@babylonjs/core 6.46.0 → 6.47.0

package/Physics/v2/ragdoll.js

@@ -1,9 +1,8 @@
-import { Vector3, Matrix, TmpVectors } from "../../Maths/math.vector.js";
-import { Quaternion } from "../../Maths/math.vector.js";
+import { Vector3, Matrix, TmpVectors, Quaternion } from "../../Maths/math.vector.js";
 import { PhysicsAggregate } from "./physicsAggregate.js";
-import { BallAndSocketConstraint } from "./physicsConstraint.js";
+import { PhysicsConstraint } from "./physicsConstraint.js";
 import { Axis, Space } from "../../Maths/math.axis.js";
-import { PhysicsShapeType, PhysicsConstraintType } from "./IPhysicsEnginePlugin.js";
+import { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType } from "./IPhysicsEnginePlugin.js";
 import { Logger } from "../../Misc/logger.js";
 import { TransformNode } from "../../Meshes/transformNode.js";
 /**
@@ -20,13 +19,16 @@ export class Ragdoll {
     /**
      * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method
      * @param skeleton The skeleton containing bones to be physicalized
-     * @param mesh The mesh used by the skeleton
+     * @param rootTransformNode The mesh or its transform used by the skeleton
      * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies
      */
-    constructor(skeleton, mesh, config) {
+    constructor(skeleton, rootTransformNode, config) {
         this._boxConfigs = new Array();
+        this._joints = new Array();
         this._bones = new Array();
         this._initialRotation = new Array();
+        // without mesh transform, to figure out later
+        this._initialRotation2 = new Array();
         this._boneNames = [];
         this._transforms = new Array();
         this._aggregates = new Array();
@@ -44,15 +46,28 @@ export class Ragdoll {
         this._defaultJointMax = 90;
         this._skeleton = skeleton;
         this._scene = skeleton.getScene();
-        this._mesh = mesh;
+        this._rootTransformNode = rootTransformNode;
         this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.
         this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).
         this._putBoxesInBoneCenter = false;
         this._defaultJoint = PhysicsConstraintType.HINGE;
-        this._boneOffsetAxis = Axis.Y;
+        this._init();
+    }
+    /**
+     * Returns the aggregate corresponding to the ragdoll bone index
+     * @param index ragdoll bone aggregate index
+     * @returns the aggregate for the bone index for the root aggregate if index is invalid
+     */
+    getAggregate(index) {
+        if (index < 0 || index >= this._aggregates.length) {
+            return this._aggregates[this._rootBoneIndex];
+        }
+        return this._aggregates[index];
     }
     _createColliders() {
-        this._mesh.computeWorldMatrix();
+        this._rootTransformNode.computeWorldMatrix();
+        this._skeleton.computeAbsoluteMatrices(true);
+        this._skeleton.prepare(true);
         const config = this._config;
         for (let i = 0; i < config.length; i++) {
             const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;
@@ -90,10 +105,10 @@ export class Ragdoll {
                 }
                 currentRagdollBoneProperties.boxOffset = boxOffset;
                 // Offset axis.
-                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : this._boneOffsetAxis;
-                const boneDir = currentBone.getDirection(boneOffsetAxis, this._mesh);
+                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;
+                const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);
                 currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;
-                transform.position = currentBone.getAbsolutePosition(this._mesh).add(boneDir.scale(boxOffset));
+                transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));
                 const mass = config[i].mass !== undefined ? config[i].mass : this._mass;
                 const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;
                 const aggregate = new PhysicsAggregate(transform, PhysicsShapeType.BOX, {
@@ -104,17 +119,19 @@ export class Ragdoll {
                 }, this._scene);
                 aggregate.body.setCollisionCallbackEnabled(true);
                 aggregate.body.disablePreStep = false;
+                aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);
                 this._aggregates.push(aggregate);
                 this._bones.push(currentBone);
                 this._boneNames.push(currentBone.name);
                 this._transforms.push(transform);
                 this._boxConfigs.push(currentRagdollBoneProperties);
-                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD));
+                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._rootTransformNode));
+                this._initialRotation2.push(currentBone.getRotationQuaternion(Space.WORLD));
             }
         }
     }
     _initJoints() {
-        this._mesh.computeWorldMatrix();
+        this._rootTransformNode.computeWorldMatrix();
         for (let i = 0; i < this._bones.length; i++) {
             // The root bone has no joints.
             if (i == this._rootBoneIndex)
@@ -125,48 +142,76 @@ export class Ragdoll {
                 return;
             }
             const boneParentIndex = this._boneNames.indexOf(nearestParent.name);
-            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._mesh).subtract(this._transforms[boneParentIndex].position);
+            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._rootTransformNode).subtract(this._transforms[boneParentIndex].position);
             const wmat = this._transforms[boneParentIndex].computeWorldMatrix();
             const invertedWorldMat = Matrix.Invert(wmat);
-            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._mesh), invertedWorldMat);
-            const boneAbsPos = this._bones[i].getAbsolutePosition(this._mesh);
+            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._rootTransformNode), invertedWorldMat);
+            const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);
             const boxAbsPos = this._transforms[i].position.clone();
             const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);
-            const joint = new BallAndSocketConstraint(distanceFromParentBoxToBone, myConnectedPivot, this._boxConfigs[i].rotationAxis, this._boxConfigs[i].rotationAxis, this._scene);
+            const joint = new PhysicsConstraint(PhysicsConstraintType.BALL_AND_SOCKET, {
+                pivotA: distanceFromParentBoxToBone,
+                pivotB: myConnectedPivot,
+                axisA: this._boxConfigs[i].rotationAxis,
+                axisB: this._boxConfigs[i].rotationAxis,
+                collision: false,
+            }, this._scene);
             this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);
+            joint.isEnabled = false;
+            this._joints.push(joint);
         }
     }
+    // set physics body orientation/position from bones
+    _syncBonesToPhysics() {
+        const rootMatrix = this._rootTransformNode.getWorldMatrix();
+        for (let i = 0; i < this._bones.length; i++) {
+            // position
+            const transform = this._aggregates[i].transformNode;
+            const rootPos = this._bones[i].getAbsolutePosition();
+            Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);
+            // added offset
+            this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis, this._rootTransformNode, TmpVectors.Vector3[0]);
+            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[i].boxOffset ?? 0);
+            transform.position.addInPlace(TmpVectors.Vector3[0]);
+            this._setBoneOrientationToBody(i);
+        }
+    }
+    _setBoneOrientationToBody(boneIndex) {
+        const transform = this._aggregates[boneIndex].transformNode;
+        const bone = this._bones[boneIndex];
+        this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);
+        bone.getRotationQuaternionToRef(Space.WORLD, this._rootTransformNode, TmpVectors.Quaternion[1]);
+        TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion);
+        transform.rotationQuaternion.normalize();
+    }
     _syncBonesAndBoxes() {
         if (this.pauseSync) {
             return;
         }
         if (this._ragdollMode) {
-            this._bones[this._rootBoneIndex].getDirectionToRef(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis, this._mesh, TmpVectors.Vector3[0]);
-            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[this._rootBoneIndex].boxOffset);
-            this._bones[this._rootBoneIndex].getAbsolutePositionToRef(this._mesh, TmpVectors.Vector3[1]);
-            TmpVectors.Vector3[1].addInPlace(TmpVectors.Vector3[0]);
-            this._bones[this._rootBoneIndex].setAbsolutePosition(this._transforms[this._rootBoneIndex].position, this._mesh);
-            this._addImpostorRotationToBone(this._rootBoneIndex);
+            this._setBodyOrientationToBone(this._rootBoneIndex);
             const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;
-            // Move the mesh, to guarantee alignment between root bone and impostor box position
-            TmpVectors.Vector3[1].subtractToRef(rootPos, TmpVectors.Vector3[0]);
-            this._mesh.position.subtractToRef(TmpVectors.Vector3[0], this._mesh.position);
+            this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);
+            Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);
+            this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);
             for (let i = 0; i < this._bones.length; i++) {
                 if (i == this._rootBoneIndex)
                     continue;
-                this._addImpostorRotationToBone(i);
+                this._setBodyOrientationToBone(i);
             }
         }
+        else {
+            this._syncBonesToPhysics();
+        }
     }
-    _addImpostorRotationToBone(boneIndex) {
-        const qmesh = this._mesh.rotationQuaternion ?? Quaternion.FromEulerAngles(this._mesh.rotation.x, this._mesh.rotation.y, this._mesh.rotation.z);
-        const qbind = this._initialRotation[boneIndex];
+    _setBodyOrientationToBone(boneIndex) {
+        const qmesh = this._rootTransformNode.rotationQuaternion ??
+            Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);
+        const qbind = this._initialRotation2[boneIndex];
         const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion;
-        // TmpVectors.Quaternion[1] = mesh.rotation * this._initialRotation[boneIndex]
-        // TmpVectors.Quaternion[0] = body.rotation *  TmpVectors.Quaternion[1]
         qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);
         qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);
-        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._mesh);
+        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._rootTransformNode);
     }
     // Return true if root bone is valid/exists in this.bonesNames. false otherwise.
     _defineRootBone() {
@@ -194,12 +239,8 @@ export class Ragdoll {
         return nearestParent;
     }
     _init() {
-        // detach bones with link transform to let physics have control
-        this._skeleton.bones.forEach((bone) => {
-            bone.linkTransformNode(null);
-        });
         this._createColliders();
-        // If this.defineRootBone() returns false... there is not root bone.
+        // If this.defineRootBone() returns ... there is not root bone.
         if (!this._defineRootBone()) {
             return;
         }
@@ -207,14 +248,22 @@ export class Ragdoll {
         this._scene.registerBeforeRender(() => {
             this._syncBonesAndBoxes();
         });
+        this._syncBonesToPhysics();
     }
     /**
      * Enable ragdoll mode. Create physics objects and make them dynamic.
      */
     ragdoll() {
-        if (!this._ragdollMode) {
-            this._ragdollMode = true;
-            this._init();
+        this._ragdollMode = true;
+        // detach bones with link transform to let physics have control
+        this._skeleton.bones.forEach((bone) => {
+            bone.linkTransformNode(null);
+        });
+        for (let i = 0; i < this._joints.length; i++) {
+            this._joints[i].isEnabled = true;
+        }
+        for (let i = 0; i < this._aggregates.length; i++) {
+            this._aggregates[i].body.setMotionType(PhysicsMotionType.DYNAMIC);
         }
     }
     /**

package/Physics/v2/ragdoll.js.map

@@ -1 +1 @@
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type { Skeleton } from \"../../Bones/skeleton\";\r\nimport { Vector3, Matrix, TmpVectors } from \"../../Maths/math.vector\";\r\nimport { Quaternion } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport { PhysicsAggregate } from \"./physicsAggregate\";\r\nimport { BallAndSocketConstraint } from \"./physicsConstraint\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport { Axis, Space } from \"core/Maths/math.axis\";\r\nimport { PhysicsShapeType, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { TransformNode } from \"../../Meshes/transformNode\";\r\n\r\n/**\r\n * Ragdoll bone properties\r\n * @experimental\r\n */\r\nexport class RagdollBoneProperties {\r\n    /**\r\n     * Width of the box shape\r\n     */\r\n    width?: number;\r\n    /**\r\n     * depth of the box shape\r\n     */\r\n    depth?: number;\r\n    /**\r\n     * height of the box shape\r\n     */\r\n    height?: number;\r\n    /**\r\n     * size that will be used of width, depth and height of the shape box\r\n     */\r\n    size?: number;\r\n    /**\r\n     * Type of Physics Constraint used between bones\r\n     */\r\n    joint?: number | undefined;\r\n    /**\r\n     * Main rotation axis used by the constraint, in local space\r\n     */\r\n    rotationAxis?: Vector3;\r\n    /**\r\n     * Minimum rotation angle value\r\n     */\r\n    min?: number;\r\n    /**\r\n     * Maximum rotation angle value\r\n     */\r\n    max?: number;\r\n    /**\r\n     * Offset along local axis\r\n     */\r\n    boxOffset?: number;\r\n    /**\r\n     * Axis that need an offset\r\n     */\r\n    boneOffsetAxis?: Vector3;\r\n}\r\n\r\n/**\r\n * Ragdoll for Physics V2\r\n * @experimental\r\n */\r\nexport class Ragdoll {\r\n    private _skeleton: Skeleton;\r\n    private _scene: Scene;\r\n    private _mesh: Mesh;\r\n    private _config: any;\r\n    private _boxConfigs: Array<RagdollBoneProperties> = new Array<RagdollBoneProperties>();\r\n\r\n    private _bones: Array<Bone> = new Array<Bone>();\r\n    private _initialRotation: Array<Quaternion> = new Array<Quaternion>();\r\n    private _boneNames: string[] = [];\r\n    private _transforms: Array<TransformNode> = new Array<TransformNode>();\r\n    private _aggregates: Array<PhysicsAggregate> = new Array<PhysicsAggregate>();\r\n    private _ragdollMode: boolean = false;\r\n    private _rootBoneName: string = \"\";\r\n    private _rootBoneIndex: number = -1;\r\n    private _mass: number = 10;\r\n    private _restitution: number = 0;\r\n\r\n    /**\r\n     * Pause synchronization between physics and bone position/orientation\r\n     */\r\n    public pauseSync: boolean = false;\r\n\r\n    private _putBoxesInBoneCenter: boolean;\r\n    private _defaultJoint: number = PhysicsConstraintType.HINGE;\r\n    private _defaultJointMin: number = -90;\r\n    private _defaultJointMax: number = 90;\r\n\r\n    private _boneOffsetAxis: Vector3;\r\n\r\n    /**\r\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\r\n     * @param skeleton The skeleton containing bones to be physicalized\r\n     * @param mesh The mesh used by the skeleton\r\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\r\n     */\r\n    constructor(skeleton: Skeleton, mesh: Mesh, config: RagdollBoneProperties[]) {\r\n        this._skeleton = skeleton;\r\n        this._scene = skeleton.getScene();\r\n        this._mesh = mesh;\r\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\r\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\r\n        this._putBoxesInBoneCenter = false;\r\n        this._defaultJoint = PhysicsConstraintType.HINGE;\r\n        this._boneOffsetAxis = Axis.Y;\r\n    }\r\n\r\n    private _createColliders(): void {\r\n        this._mesh.computeWorldMatrix();\r\n\r\n        const config = this._config;\r\n        for (let i = 0; i < config.length; i++) {\r\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\r\n\r\n            for (let ii = 0; ii < boneNames.length; ii++) {\r\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\r\n                if (currentBone == undefined) {\r\n                    return;\r\n                }\r\n\r\n                // First define the box dimensions, so we can then use them when calling CreateBox().\r\n                const currentRagdollBoneProperties: RagdollBoneProperties = {\r\n                    width: this._config[i].width,\r\n                    depth: this._config[i].depth,\r\n                    height: this._config[i].height,\r\n                    size: this._config[i].size,\r\n                };\r\n\r\n                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\r\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\r\n\r\n                // Define the rest of the box properties.\r\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\r\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\r\n                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\r\n                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\r\n\r\n                // Offset value.\r\n                let boxOffset = 0;\r\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\r\n                    if (currentBone.length === undefined) {\r\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\r\n                    }\r\n                    boxOffset = currentBone.length / 2;\r\n                } else if (config[i].boxOffset !== undefined) {\r\n                    boxOffset = config[i].boxOffset;\r\n                }\r\n                currentRagdollBoneProperties.boxOffset = boxOffset;\r\n\r\n                // Offset axis.\r\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : this._boneOffsetAxis;\r\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._mesh);\r\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\r\n\r\n                transform.position = currentBone.getAbsolutePosition(this._mesh).add(boneDir.scale(boxOffset));\r\n\r\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\r\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\r\n                const aggregate = new PhysicsAggregate(\r\n                    transform,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                        extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\r\n                    },\r\n                    this._scene\r\n                );\r\n                aggregate.body.setCollisionCallbackEnabled(true);\r\n                aggregate.body.disablePreStep = false;\r\n                this._aggregates.push(aggregate);\r\n                this._bones.push(currentBone);\r\n                this._boneNames.push(currentBone.name);\r\n                this._transforms.push(transform);\r\n                this._boxConfigs.push(currentRagdollBoneProperties);\r\n                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD));\r\n            }\r\n        }\r\n    }\r\n\r\n    private _initJoints(): void {\r\n        this._mesh.computeWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // The root bone has no joints.\r\n            if (i == this._rootBoneIndex) continue;\r\n\r\n            const nearestParent = this._findNearestParent(i);\r\n\r\n            if (nearestParent == null) {\r\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\r\n                return;\r\n            }\r\n\r\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\r\n\r\n            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._mesh).subtract(this._transforms[boneParentIndex].position);\r\n\r\n            const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\r\n            const invertedWorldMat = Matrix.Invert(wmat);\r\n            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._mesh), invertedWorldMat);\r\n\r\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._mesh);\r\n            const boxAbsPos = this._transforms[i].position.clone();\r\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\r\n\r\n            const joint = new BallAndSocketConstraint(\r\n                distanceFromParentBoxToBone,\r\n                myConnectedPivot,\r\n                this._boxConfigs[i].rotationAxis!,\r\n                this._boxConfigs[i].rotationAxis!,\r\n                this._scene\r\n            );\r\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);\r\n        }\r\n    }\r\n\r\n    private _syncBonesAndBoxes(): void {\r\n        if (this.pauseSync) {\r\n            return;\r\n        }\r\n\r\n        if (this._ragdollMode) {\r\n            this._bones[this._rootBoneIndex].getDirectionToRef(this._boxConfigs[this._rootBoneIndex].boneOffsetAxis!, this._mesh, TmpVectors.Vector3[0]);\r\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[this._rootBoneIndex].boxOffset!);\r\n            this._bones[this._rootBoneIndex].getAbsolutePositionToRef(this._mesh, TmpVectors.Vector3[1]);\r\n            TmpVectors.Vector3[1].addInPlace(TmpVectors.Vector3[0]);\r\n\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(this._transforms[this._rootBoneIndex].position, this._mesh);\r\n            this._addImpostorRotationToBone(this._rootBoneIndex);\r\n\r\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\r\n\r\n            // Move the mesh, to guarantee alignment between root bone and impostor box position\r\n            TmpVectors.Vector3[1].subtractToRef(rootPos, TmpVectors.Vector3[0]);\r\n            this._mesh.position.subtractToRef(TmpVectors.Vector3[0], this._mesh.position);\r\n\r\n            for (let i = 0; i < this._bones.length; i++) {\r\n                if (i == this._rootBoneIndex) continue;\r\n                this._addImpostorRotationToBone(i);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _addImpostorRotationToBone(boneIndex: number): void {\r\n        const qmesh = this._mesh.rotationQuaternion ?? Quaternion.FromEulerAngles(this._mesh.rotation.x, this._mesh.rotation.y, this._mesh.rotation.z);\r\n        const qbind = this._initialRotation[boneIndex];\r\n        const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion!;\r\n\r\n        // TmpVectors.Quaternion[1] = mesh.rotation * this._initialRotation[boneIndex]\r\n        // TmpVectors.Quaternion[0] = body.rotation *  TmpVectors.Quaternion[1]\r\n        qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\r\n        qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\r\n\r\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._mesh);\r\n    }\r\n\r\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\r\n    private _defineRootBone(): boolean {\r\n        const skeletonRoots = this._skeleton.getChildren();\r\n        if (skeletonRoots.length != 1) {\r\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\r\n            return false;\r\n        }\r\n\r\n        this._rootBoneName = skeletonRoots[0].name;\r\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\r\n        if (this._rootBoneIndex == -1) {\r\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private _findNearestParent(boneIndex: number): any {\r\n        let nearestParent: Nullable<Bone> | undefined = this._bones[boneIndex].getParent();\r\n        do {\r\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\r\n                break;\r\n            }\r\n\r\n            nearestParent = nearestParent?.getParent();\r\n        } while (nearestParent != null);\r\n\r\n        return nearestParent;\r\n    }\r\n\r\n    private _init() {\r\n        // detach bones with link transform to let physics have control\r\n        this._skeleton.bones.forEach((bone) => {\r\n            bone.linkTransformNode(null);\r\n        });\r\n\r\n        this._createColliders();\r\n\r\n        // If this.defineRootBone() returns false... there is not root bone.\r\n        if (!this._defineRootBone()) {\r\n            return;\r\n        }\r\n\r\n        this._initJoints();\r\n        this._scene.registerBeforeRender(() => {\r\n            this._syncBonesAndBoxes();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\r\n     */\r\n    public ragdoll(): void {\r\n        if (!this._ragdollMode) {\r\n            this._ragdollMode = true;\r\n            this._init();\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Dispose resources and remove physics objects\r\n     */\r\n    dispose(): void {\r\n        this._aggregates.forEach((aggregate: PhysicsAggregate) => {\r\n            aggregate.dispose();\r\n        });\r\n    }\r\n}\r\n"]}
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type { Skeleton } from \"../../Bones/skeleton\";\r\nimport { Vector3, Matrix, TmpVectors, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport { PhysicsAggregate } from \"./physicsAggregate\";\r\nimport { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport { Axis, Space } from \"core/Maths/math.axis\";\r\nimport { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { TransformNode } from \"../../Meshes/transformNode\";\r\n\r\n/**\r\n * Ragdoll bone properties\r\n * @experimental\r\n */\r\nexport class RagdollBoneProperties {\r\n    /**\r\n     * Width of the box shape\r\n     */\r\n    width?: number;\r\n    /**\r\n     * depth of the box shape\r\n     */\r\n    depth?: number;\r\n    /**\r\n     * height of the box shape\r\n     */\r\n    height?: number;\r\n    /**\r\n     * size that will be used of width, depth and height of the shape box\r\n     */\r\n    size?: number;\r\n    /**\r\n     * Type of Physics Constraint used between bones\r\n     */\r\n    joint?: number | undefined;\r\n    /**\r\n     * Main rotation axis used by the constraint, in local space\r\n     */\r\n    rotationAxis?: Vector3;\r\n    /**\r\n     * Minimum rotation angle value\r\n     */\r\n    min?: number;\r\n    /**\r\n     * Maximum rotation angle value\r\n     */\r\n    max?: number;\r\n    /**\r\n     * Offset along local axis\r\n     */\r\n    boxOffset?: number;\r\n    /**\r\n     * Axis that need an offset\r\n     */\r\n    boneOffsetAxis?: Vector3;\r\n}\r\n\r\n/**\r\n * Ragdoll for Physics V2\r\n * @experimental\r\n */\r\nexport class Ragdoll {\r\n    private _skeleton: Skeleton;\r\n    private _scene: Scene;\r\n    private _rootTransformNode: Mesh | TransformNode;\r\n    private _config: any;\r\n    private _boxConfigs: Array<RagdollBoneProperties> = new Array<RagdollBoneProperties>();\r\n    private _joints: Array<PhysicsConstraint> = new Array<PhysicsConstraint>();\r\n    private _bones: Array<Bone> = new Array<Bone>();\r\n    private _initialRotation: Array<Quaternion> = new Array<Quaternion>();\r\n    // without mesh transform, to figure out later\r\n    private _initialRotation2: Array<Quaternion> = new Array<Quaternion>();\r\n    private _boneNames: string[] = [];\r\n    private _transforms: Array<TransformNode> = new Array<TransformNode>();\r\n    private _aggregates: Array<PhysicsAggregate> = new Array<PhysicsAggregate>();\r\n    private _ragdollMode: boolean = false;\r\n    private _rootBoneName: string = \"\";\r\n    private _rootBoneIndex: number = -1;\r\n    private _mass: number = 10;\r\n    private _restitution: number = 0;\r\n\r\n    /**\r\n     * Pause synchronization between physics and bone position/orientation\r\n     */\r\n    public pauseSync: boolean = false;\r\n\r\n    private _putBoxesInBoneCenter: boolean;\r\n    private _defaultJoint: number = PhysicsConstraintType.HINGE;\r\n    private _defaultJointMin: number = -90;\r\n    private _defaultJointMax: number = 90;\r\n\r\n    /**\r\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\r\n     * @param skeleton The skeleton containing bones to be physicalized\r\n     * @param rootTransformNode The mesh or its transform used by the skeleton\r\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\r\n     */\r\n    constructor(skeleton: Skeleton, rootTransformNode: Mesh | TransformNode, config: RagdollBoneProperties[]) {\r\n        this._skeleton = skeleton;\r\n        this._scene = skeleton.getScene();\r\n        this._rootTransformNode = rootTransformNode;\r\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\r\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\r\n        this._putBoxesInBoneCenter = false;\r\n        this._defaultJoint = PhysicsConstraintType.HINGE;\r\n\r\n        this._init();\r\n    }\r\n\r\n    /**\r\n     * Returns the aggregate corresponding to the ragdoll bone index\r\n     * @param index ragdoll bone aggregate index\r\n     * @returns the aggregate for the bone index for the root aggregate if index is invalid\r\n     */\r\n    public getAggregate(index: number): PhysicsAggregate {\r\n        if (index < 0 || index >= this._aggregates.length) {\r\n            return this._aggregates[this._rootBoneIndex];\r\n        }\r\n        return this._aggregates[index];\r\n    }\r\n\r\n    private _createColliders(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        this._skeleton.computeAbsoluteMatrices(true);\r\n        this._skeleton.prepare(true);\r\n\r\n        const config = this._config;\r\n        for (let i = 0; i < config.length; i++) {\r\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\r\n\r\n            for (let ii = 0; ii < boneNames.length; ii++) {\r\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\r\n                if (currentBone == undefined) {\r\n                    return;\r\n                }\r\n\r\n                // First define the box dimensions, so we can then use them when calling CreateBox().\r\n                const currentRagdollBoneProperties: RagdollBoneProperties = {\r\n                    width: this._config[i].width,\r\n                    depth: this._config[i].depth,\r\n                    height: this._config[i].height,\r\n                    size: this._config[i].size,\r\n                };\r\n\r\n                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\r\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\r\n\r\n                // Define the rest of the box properties.\r\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\r\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\r\n                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\r\n                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\r\n\r\n                // Offset value.\r\n                let boxOffset = 0;\r\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\r\n                    if (currentBone.length === undefined) {\r\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\r\n                    }\r\n                    boxOffset = currentBone.length / 2;\r\n                } else if (config[i].boxOffset !== undefined) {\r\n                    boxOffset = config[i].boxOffset;\r\n                }\r\n                currentRagdollBoneProperties.boxOffset = boxOffset;\r\n\r\n                // Offset axis.\r\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;\r\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);\r\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\r\n\r\n                transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));\r\n\r\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\r\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\r\n                const aggregate = new PhysicsAggregate(\r\n                    transform,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                        extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\r\n                    },\r\n                    this._scene\r\n                );\r\n                aggregate.body.setCollisionCallbackEnabled(true);\r\n                aggregate.body.disablePreStep = false;\r\n                aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                this._aggregates.push(aggregate);\r\n                this._bones.push(currentBone);\r\n                this._boneNames.push(currentBone.name);\r\n                this._transforms.push(transform);\r\n                this._boxConfigs.push(currentRagdollBoneProperties);\r\n                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._rootTransformNode));\r\n                this._initialRotation2.push(currentBone.getRotationQuaternion(Space.WORLD));\r\n            }\r\n        }\r\n    }\r\n\r\n    private _initJoints(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // The root bone has no joints.\r\n            if (i == this._rootBoneIndex) continue;\r\n\r\n            const nearestParent = this._findNearestParent(i);\r\n\r\n            if (nearestParent == null) {\r\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\r\n                return;\r\n            }\r\n\r\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\r\n\r\n            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._rootTransformNode).subtract(this._transforms[boneParentIndex].position);\r\n\r\n            const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\r\n            const invertedWorldMat = Matrix.Invert(wmat);\r\n            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._rootTransformNode), invertedWorldMat);\r\n\r\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);\r\n            const boxAbsPos = this._transforms[i].position.clone();\r\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\r\n\r\n            const joint = new PhysicsConstraint(\r\n                PhysicsConstraintType.BALL_AND_SOCKET,\r\n                {\r\n                    pivotA: distanceFromParentBoxToBone,\r\n                    pivotB: myConnectedPivot,\r\n                    axisA: this._boxConfigs[i].rotationAxis!,\r\n                    axisB: this._boxConfigs[i].rotationAxis!,\r\n                    collision: false,\r\n                },\r\n                this._scene\r\n            );\r\n\r\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);\r\n            joint.isEnabled = false;\r\n            this._joints.push(joint);\r\n        }\r\n    }\r\n\r\n    // set physics body orientation/position from bones\r\n    private _syncBonesToPhysics(): void {\r\n        const rootMatrix = this._rootTransformNode.getWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // position\r\n            const transform = this._aggregates[i].transformNode;\r\n            const rootPos = this._bones[i].getAbsolutePosition();\r\n            Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);\r\n\r\n            // added offset\r\n            this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis!, this._rootTransformNode, TmpVectors.Vector3[0]);\r\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[i].boxOffset ?? 0);\r\n            transform.position.addInPlace(TmpVectors.Vector3[0]);\r\n\r\n            this._setBoneOrientationToBody(i);\r\n        }\r\n    }\r\n\r\n    private _setBoneOrientationToBody(boneIndex: number): void {\r\n        const transform = this._aggregates[boneIndex].transformNode;\r\n        const bone = this._bones[boneIndex];\r\n        this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);\r\n        bone.getRotationQuaternionToRef(Space.WORLD, this._rootTransformNode, TmpVectors.Quaternion[1]);\r\n        TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion!);\r\n        transform.rotationQuaternion!.normalize();\r\n    }\r\n\r\n    private _syncBonesAndBoxes(): void {\r\n        if (this.pauseSync) {\r\n            return;\r\n        }\r\n\r\n        if (this._ragdollMode) {\r\n            this._setBodyOrientationToBone(this._rootBoneIndex);\r\n\r\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\r\n            this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);\r\n\r\n            Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);\r\n\r\n            for (let i = 0; i < this._bones.length; i++) {\r\n                if (i == this._rootBoneIndex) continue;\r\n                this._setBodyOrientationToBone(i);\r\n            }\r\n        } else {\r\n            this._syncBonesToPhysics();\r\n        }\r\n    }\r\n\r\n    private _setBodyOrientationToBone(boneIndex: number): void {\r\n        const qmesh =\r\n            this._rootTransformNode.rotationQuaternion ??\r\n            Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);\r\n        const qbind = this._initialRotation2[boneIndex];\r\n        const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion!;\r\n\r\n        qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\r\n        qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\r\n\r\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._rootTransformNode);\r\n    }\r\n\r\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\r\n    private _defineRootBone(): boolean {\r\n        const skeletonRoots = this._skeleton.getChildren();\r\n        if (skeletonRoots.length != 1) {\r\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\r\n            return false;\r\n        }\r\n\r\n        this._rootBoneName = skeletonRoots[0].name;\r\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\r\n        if (this._rootBoneIndex == -1) {\r\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private _findNearestParent(boneIndex: number): any {\r\n        let nearestParent: Nullable<Bone> | undefined = this._bones[boneIndex].getParent();\r\n        do {\r\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\r\n                break;\r\n            }\r\n\r\n            nearestParent = nearestParent?.getParent();\r\n        } while (nearestParent != null);\r\n\r\n        return nearestParent;\r\n    }\r\n\r\n    private _init() {\r\n        this._createColliders();\r\n\r\n        // If this.defineRootBone() returns ... there is not root bone.\r\n        if (!this._defineRootBone()) {\r\n            return;\r\n        }\r\n\r\n        this._initJoints();\r\n        this._scene.registerBeforeRender(() => {\r\n            this._syncBonesAndBoxes();\r\n        });\r\n        this._syncBonesToPhysics();\r\n    }\r\n\r\n    /**\r\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\r\n     */\r\n    public ragdoll(): void {\r\n        this._ragdollMode = true;\r\n        // detach bones with link transform to let physics have control\r\n        this._skeleton.bones.forEach((bone) => {\r\n            bone.linkTransformNode(null);\r\n        });\r\n        for (let i = 0; i < this._joints.length; i++) {\r\n            this._joints[i].isEnabled = true;\r\n        }\r\n        for (let i = 0; i < this._aggregates.length; i++) {\r\n            this._aggregates[i].body.setMotionType(PhysicsMotionType.DYNAMIC);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Dispose resources and remove physics objects\r\n     */\r\n    dispose(): void {\r\n        this._aggregates.forEach((aggregate: PhysicsAggregate) => {\r\n            aggregate.dispose();\r\n        });\r\n    }\r\n}\r\n"]}

package/XR/features/WebXRControllerTeleportation.d.ts

@@ -104,6 +104,10 @@ export interface IWebXRTeleportationOptions {
      * Meshes that the teleportation ray cannot go through
      */
     pickBlockerMeshes?: AbstractMesh[];
+    /**
+     * define an optional predicate to select which meshes should block the teleportation ray
+     */
+    blockerMeshesPredicate?: (mesh: AbstractMesh) => boolean;
     /**
      * Should the teleportation ray be blocked by all of the scene's pickable meshes?
      * Defaults to false

package/XR/features/WebXRControllerTeleportation.js

@@ -131,6 +131,8 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                     currentRotation: 0,
                     baseRotation: 0,
                     blocked: false,
+                    initialHit: false,
+                    mainComponentUsed: false,
                 },
             };
             const controllerData = this._controllers[xrController.uniqueId];
@@ -147,6 +149,7 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                             if (!mainComponent) {
                                 return;
                             }
+                            controllerData.teleportationState.mainComponentUsed = true;
                             controllerData.teleportationComponent = mainComponent;
                             controllerData.onButtonChangedObserver = mainComponent.onButtonStateChangedObservable.add(() => {
                                 if (!this.teleportationEnabled) {
@@ -155,6 +158,7 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                                 const teleportLocal = () => {
                                     // simulate "forward" thumbstick push
                                     controllerData.teleportationState.forward = true;
+                                    controllerData.teleportationState.initialHit = false;
                                     this._currentTeleportationControllerId = controllerData.xrController.uniqueId;
                                     controllerData.teleportationState.baseRotation = this._options.xrInput.xrCamera.rotationQuaternion.toEulerAngles().y;
                                     controllerData.teleportationState.currentRotation = 0;
@@ -294,8 +298,12 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                 }
             }
             else {
+                controllerData.teleportationState.mainComponentUsed = true;
+                let breakObserver = false;
                 const teleportLocal = () => {
+                    this._currentTeleportationControllerId = controllerData.xrController.uniqueId;
                     controllerData.teleportationState.forward = true;
+                    controllerData.teleportationState.initialHit = false;
                     controllerData.teleportationState.baseRotation = this._options.xrInput.xrCamera.rotationQuaternion.toEulerAngles().y;
                     controllerData.teleportationState.currentRotation = 0;
                     const timeToSelect = this._options.timeToTeleport || 3000;
@@ -311,7 +319,7 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                 };
                 this._xrSessionManager.scene.onPointerObservable.add((pointerInfo) => {
                     if (pointerInfo.type === PointerEventTypes.POINTERDOWN) {
-                        this._currentTeleportationControllerId = controllerData.xrController.uniqueId;
+                        breakObserver = false;
                         // check if start time is defined
                         if (this._options.timeToTeleportStart) {
                             setAndStartTimer({
@@ -323,6 +331,13 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                                         teleportLocal();
                                     }
                                 },
+                                breakCondition: () => {
+                                    if (breakObserver) {
+                                        breakObserver = false;
+                                        return true;
+                                    }
+                                    return false;
+                                },
                             });
                         }
                         else {
@@ -330,6 +345,7 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                         }
                     }
                     else if (pointerInfo.type === PointerEventTypes.POINTERUP) {
+                        breakObserver = true;
                         controllerData.teleportationState.forward = false;
                         this._currentTeleportationControllerId = "";
                     }
@@ -511,6 +527,9 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                     // first check if direct ray possible
                     // pick grounds that are LOWER only. upper will use parabolic path
                     const pick = scene.pickWithRay(this._tmpRay, (o) => {
+                        if (this._options.blockerMeshesPredicate && this._options.blockerMeshesPredicate(o)) {
+                            return true;
+                        }
                         if (this._options.blockAllPickableMeshes && o.isPickable) {
                             return true;
                         }
@@ -526,12 +545,17 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                     });
                     const floorMeshPicked = pick && pick.pickedMesh && this._floorMeshes.indexOf(pick.pickedMesh) !== -1;
                     if (pick && pick.pickedMesh && !floorMeshPicked) {
+                        if (controllerData.teleportationState.mainComponentUsed && !controllerData.teleportationState.initialHit) {
+                            controllerData.teleportationState.forward = false;
+                            return;
+                        }
                         controllerData.teleportationState.blocked = true;
                         this._setTargetMeshVisibility(false, false, controlSelectionFeature);
                         this._showParabolicPath(pick);
                         return;
                     }
                     else if (pick && pick.pickedPoint) {
+                        controllerData.teleportationState.initialHit = true;
                         controllerData.teleportationState.blocked = false;
                         hitPossible = true;
                         this._setTargetMeshPosition(pick);
@@ -552,6 +576,9 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                     this._tmpVector.subtractToRef(this._tmpRay.origin, this._tmpRay.direction);
                     this._tmpRay.direction.normalize();
                     const pick = scene.pickWithRay(this._tmpRay, (o) => {
+                        if (this._options.blockerMeshesPredicate && this._options.blockerMeshesPredicate(o)) {
+                            return true;
+                        }
                         if (this._options.blockAllPickableMeshes && o.isPickable) {
                             return true;
                         }
@@ -563,12 +590,17 @@ export class WebXRMotionControllerTeleportation extends WebXRAbstractFeature {
                     });
                     const floorMeshPicked = pick && pick.pickedMesh && this._floorMeshes.indexOf(pick.pickedMesh) !== -1;
                     if (pick && pick.pickedMesh && !floorMeshPicked) {
+                        if (controllerData.teleportationState.mainComponentUsed && !controllerData.teleportationState.initialHit) {
+                            controllerData.teleportationState.forward = false;
+                            return;
+                        }
                         controllerData.teleportationState.blocked = true;
                         this._setTargetMeshVisibility(false, false, controlSelectionFeature);
                         this._showParabolicPath(pick);
                         return;
                     }
                     else if (pick && pick.pickedPoint) {
+                        controllerData.teleportationState.initialHit = true;
                         controllerData.teleportationState.blocked = false;
                         hitPossible = true;
                         this._setTargetMeshPosition(pick);