@babylonjs/core 6.34.0 → 6.34.2

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 @@
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+{"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/physicsBody.d.ts

@@ -343,6 +343,11 @@ export declare class PhysicsBody {
      * @param instanceIndex The index of the instance in an instanced body
      */
     setTargetTransform(position: Vector3, rotation: Quaternion, instanceIndex?: number): void;
+    /**
+     * Returns if the body has been disposed.
+     * @returns true if disposed, false otherwise.
+     */
+    get isDisposed(): boolean;
     /**
      * Disposes the body from the physics engine.
      *

package/Physics/v2/physicsBody.js

@@ -508,6 +508,13 @@ export class PhysicsBody {
     setTargetTransform(position, rotation, instanceIndex) {
         this._physicsPlugin.setTargetTransform(this, position, rotation, instanceIndex);
     }
+    /**
+     * Returns if the body has been disposed.
+     * @returns true if disposed, false otherwise.
+     */
+    get isDisposed() {
+        return this._isDisposed;
+    }
     /**
      * Disposes the body from the physics engine.
      *

package/Physics/v2/physicsBody.js.map

@@ -1 +1 @@
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type { IBasePhysicsCollisionEvent, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { Bone } from \"core/Bones/bone\";\r\nimport { Space } from \"core/Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\r\nimport type { Mesh } from \"core/Meshes/mesh\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\n\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\r\n    /**\r\n     * If the collision ended callback is enabled\r\n     */\r\n    private _collisionEndedCBEnabled: boolean = false;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    disablePreStep: boolean = true;\r\n\r\n    /**\r\n     * Physics engine will try to make this body sleeping and not active\r\n     */\r\n    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for. For better performance, it is advised that this node does not have a parent.\r\n     * @param motionType - The motion type of the physics body. The options are:\r\n     *  - PhysicsMotionType.STATIC - Static bodies are not moving and unaffected by forces or collisions. They are good for level boundaries or terrain.\r\n     *  - PhysicsMotionType.DYNAMIC - Dynamic bodies are fully simulated. They can move and collide with other objects.\r\n     *  - PhysicsMotionType.ANIMATED - They behave like dynamic bodies, but they won't be affected by other bodies, but still push other bodies out of the way.\r\n     * @param startsAsleep - Whether the physics body should start in a sleeping state (not a guarantee). Defaults to false.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, startsAsleep: boolean, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            if (transformNode.parent) {\r\n                // Force computation of world matrix so that the parent transforms are correctly reflected in absolutePosition/absoluteRotationQuaternion.\r\n                transformNode.computeWorldMatrix(true);\r\n            }\r\n            this._physicsPlugin.initBody(this, motionType, transformNode.absolutePosition, transformNode.absoluteRotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n\r\n        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        clonedBody.setMassProperties(this.getMassProperties());\r\n        clonedBody.setLinearDamping(this.getLinearDamping());\r\n        clonedBody.setAngularDamping(this.getAngularDamping());\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public set shape(shape: Nullable<PhysicsShape>) {\r\n        this._physicsPlugin.setShape(this, shape);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public get shape(): Nullable<PhysicsShape> {\r\n        return this._physicsPlugin.getShape(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     *\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * intial values, which you can then customize.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     * @param instanceIndex - The index of the instance to set the mass properties for. If not defined, the mass properties will be set for all instances.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     *\r\n     * @returns The mass properties of the object.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocityToRef(linVel: Vector3, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body as a new vector3.\r\n     * @returns The linear velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getLinearVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body as a new vector3.\r\n     * @returns The angular velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getAngularVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @param instanceIndex For a instanced body, the instance to where the force should be applied. If not specified, the force is applied to all instances.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): {} {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified for when a collision starts or continues for this PhysicsBody\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified when the body has finished colliding with another body\r\n     * @returns\r\n     */\r\n    public getCollisionEndedObservable(): Observable<IBasePhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionEndedObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    public setCollisionEndedCallbackEnabled(enabled: boolean): void {\r\n        this._collisionEndedCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionEndedCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Adds a constraint to the physics engine.\r\n     *\r\n     * @param childBody - The body to which the constraint will be applied.\r\n     * @param constraint - The constraint to be applied.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity factor of the physics body\r\n     * @param factor the gravity factor to set\r\n     * @param instanceIndex the instance of the body to set, if undefined all instances will be set\r\n     */\r\n    public setGravityFactor(factor: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setGravityFactor(this, factor, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the gravity factor of the physics body\r\n     * @param instanceIndex the instance of the body to get, if undefined the value of first instance will be returned\r\n     * @returns the gravity factor\r\n     */\r\n    public getGravityFactor(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getGravityFactor(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the target transformation (position and rotation) of the body, such that the body will set its velocity to reach that target\r\n     * @param position The target position\r\n     * @param rotation The target rotation\r\n     * @param instanceIndex The index of the instance in an instanced body\r\n     */\r\n    public setTargetTransform(position: Vector3, rotation: Quaternion, instanceIndex?: number) {\r\n        this._physicsPlugin.setTargetTransform(this, position, rotation, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._collisionEndedCBEnabled) {\r\n            this.setCollisionEndedCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n        this.transformNode.physicsBody = null;\r\n        this._pluginData = null;\r\n        this._pluginDataInstances.length = 0;\r\n        this._isDisposed = true;\r\n    }\r\n}\r\n"]}
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type { IBasePhysicsCollisionEvent, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { Bone } from \"core/Bones/bone\";\r\nimport { Space } from \"core/Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\r\nimport type { Mesh } from \"core/Meshes/mesh\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\n\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\r\n    /**\r\n     * If the collision ended callback is enabled\r\n     */\r\n    private _collisionEndedCBEnabled: boolean = false;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    disablePreStep: boolean = true;\r\n\r\n    /**\r\n     * Physics engine will try to make this body sleeping and not active\r\n     */\r\n    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for. For better performance, it is advised that this node does not have a parent.\r\n     * @param motionType - The motion type of the physics body. The options are:\r\n     *  - PhysicsMotionType.STATIC - Static bodies are not moving and unaffected by forces or collisions. They are good for level boundaries or terrain.\r\n     *  - PhysicsMotionType.DYNAMIC - Dynamic bodies are fully simulated. They can move and collide with other objects.\r\n     *  - PhysicsMotionType.ANIMATED - They behave like dynamic bodies, but they won't be affected by other bodies, but still push other bodies out of the way.\r\n     * @param startsAsleep - Whether the physics body should start in a sleeping state (not a guarantee). Defaults to false.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, startsAsleep: boolean, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            if (transformNode.parent) {\r\n                // Force computation of world matrix so that the parent transforms are correctly reflected in absolutePosition/absoluteRotationQuaternion.\r\n                transformNode.computeWorldMatrix(true);\r\n            }\r\n            this._physicsPlugin.initBody(this, motionType, transformNode.absolutePosition, transformNode.absoluteRotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n\r\n        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        clonedBody.setMassProperties(this.getMassProperties());\r\n        clonedBody.setLinearDamping(this.getLinearDamping());\r\n        clonedBody.setAngularDamping(this.getAngularDamping());\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public set shape(shape: Nullable<PhysicsShape>) {\r\n        this._physicsPlugin.setShape(this, shape);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public get shape(): Nullable<PhysicsShape> {\r\n        return this._physicsPlugin.getShape(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     *\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * intial values, which you can then customize.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     * @param instanceIndex - The index of the instance to set the mass properties for. If not defined, the mass properties will be set for all instances.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     *\r\n     * @returns The mass properties of the object.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocityToRef(linVel: Vector3, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body as a new vector3.\r\n     * @returns The linear velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getLinearVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3, instanceIndex?: number): void {\r\n        return this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body as a new vector3.\r\n     * @returns The angular velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getAngularVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @param instanceIndex For a instanced body, the instance to where the force should be applied. If not specified, the force is applied to all instances.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): {} {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified for when a collision starts or continues for this PhysicsBody\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified when the body has finished colliding with another body\r\n     * @returns\r\n     */\r\n    public getCollisionEndedObservable(): Observable<IBasePhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionEndedObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    public setCollisionEndedCallbackEnabled(enabled: boolean): void {\r\n        this._collisionEndedCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionEndedCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /*\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Adds a constraint to the physics engine.\r\n     *\r\n     * @param childBody - The body to which the constraint will be applied.\r\n     * @param constraint - The constraint to be applied.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity factor of the physics body\r\n     * @param factor the gravity factor to set\r\n     * @param instanceIndex the instance of the body to set, if undefined all instances will be set\r\n     */\r\n    public setGravityFactor(factor: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setGravityFactor(this, factor, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the gravity factor of the physics body\r\n     * @param instanceIndex the instance of the body to get, if undefined the value of first instance will be returned\r\n     * @returns the gravity factor\r\n     */\r\n    public getGravityFactor(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getGravityFactor(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the target transformation (position and rotation) of the body, such that the body will set its velocity to reach that target\r\n     * @param position The target position\r\n     * @param rotation The target rotation\r\n     * @param instanceIndex The index of the instance in an instanced body\r\n     */\r\n    public setTargetTransform(position: Vector3, rotation: Quaternion, instanceIndex?: number) {\r\n        this._physicsPlugin.setTargetTransform(this, position, rotation, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Returns if the body has been disposed.\r\n     * @returns true if disposed, false otherwise.\r\n     */\r\n    public get isDisposed() {\r\n        return this._isDisposed;\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._collisionEndedCBEnabled) {\r\n            this.setCollisionEndedCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n        this.transformNode.physicsBody = null;\r\n        this._pluginData = null;\r\n        this._pluginDataInstances.length = 0;\r\n        this._isDisposed = true;\r\n    }\r\n}\r\n"]}

package/Physics/v2/ragdoll.d.ts

@@ -0,0 +1,102 @@
+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 {
+    private _skeleton;
+    private _scene;
+    private _mesh;
+    private _config;
+    private _boxConfigs;
+    private _bones;
+    private _initialRotation;
+    private _boneNames;
+    private _transforms;
+    private _aggregates;
+    private _ragdollMode;
+    private _rootBoneName;
+    private _rootBoneIndex;
+    private _mass;
+    private _restitution;
+    /**
+     * Pause synchronization between physics and bone position/orientation
+     */
+    pauseSync: boolean;
+    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[]);
+    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 +1,221 @@
+import { Vector3, Matrix, TmpVectors } 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";
+import { TransformNode } from "../../Meshes/transformNode.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) {
+        this._boxConfigs = new Array();
+        this._bones = new Array();
+        this._initialRotation = new Array();
+        this._boneNames = [];
+        this._transforms = new Array();
+        this._aggregates = new Array();
+        this._ragdollMode = false;
+        this._rootBoneName = "";
+        this._rootBoneIndex = -1;
+        this._mass = 10;
+        this._restitution = 0;
+        /**
+         * Pause synchronization between physics and bone position/orientation
+         */
+        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;
+    }
+    _createColliders() {
+        var _a, _b, _c;
+        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,
+                };
+                currentRagdollBoneProperties.width = (_a = currentRagdollBoneProperties.width) !== null && _a !== void 0 ? _a : currentRagdollBoneProperties.size;
+                currentRagdollBoneProperties.depth = (_b = currentRagdollBoneProperties.depth) !== null && _b !== void 0 ? _b : currentRagdollBoneProperties.size;
+                currentRagdollBoneProperties.height = (_c = currentRagdollBoneProperties.height) !== null && _c !== void 0 ? _c : currentRagdollBoneProperties.size;
+                const transform = new TransformNode(boneNames[ii] + "_transform", this._scene);
+                // 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;
+                transform.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(transform, PhysicsShapeType.BOX, {
+                    mass: mass,
+                    restitution: restitution,
+                    friction: 0.6,
+                    extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),
+                }, this._scene);
+                aggregate.body.setCollisionCallbackEnabled(true);
+                aggregate.body.disablePreStep = false;
+                this._aggregates.push(aggregate);
+                this._bones.push(currentBone);
+                this._boneNames.push(currentBone.name);
+                this._transforms.push(transform);
+                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._transforms[boneParentIndex].position);
+            const wmat = this._transforms[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._transforms[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) {
+            this._bones[this._rootBoneIndex].getDirectionToRef(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis, this._mesh, TmpVectors.Vector3[0]);
+            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[this._rootBoneIndex].boxOffset);
+            this._bones[this._rootBoneIndex].getAbsolutePositionToRef(this._mesh, TmpVectors.Vector3[1]);
+            TmpVectors.Vector3[1].addInPlace(TmpVectors.Vector3[0]);
+            this._bones[this._rootBoneIndex].setAbsolutePosition(this._transforms[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
+            TmpVectors.Vector3[1].subtractToRef(rootPos, TmpVectors.Vector3[0]);
+            this._mesh.position.subtractToRef(TmpVectors.Vector3[0], this._mesh.position);
+            for (let i = 0; i < this._bones.length; i++) {
+                if (i == this._rootBoneIndex)
+                    continue;
+                this._addImpostorRotationToBone(i);
+            }
+        }
+    }
+    _addImpostorRotationToBone(boneIndex) {
+        var _a, _b, _c;
+        (_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.multiplyToRef(this._initialRotation[boneIndex], TmpVectors.Quaternion[0]);
+        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], 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

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type { Skeleton } from \"../../Bones/skeleton\";\r\nimport { Vector3, Matrix, TmpVectors } 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\nimport { TransformNode } from \"../../Meshes/transformNode\";\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    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 _transforms: Array<TransformNode> = new Array<TransformNode>();\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\r\n    /**\r\n     * Pause synchronization between physics and bone position/orientation\r\n     */\r\n    public 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    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                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\r\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\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                transform.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                    transform,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                        extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\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._transforms.push(transform);\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._transforms[boneParentIndex].position);\r\n\r\n            const wmat = this._transforms[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._transforms[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            this._bones[this._rootBoneIndex].getDirectionToRef(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis!, this._mesh, TmpVectors.Vector3[0]);\r\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[this._rootBoneIndex].boxOffset!);\r\n            this._bones[this._rootBoneIndex].getAbsolutePositionToRef(this._mesh, TmpVectors.Vector3[1]);\r\n            TmpVectors.Vector3[1].addInPlace(TmpVectors.Vector3[0]);\r\n\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(this._transforms[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            TmpVectors.Vector3[1].subtractToRef(rootPos, TmpVectors.Vector3[0]);\r\n            this._mesh.position.subtractToRef(TmpVectors.Vector3[0], this._mesh.position);\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        this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion?.multiplyToRef(this._initialRotation[boneIndex], TmpVectors.Quaternion[0]);\r\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._mesh);\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();