.getChildMeshes ? mainImpostor.object.getChildMeshes(true) : [];\r\n        const mainRotation: Nullable<Quaternion> = mainImpostor.object.rotationQuaternion;\r\n        if (mainRotation) {\r\n            mainRotation.conjugateToRef(this._tmpQuaternion);\r\n        } else {\r\n            this._tmpQuaternion.set(0, 0, 0, 1);\r\n        }\r\n\r\n        if (meshChildren.length) {\r\n            const processMesh = (mesh: AbstractMesh) => {\r\n                if (!mesh.rotationQuaternion) {\r\n                    return;\r\n                }\r\n\r\n                const childImpostor = mesh.getPhysicsImpostor();\r\n                if (childImpostor) {\r\n                    const parent = childImpostor.parent;\r\n                    if (parent !== mainImpostor && mesh.parent) {\r\n                        const pPosition = mesh.getAbsolutePosition().subtract((mesh.parent as TransformNode).getAbsolutePosition());\r\n                        const q = mesh.rotationQuaternion.multiply(this._tmpQuaternion);\r\n\r\n                        if (childImpostor.physicsBody) {\r\n                            this.removePhysicsBody(childImpostor);\r\n                            childImpostor.physicsBody = null;\r\n                        }\r\n                        childImpostor.parent = mainImpostor;\r\n                        childImpostor.resetUpdateFlags();\r\n                        mainImpostor.physicsBody.addShape(\r\n                            this._createShape(childImpostor),\r\n                            new this.BJSCANNON.Vec3(pPosition.x, pPosition.y, pPosition.z),\r\n                            new this.BJSCANNON.Quaternion(q.x, q.y, q.z, q.w)\r\n                        );\r\n                        //Add the mass of the children.\r\n                        mainImpostor.physicsBody.mass += childImpostor.getParam(\"mass\");\r\n                    }\r\n                }\r\n                mesh.getChildMeshes(true)\r\n                    .filter((m) => !!m.physicsImpostor)\r\n                    .forEach(processMesh);\r\n            };\r\n            meshChildren.filter((m) => !!m.physicsImpostor).forEach(processMesh);\r\n        }\r\n    }\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.removeEventListener(\"collide\", impostor.onCollide);\r\n        this.world.removeEventListener(\"preStep\", impostor.beforeStep);\r\n        this.world.removeEventListener(\"postStep\", impostor.afterStep);\r\n\r\n        // Only remove the physics body after the physics step to avoid disrupting cannon's internal state\r\n        if (this._physicsBodiesToRemoveAfterStep.indexOf(impostor.physicsBody) === -1) {\r\n            this._physicsBodiesToRemoveAfterStep.push(impostor.physicsBody);\r\n        }\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        let constraint: any;\r\n        const jointData = impostorJoint.joint.jointData;\r\n        //TODO - https://github.com/schteppe/this.BJSCANNON.js/blob/gh-pages/demos/collisionFilter.html\r\n        const constraintData = {\r\n            pivotA: jointData.mainPivot ? new this.BJSCANNON.Vec3().set(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z) : null,\r\n            pivotB: jointData.connectedPivot ? new this.BJSCANNON.Vec3().set(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z) : null,\r\n            axisA: jointData.mainAxis ? new this.BJSCANNON.Vec3().set(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z) : null,\r\n            axisB: jointData.connectedAxis ? new this.BJSCANNON.Vec3().set(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z) : null,\r\n            maxForce: jointData.nativeParams.maxForce,\r\n            collideConnected: !!jointData.collision,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.HingeJoint:\r\n            case PhysicsJoint.Hinge2Joint:\r\n                constraint = new this.BJSCANNON.HingeConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.DistanceJoint:\r\n                constraint = new this.BJSCANNON.DistanceConstraint(mainBody, connectedBody, (<DistanceJointData>jointData).maxDistance || 2);\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                const springData = <SpringJointData>jointData;\r\n                constraint = new this.BJSCANNON.Spring(mainBody, connectedBody, {\r\n                    restLength: springData.length,\r\n                    stiffness: springData.stiffness,\r\n                    damping: springData.damping,\r\n                    localAnchorA: constraintData.pivotA,\r\n                    localAnchorB: constraintData.pivotB,\r\n                });\r\n                break;\r\n            }\r\n            case PhysicsJoint.LockJoint:\r\n                constraint = new this.BJSCANNON.LockConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.PointToPointJoint:\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n            default:\r\n                constraint = new this.BJSCANNON.PointToPointConstraint(mainBody, constraintData.pivotA, connectedBody, constraintData.pivotB, constraintData.maxForce);\r\n                break;\r\n        }\r\n        //set the collideConnected flag after the creation, since DistanceJoint ignores it.\r\n        constraint.collideConnected = !!jointData.collision;\r\n        impostorJoint.joint.physicsJoint = constraint;\r\n        //don't add spring as constraint, as it is not one.\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.addConstraint(constraint);\r\n        } else {\r\n            (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback =\r\n                (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback ||\r\n                function () {\r\n                    constraint.applyForce();\r\n                };\r\n            impostorJoint.mainImpostor.registerAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.removeConstraint(impostorJoint.joint.physicsJoint);\r\n        } else {\r\n            impostorJoint.mainImpostor.unregisterAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    private _addMaterial(name: string, friction: number, restitution: number) {\r\n        let index;\r\n        let mat;\r\n\r\n        for (index = 0; index < this._physicsMaterials.length; index++) {\r\n            mat = this._physicsMaterials[index];\r\n\r\n            if (mat.friction === friction && mat.restitution === restitution) {\r\n                return mat;\r\n            }\r\n        }\r\n\r\n        const currentMat = new this.BJSCANNON.Material(name);\r\n        currentMat.friction = friction;\r\n        currentMat.restitution = restitution;\r\n\r\n        this._physicsMaterials.push(currentMat);\r\n        return currentMat;\r\n    }\r\n\r\n    private _checkWithEpsilon(value: number): number {\r\n        return value < Epsilon ? Epsilon : value;\r\n    }\r\n\r\n    private _createShape(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n\r\n        let returnValue;\r\n        const impostorExtents = impostor.getObjectExtents();\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                const radiusX = impostorExtents.x;\r\n                const radiusY = impostorExtents.y;\r\n                const radiusZ = impostorExtents.z;\r\n\r\n                returnValue = new this.BJSCANNON.Sphere(Math.max(this._checkWithEpsilon(radiusX), this._checkWithEpsilon(radiusY), this._checkWithEpsilon(radiusZ)) / 2);\r\n\r\n                break;\r\n            }\r\n            //TMP also for cylinder - TODO Cannon supports cylinder natively.\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                let nativeParams = impostor.getParam(\"nativeOptions\");\r\n                if (!nativeParams) {\r\n                    nativeParams = {};\r\n                }\r\n                const radiusTop = nativeParams.radiusTop !== undefined ? nativeParams.radiusTop : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const radiusBottom = nativeParams.radiusBottom !== undefined ? nativeParams.radiusBottom : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const height = nativeParams.height !== undefined ? nativeParams.height : this._checkWithEpsilon(impostorExtents.y);\r\n                const numSegments = nativeParams.numSegments !== undefined ? nativeParams.numSegments : 16;\r\n                returnValue = new this.BJSCANNON.Cylinder(radiusTop, radiusBottom, height, numSegments);\r\n\r\n                // Rotate 90 degrees as this shape is horizontal in cannon\r\n                const quat = new this.BJSCANNON.Quaternion();\r\n                quat.setFromAxisAngle(new this.BJSCANNON.Vec3(1, 0, 0), -Math.PI / 2);\r\n                const translation = new this.BJSCANNON.Vec3(0, 0, 0);\r\n                returnValue.transformAllPoints(translation, quat);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.BoxImpostor: {\r\n                const box = impostorExtents.scale(0.5);\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(this._checkWithEpsilon(box.x), this._checkWithEpsilon(box.y), this._checkWithEpsilon(box.z)));\r\n                break;\r\n            }\r\n            case PhysicsImpostor.PlaneImpostor:\r\n                Logger.Warn(\"Attention, PlaneImposter might not behave as you expect. Consider using BoxImposter instead\");\r\n                returnValue = new this.BJSCANNON.Plane();\r\n                break;\r\n            case PhysicsImpostor.MeshImpostor: {\r\n                // should transform the vertex data to world coordinates!!\r\n                const rawVerts = object.getVerticesData ? object.getVerticesData(VertexBuffer.PositionKind) : [];\r\n                const rawFaces = object.getIndices ? object.getIndices() : [];\r\n                if (!rawVerts) {\r\n                    Logger.Warn(\"Tried to create a MeshImpostor for an object without vertices. This will fail.\");\r\n                    return;\r\n                }\r\n                // get only scale! so the object could transform correctly.\r\n                const oldPosition = object.position.clone();\r\n                const oldRotation = object.rotation && object.rotation.clone();\r\n                const oldQuaternion = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n\r\n                const transform = object.computeWorldMatrix(true);\r\n                // convert rawVerts to object space\r\n                const transformedVertices = new Array<number>();\r\n                let index: number;\r\n                for (index = 0; index < rawVerts.length; index += 3) {\r\n                    Vector3.TransformCoordinates(Vector3.FromArray(rawVerts, index), transform).toArray(transformedVertices, index);\r\n                }\r\n\r\n                Logger.Warn(\"MeshImpostor only collides against spheres.\");\r\n                returnValue = new this.BJSCANNON.Trimesh(transformedVertices, <number[]>rawFaces);\r\n                //now set back the transformation!\r\n                object.position.copyFrom(oldPosition);\r\n                oldRotation && object.rotation && object.rotation.copyFrom(oldRotation);\r\n                oldQuaternion && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.HeightmapImpostor: {\r\n                const oldPosition2 = object.position.clone();\r\n                const oldRotation2 = object.rotation && object.rotation.clone();\r\n                const oldQuaternion2 = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n                object.rotationQuaternion && object.rotationQuaternion.multiplyInPlace(this._minus90X);\r\n\r\n                returnValue = this._createHeightmap(object);\r\n                object.position.copyFrom(oldPosition2);\r\n                oldRotation2 && object.rotation && object.rotation.copyFrom(oldRotation2);\r\n                oldQuaternion2 && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion2);\r\n                object.computeWorldMatrix(true);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.ParticleImpostor:\r\n                returnValue = new this.BJSCANNON.Particle();\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(0, 0, 0));\r\n                break;\r\n        }\r\n\r\n        return returnValue;\r\n    }\r\n\r\n    private _createHeightmap(object: IPhysicsEnabledObject, pointDepth?: number) {\r\n        let pos = <FloatArray>object.getVerticesData(VertexBuffer.PositionKind);\r\n        const transform = object.computeWorldMatrix(true);\r\n        // convert rawVerts to object space\r\n        const transformedVertices = new Array<number>();\r\n        let index: number;\r\n        for (index = 0; index < pos.length; index += 3) {\r\n            Vector3.TransformCoordinates(Vector3.FromArray(pos, index), transform).toArray(transformedVertices, index);\r\n        }\r\n        pos = transformedVertices;\r\n        const matrix = new Array<Array<any>>();\r\n\r\n        //For now pointDepth will not be used and will be automatically calculated.\r\n        //Future reference - try and find the best place to add a reference to the pointDepth variable.\r\n        const arraySize = pointDepth || ~~(Math.sqrt(pos.length / 3) - 1);\r\n        const boundingInfo = object.getBoundingInfo();\r\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.y);\r\n        const minY = boundingInfo.boundingBox.extendSizeWorld.z;\r\n\r\n        const elementSize = (dim * 2) / arraySize;\r\n\r\n        for (let i = 0; i < pos.length; i = i + 3) {\r\n            const x = Math.round(pos[i + 0] / elementSize + arraySize / 2);\r\n            const z = Math.round((pos[i + 1] / elementSize - arraySize / 2) * -1);\r\n            const y = -pos[i + 2] + minY;\r\n            if (!matrix[x]) {\r\n                matrix[x] = [];\r\n            }\r\n            if (!matrix[x][z]) {\r\n                matrix[x][z] = y;\r\n            }\r\n            matrix[x][z] = Math.max(y, matrix[x][z]);\r\n        }\r\n\r\n        for (let x = 0; x <= arraySize; ++x) {\r\n            if (!matrix[x]) {\r\n                let loc = 1;\r\n                while (!matrix[(x + loc) % arraySize]) {\r\n                    loc++;\r\n                }\r\n                matrix[x] = matrix[(x + loc) % arraySize].slice();\r\n                //console.log(\"missing x\", x);\r\n            }\r\n            for (let z = 0; z <= arraySize; ++z) {\r\n                if (!matrix[x][z]) {\r\n                    let loc = 1;\r\n                    let newValue;\r\n                    while (newValue === undefined) {\r\n                        newValue = matrix[x][(z + loc++) % arraySize];\r\n                    }\r\n                    matrix[x][z] = newValue;\r\n                }\r\n            }\r\n        }\r\n\r\n        const shape = new this.BJSCANNON.Heightfield(matrix, {\r\n            elementSize: elementSize,\r\n        });\r\n\r\n        //For future reference, needed for body transformation\r\n        shape.minY = minY;\r\n\r\n        return shape;\r\n    }\r\n\r\n    private _minus90X = new Quaternion(-0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _plus90X = new Quaternion(0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _tmpPosition: Vector3 = Vector3.Zero();\r\n    private _tmpDeltaPosition: Vector3 = Vector3.Zero();\r\n    private _tmpUnityRotation: Quaternion = new Quaternion();\r\n\r\n    private _updatePhysicsBodyTransformation(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n        //make sure it is updated...\r\n        object.computeWorldMatrix && object.computeWorldMatrix(true);\r\n        if (!object.getBoundingInfo()) {\r\n            return;\r\n        }\r\n        const center = impostor.getObjectCenter();\r\n        //m.getAbsolutePosition().subtract(m.getBoundingInfo().boundingBox.centerWorld)\r\n        // The delta between the mesh position and the mesh bounding box center\r\n        this._tmpDeltaPosition.copyFrom(object.getAbsolutePivotPoint().subtract(center));\r\n        this._tmpDeltaPosition.divideInPlace(impostor.object.scaling);\r\n        this._tmpPosition.copyFrom(center);\r\n        let quaternion = object.rotationQuaternion;\r\n\r\n        if (!quaternion) {\r\n            return;\r\n        }\r\n\r\n        //is shape is a plane or a heightmap, it must be rotated 90 degs in the X axis.\r\n        //ideally these would be rotated at time of creation like cylinder but they dont extend ConvexPolyhedron\r\n        if (impostor.type === PhysicsImpostor.PlaneImpostor || impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            //-90 DEG in X, precalculated\r\n            quaternion = quaternion.multiply(this._minus90X);\r\n            //Invert! (Precalculated, 90 deg in X)\r\n            //No need to clone. this will never change.\r\n            impostor.setDeltaRotation(this._plus90X);\r\n        }\r\n\r\n        //If it is a heightfield, if should be centered.\r\n        if (impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            const mesh = <AbstractMesh>(<any>object);\r\n            let boundingInfo = mesh.getBoundingInfo();\r\n            //calculate the correct body position:\r\n            const rotationQuaternion = mesh.rotationQuaternion;\r\n            mesh.rotationQuaternion = this._tmpUnityRotation;\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            //get original center with no rotation\r\n            const c = center.clone();\r\n\r\n            let oldPivot = mesh.getPivotMatrix();\r\n            if (oldPivot) {\r\n                // create a copy the pivot Matrix as it is modified in place\r\n                oldPivot = oldPivot.clone();\r\n            } else {\r\n                oldPivot = Matrix.Identity();\r\n            }\r\n\r\n            //calculate the new center using a pivot (since this.BJSCANNON.js doesn't center height maps)\r\n            const p = Matrix.Translation(boundingInfo.boundingBox.extendSizeWorld.x, 0, -boundingInfo.boundingBox.extendSizeWorld.z);\r\n            mesh.setPreTransformMatrix(p);\r\n            mesh.computeWorldMatrix(true);\r\n            // force bounding box recomputation\r\n            boundingInfo = mesh.getBoundingInfo();\r\n\r\n            //calculate the translation\r\n            const translation = boundingInfo.boundingBox.centerWorld.subtract(center).subtract(mesh.position).negate();\r\n\r\n            this._tmpPosition.copyFromFloats(translation.x, translation.y - boundingInfo.boundingBox.extendSizeWorld.y, translation.z);\r\n            //add it inverted to the delta\r\n            this._tmpDeltaPosition.copyFrom(boundingInfo.boundingBox.centerWorld.subtract(c));\r\n            this._tmpDeltaPosition.y += boundingInfo.boundingBox.extendSizeWorld.y;\r\n            //rotation is back\r\n            mesh.rotationQuaternion = rotationQuaternion;\r\n\r\n            mesh.setPreTransformMatrix(oldPivot);\r\n            mesh.computeWorldMatrix(true);\r\n        } else if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n            this._tmpDeltaPosition.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpDeltaPosition);\r\n        //Now update the impostor object\r\n        impostor.physicsBody.position.set(this._tmpPosition.x, this._tmpPosition.y, this._tmpPosition.z);\r\n        impostor.physicsBody.quaternion.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w);\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.object.position.set(impostor.physicsBody.position.x, impostor.physicsBody.position.y, impostor.physicsBody.position.z);\r\n        if (impostor.object.rotationQuaternion) {\r\n            const q = impostor.physicsBody.quaternion;\r\n            impostor.object.rotationQuaternion.set(q.x, q.y, q.z, q.w);\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        impostor.physicsBody.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        impostor.physicsBody.quaternion.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSCANNON !== undefined;\r\n    }\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.velocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.velocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        impostor.physicsBody.mass = mass;\r\n        impostor.physicsBody.updateMassProperties();\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.mass;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.material.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.material.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.wakeUp();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number) {\r\n        joint.physicsJoint.distance = maxDistance;\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed?: number, maxForce?: number, motorIndex?: number) {\r\n        if (!motorIndex) {\r\n            joint.physicsJoint.enableMotor();\r\n            joint.physicsJoint.setMotorSpeed(speed);\r\n            if (maxForce) {\r\n                this.setLimit(joint, maxForce);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, minForce: number, maxForce?: number) {\r\n        joint.physicsJoint.motorEquation.maxForce = maxForce;\r\n        joint.physicsJoint.motorEquation.minForce = minForce === void 0 ? -minForce : minForce;\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.quaternion.x;\r\n            mesh.rotationQuaternion.y = body.quaternion.y;\r\n            mesh.rotationQuaternion.z = body.quaternion.z;\r\n            mesh.rotationQuaternion.w = body.quaternion.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        return shape.boundingSphereRadius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        result.x = shape.halfExtents.x * 2;\r\n        result.y = shape.halfExtents.y * 2;\r\n        result.z = shape.halfExtents.z * 2;\r\n    }\r\n\r\n    public dispose() {}\r\n\r\n    private _extendNamespace() {\r\n        //this will force cannon to execute at least one step when using interpolation\r\n        const step_tmp1 = new this.BJSCANNON.Vec3();\r\n        const engine = this.BJSCANNON;\r\n        this.BJSCANNON.World.prototype.step = function (dt: number, timeSinceLastCalled: number, maxSubSteps: number) {\r\n            maxSubSteps = maxSubSteps || 10;\r\n            timeSinceLastCalled = timeSinceLastCalled || 0;\r\n            if (timeSinceLastCalled === 0) {\r\n                this.internalStep(dt);\r\n                this.time += dt;\r\n            } else {\r\n                let internalSteps = Math.floor((this.time + timeSinceLastCalled) / dt) - Math.floor(this.time / dt);\r\n                internalSteps = Math.min(internalSteps, maxSubSteps) || 1;\r\n                const t0 = performance.now();\r\n                for (let i = 0; i !== internalSteps; i++) {\r\n                    this.internalStep(dt);\r\n                    if (performance.now() - t0 > dt * 1000) {\r\n                        break;\r\n                    }\r\n                }\r\n                this.time += timeSinceLastCalled;\r\n                const h = this.time % dt;\r\n                const h_div_dt = h / dt;\r\n                const interpvelo = step_tmp1;\r\n                const bodies = this.bodies;\r\n                for (let j = 0; j !== bodies.length; j++) {\r\n                    const b = bodies[j];\r\n                    if (b.type !== engine.Body.STATIC && b.sleepState !== engine.Body.SLEEPING) {\r\n                        b.position.vsub(b.previousPosition, interpvelo);\r\n                        interpvelo.scale(h_div_dt, interpvelo);\r\n                        b.position.vadd(interpvelo, b.interpolatedPosition);\r\n                    } else {\r\n                        b.interpolatedPosition.set(b.position.x, b.position.y, b.position.z);\r\n                        b.interpolatedQuaternion.set(b.quaternion.x, b.quaternion.y, b.quaternion.z, b.quaternion.w);\r\n                    }\r\n                }\r\n            }\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        this._raycastResult.reset(from, to);\r\n        this.raycastToRef(from, to, this._raycastResult);\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        this._cannonRaycastResult.reset();\r\n        this.world.raycastClosest(from, to, {}, this._cannonRaycastResult);\r\n\r\n        result.reset(from, to);\r\n        if (this._cannonRaycastResult.hasHit) {\r\n            // TODO: do we also want to get the body it hit?\r\n            result.setHitData(\r\n                {\r\n                    x: this._cannonRaycastResult.hitNormalWorld.x,\r\n                    y: this._cannonRaycastResult.hitNormalWorld.y,\r\n                    z: this._cannonRaycastResult.hitNormalWorld.z,\r\n                },\r\n                {\r\n                    x: this._cannonRaycastResult.hitPointWorld.x,\r\n                    y: this._cannonRaycastResult.hitPointWorld.y,\r\n                    z: this._cannonRaycastResult.hitPointWorld.z,\r\n                }\r\n            );\r\n            result.setHitDistance(this._cannonRaycastResult.distance);\r\n        }\r\n    }\r\n}\r\n\r\nPhysicsEngine.DefaultPluginFactory = () => {\r\n    return new CannonJSPlugin();\r\n};\r\n"]}
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type { Nullable, FloatArray } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { Vector3, Matrix, Quaternion } from \"../../../Maths/math.vector\";\r\nimport { VertexBuffer } from \"../../../Buffers/buffer\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { TransformNode } from \"../../../Meshes/transformNode\";\r\nimport { PhysicsEngine } from \"../physicsEngine\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\n//declare var require: any;\r\ndeclare let CANNON: any;\r\n\r\n/** @internal */\r\nexport class CannonJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"CannonJSPlugin\";\r\n    private _physicsMaterials = new Array();\r\n    private _fixedTimeStep: number = 1 / 60;\r\n    private _cannonRaycastResult: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _physicsBodiesToRemoveAfterStep = new Array<any>();\r\n    private _firstFrame = true;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSCANNON: any;\r\n\r\n    public constructor(\r\n        private _useDeltaForWorldStep: boolean = true,\r\n        iterations: number = 10,\r\n        cannonInjection = CANNON\r\n    ) {\r\n        this.BJSCANNON = cannonInjection;\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"CannonJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n\r\n        this._extendNamespace();\r\n\r\n        this.world = new this.BJSCANNON.World();\r\n        this.world.broadphase = new this.BJSCANNON.NaiveBroadphase();\r\n        this.world.solver.iterations = iterations;\r\n        this._cannonRaycastResult = new this.BJSCANNON.RaycastResult();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3): void {\r\n        const vec = gravity;\r\n        this.world.gravity.set(vec.x, vec.y, vec.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this._fixedTimeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this._fixedTimeStep;\r\n    }\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>): void {\r\n        // due to cannon's architecture, the first frame's before-step is skipped.\r\n        if (this._firstFrame) {\r\n            this._firstFrame = false;\r\n            for (const impostor of impostors) {\r\n                if (!(impostor.type == PhysicsImpostor.HeightmapImpostor || impostor.type === PhysicsImpostor.PlaneImpostor)) {\r\n                    impostor.beforeStep();\r\n                }\r\n            }\r\n        }\r\n        this.world.step(this._useDeltaForWorldStep ? delta : this._fixedTimeStep);\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n    }\r\n\r\n    private _removeMarkedPhysicsBodiesFromWorld(): void {\r\n        if (this._physicsBodiesToRemoveAfterStep.length > 0) {\r\n            this._physicsBodiesToRemoveAfterStep.forEach((physicsBody) => {\r\n                if (typeof this.world.removeBody === \"function\") {\r\n                    this.world.removeBody(physicsBody);\r\n                } else {\r\n                    this.world.remove(physicsBody);\r\n                }\r\n            });\r\n            this._physicsBodiesToRemoveAfterStep.length = 0;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyImpulse(impulse, worldPoint);\r\n    }\r\n\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyForce(impulse, worldPoint);\r\n    }\r\n\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        // When calling forceUpdate generatePhysicsBody is called again, ensure that the updated body does not instantly collide with removed body\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n\r\n        //parent-child relationship. Does this impostor have a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        //should a new body be created for this impostor?\r\n        if (impostor.isBodyInitRequired()) {\r\n            const shape = this._createShape(impostor);\r\n            if (!shape) {\r\n                Logger.Warn(\"It was not possible to create a physics body for this object.\");\r\n                return;\r\n            }\r\n\r\n            //unregister events if body is being changed\r\n            const oldBody = impostor.physicsBody;\r\n            if (oldBody) {\r\n                this.removePhysicsBody(impostor);\r\n            }\r\n\r\n            //create the body and material\r\n            const material = this._addMaterial(\"mat-\" + impostor.uniqueId, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\"));\r\n\r\n            const bodyCreationObject = {\r\n                mass: impostor.getParam(\"mass\"),\r\n                material: material,\r\n            };\r\n            // A simple extend, in case native options were used.\r\n            const nativeOptions = impostor.getParam(\"nativeOptions\");\r\n            for (const key in nativeOptions) {\r\n                if (Object.prototype.hasOwnProperty.call(nativeOptions, key)) {\r\n                    (<any>bodyCreationObject)[key] = nativeOptions[key];\r\n                }\r\n            }\r\n            impostor.physicsBody = new this.BJSCANNON.Body(bodyCreationObject);\r\n            impostor.physicsBody.addEventListener(\"collide\", impostor.onCollide);\r\n            this.world.addEventListener(\"preStep\", impostor.beforeStep);\r\n            this.world.addEventListener(\"postStep\", impostor.afterStep);\r\n            impostor.physicsBody.addShape(shape);\r\n            if (typeof this.world.addBody === \"function\") {\r\n                this.world.addBody(impostor.physicsBody);\r\n            } else {\r\n                this.world.add(impostor.physicsBody);\r\n            }\r\n\r\n            //try to keep the body moving in the right direction by taking old properties.\r\n            //Should be tested!\r\n            if (oldBody) {\r\n                [\"force\", \"torque\", \"velocity\", \"angularVelocity\"].forEach(function (param) {\r\n                    const vec = oldBody[param];\r\n                    impostor.physicsBody[param].set(vec.x, vec.y, vec.z);\r\n                });\r\n            }\r\n            this._processChildMeshes(impostor);\r\n        }\r\n\r\n        //now update the body's transformation\r\n        this._updatePhysicsBodyTransformation(impostor);\r\n    }\r\n\r\n    private _processChildMeshes(mainImpostor: PhysicsImpostor) {\r\n        const meshChildren = mainImpostor.object.getChildMeshes ? mainImpostor.object.getChildMeshes(true) : [];\r\n        const mainRotation: Nullable<Quaternion> = mainImpostor.object.rotationQuaternion;\r\n        if (mainRotation) {\r\n            mainRotation.conjugateToRef(this._tmpQuaternion);\r\n        } else {\r\n            this._tmpQuaternion.set(0, 0, 0, 1);\r\n        }\r\n\r\n        if (meshChildren.length) {\r\n            const processMesh = (mesh: AbstractMesh) => {\r\n                if (!mesh.rotationQuaternion) {\r\n                    return;\r\n                }\r\n\r\n                const childImpostor = mesh.getPhysicsImpostor();\r\n                if (childImpostor) {\r\n                    const parent = childImpostor.parent;\r\n                    if (parent !== mainImpostor && mesh.parent) {\r\n                        const pPosition = mesh.getAbsolutePosition().subtract((mesh.parent as TransformNode).getAbsolutePosition());\r\n                        const q = mesh.rotationQuaternion.multiply(this._tmpQuaternion);\r\n\r\n                        if (childImpostor.physicsBody) {\r\n                            this.removePhysicsBody(childImpostor);\r\n                            childImpostor.physicsBody = null;\r\n                        }\r\n                        childImpostor.parent = mainImpostor;\r\n                        childImpostor.resetUpdateFlags();\r\n                        mainImpostor.physicsBody.addShape(\r\n                            this._createShape(childImpostor),\r\n                            new this.BJSCANNON.Vec3(pPosition.x, pPosition.y, pPosition.z),\r\n                            new this.BJSCANNON.Quaternion(q.x, q.y, q.z, q.w)\r\n                        );\r\n                        //Add the mass of the children.\r\n                        mainImpostor.physicsBody.mass += childImpostor.getParam(\"mass\");\r\n                    }\r\n                }\r\n                mesh.getChildMeshes(true)\r\n                    .filter((m) => !!m.physicsImpostor)\r\n                    .forEach(processMesh);\r\n            };\r\n            meshChildren.filter((m) => !!m.physicsImpostor).forEach(processMesh);\r\n        }\r\n    }\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.removeEventListener(\"collide\", impostor.onCollide);\r\n        this.world.removeEventListener(\"preStep\", impostor.beforeStep);\r\n        this.world.removeEventListener(\"postStep\", impostor.afterStep);\r\n\r\n        // Only remove the physics body after the physics step to avoid disrupting cannon's internal state\r\n        if (this._physicsBodiesToRemoveAfterStep.indexOf(impostor.physicsBody) === -1) {\r\n            this._physicsBodiesToRemoveAfterStep.push(impostor.physicsBody);\r\n        }\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        let constraint: any;\r\n        const jointData = impostorJoint.joint.jointData;\r\n        //TODO - https://github.com/schteppe/this.BJSCANNON.js/blob/gh-pages/demos/collisionFilter.html\r\n        const constraintData = {\r\n            pivotA: jointData.mainPivot ? new this.BJSCANNON.Vec3().set(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z) : null,\r\n            pivotB: jointData.connectedPivot ? new this.BJSCANNON.Vec3().set(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z) : null,\r\n            axisA: jointData.mainAxis ? new this.BJSCANNON.Vec3().set(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z) : null,\r\n            axisB: jointData.connectedAxis ? new this.BJSCANNON.Vec3().set(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z) : null,\r\n            maxForce: jointData.nativeParams.maxForce,\r\n            collideConnected: !!jointData.collision,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.HingeJoint:\r\n            case PhysicsJoint.Hinge2Joint:\r\n                constraint = new this.BJSCANNON.HingeConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.DistanceJoint:\r\n                constraint = new this.BJSCANNON.DistanceConstraint(mainBody, connectedBody, (<DistanceJointData>jointData).maxDistance || 2);\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                const springData = <SpringJointData>jointData;\r\n                constraint = new this.BJSCANNON.Spring(mainBody, connectedBody, {\r\n                    restLength: springData.length,\r\n                    stiffness: springData.stiffness,\r\n                    damping: springData.damping,\r\n                    localAnchorA: constraintData.pivotA,\r\n                    localAnchorB: constraintData.pivotB,\r\n                });\r\n                break;\r\n            }\r\n            case PhysicsJoint.LockJoint:\r\n                constraint = new this.BJSCANNON.LockConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.PointToPointJoint:\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n            default:\r\n                constraint = new this.BJSCANNON.PointToPointConstraint(mainBody, constraintData.pivotA, connectedBody, constraintData.pivotB, constraintData.maxForce);\r\n                break;\r\n        }\r\n        //set the collideConnected flag after the creation, since DistanceJoint ignores it.\r\n        constraint.collideConnected = !!jointData.collision;\r\n        impostorJoint.joint.physicsJoint = constraint;\r\n        //don't add spring as constraint, as it is not one.\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.addConstraint(constraint);\r\n        } else {\r\n            (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback =\r\n                (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback ||\r\n                function () {\r\n                    constraint.applyForce();\r\n                };\r\n            impostorJoint.mainImpostor.registerAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.removeConstraint(impostorJoint.joint.physicsJoint);\r\n        } else {\r\n            impostorJoint.mainImpostor.unregisterAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    private _addMaterial(name: string, friction: number, restitution: number) {\r\n        let index;\r\n        let mat;\r\n\r\n        for (index = 0; index < this._physicsMaterials.length; index++) {\r\n            mat = this._physicsMaterials[index];\r\n\r\n            if (mat.friction === friction && mat.restitution === restitution) {\r\n                return mat;\r\n            }\r\n        }\r\n\r\n        const currentMat = new this.BJSCANNON.Material(name);\r\n        currentMat.friction = friction;\r\n        currentMat.restitution = restitution;\r\n\r\n        this._physicsMaterials.push(currentMat);\r\n        return currentMat;\r\n    }\r\n\r\n    private _checkWithEpsilon(value: number): number {\r\n        return value < Epsilon ? Epsilon : value;\r\n    }\r\n\r\n    private _createShape(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n\r\n        let returnValue;\r\n        const impostorExtents = impostor.getObjectExtents();\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                const radiusX = impostorExtents.x;\r\n                const radiusY = impostorExtents.y;\r\n                const radiusZ = impostorExtents.z;\r\n\r\n                returnValue = new this.BJSCANNON.Sphere(Math.max(this._checkWithEpsilon(radiusX), this._checkWithEpsilon(radiusY), this._checkWithEpsilon(radiusZ)) / 2);\r\n\r\n                break;\r\n            }\r\n            //TMP also for cylinder - TODO Cannon supports cylinder natively.\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                let nativeParams = impostor.getParam(\"nativeOptions\");\r\n                if (!nativeParams) {\r\n                    nativeParams = {};\r\n                }\r\n                const radiusTop = nativeParams.radiusTop !== undefined ? nativeParams.radiusTop : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const radiusBottom = nativeParams.radiusBottom !== undefined ? nativeParams.radiusBottom : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const height = nativeParams.height !== undefined ? nativeParams.height : this._checkWithEpsilon(impostorExtents.y);\r\n                const numSegments = nativeParams.numSegments !== undefined ? nativeParams.numSegments : 16;\r\n                returnValue = new this.BJSCANNON.Cylinder(radiusTop, radiusBottom, height, numSegments);\r\n\r\n                // Rotate 90 degrees as this shape is horizontal in cannon\r\n                const quat = new this.BJSCANNON.Quaternion();\r\n                quat.setFromAxisAngle(new this.BJSCANNON.Vec3(1, 0, 0), -Math.PI / 2);\r\n                const translation = new this.BJSCANNON.Vec3(0, 0, 0);\r\n                returnValue.transformAllPoints(translation, quat);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.BoxImpostor: {\r\n                const box = impostorExtents.scale(0.5);\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(this._checkWithEpsilon(box.x), this._checkWithEpsilon(box.y), this._checkWithEpsilon(box.z)));\r\n                break;\r\n            }\r\n            case PhysicsImpostor.PlaneImpostor:\r\n                Logger.Warn(\"Attention, PlaneImposter might not behave as you expect. Consider using BoxImposter instead\");\r\n                returnValue = new this.BJSCANNON.Plane();\r\n                break;\r\n            case PhysicsImpostor.MeshImpostor: {\r\n                // should transform the vertex data to world coordinates!!\r\n                const rawVerts = object.getVerticesData ? object.getVerticesData(VertexBuffer.PositionKind) : [];\r\n                const rawFaces = object.getIndices ? object.getIndices() : [];\r\n                if (!rawVerts) {\r\n                    Logger.Warn(\"Tried to create a MeshImpostor for an object without vertices. This will fail.\");\r\n                    return;\r\n                }\r\n                // get only scale! so the object could transform correctly.\r\n                const oldPosition = object.position.clone();\r\n                const oldRotation = object.rotation && object.rotation.clone();\r\n                const oldQuaternion = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n\r\n                const transform = object.computeWorldMatrix(true);\r\n                // convert rawVerts to object space\r\n                const transformedVertices = new Array<number>();\r\n                let index: number;\r\n                for (index = 0; index < rawVerts.length; index += 3) {\r\n                    Vector3.TransformCoordinates(Vector3.FromArray(rawVerts, index), transform).toArray(transformedVertices, index);\r\n                }\r\n\r\n                Logger.Warn(\"MeshImpostor only collides against spheres.\");\r\n                returnValue = new this.BJSCANNON.Trimesh(transformedVertices, <number[]>rawFaces);\r\n                //now set back the transformation!\r\n                object.position.copyFrom(oldPosition);\r\n                oldRotation && object.rotation && object.rotation.copyFrom(oldRotation);\r\n                oldQuaternion && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.HeightmapImpostor: {\r\n                const oldPosition2 = object.position.clone();\r\n                const oldRotation2 = object.rotation && object.rotation.clone();\r\n                const oldQuaternion2 = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n                object.rotationQuaternion && object.rotationQuaternion.multiplyInPlace(this._minus90X);\r\n\r\n                returnValue = this._createHeightmap(object);\r\n                object.position.copyFrom(oldPosition2);\r\n                oldRotation2 && object.rotation && object.rotation.copyFrom(oldRotation2);\r\n                oldQuaternion2 && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion2);\r\n                object.computeWorldMatrix(true);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.ParticleImpostor:\r\n                returnValue = new this.BJSCANNON.Particle();\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(0, 0, 0));\r\n                break;\r\n        }\r\n\r\n        return returnValue;\r\n    }\r\n\r\n    private _createHeightmap(object: IPhysicsEnabledObject, pointDepth?: number) {\r\n        let pos = <FloatArray>object.getVerticesData(VertexBuffer.PositionKind);\r\n        const transform = object.computeWorldMatrix(true);\r\n        // convert rawVerts to object space\r\n        const transformedVertices = new Array<number>();\r\n        let index: number;\r\n        for (index = 0; index < pos.length; index += 3) {\r\n            Vector3.TransformCoordinates(Vector3.FromArray(pos, index), transform).toArray(transformedVertices, index);\r\n        }\r\n        pos = transformedVertices;\r\n        const matrix = new Array<Array<any>>();\r\n\r\n        //For now pointDepth will not be used and will be automatically calculated.\r\n        //Future reference - try and find the best place to add a reference to the pointDepth variable.\r\n        const arraySize = pointDepth || ~~(Math.sqrt(pos.length / 3) - 1);\r\n        const boundingInfo = object.getBoundingInfo();\r\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.y);\r\n        const minY = boundingInfo.boundingBox.extendSizeWorld.z;\r\n\r\n        const elementSize = (dim * 2) / arraySize;\r\n\r\n        for (let i = 0; i < pos.length; i = i + 3) {\r\n            const x = Math.round(pos[i + 0] / elementSize + arraySize / 2);\r\n            const z = Math.round((pos[i + 1] / elementSize - arraySize / 2) * -1);\r\n            const y = -pos[i + 2] + minY;\r\n            if (!matrix[x]) {\r\n                matrix[x] = [];\r\n            }\r\n            if (!matrix[x][z]) {\r\n                matrix[x][z] = y;\r\n            }\r\n            matrix[x][z] = Math.max(y, matrix[x][z]);\r\n        }\r\n\r\n        for (let x = 0; x <= arraySize; ++x) {\r\n            if (!matrix[x]) {\r\n                let loc = 1;\r\n                while (!matrix[(x + loc) % arraySize]) {\r\n                    loc++;\r\n                }\r\n                matrix[x] = matrix[(x + loc) % arraySize].slice();\r\n                //console.log(\"missing x\", x);\r\n            }\r\n            for (let z = 0; z <= arraySize; ++z) {\r\n                if (!matrix[x][z]) {\r\n                    let loc = 1;\r\n                    let newValue;\r\n                    while (newValue === undefined) {\r\n                        newValue = matrix[x][(z + loc++) % arraySize];\r\n                    }\r\n                    matrix[x][z] = newValue;\r\n                }\r\n            }\r\n        }\r\n\r\n        const shape = new this.BJSCANNON.Heightfield(matrix, {\r\n            elementSize: elementSize,\r\n        });\r\n\r\n        //For future reference, needed for body transformation\r\n        shape.minY = minY;\r\n\r\n        return shape;\r\n    }\r\n\r\n    private _minus90X = new Quaternion(-0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _plus90X = new Quaternion(0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _tmpPosition: Vector3 = Vector3.Zero();\r\n    private _tmpDeltaPosition: Vector3 = Vector3.Zero();\r\n    private _tmpUnityRotation: Quaternion = new Quaternion();\r\n\r\n    private _updatePhysicsBodyTransformation(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n        //make sure it is updated...\r\n        object.computeWorldMatrix && object.computeWorldMatrix(true);\r\n        if (!object.getBoundingInfo()) {\r\n            return;\r\n        }\r\n        const center = impostor.getObjectCenter();\r\n        //m.getAbsolutePosition().subtract(m.getBoundingInfo().boundingBox.centerWorld)\r\n        // The delta between the mesh position and the mesh bounding box center\r\n        this._tmpDeltaPosition.copyFrom(object.getAbsolutePivotPoint().subtract(center));\r\n        this._tmpDeltaPosition.divideInPlace(impostor.object.scaling);\r\n        this._tmpPosition.copyFrom(center);\r\n        let quaternion = object.rotationQuaternion;\r\n\r\n        if (!quaternion) {\r\n            return;\r\n        }\r\n\r\n        //is shape is a plane or a heightmap, it must be rotated 90 degs in the X axis.\r\n        //ideally these would be rotated at time of creation like cylinder but they dont extend ConvexPolyhedron\r\n        if (impostor.type === PhysicsImpostor.PlaneImpostor || impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            //-90 DEG in X, precalculated\r\n            quaternion = quaternion.multiply(this._minus90X);\r\n            //Invert! (Precalculated, 90 deg in X)\r\n            //No need to clone. this will never change.\r\n            impostor.setDeltaRotation(this._plus90X);\r\n        }\r\n\r\n        //If it is a heightfield, if should be centered.\r\n        if (impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            const mesh = <AbstractMesh>(<any>object);\r\n            let boundingInfo = mesh.getBoundingInfo();\r\n            //calculate the correct body position:\r\n            const rotationQuaternion = mesh.rotationQuaternion;\r\n            mesh.rotationQuaternion = this._tmpUnityRotation;\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            //get original center with no rotation\r\n            const c = center.clone();\r\n\r\n            let oldPivot = mesh.getPivotMatrix();\r\n            if (oldPivot) {\r\n                // create a copy the pivot Matrix as it is modified in place\r\n                oldPivot = oldPivot.clone();\r\n            } else {\r\n                oldPivot = Matrix.Identity();\r\n            }\r\n\r\n            //calculate the new center using a pivot (since this.BJSCANNON.js doesn't center height maps)\r\n            const p = Matrix.Translation(boundingInfo.boundingBox.extendSizeWorld.x, 0, -boundingInfo.boundingBox.extendSizeWorld.z);\r\n            mesh.setPreTransformMatrix(p);\r\n            mesh.computeWorldMatrix(true);\r\n            // force bounding box recomputation\r\n            boundingInfo = mesh.getBoundingInfo();\r\n\r\n            //calculate the translation\r\n            const translation = boundingInfo.boundingBox.centerWorld.subtract(center).subtract(mesh.position).negate();\r\n\r\n            this._tmpPosition.copyFromFloats(translation.x, translation.y - boundingInfo.boundingBox.extendSizeWorld.y, translation.z);\r\n            //add it inverted to the delta\r\n            this._tmpDeltaPosition.copyFrom(boundingInfo.boundingBox.centerWorld.subtract(c));\r\n            this._tmpDeltaPosition.y += boundingInfo.boundingBox.extendSizeWorld.y;\r\n            //rotation is back\r\n            mesh.rotationQuaternion = rotationQuaternion;\r\n\r\n            mesh.setPreTransformMatrix(oldPivot);\r\n            mesh.computeWorldMatrix(true);\r\n        } else if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n            this._tmpDeltaPosition.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpDeltaPosition);\r\n        //Now update the impostor object\r\n        impostor.physicsBody.position.set(this._tmpPosition.x, this._tmpPosition.y, this._tmpPosition.z);\r\n        impostor.physicsBody.quaternion.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w);\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.object.position.set(impostor.physicsBody.position.x, impostor.physicsBody.position.y, impostor.physicsBody.position.z);\r\n        if (impostor.object.rotationQuaternion) {\r\n            const q = impostor.physicsBody.quaternion;\r\n            impostor.object.rotationQuaternion.set(q.x, q.y, q.z, q.w);\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        impostor.physicsBody.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        impostor.physicsBody.quaternion.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSCANNON !== undefined;\r\n    }\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.velocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.velocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        impostor.physicsBody.mass = mass;\r\n        impostor.physicsBody.updateMassProperties();\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.mass;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.material.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.material.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.wakeUp();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number) {\r\n        joint.physicsJoint.distance = maxDistance;\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed?: number, maxForce?: number, motorIndex?: number) {\r\n        if (!motorIndex) {\r\n            joint.physicsJoint.enableMotor();\r\n            joint.physicsJoint.setMotorSpeed(speed);\r\n            if (maxForce) {\r\n                this.setLimit(joint, maxForce);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, minForce: number, maxForce?: number) {\r\n        joint.physicsJoint.motorEquation.maxForce = maxForce;\r\n        joint.physicsJoint.motorEquation.minForce = minForce === void 0 ? -minForce : minForce;\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.quaternion.x;\r\n            mesh.rotationQuaternion.y = body.quaternion.y;\r\n            mesh.rotationQuaternion.z = body.quaternion.z;\r\n            mesh.rotationQuaternion.w = body.quaternion.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        return shape.boundingSphereRadius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        result.x = shape.halfExtents.x * 2;\r\n        result.y = shape.halfExtents.y * 2;\r\n        result.z = shape.halfExtents.z * 2;\r\n    }\r\n\r\n    public dispose() {}\r\n\r\n    private _extendNamespace() {\r\n        //this will force cannon to execute at least one step when using interpolation\r\n        const step_tmp1 = new this.BJSCANNON.Vec3();\r\n        const engine = this.BJSCANNON;\r\n        this.BJSCANNON.World.prototype.step = function (dt: number, timeSinceLastCalled: number, maxSubSteps: number) {\r\n            maxSubSteps = maxSubSteps || 10;\r\n            timeSinceLastCalled = timeSinceLastCalled || 0;\r\n            if (timeSinceLastCalled === 0) {\r\n                this.internalStep(dt);\r\n                this.time += dt;\r\n            } else {\r\n                let internalSteps = Math.floor((this.time + timeSinceLastCalled) / dt) - Math.floor(this.time / dt);\r\n                internalSteps = Math.min(internalSteps, maxSubSteps) || 1;\r\n                const t0 = performance.now();\r\n                for (let i = 0; i !== internalSteps; i++) {\r\n                    this.internalStep(dt);\r\n                    if (performance.now() - t0 > dt * 1000) {\r\n                        break;\r\n                    }\r\n                }\r\n                this.time += timeSinceLastCalled;\r\n                const h = this.time % dt;\r\n                const h_div_dt = h / dt;\r\n                const interpvelo = step_tmp1;\r\n                const bodies = this.bodies;\r\n                for (let j = 0; j !== bodies.length; j++) {\r\n                    const b = bodies[j];\r\n                    if (b.type !== engine.Body.STATIC && b.sleepState !== engine.Body.SLEEPING) {\r\n                        b.position.vsub(b.previousPosition, interpvelo);\r\n                        interpvelo.scale(h_div_dt, interpvelo);\r\n                        b.position.vadd(interpvelo, b.interpolatedPosition);\r\n                    } else {\r\n                        b.interpolatedPosition.set(b.position.x, b.position.y, b.position.z);\r\n                        b.interpolatedQuaternion.set(b.quaternion.x, b.quaternion.y, b.quaternion.z, b.quaternion.w);\r\n                    }\r\n                }\r\n            }\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        this._raycastResult.reset(from, to);\r\n        this.raycastToRef(from, to, this._raycastResult);\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        this._cannonRaycastResult.reset();\r\n        this.world.raycastClosest(from, to, {}, this._cannonRaycastResult);\r\n\r\n        result.reset(from, to);\r\n        if (this._cannonRaycastResult.hasHit) {\r\n            // TODO: do we also want to get the body it hit?\r\n            result.setHitData(\r\n                {\r\n                    x: this._cannonRaycastResult.hitNormalWorld.x,\r\n                    y: this._cannonRaycastResult.hitNormalWorld.y,\r\n                    z: this._cannonRaycastResult.hitNormalWorld.z,\r\n                },\r\n                {\r\n                    x: this._cannonRaycastResult.hitPointWorld.x,\r\n                    y: this._cannonRaycastResult.hitPointWorld.y,\r\n                    z: this._cannonRaycastResult.hitPointWorld.z,\r\n                }\r\n            );\r\n            result.setHitDistance(this._cannonRaycastResult.distance);\r\n        }\r\n    }\r\n}\r\n\r\nPhysicsEngine.DefaultPluginFactory = () => {\r\n    return new CannonJSPlugin();\r\n};\r\n"]}

package/Physics/v1/Plugins/oimoJSPlugin.js.map

@@ -1 +1 @@
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type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport { Vector3, Quaternion } from \"../../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\ndeclare let OIMO: any;\r\n\r\n/** @internal */\r\nexport class OimoJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"OimoJSPlugin\";\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSOIMO: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _fixedTimeStep: number = 1 / 60;\r\n\r\n    constructor(private _useDeltaForWorldStep: boolean = true, iterations?: number, oimoInjection = OIMO) {\r\n        this.BJSOIMO = oimoInjection;\r\n        this.world = new this.BJSOIMO.World({\r\n            iterations: iterations,\r\n        });\r\n        this.world.clear();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3) {\r\n        this.world.gravity.set(gravity.x, gravity.y, gravity.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this.world.timeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this.world.timeStep;\r\n    }\r\n\r\n    private _tmpImpostorsArray: Array<PhysicsImpostor> = [];\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>) {\r\n        impostors.forEach(function (impostor) {\r\n            impostor.beforeStep();\r\n        });\r\n\r\n        this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\r\n        this.world.step();\r\n\r\n        impostors.forEach((impostor) => {\r\n            impostor.afterStep();\r\n            //update the ordered impostors array\r\n            this._tmpImpostorsArray[impostor.uniqueId] = impostor;\r\n        });\r\n\r\n        //check for collisions\r\n        let contact = this.world.contacts;\r\n\r\n        while (contact !== null) {\r\n            if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n            //is this body colliding with any other? get the impostor\r\n            const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];\r\n            const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];\r\n\r\n            if (!mainImpostor || !collidingImpostor) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n\r\n            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            contact = contact.next;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const mass = impostor.physicsBody.mass;\r\n        impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));\r\n    }\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        Logger.Warn(\"Oimo doesn't support applying force. Using impulse instead.\");\r\n        this.applyImpulse(impostor, force, contactPoint);\r\n    }\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        //parent-child relationship. Does this impostor has a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        if (impostor.isBodyInitRequired()) {\r\n            const bodyConfig: any = {\r\n                name: impostor.uniqueId,\r\n                //Oimo must have mass, also for static objects.\r\n                config: [impostor.getParam(\"mass\") || 0.001, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\")],\r\n                size: [],\r\n                type: [],\r\n                pos: [],\r\n                posShape: [],\r\n                rot: [],\r\n                rotShape: [],\r\n                move: impostor.getParam(\"mass\") !== 0,\r\n                density: impostor.getParam(\"mass\"),\r\n                friction: impostor.getParam(\"friction\"),\r\n                restitution: impostor.getParam(\"restitution\"),\r\n                //Supporting older versions of Oimo\r\n                world: this.world,\r\n            };\r\n\r\n            const impostors = [impostor];\r\n            const addToArray = (parent: IPhysicsEnabledObject) => {\r\n                if (!parent.getChildMeshes) {\r\n                    return;\r\n                }\r\n                parent.getChildMeshes().forEach(function (m) {\r\n                    if (m.physicsImpostor) {\r\n                        impostors.push(m.physicsImpostor);\r\n                        //m.physicsImpostor._init();\r\n                    }\r\n                });\r\n            };\r\n            addToArray(impostor.object);\r\n\r\n            const checkWithEpsilon = (value: number): number => {\r\n                return Math.max(value, Epsilon);\r\n            };\r\n\r\n            const globalQuaternion: Quaternion = new Quaternion();\r\n\r\n            impostors.forEach((i) => {\r\n                if (!i.object.rotationQuaternion) {\r\n                    return;\r\n                }\r\n                //get the correct bounding box\r\n                const oldQuaternion = i.object.rotationQuaternion;\r\n                globalQuaternion.copyFrom(oldQuaternion);\r\n\r\n                i.object.rotationQuaternion.set(0, 0, 0, 1);\r\n                i.object.computeWorldMatrix(true);\r\n\r\n                const rot = globalQuaternion.toEulerAngles();\r\n                const impostorExtents = i.getObjectExtents();\r\n\r\n                // eslint-disable-next-line no-loss-of-precision\r\n                const radToDeg = 57.295779513082320876;\r\n\r\n                if (i === impostor) {\r\n                    const center = impostor.getObjectCenter();\r\n\r\n                    impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);\r\n                    this._tmpPositionVector.divideInPlace(impostor.object.scaling);\r\n\r\n                    //Can also use Array.prototype.push.apply\r\n                    bodyConfig.pos.push(center.x);\r\n                    bodyConfig.pos.push(center.y);\r\n                    bodyConfig.pos.push(center.z);\r\n                    bodyConfig.posShape.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(0, 0, 0);\r\n                } else {\r\n                    const localPosition = i.object.position.clone();\r\n                    bodyConfig.posShape.push(localPosition.x);\r\n                    bodyConfig.posShape.push(localPosition.y);\r\n                    bodyConfig.posShape.push(localPosition.z);\r\n\r\n                    // bodyConfig.pos.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);\r\n                }\r\n\r\n                i.object.rotationQuaternion.copyFrom(globalQuaternion);\r\n\r\n                // register mesh\r\n                switch (i.type) {\r\n                    case PhysicsImpostor.ParticleImpostor:\r\n                        Logger.Warn(\"No Particle support in OIMO.js. using SphereImpostor instead\");\r\n                    // eslint-disable-next-line no-fallthrough\r\n                    case PhysicsImpostor.SphereImpostor: {\r\n                        const radiusX = impostorExtents.x;\r\n                        const radiusY = impostorExtents.y;\r\n                        const radiusZ = impostorExtents.z;\r\n\r\n                        const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;\r\n\r\n                        bodyConfig.type.push(\"sphere\");\r\n                        //due to the way oimo works with compounds, add 3 times\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.CylinderImpostor: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x) / 2;\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        bodyConfig.type.push(\"cylinder\");\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        //due to the way oimo works with compounds, add one more value.\r\n                        bodyConfig.size.push(sizeY);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.PlaneImpostor:\r\n                    case PhysicsImpostor.BoxImpostor:\r\n                    default: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x);\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        const sizeZ = checkWithEpsilon(impostorExtents.z);\r\n\r\n                        bodyConfig.type.push(\"box\");\r\n                        //if (i === impostor) {\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        bodyConfig.size.push(sizeZ);\r\n                        //} else {\r\n                        //    bodyConfig.size.push(0,0,0);\r\n                        //}\r\n                        break;\r\n                    }\r\n                }\r\n\r\n                //actually not needed, but hey...\r\n                i.object.rotationQuaternion = oldQuaternion;\r\n            });\r\n            impostor.physicsBody = this.world.add(bodyConfig);\r\n            // set the quaternion, ignoring the previously defined (euler) rotation\r\n            impostor.physicsBody.resetQuaternion(globalQuaternion);\r\n            // update with delta 0, so the body will receive the new rotation.\r\n            impostor.physicsBody.updatePosition(0);\r\n        } else {\r\n            this._tmpPositionVector.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpPositionVector);\r\n\r\n        //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);\r\n        //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);\r\n    }\r\n\r\n    private _tmpPositionVector: Vector3 = Vector3.Zero();\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        //impostor.physicsBody.dispose();\r\n        this.world.removeRigidBody(impostor.physicsBody);\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        const jointData = impostorJoint.joint.jointData;\r\n        const options = jointData.nativeParams || {};\r\n        let type;\r\n        const nativeJointData: any = {\r\n            body1: mainBody,\r\n            body2: connectedBody,\r\n\r\n            axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),\r\n            axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),\r\n            pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),\r\n            pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),\r\n\r\n            min: options.min,\r\n            max: options.max,\r\n            collision: options.collision || jointData.collision,\r\n            spring: options.spring,\r\n\r\n            //supporting older version of Oimo\r\n            world: this.world,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n                type = \"jointBall\";\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                Logger.Warn(\"OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead\");\r\n                const springData = <SpringJointData>jointData;\r\n                nativeJointData.min = springData.length || nativeJointData.min;\r\n                //Max should also be set, just make sure it is at least min\r\n                nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);\r\n            }\r\n            // eslint-disable-next-line no-fallthrough\r\n            case PhysicsJoint.DistanceJoint:\r\n                type = \"jointDistance\";\r\n                nativeJointData.max = (<DistanceJointData>jointData).maxDistance;\r\n                break;\r\n            case PhysicsJoint.PrismaticJoint:\r\n                type = \"jointPrisme\";\r\n                break;\r\n            case PhysicsJoint.SliderJoint:\r\n                type = \"jointSlide\";\r\n                break;\r\n            case PhysicsJoint.WheelJoint:\r\n                type = \"jointWheel\";\r\n                break;\r\n            case PhysicsJoint.HingeJoint:\r\n            default:\r\n                type = \"jointHinge\";\r\n                break;\r\n        }\r\n        nativeJointData.type = type;\r\n        impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        //Bug in Oimo prevents us from disposing a joint in the playground\r\n        //joint.joint.physicsJoint.dispose();\r\n        //So we will bruteforce it!\r\n        try {\r\n            this.world.removeJoint(impostorJoint.joint.physicsJoint);\r\n        } catch (e) {\r\n            Logger.Warn(e);\r\n        }\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSOIMO !== undefined;\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        if (!impostor.physicsBody.sleeping) {\r\n            if (impostor.physicsBody.shapes.next) {\r\n                let parent = impostor.physicsBody.shapes;\r\n                while (parent.next) {\r\n                    parent = parent.next;\r\n                }\r\n                impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);\r\n            } else {\r\n                const pos = impostor.physicsBody.getPosition();\r\n                impostor.object.position.set(pos.x, pos.y, pos.z);\r\n            }\r\n\r\n            if (impostor.object.rotationQuaternion) {\r\n                const quat = impostor.physicsBody.getQuaternion();\r\n                impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        const body = impostor.physicsBody;\r\n        // disable bidirectional for compound meshes\r\n        if (impostor.physicsBody.shapes.next) {\r\n            return;\r\n        }\r\n        body.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n        body.syncShapes();\r\n        body.awake();\r\n    }\r\n\r\n    /*private _getLastShape(body: any): any {\r\n        var lastShape = body.shapes;\r\n        while (lastShape.next) {\r\n            lastShape = lastShape.next;\r\n        }\r\n        return lastShape;\r\n    }*/\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.linearVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        const staticBody: boolean = mass === 0;\r\n        //this will actually set the body's density and not its mass.\r\n        //But this is how oimo treats the mass variable.\r\n        impostor.physicsBody.shapes.density = staticBody ? 1 : mass;\r\n        impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.density;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.shapes.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.shapes.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.awake();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number, minDistance?: number) {\r\n        joint.physicsJoint.limitMotor.upperLimit = maxDistance;\r\n        if (minDistance !== void 0) {\r\n            joint.physicsJoint.limitMotor.lowerLimit = minDistance;\r\n        }\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed: number, force?: number, motorIndex?: number) {\r\n        if (force !== undefined) {\r\n            Logger.Warn(\"OimoJS plugin currently has unexpected behavior when using setMotor with force parameter\");\r\n        } else {\r\n            force = 1e6;\r\n        }\r\n        speed *= -1;\r\n\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setMotor(speed, force);\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, upperLimit: number, lowerLimit?: number, motorIndex?: number) {\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);\r\n        }\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.orientation.x;\r\n            mesh.rotationQuaternion.y = body.orientation.y;\r\n            mesh.rotationQuaternion.z = body.orientation.z;\r\n            mesh.rotationQuaternion.w = body.orientation.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.radius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes;\r\n        result.x = shape.halfWidth * 2;\r\n        result.y = shape.halfHeight * 2;\r\n        result.z = shape.halfDepth * 2;\r\n    }\r\n\r\n    public dispose() {\r\n        this.world.clear();\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        this._raycastResult.reset(from, to);\r\n\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        result.reset(from, to);\r\n    }\r\n}\r\n"]}
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type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport { Vector3, Quaternion } from \"../../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\ndeclare let OIMO: any;\r\n\r\n/** @internal */\r\nexport class OimoJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"OimoJSPlugin\";\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSOIMO: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _fixedTimeStep: number = 1 / 60;\r\n\r\n    constructor(\r\n        private _useDeltaForWorldStep: boolean = true,\r\n        iterations?: number,\r\n        oimoInjection = OIMO\r\n    ) {\r\n        this.BJSOIMO = oimoInjection;\r\n        this.world = new this.BJSOIMO.World({\r\n            iterations: iterations,\r\n        });\r\n        this.world.clear();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3) {\r\n        this.world.gravity.set(gravity.x, gravity.y, gravity.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this.world.timeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this.world.timeStep;\r\n    }\r\n\r\n    private _tmpImpostorsArray: Array<PhysicsImpostor> = [];\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>) {\r\n        impostors.forEach(function (impostor) {\r\n            impostor.beforeStep();\r\n        });\r\n\r\n        this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\r\n        this.world.step();\r\n\r\n        impostors.forEach((impostor) => {\r\n            impostor.afterStep();\r\n            //update the ordered impostors array\r\n            this._tmpImpostorsArray[impostor.uniqueId] = impostor;\r\n        });\r\n\r\n        //check for collisions\r\n        let contact = this.world.contacts;\r\n\r\n        while (contact !== null) {\r\n            if (contact.touching && !contact.body1.sleeping && !contact.body2.sleeping) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n            //is this body colliding with any other? get the impostor\r\n            const mainImpostor = this._tmpImpostorsArray[+contact.body1.name];\r\n            const collidingImpostor = this._tmpImpostorsArray[+contact.body2.name];\r\n\r\n            if (!mainImpostor || !collidingImpostor) {\r\n                contact = contact.next;\r\n                continue;\r\n            }\r\n\r\n            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });\r\n            contact = contact.next;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const mass = impostor.physicsBody.mass;\r\n        impostor.physicsBody.applyImpulse(contactPoint.scale(this.world.invScale), force.scale(this.world.invScale * mass));\r\n    }\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        Logger.Warn(\"Oimo doesn't support applying force. Using impulse instead.\");\r\n        this.applyImpulse(impostor, force, contactPoint);\r\n    }\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        //parent-child relationship. Does this impostor has a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        if (impostor.isBodyInitRequired()) {\r\n            const bodyConfig: any = {\r\n                name: impostor.uniqueId,\r\n                //Oimo must have mass, also for static objects.\r\n                config: [impostor.getParam(\"mass\") || 0.001, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\")],\r\n                size: [],\r\n                type: [],\r\n                pos: [],\r\n                posShape: [],\r\n                rot: [],\r\n                rotShape: [],\r\n                move: impostor.getParam(\"mass\") !== 0,\r\n                density: impostor.getParam(\"mass\"),\r\n                friction: impostor.getParam(\"friction\"),\r\n                restitution: impostor.getParam(\"restitution\"),\r\n                //Supporting older versions of Oimo\r\n                world: this.world,\r\n            };\r\n\r\n            const impostors = [impostor];\r\n            const addToArray = (parent: IPhysicsEnabledObject) => {\r\n                if (!parent.getChildMeshes) {\r\n                    return;\r\n                }\r\n                parent.getChildMeshes().forEach(function (m) {\r\n                    if (m.physicsImpostor) {\r\n                        impostors.push(m.physicsImpostor);\r\n                        //m.physicsImpostor._init();\r\n                    }\r\n                });\r\n            };\r\n            addToArray(impostor.object);\r\n\r\n            const checkWithEpsilon = (value: number): number => {\r\n                return Math.max(value, Epsilon);\r\n            };\r\n\r\n            const globalQuaternion: Quaternion = new Quaternion();\r\n\r\n            impostors.forEach((i) => {\r\n                if (!i.object.rotationQuaternion) {\r\n                    return;\r\n                }\r\n                //get the correct bounding box\r\n                const oldQuaternion = i.object.rotationQuaternion;\r\n                globalQuaternion.copyFrom(oldQuaternion);\r\n\r\n                i.object.rotationQuaternion.set(0, 0, 0, 1);\r\n                i.object.computeWorldMatrix(true);\r\n\r\n                const rot = globalQuaternion.toEulerAngles();\r\n                const impostorExtents = i.getObjectExtents();\r\n\r\n                // eslint-disable-next-line no-loss-of-precision\r\n                const radToDeg = 57.295779513082320876;\r\n\r\n                if (i === impostor) {\r\n                    const center = impostor.getObjectCenter();\r\n\r\n                    impostor.object.getAbsolutePivotPoint().subtractToRef(center, this._tmpPositionVector);\r\n                    this._tmpPositionVector.divideInPlace(impostor.object.scaling);\r\n\r\n                    //Can also use Array.prototype.push.apply\r\n                    bodyConfig.pos.push(center.x);\r\n                    bodyConfig.pos.push(center.y);\r\n                    bodyConfig.pos.push(center.z);\r\n                    bodyConfig.posShape.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(0, 0, 0);\r\n                } else {\r\n                    const localPosition = i.object.position.clone();\r\n                    bodyConfig.posShape.push(localPosition.x);\r\n                    bodyConfig.posShape.push(localPosition.y);\r\n                    bodyConfig.posShape.push(localPosition.z);\r\n\r\n                    // bodyConfig.pos.push(0, 0, 0);\r\n\r\n                    bodyConfig.rotShape.push(rot.x * radToDeg, rot.y * radToDeg, rot.z * radToDeg);\r\n                }\r\n\r\n                i.object.rotationQuaternion.copyFrom(globalQuaternion);\r\n\r\n                // register mesh\r\n                switch (i.type) {\r\n                    case PhysicsImpostor.ParticleImpostor:\r\n                        Logger.Warn(\"No Particle support in OIMO.js. using SphereImpostor instead\");\r\n                    // eslint-disable-next-line no-fallthrough\r\n                    case PhysicsImpostor.SphereImpostor: {\r\n                        const radiusX = impostorExtents.x;\r\n                        const radiusY = impostorExtents.y;\r\n                        const radiusZ = impostorExtents.z;\r\n\r\n                        const size = Math.max(checkWithEpsilon(radiusX), checkWithEpsilon(radiusY), checkWithEpsilon(radiusZ)) / 2;\r\n\r\n                        bodyConfig.type.push(\"sphere\");\r\n                        //due to the way oimo works with compounds, add 3 times\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        bodyConfig.size.push(size);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.CylinderImpostor: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x) / 2;\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        bodyConfig.type.push(\"cylinder\");\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        //due to the way oimo works with compounds, add one more value.\r\n                        bodyConfig.size.push(sizeY);\r\n                        break;\r\n                    }\r\n                    case PhysicsImpostor.PlaneImpostor:\r\n                    case PhysicsImpostor.BoxImpostor:\r\n                    default: {\r\n                        const sizeX = checkWithEpsilon(impostorExtents.x);\r\n                        const sizeY = checkWithEpsilon(impostorExtents.y);\r\n                        const sizeZ = checkWithEpsilon(impostorExtents.z);\r\n\r\n                        bodyConfig.type.push(\"box\");\r\n                        //if (i === impostor) {\r\n                        bodyConfig.size.push(sizeX);\r\n                        bodyConfig.size.push(sizeY);\r\n                        bodyConfig.size.push(sizeZ);\r\n                        //} else {\r\n                        //    bodyConfig.size.push(0,0,0);\r\n                        //}\r\n                        break;\r\n                    }\r\n                }\r\n\r\n                //actually not needed, but hey...\r\n                i.object.rotationQuaternion = oldQuaternion;\r\n            });\r\n            impostor.physicsBody = this.world.add(bodyConfig);\r\n            // set the quaternion, ignoring the previously defined (euler) rotation\r\n            impostor.physicsBody.resetQuaternion(globalQuaternion);\r\n            // update with delta 0, so the body will receive the new rotation.\r\n            impostor.physicsBody.updatePosition(0);\r\n        } else {\r\n            this._tmpPositionVector.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpPositionVector);\r\n\r\n        //this._tmpPositionVector.addInPlace(impostor.mesh.getBoundingInfo().boundingBox.center);\r\n        //this.setPhysicsBodyTransformation(impostor, this._tmpPositionVector, impostor.mesh.rotationQuaternion);\r\n    }\r\n\r\n    private _tmpPositionVector: Vector3 = Vector3.Zero();\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        //impostor.physicsBody.dispose();\r\n        this.world.removeRigidBody(impostor.physicsBody);\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        const jointData = impostorJoint.joint.jointData;\r\n        const options = jointData.nativeParams || {};\r\n        let type;\r\n        const nativeJointData: any = {\r\n            body1: mainBody,\r\n            body2: connectedBody,\r\n\r\n            axe1: options.axe1 || (jointData.mainAxis ? jointData.mainAxis.asArray() : null),\r\n            axe2: options.axe2 || (jointData.connectedAxis ? jointData.connectedAxis.asArray() : null),\r\n            pos1: options.pos1 || (jointData.mainPivot ? jointData.mainPivot.asArray() : null),\r\n            pos2: options.pos2 || (jointData.connectedPivot ? jointData.connectedPivot.asArray() : null),\r\n\r\n            min: options.min,\r\n            max: options.max,\r\n            collision: options.collision || jointData.collision,\r\n            spring: options.spring,\r\n\r\n            //supporting older version of Oimo\r\n            world: this.world,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n                type = \"jointBall\";\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                Logger.Warn(\"OIMO.js doesn't support Spring Constraint. Simulating using DistanceJoint instead\");\r\n                const springData = <SpringJointData>jointData;\r\n                nativeJointData.min = springData.length || nativeJointData.min;\r\n                //Max should also be set, just make sure it is at least min\r\n                nativeJointData.max = Math.max(nativeJointData.min, nativeJointData.max);\r\n            }\r\n            // eslint-disable-next-line no-fallthrough\r\n            case PhysicsJoint.DistanceJoint:\r\n                type = \"jointDistance\";\r\n                nativeJointData.max = (<DistanceJointData>jointData).maxDistance;\r\n                break;\r\n            case PhysicsJoint.PrismaticJoint:\r\n                type = \"jointPrisme\";\r\n                break;\r\n            case PhysicsJoint.SliderJoint:\r\n                type = \"jointSlide\";\r\n                break;\r\n            case PhysicsJoint.WheelJoint:\r\n                type = \"jointWheel\";\r\n                break;\r\n            case PhysicsJoint.HingeJoint:\r\n            default:\r\n                type = \"jointHinge\";\r\n                break;\r\n        }\r\n        nativeJointData.type = type;\r\n        impostorJoint.joint.physicsJoint = this.world.add(nativeJointData);\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        //Bug in Oimo prevents us from disposing a joint in the playground\r\n        //joint.joint.physicsJoint.dispose();\r\n        //So we will bruteforce it!\r\n        try {\r\n            this.world.removeJoint(impostorJoint.joint.physicsJoint);\r\n        } catch (e) {\r\n            Logger.Warn(e);\r\n        }\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSOIMO !== undefined;\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        if (!impostor.physicsBody.sleeping) {\r\n            if (impostor.physicsBody.shapes.next) {\r\n                let parent = impostor.physicsBody.shapes;\r\n                while (parent.next) {\r\n                    parent = parent.next;\r\n                }\r\n                impostor.object.position.set(parent.position.x, parent.position.y, parent.position.z);\r\n            } else {\r\n                const pos = impostor.physicsBody.getPosition();\r\n                impostor.object.position.set(pos.x, pos.y, pos.z);\r\n            }\r\n\r\n            if (impostor.object.rotationQuaternion) {\r\n                const quat = impostor.physicsBody.getQuaternion();\r\n                impostor.object.rotationQuaternion.set(quat.x, quat.y, quat.z, quat.w);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        const body = impostor.physicsBody;\r\n        // disable bidirectional for compound meshes\r\n        if (impostor.physicsBody.shapes.next) {\r\n            return;\r\n        }\r\n        body.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        body.orientation.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n        body.syncShapes();\r\n        body.awake();\r\n    }\r\n\r\n    /*private _getLastShape(body: any): any {\r\n        var lastShape = body.shapes;\r\n        while (lastShape.next) {\r\n            lastShape = lastShape.next;\r\n        }\r\n        return lastShape;\r\n    }*/\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.linearVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.linearVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        const staticBody: boolean = mass === 0;\r\n        //this will actually set the body's density and not its mass.\r\n        //But this is how oimo treats the mass variable.\r\n        impostor.physicsBody.shapes.density = staticBody ? 1 : mass;\r\n        impostor.physicsBody.setupMass(staticBody ? 0x2 : 0x1);\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.density;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.shapes.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.shapes.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.awake();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number, minDistance?: number) {\r\n        joint.physicsJoint.limitMotor.upperLimit = maxDistance;\r\n        if (minDistance !== void 0) {\r\n            joint.physicsJoint.limitMotor.lowerLimit = minDistance;\r\n        }\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed: number, force?: number, motorIndex?: number) {\r\n        if (force !== undefined) {\r\n            Logger.Warn(\"OimoJS plugin currently has unexpected behavior when using setMotor with force parameter\");\r\n        } else {\r\n            force = 1e6;\r\n        }\r\n        speed *= -1;\r\n\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setMotor(speed, force);\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, upperLimit: number, lowerLimit?: number, motorIndex?: number) {\r\n        //TODO separate rotational and transational motors.\r\n        const motor = motorIndex\r\n            ? joint.physicsJoint.rotationalLimitMotor2\r\n            : joint.physicsJoint.rotationalLimitMotor1 || joint.physicsJoint.rotationalLimitMotor || joint.physicsJoint.limitMotor;\r\n        if (motor) {\r\n            motor.setLimit(upperLimit, lowerLimit === void 0 ? -upperLimit : lowerLimit);\r\n        }\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.orientation.x;\r\n            mesh.rotationQuaternion.y = body.orientation.y;\r\n            mesh.rotationQuaternion.z = body.orientation.z;\r\n            mesh.rotationQuaternion.w = body.orientation.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.shapes.radius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes;\r\n        result.x = shape.halfWidth * 2;\r\n        result.y = shape.halfHeight * 2;\r\n        result.z = shape.halfDepth * 2;\r\n    }\r\n\r\n    public dispose() {\r\n        this.world.clear();\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        this._raycastResult.reset(from, to);\r\n\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        Logger.Warn(\"raycast is not currently supported by the Oimo physics plugin\");\r\n\r\n        result.reset(from, to);\r\n    }\r\n}\r\n"]}

package/Physics/v1/physicsEngine.js.map

@@ -1 +1 @@
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type { Nullable } from \"../../types\";\r\nimport { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { PhysicsImpostorJoint, IPhysicsEnginePlugin } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEngine } from \"../IPhysicsEngine\";\r\nimport type { PhysicsImpostor, IPhysicsEnabledObject } from \"./physicsImpostor\";\r\nimport type { PhysicsJoint } from \"./physicsJoint\";\r\nimport type { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport { _WarnImport } from \"../../Misc/devTools\";\r\n\r\n/**\r\n * Class used to control physics engine\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsEngine implements IPhysicsEngine {\r\n    /**\r\n     * Global value used to control the smallest number supported by the simulation\r\n     */\r\n    private _impostors: Array<PhysicsImpostor> = [];\r\n    private _joints: Array<PhysicsImpostorJoint> = [];\r\n    private _subTimeStep: number = 0;\r\n    private _uniqueIdCounter = 0;\r\n\r\n    /**\r\n     * Gets the gravity vector used by the simulation\r\n     */\r\n    public gravity: Vector3;\r\n\r\n    /**\r\n     *\r\n     * @returns version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return this._physicsPlugin.getPluginVersion();\r\n    }\r\n    /**\r\n     * Factory used to create the default physics plugin.\r\n     * @returns The default physics plugin\r\n     */\r\n    public static DefaultPluginFactory(): IPhysicsEnginePlugin {\r\n        throw _WarnImport(\"CannonJSPlugin\");\r\n    }\r\n\r\n    /**\r\n     * Creates a new Physics Engine\r\n     * @param gravity defines the gravity vector used by the simulation\r\n     * @param _physicsPlugin defines the plugin to use (CannonJS by default)\r\n     */\r\n    constructor(gravity: Nullable<Vector3>, private _physicsPlugin: IPhysicsEnginePlugin = PhysicsEngine.DefaultPluginFactory()) {\r\n        if (!this._physicsPlugin.isSupported()) {\r\n            throw new Error(\"Physics Engine \" + this._physicsPlugin.name + \" cannot be found. \" + \"Please make sure it is included.\");\r\n        }\r\n        gravity = gravity || new Vector3(0, -9.807, 0);\r\n        this.setGravity(gravity);\r\n        this.setTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity vector used by the simulation\r\n     * @param gravity defines the gravity vector to use\r\n     */\r\n    public setGravity(gravity: Vector3): void {\r\n        this.gravity = gravity;\r\n        this._physicsPlugin.setGravity(this.gravity);\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the physics engine.\r\n     * Default is 1/60.\r\n     * To slow it down, enter 1/600 for example.\r\n     * To speed it up, 1/30\r\n     * @param newTimeStep defines the new timestep to apply to this world.\r\n     */\r\n    public setTimeStep(newTimeStep: number = 1 / 60) {\r\n        this._physicsPlugin.setTimeStep(newTimeStep);\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the physics engine.\r\n     * @returns the current time step\r\n     */\r\n    public getTimeStep(): number {\r\n        return this._physicsPlugin.getTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Set the sub time step of the physics engine.\r\n     * Default is 0 meaning there is no sub steps\r\n     * To increase physics resolution precision, set a small value (like 1 ms)\r\n     * @param subTimeStep defines the new sub timestep used for physics resolution.\r\n     */\r\n    public setSubTimeStep(subTimeStep: number = 0) {\r\n        this._subTimeStep = subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the sub time step of the physics engine.\r\n     * @returns the current sub time step\r\n     */\r\n    public getSubTimeStep() {\r\n        return this._subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    public dispose(): void {\r\n        this._impostors.forEach(function (impostor) {\r\n            impostor.dispose();\r\n        });\r\n        this._physicsPlugin.dispose();\r\n    }\r\n\r\n    /**\r\n     * Gets the name of the current physics plugin\r\n     * @returns the name of the plugin\r\n     */\r\n    public getPhysicsPluginName(): string {\r\n        return this._physicsPlugin.name;\r\n    }\r\n\r\n    /**\r\n     * Adding a new impostor for the impostor tracking.\r\n     * This will be done by the impostor itself.\r\n     * @param impostor the impostor to add\r\n     */\r\n    public addImpostor(impostor: PhysicsImpostor) {\r\n        this._impostors.push(impostor);\r\n        impostor.uniqueId = this._uniqueIdCounter++;\r\n        //if no parent, generate the body\r\n        if (!impostor.parent) {\r\n            this._physicsPlugin.generatePhysicsBody(impostor);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Remove an impostor from the engine.\r\n     * This impostor and its mesh will not longer be updated by the physics engine.\r\n     * @param impostor the impostor to remove\r\n     */\r\n    public removeImpostor(impostor: PhysicsImpostor) {\r\n        const index = this._impostors.indexOf(impostor);\r\n        if (index > -1) {\r\n            const removed = this._impostors.splice(index, 1);\r\n            //Is it needed?\r\n            if (removed.length) {\r\n                this.getPhysicsPlugin().removePhysicsBody(impostor);\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Add a joint to the physics engine\r\n     * @param mainImpostor defines the main impostor to which the joint is added.\r\n     * @param connectedImpostor defines the impostor that is connected to the main impostor using this joint\r\n     * @param joint defines the joint that will connect both impostors.\r\n     */\r\n    public addJoint(mainImpostor: PhysicsImpostor, connectedImpostor: PhysicsImpostor, joint: PhysicsJoint) {\r\n        const impostorJoint = {\r\n            mainImpostor: mainImpostor,\r\n            connectedImpostor: connectedImpostor,\r\n            joint: joint,\r\n        };\r\n        joint.physicsPlugin = this._physicsPlugin;\r\n        this._joints.push(impostorJoint);\r\n        this._physicsPlugin.generateJoint(impostorJoint);\r\n    }\r\n\r\n    /**\r\n     * Removes a joint from the simulation\r\n     * @param mainImpostor defines the impostor used with the joint\r\n     * @param connectedImpostor defines the other impostor connected to the main one by the joint\r\n     * @param joint defines the joint to remove\r\n     */\r\n    public removeJoint(mainImpostor: PhysicsImpostor, connectedImpostor: PhysicsImpostor, joint: PhysicsJoint) {\r\n        const matchingJoints = this._joints.filter(function (impostorJoint) {\r\n            return impostorJoint.connectedImpostor === connectedImpostor && impostorJoint.joint === joint && impostorJoint.mainImpostor === mainImpostor;\r\n        });\r\n        if (matchingJoints.length) {\r\n            this._physicsPlugin.removeJoint(matchingJoints[0]);\r\n            //TODO remove it from the list as well\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Called by the scene. No need to call it.\r\n     * @param delta defines the timespan between frames\r\n     */\r\n    public _step(delta: number) {\r\n        //check if any mesh has no body / requires an update\r\n        this._impostors.forEach((impostor) => {\r\n            if (impostor.isBodyInitRequired()) {\r\n                this._physicsPlugin.generatePhysicsBody(impostor);\r\n            }\r\n        });\r\n\r\n        if (delta > 0.1) {\r\n            delta = 0.1;\r\n        } else if (delta <= 0) {\r\n            delta = 1.0 / 60.0;\r\n        }\r\n\r\n        this._physicsPlugin.executeStep(delta, this._impostors);\r\n    }\r\n\r\n    /**\r\n     * Gets the current plugin used to run the simulation\r\n     * @returns current plugin\r\n     */\r\n    public getPhysicsPlugin(): IPhysicsEnginePlugin {\r\n        return this._physicsPlugin;\r\n    }\r\n\r\n    /**\r\n     * Gets the list of physic impostors\r\n     * @returns an array of PhysicsImpostor\r\n     */\r\n    public getImpostors(): Array<PhysicsImpostor> {\r\n        return this._impostors;\r\n    }\r\n\r\n    /**\r\n     * Gets the impostor for a physics enabled object\r\n     * @param object defines the object impersonated by the impostor\r\n     * @returns the PhysicsImpostor or null if not found\r\n     */\r\n    public getImpostorForPhysicsObject(object: IPhysicsEnabledObject): Nullable<PhysicsImpostor> {\r\n        for (let i = 0; i < this._impostors.length; ++i) {\r\n            if (this._impostors[i].object === object) {\r\n                return this._impostors[i];\r\n            }\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Gets the impostor for a physics body object\r\n     * @param body defines physics body used by the impostor\r\n     * @returns the PhysicsImpostor or null if not found\r\n     */\r\n    public getImpostorWithPhysicsBody(body: any): Nullable<PhysicsImpostor> {\r\n        for (let i = 0; i < this._impostors.length; ++i) {\r\n            if (this._impostors[i].physicsBody === body) {\r\n                return this._impostors[i];\r\n            }\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        return this._physicsPlugin.raycast(from, to);\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult) {\r\n        return this._physicsPlugin.raycastToRef(from, to, result);\r\n    }\r\n}\r\n"]}
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type { Nullable } from \"../../types\";\r\nimport { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { PhysicsImpostorJoint, IPhysicsEnginePlugin } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEngine } from \"../IPhysicsEngine\";\r\nimport type { PhysicsImpostor, IPhysicsEnabledObject } from \"./physicsImpostor\";\r\nimport type { PhysicsJoint } from \"./physicsJoint\";\r\nimport type { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport { _WarnImport } from \"../../Misc/devTools\";\r\n\r\n/**\r\n * Class used to control physics engine\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsEngine implements IPhysicsEngine {\r\n    /**\r\n     * Global value used to control the smallest number supported by the simulation\r\n     */\r\n    private _impostors: Array<PhysicsImpostor> = [];\r\n    private _joints: Array<PhysicsImpostorJoint> = [];\r\n    private _subTimeStep: number = 0;\r\n    private _uniqueIdCounter = 0;\r\n\r\n    /**\r\n     * Gets the gravity vector used by the simulation\r\n     */\r\n    public gravity: Vector3;\r\n\r\n    /**\r\n     *\r\n     * @returns version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return this._physicsPlugin.getPluginVersion();\r\n    }\r\n    /**\r\n     * Factory used to create the default physics plugin.\r\n     * @returns The default physics plugin\r\n     */\r\n    public static DefaultPluginFactory(): IPhysicsEnginePlugin {\r\n        throw _WarnImport(\"CannonJSPlugin\");\r\n    }\r\n\r\n    /**\r\n     * Creates a new Physics Engine\r\n     * @param gravity defines the gravity vector used by the simulation\r\n     * @param _physicsPlugin defines the plugin to use (CannonJS by default)\r\n     */\r\n    constructor(\r\n        gravity: Nullable<Vector3>,\r\n        private _physicsPlugin: IPhysicsEnginePlugin = PhysicsEngine.DefaultPluginFactory()\r\n    ) {\r\n        if (!this._physicsPlugin.isSupported()) {\r\n            throw new Error(\"Physics Engine \" + this._physicsPlugin.name + \" cannot be found. \" + \"Please make sure it is included.\");\r\n        }\r\n        gravity = gravity || new Vector3(0, -9.807, 0);\r\n        this.setGravity(gravity);\r\n        this.setTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity vector used by the simulation\r\n     * @param gravity defines the gravity vector to use\r\n     */\r\n    public setGravity(gravity: Vector3): void {\r\n        this.gravity = gravity;\r\n        this._physicsPlugin.setGravity(this.gravity);\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the physics engine.\r\n     * Default is 1/60.\r\n     * To slow it down, enter 1/600 for example.\r\n     * To speed it up, 1/30\r\n     * @param newTimeStep defines the new timestep to apply to this world.\r\n     */\r\n    public setTimeStep(newTimeStep: number = 1 / 60) {\r\n        this._physicsPlugin.setTimeStep(newTimeStep);\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the physics engine.\r\n     * @returns the current time step\r\n     */\r\n    public getTimeStep(): number {\r\n        return this._physicsPlugin.getTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Set the sub time step of the physics engine.\r\n     * Default is 0 meaning there is no sub steps\r\n     * To increase physics resolution precision, set a small value (like 1 ms)\r\n     * @param subTimeStep defines the new sub timestep used for physics resolution.\r\n     */\r\n    public setSubTimeStep(subTimeStep: number = 0) {\r\n        this._subTimeStep = subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the sub time step of the physics engine.\r\n     * @returns the current sub time step\r\n     */\r\n    public getSubTimeStep() {\r\n        return this._subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    public dispose(): void {\r\n        this._impostors.forEach(function (impostor) {\r\n            impostor.dispose();\r\n        });\r\n        this._physicsPlugin.dispose();\r\n    }\r\n\r\n    /**\r\n     * Gets the name of the current physics plugin\r\n     * @returns the name of the plugin\r\n     */\r\n    public getPhysicsPluginName(): string {\r\n        return this._physicsPlugin.name;\r\n    }\r\n\r\n    /**\r\n     * Adding a new impostor for the impostor tracking.\r\n     * This will be done by the impostor itself.\r\n     * @param impostor the impostor to add\r\n     */\r\n    public addImpostor(impostor: PhysicsImpostor) {\r\n        this._impostors.push(impostor);\r\n        impostor.uniqueId = this._uniqueIdCounter++;\r\n        //if no parent, generate the body\r\n        if (!impostor.parent) {\r\n            this._physicsPlugin.generatePhysicsBody(impostor);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Remove an impostor from the engine.\r\n     * This impostor and its mesh will not longer be updated by the physics engine.\r\n     * @param impostor the impostor to remove\r\n     */\r\n    public removeImpostor(impostor: PhysicsImpostor) {\r\n        const index = this._impostors.indexOf(impostor);\r\n        if (index > -1) {\r\n            const removed = this._impostors.splice(index, 1);\r\n            //Is it needed?\r\n            if (removed.length) {\r\n                this.getPhysicsPlugin().removePhysicsBody(impostor);\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Add a joint to the physics engine\r\n     * @param mainImpostor defines the main impostor to which the joint is added.\r\n     * @param connectedImpostor defines the impostor that is connected to the main impostor using this joint\r\n     * @param joint defines the joint that will connect both impostors.\r\n     */\r\n    public addJoint(mainImpostor: PhysicsImpostor, connectedImpostor: PhysicsImpostor, joint: PhysicsJoint) {\r\n        const impostorJoint = {\r\n            mainImpostor: mainImpostor,\r\n            connectedImpostor: connectedImpostor,\r\n            joint: joint,\r\n        };\r\n        joint.physicsPlugin = this._physicsPlugin;\r\n        this._joints.push(impostorJoint);\r\n        this._physicsPlugin.generateJoint(impostorJoint);\r\n    }\r\n\r\n    /**\r\n     * Removes a joint from the simulation\r\n     * @param mainImpostor defines the impostor used with the joint\r\n     * @param connectedImpostor defines the other impostor connected to the main one by the joint\r\n     * @param joint defines the joint to remove\r\n     */\r\n    public removeJoint(mainImpostor: PhysicsImpostor, connectedImpostor: PhysicsImpostor, joint: PhysicsJoint) {\r\n        const matchingJoints = this._joints.filter(function (impostorJoint) {\r\n            return impostorJoint.connectedImpostor === connectedImpostor && impostorJoint.joint === joint && impostorJoint.mainImpostor === mainImpostor;\r\n        });\r\n        if (matchingJoints.length) {\r\n            this._physicsPlugin.removeJoint(matchingJoints[0]);\r\n            //TODO remove it from the list as well\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Called by the scene. No need to call it.\r\n     * @param delta defines the timespan between frames\r\n     */\r\n    public _step(delta: number) {\r\n        //check if any mesh has no body / requires an update\r\n        this._impostors.forEach((impostor) => {\r\n            if (impostor.isBodyInitRequired()) {\r\n                this._physicsPlugin.generatePhysicsBody(impostor);\r\n            }\r\n        });\r\n\r\n        if (delta > 0.1) {\r\n            delta = 0.1;\r\n        } else if (delta <= 0) {\r\n            delta = 1.0 / 60.0;\r\n        }\r\n\r\n        this._physicsPlugin.executeStep(delta, this._impostors);\r\n    }\r\n\r\n    /**\r\n     * Gets the current plugin used to run the simulation\r\n     * @returns current plugin\r\n     */\r\n    public getPhysicsPlugin(): IPhysicsEnginePlugin {\r\n        return this._physicsPlugin;\r\n    }\r\n\r\n    /**\r\n     * Gets the list of physic impostors\r\n     * @returns an array of PhysicsImpostor\r\n     */\r\n    public getImpostors(): Array<PhysicsImpostor> {\r\n        return this._impostors;\r\n    }\r\n\r\n    /**\r\n     * Gets the impostor for a physics enabled object\r\n     * @param object defines the object impersonated by the impostor\r\n     * @returns the PhysicsImpostor or null if not found\r\n     */\r\n    public getImpostorForPhysicsObject(object: IPhysicsEnabledObject): Nullable<PhysicsImpostor> {\r\n        for (let i = 0; i < this._impostors.length; ++i) {\r\n            if (this._impostors[i].object === object) {\r\n                return this._impostors[i];\r\n            }\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Gets the impostor for a physics body object\r\n     * @param body defines physics body used by the impostor\r\n     * @returns the PhysicsImpostor or null if not found\r\n     */\r\n    public getImpostorWithPhysicsBody(body: any): Nullable<PhysicsImpostor> {\r\n        for (let i = 0; i < this._impostors.length; ++i) {\r\n            if (this._impostors[i].physicsBody === body) {\r\n                return this._impostors[i];\r\n            }\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        return this._physicsPlugin.raycast(from, to);\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult) {\r\n        return this._physicsPlugin.raycastToRef(from, to, result);\r\n    }\r\n}\r\n"]}