@babylonjs/core 8.3.1 → 8.4.0

package/Physics/v1/Plugins/cannonJSPlugin.js

@@ -65,14 +65,14 @@ export class CannonJSPlugin {
     }
     _removeMarkedPhysicsBodiesFromWorld() {
         if (this._physicsBodiesToRemoveAfterStep.length > 0) {
-            this._physicsBodiesToRemoveAfterStep.forEach((physicsBody) => {
+            for (const physicsBody of this._physicsBodiesToRemoveAfterStep) {
                 if (typeof this.world.removeBody === "function") {
                     this.world.removeBody(physicsBody);
                 }
                 else {
                     this.world.remove(physicsBody);
                 }
-            });
+            }
             this._physicsBodiesToRemoveAfterStep.length = 0;
         }
     }
@@ -137,10 +137,11 @@ export class CannonJSPlugin {
             //try to keep the body moving in the right direction by taking old properties.
             //Should be tested!
             if (oldBody) {
-                ["force", "torque", "velocity", "angularVelocity"].forEach(function (param) {
+                const props = ["force", "torque", "velocity", "angularVelocity"];
+                for (const param of props) {
                     const vec = oldBody[param];
                     impostor.physicsBody[param].set(vec.x, vec.y, vec.z);
-                });
+                }
             }
             this._processChildMeshes(impostor);
         }
@@ -178,11 +179,15 @@ export class CannonJSPlugin {
                         mainImpostor.physicsBody.mass += childImpostor.getParam("mass");
                     }
                 }
-                mesh.getChildMeshes(true)
-                    .filter((m) => !!m.physicsImpostor)
-                    .forEach(processMesh);
+                const meshes = mesh.getChildMeshes(true).filter((m) => !!m.physicsImpostor);
+                for (const mesh of meshes) {
+                    processMesh(mesh);
+                }
             };
-            meshChildren.filter((m) => !!m.physicsImpostor).forEach(processMesh);
+            const meshes = meshChildren.filter((m) => !!m.physicsImpostor);
+            for (const mesh of meshes) {
+                processMesh(mesh);
+            }
         }
     }
     removePhysicsBody(impostor) {

package/Physics/v1/Plugins/cannonJSPlugin.js.map

@@ -1 +1 @@
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type { Nullable, FloatArray } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { Vector3, Matrix, Quaternion } from \"../../../Maths/math.vector\";\r\nimport { VertexBuffer } from \"../../../Buffers/buffer\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { TransformNode } from \"../../../Meshes/transformNode\";\r\nimport { PhysicsEngine } from \"../physicsEngine\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\n//declare var require: any;\r\ndeclare let CANNON: any;\r\n\r\n/** @internal */\r\nexport class CannonJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"CannonJSPlugin\";\r\n    private _physicsMaterials = new Array();\r\n    private _fixedTimeStep: number = 1 / 60;\r\n    private _cannonRaycastResult: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _physicsBodiesToRemoveAfterStep = new Array<any>();\r\n    private _firstFrame = true;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSCANNON: any;\r\n\r\n    public constructor(\r\n        private _useDeltaForWorldStep: boolean = true,\r\n        iterations: number = 10,\r\n        cannonInjection = CANNON\r\n    ) {\r\n        this.BJSCANNON = cannonInjection;\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"CannonJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n\r\n        this._extendNamespace();\r\n\r\n        this.world = new this.BJSCANNON.World();\r\n        this.world.broadphase = new this.BJSCANNON.NaiveBroadphase();\r\n        this.world.solver.iterations = iterations;\r\n        this._cannonRaycastResult = new this.BJSCANNON.RaycastResult();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3): void {\r\n        const vec = gravity;\r\n        this.world.gravity.set(vec.x, vec.y, vec.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this._fixedTimeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this._fixedTimeStep;\r\n    }\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>): void {\r\n        // due to cannon's architecture, the first frame's before-step is skipped.\r\n        if (this._firstFrame) {\r\n            this._firstFrame = false;\r\n            for (const impostor of impostors) {\r\n                if (!(impostor.type == PhysicsImpostor.HeightmapImpostor || impostor.type === PhysicsImpostor.PlaneImpostor)) {\r\n                    impostor.beforeStep();\r\n                }\r\n            }\r\n        }\r\n        this.world.step(this._useDeltaForWorldStep ? delta : this._fixedTimeStep);\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n    }\r\n\r\n    private _removeMarkedPhysicsBodiesFromWorld(): void {\r\n        if (this._physicsBodiesToRemoveAfterStep.length > 0) {\r\n            this._physicsBodiesToRemoveAfterStep.forEach((physicsBody) => {\r\n                if (typeof this.world.removeBody === \"function\") {\r\n                    this.world.removeBody(physicsBody);\r\n                } else {\r\n                    this.world.remove(physicsBody);\r\n                }\r\n            });\r\n            this._physicsBodiesToRemoveAfterStep.length = 0;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyImpulse(impulse, worldPoint);\r\n    }\r\n\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyForce(impulse, worldPoint);\r\n    }\r\n\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        // When calling forceUpdate generatePhysicsBody is called again, ensure that the updated body does not instantly collide with removed body\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n\r\n        //parent-child relationship. Does this impostor have a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        //should a new body be created for this impostor?\r\n        if (impostor.isBodyInitRequired()) {\r\n            const shape = this._createShape(impostor);\r\n            if (!shape) {\r\n                Logger.Warn(\"It was not possible to create a physics body for this object.\");\r\n                return;\r\n            }\r\n\r\n            //unregister events if body is being changed\r\n            const oldBody = impostor.physicsBody;\r\n            if (oldBody) {\r\n                this.removePhysicsBody(impostor);\r\n            }\r\n\r\n            //create the body and material\r\n            const material = this._addMaterial(\"mat-\" + impostor.uniqueId, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\"));\r\n\r\n            const bodyCreationObject = {\r\n                mass: impostor.getParam(\"mass\"),\r\n                material: material,\r\n            };\r\n            // A simple extend, in case native options were used.\r\n            const nativeOptions = impostor.getParam(\"nativeOptions\");\r\n            for (const key in nativeOptions) {\r\n                if (Object.prototype.hasOwnProperty.call(nativeOptions, key)) {\r\n                    (<any>bodyCreationObject)[key] = nativeOptions[key];\r\n                }\r\n            }\r\n            impostor.physicsBody = new this.BJSCANNON.Body(bodyCreationObject);\r\n            impostor.physicsBody.addEventListener(\"collide\", impostor.onCollide);\r\n            this.world.addEventListener(\"preStep\", impostor.beforeStep);\r\n            this.world.addEventListener(\"postStep\", impostor.afterStep);\r\n            impostor.physicsBody.addShape(shape);\r\n            if (typeof this.world.addBody === \"function\") {\r\n                this.world.addBody(impostor.physicsBody);\r\n            } else {\r\n                this.world.add(impostor.physicsBody);\r\n            }\r\n\r\n            //try to keep the body moving in the right direction by taking old properties.\r\n            //Should be tested!\r\n            if (oldBody) {\r\n                [\"force\", \"torque\", \"velocity\", \"angularVelocity\"].forEach(function (param) {\r\n                    const vec = oldBody[param];\r\n                    impostor.physicsBody[param].set(vec.x, vec.y, vec.z);\r\n                });\r\n            }\r\n            this._processChildMeshes(impostor);\r\n        }\r\n\r\n        //now update the body's transformation\r\n        this._updatePhysicsBodyTransformation(impostor);\r\n    }\r\n\r\n    private _processChildMeshes(mainImpostor: PhysicsImpostor) {\r\n        const meshChildren = mainImpostor.object.getChildMeshes ? mainImpostor.object.getChildMeshes(true) : [];\r\n        const mainRotation: Nullable<Quaternion> = mainImpostor.object.rotationQuaternion;\r\n        if (mainRotation) {\r\n            mainRotation.conjugateToRef(this._tmpQuaternion);\r\n        } else {\r\n            this._tmpQuaternion.set(0, 0, 0, 1);\r\n        }\r\n\r\n        if (meshChildren.length) {\r\n            const processMesh = (mesh: AbstractMesh) => {\r\n                if (!mesh.rotationQuaternion) {\r\n                    return;\r\n                }\r\n\r\n                const childImpostor = mesh.getPhysicsImpostor();\r\n                if (childImpostor) {\r\n                    const parent = childImpostor.parent;\r\n                    if (parent !== mainImpostor && mesh.parent) {\r\n                        const pPosition = mesh.getAbsolutePosition().subtract((mesh.parent as TransformNode).getAbsolutePosition());\r\n                        const q = mesh.rotationQuaternion.multiply(this._tmpQuaternion);\r\n\r\n                        if (childImpostor.physicsBody) {\r\n                            this.removePhysicsBody(childImpostor);\r\n                            childImpostor.physicsBody = null;\r\n                        }\r\n                        childImpostor.parent = mainImpostor;\r\n                        childImpostor.resetUpdateFlags();\r\n                        mainImpostor.physicsBody.addShape(\r\n                            this._createShape(childImpostor),\r\n                            new this.BJSCANNON.Vec3(pPosition.x, pPosition.y, pPosition.z),\r\n                            new this.BJSCANNON.Quaternion(q.x, q.y, q.z, q.w)\r\n                        );\r\n                        //Add the mass of the children.\r\n                        mainImpostor.physicsBody.mass += childImpostor.getParam(\"mass\");\r\n                    }\r\n                }\r\n                mesh.getChildMeshes(true)\r\n                    .filter((m) => !!m.physicsImpostor)\r\n                    .forEach(processMesh);\r\n            };\r\n            meshChildren.filter((m) => !!m.physicsImpostor).forEach(processMesh);\r\n        }\r\n    }\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.removeEventListener(\"collide\", impostor.onCollide);\r\n        this.world.removeEventListener(\"preStep\", impostor.beforeStep);\r\n        this.world.removeEventListener(\"postStep\", impostor.afterStep);\r\n\r\n        // Only remove the physics body after the physics step to avoid disrupting cannon's internal state\r\n        if (this._physicsBodiesToRemoveAfterStep.indexOf(impostor.physicsBody) === -1) {\r\n            this._physicsBodiesToRemoveAfterStep.push(impostor.physicsBody);\r\n        }\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        let constraint: any;\r\n        const jointData = impostorJoint.joint.jointData;\r\n        //TODO - https://github.com/schteppe/this.BJSCANNON.js/blob/gh-pages/demos/collisionFilter.html\r\n        const constraintData = {\r\n            pivotA: jointData.mainPivot ? new this.BJSCANNON.Vec3().set(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z) : null,\r\n            pivotB: jointData.connectedPivot ? new this.BJSCANNON.Vec3().set(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z) : null,\r\n            axisA: jointData.mainAxis ? new this.BJSCANNON.Vec3().set(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z) : null,\r\n            axisB: jointData.connectedAxis ? new this.BJSCANNON.Vec3().set(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z) : null,\r\n            maxForce: jointData.nativeParams.maxForce,\r\n            collideConnected: !!jointData.collision,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.HingeJoint:\r\n            case PhysicsJoint.Hinge2Joint:\r\n                constraint = new this.BJSCANNON.HingeConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.DistanceJoint:\r\n                constraint = new this.BJSCANNON.DistanceConstraint(mainBody, connectedBody, (<DistanceJointData>jointData).maxDistance || 2);\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                const springData = <SpringJointData>jointData;\r\n                constraint = new this.BJSCANNON.Spring(mainBody, connectedBody, {\r\n                    restLength: springData.length,\r\n                    stiffness: springData.stiffness,\r\n                    damping: springData.damping,\r\n                    localAnchorA: constraintData.pivotA,\r\n                    localAnchorB: constraintData.pivotB,\r\n                });\r\n                break;\r\n            }\r\n            case PhysicsJoint.LockJoint:\r\n                constraint = new this.BJSCANNON.LockConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.PointToPointJoint:\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n            default:\r\n                constraint = new this.BJSCANNON.PointToPointConstraint(mainBody, constraintData.pivotA, connectedBody, constraintData.pivotB, constraintData.maxForce);\r\n                break;\r\n        }\r\n        //set the collideConnected flag after the creation, since DistanceJoint ignores it.\r\n        constraint.collideConnected = !!jointData.collision;\r\n        impostorJoint.joint.physicsJoint = constraint;\r\n        //don't add spring as constraint, as it is not one.\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.addConstraint(constraint);\r\n        } else {\r\n            (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback =\r\n                (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback ||\r\n                function () {\r\n                    constraint.applyForce();\r\n                };\r\n            impostorJoint.mainImpostor.registerAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.removeConstraint(impostorJoint.joint.physicsJoint);\r\n        } else {\r\n            impostorJoint.mainImpostor.unregisterAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    private _addMaterial(name: string, friction: number, restitution: number) {\r\n        let index;\r\n        let mat;\r\n\r\n        for (index = 0; index < this._physicsMaterials.length; index++) {\r\n            mat = this._physicsMaterials[index];\r\n\r\n            if (mat.friction === friction && mat.restitution === restitution) {\r\n                return mat;\r\n            }\r\n        }\r\n\r\n        const currentMat = new this.BJSCANNON.Material(name);\r\n        currentMat.friction = friction;\r\n        currentMat.restitution = restitution;\r\n\r\n        this._physicsMaterials.push(currentMat);\r\n        return currentMat;\r\n    }\r\n\r\n    private _checkWithEpsilon(value: number): number {\r\n        return value < Epsilon ? Epsilon : value;\r\n    }\r\n\r\n    private _createShape(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n\r\n        let returnValue;\r\n        const impostorExtents = impostor.getObjectExtents();\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                const radiusX = impostorExtents.x;\r\n                const radiusY = impostorExtents.y;\r\n                const radiusZ = impostorExtents.z;\r\n\r\n                returnValue = new this.BJSCANNON.Sphere(Math.max(this._checkWithEpsilon(radiusX), this._checkWithEpsilon(radiusY), this._checkWithEpsilon(radiusZ)) / 2);\r\n\r\n                break;\r\n            }\r\n            //TMP also for cylinder - TODO Cannon supports cylinder natively.\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                let nativeParams = impostor.getParam(\"nativeOptions\");\r\n                if (!nativeParams) {\r\n                    nativeParams = {};\r\n                }\r\n                const radiusTop = nativeParams.radiusTop !== undefined ? nativeParams.radiusTop : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const radiusBottom = nativeParams.radiusBottom !== undefined ? nativeParams.radiusBottom : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const height = nativeParams.height !== undefined ? nativeParams.height : this._checkWithEpsilon(impostorExtents.y);\r\n                const numSegments = nativeParams.numSegments !== undefined ? nativeParams.numSegments : 16;\r\n                returnValue = new this.BJSCANNON.Cylinder(radiusTop, radiusBottom, height, numSegments);\r\n\r\n                // Rotate 90 degrees as this shape is horizontal in cannon\r\n                const quat = new this.BJSCANNON.Quaternion();\r\n                quat.setFromAxisAngle(new this.BJSCANNON.Vec3(1, 0, 0), -Math.PI / 2);\r\n                const translation = new this.BJSCANNON.Vec3(0, 0, 0);\r\n                returnValue.transformAllPoints(translation, quat);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.BoxImpostor: {\r\n                const box = impostorExtents.scale(0.5);\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(this._checkWithEpsilon(box.x), this._checkWithEpsilon(box.y), this._checkWithEpsilon(box.z)));\r\n                break;\r\n            }\r\n            case PhysicsImpostor.PlaneImpostor:\r\n                Logger.Warn(\"Attention, PlaneImposter might not behave as you expect. Consider using BoxImposter instead\");\r\n                returnValue = new this.BJSCANNON.Plane();\r\n                break;\r\n            case PhysicsImpostor.MeshImpostor: {\r\n                // should transform the vertex data to world coordinates!!\r\n                const rawVerts = object.getVerticesData ? object.getVerticesData(VertexBuffer.PositionKind) : [];\r\n                const rawFaces = object.getIndices ? object.getIndices() : [];\r\n                if (!rawVerts) {\r\n                    Logger.Warn(\"Tried to create a MeshImpostor for an object without vertices. This will fail.\");\r\n                    return;\r\n                }\r\n                // get only scale! so the object could transform correctly.\r\n                const oldPosition = object.position.clone();\r\n                const oldRotation = object.rotation && object.rotation.clone();\r\n                const oldQuaternion = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n\r\n                const transform = object.computeWorldMatrix(true);\r\n                // convert rawVerts to object space\r\n                const transformedVertices: number[] = [];\r\n                let index: number;\r\n                for (index = 0; index < rawVerts.length; index += 3) {\r\n                    Vector3.TransformCoordinates(Vector3.FromArray(rawVerts, index), transform).toArray(transformedVertices, index);\r\n                }\r\n\r\n                Logger.Warn(\"MeshImpostor only collides against spheres.\");\r\n                returnValue = new this.BJSCANNON.Trimesh(transformedVertices, <number[]>rawFaces);\r\n                //now set back the transformation!\r\n                object.position.copyFrom(oldPosition);\r\n                oldRotation && object.rotation && object.rotation.copyFrom(oldRotation);\r\n                oldQuaternion && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.HeightmapImpostor: {\r\n                const oldPosition2 = object.position.clone();\r\n                const oldRotation2 = object.rotation && object.rotation.clone();\r\n                const oldQuaternion2 = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n                object.rotationQuaternion && object.rotationQuaternion.multiplyInPlace(this._minus90X);\r\n\r\n                returnValue = this._createHeightmap(object);\r\n                object.position.copyFrom(oldPosition2);\r\n                oldRotation2 && object.rotation && object.rotation.copyFrom(oldRotation2);\r\n                oldQuaternion2 && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion2);\r\n                object.computeWorldMatrix(true);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.ParticleImpostor:\r\n                returnValue = new this.BJSCANNON.Particle();\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(0, 0, 0));\r\n                break;\r\n        }\r\n\r\n        return returnValue;\r\n    }\r\n\r\n    private _createHeightmap(object: IPhysicsEnabledObject, pointDepth?: number) {\r\n        let pos = <FloatArray>object.getVerticesData(VertexBuffer.PositionKind);\r\n        const transform = object.computeWorldMatrix(true);\r\n        // convert rawVerts to object space\r\n        const transformedVertices: number[] = [];\r\n        let index: number;\r\n        for (index = 0; index < pos.length; index += 3) {\r\n            Vector3.TransformCoordinates(Vector3.FromArray(pos, index), transform).toArray(transformedVertices, index);\r\n        }\r\n        pos = transformedVertices;\r\n        const matrix = new Array<Array<any>>();\r\n\r\n        //For now pointDepth will not be used and will be automatically calculated.\r\n        //Future reference - try and find the best place to add a reference to the pointDepth variable.\r\n        const arraySize = pointDepth || ~~(Math.sqrt(pos.length / 3) - 1);\r\n        const boundingInfo = object.getBoundingInfo();\r\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.y);\r\n        const minY = boundingInfo.boundingBox.extendSizeWorld.z;\r\n\r\n        const elementSize = (dim * 2) / arraySize;\r\n\r\n        for (let i = 0; i < pos.length; i = i + 3) {\r\n            const x = Math.round(pos[i + 0] / elementSize + arraySize / 2);\r\n            const z = Math.round((pos[i + 1] / elementSize - arraySize / 2) * -1);\r\n            const y = -pos[i + 2] + minY;\r\n            if (!matrix[x]) {\r\n                matrix[x] = [];\r\n            }\r\n            if (!matrix[x][z]) {\r\n                matrix[x][z] = y;\r\n            }\r\n            matrix[x][z] = Math.max(y, matrix[x][z]);\r\n        }\r\n\r\n        for (let x = 0; x <= arraySize; ++x) {\r\n            if (!matrix[x]) {\r\n                let loc = 1;\r\n                while (!matrix[(x + loc) % arraySize]) {\r\n                    loc++;\r\n                }\r\n                matrix[x] = matrix[(x + loc) % arraySize].slice();\r\n                //console.log(\"missing x\", x);\r\n            }\r\n            for (let z = 0; z <= arraySize; ++z) {\r\n                if (!matrix[x][z]) {\r\n                    let loc = 1;\r\n                    let newValue;\r\n                    while (newValue === undefined) {\r\n                        newValue = matrix[x][(z + loc++) % arraySize];\r\n                    }\r\n                    matrix[x][z] = newValue;\r\n                }\r\n            }\r\n        }\r\n\r\n        const shape = new this.BJSCANNON.Heightfield(matrix, {\r\n            elementSize: elementSize,\r\n        });\r\n\r\n        //For future reference, needed for body transformation\r\n        shape.minY = minY;\r\n\r\n        return shape;\r\n    }\r\n\r\n    private _minus90X = new Quaternion(-0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _plus90X = new Quaternion(0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _tmpPosition: Vector3 = Vector3.Zero();\r\n    private _tmpDeltaPosition: Vector3 = Vector3.Zero();\r\n    private _tmpUnityRotation: Quaternion = new Quaternion();\r\n\r\n    private _updatePhysicsBodyTransformation(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n        //make sure it is updated...\r\n        object.computeWorldMatrix && object.computeWorldMatrix(true);\r\n        if (!object.getBoundingInfo()) {\r\n            return;\r\n        }\r\n        const center = impostor.getObjectCenter();\r\n        //m.getAbsolutePosition().subtract(m.getBoundingInfo().boundingBox.centerWorld)\r\n        // The delta between the mesh position and the mesh bounding box center\r\n        this._tmpDeltaPosition.copyFrom(object.getAbsolutePivotPoint().subtract(center));\r\n        this._tmpDeltaPosition.divideInPlace(impostor.object.scaling);\r\n        this._tmpPosition.copyFrom(center);\r\n        let quaternion = object.rotationQuaternion;\r\n\r\n        if (!quaternion) {\r\n            return;\r\n        }\r\n\r\n        //is shape is a plane or a heightmap, it must be rotated 90 degs in the X axis.\r\n        //ideally these would be rotated at time of creation like cylinder but they dont extend ConvexPolyhedron\r\n        if (impostor.type === PhysicsImpostor.PlaneImpostor || impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            //-90 DEG in X, precalculated\r\n            quaternion = quaternion.multiply(this._minus90X);\r\n            //Invert! (Precalculated, 90 deg in X)\r\n            //No need to clone. this will never change.\r\n            impostor.setDeltaRotation(this._plus90X);\r\n        }\r\n\r\n        //If it is a heightfield, if should be centered.\r\n        if (impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            const mesh = <AbstractMesh>(<any>object);\r\n            let boundingInfo = mesh.getBoundingInfo();\r\n            //calculate the correct body position:\r\n            const rotationQuaternion = mesh.rotationQuaternion;\r\n            mesh.rotationQuaternion = this._tmpUnityRotation;\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            //get original center with no rotation\r\n            const c = center.clone();\r\n\r\n            let oldPivot = mesh.getPivotMatrix();\r\n            if (oldPivot) {\r\n                // create a copy the pivot Matrix as it is modified in place\r\n                oldPivot = oldPivot.clone();\r\n            } else {\r\n                oldPivot = Matrix.Identity();\r\n            }\r\n\r\n            //calculate the new center using a pivot (since this.BJSCANNON.js doesn't center height maps)\r\n            const p = Matrix.Translation(boundingInfo.boundingBox.extendSizeWorld.x, 0, -boundingInfo.boundingBox.extendSizeWorld.z);\r\n            mesh.setPreTransformMatrix(p);\r\n            mesh.computeWorldMatrix(true);\r\n            // force bounding box recomputation\r\n            boundingInfo = mesh.getBoundingInfo();\r\n\r\n            //calculate the translation\r\n            const translation = boundingInfo.boundingBox.centerWorld.subtract(center).subtract(mesh.position).negate();\r\n\r\n            this._tmpPosition.copyFromFloats(translation.x, translation.y - boundingInfo.boundingBox.extendSizeWorld.y, translation.z);\r\n            //add it inverted to the delta\r\n            this._tmpDeltaPosition.copyFrom(boundingInfo.boundingBox.centerWorld.subtract(c));\r\n            this._tmpDeltaPosition.y += boundingInfo.boundingBox.extendSizeWorld.y;\r\n            //rotation is back\r\n            mesh.rotationQuaternion = rotationQuaternion;\r\n\r\n            mesh.setPreTransformMatrix(oldPivot);\r\n            mesh.computeWorldMatrix(true);\r\n        } else if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n            this._tmpDeltaPosition.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpDeltaPosition);\r\n        //Now update the impostor object\r\n        impostor.physicsBody.position.set(this._tmpPosition.x, this._tmpPosition.y, this._tmpPosition.z);\r\n        impostor.physicsBody.quaternion.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w);\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.object.position.set(impostor.physicsBody.position.x, impostor.physicsBody.position.y, impostor.physicsBody.position.z);\r\n        if (impostor.object.rotationQuaternion) {\r\n            const q = impostor.physicsBody.quaternion;\r\n            impostor.object.rotationQuaternion.set(q.x, q.y, q.z, q.w);\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        impostor.physicsBody.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        impostor.physicsBody.quaternion.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSCANNON !== undefined;\r\n    }\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.velocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.velocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        impostor.physicsBody.mass = mass;\r\n        impostor.physicsBody.updateMassProperties();\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.mass;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.material.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.material.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.wakeUp();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number) {\r\n        joint.physicsJoint.distance = maxDistance;\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed?: number, maxForce?: number, motorIndex?: number) {\r\n        if (!motorIndex) {\r\n            joint.physicsJoint.enableMotor();\r\n            joint.physicsJoint.setMotorSpeed(speed);\r\n            if (maxForce) {\r\n                this.setLimit(joint, maxForce);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, minForce: number, maxForce?: number) {\r\n        joint.physicsJoint.motorEquation.maxForce = maxForce;\r\n        joint.physicsJoint.motorEquation.minForce = minForce === void 0 ? -minForce : minForce;\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.quaternion.x;\r\n            mesh.rotationQuaternion.y = body.quaternion.y;\r\n            mesh.rotationQuaternion.z = body.quaternion.z;\r\n            mesh.rotationQuaternion.w = body.quaternion.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        return shape.boundingSphereRadius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        result.x = shape.halfExtents.x * 2;\r\n        result.y = shape.halfExtents.y * 2;\r\n        result.z = shape.halfExtents.z * 2;\r\n    }\r\n\r\n    public dispose() {}\r\n\r\n    private _extendNamespace() {\r\n        //this will force cannon to execute at least one step when using interpolation\r\n        const step_tmp1 = new this.BJSCANNON.Vec3();\r\n        const engine = this.BJSCANNON;\r\n        this.BJSCANNON.World.prototype.step = function (dt: number, timeSinceLastCalled: number, maxSubSteps: number) {\r\n            maxSubSteps = maxSubSteps || 10;\r\n            timeSinceLastCalled = timeSinceLastCalled || 0;\r\n            if (timeSinceLastCalled === 0) {\r\n                this.internalStep(dt);\r\n                this.time += dt;\r\n            } else {\r\n                let internalSteps = Math.floor((this.time + timeSinceLastCalled) / dt) - Math.floor(this.time / dt);\r\n                internalSteps = Math.min(internalSteps, maxSubSteps) || 1;\r\n                const t0 = performance.now();\r\n                for (let i = 0; i !== internalSteps; i++) {\r\n                    this.internalStep(dt);\r\n                    if (performance.now() - t0 > dt * 1000) {\r\n                        break;\r\n                    }\r\n                }\r\n                this.time += timeSinceLastCalled;\r\n                const h = this.time % dt;\r\n                const h_div_dt = h / dt;\r\n                const interpvelo = step_tmp1;\r\n                const bodies = this.bodies;\r\n                for (let j = 0; j !== bodies.length; j++) {\r\n                    const b = bodies[j];\r\n                    if (b.type !== engine.Body.STATIC && b.sleepState !== engine.Body.SLEEPING) {\r\n                        b.position.vsub(b.previousPosition, interpvelo);\r\n                        interpvelo.scale(h_div_dt, interpvelo);\r\n                        b.position.vadd(interpvelo, b.interpolatedPosition);\r\n                    } else {\r\n                        b.interpolatedPosition.set(b.position.x, b.position.y, b.position.z);\r\n                        b.interpolatedQuaternion.set(b.quaternion.x, b.quaternion.y, b.quaternion.z, b.quaternion.w);\r\n                    }\r\n                }\r\n            }\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        this._raycastResult.reset(from, to);\r\n        this.raycastToRef(from, to, this._raycastResult);\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        this._cannonRaycastResult.reset();\r\n        this.world.raycastClosest(from, to, {}, this._cannonRaycastResult);\r\n\r\n        result.reset(from, to);\r\n        if (this._cannonRaycastResult.hasHit) {\r\n            // TODO: do we also want to get the body it hit?\r\n            result.setHitData(\r\n                {\r\n                    x: this._cannonRaycastResult.hitNormalWorld.x,\r\n                    y: this._cannonRaycastResult.hitNormalWorld.y,\r\n                    z: this._cannonRaycastResult.hitNormalWorld.z,\r\n                },\r\n                {\r\n                    x: this._cannonRaycastResult.hitPointWorld.x,\r\n                    y: this._cannonRaycastResult.hitPointWorld.y,\r\n                    z: this._cannonRaycastResult.hitPointWorld.z,\r\n                }\r\n            );\r\n            result.setHitDistance(this._cannonRaycastResult.distance);\r\n        }\r\n    }\r\n}\r\n\r\nPhysicsEngine.DefaultPluginFactory = () => {\r\n    return new CannonJSPlugin();\r\n};\r\n"]}
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type { Nullable, FloatArray } from \"../../../types\";\r\nimport { Logger } from \"../../../Misc/logger\";\r\nimport { Vector3, Matrix, Quaternion } from \"../../../Maths/math.vector\";\r\nimport { VertexBuffer } from \"../../../Buffers/buffer\";\r\nimport type { AbstractMesh } from \"../../../Meshes/abstractMesh\";\r\nimport type { IPhysicsEnginePlugin, PhysicsImpostorJoint } from \"../IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnabledObject } from \"../physicsImpostor\";\r\nimport { PhysicsImpostor } from \"../physicsImpostor\";\r\nimport type { IMotorEnabledJoint, DistanceJointData, SpringJointData } from \"../physicsJoint\";\r\nimport { PhysicsJoint } from \"../physicsJoint\";\r\nimport { PhysicsRaycastResult } from \"../../physicsRaycastResult\";\r\nimport type { TransformNode } from \"../../../Meshes/transformNode\";\r\nimport { PhysicsEngine } from \"../physicsEngine\";\r\nimport { Epsilon } from \"../../../Maths/math.constants\";\r\n\r\n//declare var require: any;\r\ndeclare let CANNON: any;\r\n\r\n/** @internal */\r\nexport class CannonJSPlugin implements IPhysicsEnginePlugin {\r\n    public world: any;\r\n    public name: string = \"CannonJSPlugin\";\r\n    private _physicsMaterials = new Array();\r\n    private _fixedTimeStep: number = 1 / 60;\r\n    private _cannonRaycastResult: any;\r\n    private _raycastResult: PhysicsRaycastResult;\r\n    private _physicsBodiesToRemoveAfterStep = new Array<any>();\r\n    private _firstFrame = true;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public BJSCANNON: any;\r\n\r\n    public constructor(\r\n        private _useDeltaForWorldStep: boolean = true,\r\n        iterations: number = 10,\r\n        cannonInjection = CANNON\r\n    ) {\r\n        this.BJSCANNON = cannonInjection;\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"CannonJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n\r\n        this._extendNamespace();\r\n\r\n        this.world = new this.BJSCANNON.World();\r\n        this.world.broadphase = new this.BJSCANNON.NaiveBroadphase();\r\n        this.world.solver.iterations = iterations;\r\n        this._cannonRaycastResult = new this.BJSCANNON.RaycastResult();\r\n        this._raycastResult = new PhysicsRaycastResult();\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return 1;\r\n    }\r\n\r\n    public setGravity(gravity: Vector3): void {\r\n        const vec = gravity;\r\n        this.world.gravity.set(vec.x, vec.y, vec.z);\r\n    }\r\n\r\n    public setTimeStep(timeStep: number) {\r\n        this._fixedTimeStep = timeStep;\r\n    }\r\n\r\n    public getTimeStep(): number {\r\n        return this._fixedTimeStep;\r\n    }\r\n\r\n    public executeStep(delta: number, impostors: Array<PhysicsImpostor>): void {\r\n        // due to cannon's architecture, the first frame's before-step is skipped.\r\n        if (this._firstFrame) {\r\n            this._firstFrame = false;\r\n            for (const impostor of impostors) {\r\n                if (!(impostor.type == PhysicsImpostor.HeightmapImpostor || impostor.type === PhysicsImpostor.PlaneImpostor)) {\r\n                    impostor.beforeStep();\r\n                }\r\n            }\r\n        }\r\n        this.world.step(this._useDeltaForWorldStep ? delta : this._fixedTimeStep);\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n    }\r\n\r\n    private _removeMarkedPhysicsBodiesFromWorld(): void {\r\n        if (this._physicsBodiesToRemoveAfterStep.length > 0) {\r\n            for (const physicsBody of this._physicsBodiesToRemoveAfterStep) {\r\n                if (typeof this.world.removeBody === \"function\") {\r\n                    this.world.removeBody(physicsBody);\r\n                } else {\r\n                    this.world.remove(physicsBody);\r\n                }\r\n            }\r\n            this._physicsBodiesToRemoveAfterStep.length = 0;\r\n        }\r\n    }\r\n\r\n    public applyImpulse(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyImpulse(impulse, worldPoint);\r\n    }\r\n\r\n    public applyForce(impostor: PhysicsImpostor, force: Vector3, contactPoint: Vector3) {\r\n        const worldPoint = new this.BJSCANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);\r\n        const impulse = new this.BJSCANNON.Vec3(force.x, force.y, force.z);\r\n\r\n        impostor.physicsBody.applyForce(impulse, worldPoint);\r\n    }\r\n\r\n    public generatePhysicsBody(impostor: PhysicsImpostor) {\r\n        // When calling forceUpdate generatePhysicsBody is called again, ensure that the updated body does not instantly collide with removed body\r\n        this._removeMarkedPhysicsBodiesFromWorld();\r\n\r\n        //parent-child relationship. Does this impostor have a parent impostor?\r\n        if (impostor.parent) {\r\n            if (impostor.physicsBody) {\r\n                this.removePhysicsBody(impostor);\r\n                //TODO is that needed?\r\n                impostor.forceUpdate();\r\n            }\r\n            return;\r\n        }\r\n\r\n        //should a new body be created for this impostor?\r\n        if (impostor.isBodyInitRequired()) {\r\n            const shape = this._createShape(impostor);\r\n            if (!shape) {\r\n                Logger.Warn(\"It was not possible to create a physics body for this object.\");\r\n                return;\r\n            }\r\n\r\n            //unregister events if body is being changed\r\n            const oldBody = impostor.physicsBody;\r\n            if (oldBody) {\r\n                this.removePhysicsBody(impostor);\r\n            }\r\n\r\n            //create the body and material\r\n            const material = this._addMaterial(\"mat-\" + impostor.uniqueId, impostor.getParam(\"friction\"), impostor.getParam(\"restitution\"));\r\n\r\n            const bodyCreationObject = {\r\n                mass: impostor.getParam(\"mass\"),\r\n                material: material,\r\n            };\r\n            // A simple extend, in case native options were used.\r\n            const nativeOptions = impostor.getParam(\"nativeOptions\");\r\n            for (const key in nativeOptions) {\r\n                if (Object.prototype.hasOwnProperty.call(nativeOptions, key)) {\r\n                    (<any>bodyCreationObject)[key] = nativeOptions[key];\r\n                }\r\n            }\r\n            impostor.physicsBody = new this.BJSCANNON.Body(bodyCreationObject);\r\n            impostor.physicsBody.addEventListener(\"collide\", impostor.onCollide);\r\n            this.world.addEventListener(\"preStep\", impostor.beforeStep);\r\n            this.world.addEventListener(\"postStep\", impostor.afterStep);\r\n            impostor.physicsBody.addShape(shape);\r\n            if (typeof this.world.addBody === \"function\") {\r\n                this.world.addBody(impostor.physicsBody);\r\n            } else {\r\n                this.world.add(impostor.physicsBody);\r\n            }\r\n\r\n            //try to keep the body moving in the right direction by taking old properties.\r\n            //Should be tested!\r\n            if (oldBody) {\r\n                const props = [\"force\", \"torque\", \"velocity\", \"angularVelocity\"];\r\n                for (const param of props) {\r\n                    const vec = oldBody[param];\r\n                    impostor.physicsBody[param].set(vec.x, vec.y, vec.z);\r\n                }\r\n            }\r\n            this._processChildMeshes(impostor);\r\n        }\r\n\r\n        //now update the body's transformation\r\n        this._updatePhysicsBodyTransformation(impostor);\r\n    }\r\n\r\n    private _processChildMeshes(mainImpostor: PhysicsImpostor) {\r\n        const meshChildren = mainImpostor.object.getChildMeshes ? mainImpostor.object.getChildMeshes(true) : [];\r\n        const mainRotation: Nullable<Quaternion> = mainImpostor.object.rotationQuaternion;\r\n        if (mainRotation) {\r\n            mainRotation.conjugateToRef(this._tmpQuaternion);\r\n        } else {\r\n            this._tmpQuaternion.set(0, 0, 0, 1);\r\n        }\r\n\r\n        if (meshChildren.length) {\r\n            const processMesh = (mesh: AbstractMesh) => {\r\n                if (!mesh.rotationQuaternion) {\r\n                    return;\r\n                }\r\n\r\n                const childImpostor = mesh.getPhysicsImpostor();\r\n                if (childImpostor) {\r\n                    const parent = childImpostor.parent;\r\n                    if (parent !== mainImpostor && mesh.parent) {\r\n                        const pPosition = mesh.getAbsolutePosition().subtract((mesh.parent as TransformNode).getAbsolutePosition());\r\n                        const q = mesh.rotationQuaternion.multiply(this._tmpQuaternion);\r\n\r\n                        if (childImpostor.physicsBody) {\r\n                            this.removePhysicsBody(childImpostor);\r\n                            childImpostor.physicsBody = null;\r\n                        }\r\n                        childImpostor.parent = mainImpostor;\r\n                        childImpostor.resetUpdateFlags();\r\n                        mainImpostor.physicsBody.addShape(\r\n                            this._createShape(childImpostor),\r\n                            new this.BJSCANNON.Vec3(pPosition.x, pPosition.y, pPosition.z),\r\n                            new this.BJSCANNON.Quaternion(q.x, q.y, q.z, q.w)\r\n                        );\r\n                        //Add the mass of the children.\r\n                        mainImpostor.physicsBody.mass += childImpostor.getParam(\"mass\");\r\n                    }\r\n                }\r\n                const meshes = mesh.getChildMeshes(true).filter((m) => !!m.physicsImpostor);\r\n\r\n                for (const mesh of meshes) {\r\n                    processMesh(mesh);\r\n                }\r\n            };\r\n            const meshes = meshChildren.filter((m) => !!m.physicsImpostor);\r\n\r\n            for (const mesh of meshes) {\r\n                processMesh(mesh);\r\n            }\r\n        }\r\n    }\r\n\r\n    public removePhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.removeEventListener(\"collide\", impostor.onCollide);\r\n        this.world.removeEventListener(\"preStep\", impostor.beforeStep);\r\n        this.world.removeEventListener(\"postStep\", impostor.afterStep);\r\n\r\n        // Only remove the physics body after the physics step to avoid disrupting cannon's internal state\r\n        if (this._physicsBodiesToRemoveAfterStep.indexOf(impostor.physicsBody) === -1) {\r\n            this._physicsBodiesToRemoveAfterStep.push(impostor.physicsBody);\r\n        }\r\n    }\r\n\r\n    public generateJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        const mainBody = impostorJoint.mainImpostor.physicsBody;\r\n        const connectedBody = impostorJoint.connectedImpostor.physicsBody;\r\n        if (!mainBody || !connectedBody) {\r\n            return;\r\n        }\r\n        let constraint: any;\r\n        const jointData = impostorJoint.joint.jointData;\r\n        //TODO - https://github.com/schteppe/this.BJSCANNON.js/blob/gh-pages/demos/collisionFilter.html\r\n        const constraintData = {\r\n            pivotA: jointData.mainPivot ? new this.BJSCANNON.Vec3().set(jointData.mainPivot.x, jointData.mainPivot.y, jointData.mainPivot.z) : null,\r\n            pivotB: jointData.connectedPivot ? new this.BJSCANNON.Vec3().set(jointData.connectedPivot.x, jointData.connectedPivot.y, jointData.connectedPivot.z) : null,\r\n            axisA: jointData.mainAxis ? new this.BJSCANNON.Vec3().set(jointData.mainAxis.x, jointData.mainAxis.y, jointData.mainAxis.z) : null,\r\n            axisB: jointData.connectedAxis ? new this.BJSCANNON.Vec3().set(jointData.connectedAxis.x, jointData.connectedAxis.y, jointData.connectedAxis.z) : null,\r\n            maxForce: jointData.nativeParams.maxForce,\r\n            collideConnected: !!jointData.collision,\r\n        };\r\n        switch (impostorJoint.joint.type) {\r\n            case PhysicsJoint.HingeJoint:\r\n            case PhysicsJoint.Hinge2Joint:\r\n                constraint = new this.BJSCANNON.HingeConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.DistanceJoint:\r\n                constraint = new this.BJSCANNON.DistanceConstraint(mainBody, connectedBody, (<DistanceJointData>jointData).maxDistance || 2);\r\n                break;\r\n            case PhysicsJoint.SpringJoint: {\r\n                const springData = <SpringJointData>jointData;\r\n                constraint = new this.BJSCANNON.Spring(mainBody, connectedBody, {\r\n                    restLength: springData.length,\r\n                    stiffness: springData.stiffness,\r\n                    damping: springData.damping,\r\n                    localAnchorA: constraintData.pivotA,\r\n                    localAnchorB: constraintData.pivotB,\r\n                });\r\n                break;\r\n            }\r\n            case PhysicsJoint.LockJoint:\r\n                constraint = new this.BJSCANNON.LockConstraint(mainBody, connectedBody, constraintData);\r\n                break;\r\n            case PhysicsJoint.PointToPointJoint:\r\n            case PhysicsJoint.BallAndSocketJoint:\r\n            default:\r\n                constraint = new this.BJSCANNON.PointToPointConstraint(mainBody, constraintData.pivotA, connectedBody, constraintData.pivotB, constraintData.maxForce);\r\n                break;\r\n        }\r\n        //set the collideConnected flag after the creation, since DistanceJoint ignores it.\r\n        constraint.collideConnected = !!jointData.collision;\r\n        impostorJoint.joint.physicsJoint = constraint;\r\n        //don't add spring as constraint, as it is not one.\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.addConstraint(constraint);\r\n        } else {\r\n            (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback =\r\n                (<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback ||\r\n                function () {\r\n                    constraint.applyForce();\r\n                };\r\n            impostorJoint.mainImpostor.registerAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    public removeJoint(impostorJoint: PhysicsImpostorJoint) {\r\n        if (impostorJoint.joint.type !== PhysicsJoint.SpringJoint) {\r\n            this.world.removeConstraint(impostorJoint.joint.physicsJoint);\r\n        } else {\r\n            impostorJoint.mainImpostor.unregisterAfterPhysicsStep((<SpringJointData>impostorJoint.joint.jointData).forceApplicationCallback);\r\n        }\r\n    }\r\n\r\n    private _addMaterial(name: string, friction: number, restitution: number) {\r\n        let index;\r\n        let mat;\r\n\r\n        for (index = 0; index < this._physicsMaterials.length; index++) {\r\n            mat = this._physicsMaterials[index];\r\n\r\n            if (mat.friction === friction && mat.restitution === restitution) {\r\n                return mat;\r\n            }\r\n        }\r\n\r\n        const currentMat = new this.BJSCANNON.Material(name);\r\n        currentMat.friction = friction;\r\n        currentMat.restitution = restitution;\r\n\r\n        this._physicsMaterials.push(currentMat);\r\n        return currentMat;\r\n    }\r\n\r\n    private _checkWithEpsilon(value: number): number {\r\n        return value < Epsilon ? Epsilon : value;\r\n    }\r\n\r\n    private _createShape(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n\r\n        let returnValue;\r\n        const impostorExtents = impostor.getObjectExtents();\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                const radiusX = impostorExtents.x;\r\n                const radiusY = impostorExtents.y;\r\n                const radiusZ = impostorExtents.z;\r\n\r\n                returnValue = new this.BJSCANNON.Sphere(Math.max(this._checkWithEpsilon(radiusX), this._checkWithEpsilon(radiusY), this._checkWithEpsilon(radiusZ)) / 2);\r\n\r\n                break;\r\n            }\r\n            //TMP also for cylinder - TODO Cannon supports cylinder natively.\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                let nativeParams = impostor.getParam(\"nativeOptions\");\r\n                if (!nativeParams) {\r\n                    nativeParams = {};\r\n                }\r\n                const radiusTop = nativeParams.radiusTop !== undefined ? nativeParams.radiusTop : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const radiusBottom = nativeParams.radiusBottom !== undefined ? nativeParams.radiusBottom : this._checkWithEpsilon(impostorExtents.x) / 2;\r\n                const height = nativeParams.height !== undefined ? nativeParams.height : this._checkWithEpsilon(impostorExtents.y);\r\n                const numSegments = nativeParams.numSegments !== undefined ? nativeParams.numSegments : 16;\r\n                returnValue = new this.BJSCANNON.Cylinder(radiusTop, radiusBottom, height, numSegments);\r\n\r\n                // Rotate 90 degrees as this shape is horizontal in cannon\r\n                const quat = new this.BJSCANNON.Quaternion();\r\n                quat.setFromAxisAngle(new this.BJSCANNON.Vec3(1, 0, 0), -Math.PI / 2);\r\n                const translation = new this.BJSCANNON.Vec3(0, 0, 0);\r\n                returnValue.transformAllPoints(translation, quat);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.BoxImpostor: {\r\n                const box = impostorExtents.scale(0.5);\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(this._checkWithEpsilon(box.x), this._checkWithEpsilon(box.y), this._checkWithEpsilon(box.z)));\r\n                break;\r\n            }\r\n            case PhysicsImpostor.PlaneImpostor:\r\n                Logger.Warn(\"Attention, PlaneImposter might not behave as you expect. Consider using BoxImposter instead\");\r\n                returnValue = new this.BJSCANNON.Plane();\r\n                break;\r\n            case PhysicsImpostor.MeshImpostor: {\r\n                // should transform the vertex data to world coordinates!!\r\n                const rawVerts = object.getVerticesData ? object.getVerticesData(VertexBuffer.PositionKind) : [];\r\n                const rawFaces = object.getIndices ? object.getIndices() : [];\r\n                if (!rawVerts) {\r\n                    Logger.Warn(\"Tried to create a MeshImpostor for an object without vertices. This will fail.\");\r\n                    return;\r\n                }\r\n                // get only scale! so the object could transform correctly.\r\n                const oldPosition = object.position.clone();\r\n                const oldRotation = object.rotation && object.rotation.clone();\r\n                const oldQuaternion = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n\r\n                const transform = object.computeWorldMatrix(true);\r\n                // convert rawVerts to object space\r\n                const transformedVertices: number[] = [];\r\n                let index: number;\r\n                for (index = 0; index < rawVerts.length; index += 3) {\r\n                    Vector3.TransformCoordinates(Vector3.FromArray(rawVerts, index), transform).toArray(transformedVertices, index);\r\n                }\r\n\r\n                Logger.Warn(\"MeshImpostor only collides against spheres.\");\r\n                returnValue = new this.BJSCANNON.Trimesh(transformedVertices, <number[]>rawFaces);\r\n                //now set back the transformation!\r\n                object.position.copyFrom(oldPosition);\r\n                oldRotation && object.rotation && object.rotation.copyFrom(oldRotation);\r\n                oldQuaternion && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.HeightmapImpostor: {\r\n                const oldPosition2 = object.position.clone();\r\n                const oldRotation2 = object.rotation && object.rotation.clone();\r\n                const oldQuaternion2 = object.rotationQuaternion && object.rotationQuaternion.clone();\r\n                object.position.copyFromFloats(0, 0, 0);\r\n                object.rotation && object.rotation.copyFromFloats(0, 0, 0);\r\n                object.rotationQuaternion && object.rotationQuaternion.copyFrom(impostor.getParentsRotation());\r\n                object.rotationQuaternion && object.parent && object.rotationQuaternion.conjugateInPlace();\r\n                object.rotationQuaternion && object.rotationQuaternion.multiplyInPlace(this._minus90X);\r\n\r\n                returnValue = this._createHeightmap(object);\r\n                object.position.copyFrom(oldPosition2);\r\n                oldRotation2 && object.rotation && object.rotation.copyFrom(oldRotation2);\r\n                oldQuaternion2 && object.rotationQuaternion && object.rotationQuaternion.copyFrom(oldQuaternion2);\r\n                object.computeWorldMatrix(true);\r\n                break;\r\n            }\r\n            case PhysicsImpostor.ParticleImpostor:\r\n                returnValue = new this.BJSCANNON.Particle();\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                returnValue = new this.BJSCANNON.Box(new this.BJSCANNON.Vec3(0, 0, 0));\r\n                break;\r\n        }\r\n\r\n        return returnValue;\r\n    }\r\n\r\n    private _createHeightmap(object: IPhysicsEnabledObject, pointDepth?: number) {\r\n        let pos = <FloatArray>object.getVerticesData(VertexBuffer.PositionKind);\r\n        const transform = object.computeWorldMatrix(true);\r\n        // convert rawVerts to object space\r\n        const transformedVertices: number[] = [];\r\n        let index: number;\r\n        for (index = 0; index < pos.length; index += 3) {\r\n            Vector3.TransformCoordinates(Vector3.FromArray(pos, index), transform).toArray(transformedVertices, index);\r\n        }\r\n        pos = transformedVertices;\r\n        const matrix = new Array<Array<any>>();\r\n\r\n        //For now pointDepth will not be used and will be automatically calculated.\r\n        //Future reference - try and find the best place to add a reference to the pointDepth variable.\r\n        const arraySize = pointDepth || ~~(Math.sqrt(pos.length / 3) - 1);\r\n        const boundingInfo = object.getBoundingInfo();\r\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.y);\r\n        const minY = boundingInfo.boundingBox.extendSizeWorld.z;\r\n\r\n        const elementSize = (dim * 2) / arraySize;\r\n\r\n        for (let i = 0; i < pos.length; i = i + 3) {\r\n            const x = Math.round(pos[i + 0] / elementSize + arraySize / 2);\r\n            const z = Math.round((pos[i + 1] / elementSize - arraySize / 2) * -1);\r\n            const y = -pos[i + 2] + minY;\r\n            if (!matrix[x]) {\r\n                matrix[x] = [];\r\n            }\r\n            if (!matrix[x][z]) {\r\n                matrix[x][z] = y;\r\n            }\r\n            matrix[x][z] = Math.max(y, matrix[x][z]);\r\n        }\r\n\r\n        for (let x = 0; x <= arraySize; ++x) {\r\n            if (!matrix[x]) {\r\n                let loc = 1;\r\n                while (!matrix[(x + loc) % arraySize]) {\r\n                    loc++;\r\n                }\r\n                matrix[x] = matrix[(x + loc) % arraySize].slice();\r\n                //console.log(\"missing x\", x);\r\n            }\r\n            for (let z = 0; z <= arraySize; ++z) {\r\n                if (!matrix[x][z]) {\r\n                    let loc = 1;\r\n                    let newValue;\r\n                    while (newValue === undefined) {\r\n                        newValue = matrix[x][(z + loc++) % arraySize];\r\n                    }\r\n                    matrix[x][z] = newValue;\r\n                }\r\n            }\r\n        }\r\n\r\n        const shape = new this.BJSCANNON.Heightfield(matrix, {\r\n            elementSize: elementSize,\r\n        });\r\n\r\n        //For future reference, needed for body transformation\r\n        shape.minY = minY;\r\n\r\n        return shape;\r\n    }\r\n\r\n    private _minus90X = new Quaternion(-0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _plus90X = new Quaternion(0.7071067811865475, 0, 0, 0.7071067811865475);\r\n    private _tmpPosition: Vector3 = Vector3.Zero();\r\n    private _tmpDeltaPosition: Vector3 = Vector3.Zero();\r\n    private _tmpUnityRotation: Quaternion = new Quaternion();\r\n\r\n    private _updatePhysicsBodyTransformation(impostor: PhysicsImpostor) {\r\n        const object = impostor.object;\r\n        //make sure it is updated...\r\n        object.computeWorldMatrix && object.computeWorldMatrix(true);\r\n        if (!object.getBoundingInfo()) {\r\n            return;\r\n        }\r\n        const center = impostor.getObjectCenter();\r\n        //m.getAbsolutePosition().subtract(m.getBoundingInfo().boundingBox.centerWorld)\r\n        // The delta between the mesh position and the mesh bounding box center\r\n        this._tmpDeltaPosition.copyFrom(object.getAbsolutePivotPoint().subtract(center));\r\n        this._tmpDeltaPosition.divideInPlace(impostor.object.scaling);\r\n        this._tmpPosition.copyFrom(center);\r\n        let quaternion = object.rotationQuaternion;\r\n\r\n        if (!quaternion) {\r\n            return;\r\n        }\r\n\r\n        //is shape is a plane or a heightmap, it must be rotated 90 degs in the X axis.\r\n        //ideally these would be rotated at time of creation like cylinder but they dont extend ConvexPolyhedron\r\n        if (impostor.type === PhysicsImpostor.PlaneImpostor || impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            //-90 DEG in X, precalculated\r\n            quaternion = quaternion.multiply(this._minus90X);\r\n            //Invert! (Precalculated, 90 deg in X)\r\n            //No need to clone. this will never change.\r\n            impostor.setDeltaRotation(this._plus90X);\r\n        }\r\n\r\n        //If it is a heightfield, if should be centered.\r\n        if (impostor.type === PhysicsImpostor.HeightmapImpostor) {\r\n            const mesh = <AbstractMesh>(<any>object);\r\n            let boundingInfo = mesh.getBoundingInfo();\r\n            //calculate the correct body position:\r\n            const rotationQuaternion = mesh.rotationQuaternion;\r\n            mesh.rotationQuaternion = this._tmpUnityRotation;\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            //get original center with no rotation\r\n            const c = center.clone();\r\n\r\n            let oldPivot = mesh.getPivotMatrix();\r\n            if (oldPivot) {\r\n                // create a copy the pivot Matrix as it is modified in place\r\n                oldPivot = oldPivot.clone();\r\n            } else {\r\n                oldPivot = Matrix.Identity();\r\n            }\r\n\r\n            //calculate the new center using a pivot (since this.BJSCANNON.js doesn't center height maps)\r\n            const p = Matrix.Translation(boundingInfo.boundingBox.extendSizeWorld.x, 0, -boundingInfo.boundingBox.extendSizeWorld.z);\r\n            mesh.setPreTransformMatrix(p);\r\n            mesh.computeWorldMatrix(true);\r\n            // force bounding box recomputation\r\n            boundingInfo = mesh.getBoundingInfo();\r\n\r\n            //calculate the translation\r\n            const translation = boundingInfo.boundingBox.centerWorld.subtract(center).subtract(mesh.position).negate();\r\n\r\n            this._tmpPosition.copyFromFloats(translation.x, translation.y - boundingInfo.boundingBox.extendSizeWorld.y, translation.z);\r\n            //add it inverted to the delta\r\n            this._tmpDeltaPosition.copyFrom(boundingInfo.boundingBox.centerWorld.subtract(c));\r\n            this._tmpDeltaPosition.y += boundingInfo.boundingBox.extendSizeWorld.y;\r\n            //rotation is back\r\n            mesh.rotationQuaternion = rotationQuaternion;\r\n\r\n            mesh.setPreTransformMatrix(oldPivot);\r\n            mesh.computeWorldMatrix(true);\r\n        } else if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n            this._tmpDeltaPosition.copyFromFloats(0, 0, 0);\r\n        }\r\n\r\n        impostor.setDeltaPosition(this._tmpDeltaPosition);\r\n        //Now update the impostor object\r\n        impostor.physicsBody.position.set(this._tmpPosition.x, this._tmpPosition.y, this._tmpPosition.z);\r\n        impostor.physicsBody.quaternion.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w);\r\n    }\r\n\r\n    public setTransformationFromPhysicsBody(impostor: PhysicsImpostor) {\r\n        impostor.object.position.set(impostor.physicsBody.position.x, impostor.physicsBody.position.y, impostor.physicsBody.position.z);\r\n        if (impostor.object.rotationQuaternion) {\r\n            const q = impostor.physicsBody.quaternion;\r\n            impostor.object.rotationQuaternion.set(q.x, q.y, q.z, q.w);\r\n        }\r\n    }\r\n\r\n    public setPhysicsBodyTransformation(impostor: PhysicsImpostor, newPosition: Vector3, newRotation: Quaternion) {\r\n        impostor.physicsBody.position.set(newPosition.x, newPosition.y, newPosition.z);\r\n        impostor.physicsBody.quaternion.set(newRotation.x, newRotation.y, newRotation.z, newRotation.w);\r\n    }\r\n\r\n    public isSupported(): boolean {\r\n        return this.BJSCANNON !== undefined;\r\n    }\r\n\r\n    public setLinearVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.velocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public setAngularVelocity(impostor: PhysicsImpostor, velocity: Vector3) {\r\n        impostor.physicsBody.angularVelocity.set(velocity.x, velocity.y, velocity.z);\r\n    }\r\n\r\n    public getLinearVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.velocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n    public getAngularVelocity(impostor: PhysicsImpostor): Nullable<Vector3> {\r\n        const v = impostor.physicsBody.angularVelocity;\r\n        if (!v) {\r\n            return null;\r\n        }\r\n        return new Vector3(v.x, v.y, v.z);\r\n    }\r\n\r\n    public setBodyMass(impostor: PhysicsImpostor, mass: number) {\r\n        impostor.physicsBody.mass = mass;\r\n        impostor.physicsBody.updateMassProperties();\r\n    }\r\n\r\n    public getBodyMass(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.mass;\r\n    }\r\n\r\n    public getBodyFriction(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.friction;\r\n    }\r\n\r\n    public setBodyFriction(impostor: PhysicsImpostor, friction: number) {\r\n        impostor.physicsBody.material.friction = friction;\r\n    }\r\n\r\n    public getBodyRestitution(impostor: PhysicsImpostor): number {\r\n        return impostor.physicsBody.material.restitution;\r\n    }\r\n\r\n    public setBodyRestitution(impostor: PhysicsImpostor, restitution: number) {\r\n        impostor.physicsBody.material.restitution = restitution;\r\n    }\r\n\r\n    public sleepBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.sleep();\r\n    }\r\n\r\n    public wakeUpBody(impostor: PhysicsImpostor) {\r\n        impostor.physicsBody.wakeUp();\r\n    }\r\n\r\n    public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number) {\r\n        joint.physicsJoint.distance = maxDistance;\r\n    }\r\n\r\n    public setMotor(joint: IMotorEnabledJoint, speed?: number, maxForce?: number, motorIndex?: number) {\r\n        if (!motorIndex) {\r\n            joint.physicsJoint.enableMotor();\r\n            joint.physicsJoint.setMotorSpeed(speed);\r\n            if (maxForce) {\r\n                this.setLimit(joint, maxForce);\r\n            }\r\n        }\r\n    }\r\n\r\n    public setLimit(joint: IMotorEnabledJoint, minForce: number, maxForce?: number) {\r\n        joint.physicsJoint.motorEquation.maxForce = maxForce;\r\n        joint.physicsJoint.motorEquation.minForce = minForce === void 0 ? -minForce : minForce;\r\n    }\r\n\r\n    public syncMeshWithImpostor(mesh: AbstractMesh, impostor: PhysicsImpostor) {\r\n        const body = impostor.physicsBody;\r\n\r\n        mesh.position.x = body.position.x;\r\n        mesh.position.y = body.position.y;\r\n        mesh.position.z = body.position.z;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            mesh.rotationQuaternion.x = body.quaternion.x;\r\n            mesh.rotationQuaternion.y = body.quaternion.y;\r\n            mesh.rotationQuaternion.z = body.quaternion.z;\r\n            mesh.rotationQuaternion.w = body.quaternion.w;\r\n        }\r\n    }\r\n\r\n    public getRadius(impostor: PhysicsImpostor): number {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        return shape.boundingSphereRadius;\r\n    }\r\n\r\n    public getBoxSizeToRef(impostor: PhysicsImpostor, result: Vector3): void {\r\n        const shape = impostor.physicsBody.shapes[0];\r\n        result.x = shape.halfExtents.x * 2;\r\n        result.y = shape.halfExtents.y * 2;\r\n        result.z = shape.halfExtents.z * 2;\r\n    }\r\n\r\n    public dispose() {}\r\n\r\n    private _extendNamespace() {\r\n        //this will force cannon to execute at least one step when using interpolation\r\n        const step_tmp1 = new this.BJSCANNON.Vec3();\r\n        const engine = this.BJSCANNON;\r\n        this.BJSCANNON.World.prototype.step = function (dt: number, timeSinceLastCalled: number, maxSubSteps: number) {\r\n            maxSubSteps = maxSubSteps || 10;\r\n            timeSinceLastCalled = timeSinceLastCalled || 0;\r\n            if (timeSinceLastCalled === 0) {\r\n                this.internalStep(dt);\r\n                this.time += dt;\r\n            } else {\r\n                let internalSteps = Math.floor((this.time + timeSinceLastCalled) / dt) - Math.floor(this.time / dt);\r\n                internalSteps = Math.min(internalSteps, maxSubSteps) || 1;\r\n                const t0 = performance.now();\r\n                for (let i = 0; i !== internalSteps; i++) {\r\n                    this.internalStep(dt);\r\n                    if (performance.now() - t0 > dt * 1000) {\r\n                        break;\r\n                    }\r\n                }\r\n                this.time += timeSinceLastCalled;\r\n                const h = this.time % dt;\r\n                const h_div_dt = h / dt;\r\n                const interpvelo = step_tmp1;\r\n                const bodies = this.bodies;\r\n                for (let j = 0; j !== bodies.length; j++) {\r\n                    const b = bodies[j];\r\n                    if (b.type !== engine.Body.STATIC && b.sleepState !== engine.Body.SLEEPING) {\r\n                        b.position.vsub(b.previousPosition, interpvelo);\r\n                        interpvelo.scale(h_div_dt, interpvelo);\r\n                        b.position.vadd(interpvelo, b.interpolatedPosition);\r\n                    } else {\r\n                        b.interpolatedPosition.set(b.position.x, b.position.y, b.position.z);\r\n                        b.interpolatedQuaternion.set(b.quaternion.x, b.quaternion.y, b.quaternion.z, b.quaternion.w);\r\n                    }\r\n                }\r\n            }\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3): PhysicsRaycastResult {\r\n        this._raycastResult.reset(from, to);\r\n        this.raycastToRef(from, to, this._raycastResult);\r\n        return this._raycastResult;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult): void {\r\n        this._cannonRaycastResult.reset();\r\n        this.world.raycastClosest(from, to, {}, this._cannonRaycastResult);\r\n\r\n        result.reset(from, to);\r\n        if (this._cannonRaycastResult.hasHit) {\r\n            // TODO: do we also want to get the body it hit?\r\n            result.setHitData(\r\n                {\r\n                    x: this._cannonRaycastResult.hitNormalWorld.x,\r\n                    y: this._cannonRaycastResult.hitNormalWorld.y,\r\n                    z: this._cannonRaycastResult.hitNormalWorld.z,\r\n                },\r\n                {\r\n                    x: this._cannonRaycastResult.hitPointWorld.x,\r\n                    y: this._cannonRaycastResult.hitPointWorld.y,\r\n                    z: this._cannonRaycastResult.hitPointWorld.z,\r\n                }\r\n            );\r\n            result.setHitDistance(this._cannonRaycastResult.distance);\r\n        }\r\n    }\r\n}\r\n\r\nPhysicsEngine.DefaultPluginFactory = () => {\r\n    return new CannonJSPlugin();\r\n};\r\n"]}

package/Physics/v1/Plugins/oimoJSPlugin.js

@@ -36,16 +36,16 @@ export class OimoJSPlugin {
         return this.world.timeStep;
     }
     executeStep(delta, impostors) {
-        impostors.forEach(function (impostor) {
+        for (const impostor of impostors) {
             impostor.beforeStep();
-        });
+        }
         this.world.timeStep = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;
         this.world.step();
-        impostors.forEach((impostor) => {
+        for (const impostor of impostors) {
             impostor.afterStep();
             //update the ordered impostors array
             this._tmpImpostorsArray[impostor.uniqueId] = impostor;
-        });
+        }
         //check for collisions
         let contact = this.world.contacts;
         while (contact !== null) {
@@ -106,19 +106,20 @@ export class OimoJSPlugin {
                 if (!parent.getChildMeshes) {
                     return;
                 }
-                parent.getChildMeshes().forEach(function (m) {
+                const meshes = parent.getChildMeshes();
+                for (const m of meshes) {
                     if (m.physicsImpostor) {
                         impostors.push(m.physicsImpostor);
                         //m.physicsImpostor._init();
                     }
-                });
+                }
             };
             addToArray(impostor.object);
             const checkWithEpsilon = (value) => {
                 return Math.max(value, Epsilon);
             };
             const globalQuaternion = new Quaternion();
-            impostors.forEach((i) => {
+            for (const i of impostors) {
                 if (!i.object.rotationQuaternion) {
                     return;
                 }
@@ -197,7 +198,7 @@ export class OimoJSPlugin {
                 }
                 //actually not needed, but hey...
                 i.object.rotationQuaternion = oldQuaternion;
-            });
+            }
             impostor.physicsBody = this.world.add(bodyConfig);
             // set the quaternion, ignoring the previously defined (euler) rotation
             impostor.physicsBody.resetQuaternion(globalQuaternion);