@babylonjs/core 6.46.1 → 6.48.0

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/WebXRAbstractFeature.d.ts

@@ -74,8 +74,9 @@ export declare abstract class WebXRAbstractFeature implements IWebXRFeature {
      * This is used to register callbacks that will automatically be removed when detach is called.
      * @param observable the observable to which the observer will be attached
      * @param callback the callback to register
+     * @param insertFirst should the callback be executed as soon as it is registered
      */
-    protected _addNewAttachObserver<T>(observable: Observable<T>, callback: (eventData: T, eventState: EventState) => void): void;
+    protected _addNewAttachObserver<T>(observable: Observable<T>, callback: (eventData: T, eventState: EventState) => void, insertFirst?: boolean): void;
     /**
      * Code in this function will be executed on each xrFrame received from the browser.
      * This function will not execute after the feature is detached.

package/XR/features/WebXRAbstractFeature.js

@@ -126,11 +126,12 @@ export class WebXRAbstractFeature {
      * This is used to register callbacks that will automatically be removed when detach is called.
      * @param observable the observable to which the observer will be attached
      * @param callback the callback to register
+     * @param insertFirst should the callback be executed as soon as it is registered
      */
-    _addNewAttachObserver(observable, callback) {
+    _addNewAttachObserver(observable, callback, insertFirst) {
         this._removeOnDetach.push({
             observable,
-            observer: observable.add(callback),
+            observer: observable.add(callback, undefined, insertFirst),
         });
     }
 }

package/XR/features/WebXRAbstractFeature.js.map

@@ -1 +1 @@
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Note - It is still possible it is not supported.`);\r\n        }\r\n        this._xrNativeFeatureName = name;\r\n    }\r\n\r\n    /**\r\n     * Observers registered here will be executed when the feature is attached\r\n     */\r\n    public onFeatureAttachObservable: Observable<IWebXRFeature> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when the feature is detached\r\n     */\r\n    public onFeatureDetachObservable: Observable<IWebXRFeature> = new Observable();\r\n\r\n    /**\r\n     * The dependencies of this feature, if any\r\n     */\r\n    public dependsOn?: string[];\r\n\r\n    /**\r\n     * Construct a new (abstract) WebXR feature\r\n     * @param _xrSessionManager the xr session manager for this feature\r\n     */\r\n    constructor(protected _xrSessionManager: WebXRSessionManager) {}\r\n\r\n    /**\r\n     * Is this feature attached\r\n     */\r\n    public get attached() {\r\n        return this._attached;\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     *\r\n     * @param force should attachment be forced (even when already attached)\r\n     * @returns true if successful, false is failed or already attached\r\n     */\r\n    public attach(force?: boolean): boolean {\r\n        // do not attach a disposed feature\r\n        if (this.isDisposed) {\r\n            return false;\r\n        }\r\n        if (!force) {\r\n            if (this.attached) {\r\n                return false;\r\n            }\r\n        } else {\r\n            if (this.attached) {\r\n                // detach first, to be sure\r\n                this.detach();\r\n            }\r\n        }\r\n\r\n        // if this is a native WebXR feature, check if it is enabled on the session\r\n        // For now only check if not using babylon native\r\n        // vision OS doesn't support the enabledFeatures array, so just warn instead of failing\r\n        if (!this._xrSessionManager.enabledFeatures) {\r\n            Logger.Warn(\"session.enabledFeatures is not available on this device. It is possible that this feature is not supported.\");\r\n        } else if (!this._xrSessionManager.isNative && this.xrNativeFeatureName && this._xrSessionManager.enabledFeatures.indexOf(this.xrNativeFeatureName) === -1) {\r\n            return false;\r\n        }\r\n\r\n        this._attached = true;\r\n        this._addNewAttachObserver(this._xrSessionManager.onXRFrameObservable, (frame) => this._onXRFrame(frame));\r\n        this.onFeatureAttachObservable.notifyObservers(this);\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     *\r\n     * @returns true if successful, false if failed or already detached\r\n     */\r\n    public detach(): boolean {\r\n        if (!this._attached) {\r\n            this.disableAutoAttach = true;\r\n            return false;\r\n        }\r\n        this._attached = false;\r\n        this._removeOnDetach.forEach((toRemove) => {\r\n            toRemove.observable.remove(toRemove.observer);\r\n        });\r\n        this.onFeatureDetachObservable.notifyObservers(this);\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Dispose this feature and all of the resources attached\r\n     */\r\n    public dispose(): void {\r\n        this.detach();\r\n        this.isDisposed = true;\r\n        this.onFeatureAttachObservable.clear();\r\n        this.onFeatureDetachObservable.clear();\r\n    }\r\n\r\n    /**\r\n     * This function will be executed during before enabling the feature and can be used to not-allow enabling it.\r\n     * Note that at this point the session has NOT started, so this is purely checking if the browser supports it\r\n     *\r\n     * @returns whether or not the feature is compatible in this environment\r\n     */\r\n    public isCompatible(): boolean {\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * This is used to register callbacks that will automatically be removed when detach is called.\r\n     * @param observable the observable to which the observer will be attached\r\n     * @param callback the callback to register\r\n     */\r\n    protected _addNewAttachObserver<T>(observable: Observable<T>, callback: (eventData: T, eventState: EventState) => void) {\r\n        this._removeOnDetach.push({\r\n            observable,\r\n            observer: observable.add(callback),\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Code in this function will be executed on each xrFrame received from the browser.\r\n     * This function will not execute after the feature is detached.\r\n     * @param _xrFrame the current frame\r\n     */\r\n    protected abstract _onXRFrame(_xrFrame: XRFrame): void;\r\n}\r\n"]}
+{"version":3,"file":"WebXRAbstractFeature.js","sourceRoot":"","sources":["../../../../../dev/core/src/XR/features/WebXRAbstractFeature.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AAGnD,OAAO,EAAE,MAAM,EAAE,6BAAyB;AAE1C;;;;GAIG;AACH,MAAM,OAAgB,oBAAoB;IAmBtC;;OAEG;IACH,IAAW,mBAAmB;QAC1B,OAAO,IAAI,CAAC,oBAAoB,CAAC;IACrC,CAAC;IAED,IAAW,mBAAmB,CAAC,IAAY;QACvC,0GAA0G;QAC1G,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC,QAAQ,IAAI,IAAI,IAAI,IAAI,CAAC,iBAAiB,CAAC,WAAW,IAAI,IAAI,CAAC,iBAAiB,CAAC,eAAe,EAAE,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,EAAE;YAChJ,MAAM,CAAC,IAAI,CAAC,eAAe,IAAI,uGAAuG,CAAC,CAAC;SAC3I;QACD,IAAI,CAAC,oBAAoB,GAAG,IAAI,CAAC;IACrC,CAAC;IAgBD;;;OAGG;IACH,YAAsB,iBAAsC;QAAtC,sBAAiB,GAAjB,iBAAiB,CAAqB;QAnDpD,cAAS,GAAY,KAAK,CAAC;QAC3B,oBAAe,GAGjB,EAAE,CAAC;QAET;;WAEG;QACI,eAAU,GAAY,KAAK,CAAC;QAEnC;;WAEG;QACI,sBAAiB,GAAY,KAAK,CAAC;QAEhC,yBAAoB,GAAW,EAAE,CAAC;QAiB5C;;WAEG;QACI,8BAAyB,GAA8B,IAAI,UAAU,EAAE,CAAC;QAC/E;;WAEG;QACI,8BAAyB,GAA8B,IAAI,UAAU,EAAE,CAAC;IAWhB,CAAC;IAEhE;;OAEG;IACH,IAAW,QAAQ;QACf,OAAO,IAAI,CAAC,SAAS,CAAC;IAC1B,CAAC;IAED;;;;;OAKG;IACI,MAAM,CAAC,KAAe;QACzB,mCAAmC;QACnC,IAAI,IAAI,CAAC,UAAU,EAAE;YACjB,OAAO,KAAK,CAAC;SAChB;QACD,IAAI,CAAC,KAAK,EAAE;YACR,IAAI,IAAI,CAAC,QAAQ,EAAE;gBACf,OAAO,KAAK,CAAC;aAChB;SACJ;aAAM;YACH,IAAI,IAAI,CAAC,QAAQ,EAAE;gBACf,2BAA2B;gBAC3B,IAAI,CAAC,MAAM,EAAE,CAAC;aACjB;SACJ;QAED,2EAA2E;QAC3E,iDAAiD;QACjD,uFAAuF;QACvF,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC,eAAe,EAAE;YACzC,MAAM,CAAC,IAAI,CAAC,6GAA6G,CAAC,CAAC;SAC9H;aAAM,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC,QAAQ,IAAI,IAAI,CAAC,mBAAmB,IAAI,IAAI,CAAC,iBAAiB,CAAC,eAAe,CAAC,OAAO,CAAC,IAAI,CAAC,mBAAmB,CAAC,KAAK,CAAC,CAAC,EAAE;YACxJ,OAAO,KAAK,CAAC;SAChB;QAED,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;QACtB,IAAI,CAAC,qBAAqB,CAAC,IAAI,CAAC,iBAAiB,CAAC,mBAAmB,EAAE,CAAC,KAAK,EAAE,EAAE,CAAC,IAAI,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC;QAC1G,IAAI,CAAC,yBAAyB,CAAC,eAAe,CAAC,IAAI,CAAC,CAAC;QACrD,OAAO,IAAI,CAAC;IAChB,CAAC;IAED;;;;OAIG;IACI,MAAM;QACT,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE;YACjB,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC;YAC9B,OAAO,KAAK,CAAC;SAChB;QACD,IAAI,CAAC,SAAS,GAAG,KAAK,CAAC;QACvB,IAAI,CAAC,eAAe,CAAC,OAAO,CAAC,CAAC,QAAQ,EAAE,EAAE;YACtC,QAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC;QAClD,CAAC,CAAC,CAAC;QACH,IAAI,CAAC,yBAAyB,CAAC,eAAe,CAAC,IAAI,CAAC,CAAC;QACrD,OAAO,IAAI,CAAC;IAChB,CAAC;IAED;;OAEG;IACI,OAAO;QACV,IAAI,CAAC,MAAM,EAAE,CAAC;QACd,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACvB,IAAI,CAAC,yBAAyB,CAAC,KAAK,EAAE,CAAC;QACvC,IAAI,CAAC,yBAAyB,CAAC,KAAK,EAAE,CAAC;IAC3C,CAAC;IAED;;;;;OAKG;IACI,YAAY;QACf,OAAO,IAAI,CAAC;IAChB,CAAC;IAED;;;;;OAKG;IACO,qBAAqB,CAAI,UAAyB,EAAE,QAAwD,EAAE,WAAqB;QACzI,IAAI,CAAC,eAAe,CAAC,IAAI,CAAC;YACtB,UAAU;YACV,QAAQ,EAAE,UAAU,CAAC,GAAG,CAAC,QAAQ,EAAE,SAAS,EAAE,WAAW,CAAC;SAC7D,CAAC,CAAC;IACP,CAAC;CAQJ","sourcesContent":["import type { IWebXRFeature } from \"../webXRFeaturesManager\";\r\nimport type { Observer, EventState } from \"../../Misc/observable\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport { Logger } from \"core/Misc/logger\";\r\n\r\n/**\r\n * This is the base class for all WebXR features.\r\n * Since most features require almost the same resources and callbacks, this class can be used to simplify the development\r\n * Note that since the features manager is using the `IWebXRFeature` you are in no way obligated to use this class\r\n */\r\nexport abstract class WebXRAbstractFeature implements IWebXRFeature {\r\n    private _attached: boolean = false;\r\n    private _removeOnDetach: {\r\n        observer: Nullable<Observer<any>>;\r\n        observable: Observable<any>;\r\n    }[] = [];\r\n\r\n    /**\r\n     * Is this feature disposed?\r\n     */\r\n    public isDisposed: boolean = false;\r\n\r\n    /**\r\n     * Should auto-attach be disabled?\r\n     */\r\n    public disableAutoAttach: boolean = false;\r\n\r\n    protected _xrNativeFeatureName: string = \"\";\r\n\r\n    /**\r\n     * The name of the native xr feature name (like anchor, hit-test, or hand-tracking)\r\n     */\r\n    public get xrNativeFeatureName() {\r\n        return this._xrNativeFeatureName;\r\n    }\r\n\r\n    public set xrNativeFeatureName(name: string) {\r\n        // check if feature was initialized while in session but needs to be initialized before the session starts\r\n        if (!this._xrSessionManager.isNative && name && this._xrSessionManager.inXRSession && this._xrSessionManager.enabledFeatures?.indexOf(name) === -1) {\r\n            Logger.Warn(`The feature ${name} needs to be enabled before starting the XR session. Note - It is still possible it is not supported.`);\r\n        }\r\n        this._xrNativeFeatureName = name;\r\n    }\r\n\r\n    /**\r\n     * Observers registered here will be executed when the feature is attached\r\n     */\r\n    public onFeatureAttachObservable: Observable<IWebXRFeature> = new Observable();\r\n    /**\r\n     * Observers registered here will be executed when the feature is detached\r\n     */\r\n    public onFeatureDetachObservable: Observable<IWebXRFeature> = new Observable();\r\n\r\n    /**\r\n     * The dependencies of this feature, if any\r\n     */\r\n    public dependsOn?: string[];\r\n\r\n    /**\r\n     * Construct a new (abstract) WebXR feature\r\n     * @param _xrSessionManager the xr session manager for this feature\r\n     */\r\n    constructor(protected _xrSessionManager: WebXRSessionManager) {}\r\n\r\n    /**\r\n     * Is this feature attached\r\n     */\r\n    public get attached() {\r\n        return this._attached;\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     *\r\n     * @param force should attachment be forced (even when already attached)\r\n     * @returns true if successful, false is failed or already attached\r\n     */\r\n    public attach(force?: boolean): boolean {\r\n        // do not attach a disposed feature\r\n        if (this.isDisposed) {\r\n            return false;\r\n        }\r\n        if (!force) {\r\n            if (this.attached) {\r\n                return false;\r\n            }\r\n        } else {\r\n            if (this.attached) {\r\n                // detach first, to be sure\r\n                this.detach();\r\n            }\r\n        }\r\n\r\n        // if this is a native WebXR feature, check if it is enabled on the session\r\n        // For now only check if not using babylon native\r\n        // vision OS doesn't support the enabledFeatures array, so just warn instead of failing\r\n        if (!this._xrSessionManager.enabledFeatures) {\r\n            Logger.Warn(\"session.enabledFeatures is not available on this device. It is possible that this feature is not supported.\");\r\n        } else if (!this._xrSessionManager.isNative && this.xrNativeFeatureName && this._xrSessionManager.enabledFeatures.indexOf(this.xrNativeFeatureName) === -1) {\r\n            return false;\r\n        }\r\n\r\n        this._attached = true;\r\n        this._addNewAttachObserver(this._xrSessionManager.onXRFrameObservable, (frame) => this._onXRFrame(frame));\r\n        this.onFeatureAttachObservable.notifyObservers(this);\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     *\r\n     * @returns true if successful, false if failed or already detached\r\n     */\r\n    public detach(): boolean {\r\n        if (!this._attached) {\r\n            this.disableAutoAttach = true;\r\n            return false;\r\n        }\r\n        this._attached = false;\r\n        this._removeOnDetach.forEach((toRemove) => {\r\n            toRemove.observable.remove(toRemove.observer);\r\n        });\r\n        this.onFeatureDetachObservable.notifyObservers(this);\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Dispose this feature and all of the resources attached\r\n     */\r\n    public dispose(): void {\r\n        this.detach();\r\n        this.isDisposed = true;\r\n        this.onFeatureAttachObservable.clear();\r\n        this.onFeatureDetachObservable.clear();\r\n    }\r\n\r\n    /**\r\n     * This function will be executed during before enabling the feature and can be used to not-allow enabling it.\r\n     * Note that at this point the session has NOT started, so this is purely checking if the browser supports it\r\n     *\r\n     * @returns whether or not the feature is compatible in this environment\r\n     */\r\n    public isCompatible(): boolean {\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * This is used to register callbacks that will automatically be removed when detach is called.\r\n     * @param observable the observable to which the observer will be attached\r\n     * @param callback the callback to register\r\n     * @param insertFirst should the callback be executed as soon as it is registered\r\n     */\r\n    protected _addNewAttachObserver<T>(observable: Observable<T>, callback: (eventData: T, eventState: EventState) => void, insertFirst?: boolean) {\r\n        this._removeOnDetach.push({\r\n            observable,\r\n            observer: observable.add(callback, undefined, insertFirst),\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Code in this function will be executed on each xrFrame received from the browser.\r\n     * This function will not execute after the feature is detached.\r\n     * @param _xrFrame the current frame\r\n     */\r\n    protected abstract _onXRFrame(_xrFrame: XRFrame): void;\r\n}\r\n"]}

package/XR/features/WebXRControllerPointerSelection.d.ts

@@ -96,6 +96,16 @@ export interface IWebXRControllerPointerSelectionOptions {
      * The height (y) of the mesh must be 1.
      */
     customLasterPointerMeshGenerator?: () => AbstractMesh;
+    /**
+     * Use the grip space instead of the pointer space for selection, if available.
+     */
+    forceGripIfAvailable?: boolean;
+    /**
+     * If set to true, the hand rays will be disabled and the user will be able to look and pick objects.
+     * This requires system support (like in the vision OS) and will not work in all systems.
+     * @experimental - this is an experimental feature and might change int he future
+     */
+    lookAndPickMode?: boolean;
 }
 /**
  * A module that will enable pointer selection for motion controllers of XR Input Sources

package/XR/features/WebXRControllerPointerSelection.js

@@ -28,7 +28,7 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
                 // already attached
                 return;
             }
-            const { laserPointer, selectionMesh } = this._generateNewMeshPair(xrController.pointer);
+            const { laserPointer, selectionMesh } = this._generateNewMeshPair(this._options.forceGripIfAvailable && xrController.grip ? xrController.grip : xrController.pointer);
             // get two new meshes
             this._controllers[xrController.uniqueId] = {
                 xrController,
@@ -100,6 +100,16 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
         this._screenCoordinatesRef = Vector3.Zero();
         this._viewportRef = new Viewport(0, 0, 0, 0);
         this._scene = this._xrSessionManager.scene;
+        // force look and pick mode if using WebXR on safari, assuming it is vision OS
+        // Only if not explicitly set. If set to false, it will not be forced
+        if (this._options.lookAndPickMode === undefined && (this._scene.getEngine()._badDesktopOS || this._scene.getEngine()._badOS)) {
+            this._options.lookAndPickMode = true;
+        }
+        // look and pick mode extra state changes
+        if (this._options.lookAndPickMode) {
+            this._options.enablePointerSelectionOnAllControllers = true;
+            this.displayLaserPointer = false;
+        }
     }
     /**
      * attach this feature
@@ -112,11 +122,11 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
             return false;
         }
         this._options.xrInput.controllers.forEach(this._attachController);
-        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);
+        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController, true);
         this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {
             // REMOVE the controller
             this._detachController(controller.uniqueId);
-        });
+        }, true);
         this._scene.constantlyUpdateMeshUnderPointer = true;
         if (this._options.gazeCamera) {
             const webXRCamera = this._options.gazeCamera;
@@ -205,8 +215,12 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
     }
     _onXRFrame(_xrFrame) {
         Object.keys(this._controllers).forEach((id) => {
+            // look and pick mode
             // only do this for the selected pointer
             const controllerData = this._controllers[id];
+            if (this._options.lookAndPickMode && controllerData.xrController?.inputSource.targetRayMode !== "transient-pointer") {
+                return;
+            }
             if ((!this._options.enablePointerSelectionOnAllControllers && id !== this._attachedController) || controllerData.disabledByNearInteraction) {
                 controllerData.selectionMesh.isVisible = false;
                 controllerData.laserPointer.isVisible = false;
@@ -217,8 +231,11 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
             let controllerGlobalPosition;
             // Every frame check collisions/input
             if (controllerData.xrController) {
-                controllerGlobalPosition = controllerData.xrController.pointer.position;
-                controllerData.xrController.getWorldPointerRayToRef(controllerData.tmpRay);
+                controllerGlobalPosition =
+                    this._options.forceGripIfAvailable && controllerData.xrController.grip
+                        ? controllerData.xrController.grip.position
+                        : controllerData.xrController.pointer.position;
+                controllerData.xrController.getWorldPointerRayToRef(controllerData.tmpRay, this._options.forceGripIfAvailable);
             }
             else if (controllerData.webXRCamera) {
                 controllerGlobalPosition = controllerData.webXRCamera.position;
@@ -235,8 +252,8 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
                 const scene = this._xrSessionManager.scene;
                 const camera = this._options.xrInput.xrCamera;
                 if (camera) {
-                    camera.viewport.toGlobalToRef(scene.getEngine().getRenderWidth(), scene.getEngine().getRenderHeight(), this._viewportRef);
-                    Vector3.ProjectToRef(controllerGlobalPosition, this._identityMatrix, scene.getTransformMatrix(), this._viewportRef, this._screenCoordinatesRef);
+                    camera.viewport.toGlobalToRef(scene.getEngine().getRenderWidth() / camera.rigCameras.length, scene.getEngine().getRenderHeight(), this._viewportRef);
+                    Vector3.ProjectToRef(controllerGlobalPosition, this._identityMatrix, camera.getTransformationMatrix(), this._viewportRef, this._screenCoordinatesRef);
                     // stay safe
                     if (typeof this._screenCoordinatesRef.x === "number" &&
                         typeof this._screenCoordinatesRef.y === "number" &&
@@ -485,21 +502,25 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
         else {
             // use the select and squeeze events
             const selectStartListener = (event) => {
-                this._augmentPointerInit(pointerEventInit, controllerData.id, controllerData.screenCoordinates);
-                if (controllerData.xrController && event.inputSource === controllerData.xrController.inputSource && controllerData.pick) {
-                    this._scene.simulatePointerDown(controllerData.pick, pointerEventInit);
-                    controllerData.pointerDownTriggered = true;
-                    controllerData.selectionMesh.material.emissiveColor = this.selectionMeshPickedColor;
-                    controllerData.laserPointer.material.emissiveColor = this.laserPointerPickedColor;
-                }
+                this._xrSessionManager.onXRFrameObservable.addOnce(() => {
+                    this._augmentPointerInit(pointerEventInit, controllerData.id, controllerData.screenCoordinates);
+                    if (controllerData.xrController && event.inputSource === controllerData.xrController.inputSource && controllerData.pick) {
+                        this._scene.simulatePointerDown(controllerData.pick, pointerEventInit);
+                        controllerData.pointerDownTriggered = true;
+                        controllerData.selectionMesh.material.emissiveColor = this.selectionMeshPickedColor;
+                        controllerData.laserPointer.material.emissiveColor = this.laserPointerPickedColor;
+                    }
+                });
             };
             const selectEndListener = (event) => {
-                this._augmentPointerInit(pointerEventInit, controllerData.id, controllerData.screenCoordinates);
-                if (controllerData.xrController && event.inputSource === controllerData.xrController.inputSource && controllerData.pick) {
-                    this._scene.simulatePointerUp(controllerData.pick, pointerEventInit);
-                    controllerData.selectionMesh.material.emissiveColor = this.selectionMeshDefaultColor;
-                    controllerData.laserPointer.material.emissiveColor = this.laserPointerDefaultColor;
-                }
+                this._xrSessionManager.onXRFrameObservable.addOnce(() => {
+                    this._augmentPointerInit(pointerEventInit, controllerData.id, controllerData.screenCoordinates);
+                    if (controllerData.xrController && event.inputSource === controllerData.xrController.inputSource && controllerData.pick) {
+                        this._scene.simulatePointerUp(controllerData.pick, pointerEventInit);
+                        controllerData.selectionMesh.material.emissiveColor = this.selectionMeshDefaultColor;
+                        controllerData.laserPointer.material.emissiveColor = this.laserPointerDefaultColor;
+                    }
+                });
             };
             controllerData.eventListeners = {
                 selectend: selectEndListener,