@babylonjs/core 7.12.0 → 7.13.0

package/Physics/v2/physicsConstraint.js.map

@@ -1 +1 @@
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsConstraintParameters, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, ConstrainedBodyPair } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n    /**\r\n     * @internal\r\n     * The internal options that were used to init the constraint\r\n     */\r\n    public _initOptions?: PhysicsConstraintParameters;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Gets all bodies that are using this constraint\r\n     * @returns\r\n     */\r\n    public getBodiesUsingConstraint(): ConstrainedBodyPair[] {\r\n        return this._physicsPlugin.getBodiesUsingConstraint(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/**\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /**\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /**\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /**\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n    /**\r\n     * The stiffness of the constraint.\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * A constraint parameter that specifies damping.\r\n     */\r\n    damping?: number;\r\n}\r\n\r\n/**\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /**\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n *\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n *\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint.\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SpringConstraint, which is a type of Physics6DoFConstraint. This constraint applies a force at the ends which is proportional\r\n * to the distance between ends, and a stiffness and damping factor. The force is calculated as (stiffness * positionError) - (damping * velocity)\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param minDistance - The minimum distance between the two pivots.\r\n * @param maxDistance - The maximum distance between the two pivots.\r\n * @param stiffness - The stiffness of the spring.\r\n * @param damping - The damping of the spring.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SpringConstraint.\r\n */\r\nexport class SpringConstraint extends Physics6DoFConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, minDistance: number, maxDistance: number, stiffness: number, damping: number, scene: Scene) {\r\n        super({ pivotA, pivotB, axisA, axisB }, [{ axis: PhysicsConstraintAxis.LINEAR_DISTANCE, minLimit: minDistance, maxLimit: maxDistance, stiffness, damping }], scene);\r\n    }\r\n}\r\n"]}
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsConstraintParameters, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, ConstrainedBodyPair } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n    /**\r\n     * @internal\r\n     * The internal options that were used to init the constraint\r\n     */\r\n    public _initOptions?: PhysicsConstraintParameters;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Gets all bodies that are using this constraint\r\n     * @returns\r\n     */\r\n    public getBodiesUsingConstraint(): ConstrainedBodyPair[] {\r\n        return this._physicsPlugin.getBodiesUsingConstraint(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/**\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /**\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /**\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /**\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n    /**\r\n     * The stiffness of the constraint.\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * A constraint parameter that specifies damping.\r\n     */\r\n    damping?: number;\r\n}\r\n\r\n/**\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /**\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n *\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n *\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint.\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SpringConstraint, which is a type of Physics6DoFConstraint. This constraint applies a force at the ends which is proportional\r\n * to the distance between ends, and a stiffness and damping factor. The force is calculated as (stiffness * positionError) - (damping * velocity)\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param minDistance - The minimum distance between the two pivots.\r\n * @param maxDistance - The maximum distance between the two pivots.\r\n * @param stiffness - The stiffness of the spring.\r\n * @param damping - The damping of the spring.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SpringConstraint.\r\n */\r\nexport class SpringConstraint extends Physics6DoFConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, minDistance: number, maxDistance: number, stiffness: number, damping: number, scene: Scene) {\r\n        super({ pivotA, pivotB, axisA, axisB }, [{ axis: PhysicsConstraintAxis.LINEAR_DISTANCE, minLimit: minDistance, maxLimit: maxDistance, stiffness, damping }], scene);\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsMaterial.d.ts

@@ -5,7 +5,7 @@
  * is used will be selected based on their order in this enum - i.e.
  * a value later in this list will be preferentially used.
  */
-export declare enum PhysicsMaterialCombineMode {
+export declare const enum PhysicsMaterialCombineMode {
     /**
      * The final value will be the geometric mean of the two values:
      * sqrt( valueA *  valueB )

package/Physics/v2/physicsMaterial.js.map

@@ -1 +1 @@
-{"version":3,"file":"physicsMaterial.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsMaterial.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,MAAM,CAAN,IAAY,0BAwBX;AAxBD,WAAY,0BAA0B;IAClC;;;OAGG;IACH,+FAAc,CAAA;IACd;;;OAGG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iGAAe,CAAA;IACf;;;OAGG;IACH,mFAAQ,CAAA;AACZ,CAAC,EAxBW,0BAA0B,KAA1B,0BAA0B,QAwBrC","sourcesContent":["/**\r\n * Determines how values from the PhysicsMaterial are combined when\r\n * two objects are in contact. When each PhysicsMaterial specifies\r\n * a different combine mode for some property, the combine mode which\r\n * is used will be selected based on their order in this enum - i.e.\r\n * a value later in this list will be preferentially used.\r\n */\r\nexport enum PhysicsMaterialCombineMode {\r\n    /**\r\n     * The final value will be the geometric mean of the two values:\r\n     * sqrt( valueA *  valueB )\r\n     */\r\n    GEOMETRIC_MEAN,\r\n    /**\r\n     * The final value will be the smaller of the two:\r\n     * min( valueA , valueB )\r\n     */\r\n    MINIMUM,\r\n    /* The final value will be the larger of the two:\r\n     * max( valueA , valueB )\r\n     */\r\n    MAXIMUM,\r\n    /* The final value will be the arithmetic mean of the two values:\r\n     * (valueA + valueB) / 2\r\n     */\r\n    ARITHMETIC_MEAN,\r\n    /**\r\n     * The final value will be the product of the two values:\r\n     * valueA * valueB\r\n     */\r\n    MULTIPLY,\r\n}\r\n\r\n/**\r\n * Physics material class\r\n * Helps setting friction and restitution that are used to compute responding forces in collision response\r\n */\r\nexport interface PhysicsMaterial {\r\n    /**\r\n     * Sets the friction used by this material\r\n     *\r\n     * The friction determines how much an object will slow down when it is in contact with another object.\r\n     * This is important for simulating realistic physics, such as when an object slides across a surface.\r\n     *\r\n     * If not provided, a default value of 0.5 will be used.\r\n     */\r\n    friction?: number;\r\n\r\n    /**\r\n     * Sets the static friction used by this material.\r\n     *\r\n     * Static friction is the friction that must be overcome before a pair of objects can start sliding\r\n     * relative to each other; for physically-realistic behaviour, it should be at least as high as the\r\n     * normal friction value. If not provided, the friction value will be used\r\n     */\r\n    staticFriction?: number;\r\n\r\n    /**\r\n     * Sets the restitution of the physics material.\r\n     *\r\n     * The restitution is a factor which describes, the amount of energy that is retained after a collision,\r\n     * which should be a number between 0 and 1..\r\n     *\r\n     * A restitution of 0 means that no energy is retained and the objects will not bounce off each other,\r\n     * while a restitution of 1 means that all energy is retained and the objects will bounce.\r\n     *\r\n     * Note, though, due that due to the simulation implementation, an object with a restitution of 1 may\r\n     * still lose energy over time.\r\n     *\r\n     * If not provided, a default value of 0 will be used.\r\n     */\r\n    restitution?: number;\r\n\r\n    /**\r\n     * Describes how two different friction values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MINIMUM\r\n     */\r\n    frictionCombine?: PhysicsMaterialCombineMode;\r\n\r\n    /**\r\n     * Describes how two different restitution values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MAXIMUM\r\n     */\r\n    restitutionCombine?: PhysicsMaterialCombineMode;\r\n}\r\n"]}
+{"version":3,"file":"physicsMaterial.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsMaterial.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,MAAM,CAAN,IAAkB,0BAwBjB;AAxBD,WAAkB,0BAA0B;IACxC;;;OAGG;IACH,+FAAc,CAAA;IACd;;;OAGG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iGAAe,CAAA;IACf;;;OAGG;IACH,mFAAQ,CAAA;AACZ,CAAC,EAxBiB,0BAA0B,KAA1B,0BAA0B,QAwB3C","sourcesContent":["/**\r\n * Determines how values from the PhysicsMaterial are combined when\r\n * two objects are in contact. When each PhysicsMaterial specifies\r\n * a different combine mode for some property, the combine mode which\r\n * is used will be selected based on their order in this enum - i.e.\r\n * a value later in this list will be preferentially used.\r\n */\r\nexport const enum PhysicsMaterialCombineMode {\r\n    /**\r\n     * The final value will be the geometric mean of the two values:\r\n     * sqrt( valueA *  valueB )\r\n     */\r\n    GEOMETRIC_MEAN,\r\n    /**\r\n     * The final value will be the smaller of the two:\r\n     * min( valueA , valueB )\r\n     */\r\n    MINIMUM,\r\n    /* The final value will be the larger of the two:\r\n     * max( valueA , valueB )\r\n     */\r\n    MAXIMUM,\r\n    /* The final value will be the arithmetic mean of the two values:\r\n     * (valueA + valueB) / 2\r\n     */\r\n    ARITHMETIC_MEAN,\r\n    /**\r\n     * The final value will be the product of the two values:\r\n     * valueA * valueB\r\n     */\r\n    MULTIPLY,\r\n}\r\n\r\n/**\r\n * Physics material class\r\n * Helps setting friction and restitution that are used to compute responding forces in collision response\r\n */\r\nexport interface PhysicsMaterial {\r\n    /**\r\n     * Sets the friction used by this material\r\n     *\r\n     * The friction determines how much an object will slow down when it is in contact with another object.\r\n     * This is important for simulating realistic physics, such as when an object slides across a surface.\r\n     *\r\n     * If not provided, a default value of 0.5 will be used.\r\n     */\r\n    friction?: number;\r\n\r\n    /**\r\n     * Sets the static friction used by this material.\r\n     *\r\n     * Static friction is the friction that must be overcome before a pair of objects can start sliding\r\n     * relative to each other; for physically-realistic behaviour, it should be at least as high as the\r\n     * normal friction value. If not provided, the friction value will be used\r\n     */\r\n    staticFriction?: number;\r\n\r\n    /**\r\n     * Sets the restitution of the physics material.\r\n     *\r\n     * The restitution is a factor which describes, the amount of energy that is retained after a collision,\r\n     * which should be a number between 0 and 1..\r\n     *\r\n     * A restitution of 0 means that no energy is retained and the objects will not bounce off each other,\r\n     * while a restitution of 1 means that all energy is retained and the objects will bounce.\r\n     *\r\n     * Note, though, due that due to the simulation implementation, an object with a restitution of 1 may\r\n     * still lose energy over time.\r\n     *\r\n     * If not provided, a default value of 0 will be used.\r\n     */\r\n    restitution?: number;\r\n\r\n    /**\r\n     * Describes how two different friction values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MINIMUM\r\n     */\r\n    frictionCombine?: PhysicsMaterialCombineMode;\r\n\r\n    /**\r\n     * Describes how two different restitution values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MAXIMUM\r\n     */\r\n    restitutionCombine?: PhysicsMaterialCombineMode;\r\n}\r\n"]}

package/Physics/v2/physicsShape.js

@@ -1,4 +1,3 @@
-import { PhysicsShapeType } from "./IPhysicsEnginePlugin.js";
 import { Matrix, Vector3, Quaternion, TmpVectors } from "../../Maths/math.vector.js";
 /**
  * PhysicsShape class.
@@ -223,7 +222,7 @@ export class PhysicsShapeSphere extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(center, radius, scene) {
-        super({ type: PhysicsShapeType.SPHERE, parameters: { center: center, radius: radius } }, scene);
+        super({ type: 0 /* PhysicsShapeType.SPHERE */, parameters: { center: center, radius: radius } }, scene);
     }
     /**
      * Derive an approximate sphere from the mesh.
@@ -250,7 +249,7 @@ export class PhysicsShapeCapsule extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(pointA, pointB, radius, scene) {
-        super({ type: PhysicsShapeType.CAPSULE, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);
+        super({ type: 1 /* PhysicsShapeType.CAPSULE */, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);
     }
     /**
      * Derive an approximate capsule from the mesh. Note, this is
@@ -279,7 +278,7 @@ export class PhysicsShapeCylinder extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(pointA, pointB, radius, scene) {
-        super({ type: PhysicsShapeType.CYLINDER, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);
+        super({ type: 2 /* PhysicsShapeType.CYLINDER */, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);
     }
     /**
      * Derive an approximate cylinder from the mesh. Note, this is
@@ -308,7 +307,7 @@ export class PhysicsShapeBox extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(center, rotation, extents, scene) {
-        super({ type: PhysicsShapeType.BOX, parameters: { center: center, rotation: rotation, extents: extents } }, scene);
+        super({ type: 3 /* PhysicsShapeType.BOX */, parameters: { center: center, rotation: rotation, extents: extents } }, scene);
     }
     /**
      *
@@ -332,7 +331,7 @@ export class PhysicsShapeConvexHull extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(mesh, scene) {
-        super({ type: PhysicsShapeType.CONVEX_HULL, parameters: { mesh: mesh } }, scene);
+        super({ type: 4 /* PhysicsShapeType.CONVEX_HULL */, parameters: { mesh: mesh } }, scene);
     }
 }
 /**
@@ -345,7 +344,7 @@ export class PhysicsShapeMesh extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(mesh, scene) {
-        super({ type: PhysicsShapeType.MESH, parameters: { mesh: mesh } }, scene);
+        super({ type: 6 /* PhysicsShapeType.MESH */, parameters: { mesh: mesh } }, scene);
     }
 }
 /**
@@ -357,7 +356,7 @@ export class PhysicsShapeContainer extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(scene) {
-        super({ type: PhysicsShapeType.CONTAINER, parameters: {} }, scene);
+        super({ type: 5 /* PhysicsShapeType.CONTAINER */, parameters: {} }, scene);
     }
 }
 /**
@@ -375,7 +374,7 @@ export class PhysicsShapeHeightField extends PhysicsShape {
      */
     constructor(heightFieldSizeX, heightFieldSizeZ, numHeightFieldSamplesX, numHeightFieldSamplesZ, heightFieldData, scene) {
         super({
-            type: PhysicsShapeType.HEIGHTFIELD,
+            type: 7 /* PhysicsShapeType.HEIGHTFIELD */,
             parameters: {
                 heightFieldSizeX: heightFieldSizeX,
                 heightFieldSizeZ: heightFieldSizeZ,
@@ -396,7 +395,7 @@ export class PhysicsShapeGroundMesh extends PhysicsShape {
      * @param scene scene to attach to
      */
     constructor(groundMesh, scene) {
-        super({ type: PhysicsShapeType.HEIGHTFIELD, parameters: { groundMesh: groundMesh } }, scene);
+        super({ type: 7 /* PhysicsShapeType.HEIGHTFIELD */, parameters: { groundMesh: groundMesh } }, scene);
     }
 }
 //# sourceMappingURL=physicsShape.js.map

package/Physics/v2/physicsShape.js.map

@@ -1 +1 @@
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type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport { PhysicsShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsShapeParameters } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { Matrix, Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { GroundMesh } from \"../../Meshes/groundMesh\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\n\r\n/**\r\n * Options for creating a physics shape\r\n */\r\nexport interface PhysicShapeOptions {\r\n    /**\r\n     * The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     */\r\n    type?: PhysicsShapeType;\r\n    /**\r\n     * The parameters of the shape. Varies depending of the shape type.\r\n     */\r\n    parameters?: PhysicsShapeParameters;\r\n    /**\r\n     * Reference to an already existing physics shape in the plugin.\r\n     */\r\n    pluginData?: any;\r\n}\r\n\r\n/**\r\n * PhysicsShape class.\r\n * This class is useful for creating a physics shape that can be used in a physics engine.\r\n * A Physic Shape determine how collision are computed. It must be attached to a body.\r\n */\r\nexport class PhysicsShape {\r\n    /**\r\n     * V2 Physics plugin private data for single shape\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n\r\n    private _type: PhysicsShapeType;\r\n\r\n    private _material: PhysicsMaterial;\r\n\r\n    private _isTrigger: boolean = false;\r\n\r\n    private _isDisposed = false;\r\n\r\n    /**\r\n     * Constructs a new physics shape.\r\n     * @param options The options for the physics shape. These are:\r\n     *  * type: The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     *  * parameters: The parameters of the shape.\r\n     *  * pluginData: The plugin data of the shape. This is used if you already have a reference to the object on the plugin side.\r\n     * You need to specify either type or pluginData.\r\n     * @param scene The scene the shape belongs to.\r\n     *\r\n     * This code is useful for creating a new physics shape with the given type, options, and scene.\r\n     * It also checks that the physics engine and plugin version are correct.\r\n     * If not, it throws an error. This ensures that the shape is created with the correct parameters and is compatible with the physics engine.\r\n     */\r\n    constructor(options: PhysicShapeOptions, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n\r\n        if (options.pluginData !== undefined && options.pluginData !== null) {\r\n            this._pluginData = options.pluginData;\r\n            this._type = this._physicsPlugin.getShapeType(this);\r\n        } else if (options.type !== undefined && options.type !== null) {\r\n            this._type = options.type;\r\n            const parameters = options.parameters ?? {};\r\n            this._physicsPlugin.initShape(this, options.type, parameters);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsShape\".\r\n     * @returns \"PhysicsShape\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsShape\";\r\n    }\r\n\r\n    /**\r\n     * Returns the type of the physics shape.\r\n     * @returns The type of the physics shape.\r\n     */\r\n    public get type(): PhysicsShapeType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Set the membership mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which the shape is a member. This is used in combination\r\n     * with the collide mask to determine if this shape should collide with\r\n     * another.\r\n     *\r\n     * @param membershipMask Bitfield of categories of this shape.\r\n     */\r\n    public set filterMembershipMask(membershipMask: number) {\r\n        this._physicsPlugin.setShapeFilterMembershipMask(this, membershipMask);\r\n    }\r\n\r\n    /**\r\n     * Get the membership mask of a shape.\r\n     * @returns Bitmask of categories which this shape is a member of.\r\n     */\r\n    public get filterMembershipMask(): number {\r\n        return this._physicsPlugin.getShapeFilterMembershipMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the collide mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which this shape collides with. Given two shapes,\r\n     * the engine will check if the collide mask and membership overlap:\r\n     * shapeA.filterMembershipMask & shapeB.filterCollideMask\r\n     *\r\n     * If this value is zero (i.e. shapeB only collides with categories\r\n     * which shapeA is _not_ a member of) then the shapes will not collide.\r\n     *\r\n     * Note, the engine will also perform the same test with shapeA and\r\n     * shapeB swapped; the shapes will not collide if either shape has\r\n     * a collideMask which prevents collision with the other shape.\r\n     *\r\n     * @param collideMask Bitmask of categories this shape should collide with\r\n     */\r\n    public set filterCollideMask(collideMask: number) {\r\n        this._physicsPlugin.setShapeFilterCollideMask(this, collideMask);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns Bitmask of categories that this shape should collide with\r\n     */\r\n    public get filterCollideMask(): number {\r\n        return this._physicsPlugin.getShapeFilterCollideMask(this);\r\n    }\r\n    /**\r\n     *\r\n     * @param material\r\n     */\r\n    public set material(material: PhysicsMaterial) {\r\n        this._physicsPlugin.setMaterial(this, material);\r\n        this._material = material;\r\n    }\r\n\r\n    /**\r\n     * Returns the material of the physics shape.\r\n     * @returns The material of the physics shape.\r\n     */\r\n    public get material(): PhysicsMaterial {\r\n        if (!this._material) {\r\n            this._material = this._physicsPlugin.getMaterial(this);\r\n        }\r\n        return this._material;\r\n    }\r\n\r\n    /**\r\n     * Sets the density of the physics shape.\r\n     * @param density The density of the physics shape.\r\n     */\r\n    public set density(density: number) {\r\n        this._physicsPlugin.setDensity(this, density);\r\n    }\r\n\r\n    /**\r\n     * Returns the density of the physics shape.\r\n     * @returns The density of the physics shape.\r\n     */\r\n    public get density(): number {\r\n        return this._physicsPlugin.getDensity(this);\r\n    }\r\n\r\n    /**\r\n     * Utility to add a child shape to this container,\r\n     * automatically computing the relative transform between\r\n     * the container shape and the child instance.\r\n     *\r\n     * @param parentTransform The transform node associated with this shape\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param childTransform The transform node associated with the child shape\r\n     */\r\n    public addChildFromParent(parentTransform: TransformNode, newChild: PhysicsShape, childTransform: TransformNode): void {\r\n        const childToWorld = childTransform.computeWorldMatrix(true);\r\n        const parentToWorld = parentTransform.computeWorldMatrix(true);\r\n        const childToParent = TmpVectors.Matrix[0];\r\n        childToWorld.multiplyToRef(Matrix.Invert(parentToWorld), childToParent);\r\n        const translation = TmpVectors.Vector3[0];\r\n        const rotation = TmpVectors.Quaternion[0];\r\n        const scale = TmpVectors.Vector3[1];\r\n        childToParent.decompose(scale, rotation, translation);\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     * Adds a child shape to a container with an optional transform\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param translation Optional position of the child shape relative to this shape\r\n     * @param rotation Optional rotation of the child shape relative to this shape\r\n     * @param scale Optional scale of the child shape relative to this shape\r\n     */\r\n    public addChild(newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void {\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     * Removes a child shape from this shape.\r\n     * @param childIndex The index of the child shape to remove\r\n     */\r\n    public removeChild(childIndex: number): void {\r\n        this._physicsPlugin.removeChild(this, childIndex);\r\n    }\r\n\r\n    /**\r\n     * Returns the number of children of a physics shape.\r\n     * @returns The number of children of a physics shape.\r\n     */\r\n    public getNumChildren(): number {\r\n        return this._physicsPlugin.getNumChildren(this);\r\n    }\r\n\r\n    /**\r\n     * Returns the bounding box of the physics shape.\r\n     * @returns The bounding box of the physics shape.\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBoundingBox(this);\r\n    }\r\n\r\n    public set isTrigger(isTrigger: boolean) {\r\n        if (this._isTrigger === isTrigger) {\r\n            return;\r\n        }\r\n        this._isTrigger = isTrigger;\r\n        this._physicsPlugin.setTrigger(this, isTrigger);\r\n    }\r\n\r\n    public get isTrigger(): boolean {\r\n        return this._isTrigger;\r\n    }\r\n\r\n    /**\r\n     * Dispose the shape and release its associated resources.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        this._physicsPlugin.disposeShape(this);\r\n        this._isDisposed = true;\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a sphere shape\r\n */\r\nexport class PhysicsShapeSphere extends PhysicsShape {\r\n    /**\r\n     * Constructor for the Sphere Shape\r\n     * @param center local center of the sphere\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.SPHERE, parameters: { center: center, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate sphere from the mesh.\r\n     * @param mesh node from which to derive the sphere shape\r\n     * @returns PhysicsShapeSphere\r\n     */\r\n    static FromMesh(mesh: AbstractMesh) {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingSphere.center;\r\n        const he = bounds.boundingBox.extendSize;\r\n        const radius = Math.max(he.x, he.y, he.z);\r\n        return new PhysicsShapeSphere(centerLocal, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a capsule shape\r\n */\r\nexport class PhysicsShapeCapsule extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the capsule segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CAPSULE, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate capsule from the mesh. Note, this is\r\n     * not the optimal bounding capsule.\r\n     * @param mesh Node from which to derive a cylinder shape\r\n     * @returns Physics Shape Capsule\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCapsule {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y - radius, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCapsule(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a cylinder shape\r\n */\r\nexport class PhysicsShapeCylinder extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the cylinder segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CYLINDER, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate cylinder from the mesh. Note, this is\r\n     * not the optimal bounding cylinder.\r\n     * @param mesh Node from which to derive a cylinder shape\r\n     * @returns Physics Shape Cylinder\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCylinder {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCylinder(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a box shape\r\n */\r\nexport class PhysicsShapeBox extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param center local center of the box\r\n     * @param rotation local orientation\r\n     * @param extents size of the box in each direction\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, rotation: Quaternion, extents: Vector3, scene: Scene) {\r\n        super({ type: PhysicsShapeType.BOX, parameters: { center: center, rotation: rotation, extents: extents } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeBox\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeBox {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingBox.center;\r\n        const extents = bounds.boundingBox.extendSize.scale(2.0); //<todo.eoin extendSize seems to really be half-extents?\r\n        return new PhysicsShapeBox(centerLocal, Quaternion.Identity(), extents, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a convex hull shape\r\n */\r\nexport class PhysicsShapeConvexHull extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh to be used as topology infos for the convex hull\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONVEX_HULL, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a mesh shape\r\n */\r\nexport class PhysicsShapeMesh extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh topology that will be used to create the shape\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.MESH, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * A shape container holds a variable number of shapes. Use AddChild to append to newly created parent container.\r\n */\r\nexport class PhysicsShapeContainer extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape container\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONTAINER, parameters: {} }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a heightfield Shape\r\n */\r\nexport class PhysicsShapeHeightField extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape heightfield\r\n     * @param heightFieldSizeX The size of the heightfield in the X axis\r\n     * @param heightFieldSizeZ The size of the heightfield in the Z axis\r\n     * @param numHeightFieldSamplesX The number of samples along the X axis\r\n     * @param numHeightFieldSamplesZ The number of samples along the Z axis\r\n     * @param heightFieldData The data for the heightfield\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(heightFieldSizeX: number, heightFieldSizeZ: number, numHeightFieldSamplesX: number, numHeightFieldSamplesZ: number, heightFieldData: Float32Array, scene: Scene) {\r\n        super(\r\n            {\r\n                type: PhysicsShapeType.HEIGHTFIELD,\r\n                parameters: {\r\n                    heightFieldSizeX: heightFieldSizeX,\r\n                    heightFieldSizeZ: heightFieldSizeZ,\r\n                    numHeightFieldSamplesX: numHeightFieldSamplesX,\r\n                    numHeightFieldSamplesZ: numHeightFieldSamplesZ,\r\n                    heightFieldData: heightFieldData,\r\n                },\r\n            },\r\n            scene\r\n        );\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a ground mesh Shape\r\n */\r\nexport class PhysicsShapeGroundMesh extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape heightfield\r\n     * @param groundMesh ground mesh used for display\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(groundMesh: GroundMesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.HEIGHTFIELD, parameters: { groundMesh: groundMesh } }, scene);\r\n    }\r\n}\r\n"]}
+{"version":3,"file":"physicsShape.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsShape.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,UAAU,EAAE,UAAU,EAAE,MAAM,yBAAyB,CAAC;AAuBlF;;;;GAIG;AACH,MAAM,OAAO,YAAY;IAkBrB;;;;;;;;;;;;OAYG;IACH,YAAY,OAA2B,EAAE,KAAY;QA9BrD;;WAEG;QACI,gBAAW,GAAQ,SAAS,CAAC;QAU5B,eAAU,GAAY,KAAK,CAAC;QAE5B,gBAAW,GAAG,KAAK,CAAC;QAgBxB,IAAI,CAAC,KAAK,EAAE;YACR,OAAO;SACV;QACD,MAAM,aAAa,GAAG,KAAK,CAAC,gBAAgB,EAAE,CAAC;QAC/C,IAAI,CAAC,aAAa,EAAE;YAChB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;SACnD;QACD,IAAI,aAAa,CAAC,gBAAgB,EAAE,IAAI,CAAC,EAAE;YACvC,MAAM,IAAI,KAAK,CAAC,kDAAkD,CAAC,CAAC;SACvE;QACD,MAAM,aAAa,GAAG,aAAa,CAAC,gBAAgB,EAAE,CAAC;QACvD,IAAI,CAAC,aAAa,EAAE;YAChB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;SACnD;QACD,IAAI,CAAC,cAAc,GAAG,aAAuC,CAAC;QAE9D,IAAI,OAAO,CAAC,UAAU,KAAK,SAAS,IAAI,OAAO,CAAC,UAAU,KAAK,IAAI,EAAE;YACjE,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,UAAU,CAAC;YACtC,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,cAAc,CAAC,YAAY,CAAC,IAAI,CAAC,CAAC;SACvD;aAAM,IAAI,OAAO,CAAC,IAAI,KAAK,SAAS,IAAI,OAAO,CAAC,IAAI,KAAK,IAAI,EAAE;YAC5D,IAAI,CAAC,KAAK,GAAG,OAAO,CAAC,IAAI,CAAC;YAC1B,MAAM,UAAU,GAAG,OAAO,CAAC,UAAU,IAAI,EAAE,CAAC;YAC5C,IAAI,CAAC,cAAc,CAAC,SAAS,CAAC,IAAI,EAAE,OAAO,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC;SACjE;IACL,CAAC;IAED;;;OAGG;IACI,YAAY;QACf,OAAO,cAAc,CAAC;IAC1B,CAAC;IAED;;;OAGG;IACH,IAAW,IAAI;QACX,OAAO,IAAI,CAAC,KAAK,CAAC;IACtB,CAAC;IAED;;;;;;;OAOG;IACH,IAAW,oBAAoB,CAAC,cAAsB;QAClD,IAAI,CAAC,cAAc,CAAC,4BAA4B,CAAC,IAAI,EAAE,cAAc,CAAC,CAAC;IAC3E,CAAC;IAED;;;OAGG;IACH,IAAW,oBAAoB;QAC3B,OAAO,IAAI,CAAC,cAAc,CAAC,4BAA4B,CAAC,IAAI,CAAC,CAAC;IAClE,CAAC;IAED;;;;;;;;;;;;;;OAcG;IACH,IAAW,iBAAiB,CAAC,WAAmB;QAC5C,IAAI,CAAC,cAAc,CAAC,yBAAyB,CAAC,IAAI,EAAE,WAAW,CAAC,CAAC;IACrE,CAAC;IAED;;;OAGG;IACH,IAAW,iBAAiB;QACxB,OAAO,IAAI,CAAC,cAAc,CAAC,yBAAyB,CAAC,IAAI,CAAC,CAAC;IAC/D,CAAC;IACD;;;OAGG;IACH,IAAW,QAAQ,CAAC,QAAyB;QACzC,IAAI,CAAC,cAAc,CAAC,WAAW,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;QAChD,IAAI,CAAC,SAAS,GAAG,QAAQ,CAAC;IAC9B,CAAC;IAED;;;OAGG;IACH,IAAW,QAAQ;QACf,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE;YACjB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC,cAAc,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;SAC1D;QACD,OAAO,IAAI,CAAC,SAAS,CAAC;IAC1B,CAAC;IAED;;;OAGG;IACH,IAAW,OAAO,CAAC,OAAe;QAC9B,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,EAAE,OAAO,CAAC,CAAC;IAClD,CAAC;IAED;;;OAGG;IACH,IAAW,OAAO;QACd,OAAO,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;IAChD,CAAC;IAED;;;;;;;;OAQG;IACI,kBAAkB,CAAC,eAA8B,EAAE,QAAsB,EAAE,cAA6B;QAC3G,MAAM,YAAY,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,CAAC,CAAC;QAC7D,MAAM,aAAa,GAAG,eAAe,CAAC,kBAAkB,CAAC,IAAI,CAAC,CAAC;QAC/D,MAAM,aAAa,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QAC3C,YAAY,CAAC,aAAa,CAAC,MAAM,CAAC,MAAM,CAAC,aAAa,CAAC,EAAE,aAAa,CAAC,CAAC;QACxE,MAAM,WAAW,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC1C,MAAM,QAAQ,GAAG,UAAU,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC;QAC1C,MAAM,KAAK,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACpC,aAAa,CAAC,SAAS,CAAC,KAAK,EAAE,QAAQ,EAAE,WAAW,CAAC,CAAC;QACtD,IAAI,CAAC,cAAc,CAAC,QAAQ,CAAC,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,QAAQ,EAAE,KAAK,CAAC,CAAC;IAC/E,CAAC;IAED;;;;;;OAMG;IACI,QAAQ,CAAC,QAAsB,EAAE,WAAqB,EAAE,QAAqB,EAAE,KAAe;QACjG,IAAI,CAAC,cAAc,CAAC,QAAQ,CAAC,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,QAAQ,EAAE,KAAK,CAAC,CAAC;IAC/E,CAAC;IAED;;;OAGG;IACI,WAAW,CAAC,UAAkB;QACjC,IAAI,CAAC,cAAc,CAAC,WAAW,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC;IACtD,CAAC;IAED;;;OAGG;IACI,cAAc;QACjB,OAAO,IAAI,CAAC,cAAc,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC;IACpD,CAAC;IAED;;;OAGG;IACI,cAAc;QACjB,OAAO,IAAI,CAAC,cAAc,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC;IACpD,CAAC;IAED,IAAW,SAAS,CAAC,SAAkB;QACnC,IAAI,IAAI,CAAC,UAAU,KAAK,SAAS,EAAE;YAC/B,OAAO;SACV;QACD,IAAI,CAAC,UAAU,GAAG,SAAS,CAAC;QAC5B,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,EAAE,SAAS,CAAC,CAAC;IACpD,CAAC;IAED,IAAW,SAAS;QAChB,OAAO,IAAI,CAAC,UAAU,CAAC;IAC3B,CAAC;IAED;;OAEG;IACI,OAAO;QACV,IAAI,IAAI,CAAC,WAAW,EAAE;YAClB,OAAO;SACV;QACD,IAAI,CAAC,cAAc,CAAC,YAAY,CAAC,IAAI,CAAC,CAAC;QACvC,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAC5B,CAAC;CACJ;AAED;;GAEG;AACH,MAAM,OAAO,kBAAmB,SAAQ,YAAY;IAChD;;;;;OAKG;IACH,YAAY,MAAe,EAAE,MAAc,EAAE,KAAY;QACrD,KAAK,CAAC,EAAE,IAAI,iCAAyB,EAAE,UAAU,EAAE,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC;IACpG,CAAC;IAED;;;;OAIG;IACH,MAAM,CAAC,QAAQ,CAAC,IAAkB;QAC9B,MAAM,MAAM,GAAG,IAAI,CAAC,eAAe,EAAE,CAAC;QACtC,MAAM,WAAW,GAAG,MAAM,CAAC,cAAc,CAAC,MAAM,CAAC;QACjD,MAAM,EAAE,GAAG,MAAM,CAAC,WAAW,CAAC,UAAU,CAAC;QACzC,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;QAC1C,OAAO,IAAI,kBAAkB,CAAC,WAAW,EAAE,MAAM,EAAE,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;IACxE,CAAC;CACJ;AAED;;GAEG;AACH,MAAM,OAAO,mBAAoB,SAAQ,YAAY;IACjD;;;;;;OAMG;IACH,YAAY,MAAe,EAAE,MAAe,EAAE,MAAc,EAAE,KAAY;QACtE,KAAK,CAAC,EAAE,IAAI,kCAA0B,EAAE,UAAU,EAAE,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,EAAE,EAAE,KAAK,CAAC,CAAC;IACrH,CAAC;IAED;;;;;OAKG;IACH,MAAM,CAAC,QAAQ,CAAC,IAAkB;QAC9B,MAAM,WAAW,GAAG,IAAI,CAAC,eAAe,EAAE,CAAC;QAC3C,MAAM,MAAM,GAAG,WAAW,CAAC,WAAW,CAAC,UAAU,CAAC,CAAC,CAAC;QACpD,MAAM,eAAe,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,WAAW,CAAC,WAAW,CAAC,UAAU,CAAC,CAAC,GAAG,MAAM,EAAE,CAAC,CAAC,CAAC;Q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type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\nimport { PhysicsShapeType } from \"./IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsShapeParameters } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsMaterial } from \"./physicsMaterial\";\r\nimport { Matrix, Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { GroundMesh } from \"../../Meshes/groundMesh\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\n\r\n/**\r\n * Options for creating a physics shape\r\n */\r\nexport interface PhysicShapeOptions {\r\n    /**\r\n     * The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     */\r\n    type?: PhysicsShapeType;\r\n    /**\r\n     * The parameters of the shape. Varies depending of the shape type.\r\n     */\r\n    parameters?: PhysicsShapeParameters;\r\n    /**\r\n     * Reference to an already existing physics shape in the plugin.\r\n     */\r\n    pluginData?: any;\r\n}\r\n\r\n/**\r\n * PhysicsShape class.\r\n * This class is useful for creating a physics shape that can be used in a physics engine.\r\n * A Physic Shape determine how collision are computed. It must be attached to a body.\r\n */\r\nexport class PhysicsShape {\r\n    /**\r\n     * V2 Physics plugin private data for single shape\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n\r\n    private _type: PhysicsShapeType;\r\n\r\n    private _material: PhysicsMaterial;\r\n\r\n    private _isTrigger: boolean = false;\r\n\r\n    private _isDisposed = false;\r\n\r\n    /**\r\n     * Constructs a new physics shape.\r\n     * @param options The options for the physics shape. These are:\r\n     *  * type: The type of the shape. This can be one of the following: SPHERE, BOX, CAPSULE, CYLINDER, CONVEX_HULL, MESH, HEIGHTFIELD, CONTAINER\r\n     *  * parameters: The parameters of the shape.\r\n     *  * pluginData: The plugin data of the shape. This is used if you already have a reference to the object on the plugin side.\r\n     * You need to specify either type or pluginData.\r\n     * @param scene The scene the shape belongs to.\r\n     *\r\n     * This code is useful for creating a new physics shape with the given type, options, and scene.\r\n     * It also checks that the physics engine and plugin version are correct.\r\n     * If not, it throws an error. This ensures that the shape is created with the correct parameters and is compatible with the physics engine.\r\n     */\r\n    constructor(options: PhysicShapeOptions, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n\r\n        if (options.pluginData !== undefined && options.pluginData !== null) {\r\n            this._pluginData = options.pluginData;\r\n            this._type = this._physicsPlugin.getShapeType(this);\r\n        } else if (options.type !== undefined && options.type !== null) {\r\n            this._type = options.type;\r\n            const parameters = options.parameters ?? {};\r\n            this._physicsPlugin.initShape(this, options.type, parameters);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsShape\".\r\n     * @returns \"PhysicsShape\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsShape\";\r\n    }\r\n\r\n    /**\r\n     * Returns the type of the physics shape.\r\n     * @returns The type of the physics shape.\r\n     */\r\n    public get type(): PhysicsShapeType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Set the membership mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which the shape is a member. This is used in combination\r\n     * with the collide mask to determine if this shape should collide with\r\n     * another.\r\n     *\r\n     * @param membershipMask Bitfield of categories of this shape.\r\n     */\r\n    public set filterMembershipMask(membershipMask: number) {\r\n        this._physicsPlugin.setShapeFilterMembershipMask(this, membershipMask);\r\n    }\r\n\r\n    /**\r\n     * Get the membership mask of a shape.\r\n     * @returns Bitmask of categories which this shape is a member of.\r\n     */\r\n    public get filterMembershipMask(): number {\r\n        return this._physicsPlugin.getShapeFilterMembershipMask(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the collide mask of a shape. This is a bitfield of arbitrary\r\n     * \"categories\" to which this shape collides with. Given two shapes,\r\n     * the engine will check if the collide mask and membership overlap:\r\n     * shapeA.filterMembershipMask & shapeB.filterCollideMask\r\n     *\r\n     * If this value is zero (i.e. shapeB only collides with categories\r\n     * which shapeA is _not_ a member of) then the shapes will not collide.\r\n     *\r\n     * Note, the engine will also perform the same test with shapeA and\r\n     * shapeB swapped; the shapes will not collide if either shape has\r\n     * a collideMask which prevents collision with the other shape.\r\n     *\r\n     * @param collideMask Bitmask of categories this shape should collide with\r\n     */\r\n    public set filterCollideMask(collideMask: number) {\r\n        this._physicsPlugin.setShapeFilterCollideMask(this, collideMask);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns Bitmask of categories that this shape should collide with\r\n     */\r\n    public get filterCollideMask(): number {\r\n        return this._physicsPlugin.getShapeFilterCollideMask(this);\r\n    }\r\n    /**\r\n     *\r\n     * @param material\r\n     */\r\n    public set material(material: PhysicsMaterial) {\r\n        this._physicsPlugin.setMaterial(this, material);\r\n        this._material = material;\r\n    }\r\n\r\n    /**\r\n     * Returns the material of the physics shape.\r\n     * @returns The material of the physics shape.\r\n     */\r\n    public get material(): PhysicsMaterial {\r\n        if (!this._material) {\r\n            this._material = this._physicsPlugin.getMaterial(this);\r\n        }\r\n        return this._material;\r\n    }\r\n\r\n    /**\r\n     * Sets the density of the physics shape.\r\n     * @param density The density of the physics shape.\r\n     */\r\n    public set density(density: number) {\r\n        this._physicsPlugin.setDensity(this, density);\r\n    }\r\n\r\n    /**\r\n     * Returns the density of the physics shape.\r\n     * @returns The density of the physics shape.\r\n     */\r\n    public get density(): number {\r\n        return this._physicsPlugin.getDensity(this);\r\n    }\r\n\r\n    /**\r\n     * Utility to add a child shape to this container,\r\n     * automatically computing the relative transform between\r\n     * the container shape and the child instance.\r\n     *\r\n     * @param parentTransform The transform node associated with this shape\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param childTransform The transform node associated with the child shape\r\n     */\r\n    public addChildFromParent(parentTransform: TransformNode, newChild: PhysicsShape, childTransform: TransformNode): void {\r\n        const childToWorld = childTransform.computeWorldMatrix(true);\r\n        const parentToWorld = parentTransform.computeWorldMatrix(true);\r\n        const childToParent = TmpVectors.Matrix[0];\r\n        childToWorld.multiplyToRef(Matrix.Invert(parentToWorld), childToParent);\r\n        const translation = TmpVectors.Vector3[0];\r\n        const rotation = TmpVectors.Quaternion[0];\r\n        const scale = TmpVectors.Vector3[1];\r\n        childToParent.decompose(scale, rotation, translation);\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     * Adds a child shape to a container with an optional transform\r\n     * @param newChild The new PhysicsShape to add\r\n     * @param translation Optional position of the child shape relative to this shape\r\n     * @param rotation Optional rotation of the child shape relative to this shape\r\n     * @param scale Optional scale of the child shape relative to this shape\r\n     */\r\n    public addChild(newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void {\r\n        this._physicsPlugin.addChild(this, newChild, translation, rotation, scale);\r\n    }\r\n\r\n    /**\r\n     * Removes a child shape from this shape.\r\n     * @param childIndex The index of the child shape to remove\r\n     */\r\n    public removeChild(childIndex: number): void {\r\n        this._physicsPlugin.removeChild(this, childIndex);\r\n    }\r\n\r\n    /**\r\n     * Returns the number of children of a physics shape.\r\n     * @returns The number of children of a physics shape.\r\n     */\r\n    public getNumChildren(): number {\r\n        return this._physicsPlugin.getNumChildren(this);\r\n    }\r\n\r\n    /**\r\n     * Returns the bounding box of the physics shape.\r\n     * @returns The bounding box of the physics shape.\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBoundingBox(this);\r\n    }\r\n\r\n    public set isTrigger(isTrigger: boolean) {\r\n        if (this._isTrigger === isTrigger) {\r\n            return;\r\n        }\r\n        this._isTrigger = isTrigger;\r\n        this._physicsPlugin.setTrigger(this, isTrigger);\r\n    }\r\n\r\n    public get isTrigger(): boolean {\r\n        return this._isTrigger;\r\n    }\r\n\r\n    /**\r\n     * Dispose the shape and release its associated resources.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        this._physicsPlugin.disposeShape(this);\r\n        this._isDisposed = true;\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a sphere shape\r\n */\r\nexport class PhysicsShapeSphere extends PhysicsShape {\r\n    /**\r\n     * Constructor for the Sphere Shape\r\n     * @param center local center of the sphere\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.SPHERE, parameters: { center: center, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate sphere from the mesh.\r\n     * @param mesh node from which to derive the sphere shape\r\n     * @returns PhysicsShapeSphere\r\n     */\r\n    static FromMesh(mesh: AbstractMesh) {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingSphere.center;\r\n        const he = bounds.boundingBox.extendSize;\r\n        const radius = Math.max(he.x, he.y, he.z);\r\n        return new PhysicsShapeSphere(centerLocal, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a capsule shape\r\n */\r\nexport class PhysicsShapeCapsule extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the capsule segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CAPSULE, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate capsule from the mesh. Note, this is\r\n     * not the optimal bounding capsule.\r\n     * @param mesh Node from which to derive a cylinder shape\r\n     * @returns Physics Shape Capsule\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCapsule {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y - radius, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCapsule(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a cylinder shape\r\n */\r\nexport class PhysicsShapeCylinder extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param pointA Starting point that defines the cylinder segment\r\n     * @param pointB ending point of that same segment\r\n     * @param radius radius\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(pointA: Vector3, pointB: Vector3, radius: number, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CYLINDER, parameters: { pointA: pointA, pointB: pointB, radius: radius } }, scene);\r\n    }\r\n\r\n    /**\r\n     * Derive an approximate cylinder from the mesh. Note, this is\r\n     * not the optimal bounding cylinder.\r\n     * @param mesh Node from which to derive a cylinder shape\r\n     * @returns Physics Shape Cylinder\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeCylinder {\r\n        const boundsLocal = mesh.getBoundingInfo();\r\n        const radius = boundsLocal.boundingBox.extendSize.x;\r\n        const pointFromCenter = new Vector3(0, boundsLocal.boundingBox.extendSize.y, 0);\r\n        const pointA = boundsLocal.boundingBox.center.add(pointFromCenter);\r\n        const pointB = boundsLocal.boundingBox.center.subtract(pointFromCenter);\r\n        return new PhysicsShapeCylinder(pointA, pointB, radius, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a box shape\r\n */\r\nexport class PhysicsShapeBox extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param center local center of the box\r\n     * @param rotation local orientation\r\n     * @param extents size of the box in each direction\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(center: Vector3, rotation: Quaternion, extents: Vector3, scene: Scene) {\r\n        super({ type: PhysicsShapeType.BOX, parameters: { center: center, rotation: rotation, extents: extents } }, scene);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @param mesh\r\n     * @returns PhysicsShapeBox\r\n     */\r\n    static FromMesh(mesh: AbstractMesh): PhysicsShapeBox {\r\n        const bounds = mesh.getBoundingInfo();\r\n        const centerLocal = bounds.boundingBox.center;\r\n        const extents = bounds.boundingBox.extendSize.scale(2.0); //<todo.eoin extendSize seems to really be half-extents?\r\n        return new PhysicsShapeBox(centerLocal, Quaternion.Identity(), extents, mesh.getScene());\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a convex hull shape\r\n */\r\nexport class PhysicsShapeConvexHull extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh to be used as topology infos for the convex hull\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONVEX_HULL, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a mesh shape\r\n */\r\nexport class PhysicsShapeMesh extends PhysicsShape {\r\n    /**\r\n     *\r\n     * @param mesh the mesh topology that will be used to create the shape\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(mesh: Mesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.MESH, parameters: { mesh: mesh } }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * A shape container holds a variable number of shapes. Use AddChild to append to newly created parent container.\r\n */\r\nexport class PhysicsShapeContainer extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape container\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(scene: Scene) {\r\n        super({ type: PhysicsShapeType.CONTAINER, parameters: {} }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a heightfield Shape\r\n */\r\nexport class PhysicsShapeHeightField extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape heightfield\r\n     * @param heightFieldSizeX The size of the heightfield in the X axis\r\n     * @param heightFieldSizeZ The size of the heightfield in the Z axis\r\n     * @param numHeightFieldSamplesX The number of samples along the X axis\r\n     * @param numHeightFieldSamplesZ The number of samples along the Z axis\r\n     * @param heightFieldData The data for the heightfield\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(heightFieldSizeX: number, heightFieldSizeZ: number, numHeightFieldSamplesX: number, numHeightFieldSamplesZ: number, heightFieldData: Float32Array, scene: Scene) {\r\n        super(\r\n            {\r\n                type: PhysicsShapeType.HEIGHTFIELD,\r\n                parameters: {\r\n                    heightFieldSizeX: heightFieldSizeX,\r\n                    heightFieldSizeZ: heightFieldSizeZ,\r\n                    numHeightFieldSamplesX: numHeightFieldSamplesX,\r\n                    numHeightFieldSamplesZ: numHeightFieldSamplesZ,\r\n                    heightFieldData: heightFieldData,\r\n                },\r\n            },\r\n            scene\r\n        );\r\n    }\r\n}\r\n\r\n/**\r\n * Helper object to create a ground mesh Shape\r\n */\r\nexport class PhysicsShapeGroundMesh extends PhysicsShape {\r\n    /**\r\n     * Constructor of the Shape heightfield\r\n     * @param groundMesh ground mesh used for display\r\n     * @param scene scene to attach to\r\n     */\r\n    constructor(groundMesh: GroundMesh, scene: Scene) {\r\n        super({ type: PhysicsShapeType.HEIGHTFIELD, parameters: { groundMesh: groundMesh } }, scene);\r\n    }\r\n}\r\n"]}

package/Physics/v2/ragdoll.js

@@ -1,8 +1,7 @@
 import { Vector3, Matrix, TmpVectors, Quaternion } from "../../Maths/math.vector.js";
 import { PhysicsAggregate } from "./physicsAggregate.js";
 import { PhysicsConstraint } from "./physicsConstraint.js";
-import { Axis, Space } from "../../Maths/math.axis.js";
-import { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType } from "./IPhysicsEnginePlugin.js";
+import { Axis } from "../../Maths/math.axis.js";
 import { Logger } from "../../Misc/logger.js";
 import { TransformNode } from "../../Meshes/transformNode.js";
 /**
@@ -41,7 +40,7 @@ export class Ragdoll {
          * Pause synchronization between physics and bone position/orientation
          */
         this.pauseSync = false;
-        this._defaultJoint = PhysicsConstraintType.HINGE;
+        this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;
         this._defaultJointMin = -90;
         this._defaultJointMax = 90;
         this._skeleton = skeleton;
@@ -50,7 +49,7 @@ export class Ragdoll {
         this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.
         this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).
         this._putBoxesInBoneCenter = false;
-        this._defaultJoint = PhysicsConstraintType.HINGE;
+        this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;
         this._init();
     }
     /**
@@ -111,7 +110,7 @@ export class Ragdoll {
                 transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));
                 const mass = config[i].mass !== undefined ? config[i].mass : this._mass;
                 const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;
-                const aggregate = new PhysicsAggregate(transform, PhysicsShapeType.BOX, {
+                const aggregate = new PhysicsAggregate(transform, 3 /* PhysicsShapeType.BOX */, {
                     mass: mass,
                     restitution: restitution,
                     friction: 0.6,
@@ -119,14 +118,14 @@ export class Ragdoll {
                 }, this._scene);
                 aggregate.body.setCollisionCallbackEnabled(true);
                 aggregate.body.disablePreStep = false;
-                aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);
+                aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);
                 this._aggregates.push(aggregate);
                 this._bones.push(currentBone);
                 this._boneNames.push(currentBone.name);
                 this._transforms.push(transform);
                 this._boxConfigs.push(currentRagdollBoneProperties);
-                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._rootTransformNode));
-                this._initialRotation2.push(currentBone.getRotationQuaternion(Space.WORLD));
+                this._initialRotation.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */, this._rootTransformNode));
+                this._initialRotation2.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */));
             }
         }
     }
@@ -149,7 +148,7 @@ export class Ragdoll {
             const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);
             const boxAbsPos = this._transforms[i].position.clone();
             const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);
-            const joint = new PhysicsConstraint(PhysicsConstraintType.BALL_AND_SOCKET, {
+            const joint = new PhysicsConstraint(1 /* PhysicsConstraintType.BALL_AND_SOCKET */, {
                 pivotA: distanceFromParentBoxToBone,
                 pivotB: myConnectedPivot,
                 axisA: this._boxConfigs[i].rotationAxis,
@@ -180,7 +179,7 @@ export class Ragdoll {
         const transform = this._aggregates[boneIndex].transformNode;
         const bone = this._bones[boneIndex];
         this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);
-        bone.getRotationQuaternionToRef(Space.WORLD, this._rootTransformNode, TmpVectors.Quaternion[1]);
+        bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this._rootTransformNode, TmpVectors.Quaternion[1]);
         TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion);
         transform.rotationQuaternion.normalize();
     }
@@ -211,7 +210,7 @@ export class Ragdoll {
         const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion;
         qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);
         qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);
-        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._rootTransformNode);
+        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], 1 /* Space.WORLD */, this._rootTransformNode);
     }
     // Return true if root bone is valid/exists in this.bonesNames. false otherwise.
     _defineRootBone() {
@@ -263,7 +262,7 @@ export class Ragdoll {
             this._joints[i].isEnabled = true;
         }
         for (let i = 0; i < this._aggregates.length; i++) {
-            this._aggregates[i].body.setMotionType(PhysicsMotionType.DYNAMIC);
+            this._aggregates[i].body.setMotionType(2 /* PhysicsMotionType.DYNAMIC */);
         }
     }
     /**

package/Physics/v2/ragdoll.js.map

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