@babylonjs/core 6.40.0 → 6.41.0

package/Physics/v2/Plugins/havokPlugin.js

@@ -157,7 +157,7 @@ class ShapePath
     public pathData: number;
 }
 */
-class ContactPoint {
+class CollisionContactPoint {
     constructor() {
         this.bodyId = BigInt(0); //0,2
         //public colliderId: number = 0; //2,4
@@ -169,8 +169,8 @@ class ContactPoint {
 }
 class CollisionEvent {
     constructor() {
-        this.contactOnA = new ContactPoint(); //1
-        this.contactOnB = new ContactPoint();
+        this.contactOnA = new CollisionContactPoint(); //1
+        this.contactOnB = new CollisionContactPoint();
         this.impulseApplied = 0;
         this.type = 0;
     }
@@ -222,6 +222,7 @@ export class HavokPlugin {
         this._timeStep = 1 / 60;
         this._tmpVec3 = ArrayTools.BuildArray(3, Vector3.Zero);
         this._bodies = new Map();
+        this._shapes = new Map();
         this._bodyCollisionObservable = new Map();
         // Map from constraint id to the pair of bodies, where the first is the parent and the second is the child
         this._constraintToBodyIdPair = new Map();
@@ -1070,6 +1071,7 @@ export class HavokPlugin {
                 throw new Error("Unsupported Shape Type.");
                 break;
         }
+        this._shapes.set(shape._pluginData[0], shape);
     }
     /**
      * Sets the shape filter membership mask of a body
@@ -1694,6 +1696,17 @@ export class HavokPlugin {
         }
         constraint._pluginData.length = 0;
     }
+    _populateHitData(hitData, result) {
+        const hitBody = this._bodies.get(hitData[0][0]);
+        result.body = hitBody === null || hitBody === void 0 ? void 0 : hitBody.body;
+        result.bodyIndex = hitBody === null || hitBody === void 0 ? void 0 : hitBody.index;
+        const hitShape = this._shapes.get(hitData[1][0]);
+        result.shape = hitShape;
+        const hitPos = hitData[3];
+        const hitNormal = hitData[4];
+        const hitTriangle = hitData[5];
+        result.setHitData({ x: hitNormal[0], y: hitNormal[1], z: hitNormal[2] }, { x: hitPos[0], y: hitPos[1], z: hitPos[2] }, hitTriangle);
+    }
     /**
      * Performs a raycast from a given start point to a given end point and stores the result in a given PhysicsRaycastResult object.
      *
@@ -1715,15 +1728,71 @@ export class HavokPlugin {
         const hkQuery = [this._bVecToV3(from), this._bVecToV3(to), [queryMembership, queryCollideWith], shouldHitTriggers, bodyToIgnore];
         this._hknp.HP_World_CastRayWithCollector(this.world, this._queryCollector, hkQuery);
         if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
-            const hitData = this._hknp.HP_QueryCollector_GetCastRayResult(this._queryCollector, 0)[1];
-            const hitPos = hitData[1][3];
-            const hitNormal = hitData[1][4];
-            const hitTriangle = hitData[1][5];
-            result.setHitData({ x: hitNormal[0], y: hitNormal[1], z: hitNormal[2] }, { x: hitPos[0], y: hitPos[1], z: hitPos[2] }, hitTriangle);
+            const [, hitData] = this._hknp.HP_QueryCollector_GetCastRayResult(this._queryCollector, 0)[1];
+            this._populateHitData(hitData, result);
             result.calculateHitDistance();
-            const hitBody = this._bodies.get(hitData[1][0][0]);
-            result.body = hitBody === null || hitBody === void 0 ? void 0 : hitBody.body;
-            result.bodyIndex = hitBody === null || hitBody === void 0 ? void 0 : hitBody.index;
+        }
+    }
+    /**
+     * Given a point, returns the closest physics
+     * body to that point.
+     * @param query the query to perform. @see IPhysicsPointProximityQuery
+     * @param result contact point on the hit shape, in world space
+     */
+    pointProximity(query, result) {
+        var _a, _b, _c, _d;
+        const queryMembership = (_b = (_a = query === null || query === void 0 ? void 0 : query.collisionFilter) === null || _a === void 0 ? void 0 : _a.membership) !== null && _b !== void 0 ? _b : ~0;
+        const queryCollideWith = (_d = (_c = query === null || query === void 0 ? void 0 : query.collisionFilter) === null || _c === void 0 ? void 0 : _c.collideWith) !== null && _d !== void 0 ? _d : ~0;
+        result.reset();
+        const bodyToIgnore = query.ignoreBody ? [BigInt(query.ignoreBody._pluginData.hpBodyId[0])] : [BigInt(0)];
+        const hkQuery = [this._bVecToV3(query.position), query.maxDistance, [queryMembership, queryCollideWith], query.shouldHitTriggers, bodyToIgnore];
+        this._hknp.HP_World_PointProximityWithCollector(this.world, this._queryCollector, hkQuery);
+        if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
+            const [distance, hitData] = this._hknp.HP_QueryCollector_GetPointProximityResult(this._queryCollector, 0)[1];
+            this._populateHitData(hitData, result);
+            result.setHitDistance(distance);
+        }
+    }
+    /**
+     * Given a shape in a specific position and orientation, returns the closest point to that shape.
+     * @param query the query to perform. @see IPhysicsShapeProximityCastQuery
+     * @param inputShapeResult contact point on input shape, in input shape space
+     * @param hitShapeResult contact point on hit shape, in world space
+     */
+    shapeProximity(query, inputShapeResult, hitShapeResult) {
+        inputShapeResult.reset();
+        hitShapeResult.reset();
+        const shapeId = query.shape._pluginData;
+        const bodyToIgnore = query.ignoreBody ? [BigInt(query.ignoreBody._pluginData.hpBodyId[0])] : [BigInt(0)];
+        const hkQuery = [shapeId, this._bVecToV3(query.position), this._bQuatToV4(query.rotation), query.maxDistance, query.shouldHitTriggers, bodyToIgnore];
+        this._hknp.HP_World_ShapeProximityWithCollector(this.world, this._queryCollector, hkQuery);
+        if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
+            const [distance, hitInputData, hitShapeData] = this._hknp.HP_QueryCollector_GetShapeProximityResult(this._queryCollector, 0)[1];
+            this._populateHitData(hitInputData, inputShapeResult);
+            this._populateHitData(hitShapeData, hitShapeResult);
+            inputShapeResult.setHitDistance(distance);
+            hitShapeResult.setHitDistance(distance);
+        }
+    }
+    /**
+     * Given a shape in a specific orientation, cast it from the start to end position specified by the query, and return the first hit.
+     * @param query the query to perform. @see IPhysicsShapeCastQuery
+     * @param inputShapeResult contact point on input shape, in input shape space
+     * @param hitShapeResult contact point on hit shape, in world space
+     */
+    shapeCast(query, inputShapeResult, hitShapeResult) {
+        inputShapeResult.reset();
+        hitShapeResult.reset();
+        const shapeId = query.shape._pluginData;
+        const bodyToIgnore = query.ignoreBody ? [BigInt(query.ignoreBody._pluginData.hpBodyId[0])] : [BigInt(0)];
+        const hkQuery = [shapeId, this._bQuatToV4(query.rotation), this._bVecToV3(query.startPosition), this._bVecToV3(query.endPosition), query.shouldHitTriggers, bodyToIgnore];
+        this._hknp.HP_World_ShapeCastWithCollector(this.world, this._queryCollector, hkQuery);
+        if (this._hknp.HP_QueryCollector_GetNumHits(this._queryCollector)[1] > 0) {
+            const [fractionAlongRay, hitInputData, hitShapeData] = this._hknp.HP_QueryCollector_GetShapeCastResult(this._queryCollector, 0)[1];
+            this._populateHitData(hitInputData, inputShapeResult);
+            this._populateHitData(hitShapeData, hitShapeResult);
+            inputShapeResult.setHitFraction(fractionAlongRay);
+            hitShapeResult.setHitFraction(fractionAlongRay);
         }
     }
     /**