@babylonjs/core 7.12.0 → 7.13.0

package/Physics/v1/physicsImpostor.js.map

@@ -1 +1 @@
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type { Nullable, IndicesArray } from \"../../types\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { ArrayTools } from \"../../Misc/arrayTools\";\r\nimport type { Matrix } from \"../../Maths/math.vector\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport type { BoundingInfo } from \"../../Culling/boundingInfo\";\r\nimport type { PhysicsEngine as PhysicsEngineV1 } from \"./physicsEngine\";\r\n\r\nimport type { PhysicsJointData } from \"./physicsJoint\";\r\nimport { PhysicsJoint } from \"./physicsJoint\";\r\nimport { Space } from \"../../Maths/math.axis\";\r\n\r\n/**\r\n * The interface for the physics imposter parameters\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport interface PhysicsImpostorParameters {\r\n    /**\r\n     * The mass of the physics imposter\r\n     */\r\n    mass: number;\r\n    /**\r\n     * The friction of the physics imposter\r\n     */\r\n    friction?: number;\r\n    /**\r\n     * The coefficient of restitution of the physics imposter\r\n     */\r\n    restitution?: number;\r\n    /**\r\n     * The native options of the physics imposter\r\n     */\r\n    nativeOptions?: any;\r\n    /**\r\n     * Specifies if the parent should be ignored\r\n     */\r\n    ignoreParent?: boolean;\r\n    /**\r\n     * Specifies if bi-directional transformations should be disabled\r\n     */\r\n    disableBidirectionalTransformation?: boolean;\r\n    /**\r\n     * The pressure inside the physics imposter, soft object only\r\n     */\r\n    pressure?: number;\r\n    /**\r\n     * The stiffness the physics imposter, soft object only\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex velocities, soft object only\r\n     */\r\n    velocityIterations?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex positions, soft object only\r\n     */\r\n    positionIterations?: number;\r\n    /**\r\n     * The number used to fix points on a cloth (0, 1, 2, 4, 8) or rope (0, 1, 2) only\r\n     * 0 None, 1, back left or top, 2, back right or bottom, 4, front left, 8, front right\r\n     * Add to fix multiple points\r\n     */\r\n    fixedPoints?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    margin?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    damping?: number;\r\n    /**\r\n     * The path for a rope based on an extrusion\r\n     */\r\n    path?: any;\r\n    /**\r\n     * The shape of an extrusion used for a rope based on an extrusion\r\n     */\r\n    shape?: any;\r\n}\r\n\r\n/**\r\n * Interface for a physics-enabled object\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport interface IPhysicsEnabledObject {\r\n    /**\r\n     * The position of the physics-enabled object\r\n     */\r\n    position: Vector3;\r\n    /**\r\n     * The rotation of the physics-enabled object\r\n     */\r\n    rotationQuaternion: Nullable<Quaternion>;\r\n    /**\r\n     * The scale of the physics-enabled object\r\n     */\r\n    scaling: Vector3;\r\n    /**\r\n     * The rotation of the physics-enabled object\r\n     */\r\n    rotation?: Vector3;\r\n    /**\r\n     * The parent of the physics-enabled object\r\n     */\r\n    parent?: any;\r\n    /**\r\n     * The bounding info of the physics-enabled object\r\n     * @returns The bounding info of the physics-enabled object\r\n     */\r\n    getBoundingInfo(): BoundingInfo;\r\n    /**\r\n     * Computes the world matrix\r\n     * @param force Specifies if the world matrix should be computed by force\r\n     * @returns A world matrix\r\n     */\r\n    computeWorldMatrix(force: boolean): Matrix;\r\n    /**\r\n     * Gets the world matrix\r\n     * @returns A world matrix\r\n     */\r\n    getWorldMatrix?(): Matrix;\r\n    /**\r\n     * Gets the child meshes\r\n     * @param directDescendantsOnly Specifies if only direct-descendants should be obtained\r\n     * @returns An array of abstract meshes\r\n     */\r\n    getChildMeshes?(directDescendantsOnly?: boolean): Array<AbstractMesh>;\r\n    /**\r\n     * Gets the vertex data\r\n     * @param kind The type of vertex data\r\n     * @returns A nullable array of numbers, or a float32 array\r\n     */\r\n    getVerticesData(kind: string): Nullable<Array<number> | Float32Array>;\r\n    /**\r\n     * Gets the indices from the mesh\r\n     * @returns A nullable array of index arrays\r\n     */\r\n    getIndices?(): Nullable<IndicesArray>;\r\n    /**\r\n     * Gets the scene from the mesh\r\n     * @returns the indices array or null\r\n     */\r\n    getScene?(): Scene;\r\n    /**\r\n     * Gets the absolute position from the mesh\r\n     * @returns the absolute position\r\n     */\r\n    getAbsolutePosition(): Vector3;\r\n    /**\r\n     * Gets the absolute pivot point from the mesh\r\n     * @returns the absolute pivot point\r\n     */\r\n    getAbsolutePivotPoint(): Vector3;\r\n    /**\r\n     * Rotates the mesh\r\n     * @param axis The axis of rotation\r\n     * @param amount The amount of rotation\r\n     * @param space The space of the rotation\r\n     * @returns The rotation transform node\r\n     */\r\n    rotate(axis: Vector3, amount: number, space?: Space): TransformNode;\r\n    /**\r\n     * Translates the mesh\r\n     * @param axis The axis of translation\r\n     * @param distance The distance of translation\r\n     * @param space The space of the translation\r\n     * @returns The transform node\r\n     */\r\n    translate(axis: Vector3, distance: number, space?: Space): TransformNode;\r\n    /**\r\n     * Sets the absolute position of the mesh\r\n     * @param absolutePosition The absolute position of the mesh\r\n     * @returns The transform node\r\n     */\r\n    setAbsolutePosition(absolutePosition: Vector3): TransformNode;\r\n    /**\r\n     * Gets the class name of the mesh\r\n     * @returns The class name\r\n     */\r\n    getClassName(): string;\r\n}\r\n\r\nMesh._PhysicsImpostorParser = function (scene: Scene, physicObject: IPhysicsEnabledObject, jsonObject: any): PhysicsImpostor {\r\n    return new PhysicsImpostor(\r\n        physicObject,\r\n        jsonObject.physicsImpostor,\r\n        {\r\n            mass: jsonObject.physicsMass,\r\n            friction: jsonObject.physicsFriction,\r\n            restitution: jsonObject.physicsRestitution,\r\n        },\r\n        scene\r\n    );\r\n};\r\n\r\n/**\r\n * Represents a physics imposter\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsImpostor {\r\n    /**\r\n     * The default object size of the imposter\r\n     */\r\n    public static DEFAULT_OBJECT_SIZE: Vector3 = new Vector3(1, 1, 1);\r\n\r\n    /**\r\n     * The identity quaternion of the imposter\r\n     */\r\n    public static IDENTITY_QUATERNION = Quaternion.Identity();\r\n\r\n    /** @internal */\r\n    public _pluginData: any = {};\r\n\r\n    private _physicsEngine: Nullable<PhysicsEngineV1>;\r\n    //The native cannon/oimo/energy physics body object.\r\n    private _physicsBody: any;\r\n    private _bodyUpdateRequired: boolean = false;\r\n\r\n    private _onBeforePhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();\r\n    private _onAfterPhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();\r\n    /** @internal */\r\n    public _onPhysicsCollideCallbacks: Array<{\r\n        callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>, distance: number, impulse: number, normal: Nullable<Vector3>) => void;\r\n        otherImpostors: Array<PhysicsImpostor>;\r\n    }> = [];\r\n\r\n    private _deltaPosition: Vector3 = Vector3.Zero();\r\n    private _deltaRotation: Quaternion;\r\n    private _deltaRotationConjugated: Quaternion;\r\n\r\n    /** @internal */\r\n    public _isFromLine: boolean;\r\n\r\n    //If set, this is this impostor's parent\r\n    private _parent: Nullable<PhysicsImpostor>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    private static _TmpVecs: Vector3[] = ArrayTools.BuildArray(3, Vector3.Zero);\r\n    private static _TmpQuat: Quaternion = Quaternion.Identity();\r\n\r\n    /**\r\n     * Specifies if the physics imposter is disposed\r\n     */\r\n    get isDisposed(): boolean {\r\n        return this._isDisposed;\r\n    }\r\n\r\n    /**\r\n     * Gets the mass of the physics imposter\r\n     */\r\n    get mass(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyMass(this) : 0;\r\n    }\r\n\r\n    set mass(value: number) {\r\n        this.setMass(value);\r\n    }\r\n\r\n    /**\r\n     * Gets the coefficient of friction\r\n     */\r\n    get friction(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyFriction(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sets the coefficient of friction\r\n     */\r\n    set friction(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        this._physicsEngine.getPhysicsPlugin().setBodyFriction(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the coefficient of restitution\r\n     */\r\n    get restitution(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyRestitution(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sets the coefficient of restitution\r\n     */\r\n    set restitution(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        this._physicsEngine.getPhysicsPlugin().setBodyRestitution(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the pressure of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get pressure(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPressure) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyPressure!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the pressure of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set pressure(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPressure) {\r\n            return;\r\n        }\r\n        plugin.setBodyPressure!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the stiffness of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get stiffness(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyStiffness) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyStiffness!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the stiffness of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set stiffness(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyStiffness) {\r\n            return;\r\n        }\r\n        plugin.setBodyStiffness!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get velocityIterations(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyVelocityIterations) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyVelocityIterations!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set velocityIterations(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyVelocityIterations) {\r\n            return;\r\n        }\r\n        plugin.setBodyVelocityIterations!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the positionIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get positionIterations(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyPositionIterations) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyPositionIterations!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the positionIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set positionIterations(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPositionIterations) {\r\n            return;\r\n        }\r\n        plugin.setBodyPositionIterations!(this, value);\r\n    }\r\n\r\n    /**\r\n     * The unique id of the physics imposter\r\n     * set by the physics engine when adding this impostor to the array\r\n     */\r\n    public uniqueId: number;\r\n\r\n    /**\r\n     * @internal\r\n     */\r\n    public soft: boolean = false;\r\n\r\n    /**\r\n     * @internal\r\n     */\r\n    public segments: number = 0;\r\n\r\n    private _joints: Array<{\r\n        joint: PhysicsJoint;\r\n        otherImpostor: PhysicsImpostor;\r\n    }>;\r\n\r\n    /**\r\n     * Initializes the physics imposter\r\n     * @param object The physics-enabled object used as the physics imposter\r\n     * @param type The type of the physics imposter. Types are available as static members of this class.\r\n     * @param _options The options for the physics imposter\r\n     * @param _scene The Babylon scene\r\n     */\r\n    constructor(\r\n        /**\r\n         * The physics-enabled object used as the physics imposter\r\n         */\r\n        public object: IPhysicsEnabledObject,\r\n        /**\r\n         * The type of the physics imposter\r\n         */\r\n        public type: number,\r\n        private _options: PhysicsImpostorParameters = { mass: 0 },\r\n        private _scene?: Scene\r\n    ) {\r\n        //sanity check!\r\n        if (!this.object) {\r\n            Logger.Error(\"No object was provided. A physics object is obligatory\");\r\n            return;\r\n        }\r\n        if (this.object.parent && _options.mass !== 0) {\r\n            Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\r\n        }\r\n\r\n        // Legacy support for old syntax.\r\n        if (!this._scene && object.getScene) {\r\n            this._scene = object.getScene();\r\n        }\r\n\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n\r\n        if (this.type > 100) {\r\n            this.soft = true;\r\n        }\r\n\r\n        this._physicsEngine = this._scene.getPhysicsEngine() as any;\r\n        if (!this._physicsEngine) {\r\n            Logger.Error(\"Physics not enabled. Please use scene.enablePhysics(...) before creating impostors.\");\r\n        } else {\r\n            //set the object's quaternion, if not set\r\n            if (!this.object.rotationQuaternion) {\r\n                if (this.object.rotation) {\r\n                    this.object.rotationQuaternion = Quaternion.RotationYawPitchRoll(this.object.rotation.y, this.object.rotation.x, this.object.rotation.z);\r\n                } else {\r\n                    this.object.rotationQuaternion = new Quaternion();\r\n                }\r\n            }\r\n            //default options params\r\n            this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\r\n            this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\r\n            this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\r\n            if (this.soft) {\r\n                //softbody mass must be above 0;\r\n                this._options.mass = this._options.mass > 0 ? this._options.mass : 1;\r\n                this._options.pressure = _options.pressure === void 0 ? 200 : _options.pressure;\r\n                this._options.stiffness = _options.stiffness === void 0 ? 1 : _options.stiffness;\r\n                this._options.velocityIterations = _options.velocityIterations === void 0 ? 20 : _options.velocityIterations;\r\n                this._options.positionIterations = _options.positionIterations === void 0 ? 20 : _options.positionIterations;\r\n                this._options.fixedPoints = _options.fixedPoints === void 0 ? 0 : _options.fixedPoints;\r\n                this._options.margin = _options.margin === void 0 ? 0 : _options.margin;\r\n                this._options.damping = _options.damping === void 0 ? 0 : _options.damping;\r\n                this._options.path = _options.path === void 0 ? null : _options.path;\r\n                this._options.shape = _options.shape === void 0 ? null : _options.shape;\r\n            }\r\n            this._joints = [];\r\n            //If the mesh has a parent, don't initialize the physicsBody. Instead wait for the parent to do that.\r\n            if (!this.object.parent || this._options.ignoreParent) {\r\n                this._init();\r\n            } else if (this.object.parent.physicsImpostor) {\r\n                Logger.Warn(\"You must affect impostors to children before affecting impostor to parent.\");\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This function will completely initialize this impostor.\r\n     * It will create a new body - but only if this mesh has no parent.\r\n     * If it has, this impostor will not be used other than to define the impostor\r\n     * of the child mesh.\r\n     * @internal\r\n     */\r\n    public _init() {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._physicsEngine.removeImpostor(this);\r\n        this.physicsBody = null;\r\n        this._parent = this._parent || this._getPhysicsParent();\r\n        if (!this._isDisposed && (!this.parent || this._options.ignoreParent)) {\r\n            this._physicsEngine.addImpostor(this);\r\n        }\r\n    }\r\n\r\n    private _getPhysicsParent(): Nullable<PhysicsImpostor> {\r\n        if (this.object.parent instanceof AbstractMesh) {\r\n            const parentMesh: AbstractMesh = <AbstractMesh>this.object.parent;\r\n            return parentMesh.physicsImpostor;\r\n        }\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Should a new body be generated.\r\n     * @returns boolean specifying if body initialization is required\r\n     */\r\n    public isBodyInitRequired(): boolean {\r\n        return this._bodyUpdateRequired || (!this._physicsBody && (!this._parent || !!this._options.ignoreParent));\r\n    }\r\n\r\n    /**\r\n     * Sets the updated scaling\r\n     */\r\n    public setScalingUpdated() {\r\n        this.forceUpdate();\r\n    }\r\n\r\n    /**\r\n     * Force a regeneration of this or the parent's impostor's body.\r\n     * Use with caution - This will remove all previously-instantiated joints.\r\n     */\r\n    public forceUpdate() {\r\n        this._init();\r\n        if (this.parent && !this._options.ignoreParent) {\r\n            this.parent.forceUpdate();\r\n        }\r\n    }\r\n\r\n    /*public get mesh(): AbstractMesh {\r\n        return this._mesh;\r\n    }*/\r\n\r\n    /**\r\n     * Gets the body that holds this impostor. Either its own, or its parent.\r\n     */\r\n    public get physicsBody(): any {\r\n        return this._parent && !this._options.ignoreParent ? this._parent.physicsBody : this._physicsBody;\r\n    }\r\n\r\n    /**\r\n     * Get the parent of the physics imposter\r\n     * @returns Physics imposter or null\r\n     */\r\n    public get parent(): Nullable<PhysicsImpostor> {\r\n        return !this._options.ignoreParent && this._parent ? this._parent : null;\r\n    }\r\n\r\n    /**\r\n     * Sets the parent of the physics imposter\r\n     */\r\n    public set parent(value: Nullable<PhysicsImpostor>) {\r\n        this._parent = value;\r\n    }\r\n\r\n    /**\r\n     * Set the physics body. Used mainly by the physics engine/plugin\r\n     */\r\n    public set physicsBody(physicsBody: any) {\r\n        if (this._physicsBody && this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().removePhysicsBody(this);\r\n        }\r\n        this._physicsBody = physicsBody;\r\n        this.resetUpdateFlags();\r\n    }\r\n\r\n    /**\r\n     * Resets the update flags\r\n     */\r\n    public resetUpdateFlags() {\r\n        this._bodyUpdateRequired = false;\r\n    }\r\n\r\n    /**\r\n     * Gets the object extents\r\n     * @returns the object extents\r\n     */\r\n    public getObjectExtents(): Vector3 {\r\n        if (this.object.getBoundingInfo) {\r\n            const q = this.object.rotationQuaternion;\r\n            const scaling = this.object.scaling.clone();\r\n            //reset rotation\r\n            this.object.rotationQuaternion = PhysicsImpostor.IDENTITY_QUATERNION;\r\n            //calculate the world matrix with no rotation\r\n            const worldMatrix = this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\r\n            if (worldMatrix) {\r\n                worldMatrix.decompose(scaling, undefined, undefined);\r\n            }\r\n            const boundingInfo = this.object.getBoundingInfo();\r\n            // get the global scaling of the object\r\n            const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\r\n            size.x = Math.abs(size.x);\r\n            size.y = Math.abs(size.y);\r\n            size.z = Math.abs(size.z);\r\n            //bring back the rotation\r\n            this.object.rotationQuaternion = q;\r\n            //calculate the world matrix with the new rotation\r\n            this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\r\n            return size;\r\n        } else {\r\n            return PhysicsImpostor.DEFAULT_OBJECT_SIZE;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the object center\r\n     * @returns The object center\r\n     */\r\n    public getObjectCenter(): Vector3 {\r\n        if (this.object.getBoundingInfo) {\r\n            const boundingInfo = this.object.getBoundingInfo();\r\n            return boundingInfo.boundingBox.centerWorld;\r\n        } else {\r\n            return this.object.position;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get a specific parameter from the options parameters\r\n     * @param paramName The object parameter name\r\n     * @returns The object parameter\r\n     */\r\n    public getParam(paramName: string): any {\r\n        return (<any>this._options)[paramName];\r\n    }\r\n\r\n    /**\r\n     * Sets a specific parameter in the options given to the physics plugin\r\n     * @param paramName The parameter name\r\n     * @param value The value of the parameter\r\n     */\r\n    public setParam(paramName: string, value: number) {\r\n        (<any>this._options)[paramName] = value;\r\n        this._bodyUpdateRequired = true;\r\n    }\r\n\r\n    /**\r\n     * Specifically change the body's mass. Won't recreate the physics body object\r\n     * @param mass The mass of the physics imposter\r\n     */\r\n    public setMass(mass: number) {\r\n        if (this.getParam(\"mass\") !== mass) {\r\n            this.setParam(\"mass\", mass);\r\n        }\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setBodyMass(this, mass);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity\r\n     * @returns  linear velocity or null\r\n     */\r\n    public getLinearVelocity(): Nullable<Vector3> {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getLinearVelocity(this) : Vector3.Zero();\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity\r\n     * @param velocity  linear velocity or null\r\n     */\r\n    public setLinearVelocity(velocity: Nullable<Vector3>) {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setLinearVelocity(this, velocity);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity\r\n     * @returns angular velocity or null\r\n     */\r\n    public getAngularVelocity(): Nullable<Vector3> {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getAngularVelocity(this) : Vector3.Zero();\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity\r\n     * @param velocity The velocity or null\r\n     */\r\n    public setAngularVelocity(velocity: Nullable<Vector3>) {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Execute a function with the physics plugin native code\r\n     * Provide a function the will have two variables - the world object and the physics body object\r\n     * @param func The function to execute with the physics plugin native code\r\n     */\r\n    public executeNativeFunction(func: (world: any, physicsBody: any) => void) {\r\n        if (this._physicsEngine) {\r\n            func(this._physicsEngine.getPhysicsPlugin().world, this.physicsBody);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Register a function that will be executed before the physics world is stepping forward\r\n     * @param func The function to execute before the physics world is stepped forward\r\n     */\r\n    public registerBeforePhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        this._onBeforePhysicsStepCallbacks.push(func);\r\n    }\r\n\r\n    /**\r\n     * Unregister a function that will be executed before the physics world is stepping forward\r\n     * @param func The function to execute before the physics world is stepped forward\r\n     */\r\n    public unregisterBeforePhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        const index = this._onBeforePhysicsStepCallbacks.indexOf(func);\r\n\r\n        if (index > -1) {\r\n            this._onBeforePhysicsStepCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Register a function that will be executed after the physics step\r\n     * @param func The function to execute after physics step\r\n     */\r\n    public registerAfterPhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        this._onAfterPhysicsStepCallbacks.push(func);\r\n    }\r\n\r\n    /**\r\n     * Unregisters a function that will be executed after the physics step\r\n     * @param func The function to execute after physics step\r\n     */\r\n    public unregisterAfterPhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        const index = this._onAfterPhysicsStepCallbacks.indexOf(func);\r\n\r\n        if (index > -1) {\r\n            this._onAfterPhysicsStepCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    /**\r\n     * register a function that will be executed when this impostor collides against a different body\r\n     * @param collideAgainst Physics imposter, or array of physics imposters to collide against\r\n     * @param func Callback that is executed on collision\r\n     */\r\n    public registerOnPhysicsCollide(\r\n        collideAgainst: PhysicsImpostor | Array<PhysicsImpostor>,\r\n        func: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>) => void\r\n    ): void {\r\n        const collidedAgainstList: Array<PhysicsImpostor> = collideAgainst instanceof Array ? <Array<PhysicsImpostor>>collideAgainst : [<PhysicsImpostor>collideAgainst];\r\n        this._onPhysicsCollideCallbacks.push({ callback: func, otherImpostors: collidedAgainstList });\r\n    }\r\n\r\n    /**\r\n     * Unregisters the physics imposter's collision callback\r\n     * @param collideAgainst The physics object to collide against\r\n     * @param func Callback to execute on collision\r\n     */\r\n    public unregisterOnPhysicsCollide(\r\n        collideAgainst: PhysicsImpostor | Array<PhysicsImpostor>,\r\n        func: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor | Array<PhysicsImpostor>, point: Nullable<Vector3>) => void\r\n    ): void {\r\n        const collidedAgainstList: Array<PhysicsImpostor> = collideAgainst instanceof Array ? <Array<PhysicsImpostor>>collideAgainst : [<PhysicsImpostor>collideAgainst];\r\n        let index = -1;\r\n        const found = this._onPhysicsCollideCallbacks.some((cbDef, idx) => {\r\n            if (cbDef.callback === func && cbDef.otherImpostors.length === collidedAgainstList.length) {\r\n                // chcek the arrays match\r\n                const sameList = cbDef.otherImpostors.every((impostor) => {\r\n                    return collidedAgainstList.indexOf(impostor) > -1;\r\n                });\r\n                if (sameList) {\r\n                    index = idx;\r\n                }\r\n                return sameList;\r\n            }\r\n            return false;\r\n        });\r\n\r\n        if (found) {\r\n            this._onPhysicsCollideCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    //temp variables for parent rotation calculations\r\n    //private _mats: Array<Matrix> = [new Matrix(), new Matrix()];\r\n    private _tmpQuat: Quaternion = new Quaternion();\r\n    private _tmpQuat2: Quaternion = new Quaternion();\r\n\r\n    /**\r\n     * Get the parent rotation\r\n     * @returns The parent rotation\r\n     */\r\n    public getParentsRotation(): Quaternion {\r\n        let parent = this.object.parent;\r\n        this._tmpQuat.copyFromFloats(0, 0, 0, 1);\r\n        while (parent) {\r\n            if (parent.rotationQuaternion) {\r\n                this._tmpQuat2.copyFrom(parent.rotationQuaternion);\r\n            } else {\r\n                Quaternion.RotationYawPitchRollToRef(parent.rotation.y, parent.rotation.x, parent.rotation.z, this._tmpQuat2);\r\n            }\r\n            this._tmpQuat.multiplyToRef(this._tmpQuat2, this._tmpQuat);\r\n            parent = parent.parent;\r\n        }\r\n        return this._tmpQuat;\r\n    }\r\n\r\n    /**\r\n     * this function is executed by the physics engine.\r\n     */\r\n    public beforeStep = () => {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this.object.translate(this._deltaPosition, -1);\r\n        this._deltaRotationConjugated &&\r\n            this.object.rotationQuaternion &&\r\n            this.object.rotationQuaternion.multiplyToRef(this._deltaRotationConjugated, this.object.rotationQuaternion);\r\n        this.object.computeWorldMatrix(false);\r\n        if (this.object.parent && this.object.rotationQuaternion) {\r\n            this.getParentsRotation();\r\n            this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this._tmpQuat);\r\n        } else {\r\n            this._tmpQuat.copyFrom(this.object.rotationQuaternion || new Quaternion());\r\n        }\r\n        if (!this._options.disableBidirectionalTransformation) {\r\n            this.object.rotationQuaternion &&\r\n                this._physicsEngine.getPhysicsPlugin().setPhysicsBodyTransformation(this, /*bInfo.boundingBox.centerWorld*/ this.object.getAbsolutePosition(), this._tmpQuat);\r\n        }\r\n\r\n        this._onBeforePhysicsStepCallbacks.forEach((func) => {\r\n            func(this);\r\n        });\r\n    };\r\n\r\n    /**\r\n     * this function is executed by the physics engine\r\n     */\r\n    public afterStep = () => {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._onAfterPhysicsStepCallbacks.forEach((func) => {\r\n            func(this);\r\n        });\r\n\r\n        this._physicsEngine.getPhysicsPlugin().setTransformationFromPhysicsBody(this);\r\n        // object has now its world rotation. needs to be converted to local.\r\n        if (this.object.parent && this.object.rotationQuaternion) {\r\n            this.getParentsRotation();\r\n            this._tmpQuat.conjugateInPlace();\r\n            this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this.object.rotationQuaternion);\r\n        }\r\n        // take the position set and make it the absolute position of this object.\r\n        this.object.setAbsolutePosition(this.object.position);\r\n        if (this._deltaRotation) {\r\n            this.object.rotationQuaternion && this.object.rotationQuaternion.multiplyToRef(this._deltaRotation, this.object.rotationQuaternion);\r\n            this._deltaPosition.applyRotationQuaternionToRef(this._deltaRotation, PhysicsImpostor._TmpVecs[0]);\r\n            this.object.translate(PhysicsImpostor._TmpVecs[0], 1);\r\n        } else {\r\n            this.object.translate(this._deltaPosition, 1);\r\n        }\r\n        this.object.computeWorldMatrix(true);\r\n    };\r\n\r\n    /**\r\n     * Legacy collision detection event support\r\n     */\r\n    public onCollideEvent: Nullable<(collider: PhysicsImpostor, collidedWith: PhysicsImpostor) => void> = null;\r\n\r\n    /**\r\n     *  define an onCollide function to call when this impostor collides against a different body\r\n     * @param e collide event data\r\n     */\r\n    public onCollide = (e: { body: any; point: Nullable<Vector3>; distance: number; impulse: number; normal: Nullable<Vector3> }) => {\r\n        if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {\r\n            return;\r\n        }\r\n\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const otherImpostor = this._physicsEngine.getImpostorWithPhysicsBody(e.body);\r\n        if (otherImpostor) {\r\n            // Legacy collision detection event support\r\n            if (this.onCollideEvent) {\r\n                this.onCollideEvent(this, otherImpostor);\r\n            }\r\n            this._onPhysicsCollideCallbacks\r\n                .filter((obj) => {\r\n                    return obj.otherImpostors.indexOf(<PhysicsImpostor>otherImpostor) !== -1;\r\n                })\r\n                .forEach((obj) => {\r\n                    obj.callback(this, <PhysicsImpostor>otherImpostor, e.point, e.distance, e.impulse, e.normal);\r\n                });\r\n        }\r\n    };\r\n\r\n    /**\r\n     * Apply a force\r\n     * @param force The force to apply\r\n     * @param contactPoint The contact point for the force\r\n     * @returns The physics imposter\r\n     */\r\n    public applyForce(force: Vector3, contactPoint: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().applyForce(this, force, contactPoint);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Apply an impulse\r\n     * @param force The impulse force\r\n     * @param contactPoint The contact point for the impulse force\r\n     * @returns The physics imposter\r\n     */\r\n    public applyImpulse(force: Vector3, contactPoint: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().applyImpulse(this, force, contactPoint);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * A help function to create a joint\r\n     * @param otherImpostor A physics imposter used to create a joint\r\n     * @param jointType The type of joint\r\n     * @param jointData The data for the joint\r\n     * @returns The physics imposter\r\n     */\r\n    public createJoint(otherImpostor: PhysicsImpostor, jointType: number, jointData: PhysicsJointData): PhysicsImpostor {\r\n        const joint = new PhysicsJoint(jointType, jointData);\r\n        this.addJoint(otherImpostor, joint);\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add a joint to this impostor with a different impostor\r\n     * @param otherImpostor A physics imposter used to add a joint\r\n     * @param joint The joint to add\r\n     * @returns The physics imposter\r\n     */\r\n    public addJoint(otherImpostor: PhysicsImpostor, joint: PhysicsJoint): PhysicsImpostor {\r\n        this._joints.push({\r\n            otherImpostor: otherImpostor,\r\n            joint: joint,\r\n        });\r\n\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.addJoint(this, otherImpostor, joint);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add an anchor to a cloth impostor\r\n     * @param otherImpostor rigid impostor to anchor to\r\n     * @param width ratio across width from 0 to 1\r\n     * @param height ratio up height from 0 to 1\r\n     * @param influence the elasticity between cloth impostor and anchor from 0, very stretchy to 1, little stretch\r\n     * @param noCollisionBetweenLinkedBodies when true collisions between cloth impostor and anchor are ignored; default false\r\n     * @returns impostor the soft imposter\r\n     */\r\n    public addAnchor(otherImpostor: PhysicsImpostor, width: number, height: number, influence: number, noCollisionBetweenLinkedBodies: boolean): PhysicsImpostor {\r\n        if (!this._physicsEngine) {\r\n            return this;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.appendAnchor) {\r\n            return this;\r\n        }\r\n        if (this._physicsEngine) {\r\n            plugin.appendAnchor!(this, otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add a hook to a rope impostor\r\n     * @param otherImpostor rigid impostor to anchor to\r\n     * @param length ratio across rope from 0 to 1\r\n     * @param influence the elasticity between rope impostor and anchor from 0, very stretchy to 1, little stretch\r\n     * @param noCollisionBetweenLinkedBodies when true collisions between soft impostor and anchor are ignored; default false\r\n     * @returns impostor the rope imposter\r\n     */\r\n    public addHook(otherImpostor: PhysicsImpostor, length: number, influence: number, noCollisionBetweenLinkedBodies: boolean): PhysicsImpostor {\r\n        if (!this._physicsEngine) {\r\n            return this;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.appendAnchor) {\r\n            return this;\r\n        }\r\n        if (this._physicsEngine) {\r\n            plugin.appendHook!(this, otherImpostor, length, influence, noCollisionBetweenLinkedBodies);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Will keep this body still, in a sleep mode.\r\n     * @returns the physics imposter\r\n     */\r\n    public sleep(): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().sleepBody(this);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Wake the body up.\r\n     * @returns The physics imposter\r\n     */\r\n    public wakeUp(): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().wakeUpBody(this);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Clones the physics imposter\r\n     * @param newObject The physics imposter clones to this physics-enabled object\r\n     * @returns A nullable physics imposter\r\n     */\r\n    public clone(newObject: IPhysicsEnabledObject): Nullable<PhysicsImpostor> {\r\n        if (!newObject) {\r\n            return null;\r\n        }\r\n        return new PhysicsImpostor(newObject, this.type, this._options, this._scene);\r\n    }\r\n\r\n    /**\r\n     * Disposes the physics imposter\r\n     */\r\n    public dispose(/*disposeChildren: boolean = true*/) {\r\n        //no dispose if no physics engine is available.\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._joints.forEach((j) => {\r\n            if (this._physicsEngine) {\r\n                this._physicsEngine.removeJoint(this, j.otherImpostor, j.joint);\r\n            }\r\n        });\r\n        //dispose the physics body\r\n        this._physicsEngine.removeImpostor(this);\r\n        if (this.parent) {\r\n            this.parent.forceUpdate();\r\n        } else {\r\n            /*this._object.getChildMeshes().forEach(function(mesh) {\r\n                if (mesh.physicsImpostor) {\r\n                    if (disposeChildren) {\r\n                        mesh.physicsImpostor.dispose();\r\n                        mesh.physicsImpostor = null;\r\n                    }\r\n                }\r\n            })*/\r\n        }\r\n\r\n        this._isDisposed = true;\r\n    }\r\n\r\n    /**\r\n     * Sets the delta position\r\n     * @param position The delta position amount\r\n     */\r\n    public setDeltaPosition(position: Vector3) {\r\n        this._deltaPosition.copyFrom(position);\r\n    }\r\n\r\n    /**\r\n     * Sets the delta rotation\r\n     * @param rotation The delta rotation amount\r\n     */\r\n    public setDeltaRotation(rotation: Quaternion) {\r\n        if (!this._deltaRotation) {\r\n            this._deltaRotation = new Quaternion();\r\n        }\r\n        this._deltaRotation.copyFrom(rotation);\r\n        this._deltaRotationConjugated = this._deltaRotation.conjugate();\r\n    }\r\n\r\n    /**\r\n     * Gets the box size of the physics imposter and stores the result in the input parameter\r\n     * @param result Stores the box size\r\n     * @returns The physics imposter\r\n     */\r\n    public getBoxSizeToRef(result: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().getBoxSizeToRef(this, result);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Gets the radius of the physics imposter\r\n     * @returns Radius of the physics imposter\r\n     */\r\n    public getRadius(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getRadius(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sync a bone with this impostor\r\n     * @param bone The bone to sync to the impostor.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     */\r\n    public syncBoneWithImpostor(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion) {\r\n        const tempVec = PhysicsImpostor._TmpVecs[0];\r\n        const mesh = <AbstractMesh>this.object;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = PhysicsImpostor._TmpQuat;\r\n                mesh.rotationQuaternion.multiplyToRef(adjustRotation, tempQuat);\r\n                bone.setRotationQuaternion(tempQuat, Space.WORLD, boneMesh);\r\n            } else {\r\n                bone.setRotationQuaternion(mesh.rotationQuaternion, Space.WORLD, boneMesh);\r\n            }\r\n        }\r\n\r\n        tempVec.x = 0;\r\n        tempVec.y = 0;\r\n        tempVec.z = 0;\r\n\r\n        if (jointPivot) {\r\n            tempVec.x = jointPivot.x;\r\n            tempVec.y = jointPivot.y;\r\n            tempVec.z = jointPivot.z;\r\n\r\n            bone.getDirectionToRef(tempVec, boneMesh, tempVec);\r\n\r\n            if (distToJoint === undefined || distToJoint === null) {\r\n                distToJoint = jointPivot.length();\r\n            }\r\n\r\n            tempVec.x *= distToJoint;\r\n            tempVec.y *= distToJoint;\r\n            tempVec.z *= distToJoint;\r\n        }\r\n\r\n        if (bone.getParent()) {\r\n            tempVec.addInPlace(mesh.getAbsolutePosition());\r\n            bone.setAbsolutePosition(tempVec, boneMesh);\r\n        } else {\r\n            boneMesh.setAbsolutePosition(mesh.getAbsolutePosition());\r\n            boneMesh.position.x -= tempVec.x;\r\n            boneMesh.position.y -= tempVec.y;\r\n            boneMesh.position.z -= tempVec.z;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sync impostor to a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncImpostorWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = <AbstractMesh>this.object;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = PhysicsImpostor._TmpQuat;\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = PhysicsImpostor._TmpVecs[0];\r\n        const boneDir = PhysicsImpostor._TmpVecs[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = PhysicsImpostor._TmpVecs[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    //Impostor types\r\n    /**\r\n     * No-Imposter type\r\n     */\r\n    public static NoImpostor = 0;\r\n    /**\r\n     * Sphere-Imposter type\r\n     */\r\n    public static SphereImpostor = 1;\r\n    /**\r\n     * Box-Imposter type\r\n     */\r\n    public static BoxImpostor = 2;\r\n    /**\r\n     * Plane-Imposter type\r\n     */\r\n    public static PlaneImpostor = 3;\r\n    /**\r\n     * Mesh-imposter type (Only available to objects with vertices data)\r\n     */\r\n    public static MeshImpostor = 4;\r\n    /**\r\n     * Capsule-Impostor type (Ammo.js plugin only)\r\n     */\r\n    public static CapsuleImpostor = 6;\r\n    /**\r\n     * Cylinder-Imposter type\r\n     */\r\n    public static CylinderImpostor = 7;\r\n    /**\r\n     * Particle-Imposter type\r\n     */\r\n    public static ParticleImpostor = 8;\r\n    /**\r\n     * Heightmap-Imposter type\r\n     */\r\n    public static HeightmapImpostor = 9;\r\n    /**\r\n     * ConvexHull-Impostor type (Ammo.js plugin only)\r\n     */\r\n    public static ConvexHullImpostor = 10;\r\n    /**\r\n     * Custom-Imposter type (Ammo.js plugin only)\r\n     */\r\n    public static CustomImpostor = 100;\r\n    /**\r\n     * Rope-Imposter type\r\n     */\r\n    public static RopeImpostor = 101;\r\n    /**\r\n     * Cloth-Imposter type\r\n     */\r\n    public static ClothImpostor = 102;\r\n    /**\r\n     * Softbody-Imposter type\r\n     */\r\n    public static SoftbodyImpostor = 103;\r\n}\r\n"]}
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type { Nullable, IndicesArray } from \"../../types\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { ArrayTools } from \"../../Misc/arrayTools\";\r\nimport type { Matrix } from \"../../Maths/math.vector\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport type { BoundingInfo } from \"../../Culling/boundingInfo\";\r\nimport type { PhysicsEngine as PhysicsEngineV1 } from \"./physicsEngine\";\r\n\r\nimport type { PhysicsJointData } from \"./physicsJoint\";\r\nimport { PhysicsJoint } from \"./physicsJoint\";\r\nimport { Space } from \"../../Maths/math.axis\";\r\n\r\n/**\r\n * The interface for the physics imposter parameters\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport interface PhysicsImpostorParameters {\r\n    /**\r\n     * The mass of the physics imposter\r\n     */\r\n    mass: number;\r\n    /**\r\n     * The friction of the physics imposter\r\n     */\r\n    friction?: number;\r\n    /**\r\n     * The coefficient of restitution of the physics imposter\r\n     */\r\n    restitution?: number;\r\n    /**\r\n     * The native options of the physics imposter\r\n     */\r\n    nativeOptions?: any;\r\n    /**\r\n     * Specifies if the parent should be ignored\r\n     */\r\n    ignoreParent?: boolean;\r\n    /**\r\n     * Specifies if bi-directional transformations should be disabled\r\n     */\r\n    disableBidirectionalTransformation?: boolean;\r\n    /**\r\n     * The pressure inside the physics imposter, soft object only\r\n     */\r\n    pressure?: number;\r\n    /**\r\n     * The stiffness the physics imposter, soft object only\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex velocities, soft object only\r\n     */\r\n    velocityIterations?: number;\r\n    /**\r\n     * The number of iterations used in maintaining consistent vertex positions, soft object only\r\n     */\r\n    positionIterations?: number;\r\n    /**\r\n     * The number used to fix points on a cloth (0, 1, 2, 4, 8) or rope (0, 1, 2) only\r\n     * 0 None, 1, back left or top, 2, back right or bottom, 4, front left, 8, front right\r\n     * Add to fix multiple points\r\n     */\r\n    fixedPoints?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    margin?: number;\r\n    /**\r\n     * The collision margin around a soft object\r\n     */\r\n    damping?: number;\r\n    /**\r\n     * The path for a rope based on an extrusion\r\n     */\r\n    path?: any;\r\n    /**\r\n     * The shape of an extrusion used for a rope based on an extrusion\r\n     */\r\n    shape?: any;\r\n}\r\n\r\n/**\r\n * Interface for a physics-enabled object\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport interface IPhysicsEnabledObject {\r\n    /**\r\n     * The position of the physics-enabled object\r\n     */\r\n    position: Vector3;\r\n    /**\r\n     * The rotation of the physics-enabled object\r\n     */\r\n    rotationQuaternion: Nullable<Quaternion>;\r\n    /**\r\n     * The scale of the physics-enabled object\r\n     */\r\n    scaling: Vector3;\r\n    /**\r\n     * The rotation of the physics-enabled object\r\n     */\r\n    rotation?: Vector3;\r\n    /**\r\n     * The parent of the physics-enabled object\r\n     */\r\n    parent?: any;\r\n    /**\r\n     * The bounding info of the physics-enabled object\r\n     * @returns The bounding info of the physics-enabled object\r\n     */\r\n    getBoundingInfo(): BoundingInfo;\r\n    /**\r\n     * Computes the world matrix\r\n     * @param force Specifies if the world matrix should be computed by force\r\n     * @returns A world matrix\r\n     */\r\n    computeWorldMatrix(force: boolean): Matrix;\r\n    /**\r\n     * Gets the world matrix\r\n     * @returns A world matrix\r\n     */\r\n    getWorldMatrix?(): Matrix;\r\n    /**\r\n     * Gets the child meshes\r\n     * @param directDescendantsOnly Specifies if only direct-descendants should be obtained\r\n     * @returns An array of abstract meshes\r\n     */\r\n    getChildMeshes?(directDescendantsOnly?: boolean): Array<AbstractMesh>;\r\n    /**\r\n     * Gets the vertex data\r\n     * @param kind The type of vertex data\r\n     * @returns A nullable array of numbers, or a float32 array\r\n     */\r\n    getVerticesData(kind: string): Nullable<Array<number> | Float32Array>;\r\n    /**\r\n     * Gets the indices from the mesh\r\n     * @returns A nullable array of index arrays\r\n     */\r\n    getIndices?(): Nullable<IndicesArray>;\r\n    /**\r\n     * Gets the scene from the mesh\r\n     * @returns the indices array or null\r\n     */\r\n    getScene?(): Scene;\r\n    /**\r\n     * Gets the absolute position from the mesh\r\n     * @returns the absolute position\r\n     */\r\n    getAbsolutePosition(): Vector3;\r\n    /**\r\n     * Gets the absolute pivot point from the mesh\r\n     * @returns the absolute pivot point\r\n     */\r\n    getAbsolutePivotPoint(): Vector3;\r\n    /**\r\n     * Rotates the mesh\r\n     * @param axis The axis of rotation\r\n     * @param amount The amount of rotation\r\n     * @param space The space of the rotation\r\n     * @returns The rotation transform node\r\n     */\r\n    rotate(axis: Vector3, amount: number, space?: Space): TransformNode;\r\n    /**\r\n     * Translates the mesh\r\n     * @param axis The axis of translation\r\n     * @param distance The distance of translation\r\n     * @param space The space of the translation\r\n     * @returns The transform node\r\n     */\r\n    translate(axis: Vector3, distance: number, space?: Space): TransformNode;\r\n    /**\r\n     * Sets the absolute position of the mesh\r\n     * @param absolutePosition The absolute position of the mesh\r\n     * @returns The transform node\r\n     */\r\n    setAbsolutePosition(absolutePosition: Vector3): TransformNode;\r\n    /**\r\n     * Gets the class name of the mesh\r\n     * @returns The class name\r\n     */\r\n    getClassName(): string;\r\n}\r\n\r\nMesh._PhysicsImpostorParser = function (scene: Scene, physicObject: IPhysicsEnabledObject, jsonObject: any): PhysicsImpostor {\r\n    return new PhysicsImpostor(\r\n        physicObject,\r\n        jsonObject.physicsImpostor,\r\n        {\r\n            mass: jsonObject.physicsMass,\r\n            friction: jsonObject.physicsFriction,\r\n            restitution: jsonObject.physicsRestitution,\r\n        },\r\n        scene\r\n    );\r\n};\r\n\r\n/**\r\n * Represents a physics imposter\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsImpostor {\r\n    /**\r\n     * The default object size of the imposter\r\n     */\r\n    public static DEFAULT_OBJECT_SIZE: Vector3 = new Vector3(1, 1, 1);\r\n\r\n    /**\r\n     * The identity quaternion of the imposter\r\n     */\r\n    public static IDENTITY_QUATERNION = Quaternion.Identity();\r\n\r\n    /** @internal */\r\n    public _pluginData: any = {};\r\n\r\n    private _physicsEngine: Nullable<PhysicsEngineV1>;\r\n    //The native cannon/oimo/energy physics body object.\r\n    private _physicsBody: any;\r\n    private _bodyUpdateRequired: boolean = false;\r\n\r\n    private _onBeforePhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();\r\n    private _onAfterPhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();\r\n    /** @internal */\r\n    public _onPhysicsCollideCallbacks: Array<{\r\n        callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>, distance: number, impulse: number, normal: Nullable<Vector3>) => void;\r\n        otherImpostors: Array<PhysicsImpostor>;\r\n    }> = [];\r\n\r\n    private _deltaPosition: Vector3 = Vector3.Zero();\r\n    private _deltaRotation: Quaternion;\r\n    private _deltaRotationConjugated: Quaternion;\r\n\r\n    /** @internal */\r\n    public _isFromLine: boolean;\r\n\r\n    //If set, this is this impostor's parent\r\n    private _parent: Nullable<PhysicsImpostor>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    private static _TmpVecs: Vector3[] = ArrayTools.BuildArray(3, Vector3.Zero);\r\n    private static _TmpQuat: Quaternion = Quaternion.Identity();\r\n\r\n    /**\r\n     * Specifies if the physics imposter is disposed\r\n     */\r\n    get isDisposed(): boolean {\r\n        return this._isDisposed;\r\n    }\r\n\r\n    /**\r\n     * Gets the mass of the physics imposter\r\n     */\r\n    get mass(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyMass(this) : 0;\r\n    }\r\n\r\n    set mass(value: number) {\r\n        this.setMass(value);\r\n    }\r\n\r\n    /**\r\n     * Gets the coefficient of friction\r\n     */\r\n    get friction(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyFriction(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sets the coefficient of friction\r\n     */\r\n    set friction(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        this._physicsEngine.getPhysicsPlugin().setBodyFriction(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the coefficient of restitution\r\n     */\r\n    get restitution(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyRestitution(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sets the coefficient of restitution\r\n     */\r\n    set restitution(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        this._physicsEngine.getPhysicsPlugin().setBodyRestitution(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the pressure of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get pressure(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPressure) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyPressure!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the pressure of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set pressure(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPressure) {\r\n            return;\r\n        }\r\n        plugin.setBodyPressure!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the stiffness of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get stiffness(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyStiffness) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyStiffness!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the stiffness of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set stiffness(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyStiffness) {\r\n            return;\r\n        }\r\n        plugin.setBodyStiffness!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get velocityIterations(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyVelocityIterations) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyVelocityIterations!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set velocityIterations(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyVelocityIterations) {\r\n            return;\r\n        }\r\n        plugin.setBodyVelocityIterations!(this, value);\r\n    }\r\n\r\n    /**\r\n     * Gets the positionIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    get positionIterations(): number {\r\n        if (!this._physicsEngine) {\r\n            return 0;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.getBodyPositionIterations) {\r\n            return 0;\r\n        }\r\n        return plugin.getBodyPositionIterations!(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the positionIterations of a soft body; only supported by the AmmoJSPlugin\r\n     */\r\n    set positionIterations(value: number) {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.setBodyPositionIterations) {\r\n            return;\r\n        }\r\n        plugin.setBodyPositionIterations!(this, value);\r\n    }\r\n\r\n    /**\r\n     * The unique id of the physics imposter\r\n     * set by the physics engine when adding this impostor to the array\r\n     */\r\n    public uniqueId: number;\r\n\r\n    /**\r\n     * @internal\r\n     */\r\n    public soft: boolean = false;\r\n\r\n    /**\r\n     * @internal\r\n     */\r\n    public segments: number = 0;\r\n\r\n    private _joints: Array<{\r\n        joint: PhysicsJoint;\r\n        otherImpostor: PhysicsImpostor;\r\n    }>;\r\n\r\n    /**\r\n     * Initializes the physics imposter\r\n     * @param object The physics-enabled object used as the physics imposter\r\n     * @param type The type of the physics imposter. Types are available as static members of this class.\r\n     * @param _options The options for the physics imposter\r\n     * @param _scene The Babylon scene\r\n     */\r\n    constructor(\r\n        /**\r\n         * The physics-enabled object used as the physics imposter\r\n         */\r\n        public object: IPhysicsEnabledObject,\r\n        /**\r\n         * The type of the physics imposter\r\n         */\r\n        public type: number,\r\n        private _options: PhysicsImpostorParameters = { mass: 0 },\r\n        private _scene?: Scene\r\n    ) {\r\n        //sanity check!\r\n        if (!this.object) {\r\n            Logger.Error(\"No object was provided. A physics object is obligatory\");\r\n            return;\r\n        }\r\n        if (this.object.parent && _options.mass !== 0) {\r\n            Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\r\n        }\r\n\r\n        // Legacy support for old syntax.\r\n        if (!this._scene && object.getScene) {\r\n            this._scene = object.getScene();\r\n        }\r\n\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n\r\n        if (this.type > 100) {\r\n            this.soft = true;\r\n        }\r\n\r\n        this._physicsEngine = this._scene.getPhysicsEngine() as any;\r\n        if (!this._physicsEngine) {\r\n            Logger.Error(\"Physics not enabled. Please use scene.enablePhysics(...) before creating impostors.\");\r\n        } else {\r\n            //set the object's quaternion, if not set\r\n            if (!this.object.rotationQuaternion) {\r\n                if (this.object.rotation) {\r\n                    this.object.rotationQuaternion = Quaternion.RotationYawPitchRoll(this.object.rotation.y, this.object.rotation.x, this.object.rotation.z);\r\n                } else {\r\n                    this.object.rotationQuaternion = new Quaternion();\r\n                }\r\n            }\r\n            //default options params\r\n            this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\r\n            this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\r\n            this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\r\n            if (this.soft) {\r\n                //softbody mass must be above 0;\r\n                this._options.mass = this._options.mass > 0 ? this._options.mass : 1;\r\n                this._options.pressure = _options.pressure === void 0 ? 200 : _options.pressure;\r\n                this._options.stiffness = _options.stiffness === void 0 ? 1 : _options.stiffness;\r\n                this._options.velocityIterations = _options.velocityIterations === void 0 ? 20 : _options.velocityIterations;\r\n                this._options.positionIterations = _options.positionIterations === void 0 ? 20 : _options.positionIterations;\r\n                this._options.fixedPoints = _options.fixedPoints === void 0 ? 0 : _options.fixedPoints;\r\n                this._options.margin = _options.margin === void 0 ? 0 : _options.margin;\r\n                this._options.damping = _options.damping === void 0 ? 0 : _options.damping;\r\n                this._options.path = _options.path === void 0 ? null : _options.path;\r\n                this._options.shape = _options.shape === void 0 ? null : _options.shape;\r\n            }\r\n            this._joints = [];\r\n            //If the mesh has a parent, don't initialize the physicsBody. Instead wait for the parent to do that.\r\n            if (!this.object.parent || this._options.ignoreParent) {\r\n                this._init();\r\n            } else if (this.object.parent.physicsImpostor) {\r\n                Logger.Warn(\"You must affect impostors to children before affecting impostor to parent.\");\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This function will completely initialize this impostor.\r\n     * It will create a new body - but only if this mesh has no parent.\r\n     * If it has, this impostor will not be used other than to define the impostor\r\n     * of the child mesh.\r\n     * @internal\r\n     */\r\n    public _init() {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._physicsEngine.removeImpostor(this);\r\n        this.physicsBody = null;\r\n        this._parent = this._parent || this._getPhysicsParent();\r\n        if (!this._isDisposed && (!this.parent || this._options.ignoreParent)) {\r\n            this._physicsEngine.addImpostor(this);\r\n        }\r\n    }\r\n\r\n    private _getPhysicsParent(): Nullable<PhysicsImpostor> {\r\n        if (this.object.parent instanceof AbstractMesh) {\r\n            const parentMesh: AbstractMesh = <AbstractMesh>this.object.parent;\r\n            return parentMesh.physicsImpostor;\r\n        }\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Should a new body be generated.\r\n     * @returns boolean specifying if body initialization is required\r\n     */\r\n    public isBodyInitRequired(): boolean {\r\n        return this._bodyUpdateRequired || (!this._physicsBody && (!this._parent || !!this._options.ignoreParent));\r\n    }\r\n\r\n    /**\r\n     * Sets the updated scaling\r\n     */\r\n    public setScalingUpdated() {\r\n        this.forceUpdate();\r\n    }\r\n\r\n    /**\r\n     * Force a regeneration of this or the parent's impostor's body.\r\n     * Use with caution - This will remove all previously-instantiated joints.\r\n     */\r\n    public forceUpdate() {\r\n        this._init();\r\n        if (this.parent && !this._options.ignoreParent) {\r\n            this.parent.forceUpdate();\r\n        }\r\n    }\r\n\r\n    /*public get mesh(): AbstractMesh {\r\n        return this._mesh;\r\n    }*/\r\n\r\n    /**\r\n     * Gets the body that holds this impostor. Either its own, or its parent.\r\n     */\r\n    public get physicsBody(): any {\r\n        return this._parent && !this._options.ignoreParent ? this._parent.physicsBody : this._physicsBody;\r\n    }\r\n\r\n    /**\r\n     * Get the parent of the physics imposter\r\n     * @returns Physics imposter or null\r\n     */\r\n    public get parent(): Nullable<PhysicsImpostor> {\r\n        return !this._options.ignoreParent && this._parent ? this._parent : null;\r\n    }\r\n\r\n    /**\r\n     * Sets the parent of the physics imposter\r\n     */\r\n    public set parent(value: Nullable<PhysicsImpostor>) {\r\n        this._parent = value;\r\n    }\r\n\r\n    /**\r\n     * Set the physics body. Used mainly by the physics engine/plugin\r\n     */\r\n    public set physicsBody(physicsBody: any) {\r\n        if (this._physicsBody && this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().removePhysicsBody(this);\r\n        }\r\n        this._physicsBody = physicsBody;\r\n        this.resetUpdateFlags();\r\n    }\r\n\r\n    /**\r\n     * Resets the update flags\r\n     */\r\n    public resetUpdateFlags() {\r\n        this._bodyUpdateRequired = false;\r\n    }\r\n\r\n    /**\r\n     * Gets the object extents\r\n     * @returns the object extents\r\n     */\r\n    public getObjectExtents(): Vector3 {\r\n        if (this.object.getBoundingInfo) {\r\n            const q = this.object.rotationQuaternion;\r\n            const scaling = this.object.scaling.clone();\r\n            //reset rotation\r\n            this.object.rotationQuaternion = PhysicsImpostor.IDENTITY_QUATERNION;\r\n            //calculate the world matrix with no rotation\r\n            const worldMatrix = this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\r\n            if (worldMatrix) {\r\n                worldMatrix.decompose(scaling, undefined, undefined);\r\n            }\r\n            const boundingInfo = this.object.getBoundingInfo();\r\n            // get the global scaling of the object\r\n            const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\r\n            size.x = Math.abs(size.x);\r\n            size.y = Math.abs(size.y);\r\n            size.z = Math.abs(size.z);\r\n            //bring back the rotation\r\n            this.object.rotationQuaternion = q;\r\n            //calculate the world matrix with the new rotation\r\n            this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\r\n            return size;\r\n        } else {\r\n            return PhysicsImpostor.DEFAULT_OBJECT_SIZE;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the object center\r\n     * @returns The object center\r\n     */\r\n    public getObjectCenter(): Vector3 {\r\n        if (this.object.getBoundingInfo) {\r\n            const boundingInfo = this.object.getBoundingInfo();\r\n            return boundingInfo.boundingBox.centerWorld;\r\n        } else {\r\n            return this.object.position;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get a specific parameter from the options parameters\r\n     * @param paramName The object parameter name\r\n     * @returns The object parameter\r\n     */\r\n    public getParam(paramName: string): any {\r\n        return (<any>this._options)[paramName];\r\n    }\r\n\r\n    /**\r\n     * Sets a specific parameter in the options given to the physics plugin\r\n     * @param paramName The parameter name\r\n     * @param value The value of the parameter\r\n     */\r\n    public setParam(paramName: string, value: number) {\r\n        (<any>this._options)[paramName] = value;\r\n        this._bodyUpdateRequired = true;\r\n    }\r\n\r\n    /**\r\n     * Specifically change the body's mass. Won't recreate the physics body object\r\n     * @param mass The mass of the physics imposter\r\n     */\r\n    public setMass(mass: number) {\r\n        if (this.getParam(\"mass\") !== mass) {\r\n            this.setParam(\"mass\", mass);\r\n        }\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setBodyMass(this, mass);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity\r\n     * @returns  linear velocity or null\r\n     */\r\n    public getLinearVelocity(): Nullable<Vector3> {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getLinearVelocity(this) : Vector3.Zero();\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity\r\n     * @param velocity  linear velocity or null\r\n     */\r\n    public setLinearVelocity(velocity: Nullable<Vector3>) {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setLinearVelocity(this, velocity);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity\r\n     * @returns angular velocity or null\r\n     */\r\n    public getAngularVelocity(): Nullable<Vector3> {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getAngularVelocity(this) : Vector3.Zero();\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity\r\n     * @param velocity The velocity or null\r\n     */\r\n    public setAngularVelocity(velocity: Nullable<Vector3>) {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Execute a function with the physics plugin native code\r\n     * Provide a function the will have two variables - the world object and the physics body object\r\n     * @param func The function to execute with the physics plugin native code\r\n     */\r\n    public executeNativeFunction(func: (world: any, physicsBody: any) => void) {\r\n        if (this._physicsEngine) {\r\n            func(this._physicsEngine.getPhysicsPlugin().world, this.physicsBody);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Register a function that will be executed before the physics world is stepping forward\r\n     * @param func The function to execute before the physics world is stepped forward\r\n     */\r\n    public registerBeforePhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        this._onBeforePhysicsStepCallbacks.push(func);\r\n    }\r\n\r\n    /**\r\n     * Unregister a function that will be executed before the physics world is stepping forward\r\n     * @param func The function to execute before the physics world is stepped forward\r\n     */\r\n    public unregisterBeforePhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        const index = this._onBeforePhysicsStepCallbacks.indexOf(func);\r\n\r\n        if (index > -1) {\r\n            this._onBeforePhysicsStepCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Register a function that will be executed after the physics step\r\n     * @param func The function to execute after physics step\r\n     */\r\n    public registerAfterPhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        this._onAfterPhysicsStepCallbacks.push(func);\r\n    }\r\n\r\n    /**\r\n     * Unregisters a function that will be executed after the physics step\r\n     * @param func The function to execute after physics step\r\n     */\r\n    public unregisterAfterPhysicsStep(func: (impostor: PhysicsImpostor) => void): void {\r\n        const index = this._onAfterPhysicsStepCallbacks.indexOf(func);\r\n\r\n        if (index > -1) {\r\n            this._onAfterPhysicsStepCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    /**\r\n     * register a function that will be executed when this impostor collides against a different body\r\n     * @param collideAgainst Physics imposter, or array of physics imposters to collide against\r\n     * @param func Callback that is executed on collision\r\n     */\r\n    public registerOnPhysicsCollide(\r\n        collideAgainst: PhysicsImpostor | Array<PhysicsImpostor>,\r\n        func: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>) => void\r\n    ): void {\r\n        const collidedAgainstList: Array<PhysicsImpostor> = collideAgainst instanceof Array ? <Array<PhysicsImpostor>>collideAgainst : [<PhysicsImpostor>collideAgainst];\r\n        this._onPhysicsCollideCallbacks.push({ callback: func, otherImpostors: collidedAgainstList });\r\n    }\r\n\r\n    /**\r\n     * Unregisters the physics imposter's collision callback\r\n     * @param collideAgainst The physics object to collide against\r\n     * @param func Callback to execute on collision\r\n     */\r\n    public unregisterOnPhysicsCollide(\r\n        collideAgainst: PhysicsImpostor | Array<PhysicsImpostor>,\r\n        func: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor | Array<PhysicsImpostor>, point: Nullable<Vector3>) => void\r\n    ): void {\r\n        const collidedAgainstList: Array<PhysicsImpostor> = collideAgainst instanceof Array ? <Array<PhysicsImpostor>>collideAgainst : [<PhysicsImpostor>collideAgainst];\r\n        let index = -1;\r\n        const found = this._onPhysicsCollideCallbacks.some((cbDef, idx) => {\r\n            if (cbDef.callback === func && cbDef.otherImpostors.length === collidedAgainstList.length) {\r\n                // chcek the arrays match\r\n                const sameList = cbDef.otherImpostors.every((impostor) => {\r\n                    return collidedAgainstList.indexOf(impostor) > -1;\r\n                });\r\n                if (sameList) {\r\n                    index = idx;\r\n                }\r\n                return sameList;\r\n            }\r\n            return false;\r\n        });\r\n\r\n        if (found) {\r\n            this._onPhysicsCollideCallbacks.splice(index, 1);\r\n        } else {\r\n            Logger.Warn(\"Function to remove was not found\");\r\n        }\r\n    }\r\n\r\n    //temp variables for parent rotation calculations\r\n    //private _mats: Array<Matrix> = [new Matrix(), new Matrix()];\r\n    private _tmpQuat: Quaternion = new Quaternion();\r\n    private _tmpQuat2: Quaternion = new Quaternion();\r\n\r\n    /**\r\n     * Get the parent rotation\r\n     * @returns The parent rotation\r\n     */\r\n    public getParentsRotation(): Quaternion {\r\n        let parent = this.object.parent;\r\n        this._tmpQuat.copyFromFloats(0, 0, 0, 1);\r\n        while (parent) {\r\n            if (parent.rotationQuaternion) {\r\n                this._tmpQuat2.copyFrom(parent.rotationQuaternion);\r\n            } else {\r\n                Quaternion.RotationYawPitchRollToRef(parent.rotation.y, parent.rotation.x, parent.rotation.z, this._tmpQuat2);\r\n            }\r\n            this._tmpQuat.multiplyToRef(this._tmpQuat2, this._tmpQuat);\r\n            parent = parent.parent;\r\n        }\r\n        return this._tmpQuat;\r\n    }\r\n\r\n    /**\r\n     * this function is executed by the physics engine.\r\n     */\r\n    public beforeStep = () => {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this.object.translate(this._deltaPosition, -1);\r\n        this._deltaRotationConjugated &&\r\n            this.object.rotationQuaternion &&\r\n            this.object.rotationQuaternion.multiplyToRef(this._deltaRotationConjugated, this.object.rotationQuaternion);\r\n        this.object.computeWorldMatrix(false);\r\n        if (this.object.parent && this.object.rotationQuaternion) {\r\n            this.getParentsRotation();\r\n            this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this._tmpQuat);\r\n        } else {\r\n            this._tmpQuat.copyFrom(this.object.rotationQuaternion || new Quaternion());\r\n        }\r\n        if (!this._options.disableBidirectionalTransformation) {\r\n            this.object.rotationQuaternion &&\r\n                this._physicsEngine.getPhysicsPlugin().setPhysicsBodyTransformation(this, /*bInfo.boundingBox.centerWorld*/ this.object.getAbsolutePosition(), this._tmpQuat);\r\n        }\r\n\r\n        this._onBeforePhysicsStepCallbacks.forEach((func) => {\r\n            func(this);\r\n        });\r\n    };\r\n\r\n    /**\r\n     * this function is executed by the physics engine\r\n     */\r\n    public afterStep = () => {\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._onAfterPhysicsStepCallbacks.forEach((func) => {\r\n            func(this);\r\n        });\r\n\r\n        this._physicsEngine.getPhysicsPlugin().setTransformationFromPhysicsBody(this);\r\n        // object has now its world rotation. needs to be converted to local.\r\n        if (this.object.parent && this.object.rotationQuaternion) {\r\n            this.getParentsRotation();\r\n            this._tmpQuat.conjugateInPlace();\r\n            this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this.object.rotationQuaternion);\r\n        }\r\n        // take the position set and make it the absolute position of this object.\r\n        this.object.setAbsolutePosition(this.object.position);\r\n        if (this._deltaRotation) {\r\n            this.object.rotationQuaternion && this.object.rotationQuaternion.multiplyToRef(this._deltaRotation, this.object.rotationQuaternion);\r\n            this._deltaPosition.applyRotationQuaternionToRef(this._deltaRotation, PhysicsImpostor._TmpVecs[0]);\r\n            this.object.translate(PhysicsImpostor._TmpVecs[0], 1);\r\n        } else {\r\n            this.object.translate(this._deltaPosition, 1);\r\n        }\r\n        this.object.computeWorldMatrix(true);\r\n    };\r\n\r\n    /**\r\n     * Legacy collision detection event support\r\n     */\r\n    public onCollideEvent: Nullable<(collider: PhysicsImpostor, collidedWith: PhysicsImpostor) => void> = null;\r\n\r\n    /**\r\n     *  define an onCollide function to call when this impostor collides against a different body\r\n     * @param e collide event data\r\n     */\r\n    public onCollide = (e: { body: any; point: Nullable<Vector3>; distance: number; impulse: number; normal: Nullable<Vector3> }) => {\r\n        if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {\r\n            return;\r\n        }\r\n\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n        const otherImpostor = this._physicsEngine.getImpostorWithPhysicsBody(e.body);\r\n        if (otherImpostor) {\r\n            // Legacy collision detection event support\r\n            if (this.onCollideEvent) {\r\n                this.onCollideEvent(this, otherImpostor);\r\n            }\r\n            this._onPhysicsCollideCallbacks\r\n                .filter((obj) => {\r\n                    return obj.otherImpostors.indexOf(<PhysicsImpostor>otherImpostor) !== -1;\r\n                })\r\n                .forEach((obj) => {\r\n                    obj.callback(this, <PhysicsImpostor>otherImpostor, e.point, e.distance, e.impulse, e.normal);\r\n                });\r\n        }\r\n    };\r\n\r\n    /**\r\n     * Apply a force\r\n     * @param force The force to apply\r\n     * @param contactPoint The contact point for the force\r\n     * @returns The physics imposter\r\n     */\r\n    public applyForce(force: Vector3, contactPoint: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().applyForce(this, force, contactPoint);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Apply an impulse\r\n     * @param force The impulse force\r\n     * @param contactPoint The contact point for the impulse force\r\n     * @returns The physics imposter\r\n     */\r\n    public applyImpulse(force: Vector3, contactPoint: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().applyImpulse(this, force, contactPoint);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * A help function to create a joint\r\n     * @param otherImpostor A physics imposter used to create a joint\r\n     * @param jointType The type of joint\r\n     * @param jointData The data for the joint\r\n     * @returns The physics imposter\r\n     */\r\n    public createJoint(otherImpostor: PhysicsImpostor, jointType: number, jointData: PhysicsJointData): PhysicsImpostor {\r\n        const joint = new PhysicsJoint(jointType, jointData);\r\n        this.addJoint(otherImpostor, joint);\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add a joint to this impostor with a different impostor\r\n     * @param otherImpostor A physics imposter used to add a joint\r\n     * @param joint The joint to add\r\n     * @returns The physics imposter\r\n     */\r\n    public addJoint(otherImpostor: PhysicsImpostor, joint: PhysicsJoint): PhysicsImpostor {\r\n        this._joints.push({\r\n            otherImpostor: otherImpostor,\r\n            joint: joint,\r\n        });\r\n\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.addJoint(this, otherImpostor, joint);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add an anchor to a cloth impostor\r\n     * @param otherImpostor rigid impostor to anchor to\r\n     * @param width ratio across width from 0 to 1\r\n     * @param height ratio up height from 0 to 1\r\n     * @param influence the elasticity between cloth impostor and anchor from 0, very stretchy to 1, little stretch\r\n     * @param noCollisionBetweenLinkedBodies when true collisions between cloth impostor and anchor are ignored; default false\r\n     * @returns impostor the soft imposter\r\n     */\r\n    public addAnchor(otherImpostor: PhysicsImpostor, width: number, height: number, influence: number, noCollisionBetweenLinkedBodies: boolean): PhysicsImpostor {\r\n        if (!this._physicsEngine) {\r\n            return this;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.appendAnchor) {\r\n            return this;\r\n        }\r\n        if (this._physicsEngine) {\r\n            plugin.appendAnchor!(this, otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Add a hook to a rope impostor\r\n     * @param otherImpostor rigid impostor to anchor to\r\n     * @param length ratio across rope from 0 to 1\r\n     * @param influence the elasticity between rope impostor and anchor from 0, very stretchy to 1, little stretch\r\n     * @param noCollisionBetweenLinkedBodies when true collisions between soft impostor and anchor are ignored; default false\r\n     * @returns impostor the rope imposter\r\n     */\r\n    public addHook(otherImpostor: PhysicsImpostor, length: number, influence: number, noCollisionBetweenLinkedBodies: boolean): PhysicsImpostor {\r\n        if (!this._physicsEngine) {\r\n            return this;\r\n        }\r\n        const plugin = this._physicsEngine.getPhysicsPlugin();\r\n        if (!plugin.appendAnchor) {\r\n            return this;\r\n        }\r\n        if (this._physicsEngine) {\r\n            plugin.appendHook!(this, otherImpostor, length, influence, noCollisionBetweenLinkedBodies);\r\n        }\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Will keep this body still, in a sleep mode.\r\n     * @returns the physics imposter\r\n     */\r\n    public sleep(): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().sleepBody(this);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Wake the body up.\r\n     * @returns The physics imposter\r\n     */\r\n    public wakeUp(): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().wakeUpBody(this);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Clones the physics imposter\r\n     * @param newObject The physics imposter clones to this physics-enabled object\r\n     * @returns A nullable physics imposter\r\n     */\r\n    public clone(newObject: IPhysicsEnabledObject): Nullable<PhysicsImpostor> {\r\n        if (!newObject) {\r\n            return null;\r\n        }\r\n        return new PhysicsImpostor(newObject, this.type, this._options, this._scene);\r\n    }\r\n\r\n    /**\r\n     * Disposes the physics imposter\r\n     */\r\n    public dispose(/*disposeChildren: boolean = true*/) {\r\n        //no dispose if no physics engine is available.\r\n        if (!this._physicsEngine) {\r\n            return;\r\n        }\r\n\r\n        this._joints.forEach((j) => {\r\n            if (this._physicsEngine) {\r\n                this._physicsEngine.removeJoint(this, j.otherImpostor, j.joint);\r\n            }\r\n        });\r\n        //dispose the physics body\r\n        this._physicsEngine.removeImpostor(this);\r\n        if (this.parent) {\r\n            this.parent.forceUpdate();\r\n        } else {\r\n            /*this._object.getChildMeshes().forEach(function(mesh) {\r\n                if (mesh.physicsImpostor) {\r\n                    if (disposeChildren) {\r\n                        mesh.physicsImpostor.dispose();\r\n                        mesh.physicsImpostor = null;\r\n                    }\r\n                }\r\n            })*/\r\n        }\r\n\r\n        this._isDisposed = true;\r\n    }\r\n\r\n    /**\r\n     * Sets the delta position\r\n     * @param position The delta position amount\r\n     */\r\n    public setDeltaPosition(position: Vector3) {\r\n        this._deltaPosition.copyFrom(position);\r\n    }\r\n\r\n    /**\r\n     * Sets the delta rotation\r\n     * @param rotation The delta rotation amount\r\n     */\r\n    public setDeltaRotation(rotation: Quaternion) {\r\n        if (!this._deltaRotation) {\r\n            this._deltaRotation = new Quaternion();\r\n        }\r\n        this._deltaRotation.copyFrom(rotation);\r\n        this._deltaRotationConjugated = this._deltaRotation.conjugate();\r\n    }\r\n\r\n    /**\r\n     * Gets the box size of the physics imposter and stores the result in the input parameter\r\n     * @param result Stores the box size\r\n     * @returns The physics imposter\r\n     */\r\n    public getBoxSizeToRef(result: Vector3): PhysicsImpostor {\r\n        if (this._physicsEngine) {\r\n            this._physicsEngine.getPhysicsPlugin().getBoxSizeToRef(this, result);\r\n        }\r\n\r\n        return this;\r\n    }\r\n\r\n    /**\r\n     * Gets the radius of the physics imposter\r\n     * @returns Radius of the physics imposter\r\n     */\r\n    public getRadius(): number {\r\n        return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getRadius(this) : 0;\r\n    }\r\n\r\n    /**\r\n     * Sync a bone with this impostor\r\n     * @param bone The bone to sync to the impostor.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     */\r\n    public syncBoneWithImpostor(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion) {\r\n        const tempVec = PhysicsImpostor._TmpVecs[0];\r\n        const mesh = <AbstractMesh>this.object;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = PhysicsImpostor._TmpQuat;\r\n                mesh.rotationQuaternion.multiplyToRef(adjustRotation, tempQuat);\r\n                bone.setRotationQuaternion(tempQuat, Space.WORLD, boneMesh);\r\n            } else {\r\n                bone.setRotationQuaternion(mesh.rotationQuaternion, Space.WORLD, boneMesh);\r\n            }\r\n        }\r\n\r\n        tempVec.x = 0;\r\n        tempVec.y = 0;\r\n        tempVec.z = 0;\r\n\r\n        if (jointPivot) {\r\n            tempVec.x = jointPivot.x;\r\n            tempVec.y = jointPivot.y;\r\n            tempVec.z = jointPivot.z;\r\n\r\n            bone.getDirectionToRef(tempVec, boneMesh, tempVec);\r\n\r\n            if (distToJoint === undefined || distToJoint === null) {\r\n                distToJoint = jointPivot.length();\r\n            }\r\n\r\n            tempVec.x *= distToJoint;\r\n            tempVec.y *= distToJoint;\r\n            tempVec.z *= distToJoint;\r\n        }\r\n\r\n        if (bone.getParent()) {\r\n            tempVec.addInPlace(mesh.getAbsolutePosition());\r\n            bone.setAbsolutePosition(tempVec, boneMesh);\r\n        } else {\r\n            boneMesh.setAbsolutePosition(mesh.getAbsolutePosition());\r\n            boneMesh.position.x -= tempVec.x;\r\n            boneMesh.position.y -= tempVec.y;\r\n            boneMesh.position.z -= tempVec.z;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sync impostor to a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncImpostorWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = <AbstractMesh>this.object;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = PhysicsImpostor._TmpQuat;\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = PhysicsImpostor._TmpVecs[0];\r\n        const boneDir = PhysicsImpostor._TmpVecs[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = PhysicsImpostor._TmpVecs[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    //Impostor types\r\n    /**\r\n     * No-Imposter type\r\n     */\r\n    public static NoImpostor = 0;\r\n    /**\r\n     * Sphere-Imposter type\r\n     */\r\n    public static SphereImpostor = 1;\r\n    /**\r\n     * Box-Imposter type\r\n     */\r\n    public static BoxImpostor = 2;\r\n    /**\r\n     * Plane-Imposter type\r\n     */\r\n    public static PlaneImpostor = 3;\r\n    /**\r\n     * Mesh-imposter type (Only available to objects with vertices data)\r\n     */\r\n    public static MeshImpostor = 4;\r\n    /**\r\n     * Capsule-Impostor type (Ammo.js plugin only)\r\n     */\r\n    public static CapsuleImpostor = 6;\r\n    /**\r\n     * Cylinder-Imposter type\r\n     */\r\n    public static CylinderImpostor = 7;\r\n    /**\r\n     * Particle-Imposter type\r\n     */\r\n    public static ParticleImpostor = 8;\r\n    /**\r\n     * Heightmap-Imposter type\r\n     */\r\n    public static HeightmapImpostor = 9;\r\n    /**\r\n     * ConvexHull-Impostor type (Ammo.js plugin only)\r\n     */\r\n    public static ConvexHullImpostor = 10;\r\n    /**\r\n     * Custom-Imposter type (Ammo.js plugin only)\r\n     */\r\n    public static CustomImpostor = 100;\r\n    /**\r\n     * Rope-Imposter type\r\n     */\r\n    public static RopeImpostor = 101;\r\n    /**\r\n     * Cloth-Imposter type\r\n     */\r\n    public static ClothImpostor = 102;\r\n    /**\r\n     * Softbody-Imposter type\r\n     */\r\n    public static SoftbodyImpostor = 103;\r\n}\r\n"]}

package/Physics/v2/IPhysicsEnginePlugin.d.ts

@@ -11,13 +11,13 @@ import type { Nullable } from "../../types";
 import type { Observable } from "../../Misc/observable";
 import type { GroundMesh } from "../../Meshes/groundMesh";
 /** How a specific axis can be constrained */
-export declare enum PhysicsConstraintAxisLimitMode {
+export declare const enum PhysicsConstraintAxisLimitMode {
     FREE = 0,
     LIMITED = 1,
     LOCKED = 2
 }
 /** The constraint specific axis to use when setting Friction, `ConstraintAxisLimitMode`, max force, ... */
-export declare enum PhysicsConstraintAxis {
+export declare const enum PhysicsConstraintAxis {
     LINEAR_X = 0,
     LINEAR_Y = 1,
     LINEAR_Z = 2,
@@ -27,7 +27,7 @@ export declare enum PhysicsConstraintAxis {
     LINEAR_DISTANCE = 6
 }
 /** Type of Constraint */
-export declare enum PhysicsConstraintType {
+export declare const enum PhysicsConstraintType {
     /**
      * A ball and socket constraint will attempt to line up the pivot
      * positions in each body, and have no restrictions on rotation
@@ -58,7 +58,7 @@ export declare enum PhysicsConstraintType {
     SIX_DOF = 7
 }
 /** Type of Shape */
-export declare enum PhysicsShapeType {
+export declare const enum PhysicsShapeType {
     SPHERE = 0,
     CAPSULE = 1,
     CYLINDER = 2,
@@ -69,12 +69,12 @@ export declare enum PhysicsShapeType {
     HEIGHTFIELD = 7
 }
 /** Optional motor which attempts to move a body at a specific velocity, or at a specific position */
-export declare enum PhysicsConstraintMotorType {
+export declare const enum PhysicsConstraintMotorType {
     NONE = 0,
     VELOCITY = 1,
     POSITION = 2
 }
-export declare enum PhysicsEventType {
+export declare const enum PhysicsEventType {
     COLLISION_STARTED = "COLLISION_STARTED",
     COLLISION_CONTINUED = "COLLISION_CONTINUED",
     COLLISION_FINISHED = "COLLISION_FINISHED",
@@ -282,15 +282,23 @@ export interface PhysicsMassProperties {
 /**
  * Indicates how the body will behave.
  */
-export declare enum PhysicsMotionType {
+export declare const enum PhysicsMotionType {
     STATIC = 0,
     ANIMATED = 1,
     DYNAMIC = 2
 }
+/**
+ * Indicates how to handle position/rotation change of transform node attached to a physics body
+ */
+export declare enum PhysicsPrestepType {
+    DISABLED = 0,
+    TELEPORT = 1,
+    ACTION = 2
+}
 /**
  * Controls the body sleep mode.
  */
-export declare enum PhysicsActivationControl {
+export declare const enum PhysicsActivationControl {
     SIMULATION_CONTROLLED = 0,
     ALWAYS_ACTIVE = 1,
     ALWAYS_INACTIVE = 2

package/Physics/v2/IPhysicsEnginePlugin.js

@@ -131,6 +131,15 @@ export var PhysicsMotionType;
     PhysicsMotionType[PhysicsMotionType["ANIMATED"] = 1] = "ANIMATED";
     PhysicsMotionType[PhysicsMotionType["DYNAMIC"] = 2] = "DYNAMIC";
 })(PhysicsMotionType || (PhysicsMotionType = {}));
+/**
+ * Indicates how to handle position/rotation change of transform node attached to a physics body
+ */
+export var PhysicsPrestepType;
+(function (PhysicsPrestepType) {
+    PhysicsPrestepType[PhysicsPrestepType["DISABLED"] = 0] = "DISABLED";
+    PhysicsPrestepType[PhysicsPrestepType["TELEPORT"] = 1] = "TELEPORT";
+    PhysicsPrestepType[PhysicsPrestepType["ACTION"] = 2] = "ACTION";
+})(PhysicsPrestepType || (PhysicsPrestepType = {}));
 /**
  * Controls the body sleep mode.
  */

package/Physics/v2/IPhysicsEnginePlugin.js.map

@@ -1 +1 @@
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This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Z,\r\n    /*\r\n     * Rotation around the primary axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    ANGULAR_X,\r\n    /*\r\n     * Rotation around the second axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Y,\r\n    /*\r\n     * Rotation around the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Z,\r\n    /*\r\n     * A 3D distance limit; similar to specifying the LINEAR_X/Y/Z axes\r\n     * individually, but the distance calculation uses all three axes\r\n     * simultaneously, instead of individually.\r\n     */\r\n    LINEAR_DISTANCE,\r\n}\r\n\r\n/** Type of Constraint */\r\nexport enum PhysicsConstraintType {\r\n    /**\r\n     * A ball and socket constraint will attempt to line up the pivot\r\n     * positions in each body, and have no restrictions on rotation\r\n     */\r\n    BALL_AND_SOCKET = 1,\r\n    /**\r\n     * A distance constraint will attempt to keep the pivot locations\r\n     * within a specified distance.\r\n     */\r\n    DISTANCE = 2,\r\n    /**\r\n     * A hinge constraint will keep the pivot positions aligned as well\r\n     * as two angular axes. The remaining angular axis will be free to rotate.\r\n     */\r\n    HINGE = 3,\r\n    /**\r\n     * A slider constraint allows bodies to translate along one axis and\r\n     * rotate about the same axis. The remaining two axes are locked in\r\n     * place\r\n     */\r\n    SLIDER = 4,\r\n    /**\r\n     * A lock constraint will attempt to keep the pivots completely lined\r\n     * up between both bodies, allowing no relative movement.\r\n     */\r\n    LOCK = 5,\r\n    /*\r\n     * A prismatic will lock the rotations of the bodies, and allow translation\r\n     * only along one axis\r\n     */\r\n    PRISMATIC = 6,\r\n    /*\r\n     * A generic constraint; this starts with no limits on how the bodies can\r\n     * move relative to each other, but limits can be added via the PhysicsConstraint\r\n     * interfaces. This can be used to specify a large variety of constraints\r\n     */\r\n    SIX_DOF = 7,\r\n}\r\n\r\n/** Type of Shape */\r\nexport enum PhysicsShapeType {\r\n    SPHERE,\r\n    CAPSULE,\r\n    CYLINDER,\r\n    BOX,\r\n    CONVEX_HULL,\r\n    CONTAINER,\r\n    MESH,\r\n    HEIGHTFIELD,\r\n}\r\n\r\n/** Optional motor which attempts to move a body at a specific velocity, or at a specific position */\r\nexport enum PhysicsConstraintMotorType {\r\n    NONE,\r\n    VELOCITY,\r\n    POSITION,\r\n}\r\n\r\nexport enum PhysicsEventType {\r\n    COLLISION_STARTED = \"COLLISION_STARTED\",\r\n    COLLISION_CONTINUED = \"COLLISION_CONTINUED\",\r\n    COLLISION_FINISHED = \"COLLISION_FINISHED\",\r\n    TRIGGER_ENTERED = \"TRIGGER_ENTERED\",\r\n    TRIGGER_EXITED = \"TRIGGER_EXITED\",\r\n}\r\n\r\n/**\r\n * Base collision object\r\n */\r\nexport interface IBasePhysicsCollisionEvent {\r\n    /**\r\n     * 1st physics body that collided\r\n     */\r\n    collider: PhysicsBody;\r\n    /**\r\n     * 2nd physics body that collided\r\n     */\r\n    collidedAgainst: PhysicsBody;\r\n    /**\r\n     * index in instances array for the collider\r\n     */\r\n    colliderIndex: number;\r\n    /**\r\n     * index in instances array for the collidedAgainst\r\n     */\r\n    collidedAgainstIndex: number;\r\n    /**\r\n     * Event type\r\n     */\r\n    type: PhysicsEventType;\r\n}\r\n\r\n/**\r\n * Collision object that is the parameter when notification for collision fires.\r\n */\r\nexport interface IPhysicsCollisionEvent extends IBasePhysicsCollisionEvent {\r\n    /**\r\n     * World position where the collision occured\r\n     */\r\n    point: Nullable<Vector3>;\r\n    /**\r\n     * Penetration distance\r\n     */\r\n    distance: number;\r\n    /**\r\n     * Impulse value computed by the solver response\r\n     */\r\n    impulse: number;\r\n    /**\r\n     * Collision world normal direction\r\n     */\r\n    normal: Nullable<Vector3>;\r\n}\r\n\r\n/**\r\n * Parameters used to describe the Shape\r\n */\r\nexport interface PhysicsShapeParameters {\r\n    /**\r\n     * Shape center position\r\n     */\r\n    center?: Vector3;\r\n    /**\r\n     * Radius for cylinder, shape and capsule\r\n     */\r\n    radius?: number;\r\n    /**\r\n     * First point position that defines the cylinder or capsule\r\n     */\r\n    pointA?: Vector3;\r\n    /**\r\n     * Second point position that defines the cylinder or capsule\r\n     */\r\n    pointB?: Vector3;\r\n    /**\r\n     * Shape orientation\r\n     */\r\n    rotation?: Quaternion;\r\n    /**\r\n     * Dimesion extention for the box\r\n     */\r\n    extents?: Vector3;\r\n    /**\r\n     * Mesh used for Mesh shape or convex hull. It can be different than the mesh the body is attached to.\r\n     */\r\n    mesh?: Mesh;\r\n    /**\r\n     * Use children hierarchy\r\n     */\r\n    includeChildMeshes?: boolean;\r\n    /**\r\n     * The size of the heightfield in the X axis\r\n     */\r\n    heightFieldSizeX?: number;\r\n    /**\r\n     * The size of the heightfield in the Z axis\r\n     */\r\n    heightFieldSizeZ?: number;\r\n    /**\r\n     * The number of samples along the X axis\r\n     */\r\n    numHeightFieldSamplesX?: number;\r\n    /**\r\n     * The number of samples along the Z axis\r\n     */\r\n    numHeightFieldSamplesZ?: number;\r\n    /**\r\n     * The data for the heightfield\r\n     */\r\n    heightFieldData?: Float32Array;\r\n    /**\r\n     * Ground mesh used for display\r\n     */\r\n    groundMesh?: GroundMesh;\r\n}\r\n\r\n/**\r\n * Parameters used to describe a Constraint\r\n */\r\nexport interface PhysicsConstraintParameters {\r\n    /**\r\n     * Location of the constraint pivot in the space of first body\r\n     */\r\n    pivotA?: Vector3;\r\n    /**\r\n     * Location of the constraint pivot in the space of the second body\r\n     */\r\n    pivotB?: Vector3;\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisA?: Vector3;\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisB?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisA?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisB?: Vector3;\r\n\r\n    /**\r\n     * The maximum distance that can seperate the two pivots.\r\n     * Only used for DISTANCE constraints\r\n     */\r\n    maxDistance?: number;\r\n\r\n    /**\r\n     * Determines if the connected bodies should collide. Generally,\r\n     * it is preferable to set this to false, especially if the constraint\r\n     * positions the bodies so that they overlap. Otherwise, the constraint\r\n     * will \"fight\" the collision detection and may cause jitter.\r\n     */\r\n    collision?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe mass and inertia of the Physics Body\r\n */\r\nexport interface PhysicsMassProperties {\r\n    /**\r\n     * The center of mass, in local space. This is The\r\n     * point the body will rotate around when applying\r\n     * an angular velocity.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    centerOfMass?: Vector3;\r\n    /**\r\n     * The total mass of this object, in kilograms. This\r\n     * affects how easy it is to move the body. A value\r\n     * of zero will be used as an infinite mass.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    mass?: number;\r\n    /**\r\n     * The principal moments of inertia of this object\r\n     * for a unit mass. This determines how easy it is\r\n     * for the body to rotate. A value of zero on any\r\n     * axis will be used as infinite interia about that\r\n     * axis.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertia?: Vector3;\r\n    /**\r\n     * The rotation rotating from inertia major axis space\r\n     * to parent space (i.e., the rotation which, when\r\n     * applied to the 3x3 inertia tensor causes the inertia\r\n     * tensor to become a diagonal matrix). This determines\r\n     * how the values of inertia are aligned with the parent\r\n     * object.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertiaOrientation?: Quaternion;\r\n}\r\n\r\n/**\r\n * Indicates how the body will behave.\r\n */\r\nexport enum PhysicsMotionType {\r\n    STATIC,\r\n    ANIMATED,\r\n    DYNAMIC,\r\n}\r\n\r\n/**\r\n * Controls the body sleep mode.\r\n */\r\nexport enum PhysicsActivationControl {\r\n    SIMULATION_CONTROLLED,\r\n    ALWAYS_ACTIVE,\r\n    ALWAYS_INACTIVE,\r\n}\r\n\r\n/**\r\n * Represents a pair of bodies connected by a constraint.\r\n */\r\nexport type ConstrainedBodyPair = { parentBody: PhysicsBody; parentBodyIndex: number; childBody: PhysicsBody; childBodyIndex: number };\r\n\r\n/** @internal */\r\nexport interface IPhysicsEnginePluginV2 {\r\n    /**\r\n     * Physics plugin world instance\r\n     */\r\n    world: any;\r\n    /**\r\n     * Physics plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Collision observable\r\n     */\r\n    onCollisionObservable: Observable<IPhysicsCollisionEvent>;\r\n    /**\r\n     * Collision ended observable\r\n     */\r\n    onCollisionEndedObservable: Observable<IBasePhysicsCollisionEvent>;\r\n    /**\r\n     * Trigger observable\r\n     */\r\n    onTriggerCollisionObservable: Observable<IBasePhysicsCollisionEvent>;\r\n\r\n    setGravity(gravity: Vector3): void;\r\n    setTimeStep(timeStep: number): void;\r\n    getTimeStep(): number;\r\n    executeStep(delta: number, bodies: Array<PhysicsBody>): void; //not forgetting pre and post events\r\n    getPluginVersion(): number;\r\n    setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void;\r\n    getMaxLinearVelocity(): number;\r\n    getMaxAngularVelocity(): number;\r\n\r\n    // body\r\n    initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void;\r\n    initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void;\r\n    updateBodyInstances(body: PhysicsBody, mesh: Mesh): void;\r\n    removeBody(body: PhysicsBody): void;\r\n    sync(body: PhysicsBody): void;\r\n    syncTransform(body: PhysicsBody, transformNode: TransformNode): void;\r\n    setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void;\r\n    getShape(body: PhysicsBody): Nullable<PhysicsShape>;\r\n    getShapeType(shape: PhysicsShape): PhysicsShapeType;\r\n    setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void;\r\n    getEventMask(body: PhysicsBody, instanceIndex?: number): number;\r\n    setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void;\r\n    getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType;\r\n    computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void;\r\n    getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getLinearDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getAngularDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    applyAngularImpulse(body: PhysicsBody, angularImpulse: Vector3, instanceIndex?: number): void;\r\n    applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getBodyGeometry(body: PhysicsBody): {};\r\n    disposeBody(body: PhysicsBody): void;\r\n    setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;\r\n    getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent>;\r\n    getCollisionEndedObservable(body: PhysicsBody, instanceIndex?: number): Observable<IBasePhysicsCollisionEvent>;\r\n    setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void;\r\n    getGravityFactor(body: PhysicsBody, instanceIndex?: number): number;\r\n    setTargetTransform(body: PhysicsBody, position: Vector3, rotation: Quaternion, instanceIndex?: number): void;\r\n\r\n    // shape\r\n    initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;\r\n    setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void;\r\n    getShapeFilterMembershipMask(shape: PhysicsShape): number;\r\n    setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void;\r\n    getShapeFilterCollideMask(shape: PhysicsShape): number;\r\n    setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void;\r\n    getMaterial(shape: PhysicsShape): PhysicsMaterial;\r\n    setDensity(shape: PhysicsShape, density: number): void;\r\n    getDensity(shape: PhysicsShape): number;\r\n    addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;\r\n    removeChild(shape: PhysicsShape, childIndex: number): void;\r\n    getNumChildren(shape: PhysicsShape): number;\r\n    getBoundingBox(shape: PhysicsShape): BoundingBox;\r\n    getBodyBoundingBox(body: PhysicsBody): BoundingBox;\r\n    disposeShape(shape: PhysicsShape): void;\r\n    setTrigger(shape: PhysicsShape, isTrigger: boolean): void;\r\n\r\n    // constraint\r\n    initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody): void;\r\n    setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getEnabled(constraint: PhysicsConstraint): boolean;\r\n    setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getCollisionsEnabled(constraint: PhysicsConstraint): boolean;\r\n    setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void;\r\n    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void;\r\n    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode>;\r\n    setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void;\r\n    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void;\r\n    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void;\r\n    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType>;\r\n    setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void;\r\n    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void;\r\n    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    disposeConstraint(constraint: PhysicsConstraint): void;\r\n    getBodiesUsingConstraint(constraint: PhysicsConstraint): ConstrainedBodyPair[];\r\n\r\n    // raycast\r\n    raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult, query?: IRaycastQuery): void;\r\n\r\n    dispose(): void;\r\n}\r\n"]}
+{"version":3,"file":"IPhysicsEnginePlugin.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/IPhysicsEnginePlugin.ts"],"names":[],"mappings":"AAaA,6CAA6C;AAC7C,MAAM,CAAN,IAAkB,8BAajB;AAbD,WAAkB,8BAA8B;IAC5C;;OAEG;IACH,mFAAI,CAAA;IACJ;;OAEG;IACH,yFAAO,CAAA;IACP;;OAEG;IACH,uFAAM,CAAA;AACV,CAAC,EAbiB,8BAA8B,KAA9B,8BAA8B,QAa/C;AAED,2GAA2G;AAC3G,MAAM,CAAN,IAAkB,qBAqCjB;AArCD,WAAkB,qBAAqB;IACnC;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,yEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;OAGG;IACH,2EAAS,CAAA;IACT;;;;OAIG;IACH,uFAAe,CAAA;AACnB,CAAC,EArCiB,qBAAqB,KAArB,qBAAqB,QAqCtC;AAED,yBAAyB;AACzB,MAAM,CAAN,IAAkB,qBAsCjB;AAtCD,WAAkB,qBAAqB;IACnC;;;OAGG;IACH,uFAAmB,CAAA;IACnB;;;OAGG;IACH,yEAAY,CAAA;IACZ;;;OAGG;IACH,mEAAS,CAAA;IACT;;;;OAIG;IACH,qEAAU,CAAA;IACV;;;OAGG;IACH,iEAAQ,CAAA;IACR;;;OAGG;IACH,2EAAa,CAAA;IACb;;;;OAIG;IACH,uEAAW,CAAA;AACf,CAAC,EAtCiB,qBAAqB,KAArB,qBAAqB,QAsCtC;AAED,oBAAoB;AACpB,MAAM,CAAN,IAAkB,gBASjB;AATD,WAAkB,gBAAgB;IAC9B,2DAAM,CAAA;IACN,6DAAO,CAAA;IACP,+DAAQ,CAAA;IACR,qDAAG,CAAA;IACH,qEAAW,CAAA;IACX,iEAAS,CAAA;IACT,uDAAI,CAAA;IACJ,qEAAW,CAAA;AACf,CAAC,EATiB,gBAAgB,KAAhB,gBAAgB,QASjC;AAED,qGAAqG;AACrG,MAAM,CAAN,IAAkB,0BAIjB;AAJD,WAAkB,0BAA0B;IACxC,2EAAI,CAAA;IACJ,mFAAQ,CAAA;IACR,mFAAQ,CAAA;AACZ,CAAC,EAJiB,0BAA0B,KAA1B,0BAA0B,QAI3C;AAED,MAAM,CAAN,IAAkB,gBAMjB;AAND,WAAkB,gBAAgB;IAC9B,2DAAuC,CAAA;IACvC,+DAA2C,CAAA;IAC3C,6DAAyC,CAAA;IACzC,uDAAmC,CAAA;IACnC,qDAAiC,CAAA;AACrC,CAAC,EANiB,gBAAgB,KAAhB,gBAAgB,QAMjC;AAiND;;GAEG;AACH,MAAM,CAAN,IAAkB,iBAIjB;AAJD,WAAkB,iBAAiB;IAC/B,6DAAM,CAAA;IACN,iEAAQ,CAAA;IACR,+DAAO,CAAA;AACX,CAAC,EAJiB,iBAAiB,KAAjB,iBAAiB,QAIlC;AAED;;GAEG;AACH,MAAM,CAAN,IAAY,kBAIX;AAJD,WAAY,kBAAkB;IAC1B,mEAAQ,CAAA;IACR,mEAAQ,CAAA;IACR,+DAAM,CAAA;AACV,CAAC,EAJW,kBAAkB,KAAlB,kBAAkB,QAI7B;AAED;;GAEG;AACH,MAAM,CAAN,IAAkB,wBAIjB;AAJD,WAAkB,wBAAwB;IACtC,yGAAqB,CAAA;IACrB,yFAAa,CAAA;IACb,6FAAe,CAAA;AACnB,CAAC,EAJiB,wBAAwB,KAAxB,wBAAwB,QAIzC","sourcesContent":["import type { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { IRaycastQuery, PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { Observable } from \"../../Misc/observable\";\r\nimport type { GroundMesh } from \"../../Meshes/groundMesh\";\r\n\r\n/** How a specific axis can be constrained */\r\nexport const enum PhysicsConstraintAxisLimitMode {\r\n    /*\r\n     * The axis is not restricted at all\r\n     */\r\n    FREE,\r\n    /*\r\n     * The axis has a minimum/maximum limit\r\n     */\r\n    LIMITED,\r\n    /*\r\n     * The axis allows no relative movement of the pivots\r\n     */\r\n    LOCKED,\r\n}\r\n\r\n/** The constraint specific axis to use when setting Friction, `ConstraintAxisLimitMode`, max force, ... */\r\nexport const enum PhysicsConstraintAxis {\r\n    /*\r\n     * Translation along the primary axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    LINEAR_X,\r\n    /*\r\n     * Translation along the second axis of the constraint (i.e. the\r\n     * direction specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Y,\r\n    /*\r\n     * Translation along the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    LINEAR_Z,\r\n    /*\r\n     * Rotation around the primary axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.axisA/axisB)\r\n     */\r\n    ANGULAR_X,\r\n    /*\r\n     * Rotation around the second axis of the constraint (i.e. the\r\n     * axis specified by PhysicsConstraintParameters.perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Y,\r\n    /*\r\n     * Rotation around the third axis of the constraint. This axis is\r\n     * computed from the cross product of axisA/axisB and perpAxisA/perpAxisB)\r\n     */\r\n    ANGULAR_Z,\r\n    /*\r\n     * A 3D distance limit; similar to specifying the LINEAR_X/Y/Z axes\r\n     * individually, but the distance calculation uses all three axes\r\n     * simultaneously, instead of individually.\r\n     */\r\n    LINEAR_DISTANCE,\r\n}\r\n\r\n/** Type of Constraint */\r\nexport const enum PhysicsConstraintType {\r\n    /**\r\n     * A ball and socket constraint will attempt to line up the pivot\r\n     * positions in each body, and have no restrictions on rotation\r\n     */\r\n    BALL_AND_SOCKET = 1,\r\n    /**\r\n     * A distance constraint will attempt to keep the pivot locations\r\n     * within a specified distance.\r\n     */\r\n    DISTANCE = 2,\r\n    /**\r\n     * A hinge constraint will keep the pivot positions aligned as well\r\n     * as two angular axes. The remaining angular axis will be free to rotate.\r\n     */\r\n    HINGE = 3,\r\n    /**\r\n     * A slider constraint allows bodies to translate along one axis and\r\n     * rotate about the same axis. The remaining two axes are locked in\r\n     * place\r\n     */\r\n    SLIDER = 4,\r\n    /**\r\n     * A lock constraint will attempt to keep the pivots completely lined\r\n     * up between both bodies, allowing no relative movement.\r\n     */\r\n    LOCK = 5,\r\n    /*\r\n     * A prismatic will lock the rotations of the bodies, and allow translation\r\n     * only along one axis\r\n     */\r\n    PRISMATIC = 6,\r\n    /*\r\n     * A generic constraint; this starts with no limits on how the bodies can\r\n     * move relative to each other, but limits can be added via the PhysicsConstraint\r\n     * interfaces. This can be used to specify a large variety of constraints\r\n     */\r\n    SIX_DOF = 7,\r\n}\r\n\r\n/** Type of Shape */\r\nexport const enum PhysicsShapeType {\r\n    SPHERE,\r\n    CAPSULE,\r\n    CYLINDER,\r\n    BOX,\r\n    CONVEX_HULL,\r\n    CONTAINER,\r\n    MESH,\r\n    HEIGHTFIELD,\r\n}\r\n\r\n/** Optional motor which attempts to move a body at a specific velocity, or at a specific position */\r\nexport const enum PhysicsConstraintMotorType {\r\n    NONE,\r\n    VELOCITY,\r\n    POSITION,\r\n}\r\n\r\nexport const enum PhysicsEventType {\r\n    COLLISION_STARTED = \"COLLISION_STARTED\",\r\n    COLLISION_CONTINUED = \"COLLISION_CONTINUED\",\r\n    COLLISION_FINISHED = \"COLLISION_FINISHED\",\r\n    TRIGGER_ENTERED = \"TRIGGER_ENTERED\",\r\n    TRIGGER_EXITED = \"TRIGGER_EXITED\",\r\n}\r\n\r\n/**\r\n * Base collision object\r\n */\r\nexport interface IBasePhysicsCollisionEvent {\r\n    /**\r\n     * 1st physics body that collided\r\n     */\r\n    collider: PhysicsBody;\r\n    /**\r\n     * 2nd physics body that collided\r\n     */\r\n    collidedAgainst: PhysicsBody;\r\n    /**\r\n     * index in instances array for the collider\r\n     */\r\n    colliderIndex: number;\r\n    /**\r\n     * index in instances array for the collidedAgainst\r\n     */\r\n    collidedAgainstIndex: number;\r\n    /**\r\n     * Event type\r\n     */\r\n    type: PhysicsEventType;\r\n}\r\n\r\n/**\r\n * Collision object that is the parameter when notification for collision fires.\r\n */\r\nexport interface IPhysicsCollisionEvent extends IBasePhysicsCollisionEvent {\r\n    /**\r\n     * World position where the collision occured\r\n     */\r\n    point: Nullable<Vector3>;\r\n    /**\r\n     * Penetration distance\r\n     */\r\n    distance: number;\r\n    /**\r\n     * Impulse value computed by the solver response\r\n     */\r\n    impulse: number;\r\n    /**\r\n     * Collision world normal direction\r\n     */\r\n    normal: Nullable<Vector3>;\r\n}\r\n\r\n/**\r\n * Parameters used to describe the Shape\r\n */\r\nexport interface PhysicsShapeParameters {\r\n    /**\r\n     * Shape center position\r\n     */\r\n    center?: Vector3;\r\n    /**\r\n     * Radius for cylinder, shape and capsule\r\n     */\r\n    radius?: number;\r\n    /**\r\n     * First point position that defines the cylinder or capsule\r\n     */\r\n    pointA?: Vector3;\r\n    /**\r\n     * Second point position that defines the cylinder or capsule\r\n     */\r\n    pointB?: Vector3;\r\n    /**\r\n     * Shape orientation\r\n     */\r\n    rotation?: Quaternion;\r\n    /**\r\n     * Dimesion extention for the box\r\n     */\r\n    extents?: Vector3;\r\n    /**\r\n     * Mesh used for Mesh shape or convex hull. It can be different than the mesh the body is attached to.\r\n     */\r\n    mesh?: Mesh;\r\n    /**\r\n     * Use children hierarchy\r\n     */\r\n    includeChildMeshes?: boolean;\r\n    /**\r\n     * The size of the heightfield in the X axis\r\n     */\r\n    heightFieldSizeX?: number;\r\n    /**\r\n     * The size of the heightfield in the Z axis\r\n     */\r\n    heightFieldSizeZ?: number;\r\n    /**\r\n     * The number of samples along the X axis\r\n     */\r\n    numHeightFieldSamplesX?: number;\r\n    /**\r\n     * The number of samples along the Z axis\r\n     */\r\n    numHeightFieldSamplesZ?: number;\r\n    /**\r\n     * The data for the heightfield\r\n     */\r\n    heightFieldData?: Float32Array;\r\n    /**\r\n     * Ground mesh used for display\r\n     */\r\n    groundMesh?: GroundMesh;\r\n}\r\n\r\n/**\r\n * Parameters used to describe a Constraint\r\n */\r\nexport interface PhysicsConstraintParameters {\r\n    /**\r\n     * Location of the constraint pivot in the space of first body\r\n     */\r\n    pivotA?: Vector3;\r\n    /**\r\n     * Location of the constraint pivot in the space of the second body\r\n     */\r\n    pivotB?: Vector3;\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisA?: Vector3;\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_X/ANGULAR_X limits.\r\n     */\r\n    axisB?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the first body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisA?: Vector3;\r\n\r\n    /**\r\n     * An axis in the space of the second body which determines how\r\n     * distances/angles are measured for LINEAR_Y/ANGULAR_Y limits.\r\n     */\r\n    perpAxisB?: Vector3;\r\n\r\n    /**\r\n     * The maximum distance that can seperate the two pivots.\r\n     * Only used for DISTANCE constraints\r\n     */\r\n    maxDistance?: number;\r\n\r\n    /**\r\n     * Determines if the connected bodies should collide. Generally,\r\n     * it is preferable to set this to false, especially if the constraint\r\n     * positions the bodies so that they overlap. Otherwise, the constraint\r\n     * will \"fight\" the collision detection and may cause jitter.\r\n     */\r\n    collision?: boolean;\r\n}\r\n\r\n/**\r\n * Parameters used to describe mass and inertia of the Physics Body\r\n */\r\nexport interface PhysicsMassProperties {\r\n    /**\r\n     * The center of mass, in local space. This is The\r\n     * point the body will rotate around when applying\r\n     * an angular velocity.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    centerOfMass?: Vector3;\r\n    /**\r\n     * The total mass of this object, in kilograms. This\r\n     * affects how easy it is to move the body. A value\r\n     * of zero will be used as an infinite mass.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    mass?: number;\r\n    /**\r\n     * The principal moments of inertia of this object\r\n     * for a unit mass. This determines how easy it is\r\n     * for the body to rotate. A value of zero on any\r\n     * axis will be used as infinite interia about that\r\n     * axis.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertia?: Vector3;\r\n    /**\r\n     * The rotation rotating from inertia major axis space\r\n     * to parent space (i.e., the rotation which, when\r\n     * applied to the 3x3 inertia tensor causes the inertia\r\n     * tensor to become a diagonal matrix). This determines\r\n     * how the values of inertia are aligned with the parent\r\n     * object.\r\n     *\r\n     * If not provided, the physics engine will compute\r\n     * an appropriate value.\r\n     */\r\n    inertiaOrientation?: Quaternion;\r\n}\r\n\r\n/**\r\n * Indicates how the body will behave.\r\n */\r\nexport const enum PhysicsMotionType {\r\n    STATIC,\r\n    ANIMATED,\r\n    DYNAMIC,\r\n}\r\n\r\n/**\r\n * Indicates how to handle position/rotation change of transform node attached to a physics body\r\n */\r\nexport enum PhysicsPrestepType {\r\n    DISABLED,\r\n    TELEPORT,\r\n    ACTION,\r\n}\r\n\r\n/**\r\n * Controls the body sleep mode.\r\n */\r\nexport const enum PhysicsActivationControl {\r\n    SIMULATION_CONTROLLED,\r\n    ALWAYS_ACTIVE,\r\n    ALWAYS_INACTIVE,\r\n}\r\n\r\n/**\r\n * Represents a pair of bodies connected by a constraint.\r\n */\r\nexport type ConstrainedBodyPair = { parentBody: PhysicsBody; parentBodyIndex: number; childBody: PhysicsBody; childBodyIndex: number };\r\n\r\n/** @internal */\r\nexport interface IPhysicsEnginePluginV2 {\r\n    /**\r\n     * Physics plugin world instance\r\n     */\r\n    world: any;\r\n    /**\r\n     * Physics plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Collision observable\r\n     */\r\n    onCollisionObservable: Observable<IPhysicsCollisionEvent>;\r\n    /**\r\n     * Collision ended observable\r\n     */\r\n    onCollisionEndedObservable: Observable<IBasePhysicsCollisionEvent>;\r\n    /**\r\n     * Trigger observable\r\n     */\r\n    onTriggerCollisionObservable: Observable<IBasePhysicsCollisionEvent>;\r\n\r\n    setGravity(gravity: Vector3): void;\r\n    setTimeStep(timeStep: number): void;\r\n    getTimeStep(): number;\r\n    executeStep(delta: number, bodies: Array<PhysicsBody>): void; //not forgetting pre and post events\r\n    getPluginVersion(): number;\r\n    setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void;\r\n    getMaxLinearVelocity(): number;\r\n    getMaxAngularVelocity(): number;\r\n\r\n    // body\r\n    initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void;\r\n    initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void;\r\n    updateBodyInstances(body: PhysicsBody, mesh: Mesh): void;\r\n    removeBody(body: PhysicsBody): void;\r\n    sync(body: PhysicsBody): void;\r\n    syncTransform(body: PhysicsBody, transformNode: TransformNode): void;\r\n    setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void;\r\n    getShape(body: PhysicsBody): Nullable<PhysicsShape>;\r\n    getShapeType(shape: PhysicsShape): PhysicsShapeType;\r\n    setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void;\r\n    getEventMask(body: PhysicsBody, instanceIndex?: number): number;\r\n    setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void;\r\n    getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType;\r\n    computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void;\r\n    getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties;\r\n    setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getLinearDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void;\r\n    getAngularDamping(body: PhysicsBody, instanceIndex?: number): number;\r\n    setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void;\r\n    applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    applyAngularImpulse(body: PhysicsBody, angularImpulse: Vector3, instanceIndex?: number): void;\r\n    applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void;\r\n    setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void;\r\n    getBodyGeometry(body: PhysicsBody): {};\r\n    disposeBody(body: PhysicsBody): void;\r\n    setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void;\r\n    addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void;\r\n    getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent>;\r\n    getCollisionEndedObservable(body: PhysicsBody, instanceIndex?: number): Observable<IBasePhysicsCollisionEvent>;\r\n    setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void;\r\n    getGravityFactor(body: PhysicsBody, instanceIndex?: number): number;\r\n    setTargetTransform(body: PhysicsBody, position: Vector3, rotation: Quaternion, instanceIndex?: number): void;\r\n\r\n    // shape\r\n    initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;\r\n    setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void;\r\n    getShapeFilterMembershipMask(shape: PhysicsShape): number;\r\n    setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void;\r\n    getShapeFilterCollideMask(shape: PhysicsShape): number;\r\n    setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void;\r\n    getMaterial(shape: PhysicsShape): PhysicsMaterial;\r\n    setDensity(shape: PhysicsShape, density: number): void;\r\n    getDensity(shape: PhysicsShape): number;\r\n    addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;\r\n    removeChild(shape: PhysicsShape, childIndex: number): void;\r\n    getNumChildren(shape: PhysicsShape): number;\r\n    getBoundingBox(shape: PhysicsShape): BoundingBox;\r\n    getBodyBoundingBox(body: PhysicsBody): BoundingBox;\r\n    disposeShape(shape: PhysicsShape): void;\r\n    setTrigger(shape: PhysicsShape, isTrigger: boolean): void;\r\n\r\n    // constraint\r\n    initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody): void;\r\n    setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getEnabled(constraint: PhysicsConstraint): boolean;\r\n    setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;\r\n    getCollisionsEnabled(constraint: PhysicsConstraint): boolean;\r\n    setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void;\r\n    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void;\r\n    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode>;\r\n    setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void;\r\n    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void;\r\n    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void;\r\n    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType>;\r\n    setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void;\r\n    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void;\r\n    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;\r\n    disposeConstraint(constraint: PhysicsConstraint): void;\r\n    getBodiesUsingConstraint(constraint: PhysicsConstraint): ConstrainedBodyPair[];\r\n\r\n    // raycast\r\n    raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult, query?: IRaycastQuery): void;\r\n\r\n    dispose(): void;\r\n}\r\n"]}