@babylonjs/core 6.40.0 → 6.41.1

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();
@@ -373,8 +374,7 @@ export class HavokPlugin {
      * world.
      */
     initBodyInstances(body, motionType, mesh) {
-        var _a, _b;
-        const instancesCount = (_b = (_a = mesh._thinInstanceDataStorage) === null || _a === void 0 ? void 0 : _a.instancesCount) !== null && _b !== void 0 ? _b : 0;
+        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;
         const matrixData = mesh._thinInstanceDataStorage.matrixData;
         if (!matrixData) {
             return; // TODO: error handling
@@ -422,8 +422,7 @@ export class HavokPlugin {
      * @param mesh the mesh with reference instances
      */
     updateBodyInstances(body, mesh) {
-        var _a, _b;
-        const instancesCount = (_b = (_a = mesh._thinInstanceDataStorage) === null || _a === void 0 ? void 0 : _a.instancesCount) !== null && _b !== void 0 ? _b : 0;
+        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;
         const matrixData = mesh._thinInstanceDataStorage.matrixData;
         if (!matrixData) {
             return; // TODO: error handling
@@ -475,7 +474,6 @@ export class HavokPlugin {
      * physical behavior of the body.
      */
     syncTransform(body, transformNode) {
-        var _a;
         if (body._pluginDataInstances.length) {
             // instances
             const m = transformNode;
@@ -519,7 +517,7 @@ export class HavokPlugin {
                     const localTransform = TmpVectors.Matrix[2];
                     finalTransform.multiplyToRef(parentInverseTransform, localTransform);
                     localTransform.decomposeToTransformNode(transformNode);
-                    (_a = transformNode.rotationQuaternion) === null || _a === void 0 ? void 0 : _a.normalize();
+                    transformNode.rotationQuaternion?.normalize();
                 }
                 else {
                     transformNode.position.set(bodyTranslation[0], bodyTranslation[1], bodyTranslation[2]);
@@ -548,15 +546,14 @@ export class HavokPlugin {
      * will set the shape for each instance of the mesh.
      */
     setShape(body, shape) {
-        var _a, _b, _c;
         const shapeHandle = shape && shape._pluginData ? shape._pluginData : BigInt(0);
-        if (!(body.transformNode instanceof Mesh) || !((_a = body.transformNode._thinInstanceDataStorage) === null || _a === void 0 ? void 0 : _a.matrixData)) {
+        if (!(body.transformNode instanceof Mesh) || !body.transformNode._thinInstanceDataStorage?.matrixData) {
             this._hknp.HP_Body_SetShape(body._pluginData.hpBodyId, shapeHandle);
             this._internalUpdateMassProperties(body._pluginData);
             return;
         }
         const m = body.transformNode;
-        const instancesCount = (_c = (_b = m._thinInstanceDataStorage) === null || _b === void 0 ? void 0 : _b.instancesCount) !== null && _c !== void 0 ? _c : 0;
+        const instancesCount = m._thinInstanceDataStorage?.instancesCount ?? 0;
         for (let i = 0; i < instancesCount; i++) {
             this._hknp.HP_Body_SetShape(body._pluginDataInstances[i].hpBodyId, shapeHandle);
             this._internalUpdateMassProperties(body._pluginDataInstances[i]);
@@ -569,8 +566,7 @@ export class HavokPlugin {
      * @returns a reference to the first instance
      */
     _getPluginReference(body, instanceIndex) {
-        var _a;
-        return ((_a = body._pluginDataInstances) === null || _a === void 0 ? void 0 : _a.length) ? body._pluginDataInstances[instanceIndex !== null && instanceIndex !== void 0 ? instanceIndex : 0] : body._pluginData;
+        return body._pluginDataInstances?.length ? body._pluginDataInstances[instanceIndex ?? 0] : body._pluginData;
     }
     /**
      * Gets the shape of a physics body. This will create a new shape object
@@ -838,8 +834,7 @@ export class HavokPlugin {
      * Apply an operation either to all instances of a body, if instanceIndex is not specified, or to a specific instance.
      */
     _applyToBodyOrInstances(body, fnToApply, instanceIndex) {
-        var _a;
-        if (((_a = body._pluginDataInstances) === null || _a === void 0 ? void 0 : _a.length) > 0 && instanceIndex === undefined) {
+        if (body._pluginDataInstances?.length > 0 && instanceIndex === undefined) {
             for (let i = 0; i < body._pluginDataInstances.length; i++) {
                 fnToApply(body._pluginDataInstances[i]);
             }
@@ -1046,7 +1041,7 @@ export class HavokPlugin {
                     if (mesh) {
                         const includeChildMeshes = !!options.includeChildMeshes;
                         const needIndices = type != PhysicsShapeType.CONVEX_HULL;
-                        const accum = new MeshAccumulator(mesh, needIndices, mesh === null || mesh === void 0 ? void 0 : mesh.getScene());
+                        const accum = new MeshAccumulator(mesh, needIndices, mesh?.getScene());
                         accum.addNodeMeshes(mesh, includeChildMeshes);
                         const positions = accum.getVertices(this._hknp);
                         const numVec3s = positions.numObjects / 3;
@@ -1066,10 +1061,35 @@ export class HavokPlugin {
                     }
                 }
                 break;
+            case PhysicsShapeType.HEIGHTFIELD:
+                {
+                    if (options.numHeightFieldSamplesX && options.numHeightFieldSamplesZ && options.heightFieldSizeX && options.heightFieldSizeZ && options.heightFieldData) {
+                        const totalNumHeights = options.numHeightFieldSamplesX * options.numHeightFieldSamplesZ;
+                        const numBytes = totalNumHeights * 4;
+                        const bufferBegin = this._hknp._malloc(numBytes);
+                        const heightBuffer = new Float32Array(this._hknp.HEAPU8.buffer, bufferBegin, totalNumHeights);
+                        for (let x = 0; x < options.numHeightFieldSamplesX; x++) {
+                            for (let z = 0; z < options.numHeightFieldSamplesZ; z++) {
+                                const hkBufferIndex = z * options.numHeightFieldSamplesX + x;
+                                const bjsBufferIndex = (options.numHeightFieldSamplesX - 1 - x) * options.numHeightFieldSamplesZ + z;
+                                heightBuffer[hkBufferIndex] = options.heightFieldData[bjsBufferIndex];
+                            }
+                        }
+                        const scaleX = options.heightFieldSizeX / (options.numHeightFieldSamplesX - 1);
+                        const scaleZ = options.heightFieldSizeZ / (options.numHeightFieldSamplesZ - 1);
+                        shape._pluginData = this._hknp.HP_Shape_CreateHeightField(options.numHeightFieldSamplesX, options.numHeightFieldSamplesZ, [scaleX, 1, scaleZ], bufferBegin)[1];
+                        this._hknp._free(bufferBegin);
+                    }
+                    else {
+                        throw new Error("Missing required heightfield parameters");
+                    }
+                }
+                break;
             default:
                 throw new Error("Unsupported Shape Type.");
                 break;
         }
+        this._shapes.set(shape._pluginData[0], shape);
     }
     /**
      * Sets the shape filter membership mask of a body
@@ -1112,12 +1132,11 @@ export class HavokPlugin {
      *
      */
     setMaterial(shape, material) {
-        var _a, _b, _c, _d, _e;
-        const dynamicFriction = (_a = material.friction) !== null && _a !== void 0 ? _a : 0.5;
-        const staticFriction = (_b = material.staticFriction) !== null && _b !== void 0 ? _b : dynamicFriction;
-        const restitution = (_c = material.restitution) !== null && _c !== void 0 ? _c : 0.0;
-        const frictionCombine = (_d = material.frictionCombine) !== null && _d !== void 0 ? _d : PhysicsMaterialCombineMode.MINIMUM;
-        const restitutionCombine = (_e = material.restitutionCombine) !== null && _e !== void 0 ? _e : PhysicsMaterialCombineMode.MAXIMUM;
+        const dynamicFriction = material.friction ?? 0.5;
+        const staticFriction = material.staticFriction ?? dynamicFriction;
+        const restitution = material.restitution ?? 0.0;
+        const frictionCombine = material.frictionCombine ?? PhysicsMaterialCombineMode.MINIMUM;
+        const restitutionCombine = material.restitutionCombine ?? PhysicsMaterialCombineMode.MAXIMUM;
         const hpMaterial = [staticFriction, dynamicFriction, restitution, this._materialCombineToNative(frictionCombine), this._materialCombineToNative(restitutionCombine)];
         this._hknp.HP_Shape_SetMaterial(shape._pluginData, hpMaterial);
     }
@@ -1244,8 +1263,7 @@ export class HavokPlugin {
      *
      */
     getBodyGeometry(body) {
-        var _a;
-        const dataInfo = ((_a = body._pluginDataInstances) === null || _a === void 0 ? void 0 : _a.length) > 0 ? body._pluginDataInstances[0] : body._pluginData;
+        const dataInfo = body._pluginDataInstances?.length > 0 ? body._pluginDataInstances[0] : body._pluginData;
         const shape = this._hknp.HP_Body_GetShape(dataInfo.hpBodyId)[1];
         const geometryRes = this._hknp.HP_Shape_CreateDebugDisplayGeometry(shape);
         if (geometryRes[0] != this._hknp.Result.RESULT_OK) {
@@ -1285,7 +1303,6 @@ export class HavokPlugin {
      * This function is useful for setting up a physics constraint in a physics engine.
      */
     initConstraint(constraint, body, childBody, instanceIndex, childInstanceIndex) {
-        var _a, _b, _c, _d, _e;
         const type = constraint.type;
         const options = constraint.options;
         if (!type || !options) {
@@ -1296,7 +1313,7 @@ export class HavokPlugin {
             Logger.Warn("Body is instanced but no instance index was specified. Constraint will not be applied.");
             return;
         }
-        constraint._pluginData = (_a = constraint._pluginData) !== null && _a !== void 0 ? _a : [];
+        constraint._pluginData = constraint._pluginData ?? [];
         const jointId = this._hknp.HP_Constraint_Create()[1];
         constraint._pluginData.push(jointId);
         // body parenting
@@ -1307,7 +1324,7 @@ export class HavokPlugin {
         this._constraintToBodyIdPair.set(jointId[0], [bodyA[0], bodyB[0]]);
         // anchors
         const pivotA = options.pivotA ? this._bVecToV3(options.pivotA) : this._bVecToV3(Vector3.Zero());
-        const axisA = (_b = options.axisA) !== null && _b !== void 0 ? _b : new Vector3(1, 0, 0);
+        const axisA = options.axisA ?? new Vector3(1, 0, 0);
         const perpAxisA = this._tmpVec3[0];
         if (options.perpAxisA) {
             perpAxisA.copyFrom(options.perpAxisA);
@@ -1317,7 +1334,7 @@ export class HavokPlugin {
         }
         this._hknp.HP_Constraint_SetAnchorInParent(jointId, pivotA, this._bVecToV3(axisA), this._bVecToV3(perpAxisA));
         const pivotB = options.pivotB ? this._bVecToV3(options.pivotB) : this._bVecToV3(Vector3.Zero());
-        const axisB = (_c = options.axisB) !== null && _c !== void 0 ? _c : new Vector3(1, 0, 0);
+        const axisB = options.axisB ?? new Vector3(1, 0, 0);
         const perpAxisB = this._tmpVec3[0];
         if (options.perpAxisB) {
             perpAxisB.copyFrom(options.perpAxisB);
@@ -1382,7 +1399,7 @@ export class HavokPlugin {
             const sixdofData = constraint;
             for (const l of sixdofData.limits) {
                 const axId = this._constraintAxisToNative(l.axis);
-                if (((_d = l.minLimit) !== null && _d !== void 0 ? _d : -1) == 0 && ((_e = l.maxLimit) !== null && _e !== void 0 ? _e : -1) == 0) {
+                if ((l.minLimit ?? -1) == 0 && (l.maxLimit ?? -1) == 0) {
                     this._hknp.HP_Constraint_SetAxisMode(jointId, axId, this._hknp.ConstraintAxisLimitMode.LOCKED);
                 }
                 else {
@@ -1694,6 +1711,17 @@ export class HavokPlugin {
         }
         constraint._pluginData.length = 0;
     }
+    _populateHitData(hitData, result) {
+        const hitBody = this._bodies.get(hitData[0][0]);
+        result.body = hitBody?.body;
+        result.bodyIndex = 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.
      *
@@ -1706,24 +1734,78 @@ export class HavokPlugin {
      * It then performs the raycast and stores the hit data in the PhysicsRaycastResult object.
      */
     raycast(from, to, result, query) {
-        var _a, _b;
-        const queryMembership = (_a = query === null || query === void 0 ? void 0 : query.membership) !== null && _a !== void 0 ? _a : ~0;
-        const queryCollideWith = (_b = query === null || query === void 0 ? void 0 : query.collideWith) !== null && _b !== void 0 ? _b : ~0;
+        const queryMembership = query?.membership ?? ~0;
+        const queryCollideWith = query?.collideWith ?? ~0;
         result.reset(from, to);
         const shouldHitTriggers = false;
         const bodyToIgnore = [BigInt(0)];
         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) {
+        const queryMembership = query?.collisionFilter?.membership ?? ~0;
+        const queryCollideWith = query?.collisionFilter?.collideWith ?? ~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);
         }
     }
     /**