@babylonjs/core 6.33.2 → 6.34.0-alpha.0

package/Physics/v2/index.d.ts

@@ -4,5 +4,6 @@ export * from "./physicsShape";
 export * from "./physicsConstraint";
 export * from "./physicsMaterial";
 export * from "./physicsAggregate";
+export * from "./ragdoll";
 export * from "./IPhysicsEnginePlugin";
 export * from "./Plugins/index";

package/Physics/v2/index.js

@@ -5,6 +5,7 @@ export * from "./physicsShape.js";
 export * from "./physicsConstraint.js";
 export * from "./physicsMaterial.js";
 export * from "./physicsAggregate.js";
+export * from "./ragdoll.js";
 export * from "./IPhysicsEnginePlugin.js";
 /* eslint-disable import/no-internal-modules */
 export * from "./Plugins/index.js";

package/Physics/v2/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/index.ts"],"names":[],"mappings":"AAAA,+CAA+C;AAC/C,OAAO,EAAE,aAAa,IAAI,eAAe,EAAE,MAAM,iBAAiB,CAAC;AACnE,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,qBAAqB,CAAC;AACpC,cAAc,mBAAmB,CAAC;AAClC,cAAc,oBAAoB,CAAC;AACnC,cAAc,wBAAwB,CAAC;AACvC,+CAA+C;AAC/C,cAAc,iBAAiB,CAAC","sourcesContent":["/* eslint-disable import/no-internal-modules */\r\nexport { PhysicsEngine as PhysicsEngineV2 } from \"./physicsEngine\";\r\nexport * from \"./physicsBody\";\r\nexport * from \"./physicsShape\";\r\nexport * from \"./physicsConstraint\";\r\nexport * from \"./physicsMaterial\";\r\nexport * from \"./physicsAggregate\";\r\nexport * from \"./IPhysicsEnginePlugin\";\r\n/* eslint-disable import/no-internal-modules */\r\nexport * from \"./Plugins/index\";\r\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/index.ts"],"names":[],"mappings":"AAAA,+CAA+C;AAC/C,OAAO,EAAE,aAAa,IAAI,eAAe,EAAE,MAAM,iBAAiB,CAAC;AACnE,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,qBAAqB,CAAC;AACpC,cAAc,mBAAmB,CAAC;AAClC,cAAc,oBAAoB,CAAC;AACnC,cAAc,WAAW,CAAC;AAC1B,cAAc,wBAAwB,CAAC;AACvC,+CAA+C;AAC/C,cAAc,iBAAiB,CAAC","sourcesContent":["/* eslint-disable import/no-internal-modules */\r\nexport { PhysicsEngine as PhysicsEngineV2 } from \"./physicsEngine\";\r\nexport * from \"./physicsBody\";\r\nexport * from \"./physicsShape\";\r\nexport * from \"./physicsConstraint\";\r\nexport * from \"./physicsMaterial\";\r\nexport * from \"./physicsAggregate\";\r\nexport * from \"./ragdoll\";\r\nexport * from \"./IPhysicsEnginePlugin\";\r\n/* eslint-disable import/no-internal-modules */\r\nexport * from \"./Plugins/index\";\r\n"]}

package/Physics/v2/ragdoll.d.ts

@@ -0,0 +1,107 @@
+import type { Skeleton } from "../../Bones/skeleton";
+import { Vector3 } from "../../Maths/math.vector";
+import type { Mesh } from "../../Meshes/mesh";
+/**
+ * Ragdoll bone properties
+ * @experimental
+ */
+export declare class RagdollBoneProperties {
+    /**
+     * Width of the box shape
+     */
+    width?: number;
+    /**
+     * depth of the box shape
+     */
+    depth?: number;
+    /**
+     * height of the box shape
+     */
+    height?: number;
+    /**
+     * size that will be used of width, depth and height of the shape box
+     */
+    size?: number;
+    /**
+     * Type of Physics Constraint used between bones
+     */
+    joint?: number | undefined;
+    /**
+     * Main rotation axis used by the constraint, in local space
+     */
+    rotationAxis?: Vector3;
+    /**
+     * Minimum rotation angle value
+     */
+    min?: number;
+    /**
+     * Maximum rotation angle value
+     */
+    max?: number;
+    /**
+     * Offset along local axis
+     */
+    boxOffset?: number;
+    /**
+     * Axis that need an offset
+     */
+    boneOffsetAxis?: Vector3;
+}
+/**
+ * Ragdoll for Physics V2
+ * Current known limitation is scene must be using Right hand coordinates
+ * @experimental
+ */
+export declare class Ragdoll {
+    /**
+     * Opacity of debug boxes
+     */
+    boxVisibility: number;
+    private _skeleton;
+    private _scene;
+    private _mesh;
+    private _config;
+    private _boxConfigs;
+    private _bones;
+    private _initialRotation;
+    private _boneNames;
+    private _boxes;
+    private _aggregates;
+    private _ragdollMode;
+    private _rootBoneName;
+    private _rootBoneIndex;
+    private _mass;
+    private _restitution;
+    private _pauseSync;
+    private _putBoxesInBoneCenter;
+    private _defaultJoint;
+    private _defaultJointMin;
+    private _defaultJointMax;
+    private _boneOffsetAxis;
+    /**
+     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method
+     * @param skeleton The skeleton containing bones to be physicalized
+     * @param mesh The mesh used by the skeleton
+     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies
+     */
+    constructor(skeleton: Skeleton, mesh: Mesh, config: RagdollBoneProperties[]);
+    /**
+     * Set the debug boxes visibility
+     */
+    set boxesVisibility(visible: boolean);
+    private _createColliders;
+    private _initJoints;
+    private _syncBonesAndBoxes;
+    private _addImpostorRotationToBone;
+    private _defineRootBone;
+    private _findNearestParent;
+    private _init;
+    /**
+     * Enable ragdoll mode. Create physics objects and make them dynamic.
+     */
+    ragdoll(): void;
+    /**
+     * Dispose resources and remove physics objects
+     */
+    dispose(): void;
+}

package/Physics/v2/ragdoll.js

@@ -0,0 +1,228 @@
+import { MeshBuilder } from "../..//Meshes/meshBuilder.js";
+import { Vector3, Matrix } from "../../Maths/math.vector.js";
+import { PhysicsAggregate } from "./physicsAggregate.js";
+import { BallAndSocketConstraint } from "./physicsConstraint.js";
+import { Axis, Space } from "../../Maths/math.axis.js";
+import { PhysicsShapeType, PhysicsConstraintType } from "./IPhysicsEnginePlugin.js";
+import { Logger } from "../../Misc/logger.js";
+/**
+ * Ragdoll bone properties
+ * @experimental
+ */
+export class RagdollBoneProperties {
+}
+/**
+ * Ragdoll for Physics V2
+ * Current known limitation is scene must be using Right hand coordinates
+ * @experimental
+ */
+export class Ragdoll {
+    /**
+     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method
+     * @param skeleton The skeleton containing bones to be physicalized
+     * @param mesh The mesh used by the skeleton
+     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies
+     */
+    constructor(skeleton, mesh, config) {
+        /**
+         * Opacity of debug boxes
+         */
+        this.boxVisibility = 0.6;
+        this._boxConfigs = new Array();
+        this._bones = new Array();
+        this._initialRotation = new Array();
+        this._boneNames = [];
+        this._boxes = new Array();
+        this._aggregates = new Array();
+        this._ragdollMode = false;
+        this._rootBoneName = "";
+        this._rootBoneIndex = -1;
+        this._mass = 10;
+        this._restitution = 0;
+        this._pauseSync = false;
+        this._defaultJoint = PhysicsConstraintType.HINGE;
+        this._defaultJointMin = -90;
+        this._defaultJointMax = 90;
+        this._skeleton = skeleton;
+        this._scene = skeleton.getScene();
+        this._mesh = mesh;
+        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.
+        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).
+        this._putBoxesInBoneCenter = false;
+        this._defaultJoint = PhysicsConstraintType.HINGE;
+        this._boneOffsetAxis = Axis.Y;
+    }
+    /**
+     * Set the debug boxes visibility
+     */
+    set boxesVisibility(visible) {
+        for (const box of this._boxes) {
+            box.visibility = visible ? this.boxVisibility : 0;
+        }
+    }
+    _createColliders() {
+        this._mesh.computeWorldMatrix();
+        const config = this._config;
+        for (let i = 0; i < config.length; i++) {
+            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;
+            for (let ii = 0; ii < boneNames.length; ii++) {
+                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];
+                if (currentBone == undefined) {
+                    return;
+                }
+                // First define the box dimensions, so we can then use them when calling CreateBox().
+                const currentRagdollBoneProperties = {
+                    width: this._config[i].width,
+                    depth: this._config[i].depth,
+                    height: this._config[i].height,
+                    size: this._config[i].size,
+                };
+                const box = MeshBuilder.CreateBox(boneNames[ii] + "_box", currentRagdollBoneProperties, this._scene);
+                box.visibility = 0;
+                // Define the rest of the box properties.
+                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;
+                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;
+                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;
+                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;
+                // Offset value.
+                let boxOffset = 0;
+                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {
+                    if (currentBone.length === undefined) {
+                        Logger.Log("The length property is not defined for bone " + currentBone.name);
+                    }
+                    boxOffset = currentBone.length / 2;
+                }
+                else if (config[i].boxOffset !== undefined) {
+                    boxOffset = config[i].boxOffset;
+                }
+                currentRagdollBoneProperties.boxOffset = boxOffset;
+                // Offset axis.
+                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : this._boneOffsetAxis;
+                const boneDir = currentBone.getDirection(boneOffsetAxis, this._mesh);
+                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;
+                box.position = currentBone.getAbsolutePosition(this._mesh).add(boneDir.scale(boxOffset));
+                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;
+                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;
+                const aggregate = new PhysicsAggregate(box, PhysicsShapeType.BOX, {
+                    mass: mass,
+                    restitution: restitution,
+                    friction: 0.6,
+                }, this._scene);
+                aggregate.body.setCollisionCallbackEnabled(true);
+                aggregate.body.disablePreStep = false;
+                this._aggregates.push(aggregate);
+                this._bones.push(currentBone);
+                this._boneNames.push(currentBone.name);
+                this._boxes.push(box);
+                this._boxConfigs.push(currentRagdollBoneProperties);
+                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._mesh));
+            }
+        }
+    }
+    _initJoints() {
+        this._mesh.computeWorldMatrix();
+        for (let i = 0; i < this._bones.length; i++) {
+            // The root bone has no joints.
+            if (i == this._rootBoneIndex)
+                continue;
+            const nearestParent = this._findNearestParent(i);
+            if (nearestParent == null) {
+                Logger.Warn("Couldn't find a nearest parent bone in the configs for bone called " + this._boneNames[i]);
+                return;
+            }
+            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);
+            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._mesh).subtract(this._boxes[boneParentIndex].position);
+            const wmat = this._boxes[boneParentIndex].computeWorldMatrix();
+            const invertedWorldMat = Matrix.Invert(wmat);
+            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._mesh), invertedWorldMat);
+            const boneAbsPos = this._bones[i].getAbsolutePosition(this._mesh);
+            const boxAbsPos = this._boxes[i].position.clone();
+            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);
+            const joint = new BallAndSocketConstraint(distanceFromParentBoxToBone, myConnectedPivot, this._boxConfigs[i].rotationAxis, this._boxConfigs[i].rotationAxis, this._scene);
+            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);
+        }
+    }
+    _syncBonesAndBoxes() {
+        if (this._pauseSync) {
+            return;
+        }
+        if (this._ragdollMode) {
+            const rootBoneDirection = this._bones[this._rootBoneIndex].getDirection(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis, this._mesh);
+            const rootBoneOffsetPosition = this._bones[this._rootBoneIndex]
+                .getAbsolutePosition(this._mesh)
+                .add(rootBoneDirection.scale(this._boxConfigs[this._rootBoneIndex].boxOffset));
+            this._bones[this._rootBoneIndex].setAbsolutePosition(this._boxes[this._rootBoneIndex].position, this._mesh);
+            this._addImpostorRotationToBone(this._rootBoneIndex);
+            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;
+            // Move the mesh, to guarantee alignment between root bone and impostor box position
+            const dist = rootBoneOffsetPosition.subtract(rootPos);
+            this._mesh.position = this._mesh.position.subtract(dist);
+            for (let i = 0; i < this._bones.length; i++) {
+                if (i == this._rootBoneIndex)
+                    continue;
+                this._addImpostorRotationToBone(i);
+            }
+        }
+    }
+    _addImpostorRotationToBone(boneIndex) {
+        var _a, _b, _c;
+        const newRotQuat = (_c = (_b = (_a = this._aggregates[boneIndex].body) === null || _a === void 0 ? void 0 : _a.transformNode) === null || _b === void 0 ? void 0 : _b.rotationQuaternion) === null || _c === void 0 ? void 0 : _c.multiply(this._initialRotation[boneIndex]);
+        if (newRotQuat) {
+            this._bones[boneIndex].setRotationQuaternion(newRotQuat, Space.WORLD, this._mesh);
+        }
+    }
+    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.
+    _defineRootBone() {
+        const skeletonRoots = this._skeleton.getChildren();
+        if (skeletonRoots.length != 1) {
+            Logger.Log("Ragdoll creation failed: there can only be one root in the skeleton.");
+            return false;
+        }
+        this._rootBoneName = skeletonRoots[0].name;
+        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);
+        if (this._rootBoneIndex == -1) {
+            Logger.Log("Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is " + this._skeleton.getChildren());
+            return false;
+        }
+        return true;
+    }
+    _findNearestParent(boneIndex) {
+        let nearestParent = this._bones[boneIndex].getParent();
+        do {
+            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {
+                break;
+            }
+            nearestParent = nearestParent === null || nearestParent === void 0 ? void 0 : nearestParent.getParent();
+        } while (nearestParent != null);
+        return nearestParent;
+    }
+    _init() {
+        this._createColliders();
+        // If this.defineRootBone() returns false... there is not root bone.
+        if (!this._defineRootBone()) {
+            return;
+        }
+        this._initJoints();
+        this._scene.registerBeforeRender(() => {
+            this._syncBonesAndBoxes();
+        });
+    }
+    /**
+     * Enable ragdoll mode. Create physics objects and make them dynamic.
+     */
+    ragdoll() {
+        if (!this._ragdollMode) {
+            this._ragdollMode = true;
+            this._init();
+        }
+    }
+    /**
+     * Dispose resources and remove physics objects
+     */
+    dispose() {
+        this._aggregates.forEach((aggregate) => {
+            aggregate.dispose();
+        });
+    }
+}
+//# sourceMappingURL=ragdoll.js.map

package/Physics/v2/ragdoll.js.map

@@ -0,0 +1 @@
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type { Skeleton } from \"../../Bones/skeleton\";\r\nimport { MeshBuilder } from \"../..//Meshes/meshBuilder\";\r\nimport { Vector3, Matrix } from \"../../Maths/math.vector\";\r\nimport type { Quaternion } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport { PhysicsAggregate } from \"./physicsAggregate\";\r\nimport { BallAndSocketConstraint } from \"./physicsConstraint\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport { Axis, Space } from \"core/Maths/math.axis\";\r\nimport { PhysicsShapeType, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport { Logger } from \"../../Misc/logger\";\r\n\r\n/**\r\n * Ragdoll bone properties\r\n * @experimental\r\n */\r\nexport class RagdollBoneProperties {\r\n    /**\r\n     * Width of the box shape\r\n     */\r\n    width?: number;\r\n    /**\r\n     * depth of the box shape\r\n     */\r\n    depth?: number;\r\n    /**\r\n     * height of the box shape\r\n     */\r\n    height?: number;\r\n    /**\r\n     * size that will be used of width, depth and height of the shape box\r\n     */\r\n    size?: number;\r\n    /**\r\n     * Type of Physics Constraint used between bones\r\n     */\r\n    joint?: number | undefined;\r\n    /**\r\n     * Main rotation axis used by the constraint, in local space\r\n     */\r\n    rotationAxis?: Vector3;\r\n    /**\r\n     * Minimum rotation angle value\r\n     */\r\n    min?: number;\r\n    /**\r\n     * Maximum rotation angle value\r\n     */\r\n    max?: number;\r\n    /**\r\n     * Offset along local axis\r\n     */\r\n    boxOffset?: number;\r\n    /**\r\n     * Axis that need an offset\r\n     */\r\n    boneOffsetAxis?: Vector3;\r\n}\r\n\r\n/**\r\n * Ragdoll for Physics V2\r\n * Current known limitation is scene must be using Right hand coordinates\r\n * @experimental\r\n */\r\nexport class Ragdoll {\r\n    /**\r\n     * Opacity of debug boxes\r\n     */\r\n    public boxVisibility: number = 0.6;\r\n\r\n    private _skeleton: Skeleton;\r\n    private _scene: Scene;\r\n    private _mesh: Mesh;\r\n    private _config: any;\r\n    private _boxConfigs: Array<RagdollBoneProperties> = new Array<RagdollBoneProperties>();\r\n\r\n    private _bones: Array<Bone> = new Array<Bone>();\r\n    private _initialRotation: Array<Quaternion> = new Array<Quaternion>();\r\n    private _boneNames: string[] = [];\r\n    private _boxes: Array<Mesh> = new Array<Mesh>();\r\n    private _aggregates: Array<PhysicsAggregate> = new Array<PhysicsAggregate>();\r\n    private _ragdollMode: boolean = false;\r\n    private _rootBoneName: string = \"\";\r\n    private _rootBoneIndex: number = -1;\r\n    private _mass: number = 10;\r\n    private _restitution: number = 0;\r\n    private _pauseSync: boolean = false;\r\n\r\n    private _putBoxesInBoneCenter: boolean;\r\n    private _defaultJoint: number = PhysicsConstraintType.HINGE;\r\n    private _defaultJointMin: number = -90;\r\n    private _defaultJointMax: number = 90;\r\n\r\n    private _boneOffsetAxis: Vector3;\r\n\r\n    /**\r\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\r\n     * @param skeleton The skeleton containing bones to be physicalized\r\n     * @param mesh The mesh used by the skeleton\r\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\r\n     */\r\n    constructor(skeleton: Skeleton, mesh: Mesh, config: RagdollBoneProperties[]) {\r\n        this._skeleton = skeleton;\r\n        this._scene = skeleton.getScene();\r\n        this._mesh = mesh;\r\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\r\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\r\n        this._putBoxesInBoneCenter = false;\r\n        this._defaultJoint = PhysicsConstraintType.HINGE;\r\n        this._boneOffsetAxis = Axis.Y;\r\n    }\r\n\r\n    /**\r\n     * Set the debug boxes visibility\r\n     */\r\n    public set boxesVisibility(visible: boolean) {\r\n        for (const box of this._boxes) {\r\n            box.visibility = visible ? this.boxVisibility : 0;\r\n        }\r\n    }\r\n\r\n    private _createColliders(): void {\r\n        this._mesh.computeWorldMatrix();\r\n\r\n        const config = this._config;\r\n        for (let i = 0; i < config.length; i++) {\r\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\r\n\r\n            for (let ii = 0; ii < boneNames.length; ii++) {\r\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\r\n                if (currentBone == undefined) {\r\n                    return;\r\n                }\r\n\r\n                // First define the box dimensions, so we can then use them when calling CreateBox().\r\n                const currentRagdollBoneProperties: RagdollBoneProperties = {\r\n                    width: this._config[i].width,\r\n                    depth: this._config[i].depth,\r\n                    height: this._config[i].height,\r\n                    size: this._config[i].size,\r\n                };\r\n\r\n                const box = MeshBuilder.CreateBox(boneNames[ii] + \"_box\", currentRagdollBoneProperties, this._scene);\r\n\r\n                box.visibility = 0;\r\n\r\n                // Define the rest of the box properties.\r\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\r\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\r\n                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\r\n                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\r\n\r\n                // Offset value.\r\n                let boxOffset = 0;\r\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\r\n                    if (currentBone.length === undefined) {\r\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\r\n                    }\r\n                    boxOffset = currentBone.length / 2;\r\n                } else if (config[i].boxOffset !== undefined) {\r\n                    boxOffset = config[i].boxOffset;\r\n                }\r\n                currentRagdollBoneProperties.boxOffset = boxOffset;\r\n\r\n                // Offset axis.\r\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : this._boneOffsetAxis;\r\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._mesh);\r\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\r\n\r\n                box.position = currentBone.getAbsolutePosition(this._mesh).add(boneDir.scale(boxOffset));\r\n\r\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\r\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\r\n                const aggregate = new PhysicsAggregate(\r\n                    box,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                    },\r\n                    this._scene\r\n                );\r\n                aggregate.body.setCollisionCallbackEnabled(true);\r\n                aggregate.body.disablePreStep = false;\r\n                this._aggregates.push(aggregate);\r\n                this._bones.push(currentBone);\r\n                this._boneNames.push(currentBone.name);\r\n                this._boxes.push(box);\r\n                this._boxConfigs.push(currentRagdollBoneProperties);\r\n                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._mesh));\r\n            }\r\n        }\r\n    }\r\n\r\n    private _initJoints(): void {\r\n        this._mesh.computeWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // The root bone has no joints.\r\n            if (i == this._rootBoneIndex) continue;\r\n\r\n            const nearestParent = this._findNearestParent(i);\r\n\r\n            if (nearestParent == null) {\r\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\r\n                return;\r\n            }\r\n\r\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\r\n\r\n            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._mesh).subtract(this._boxes[boneParentIndex].position);\r\n\r\n            const wmat = this._boxes[boneParentIndex].computeWorldMatrix();\r\n            const invertedWorldMat = Matrix.Invert(wmat);\r\n            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._mesh), invertedWorldMat);\r\n\r\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._mesh);\r\n            const boxAbsPos = this._boxes[i].position.clone();\r\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\r\n\r\n            const joint = new BallAndSocketConstraint(\r\n                distanceFromParentBoxToBone,\r\n                myConnectedPivot,\r\n                this._boxConfigs[i].rotationAxis!,\r\n                this._boxConfigs[i].rotationAxis!,\r\n                this._scene\r\n            );\r\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);\r\n        }\r\n    }\r\n\r\n    private _syncBonesAndBoxes(): void {\r\n        if (this._pauseSync) {\r\n            return;\r\n        }\r\n\r\n        if (this._ragdollMode) {\r\n            const rootBoneDirection = this._bones[this._rootBoneIndex].getDirection(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis as any, this._mesh);\r\n            const rootBoneOffsetPosition = this._bones[this._rootBoneIndex]\r\n                .getAbsolutePosition(this._mesh)\r\n                .add(rootBoneDirection.scale(this._boxConfigs[this._rootBoneIndex].boxOffset as any));\r\n\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(this._boxes[this._rootBoneIndex].position, this._mesh);\r\n            this._addImpostorRotationToBone(this._rootBoneIndex);\r\n\r\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\r\n\r\n            // Move the mesh, to guarantee alignment between root bone and impostor box position\r\n            const dist = rootBoneOffsetPosition.subtract(rootPos);\r\n            this._mesh.position = this._mesh.position.subtract(dist);\r\n\r\n            for (let i = 0; i < this._bones.length; i++) {\r\n                if (i == this._rootBoneIndex) continue;\r\n                this._addImpostorRotationToBone(i);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _addImpostorRotationToBone(boneIndex: number): void {\r\n        const newRotQuat = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion?.multiply(this._initialRotation[boneIndex]);\r\n        if (newRotQuat) {\r\n            this._bones[boneIndex].setRotationQuaternion(newRotQuat, Space.WORLD, this._mesh);\r\n        }\r\n    }\r\n\r\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\r\n    private _defineRootBone(): boolean {\r\n        const skeletonRoots = this._skeleton.getChildren();\r\n        if (skeletonRoots.length != 1) {\r\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\r\n            return false;\r\n        }\r\n\r\n        this._rootBoneName = skeletonRoots[0].name;\r\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\r\n        if (this._rootBoneIndex == -1) {\r\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private _findNearestParent(boneIndex: number): any {\r\n        let nearestParent: Nullable<Bone> | undefined = this._bones[boneIndex].getParent();\r\n        do {\r\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\r\n                break;\r\n            }\r\n\r\n            nearestParent = nearestParent?.getParent();\r\n        } while (nearestParent != null);\r\n\r\n        return nearestParent;\r\n    }\r\n\r\n    private _init() {\r\n        this._createColliders();\r\n\r\n        // If this.defineRootBone() returns false... there is not root bone.\r\n        if (!this._defineRootBone()) {\r\n            return;\r\n        }\r\n\r\n        this._initJoints();\r\n        this._scene.registerBeforeRender(() => {\r\n            this._syncBonesAndBoxes();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\r\n     */\r\n    public ragdoll(): void {\r\n        if (!this._ragdollMode) {\r\n            this._ragdollMode = true;\r\n            this._init();\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Dispose resources and remove physics objects\r\n     */\r\n    dispose(): void {\r\n        this._aggregates.forEach((aggregate: PhysicsAggregate) => {\r\n            aggregate.dispose();\r\n        });\r\n    }\r\n}\r\n"]}

package/PostProcesses/RenderPipeline/Pipelines/ssao2RenderingPipeline.js

@@ -228,13 +228,13 @@ export class SSAO2RenderingPipeline extends PostProcessRenderPipeline {
         if (this._forceGeometryBuffer) {
             scene.enableGeometryBufferRenderer();
             if ((_a = scene.geometryBufferRenderer) === null || _a === void 0 ? void 0 : _a.generateNormalsInWorldSpace) {
-                console.error("SSAO2RenderingPipeline does not support generateNormalsInWorldSpace=true for the geometry buffer renderer!");
+                Logger.Error("SSAO2RenderingPipeline does not support generateNormalsInWorldSpace=true for the geometry buffer renderer!");
             }
         }
         else {
             scene.enablePrePassRenderer();
             if ((_b = scene.prePassRenderer) === null || _b === void 0 ? void 0 : _b.generateNormalsInWorldSpace) {
-                console.error("SSAO2RenderingPipeline does not support generateNormalsInWorldSpace=true for the prepass renderer!");
+                Logger.Error("SSAO2RenderingPipeline does not support generateNormalsInWorldSpace=true for the prepass renderer!");
             }
         }
         this._createRandomTexture();