@babylonjs/core 6.34.1 → 6.34.2

package/Rendering/GaussianSplatting/gaussianSplatting.js.map

@@ -1 +1 @@
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{ Effect } from \"../../Materials/effect\";\r\nimport { ShaderMaterial } from \"../../Materials/shaderMaterial\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector2, Vector3 } from \"../../Maths/math.vector\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport { Tools } from \"../../Misc/tools\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { Nullable } from \"../../types\";\r\n\r\n/**\r\n * @experimental\r\n * Helper class that loads, creates and manipulates a Gaussian Splatting\r\n */\r\nexport class GaussianSplatting {\r\n    private _vertexCount: number = 0;\r\n    private _positions: Float32Array;\r\n    private _uBuffer: Uint8Array;\r\n    private _covA: Float32Array;\r\n    private _covB: Float32Array;\r\n    private _sceneDisposeObserver: Nullable<Observer<Scene>>;\r\n    private _sceneBeforeRenderObserver: Nullable<Observer<Scene>>;\r\n    private _material: ShaderMaterial;\r\n    private _modelViewMatrix = Matrix.Identity();\r\n    private _minimum = new Vector3();\r\n    private _maximum = new Vector3();\r\n    /**\r\n     * Name of the GS that is also used to name a mesh for rendering it\r\n     */\r\n    public readonly name: string = \"GaussianSplatting\";\r\n    /**\r\n     * The scene the Gaussian Splatting mesh belongs to\r\n     */\r\n    public readonly scene: Scene;\r\n    /**\r\n     * The mesh responsible for rendering the GS\r\n     */\r\n    public mesh: Nullable<Mesh>;\r\n\r\n    /**\r\n     * Return the number of splattings used\r\n     */\r\n    public get vertexCount(): number {\r\n        return this._vertexCount;\r\n    }\r\n\r\n    /**\r\n     * Shader material with alpha blending\r\n     * @param scene parent scene\r\n     */\r\n    private _createMaterial(scene: Scene) {\r\n        Effect.ShadersStore[\"gaussianSplattingVertexShader\"] = GaussianSplatting._VertexShaderSource;\r\n        Effect.ShadersStore[\"gaussianSplattingFragmentShader\"] = GaussianSplatting._FragmentShaderSource;\r\n        const shaderMaterial = new ShaderMaterial(\r\n            \"GaussianSplattingShader\",\r\n            scene,\r\n            {\r\n                vertex: \"gaussianSplatting\",\r\n                fragment: \"gaussianSplatting\",\r\n            },\r\n            {\r\n                attributes: [\"position\"],\r\n                uniforms: [\"projection\", \"modelView\", \"viewport\"],\r\n            }\r\n        );\r\n        shaderMaterial.backFaceCulling = false;\r\n        shaderMaterial.alpha = 0.9999;\r\n        this._material = shaderMaterial;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param scene parent scene\r\n     * @returns A simple 2 triangles quad\r\n     */\r\n    private _getMesh(scene: Scene): Mesh {\r\n        const mesh = new Mesh(this.name, scene);\r\n        const vertexData = new VertexData();\r\n        vertexData.positions = [-2, -2, 0, 2, -2, 0, 2, 2, 0, -2, 2, 0];\r\n        vertexData.indices = [0, 1, 2, 0, 2, 3];\r\n        vertexData.applyToMesh(mesh);\r\n        const binfo = mesh.getBoundingInfo();\r\n        binfo.reConstruct(this._minimum, this._maximum);\r\n        binfo.isLocked = true;\r\n        mesh.doNotSyncBoundingInfo = true;\r\n        mesh.material = this._material;\r\n        return mesh;\r\n    }\r\n\r\n    protected _worker: Nullable<Worker> = null;\r\n    protected static _VertexShaderSource = `\r\n        precision mediump float;\r\n        attribute vec2 position;\r\n\r\n        attribute vec4 world0;\r\n        attribute vec4 world1;\r\n        attribute vec4 world2;\r\n        attribute vec4 world3;\r\n\r\n        uniform mat4 projection, modelView;\r\n        uniform vec2 viewport;\r\n\r\n        varying vec4 vColor;\r\n        varying vec2 vPosition;\r\n        void main () {\r\n        vec3 center = world0.xyz;\r\n        vec4 color = world1;\r\n        vec3 covA = world2.xyz;\r\n        vec3 covB = world3.xyz;\r\n\r\n        vec4 camspace = modelView * vec4(center, 1);\r\n        vec4 pos2d = projection * camspace;\r\n\r\n        float bounds = 1.2 * pos2d.w;\r\n        if (pos2d.z < -pos2d.w || pos2d.x < -bounds || pos2d.x > bounds\r\n            || pos2d.y < -bounds || pos2d.y > bounds) {\r\n            gl_Position = vec4(0.0, 0.0, 2.0, 1.0);\r\n            return;\r\n        }\r\n\r\n        mat3 Vrk = mat3(\r\n            covA.x, covA.y, covA.z, \r\n            covA.y, covB.x, covB.y,\r\n            covA.z, covB.y, covB.z\r\n        );\r\n        vec2 focal = vec2(1132., 1132.);\r\n        mat3 J = mat3(\r\n            focal.x / camspace.z, 0., -(focal.x * camspace.x) / (camspace.z * camspace.z), \r\n            0., focal.y / camspace.z, -(focal.y * camspace.y) / (camspace.z * camspace.z), \r\n            0., 0., 0.\r\n        );\r\n\r\n        mat3 invy = mat3(1,0,0, 0,-1,0,0,0,1);\r\n\r\n        mat3 T = invy * transpose(mat3(modelView)) * J;\r\n        mat3 cov2d = transpose(T) * Vrk * T;\r\n\r\n        float mid = (cov2d[0][0] + cov2d[1][1]) / 2.0;\r\n        float radius = length(vec2((cov2d[0][0] - cov2d[1][1]) / 2.0, cov2d[0][1]));\r\n        float lambda1 = mid + radius, lambda2 = mid - radius;\r\n\r\n        if(lambda2 < 0.0) return;\r\n        vec2 diagonalVector = normalize(vec2(cov2d[0][1], lambda1 - cov2d[0][0]));\r\n        vec2 majorAxis = min(sqrt(2.0 * lambda1), 1024.0) * diagonalVector;\r\n        vec2 minorAxis = min(sqrt(2.0 * lambda2), 1024.0) * vec2(diagonalVector.y, -diagonalVector.x);\r\n\r\n        vColor = color;\r\n        vPosition = position;\r\n        vec2 vCenter = vec2(pos2d);\r\n        gl_Position = vec4(\r\n            vCenter \r\n            + (position.x * majorAxis * 1. / viewport \r\n            + position.y * minorAxis * 1. / viewport) * pos2d.w, pos2d.zw);\r\n        }`;\r\n\r\n    protected static _FragmentShaderSource = `\r\n        precision highp float;\r\n        varying vec4 vColor;\r\n        varying vec2 vPosition;\r\n        void main () {    \r\n        float A = -dot(vPosition, vPosition);\r\n        if (A < -4.0) discard;\r\n        float B = exp(A) * vColor.a;\r\n        gl_FragColor = vec4(vColor.rgb, B);\r\n        }`;\r\n\r\n    protected static _CreateWorker = function (self: Worker) {\r\n        let viewProj: number[];\r\n        let lastProj: number[] = [];\r\n        let vertexCount = 0;\r\n        let positions: Float32Array;\r\n\r\n        const runSort = (viewProj: number[]) => {\r\n            vertexCount = positions.length;\r\n            const depthMix = new BigInt64Array(vertexCount);\r\n            const indices = new Uint32Array(depthMix.buffer);\r\n            for (let j = 0; j < vertexCount; j++) {\r\n                indices[2 * j] = j;\r\n            }\r\n\r\n            const floatMix = new Float32Array(depthMix.buffer);\r\n            for (let j = 0; j < vertexCount; j++) {\r\n                floatMix[2 * j + 1] = 10000 - (viewProj[2] * positions[3 * j + 0] + viewProj[6] * positions[3 * j + 1] + viewProj[10] * positions[3 * j + 2]);\r\n            }\r\n            lastProj = viewProj;\r\n\r\n            depthMix.sort();\r\n\r\n            self.postMessage({ depthMix }, [depthMix.buffer]);\r\n        };\r\n\r\n        let sortRunning: boolean = false;\r\n        const throttledSort = () => {\r\n            if (!sortRunning) {\r\n                sortRunning = true;\r\n                const lastView = viewProj;\r\n                runSort(lastView);\r\n                setTimeout(() => {\r\n                    sortRunning = false;\r\n                    if (lastView !== viewProj) {\r\n                        throttledSort();\r\n                    }\r\n                }, 0);\r\n            }\r\n        };\r\n\r\n        self.onmessage = (e: any) => {\r\n            viewProj = e.data.view;\r\n            const dot = lastProj[2] * viewProj[2] + lastProj[6] * viewProj[6] + lastProj[10] * viewProj[10];\r\n            if (Math.abs(dot - 1) < 0.01) {\r\n                return;\r\n            }\r\n            positions = e.data.positions;\r\n            throttledSort();\r\n        };\r\n    };\r\n\r\n    protected _setData(binaryData: Uint8Array) {\r\n        const rowLength = 3 * 4 + 3 * 4 + 4 + 4;\r\n        this._vertexCount = binaryData.length / rowLength;\r\n        const vertexCount = this._vertexCount;\r\n        this._positions = new Float32Array(3 * vertexCount);\r\n        this._covA = new Float32Array(3 * vertexCount);\r\n        this._covB = new Float32Array(3 * vertexCount);\r\n\r\n        const f_buffer = new Float32Array(binaryData.buffer);\r\n        this._uBuffer = new Uint8Array(binaryData.buffer);\r\n\r\n        const matrixRotation = Matrix.Zero();\r\n        const matrixScale = Matrix.Zero();\r\n        const quaternion = Quaternion.Identity();\r\n\r\n        this._minimum.set(Number.MAX_VALUE, Number.MAX_VALUE, Number.MAX_VALUE);\r\n        this._maximum.set(-Number.MAX_VALUE, -Number.MAX_VALUE, -Number.MAX_VALUE);\r\n\r\n        for (let i = 0; i < vertexCount; i++) {\r\n            const x = f_buffer[8 * i + 0];\r\n            const y = -f_buffer[8 * i + 1];\r\n            const z = f_buffer[8 * i + 2];\r\n\r\n            this._positions[3 * i + 0] = x;\r\n            this._positions[3 * i + 1] = y;\r\n            this._positions[3 * i + 2] = z;\r\n\r\n            this._minimum.minimizeInPlaceFromFloats(x, y, z);\r\n            this._maximum.maximizeInPlaceFromFloats(x, y, z);\r\n\r\n            quaternion.set(\r\n                (this._uBuffer[32 * i + 28 + 1] - 128) / 128,\r\n                (this._uBuffer[32 * i + 28 + 2] - 128) / 128,\r\n                (this._uBuffer[32 * i + 28 + 3] - 128) / 128,\r\n                -(this._uBuffer[32 * i + 28 + 0] - 128) / 128\r\n            );\r\n            quaternion.toRotationMatrix(matrixRotation);\r\n\r\n            Matrix.ScalingToRef(f_buffer[8 * i + 3 + 0] * 2, f_buffer[8 * i + 3 + 1] * 2, f_buffer[8 * i + 3 + 2] * 2, matrixScale);\r\n\r\n            const M = matrixRotation.multiplyToRef(matrixScale, TmpVectors.Matrix[0]).m;\r\n\r\n            this._covA[i * 3 + 0] = M[0] * M[0] + M[1] * M[1] + M[2] * M[2];\r\n            this._covA[i * 3 + 1] = M[0] * M[4] + M[1] * M[5] + M[2] * M[6];\r\n            this._covA[i * 3 + 2] = M[0] * M[8] + M[1] * M[9] + M[2] * M[10];\r\n            this._covB[i * 3 + 0] = M[4] * M[4] + M[5] * M[5] + M[6] * M[6];\r\n            this._covB[i * 3 + 1] = M[4] * M[8] + M[5] * M[9] + M[6] * M[10];\r\n            this._covB[i * 3 + 2] = M[8] * M[8] + M[9] * M[9] + M[10] * M[10];\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Construct a Gaussian Splatting proxy object\r\n     * @param name name of the mesh used for rendering\r\n     * @param scene scene it belongs to\r\n     */\r\n    public constructor(name: string, scene: Scene) {\r\n        this.scene = scene;\r\n        this.name = name;\r\n        this._createMaterial(scene);\r\n        this._worker?.terminate();\r\n        this._worker = null;\r\n    }\r\n\r\n    private _loadData(data: ArrayBuffer) {\r\n        if (this.mesh) {\r\n            this.dispose();\r\n        }\r\n        this._setData(new Uint8Array(data as any));\r\n        const matricesData = new Float32Array(this.vertexCount * 16);\r\n\r\n        const updateInstances = (indexMix: Uint32Array) => {\r\n            for (let j = 0; j < this.vertexCount; j++) {\r\n                const i = indexMix[2 * j];\r\n                const index = j * 16;\r\n                matricesData[index + 0] = this._positions[i * 3 + 0];\r\n                matricesData[index + 1] = this._positions[i * 3 + 1];\r\n                matricesData[index + 2] = this._positions[i * 3 + 2];\r\n\r\n                matricesData[index + 4] = this._uBuffer[32 * i + 24 + 0] / 255;\r\n                matricesData[index + 5] = this._uBuffer[32 * i + 24 + 1] / 255;\r\n                matricesData[index + 6] = this._uBuffer[32 * i + 24 + 2] / 255;\r\n                matricesData[index + 7] = this._uBuffer[32 * i + 24 + 3] / 255;\r\n\r\n                matricesData[index + 8] = this._covA[i * 3 + 0];\r\n                matricesData[index + 9] = this._covA[i * 3 + 1];\r\n                matricesData[index + 10] = this._covA[i * 3 + 2];\r\n\r\n                matricesData[index + 12] = this._covB[i * 3 + 0];\r\n                matricesData[index + 13] = this._covB[i * 3 + 1];\r\n                matricesData[index + 14] = this._covB[i * 3 + 2];\r\n            }\r\n\r\n            this.mesh?.thinInstanceBufferUpdated(\"matrix\");\r\n        };\r\n\r\n        // update so this.mesh is valid when exiting this function\r\n        this.mesh = this._getMesh(this.scene);\r\n        this.mesh.thinInstanceSetBuffer(\"matrix\", matricesData, 16, false);\r\n\r\n        this._worker = new Worker(\r\n            URL.createObjectURL(\r\n                new Blob([\"(\", GaussianSplatting._CreateWorker.toString(), \")(self)\"], {\r\n                    type: \"application/javascript\",\r\n                })\r\n            )\r\n        );\r\n\r\n        this._worker.onmessage = (e) => {\r\n            const indexMix = new Uint32Array(e.data.depthMix.buffer);\r\n            updateInstances(indexMix);\r\n        };\r\n        const viewport = new Vector2();\r\n        this._sceneBeforeRenderObserver = this.scene.onBeforeRenderObservable.add(() => {\r\n            const engine = this.scene.getEngine();\r\n            viewport.set(engine.getRenderWidth(), engine.getRenderHeight());\r\n            this._material.setVector2(\"viewport\", viewport);\r\n            const meshWorldMatrix = this.mesh!.getWorldMatrix();\r\n            meshWorldMatrix.multiplyToRef(this.scene.activeCamera!.getViewMatrix(), this._modelViewMatrix);\r\n            const binfo = this.mesh!.getBoundingInfo();\r\n            binfo.reConstruct(this._minimum, this._maximum, meshWorldMatrix);\r\n            binfo.isLocked = true;\r\n            this._material.setMatrix(\"modelView\", this._modelViewMatrix);\r\n            this._worker?.postMessage({ view: this._modelViewMatrix.m, positions: this._positions });\r\n        });\r\n        this._sceneDisposeObserver = this.scene.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Loads a .splat Gaussian Splatting array buffer asynchronously\r\n     * @param data arraybuffer containing splat file\r\n     * @returns a promise that resolves when the operation is complete\r\n     */\r\n\r\n    public loadDataAsync(data: ArrayBuffer): Promise<void> {\r\n        return Promise.resolve(this._loadData(data));\r\n    }\r\n    /**\r\n     * Loads a .splat Gaussian Splatting file asynchronously\r\n     * @param url path to the splat file to load\r\n     * @returns a promise that resolves when the operation is complete\r\n     */\r\n    public loadFileAsync(url: string): Promise<void> {\r\n        return Tools.LoadFileAsync(url, true).then((data: string | ArrayBuffer) => {\r\n            this._loadData(data as ArrayBuffer);\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Clear datas used for Gaussian Splatting and associated resources\r\n     */\r\n    public dispose(): void {\r\n        this.scene.onDisposeObservable.remove(this._sceneDisposeObserver);\r\n        this.scene.onBeforeRenderObservable.remove(this._sceneBeforeRenderObserver);\r\n        this._worker?.terminate();\r\n        this._worker = null;\r\n        this.mesh?.dispose();\r\n        this.mesh = null;\r\n    }\r\n}\r\n"]}
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{ Effect } from \"../../Materials/effect\";\r\nimport { ShaderMaterial } from \"../../Materials/shaderMaterial\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector2, Vector3 } from \"../../Maths/math.vector\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport { Tools } from \"../../Misc/tools\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { Nullable } from \"../../types\";\r\n\r\n/**\r\n * @experimental\r\n * Helper class that loads, creates and manipulates a Gaussian Splatting\r\n */\r\nexport class GaussianSplatting {\r\n    private _vertexCount: number = 0;\r\n    private _positions: Float32Array;\r\n    private _uBuffer: Uint8Array;\r\n    private _covA: Float32Array;\r\n    private _covB: Float32Array;\r\n    private _sceneDisposeObserver: Nullable<Observer<Scene>>;\r\n    private _sceneBeforeRenderObserver: Nullable<Observer<Scene>>;\r\n    private _material: ShaderMaterial;\r\n    private _modelViewMatrix = Matrix.Identity();\r\n    private _minimum = new Vector3();\r\n    private _maximum = new Vector3();\r\n    /**\r\n     * Name of the GS that is also used to name a mesh for rendering it\r\n     */\r\n    public readonly name: string = \"GaussianSplatting\";\r\n    /**\r\n     * The scene the Gaussian Splatting mesh belongs to\r\n     */\r\n    public readonly scene: Scene;\r\n    /**\r\n     * The mesh responsible for rendering the GS\r\n     */\r\n    public mesh: Nullable<Mesh>;\r\n\r\n    /**\r\n     * Return the number of splattings used\r\n     */\r\n    public get vertexCount(): number {\r\n        return this._vertexCount;\r\n    }\r\n\r\n    /**\r\n     * Shader material with alpha blending\r\n     * @param scene parent scene\r\n     */\r\n    private _createMaterial(scene: Scene) {\r\n        Effect.ShadersStore[\"gaussianSplattingVertexShader\"] = GaussianSplatting._VertexShaderSource;\r\n        Effect.ShadersStore[\"gaussianSplattingFragmentShader\"] = GaussianSplatting._FragmentShaderSource;\r\n        const shaderMaterial = new ShaderMaterial(\r\n            \"GaussianSplattingShader\",\r\n            scene,\r\n            {\r\n                vertex: \"gaussianSplatting\",\r\n                fragment: \"gaussianSplatting\",\r\n            },\r\n            {\r\n                attributes: [\"position\"],\r\n                uniforms: [\"projection\", \"modelView\", \"viewport\"],\r\n            }\r\n        );\r\n        shaderMaterial.backFaceCulling = false;\r\n        shaderMaterial.alpha = 0.9999;\r\n        this._material = shaderMaterial;\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param scene parent scene\r\n     * @returns A simple 2 triangles quad\r\n     */\r\n    private _getMesh(scene: Scene): Mesh {\r\n        const mesh = new Mesh(this.name, scene);\r\n        const vertexData = new VertexData();\r\n        vertexData.positions = [-2, -2, 0, 2, -2, 0, 2, 2, 0, -2, 2, 0];\r\n        vertexData.indices = [0, 1, 2, 0, 2, 3];\r\n        vertexData.applyToMesh(mesh);\r\n        const binfo = mesh.getBoundingInfo();\r\n        binfo.reConstruct(this._minimum, this._maximum);\r\n        binfo.isLocked = true;\r\n        mesh.doNotSyncBoundingInfo = true;\r\n        mesh.material = this._material;\r\n        return mesh;\r\n    }\r\n\r\n    protected _worker: Nullable<Worker> = null;\r\n    protected static _VertexShaderSource = `\r\n        precision mediump float;\r\n        attribute vec2 position;\r\n\r\n        attribute vec4 world0;\r\n        attribute vec4 world1;\r\n        attribute vec4 world2;\r\n        attribute vec4 world3;\r\n\r\n        uniform mat4 projection, modelView;\r\n        uniform vec2 viewport;\r\n\r\n        varying vec4 vColor;\r\n        varying vec2 vPosition;\r\n        void main () {\r\n        vec3 center = world0.xyz;\r\n        vec4 color = world1;\r\n        vec3 covA = world2.xyz;\r\n        vec3 covB = world3.xyz;\r\n\r\n        vec4 camspace = modelView * vec4(center, 1);\r\n        vec4 pos2d = projection * camspace;\r\n\r\n        float bounds = 1.2 * pos2d.w;\r\n        if (pos2d.z < -pos2d.w || pos2d.x < -bounds || pos2d.x > bounds\r\n            || pos2d.y < -bounds || pos2d.y > bounds) {\r\n            gl_Position = vec4(0.0, 0.0, 2.0, 1.0);\r\n            return;\r\n        }\r\n\r\n        mat3 Vrk = mat3(\r\n            covA.x, covA.y, covA.z, \r\n            covA.y, covB.x, covB.y,\r\n            covA.z, covB.y, covB.z\r\n        );\r\n        vec2 focal = vec2(1132., 1132.);\r\n        mat3 J = mat3(\r\n            focal.x / camspace.z, 0., -(focal.x * camspace.x) / (camspace.z * camspace.z), \r\n            0., focal.y / camspace.z, -(focal.y * camspace.y) / (camspace.z * camspace.z), \r\n            0., 0., 0.\r\n        );\r\n\r\n        mat3 invy = mat3(1,0,0, 0,-1,0,0,0,1);\r\n\r\n        mat3 T = invy * transpose(mat3(modelView)) * J;\r\n        mat3 cov2d = transpose(T) * Vrk * T;\r\n\r\n        float mid = (cov2d[0][0] + cov2d[1][1]) / 2.0;\r\n        float radius = length(vec2((cov2d[0][0] - cov2d[1][1]) / 2.0, cov2d[0][1]));\r\n        float lambda1 = mid + radius, lambda2 = mid - radius;\r\n\r\n        if(lambda2 < 0.0) return;\r\n        vec2 diagonalVector = normalize(vec2(cov2d[0][1], lambda1 - cov2d[0][0]));\r\n        vec2 majorAxis = min(sqrt(2.0 * lambda1), 1024.0) * diagonalVector;\r\n        vec2 minorAxis = min(sqrt(2.0 * lambda2), 1024.0) * vec2(diagonalVector.y, -diagonalVector.x);\r\n\r\n        vColor = color;\r\n        vPosition = position;\r\n        vec2 vCenter = vec2(pos2d);\r\n        gl_Position = vec4(\r\n            vCenter \r\n            + (position.x * majorAxis * 1. / viewport \r\n            + position.y * minorAxis * 1. / viewport) * pos2d.w, pos2d.zw);\r\n        }`;\r\n\r\n    protected static _FragmentShaderSource = `\r\n        precision highp float;\r\n        varying vec4 vColor;\r\n        varying vec2 vPosition;\r\n        void main () {    \r\n        float A = -dot(vPosition, vPosition);\r\n        if (A < -4.0) discard;\r\n        float B = exp(A) * vColor.a;\r\n        gl_FragColor = vec4(vColor.rgb, B);\r\n        }`;\r\n\r\n    protected static _CreateWorker = function (self: Worker) {\r\n        let viewProj: number[];\r\n        let lastProj: number[] = [];\r\n        let vertexCount = 0;\r\n        let positions: Float32Array;\r\n\r\n        const runSort = (viewProj: number[]) => {\r\n            vertexCount = positions.length;\r\n            const depthMix = new BigInt64Array(vertexCount);\r\n            const indices = new Uint32Array(depthMix.buffer);\r\n            for (let j = 0; j < vertexCount; j++) {\r\n                indices[2 * j] = j;\r\n            }\r\n\r\n            const floatMix = new Float32Array(depthMix.buffer);\r\n            for (let j = 0; j < vertexCount; j++) {\r\n                floatMix[2 * j + 1] = 10000 - (viewProj[2] * positions[3 * j + 0] + viewProj[6] * positions[3 * j + 1] + viewProj[10] * positions[3 * j + 2]);\r\n            }\r\n            lastProj = viewProj;\r\n\r\n            depthMix.sort();\r\n\r\n            self.postMessage({ depthMix }, [depthMix.buffer]);\r\n        };\r\n\r\n        let sortRunning: boolean = false;\r\n        const throttledSort = () => {\r\n            if (!sortRunning) {\r\n                sortRunning = true;\r\n                const lastView = viewProj;\r\n                runSort(lastView);\r\n                setTimeout(() => {\r\n                    sortRunning = false;\r\n                    if (lastView !== viewProj) {\r\n                        throttledSort();\r\n                    }\r\n                }, 0);\r\n            }\r\n        };\r\n\r\n        self.onmessage = (e: any) => {\r\n            viewProj = e.data.view;\r\n            const dot = lastProj[2] * viewProj[2] + lastProj[6] * viewProj[6] + lastProj[10] * viewProj[10];\r\n            if (Math.abs(dot - 1) < 0.01) {\r\n                return;\r\n            }\r\n            positions = e.data.positions;\r\n            throttledSort();\r\n        };\r\n    };\r\n\r\n    protected _setData(binaryData: Uint8Array) {\r\n        const rowLength = 3 * 4 + 3 * 4 + 4 + 4;\r\n        this._vertexCount = binaryData.length / rowLength;\r\n        const vertexCount = this._vertexCount;\r\n        this._positions = new Float32Array(3 * vertexCount);\r\n        this._covA = new Float32Array(3 * vertexCount);\r\n        this._covB = new Float32Array(3 * vertexCount);\r\n\r\n        const f_buffer = new Float32Array(binaryData.buffer);\r\n        this._uBuffer = new Uint8Array(binaryData.buffer);\r\n\r\n        const matrixRotation = Matrix.Zero();\r\n        const matrixScale = Matrix.Zero();\r\n        const quaternion = Quaternion.Identity();\r\n\r\n        this._minimum.set(Number.MAX_VALUE, Number.MAX_VALUE, Number.MAX_VALUE);\r\n        this._maximum.set(-Number.MAX_VALUE, -Number.MAX_VALUE, -Number.MAX_VALUE);\r\n\r\n        for (let i = 0; i < vertexCount; i++) {\r\n            const x = f_buffer[8 * i + 0];\r\n            const y = -f_buffer[8 * i + 1];\r\n            const z = f_buffer[8 * i + 2];\r\n\r\n            this._positions[3 * i + 0] = x;\r\n            this._positions[3 * i + 1] = y;\r\n            this._positions[3 * i + 2] = z;\r\n\r\n            this._minimum.minimizeInPlaceFromFloats(x, y, z);\r\n            this._maximum.maximizeInPlaceFromFloats(x, y, z);\r\n\r\n            quaternion.set(\r\n                (this._uBuffer[32 * i + 28 + 1] - 128) / 128,\r\n                (this._uBuffer[32 * i + 28 + 2] - 128) / 128,\r\n                (this._uBuffer[32 * i + 28 + 3] - 128) / 128,\r\n                -(this._uBuffer[32 * i + 28 + 0] - 128) / 128\r\n            );\r\n            quaternion.toRotationMatrix(matrixRotation);\r\n\r\n            Matrix.ScalingToRef(f_buffer[8 * i + 3 + 0] * 2, f_buffer[8 * i + 3 + 1] * 2, f_buffer[8 * i + 3 + 2] * 2, matrixScale);\r\n\r\n            const M = matrixRotation.multiplyToRef(matrixScale, TmpVectors.Matrix[0]).m;\r\n\r\n            this._covA[i * 3 + 0] = M[0] * M[0] + M[1] * M[1] + M[2] * M[2];\r\n            this._covA[i * 3 + 1] = M[0] * M[4] + M[1] * M[5] + M[2] * M[6];\r\n            this._covA[i * 3 + 2] = M[0] * M[8] + M[1] * M[9] + M[2] * M[10];\r\n            this._covB[i * 3 + 0] = M[4] * M[4] + M[5] * M[5] + M[6] * M[6];\r\n            this._covB[i * 3 + 1] = M[4] * M[8] + M[5] * M[9] + M[6] * M[10];\r\n            this._covB[i * 3 + 2] = M[8] * M[8] + M[9] * M[9] + M[10] * M[10];\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Construct a Gaussian Splatting proxy object\r\n     * @param name name of the mesh used for rendering\r\n     * @param scene scene it belongs to\r\n     */\r\n    public constructor(name: string, scene: Scene) {\r\n        this.scene = scene;\r\n        this.name = name;\r\n        this._createMaterial(scene);\r\n        this._worker?.terminate();\r\n        this._worker = null;\r\n    }\r\n\r\n    private _loadData(data: ArrayBuffer) {\r\n        if (this.mesh) {\r\n            this.dispose();\r\n        }\r\n        this._setData(new Uint8Array(data as any));\r\n        const matricesData = new Float32Array(this.vertexCount * 16);\r\n\r\n        const updateInstances = (indexMix: Uint32Array) => {\r\n            for (let j = 0; j < this.vertexCount; j++) {\r\n                const i = indexMix[2 * j];\r\n                const index = j * 16;\r\n                matricesData[index + 0] = this._positions[i * 3 + 0];\r\n                matricesData[index + 1] = this._positions[i * 3 + 1];\r\n                matricesData[index + 2] = this._positions[i * 3 + 2];\r\n\r\n                matricesData[index + 4] = this._uBuffer[32 * i + 24 + 0] / 255;\r\n                matricesData[index + 5] = this._uBuffer[32 * i + 24 + 1] / 255;\r\n                matricesData[index + 6] = this._uBuffer[32 * i + 24 + 2] / 255;\r\n                matricesData[index + 7] = this._uBuffer[32 * i + 24 + 3] / 255;\r\n\r\n                matricesData[index + 8] = this._covA[i * 3 + 0];\r\n                matricesData[index + 9] = this._covA[i * 3 + 1];\r\n                matricesData[index + 10] = this._covA[i * 3 + 2];\r\n\r\n                matricesData[index + 12] = this._covB[i * 3 + 0];\r\n                matricesData[index + 13] = this._covB[i * 3 + 1];\r\n                matricesData[index + 14] = this._covB[i * 3 + 2];\r\n            }\r\n\r\n            this.mesh?.thinInstanceBufferUpdated(\"matrix\");\r\n        };\r\n\r\n        // update so this.mesh is valid when exiting this function\r\n        this.mesh = this._getMesh(this.scene);\r\n        this.mesh.thinInstanceSetBuffer(\"matrix\", matricesData, 16, false);\r\n\r\n        this._worker = new Worker(\r\n            URL.createObjectURL(\r\n                new Blob([\"(\", GaussianSplatting._CreateWorker.toString(), \")(self)\"], {\r\n                    type: \"application/javascript\",\r\n                })\r\n            )\r\n        );\r\n\r\n        this._worker.onmessage = (e) => {\r\n            const indexMix = new Uint32Array(e.data.depthMix.buffer);\r\n            updateInstances(indexMix);\r\n        };\r\n        const viewport = new Vector2();\r\n        this._sceneBeforeRenderObserver = this.scene.onBeforeRenderObservable.add(() => {\r\n            const engine = this.scene.getEngine();\r\n            viewport.set(engine.getRenderWidth(), engine.getRenderHeight());\r\n            this._material.setVector2(\"viewport\", viewport);\r\n            const meshWorldMatrix = this.mesh!.getWorldMatrix();\r\n            meshWorldMatrix.multiplyToRef(this.scene.activeCamera!.getViewMatrix(), this._modelViewMatrix);\r\n            const binfo = this.mesh!.getBoundingInfo();\r\n            binfo.reConstruct(this._minimum, this._maximum, meshWorldMatrix);\r\n            binfo.isLocked = true;\r\n            this._material.setMatrix(\"modelView\", this._modelViewMatrix);\r\n            this._worker?.postMessage({ view: this._modelViewMatrix.m, positions: this._positions });\r\n        });\r\n        this._sceneDisposeObserver = this.scene.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Loads a .splat Gaussian Splatting array buffer asynchronously\r\n     * @param data arraybuffer containing splat file\r\n     * @returns a promise that resolves when the operation is complete\r\n     */\r\n\r\n    public loadDataAsync(data: ArrayBuffer): Promise<void> {\r\n        return Promise.resolve(this._loadData(data));\r\n    }\r\n    /**\r\n     * Loads a .splat Gaussian Splatting file asynchronously\r\n     * @param url path to the splat file to load\r\n     * @returns a promise that resolves when the operation is complete\r\n     */\r\n    public loadFileAsync(url: string): Promise<void> {\r\n        return Tools.LoadFileAsync(url, true).then((data) => {\r\n            this._loadData(data);\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Clear datas used for Gaussian Splatting and associated resources\r\n     */\r\n    public dispose(): void {\r\n        this.scene.onDisposeObservable.remove(this._sceneDisposeObserver);\r\n        this.scene.onBeforeRenderObservable.remove(this._sceneBeforeRenderObserver);\r\n        this._worker?.terminate();\r\n        this._worker = null;\r\n        this.mesh?.dispose();\r\n        this.mesh = null;\r\n    }\r\n}\r\n"]}

package/XR/features/WebXRControllerPhysics.js

@@ -229,7 +229,7 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             }
             comparedPosition.copyFrom(controllerMesh.position);
             if (this._debugMode) {
-                console.log(this._tmpVector, "linear");
+                Logger.Log([this._tmpVector, "linear"]);
             }
             const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh.rotationQuaternion;
             if ((_b = controllerData.xrController._lastXRPose) === null || _b === void 0 ? void 0 : _b.angularVelocity) {
@@ -256,7 +256,7 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             }
             comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion);
             if (this._debugMode) {
-                console.log(this._tmpVector, this._tmpQuaternion, "angular");
+                Logger.Log([this._tmpVector, this._tmpQuaternion, "angular"]);
             }
         });
     }

package/XR/features/WebXRControllerPhysics.js.map

@@ -1 +1 @@
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion!.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor: PhysicsImpostor;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _lastTimestamp: number = 0;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 1;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        this._options.xrInput.controllers.forEach(this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            const params = this._options.headsetImpostorParams || {\r\n                impostorType: PhysicsImpostor.SphereImpostor,\r\n                restitution: 0.8,\r\n                impostorSize: 0.3,\r\n            };\r\n            const impostorSize = params.impostorSize || 0.3;\r\n            this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n                diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n                diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n                diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n            });\r\n            this._headsetMesh.rotationQuaternion = new Quaternion();\r\n            this._headsetMesh.isVisible = false;\r\n            this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            this._detachController(controllerId);\r\n        });\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                console.log(this._tmpVector, \"linear\");\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                console.log(this._tmpVector, this._tmpQuaternion, \"angular\");\r\n            }\r\n        });\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion!.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor: PhysicsImpostor;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _lastTimestamp: number = 0;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 1;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        this._options.xrInput.controllers.forEach(this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            const params = this._options.headsetImpostorParams || {\r\n                impostorType: PhysicsImpostor.SphereImpostor,\r\n                restitution: 0.8,\r\n                impostorSize: 0.3,\r\n            };\r\n            const impostorSize = params.impostorSize || 0.3;\r\n            this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n                diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n                diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n                diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n            });\r\n            this._headsetMesh.rotationQuaternion = new Quaternion();\r\n            this._headsetMesh.isVisible = false;\r\n            this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            this._detachController(controllerId);\r\n        });\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        Object.keys(this._controllers).forEach((controllerId) => {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        });\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}

package/XR/features/WebXRMeshDetector.js

@@ -4,6 +4,7 @@ import { Matrix, Quaternion } from "../../Maths/math.js";
 import { Observable } from "../../Misc/observable.js";
 import { Mesh } from "../../Meshes/mesh.js";
 import { VertexBuffer } from "../../Buffers/buffer.js";
+import { Logger } from "../../Misc/logger.js";
 let meshIdProvider = 0;
 /**
  * The mesh detector is used to detect meshes in the real world when in AR
@@ -108,7 +109,7 @@ export class WebXRMeshDetector extends WebXRAbstractFeature {
             }
         }
         catch (error) {
-            console.log(error.stack);
+            Logger.Log(error.stack);
         }
     }
     _init() {

package/XR/features/WebXRMeshDetector.js.map

@@ -1 +1 @@
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{ WebXRFeaturesManager, WebXRFeatureName } from \"../webXRFeaturesManager\";\r\nimport { WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { Matrix, Quaternion } from \"../../Maths/math\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport { VertexBuffer } from \"core/Buffers/buffer\";\r\n\r\n/**\r\n * Options used in the mesh detector module\r\n */\r\nexport interface IWebXRMeshDetectorOptions {\r\n    /**\r\n     * The node to use to transform the local results to world coordinates\r\n     */\r\n    worldParentNode?: TransformNode;\r\n    /**\r\n     * If set to true a reference of the created meshes will be kept until the next session starts\r\n     * If not defined, meshes will be removed from the array when the feature is detached or the session ended.\r\n     */\r\n    doNotRemoveMeshesOnSessionEnded?: boolean;\r\n    /**\r\n     * Preferred detector configuration, not all preferred options will be supported by all platforms.\r\n     * Babylon native only!\r\n     */\r\n    preferredDetectorOptions?: XRGeometryDetectorOptions;\r\n    /**\r\n     * If set to true, WebXRMeshDetector will convert coordinate systems for meshes.\r\n     * If not defined, mesh conversions from right handed to left handed coordinate systems won't be conducted.\r\n     * Right handed mesh data will be available through IWebXRVertexData.xrMesh.\r\n     */\r\n    convertCoordinateSystems?: boolean;\r\n\r\n    /**\r\n     * If set to true, the feature will generate meshes for the detected data.\r\n     * Note that this might be time consuming, as the mesh's vertex data will be updated on every change.\r\n     * Setting this to true will also set convertCoordinateSystems to true.\r\n     * Note - the meshes will NOT be disposed automatically when the feature is detached or the session ended.\r\n     */\r\n    generateMeshes?: boolean;\r\n}\r\n\r\n/**\r\n * A babylon interface for a XR mesh's vertex data.\r\n */\r\nexport interface IWebXRVertexData {\r\n    /**\r\n     * A babylon-assigned ID for this mesh\r\n     */\r\n    id: number;\r\n    /**\r\n     * Data required for constructing a mesh in Babylon.js.\r\n     */\r\n    xrMesh: XRMesh;\r\n    /**\r\n     * The node to use to transform the local results to world coordinates.\r\n     * WorldParentNode will only exist if it was declared in the IWebXRMeshDetectorOptions.\r\n     */\r\n    worldParentNode?: TransformNode;\r\n    /**\r\n     * An array of vertex positions in babylon space. right/left hand system is taken into account.\r\n     * Positions will only be calculated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    positions?: Float32Array;\r\n    /**\r\n     * An array of indices in babylon space. Indices have a counterclockwise winding order.\r\n     * Indices will only be populated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    indices?: Uint32Array;\r\n    /**\r\n     * An array of vertex normals in babylon space. right/left hand system is taken into account.\r\n     * Normals will not be calculated if convertCoordinateSystems is undefined in the IWebXRMeshDetectorOptions.\r\n     * Different platforms may or may not support mesh normals when convertCoordinateSystems is set to true.\r\n     */\r\n    normals?: Float32Array;\r\n    /**\r\n     * A transformation matrix to apply on the mesh that will be built using the meshDefinition.\r\n     * Local vs. World are decided if worldParentNode was provided or not in the options when constructing the module.\r\n     * TransformationMatrix will only be calculated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    transformationMatrix?: Matrix;\r\n\r\n    /**\r\n     * If generateMeshes is set to true in the IWebXRMeshDetectorOptions, this will be the generated mesh.\r\n     * This mesh will be updated with the vertex data provided and not regenerated every time.\r\n     */\r\n    mesh?: Mesh;\r\n}\r\n\r\nlet meshIdProvider = 0;\r\n\r\n/**\r\n * The mesh detector is used to detect meshes in the real world when in AR\r\n */\r\nexport class WebXRMeshDetector extends WebXRAbstractFeature {\r\n    private _detectedMeshes: Map<XRMesh, IWebXRVertexData> = new Map<XRMesh, IWebXRVertexData>();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.MESH_DETECTION;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the WebXR specs version\r\n     */\r\n    public static readonly Version = 1;\r\n\r\n    /**\r\n     * Observers registered here will be executed when a new mesh was added to the session\r\n     */\r\n    public onMeshAddedObservable: Observable<IWebXRVertexData> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when a mesh is no longer detected in the session\r\n     */\r\n    public onMeshRemovedObservable: Observable<IWebXRVertexData> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when an existing mesh updates\r\n     */\r\n    public onMeshUpdatedObservable: Observable<IWebXRVertexData> = new Observable();\r\n\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private _options: IWebXRMeshDetectorOptions = {}\r\n    ) {\r\n        super(_xrSessionManager);\r\n        this.xrNativeFeatureName = \"mesh-detection\";\r\n        if (this._options.generateMeshes) {\r\n            this._options.convertCoordinateSystems = true;\r\n        }\r\n        if (this._xrSessionManager.session) {\r\n            this._init();\r\n        } else {\r\n            this._xrSessionManager.onXRSessionInit.addOnce(() => {\r\n                this._init();\r\n            });\r\n        }\r\n    }\r\n\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        // Only supported by BabylonNative\r\n        if (!!this._xrSessionManager.isNative && !!this._xrSessionManager.session.trySetMeshDetectorEnabled) {\r\n            this._xrSessionManager.session.trySetMeshDetectorEnabled(false);\r\n        }\r\n\r\n        if (!this._options.doNotRemoveMeshesOnSessionEnded) {\r\n            this._detectedMeshes.forEach((mesh) => {\r\n                this.onMeshRemovedObservable.notifyObservers(mesh);\r\n            });\r\n\r\n            this._detectedMeshes.clear();\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    public dispose(): void {\r\n        super.dispose();\r\n        this.onMeshAddedObservable.clear();\r\n        this.onMeshRemovedObservable.clear();\r\n        this.onMeshUpdatedObservable.clear();\r\n    }\r\n\r\n    protected _onXRFrame(frame: XRFrame) {\r\n        // TODO remove try catch\r\n        try {\r\n            if (!this.attached || !frame) {\r\n                return;\r\n            }\r\n\r\n            // babylon native XR and webxr support\r\n            const detectedMeshes = frame.detectedMeshes || frame.worldInformation?.detectedMeshes;\r\n            if (detectedMeshes) {\r\n                const toRemove = new Set<XRMesh>();\r\n                this._detectedMeshes.forEach((vertexData, xrMesh) => {\r\n                    if (!detectedMeshes.has(xrMesh)) {\r\n                        toRemove.add(xrMesh);\r\n                    }\r\n                });\r\n                toRemove.forEach((xrMesh) => {\r\n                    const vertexData = this._detectedMeshes.get(xrMesh);\r\n                    if (vertexData) {\r\n                        this.onMeshRemovedObservable.notifyObservers(vertexData);\r\n                        this._detectedMeshes.delete(xrMesh);\r\n                    }\r\n                });\r\n\r\n                // now check for new ones\r\n                detectedMeshes.forEach((xrMesh) => {\r\n                    if (!this._detectedMeshes.has(xrMesh)) {\r\n                        const partialVertexData: Partial<IWebXRVertexData> = {\r\n                            id: meshIdProvider++,\r\n                            xrMesh: xrMesh,\r\n                        };\r\n                        const vertexData = this._updateVertexDataWithXRMesh(xrMesh, partialVertexData, frame);\r\n                        this._detectedMeshes.set(xrMesh, vertexData);\r\n                        this.onMeshAddedObservable.notifyObservers(vertexData);\r\n                    } else {\r\n                        // updated?\r\n                        if (xrMesh.lastChangedTime === this._xrSessionManager.currentTimestamp) {\r\n                            const vertexData = this._detectedMeshes.get(xrMesh);\r\n                            if (vertexData) {\r\n                                this._updateVertexDataWithXRMesh(xrMesh, vertexData, frame);\r\n                                this.onMeshUpdatedObservable.notifyObservers(vertexData);\r\n                            }\r\n                        }\r\n                    }\r\n                });\r\n            }\r\n        } catch (error) {\r\n            console.log(error.stack);\r\n        }\r\n    }\r\n\r\n    private _init() {\r\n        // Only supported by BabylonNative\r\n        if (this._xrSessionManager.isNative) {\r\n            if (this._xrSessionManager.session.trySetMeshDetectorEnabled) {\r\n                this._xrSessionManager.session.trySetMeshDetectorEnabled(true);\r\n            }\r\n\r\n            if (!!this._options.preferredDetectorOptions && !!this._xrSessionManager.session.trySetPreferredMeshDetectorOptions) {\r\n                this._xrSessionManager.session.trySetPreferredMeshDetectorOptions(this._options.preferredDetectorOptions);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _updateVertexDataWithXRMesh(xrMesh: XRMesh, mesh: Partial<IWebXRVertexData>, xrFrame: XRFrame): IWebXRVertexData {\r\n        mesh.xrMesh = xrMesh;\r\n        mesh.worldParentNode = this._options.worldParentNode;\r\n        const positions = xrMesh.vertices || xrMesh.positions;\r\n\r\n        if (this._options.convertCoordinateSystems) {\r\n            if (!this._xrSessionManager.scene.useRightHandedSystem) {\r\n                mesh.positions = new Float32Array(positions.length);\r\n                for (let i = 0; i < positions.length; i += 3) {\r\n                    mesh.positions[i] = positions[i];\r\n                    mesh.positions[i + 1] = positions[i + 1];\r\n                    mesh.positions[i + 2] = -1 * positions[i + 2];\r\n                }\r\n\r\n                if (xrMesh.normals) {\r\n                    mesh.normals = new Float32Array(xrMesh.normals.length);\r\n                    for (let i = 0; i < xrMesh.normals.length; i += 3) {\r\n                        mesh.normals[i] = xrMesh.normals[i];\r\n                        mesh.normals[i + 1] = xrMesh.normals[i + 1];\r\n                        mesh.normals[i + 2] = -1 * xrMesh.normals[i + 2];\r\n                    }\r\n                }\r\n            } else {\r\n                mesh.positions = positions;\r\n                mesh.normals = xrMesh.normals;\r\n            }\r\n\r\n            // WebXR should provide indices in a counterclockwise winding order regardless of coordinate system handedness\r\n            mesh.indices = xrMesh.indices;\r\n\r\n            // matrix\r\n            const pose = xrFrame.getPose(xrMesh.meshSpace, this._xrSessionManager.referenceSpace);\r\n            if (pose) {\r\n                const mat = mesh.transformationMatrix || new Matrix();\r\n                Matrix.FromArrayToRef(pose.transform.matrix, 0, mat);\r\n                if (!this._xrSessionManager.scene.useRightHandedSystem) {\r\n                    mat.toggleModelMatrixHandInPlace();\r\n                }\r\n                mesh.transformationMatrix = mat;\r\n                if (this._options.worldParentNode) {\r\n                    mat.multiplyToRef(this._options.worldParentNode.getWorldMatrix(), mat);\r\n                }\r\n            }\r\n\r\n            if (this._options.generateMeshes) {\r\n                if (!mesh.mesh) {\r\n                    const generatedMesh = new Mesh(\"xr mesh \" + mesh.id, this._xrSessionManager.scene);\r\n                    generatedMesh.rotationQuaternion = new Quaternion();\r\n                    generatedMesh.setVerticesData(VertexBuffer.PositionKind, mesh.positions);\r\n                    if (mesh.normals) {\r\n                        generatedMesh.setVerticesData(VertexBuffer.NormalKind, mesh.normals);\r\n                    } else {\r\n                        generatedMesh.createNormals(true);\r\n                    }\r\n                    generatedMesh.setIndices(mesh.indices, undefined, true);\r\n                    mesh.mesh = generatedMesh;\r\n                } else {\r\n                    const generatedMesh = mesh.mesh;\r\n                    generatedMesh.updateVerticesData(VertexBuffer.PositionKind, mesh.positions);\r\n                    if (mesh.normals) {\r\n                        generatedMesh.updateVerticesData(VertexBuffer.NormalKind, mesh.normals);\r\n                    } else {\r\n                        generatedMesh.createNormals(true);\r\n                    }\r\n                    generatedMesh.updateIndices(mesh.indices);\r\n                }\r\n                mesh.transformationMatrix?.decompose(mesh.mesh.scaling, mesh.mesh.rotationQuaternion!, mesh.mesh.position);\r\n            }\r\n        }\r\n\r\n        return <IWebXRVertexData>mesh;\r\n    }\r\n}\r\n\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRMeshDetector.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRMeshDetector(xrSessionManager, options);\r\n    },\r\n    WebXRMeshDetector.Version,\r\n    false\r\n);\r\n"]}
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{ WebXRFeaturesManager, WebXRFeatureName } from \"../webXRFeaturesManager\";\r\nimport { WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { Matrix, Quaternion } from \"../../Maths/math\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport { VertexBuffer } from \"core/Buffers/buffer\";\r\nimport { Logger } from \"core/Misc/logger\";\r\n\r\n/**\r\n * Options used in the mesh detector module\r\n */\r\nexport interface IWebXRMeshDetectorOptions {\r\n    /**\r\n     * The node to use to transform the local results to world coordinates\r\n     */\r\n    worldParentNode?: TransformNode;\r\n    /**\r\n     * If set to true a reference of the created meshes will be kept until the next session starts\r\n     * If not defined, meshes will be removed from the array when the feature is detached or the session ended.\r\n     */\r\n    doNotRemoveMeshesOnSessionEnded?: boolean;\r\n    /**\r\n     * Preferred detector configuration, not all preferred options will be supported by all platforms.\r\n     * Babylon native only!\r\n     */\r\n    preferredDetectorOptions?: XRGeometryDetectorOptions;\r\n    /**\r\n     * If set to true, WebXRMeshDetector will convert coordinate systems for meshes.\r\n     * If not defined, mesh conversions from right handed to left handed coordinate systems won't be conducted.\r\n     * Right handed mesh data will be available through IWebXRVertexData.xrMesh.\r\n     */\r\n    convertCoordinateSystems?: boolean;\r\n\r\n    /**\r\n     * If set to true, the feature will generate meshes for the detected data.\r\n     * Note that this might be time consuming, as the mesh's vertex data will be updated on every change.\r\n     * Setting this to true will also set convertCoordinateSystems to true.\r\n     * Note - the meshes will NOT be disposed automatically when the feature is detached or the session ended.\r\n     */\r\n    generateMeshes?: boolean;\r\n}\r\n\r\n/**\r\n * A babylon interface for a XR mesh's vertex data.\r\n */\r\nexport interface IWebXRVertexData {\r\n    /**\r\n     * A babylon-assigned ID for this mesh\r\n     */\r\n    id: number;\r\n    /**\r\n     * Data required for constructing a mesh in Babylon.js.\r\n     */\r\n    xrMesh: XRMesh;\r\n    /**\r\n     * The node to use to transform the local results to world coordinates.\r\n     * WorldParentNode will only exist if it was declared in the IWebXRMeshDetectorOptions.\r\n     */\r\n    worldParentNode?: TransformNode;\r\n    /**\r\n     * An array of vertex positions in babylon space. right/left hand system is taken into account.\r\n     * Positions will only be calculated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    positions?: Float32Array;\r\n    /**\r\n     * An array of indices in babylon space. Indices have a counterclockwise winding order.\r\n     * Indices will only be populated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    indices?: Uint32Array;\r\n    /**\r\n     * An array of vertex normals in babylon space. right/left hand system is taken into account.\r\n     * Normals will not be calculated if convertCoordinateSystems is undefined in the IWebXRMeshDetectorOptions.\r\n     * Different platforms may or may not support mesh normals when convertCoordinateSystems is set to true.\r\n     */\r\n    normals?: Float32Array;\r\n    /**\r\n     * A transformation matrix to apply on the mesh that will be built using the meshDefinition.\r\n     * Local vs. World are decided if worldParentNode was provided or not in the options when constructing the module.\r\n     * TransformationMatrix will only be calculated if convertCoordinateSystems is set to true in the IWebXRMeshDetectorOptions.\r\n     */\r\n    transformationMatrix?: Matrix;\r\n\r\n    /**\r\n     * If generateMeshes is set to true in the IWebXRMeshDetectorOptions, this will be the generated mesh.\r\n     * This mesh will be updated with the vertex data provided and not regenerated every time.\r\n     */\r\n    mesh?: Mesh;\r\n}\r\n\r\nlet meshIdProvider = 0;\r\n\r\n/**\r\n * The mesh detector is used to detect meshes in the real world when in AR\r\n */\r\nexport class WebXRMeshDetector extends WebXRAbstractFeature {\r\n    private _detectedMeshes: Map<XRMesh, IWebXRVertexData> = new Map<XRMesh, IWebXRVertexData>();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.MESH_DETECTION;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the WebXR specs version\r\n     */\r\n    public static readonly Version = 1;\r\n\r\n    /**\r\n     * Observers registered here will be executed when a new mesh was added to the session\r\n     */\r\n    public onMeshAddedObservable: Observable<IWebXRVertexData> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when a mesh is no longer detected in the session\r\n     */\r\n    public onMeshRemovedObservable: Observable<IWebXRVertexData> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when an existing mesh updates\r\n     */\r\n    public onMeshUpdatedObservable: Observable<IWebXRVertexData> = new Observable();\r\n\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private _options: IWebXRMeshDetectorOptions = {}\r\n    ) {\r\n        super(_xrSessionManager);\r\n        this.xrNativeFeatureName = \"mesh-detection\";\r\n        if (this._options.generateMeshes) {\r\n            this._options.convertCoordinateSystems = true;\r\n        }\r\n        if (this._xrSessionManager.session) {\r\n            this._init();\r\n        } else {\r\n            this._xrSessionManager.onXRSessionInit.addOnce(() => {\r\n                this._init();\r\n            });\r\n        }\r\n    }\r\n\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        // Only supported by BabylonNative\r\n        if (!!this._xrSessionManager.isNative && !!this._xrSessionManager.session.trySetMeshDetectorEnabled) {\r\n            this._xrSessionManager.session.trySetMeshDetectorEnabled(false);\r\n        }\r\n\r\n        if (!this._options.doNotRemoveMeshesOnSessionEnded) {\r\n            this._detectedMeshes.forEach((mesh) => {\r\n                this.onMeshRemovedObservable.notifyObservers(mesh);\r\n            });\r\n\r\n            this._detectedMeshes.clear();\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    public dispose(): void {\r\n        super.dispose();\r\n        this.onMeshAddedObservable.clear();\r\n        this.onMeshRemovedObservable.clear();\r\n        this.onMeshUpdatedObservable.clear();\r\n    }\r\n\r\n    protected _onXRFrame(frame: XRFrame) {\r\n        // TODO remove try catch\r\n        try {\r\n            if (!this.attached || !frame) {\r\n                return;\r\n            }\r\n\r\n            // babylon native XR and webxr support\r\n            const detectedMeshes = frame.detectedMeshes || frame.worldInformation?.detectedMeshes;\r\n            if (detectedMeshes) {\r\n                const toRemove = new Set<XRMesh>();\r\n                this._detectedMeshes.forEach((vertexData, xrMesh) => {\r\n                    if (!detectedMeshes.has(xrMesh)) {\r\n                        toRemove.add(xrMesh);\r\n                    }\r\n                });\r\n                toRemove.forEach((xrMesh) => {\r\n                    const vertexData = this._detectedMeshes.get(xrMesh);\r\n                    if (vertexData) {\r\n                        this.onMeshRemovedObservable.notifyObservers(vertexData);\r\n                        this._detectedMeshes.delete(xrMesh);\r\n                    }\r\n                });\r\n\r\n                // now check for new ones\r\n                detectedMeshes.forEach((xrMesh) => {\r\n                    if (!this._detectedMeshes.has(xrMesh)) {\r\n                        const partialVertexData: Partial<IWebXRVertexData> = {\r\n                            id: meshIdProvider++,\r\n                            xrMesh: xrMesh,\r\n                        };\r\n                        const vertexData = this._updateVertexDataWithXRMesh(xrMesh, partialVertexData, frame);\r\n                        this._detectedMeshes.set(xrMesh, vertexData);\r\n                        this.onMeshAddedObservable.notifyObservers(vertexData);\r\n                    } else {\r\n                        // updated?\r\n                        if (xrMesh.lastChangedTime === this._xrSessionManager.currentTimestamp) {\r\n                            const vertexData = this._detectedMeshes.get(xrMesh);\r\n                            if (vertexData) {\r\n                                this._updateVertexDataWithXRMesh(xrMesh, vertexData, frame);\r\n                                this.onMeshUpdatedObservable.notifyObservers(vertexData);\r\n                            }\r\n                        }\r\n                    }\r\n                });\r\n            }\r\n        } catch (error) {\r\n            Logger.Log(error.stack);\r\n        }\r\n    }\r\n\r\n    private _init() {\r\n        // Only supported by BabylonNative\r\n        if (this._xrSessionManager.isNative) {\r\n            if (this._xrSessionManager.session.trySetMeshDetectorEnabled) {\r\n                this._xrSessionManager.session.trySetMeshDetectorEnabled(true);\r\n            }\r\n\r\n            if (!!this._options.preferredDetectorOptions && !!this._xrSessionManager.session.trySetPreferredMeshDetectorOptions) {\r\n                this._xrSessionManager.session.trySetPreferredMeshDetectorOptions(this._options.preferredDetectorOptions);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _updateVertexDataWithXRMesh(xrMesh: XRMesh, mesh: Partial<IWebXRVertexData>, xrFrame: XRFrame): IWebXRVertexData {\r\n        mesh.xrMesh = xrMesh;\r\n        mesh.worldParentNode = this._options.worldParentNode;\r\n        const positions = xrMesh.vertices || xrMesh.positions;\r\n\r\n        if (this._options.convertCoordinateSystems) {\r\n            if (!this._xrSessionManager.scene.useRightHandedSystem) {\r\n                mesh.positions = new Float32Array(positions.length);\r\n                for (let i = 0; i < positions.length; i += 3) {\r\n                    mesh.positions[i] = positions[i];\r\n                    mesh.positions[i + 1] = positions[i + 1];\r\n                    mesh.positions[i + 2] = -1 * positions[i + 2];\r\n                }\r\n\r\n                if (xrMesh.normals) {\r\n                    mesh.normals = new Float32Array(xrMesh.normals.length);\r\n                    for (let i = 0; i < xrMesh.normals.length; i += 3) {\r\n                        mesh.normals[i] = xrMesh.normals[i];\r\n                        mesh.normals[i + 1] = xrMesh.normals[i + 1];\r\n                        mesh.normals[i + 2] = -1 * xrMesh.normals[i + 2];\r\n                    }\r\n                }\r\n            } else {\r\n                mesh.positions = positions;\r\n                mesh.normals = xrMesh.normals;\r\n            }\r\n\r\n            // WebXR should provide indices in a counterclockwise winding order regardless of coordinate system handedness\r\n            mesh.indices = xrMesh.indices;\r\n\r\n            // matrix\r\n            const pose = xrFrame.getPose(xrMesh.meshSpace, this._xrSessionManager.referenceSpace);\r\n            if (pose) {\r\n                const mat = mesh.transformationMatrix || new Matrix();\r\n                Matrix.FromArrayToRef(pose.transform.matrix, 0, mat);\r\n                if (!this._xrSessionManager.scene.useRightHandedSystem) {\r\n                    mat.toggleModelMatrixHandInPlace();\r\n                }\r\n                mesh.transformationMatrix = mat;\r\n                if (this._options.worldParentNode) {\r\n                    mat.multiplyToRef(this._options.worldParentNode.getWorldMatrix(), mat);\r\n                }\r\n            }\r\n\r\n            if (this._options.generateMeshes) {\r\n                if (!mesh.mesh) {\r\n                    const generatedMesh = new Mesh(\"xr mesh \" + mesh.id, this._xrSessionManager.scene);\r\n                    generatedMesh.rotationQuaternion = new Quaternion();\r\n                    generatedMesh.setVerticesData(VertexBuffer.PositionKind, mesh.positions);\r\n                    if (mesh.normals) {\r\n                        generatedMesh.setVerticesData(VertexBuffer.NormalKind, mesh.normals);\r\n                    } else {\r\n                        generatedMesh.createNormals(true);\r\n                    }\r\n                    generatedMesh.setIndices(mesh.indices, undefined, true);\r\n                    mesh.mesh = generatedMesh;\r\n                } else {\r\n                    const generatedMesh = mesh.mesh;\r\n                    generatedMesh.updateVerticesData(VertexBuffer.PositionKind, mesh.positions);\r\n                    if (mesh.normals) {\r\n                        generatedMesh.updateVerticesData(VertexBuffer.NormalKind, mesh.normals);\r\n                    } else {\r\n                        generatedMesh.createNormals(true);\r\n                    }\r\n                    generatedMesh.updateIndices(mesh.indices);\r\n                }\r\n                mesh.transformationMatrix?.decompose(mesh.mesh.scaling, mesh.mesh.rotationQuaternion!, mesh.mesh.position);\r\n            }\r\n        }\r\n\r\n        return <IWebXRVertexData>mesh;\r\n    }\r\n}\r\n\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRMeshDetector.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRMeshDetector(xrSessionManager, options);\r\n    },\r\n    WebXRMeshDetector.Version,\r\n    false\r\n);\r\n"]}

package/XR/features/WebXRWalkingLocomotion.js

@@ -237,7 +237,7 @@ class Walker {
             if (!this._walker) {
                 this._walker = new WalkingTracker(event.leftApex, event.rightApex, event.currentPosition, event.currentStepDirection);
                 this._walker.onFootfall.add(() => {
-                    console.log("Footfall!");
+                    Logger.Log("Footfall!");
                 });
                 this._walker.onMovement.add((event) => {
                     this._walker.forward.scaleAndAddToRef(0.024 * event.deltaT, this._movement);

package/XR/features/WebXRWalkingLocomotion.js.map

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type { Engine } from \"../../Engines/engine\";\r\nimport { TmpVectors, Vector2, Vector3 } from \"../../Maths/math.vector\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { WebXRCamera } from \"../webXRCamera\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport { WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\n\r\nclass CircleBuffer {\r\n    private _samples: Array<Vector2> = [];\r\n    private _idx: number = 0;\r\n\r\n    constructor(numSamples: number, initializer?: () => Vector2) {\r\n        for (let idx = 0; idx < numSamples; ++idx) {\r\n            this._samples.push(initializer ? initializer() : Vector2.Zero());\r\n        }\r\n    }\r\n\r\n    public get length() {\r\n        return this._samples.length;\r\n    }\r\n\r\n    public push(x: number, y: number) {\r\n        this._idx = (this._idx + this._samples.length - 1) % this._samples.length;\r\n        this.at(0).copyFromFloats(x, y);\r\n    }\r\n\r\n    public at(idx: number) {\r\n        if (idx >= this._samples.length) {\r\n            throw new Error(\"Index out of bounds\");\r\n        }\r\n        return this._samples[(this._idx + idx) % this._samples.length];\r\n    }\r\n}\r\n\r\ninterface IDetectedStep {\r\n    leftApex: Vector2;\r\n    rightApex: Vector2;\r\n    currentPosition: Vector2;\r\n    currentStepDirection: \"left\" | \"right\";\r\n}\r\n\r\nclass FirstStepDetector {\r\n    private _samples = new CircleBuffer(20);\r\n    private _entropy = 0;\r\n\r\n    public onFirstStepDetected: Observable<IDetectedStep> = new Observable<IDetectedStep>();\r\n\r\n    public update(posX: number, posY: number, forwardX: number, forwardY: number) {\r\n        this._samples.push(posX, posY);\r\n        const origin = this._samples.at(0);\r\n\r\n        this._entropy *= this._entropyDecayFactor;\r\n        this._entropy += Vector2.Distance(origin, this._samples.at(1));\r\n        if (this._entropy > this._entropyThreshold) {\r\n            return;\r\n        }\r\n\r\n        let samePointIdx;\r\n        for (samePointIdx = this._samePointCheckStartIdx; samePointIdx < this._samples.length; ++samePointIdx) {\r\n            if (Vector2.DistanceSquared(origin, this._samples.at(samePointIdx)) < this._samePointSquaredDistanceThreshold) {\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (samePointIdx === this._samples.length) {\r\n            return;\r\n        }\r\n\r\n        let apexDistSquared = -1;\r\n        let apexIdx = 0;\r\n        for (let distSquared, idx = 1; idx < samePointIdx; ++idx) {\r\n            distSquared = Vector2.DistanceSquared(origin, this._samples.at(idx));\r\n            if (distSquared > apexDistSquared) {\r\n                apexIdx = idx;\r\n                apexDistSquared = distSquared;\r\n            }\r\n        }\r\n\r\n        if (apexDistSquared < this._apexSquaredDistanceThreshold) {\r\n            return;\r\n        }\r\n\r\n        const apex = this._samples.at(apexIdx);\r\n        const axis = apex.subtract(origin);\r\n        axis.normalize();\r\n\r\n        const vec = TmpVectors.Vector2[0];\r\n        let dot;\r\n        let sample;\r\n        let sumSquaredProjectionDistances = 0;\r\n        for (let idx = 1; idx < samePointIdx; ++idx) {\r\n            sample = this._samples.at(idx);\r\n            sample.subtractToRef(origin, vec);\r\n            dot = Vector2.Dot(axis, vec);\r\n            sumSquaredProjectionDistances += vec.lengthSquared() - dot * dot;\r\n        }\r\n\r\n        if (sumSquaredProjectionDistances > samePointIdx * this._squaredProjectionDistanceThreshold) {\r\n            return;\r\n        }\r\n\r\n        const forwardVec = TmpVectors.Vector3[0];\r\n        forwardVec.set(forwardX, forwardY, 0);\r\n        const axisVec = TmpVectors.Vector3[1];\r\n        axisVec.set(axis.x, axis.y, 0);\r\n        const isApexLeft = Vector3.Cross(forwardVec, axisVec).z > 0;\r\n        const leftApex = origin.clone();\r\n        const rightApex = origin.clone();\r\n        apex.subtractToRef(origin, axis);\r\n        if (isApexLeft) {\r\n            axis.scaleAndAddToRef(this._axisToApexShrinkFactor, leftApex);\r\n            axis.scaleAndAddToRef(this._axisToApexExtendFactor, rightApex);\r\n        } else {\r\n            axis.scaleAndAddToRef(this._axisToApexExtendFactor, leftApex);\r\n            axis.scaleAndAddToRef(this._axisToApexShrinkFactor, rightApex);\r\n        }\r\n        this.onFirstStepDetected.notifyObservers({\r\n            leftApex: leftApex,\r\n            rightApex: rightApex,\r\n            currentPosition: origin,\r\n            currentStepDirection: isApexLeft ? \"right\" : \"left\",\r\n        });\r\n    }\r\n\r\n    public reset() {\r\n        for (let idx = 0; idx < this._samples.length; ++idx) {\r\n            this._samples.at(idx).copyFromFloats(0, 0);\r\n        }\r\n    }\r\n\r\n    private get _samePointCheckStartIdx() {\r\n        return Math.floor(this._samples.length / 3);\r\n    }\r\n\r\n    private get _samePointSquaredDistanceThreshold() {\r\n        return 0.03 * 0.03;\r\n    }\r\n\r\n    private get _apexSquaredDistanceThreshold() {\r\n        return 0.09 * 0.09;\r\n    }\r\n\r\n    private get _squaredProjectionDistanceThreshold() {\r\n        return 0.03 * 0.03;\r\n    }\r\n\r\n    private get _axisToApexShrinkFactor() {\r\n        return 0.8;\r\n    }\r\n\r\n    private get _axisToApexExtendFactor() {\r\n        return -1.6;\r\n    }\r\n\r\n    private get _entropyDecayFactor() {\r\n        return 0.93;\r\n    }\r\n\r\n    private get _entropyThreshold() {\r\n        return 0.4;\r\n    }\r\n}\r\n\r\nclass WalkingTracker {\r\n    private _leftApex = new Vector2();\r\n    private _rightApex = new Vector2();\r\n    private _currentPosition = new Vector2();\r\n    private _axis = new Vector2();\r\n    private _axisLength = -1;\r\n    private _forward = new Vector2();\r\n    private _steppingLeft = false;\r\n    private _t = -1;\r\n    private _maxT = -1;\r\n    private _maxTPosition = new Vector2();\r\n    private _vitality = 0;\r\n\r\n    public onMovement = new Observable<{ deltaT: number }>();\r\n    public onFootfall = new Observable<{ foot: \"left\" | \"right\" }>();\r\n\r\n    constructor(leftApex: Vector2, rightApex: Vector2, currentPosition: Vector2, currentStepDirection: \"left\" | \"right\") {\r\n        this._reset(leftApex, rightApex, currentPosition, currentStepDirection === \"left\");\r\n    }\r\n\r\n    private _reset(leftApex: Vector2, rightApex: Vector2, currentPosition: Vector2, steppingLeft: boolean) {\r\n        this._leftApex.copyFrom(leftApex);\r\n        this._rightApex.copyFrom(rightApex);\r\n        this._steppingLeft = steppingLeft;\r\n\r\n        if (this._steppingLeft) {\r\n            this._leftApex.subtractToRef(this._rightApex, this._axis);\r\n            this._forward.copyFromFloats(-this._axis.y, this._axis.x);\r\n        } else {\r\n            this._rightApex.subtractToRef(this._leftApex, this._axis);\r\n            this._forward.copyFromFloats(this._axis.y, -this._axis.x);\r\n        }\r\n        this._axisLength = this._axis.length();\r\n        this._forward.scaleInPlace(1 / this._axisLength);\r\n\r\n        this._updateTAndVitality(currentPosition.x, currentPosition.y);\r\n        this._maxT = this._t;\r\n        this._maxTPosition.copyFrom(currentPosition);\r\n\r\n        this._vitality = 1;\r\n    }\r\n\r\n    private _updateTAndVitality(x: number, y: number) {\r\n        this._currentPosition.copyFromFloats(x, y);\r\n\r\n        if (this._steppingLeft) {\r\n            this._currentPosition.subtractInPlace(this._rightApex);\r\n        } else {\r\n            this._currentPosition.subtractInPlace(this._leftApex);\r\n        }\r\n        const priorT = this._t;\r\n        const dot = Vector2.Dot(this._currentPosition, this._axis);\r\n        this._t = dot / (this._axisLength * this._axisLength);\r\n        const projDistSquared = this._currentPosition.lengthSquared() - (dot / this._axisLength) * (dot / this._axisLength);\r\n\r\n        // TODO: Extricate the magic.\r\n        this._vitality *= 0.92 - 100 * Math.max(projDistSquared - 0.0016, 0) + Math.max(this._t - priorT, 0);\r\n    }\r\n\r\n    public update(x: number, y: number) {\r\n        if (this._vitality < this._vitalityThreshold) {\r\n            return false;\r\n        }\r\n\r\n        const priorT = this._t;\r\n        this._updateTAndVitality(x, y);\r\n\r\n        if (this._t > this._maxT) {\r\n            this._maxT = this._t;\r\n            this._maxTPosition.copyFromFloats(x, y);\r\n        }\r\n\r\n        if (this._vitality < this._vitalityThreshold) {\r\n            return false;\r\n        }\r\n\r\n        if (this._t > priorT) {\r\n            this.onMovement.notifyObservers({ deltaT: this._t - priorT });\r\n\r\n            if (priorT < 0.5 && this._t >= 0.5) {\r\n                this.onFootfall.notifyObservers({ foot: this._steppingLeft ? \"left\" : \"right\" });\r\n            }\r\n        }\r\n\r\n        if (this._t < 0.95 * this._maxT) {\r\n            this._currentPosition.copyFromFloats(x, y);\r\n            if (this._steppingLeft) {\r\n                this._leftApex.copyFrom(this._maxTPosition);\r\n            } else {\r\n                this._rightApex.copyFrom(this._maxTPosition);\r\n            }\r\n            this._reset(this._leftApex, this._rightApex, this._currentPosition, !this._steppingLeft);\r\n        }\r\n\r\n        if (this._axisLength < 0.03) {\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private get _vitalityThreshold() {\r\n        return 0.1;\r\n    }\r\n\r\n    get forward() {\r\n        return this._forward;\r\n    }\r\n}\r\n\r\nclass Walker {\r\n    private _engine: Engine;\r\n    private _detector = new FirstStepDetector();\r\n    private _walker: Nullable<WalkingTracker> = null;\r\n    private _movement = new Vector2();\r\n    private _millisecondsSinceLastUpdate: number = Walker._MillisecondsPerUpdate;\r\n\r\n    private static get _MillisecondsPerUpdate(): number {\r\n        // 15 FPS\r\n        return 1000 / 15;\r\n    }\r\n\r\n    public movementThisFrame: Vector3 = Vector3.Zero();\r\n\r\n    constructor(engine: Engine) {\r\n        this._engine = engine;\r\n        this._detector.onFirstStepDetected.add((event) => {\r\n            if (!this._walker) {\r\n                this._walker = new WalkingTracker(event.leftApex, event.rightApex, event.currentPosition, event.currentStepDirection);\r\n                this._walker.onFootfall.add(() => {\r\n                    console.log(\"Footfall!\");\r\n                });\r\n                this._walker.onMovement.add((event) => {\r\n                    this._walker!.forward.scaleAndAddToRef(0.024 * event.deltaT, this._movement);\r\n                });\r\n            }\r\n        });\r\n    }\r\n\r\n    public update(position: Vector3, forward: Vector3) {\r\n        forward.y = 0;\r\n        forward.normalize();\r\n\r\n        // Enforce reduced framerate\r\n        this._millisecondsSinceLastUpdate += this._engine.getDeltaTime();\r\n        if (this._millisecondsSinceLastUpdate >= Walker._MillisecondsPerUpdate) {\r\n            this._millisecondsSinceLastUpdate -= Walker._MillisecondsPerUpdate;\r\n            this._detector.update(position.x, position.z, forward.x, forward.z);\r\n            if (this._walker) {\r\n                const updated = this._walker.update(position.x, position.z);\r\n                if (!updated) {\r\n                    this._walker = null;\r\n                }\r\n            }\r\n            this._movement.scaleInPlace(0.85);\r\n        }\r\n\r\n        this.movementThisFrame.set(this._movement.x, 0, this._movement.y);\r\n    }\r\n}\r\n\r\n/**\r\n * Options for the walking locomotion feature.\r\n */\r\nexport interface IWebXRWalkingLocomotionOptions {\r\n    /**\r\n     * The target to be moved by walking locomotion. This should be the transform node\r\n     * which is the root of the XR space (i.e., the WebXRCamera's parent node). However,\r\n     * for simple cases and legacy purposes, articulating the WebXRCamera itself is also\r\n     * supported as a deprecated feature.\r\n     */\r\n    locomotionTarget: WebXRCamera | TransformNode;\r\n}\r\n\r\n/**\r\n * A module that will enable VR locomotion by detecting when the user walks in place.\r\n */\r\nexport class WebXRWalkingLocomotion extends WebXRAbstractFeature {\r\n    /**\r\n     * The module's name.\r\n     */\r\n    public static get Name(): string {\r\n        return WebXRFeatureName.WALKING_LOCOMOTION;\r\n    }\r\n\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number has no external basis.\r\n     */\r\n    public static get Version(): number {\r\n        return 1;\r\n    }\r\n\r\n    private _sessionManager: WebXRSessionManager;\r\n    private _up: Vector3 = new Vector3();\r\n    private _forward: Vector3 = new Vector3();\r\n    private _position: Vector3 = new Vector3();\r\n    private _movement: Vector3 = new Vector3();\r\n    private _walker: Nullable<Walker>;\r\n\r\n    private _locomotionTarget: WebXRCamera | TransformNode;\r\n    private _isLocomotionTargetWebXRCamera: boolean;\r\n\r\n    /**\r\n     * The target to be articulated by walking locomotion.\r\n     * When the walking locomotion feature detects walking in place, this element's\r\n     * X and Z coordinates will be modified to reflect locomotion. This target should\r\n     * be either the XR space's origin (i.e., the parent node of the WebXRCamera) or\r\n     * the WebXRCamera itself. Note that the WebXRCamera path will modify the position\r\n     * of the WebXRCamera directly and is thus discouraged.\r\n     */\r\n    public get locomotionTarget(): WebXRCamera | TransformNode {\r\n        return this._locomotionTarget;\r\n    }\r\n\r\n    /**\r\n     * The target to be articulated by walking locomotion.\r\n     * When the walking locomotion feature detects walking in place, this element's\r\n     * X and Z coordinates will be modified to reflect locomotion. This target should\r\n     * be either the XR space's origin (i.e., the parent node of the WebXRCamera) or\r\n     * the WebXRCamera itself. Note that the WebXRCamera path will modify the position\r\n     * of the WebXRCamera directly and is thus discouraged.\r\n     */\r\n    public set locomotionTarget(locomotionTarget: WebXRCamera | TransformNode) {\r\n        this._locomotionTarget = locomotionTarget;\r\n        this._isLocomotionTargetWebXRCamera = this._locomotionTarget.getClassName() === \"WebXRCamera\";\r\n    }\r\n\r\n    /**\r\n     * Construct a new Walking Locomotion feature.\r\n     * @param sessionManager manager for the current XR session\r\n     * @param options creation options, prominently including the vector target for locomotion\r\n     */\r\n    public constructor(sessionManager: WebXRSessionManager, options: IWebXRWalkingLocomotionOptions) {\r\n        super(sessionManager);\r\n        this._sessionManager = sessionManager;\r\n        this.locomotionTarget = options.locomotionTarget;\r\n        if (this._isLocomotionTargetWebXRCamera) {\r\n            Logger.Warn(\r\n                \"Using walking locomotion directly on a WebXRCamera may have unintended interactions with other XR techniques. Using an XR space parent is highly recommended\"\r\n            );\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Checks whether this feature is compatible with the current WebXR session.\r\n     * Walking locomotion is only compatible with \"immersive-vr\" sessions.\r\n     * @returns true if compatible, false otherwise\r\n     */\r\n    public isCompatible(): boolean {\r\n        return this._sessionManager.sessionMode === undefined || this._sessionManager.sessionMode === \"immersive-vr\";\r\n    }\r\n\r\n    /**\r\n     * Attaches the feature.\r\n     * Typically called automatically by the features manager.\r\n     * @returns true if attach succeeded, false otherwise\r\n     */\r\n    public attach(): boolean {\r\n        if (!this.isCompatible || !super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        this._walker = new Walker(this._sessionManager.scene.getEngine());\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Detaches the feature.\r\n     * Typically called automatically by the features manager.\r\n     * @returns true if detach succeeded, false otherwise\r\n     */\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        this._walker = null;\r\n        return true;\r\n    }\r\n\r\n    protected _onXRFrame(frame: XRFrame): void {\r\n        const pose = frame.getViewerPose(this._sessionManager.baseReferenceSpace);\r\n        if (!pose) {\r\n            return;\r\n        }\r\n\r\n        const handednessScalar = this.locomotionTarget.getScene().useRightHandedSystem ? 1 : -1;\r\n\r\n        const m = pose.transform.matrix;\r\n        this._up.copyFromFloats(m[4], m[5], handednessScalar * m[6]);\r\n        this._forward.copyFromFloats(m[8], m[9], handednessScalar * m[10]);\r\n        this._position.copyFromFloats(m[12], m[13], handednessScalar * m[14]);\r\n\r\n        // Compute the nape position\r\n        this._forward.scaleAndAddToRef(0.05, this._position);\r\n        this._up.scaleAndAddToRef(-0.05, this._position);\r\n        this._walker!.update(this._position, this._forward);\r\n        this._movement.copyFrom(this._walker!.movementThisFrame);\r\n        if (!this._isLocomotionTargetWebXRCamera) {\r\n            Vector3.TransformNormalToRef(this._movement, this.locomotionTarget.getWorldMatrix(), this._movement);\r\n        }\r\n        this.locomotionTarget.position.addInPlace(this._movement);\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRWalkingLocomotion.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRWalkingLocomotion(xrSessionManager, options);\r\n    },\r\n    WebXRWalkingLocomotion.Version,\r\n    false\r\n);\r\n"]}
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type { Engine } from \"../../Engines/engine\";\r\nimport { TmpVectors, Vector2, Vector3 } from \"../../Maths/math.vector\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { WebXRCamera } from \"../webXRCamera\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport { WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\n\r\nclass CircleBuffer {\r\n    private _samples: Array<Vector2> = [];\r\n    private _idx: number = 0;\r\n\r\n    constructor(numSamples: number, initializer?: () => Vector2) {\r\n        for (let idx = 0; idx < numSamples; ++idx) {\r\n            this._samples.push(initializer ? initializer() : Vector2.Zero());\r\n        }\r\n    }\r\n\r\n    public get length() {\r\n        return this._samples.length;\r\n    }\r\n\r\n    public push(x: number, y: number) {\r\n        this._idx = (this._idx + this._samples.length - 1) % this._samples.length;\r\n        this.at(0).copyFromFloats(x, y);\r\n    }\r\n\r\n    public at(idx: number) {\r\n        if (idx >= this._samples.length) {\r\n            throw new Error(\"Index out of bounds\");\r\n        }\r\n        return this._samples[(this._idx + idx) % this._samples.length];\r\n    }\r\n}\r\n\r\ninterface IDetectedStep {\r\n    leftApex: Vector2;\r\n    rightApex: Vector2;\r\n    currentPosition: Vector2;\r\n    currentStepDirection: \"left\" | \"right\";\r\n}\r\n\r\nclass FirstStepDetector {\r\n    private _samples = new CircleBuffer(20);\r\n    private _entropy = 0;\r\n\r\n    public onFirstStepDetected: Observable<IDetectedStep> = new Observable<IDetectedStep>();\r\n\r\n    public update(posX: number, posY: number, forwardX: number, forwardY: number) {\r\n        this._samples.push(posX, posY);\r\n        const origin = this._samples.at(0);\r\n\r\n        this._entropy *= this._entropyDecayFactor;\r\n        this._entropy += Vector2.Distance(origin, this._samples.at(1));\r\n        if (this._entropy > this._entropyThreshold) {\r\n            return;\r\n        }\r\n\r\n        let samePointIdx;\r\n        for (samePointIdx = this._samePointCheckStartIdx; samePointIdx < this._samples.length; ++samePointIdx) {\r\n            if (Vector2.DistanceSquared(origin, this._samples.at(samePointIdx)) < this._samePointSquaredDistanceThreshold) {\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (samePointIdx === this._samples.length) {\r\n            return;\r\n        }\r\n\r\n        let apexDistSquared = -1;\r\n        let apexIdx = 0;\r\n        for (let distSquared, idx = 1; idx < samePointIdx; ++idx) {\r\n            distSquared = Vector2.DistanceSquared(origin, this._samples.at(idx));\r\n            if (distSquared > apexDistSquared) {\r\n                apexIdx = idx;\r\n                apexDistSquared = distSquared;\r\n            }\r\n        }\r\n\r\n        if (apexDistSquared < this._apexSquaredDistanceThreshold) {\r\n            return;\r\n        }\r\n\r\n        const apex = this._samples.at(apexIdx);\r\n        const axis = apex.subtract(origin);\r\n        axis.normalize();\r\n\r\n        const vec = TmpVectors.Vector2[0];\r\n        let dot;\r\n        let sample;\r\n        let sumSquaredProjectionDistances = 0;\r\n        for (let idx = 1; idx < samePointIdx; ++idx) {\r\n            sample = this._samples.at(idx);\r\n            sample.subtractToRef(origin, vec);\r\n            dot = Vector2.Dot(axis, vec);\r\n            sumSquaredProjectionDistances += vec.lengthSquared() - dot * dot;\r\n        }\r\n\r\n        if (sumSquaredProjectionDistances > samePointIdx * this._squaredProjectionDistanceThreshold) {\r\n            return;\r\n        }\r\n\r\n        const forwardVec = TmpVectors.Vector3[0];\r\n        forwardVec.set(forwardX, forwardY, 0);\r\n        const axisVec = TmpVectors.Vector3[1];\r\n        axisVec.set(axis.x, axis.y, 0);\r\n        const isApexLeft = Vector3.Cross(forwardVec, axisVec).z > 0;\r\n        const leftApex = origin.clone();\r\n        const rightApex = origin.clone();\r\n        apex.subtractToRef(origin, axis);\r\n        if (isApexLeft) {\r\n            axis.scaleAndAddToRef(this._axisToApexShrinkFactor, leftApex);\r\n            axis.scaleAndAddToRef(this._axisToApexExtendFactor, rightApex);\r\n        } else {\r\n            axis.scaleAndAddToRef(this._axisToApexExtendFactor, leftApex);\r\n            axis.scaleAndAddToRef(this._axisToApexShrinkFactor, rightApex);\r\n        }\r\n        this.onFirstStepDetected.notifyObservers({\r\n            leftApex: leftApex,\r\n            rightApex: rightApex,\r\n            currentPosition: origin,\r\n            currentStepDirection: isApexLeft ? \"right\" : \"left\",\r\n        });\r\n    }\r\n\r\n    public reset() {\r\n        for (let idx = 0; idx < this._samples.length; ++idx) {\r\n            this._samples.at(idx).copyFromFloats(0, 0);\r\n        }\r\n    }\r\n\r\n    private get _samePointCheckStartIdx() {\r\n        return Math.floor(this._samples.length / 3);\r\n    }\r\n\r\n    private get _samePointSquaredDistanceThreshold() {\r\n        return 0.03 * 0.03;\r\n    }\r\n\r\n    private get _apexSquaredDistanceThreshold() {\r\n        return 0.09 * 0.09;\r\n    }\r\n\r\n    private get _squaredProjectionDistanceThreshold() {\r\n        return 0.03 * 0.03;\r\n    }\r\n\r\n    private get _axisToApexShrinkFactor() {\r\n        return 0.8;\r\n    }\r\n\r\n    private get _axisToApexExtendFactor() {\r\n        return -1.6;\r\n    }\r\n\r\n    private get _entropyDecayFactor() {\r\n        return 0.93;\r\n    }\r\n\r\n    private get _entropyThreshold() {\r\n        return 0.4;\r\n    }\r\n}\r\n\r\nclass WalkingTracker {\r\n    private _leftApex = new Vector2();\r\n    private _rightApex = new Vector2();\r\n    private _currentPosition = new Vector2();\r\n    private _axis = new Vector2();\r\n    private _axisLength = -1;\r\n    private _forward = new Vector2();\r\n    private _steppingLeft = false;\r\n    private _t = -1;\r\n    private _maxT = -1;\r\n    private _maxTPosition = new Vector2();\r\n    private _vitality = 0;\r\n\r\n    public onMovement = new Observable<{ deltaT: number }>();\r\n    public onFootfall = new Observable<{ foot: \"left\" | \"right\" }>();\r\n\r\n    constructor(leftApex: Vector2, rightApex: Vector2, currentPosition: Vector2, currentStepDirection: \"left\" | \"right\") {\r\n        this._reset(leftApex, rightApex, currentPosition, currentStepDirection === \"left\");\r\n    }\r\n\r\n    private _reset(leftApex: Vector2, rightApex: Vector2, currentPosition: Vector2, steppingLeft: boolean) {\r\n        this._leftApex.copyFrom(leftApex);\r\n        this._rightApex.copyFrom(rightApex);\r\n        this._steppingLeft = steppingLeft;\r\n\r\n        if (this._steppingLeft) {\r\n            this._leftApex.subtractToRef(this._rightApex, this._axis);\r\n            this._forward.copyFromFloats(-this._axis.y, this._axis.x);\r\n        } else {\r\n            this._rightApex.subtractToRef(this._leftApex, this._axis);\r\n            this._forward.copyFromFloats(this._axis.y, -this._axis.x);\r\n        }\r\n        this._axisLength = this._axis.length();\r\n        this._forward.scaleInPlace(1 / this._axisLength);\r\n\r\n        this._updateTAndVitality(currentPosition.x, currentPosition.y);\r\n        this._maxT = this._t;\r\n        this._maxTPosition.copyFrom(currentPosition);\r\n\r\n        this._vitality = 1;\r\n    }\r\n\r\n    private _updateTAndVitality(x: number, y: number) {\r\n        this._currentPosition.copyFromFloats(x, y);\r\n\r\n        if (this._steppingLeft) {\r\n            this._currentPosition.subtractInPlace(this._rightApex);\r\n        } else {\r\n            this._currentPosition.subtractInPlace(this._leftApex);\r\n        }\r\n        const priorT = this._t;\r\n        const dot = Vector2.Dot(this._currentPosition, this._axis);\r\n        this._t = dot / (this._axisLength * this._axisLength);\r\n        const projDistSquared = this._currentPosition.lengthSquared() - (dot / this._axisLength) * (dot / this._axisLength);\r\n\r\n        // TODO: Extricate the magic.\r\n        this._vitality *= 0.92 - 100 * Math.max(projDistSquared - 0.0016, 0) + Math.max(this._t - priorT, 0);\r\n    }\r\n\r\n    public update(x: number, y: number) {\r\n        if (this._vitality < this._vitalityThreshold) {\r\n            return false;\r\n        }\r\n\r\n        const priorT = this._t;\r\n        this._updateTAndVitality(x, y);\r\n\r\n        if (this._t > this._maxT) {\r\n            this._maxT = this._t;\r\n            this._maxTPosition.copyFromFloats(x, y);\r\n        }\r\n\r\n        if (this._vitality < this._vitalityThreshold) {\r\n            return false;\r\n        }\r\n\r\n        if (this._t > priorT) {\r\n            this.onMovement.notifyObservers({ deltaT: this._t - priorT });\r\n\r\n            if (priorT < 0.5 && this._t >= 0.5) {\r\n                this.onFootfall.notifyObservers({ foot: this._steppingLeft ? \"left\" : \"right\" });\r\n            }\r\n        }\r\n\r\n        if (this._t < 0.95 * this._maxT) {\r\n            this._currentPosition.copyFromFloats(x, y);\r\n            if (this._steppingLeft) {\r\n                this._leftApex.copyFrom(this._maxTPosition);\r\n            } else {\r\n                this._rightApex.copyFrom(this._maxTPosition);\r\n            }\r\n            this._reset(this._leftApex, this._rightApex, this._currentPosition, !this._steppingLeft);\r\n        }\r\n\r\n        if (this._axisLength < 0.03) {\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private get _vitalityThreshold() {\r\n        return 0.1;\r\n    }\r\n\r\n    get forward() {\r\n        return this._forward;\r\n    }\r\n}\r\n\r\nclass Walker {\r\n    private _engine: Engine;\r\n    private _detector = new FirstStepDetector();\r\n    private _walker: Nullable<WalkingTracker> = null;\r\n    private _movement = new Vector2();\r\n    private _millisecondsSinceLastUpdate: number = Walker._MillisecondsPerUpdate;\r\n\r\n    private static get _MillisecondsPerUpdate(): number {\r\n        // 15 FPS\r\n        return 1000 / 15;\r\n    }\r\n\r\n    public movementThisFrame: Vector3 = Vector3.Zero();\r\n\r\n    constructor(engine: Engine) {\r\n        this._engine = engine;\r\n        this._detector.onFirstStepDetected.add((event) => {\r\n            if (!this._walker) {\r\n                this._walker = new WalkingTracker(event.leftApex, event.rightApex, event.currentPosition, event.currentStepDirection);\r\n                this._walker.onFootfall.add(() => {\r\n                    Logger.Log(\"Footfall!\");\r\n                });\r\n                this._walker.onMovement.add((event) => {\r\n                    this._walker!.forward.scaleAndAddToRef(0.024 * event.deltaT, this._movement);\r\n                });\r\n            }\r\n        });\r\n    }\r\n\r\n    public update(position: Vector3, forward: Vector3) {\r\n        forward.y = 0;\r\n        forward.normalize();\r\n\r\n        // Enforce reduced framerate\r\n        this._millisecondsSinceLastUpdate += this._engine.getDeltaTime();\r\n        if (this._millisecondsSinceLastUpdate >= Walker._MillisecondsPerUpdate) {\r\n            this._millisecondsSinceLastUpdate -= Walker._MillisecondsPerUpdate;\r\n            this._detector.update(position.x, position.z, forward.x, forward.z);\r\n            if (this._walker) {\r\n                const updated = this._walker.update(position.x, position.z);\r\n                if (!updated) {\r\n                    this._walker = null;\r\n                }\r\n            }\r\n            this._movement.scaleInPlace(0.85);\r\n        }\r\n\r\n        this.movementThisFrame.set(this._movement.x, 0, this._movement.y);\r\n    }\r\n}\r\n\r\n/**\r\n * Options for the walking locomotion feature.\r\n */\r\nexport interface IWebXRWalkingLocomotionOptions {\r\n    /**\r\n     * The target to be moved by walking locomotion. This should be the transform node\r\n     * which is the root of the XR space (i.e., the WebXRCamera's parent node). However,\r\n     * for simple cases and legacy purposes, articulating the WebXRCamera itself is also\r\n     * supported as a deprecated feature.\r\n     */\r\n    locomotionTarget: WebXRCamera | TransformNode;\r\n}\r\n\r\n/**\r\n * A module that will enable VR locomotion by detecting when the user walks in place.\r\n */\r\nexport class WebXRWalkingLocomotion extends WebXRAbstractFeature {\r\n    /**\r\n     * The module's name.\r\n     */\r\n    public static get Name(): string {\r\n        return WebXRFeatureName.WALKING_LOCOMOTION;\r\n    }\r\n\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number has no external basis.\r\n     */\r\n    public static get Version(): number {\r\n        return 1;\r\n    }\r\n\r\n    private _sessionManager: WebXRSessionManager;\r\n    private _up: Vector3 = new Vector3();\r\n    private _forward: Vector3 = new Vector3();\r\n    private _position: Vector3 = new Vector3();\r\n    private _movement: Vector3 = new Vector3();\r\n    private _walker: Nullable<Walker>;\r\n\r\n    private _locomotionTarget: WebXRCamera | TransformNode;\r\n    private _isLocomotionTargetWebXRCamera: boolean;\r\n\r\n    /**\r\n     * The target to be articulated by walking locomotion.\r\n     * When the walking locomotion feature detects walking in place, this element's\r\n     * X and Z coordinates will be modified to reflect locomotion. This target should\r\n     * be either the XR space's origin (i.e., the parent node of the WebXRCamera) or\r\n     * the WebXRCamera itself. Note that the WebXRCamera path will modify the position\r\n     * of the WebXRCamera directly and is thus discouraged.\r\n     */\r\n    public get locomotionTarget(): WebXRCamera | TransformNode {\r\n        return this._locomotionTarget;\r\n    }\r\n\r\n    /**\r\n     * The target to be articulated by walking locomotion.\r\n     * When the walking locomotion feature detects walking in place, this element's\r\n     * X and Z coordinates will be modified to reflect locomotion. This target should\r\n     * be either the XR space's origin (i.e., the parent node of the WebXRCamera) or\r\n     * the WebXRCamera itself. Note that the WebXRCamera path will modify the position\r\n     * of the WebXRCamera directly and is thus discouraged.\r\n     */\r\n    public set locomotionTarget(locomotionTarget: WebXRCamera | TransformNode) {\r\n        this._locomotionTarget = locomotionTarget;\r\n        this._isLocomotionTargetWebXRCamera = this._locomotionTarget.getClassName() === \"WebXRCamera\";\r\n    }\r\n\r\n    /**\r\n     * Construct a new Walking Locomotion feature.\r\n     * @param sessionManager manager for the current XR session\r\n     * @param options creation options, prominently including the vector target for locomotion\r\n     */\r\n    public constructor(sessionManager: WebXRSessionManager, options: IWebXRWalkingLocomotionOptions) {\r\n        super(sessionManager);\r\n        this._sessionManager = sessionManager;\r\n        this.locomotionTarget = options.locomotionTarget;\r\n        if (this._isLocomotionTargetWebXRCamera) {\r\n            Logger.Warn(\r\n                \"Using walking locomotion directly on a WebXRCamera may have unintended interactions with other XR techniques. Using an XR space parent is highly recommended\"\r\n            );\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Checks whether this feature is compatible with the current WebXR session.\r\n     * Walking locomotion is only compatible with \"immersive-vr\" sessions.\r\n     * @returns true if compatible, false otherwise\r\n     */\r\n    public isCompatible(): boolean {\r\n        return this._sessionManager.sessionMode === undefined || this._sessionManager.sessionMode === \"immersive-vr\";\r\n    }\r\n\r\n    /**\r\n     * Attaches the feature.\r\n     * Typically called automatically by the features manager.\r\n     * @returns true if attach succeeded, false otherwise\r\n     */\r\n    public attach(): boolean {\r\n        if (!this.isCompatible || !super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        this._walker = new Walker(this._sessionManager.scene.getEngine());\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Detaches the feature.\r\n     * Typically called automatically by the features manager.\r\n     * @returns true if detach succeeded, false otherwise\r\n     */\r\n    public detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        this._walker = null;\r\n        return true;\r\n    }\r\n\r\n    protected _onXRFrame(frame: XRFrame): void {\r\n        const pose = frame.getViewerPose(this._sessionManager.baseReferenceSpace);\r\n        if (!pose) {\r\n            return;\r\n        }\r\n\r\n        const handednessScalar = this.locomotionTarget.getScene().useRightHandedSystem ? 1 : -1;\r\n\r\n        const m = pose.transform.matrix;\r\n        this._up.copyFromFloats(m[4], m[5], handednessScalar * m[6]);\r\n        this._forward.copyFromFloats(m[8], m[9], handednessScalar * m[10]);\r\n        this._position.copyFromFloats(m[12], m[13], handednessScalar * m[14]);\r\n\r\n        // Compute the nape position\r\n        this._forward.scaleAndAddToRef(0.05, this._position);\r\n        this._up.scaleAndAddToRef(-0.05, this._position);\r\n        this._walker!.update(this._position, this._forward);\r\n        this._movement.copyFrom(this._walker!.movementThisFrame);\r\n        if (!this._isLocomotionTargetWebXRCamera) {\r\n            Vector3.TransformNormalToRef(this._movement, this.locomotionTarget.getWorldMatrix(), this._movement);\r\n        }\r\n        this.locomotionTarget.position.addInPlace(this._movement);\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRWalkingLocomotion.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRWalkingLocomotion(xrSessionManager, options);\r\n    },\r\n    WebXRWalkingLocomotion.Version,\r\n    false\r\n);\r\n"]}

package/XR/motionController/webXRMotionControllerManager.js

@@ -135,7 +135,7 @@ export class WebXRMotionControllerManager {
      */
     static UpdateProfilesList() {
         this._ProfilesList = Tools.LoadFileAsync(this.BaseRepositoryUrl + "/profiles/profilesList.json", false).then((data) => {
-            return JSON.parse(data.toString());
+            return JSON.parse(data);
         });
         return this._ProfilesList;
     }