@babylonjs/core 8.3.1 → 8.4.1

package/Debug/physicsViewer.js.map

@@ -1 +1 @@
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type { Nullable } from \"../types\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../Meshes/mesh\";\r\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder\";\r\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector\";\r\nimport { Color3, Color4 } from \"../Maths/math.color\";\r\nimport type { Material } from \"../Materials/material\";\r\nimport { EngineStore } from \"../Engines/engineStore\";\r\nimport { StandardMaterial } from \"../Materials/standardMaterial\";\r\nimport type { IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"../Physics/v1/IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode, type IPhysicsEnginePluginV2, type PhysicsMassProperties } from \"../Physics/v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor\";\r\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer\";\r\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder\";\r\nimport type { ICreateCapsuleOptions } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { CreateCapsule } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport type { PhysicsBody } from \"../Physics/v2/physicsBody\";\r\nimport { VertexData } from \"../Meshes/mesh.vertexData\";\r\nimport { MeshBuilder } from \"../Meshes/meshBuilder\";\r\nimport type { PhysicsConstraint } from \"../Physics/v2/physicsConstraint\";\r\nimport { AxesViewer } from \"./axesViewer\";\r\nimport { TransformNode } from \"../Meshes/transformNode\";\r\nimport { Epsilon } from \"../Maths/math.constants\";\r\n\r\n/**\r\n * Used to show the physics impostor around the specific mesh\r\n */\r\nexport class PhysicsViewer {\r\n    /** @internal */\r\n    protected _impostors: Array<Nullable<PhysicsImpostor>> = [];\r\n    /** @internal */\r\n    protected _meshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _bodies: Array<Nullable<PhysicsBody>> = [];\r\n    /** @internal */\r\n    protected _inertiaBodies: Array<Nullable<PhysicsBody>> = [];\r\n    /** @internal */\r\n    protected _constraints: Array<Nullable<PhysicsConstraint>> = [];\r\n    /** @internal */\r\n    protected _bodyMeshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _inertiaMeshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _constraintMeshes: Array<Nullable<Array<AbstractMesh>>> = [];\r\n    /** @internal */\r\n    protected _scene: Nullable<Scene>;\r\n    /** @internal */\r\n    protected _numMeshes = 0;\r\n    /** @internal */\r\n    protected _numBodies = 0;\r\n    /** @internal */\r\n    protected _numInertiaBodies = 0;\r\n    /** @internal */\r\n    protected _numConstraints = 0;\r\n    /** @internal */\r\n    protected _physicsEnginePlugin: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2 | null;\r\n    private _renderFunction: () => void;\r\n    private _inertiaRenderFunction: () => void;\r\n    private _constraintRenderFunction: () => void;\r\n    private _utilityLayer: Nullable<UtilityLayerRenderer>;\r\n    private _ownUtilityLayer = false;\r\n\r\n    private _debugBoxMesh: Mesh;\r\n    private _debugSphereMesh: Mesh;\r\n    private _debugCapsuleMesh: Mesh;\r\n    private _debugCylinderMesh: Mesh;\r\n    private _debugMaterial: StandardMaterial;\r\n    private _debugInertiaMaterial: StandardMaterial;\r\n    private _debugMeshMeshes = new Array<Mesh>();\r\n\r\n    private _constraintAxesSize = 0.4;\r\n    private _constraintAngularSize = 0.4;\r\n\r\n    /**\r\n     * Creates a new PhysicsViewer\r\n     * @param scene defines the hosting scene\r\n     * @param size Physics V2 size scalar\r\n     * @param utilityLayer The utility layer the viewer will be added to\r\n     */\r\n    constructor(scene?: Scene, size?: number, utilityLayer: UtilityLayerRenderer = UtilityLayerRenderer.DefaultUtilityLayer) {\r\n        this._scene = scene || EngineStore.LastCreatedScene;\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n        const physicEngine = this._scene.getPhysicsEngine();\r\n\r\n        if (physicEngine) {\r\n            this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\r\n        }\r\n\r\n        if (utilityLayer) {\r\n            this._utilityLayer = utilityLayer;\r\n        } else {\r\n            this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\r\n            this._utilityLayer.pickUtilitySceneFirst = false;\r\n            this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\r\n            this._ownUtilityLayer = true;\r\n        }\r\n        if (size) {\r\n            this._constraintAxesSize = 0.4 * size;\r\n            this._constraintAngularSize = 0.4 * size;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine.\r\n     *\r\n     * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\r\n     * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\r\n     * This ensures that the debug meshes are up to date with the physics engine.\r\n     */\r\n    protected _updateDebugMeshes(): void {\r\n        const plugin = this._physicsEnginePlugin;\r\n\r\n        if (plugin?.getPluginVersion() === 1) {\r\n            this._updateDebugMeshesV1();\r\n        } else {\r\n            this._updateDebugMeshesV2();\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine.\r\n     *\r\n     * This method is useful for synchronizing the debug meshes with the physics impostors.\r\n     * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\r\n     * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\r\n     */\r\n    protected _updateDebugMeshesV1(): void {\r\n        const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV1;\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            const impostor = this._impostors[i];\r\n\r\n            if (!impostor) {\r\n                continue;\r\n            }\r\n\r\n            if (impostor.isDisposed) {\r\n                this.hideImpostor(this._impostors[i--]);\r\n            } else {\r\n                if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n                    continue;\r\n                }\r\n                const mesh = this._meshes[i];\r\n\r\n                if (mesh && plugin) {\r\n                    plugin.syncMeshWithImpostor(mesh, impostor);\r\n                }\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine for V2 plugin.\r\n     *\r\n     * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\r\n     * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\r\n     * This ensures that the debug meshes accurately reflect the current state of the physics engine.\r\n     */\r\n    protected _updateDebugMeshesV2(): void {\r\n        const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV2;\r\n        for (let i = 0; i < this._numBodies; ) {\r\n            const body = this._bodies[i];\r\n            if (body && body.isDisposed && this.hideBody(body)) {\r\n                continue;\r\n            }\r\n            const transform = this._bodyMeshes[i];\r\n            if (body && transform) {\r\n                plugin.syncTransform(body, transform);\r\n            }\r\n            i++;\r\n        }\r\n    }\r\n\r\n    protected _updateInertiaMeshes(): void {\r\n        for (let i = 0; i < this._numInertiaBodies; ) {\r\n            const body = this._inertiaBodies[i];\r\n            if (body && body.isDisposed && this.hideInertia(body)) {\r\n                continue;\r\n            }\r\n            const mesh = this._inertiaMeshes[i];\r\n            if (body && mesh) {\r\n                this._updateDebugInertia(body, mesh);\r\n            }\r\n            i++;\r\n        }\r\n    }\r\n\r\n    protected _updateDebugInertia(body: PhysicsBody, inertiaMesh: AbstractMesh): void {\r\n        const inertiaMatrixRef = Matrix.Identity();\r\n        const transformMatrixRef = Matrix.Identity();\r\n        const finalMatrixRef = Matrix.Identity();\r\n        if (body._pluginDataInstances.length) {\r\n            const inertiaAsMesh = inertiaMesh as Mesh;\r\n            const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData!;\r\n            const bodyTransformMatrixData = (body.transformNode as Mesh)._thinInstanceDataStorage.matrixData!;\r\n            for (let i = 0; i < body._pluginDataInstances.length; i++) {\r\n                const props = body.getMassProperties(i);\r\n                this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n                Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\r\n                inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\r\n                finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\r\n            }\r\n            inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\r\n        } else {\r\n            const props = body.getMassProperties();\r\n            this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n            body.transformNode.rotationQuaternion?.toRotationMatrix(transformMatrixRef);\r\n            transformMatrixRef.setTranslation(body.transformNode.position);\r\n            if (body.transformNode.parent) {\r\n                const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\r\n                transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\r\n            }\r\n            inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\r\n            inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\r\n        }\r\n    }\r\n\r\n    protected _updateDebugConstraints() {\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            const constraint = this._constraints[i];\r\n            const mesh = this._constraintMeshes[i];\r\n            if (constraint && mesh) {\r\n                this._updateDebugConstraint(constraint, mesh[0]);\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Given a scaling vector, make all of its components\r\n     * 1, preserving the sign\r\n     * @param scaling\r\n     */\r\n    protected _makeScalingUnitInPlace(scaling: Vector3) {\r\n        if (Math.abs(scaling.x - 1) > Epsilon) {\r\n            scaling.x = 1 * Math.sign(scaling.x);\r\n        }\r\n        if (Math.abs(scaling.y - 1) > Epsilon) {\r\n            scaling.y = 1 * Math.sign(scaling.y);\r\n        }\r\n        if (Math.abs(scaling.z - 1) > Epsilon) {\r\n            scaling.z = 1 * Math.sign(scaling.z);\r\n        }\r\n    }\r\n\r\n    protected _updateDebugConstraint(constraint: PhysicsConstraint, parentingMesh: AbstractMesh) {\r\n        if (!constraint._initOptions) {\r\n            return;\r\n        }\r\n\r\n        // Get constraint pivot and axes\r\n        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n            return;\r\n        }\r\n\r\n        parentingMesh.getDescendants(true).forEach((parentConstraintMesh) => {\r\n            // Get the parent transform\r\n            const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0] as TransformNode;\r\n            const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1] as TransformNode;\r\n\r\n            const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;\r\n            const { childBody, childBodyIndex } = childCoordSystemNode.metadata;\r\n\r\n            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n            parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n            this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\r\n\r\n            childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n            this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\r\n\r\n            // Create a transform node and set its matrix\r\n            const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n            parentTransformNode.position.copyFrom(pivotA);\r\n\r\n            const childTransformNode = childCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n            childTransformNode.position.copyFrom(pivotB);\r\n\r\n            // Get the transform to align the XYZ axes to the constraint axes\r\n            Quaternion.FromRotationMatrixToRef(\r\n                Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]),\r\n                parentTransformNode.rotationQuaternion!\r\n            );\r\n            Quaternion.FromRotationMatrixToRef(\r\n                Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]),\r\n                childTransformNode.rotationQuaternion!\r\n            );\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Renders a specified physic impostor\r\n     * @param impostor defines the impostor to render\r\n     * @param targetMesh defines the mesh represented by the impostor\r\n     * @returns the new debug mesh used to render the impostor\r\n     */\r\n    public showImpostor(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            if (this._impostors[i] == impostor) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugMesh(impostor, targetMesh);\r\n\r\n        if (debugMesh) {\r\n            this._impostors[this._numMeshes] = impostor;\r\n            this._meshes[this._numMeshes] = debugMesh;\r\n\r\n            if (this._numMeshes === 0) {\r\n                this._renderFunction = () => this._updateDebugMeshes();\r\n                this._scene.registerBeforeRender(this._renderFunction);\r\n            }\r\n\r\n            this._numMeshes++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug mesh for a given physics body.\r\n     * @param body The physics body to show.\r\n     * @returns The debug mesh, or null if the body is already shown.\r\n     *\r\n     * This function is useful for visualizing the physics body in the scene.\r\n     * It creates a debug mesh for the given body and adds it to the scene.\r\n     * It also registers a before render function to update the debug mesh position and rotation.\r\n     */\r\n    public showBody(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numBodies; i++) {\r\n            if (this._bodies[i] == body) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugBodyMesh(body);\r\n\r\n        if (debugMesh) {\r\n            this._bodies[this._numBodies] = body;\r\n            this._bodyMeshes[this._numBodies] = debugMesh;\r\n\r\n            if (this._numBodies === 0) {\r\n                this._renderFunction = () => this._updateDebugMeshes();\r\n                this._scene.registerBeforeRender(this._renderFunction);\r\n            }\r\n\r\n            this._numBodies++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug box corresponding to the inertia of a given body\r\n     * @param body the physics body used to get the inertia\r\n     * @returns the debug mesh used to show the inertia, or null if the body is already shown\r\n     */\r\n    public showInertia(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numInertiaBodies; i++) {\r\n            if (this._inertiaBodies[i] == body) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugInertiaMesh(body);\r\n        if (debugMesh) {\r\n            this._inertiaBodies[this._numInertiaBodies] = body;\r\n            this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\r\n\r\n            if (this._numInertiaBodies === 0) {\r\n                this._inertiaRenderFunction = () => this._updateInertiaMeshes();\r\n                this._scene.registerBeforeRender(this._inertiaRenderFunction);\r\n            }\r\n\r\n            this._numInertiaBodies++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug mesh for a given physics constraint.\r\n     * @param constraint the physics constraint to show\r\n     * @returns the debug mesh, or null if the constraint is already shown\r\n     */\r\n    public showConstraint(constraint: PhysicsConstraint): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            if (this._constraints[i] == constraint) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugConstraintMesh(constraint);\r\n        if (debugMesh) {\r\n            this._constraints[this._numConstraints] = constraint;\r\n            this._constraintMeshes[this._numConstraints] = debugMesh;\r\n\r\n            if (this._numConstraints === 0) {\r\n                this._constraintRenderFunction = () => this._updateDebugConstraints();\r\n                this._scene.registerBeforeRender(this._constraintRenderFunction);\r\n            }\r\n\r\n            this._numConstraints++;\r\n        }\r\n\r\n        return debugMesh ? debugMesh[0] : null;\r\n    }\r\n\r\n    /**\r\n     * Hides an impostor from the scene.\r\n     * @param impostor - The impostor to hide.\r\n     *\r\n     * This method is useful for hiding an impostor from the scene. It removes the\r\n     * impostor from the utility layer scene, disposes the mesh, and removes the\r\n     * impostor from the list of impostors. If the impostor is the last one in the\r\n     * list, it also unregisters the render function.\r\n     */\r\n    public hideImpostor(impostor: Nullable<PhysicsImpostor>) {\r\n        if (!impostor || !this._scene || !this._utilityLayer) {\r\n            return;\r\n        }\r\n\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            if (this._impostors[i] == impostor) {\r\n                const mesh = this._meshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                const index = this._debugMeshMeshes.indexOf(mesh as Mesh);\r\n                if (index > -1) {\r\n                    this._debugMeshMeshes.splice(index, 1);\r\n                }\r\n\r\n                this._numMeshes--;\r\n                if (this._numMeshes > 0) {\r\n                    this._meshes[i] = this._meshes[this._numMeshes];\r\n                    this._impostors[i] = this._impostors[this._numMeshes];\r\n                    this._meshes[this._numMeshes] = null;\r\n                    this._impostors[this._numMeshes] = null;\r\n                } else {\r\n                    this._meshes[0] = null;\r\n                    this._impostors[0] = null;\r\n                }\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numMeshes === 0) {\r\n            this._scene.unregisterBeforeRender(this._renderFunction);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Hides a body from the physics engine.\r\n     * @param body - The body to hide.\r\n     * @returns true if body actually removed\r\n     *\r\n     * This function is useful for hiding a body from the physics engine.\r\n     * It removes the body from the utility layer scene and disposes the mesh associated with it.\r\n     * It also unregisters the render function if the number of bodies is 0.\r\n     * This is useful for hiding a body from the physics engine without deleting it.\r\n     */\r\n    public hideBody(body: Nullable<PhysicsBody>): boolean {\r\n        if (!body || !this._scene || !this._utilityLayer) {\r\n            return false;\r\n        }\r\n\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numBodies; i++) {\r\n            if (this._bodies[i] === body) {\r\n                const mesh = this._bodyMeshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                this._numBodies--;\r\n                if (this._numBodies > 0) {\r\n                    this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\r\n                    this._bodies[i] = this._bodies[this._numBodies];\r\n                    this._bodyMeshes[this._numBodies] = null;\r\n                    this._bodies[this._numBodies] = null;\r\n                } else {\r\n                    this._bodyMeshes[0] = null;\r\n                    this._bodies[0] = null;\r\n                }\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numBodies === 0) {\r\n            this._scene.unregisterBeforeRender(this._renderFunction);\r\n        }\r\n        return removed;\r\n    }\r\n\r\n    /**\r\n     * Hides a body's inertia from the viewer utility layer\r\n     * @param body the body to hide\r\n     * @returns true if inertia actually removed\r\n     */\r\n    public hideInertia(body: Nullable<PhysicsBody>): boolean {\r\n        if (!body || !this._scene || !this._utilityLayer) {\r\n            return false;\r\n        }\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numInertiaBodies; i++) {\r\n            if (this._inertiaBodies[i] === body) {\r\n                const mesh = this._inertiaMeshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                this._inertiaBodies.splice(i, 1);\r\n                this._inertiaMeshes.splice(i, 1);\r\n\r\n                this._numInertiaBodies--;\r\n\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numInertiaBodies === 0) {\r\n            this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\r\n        }\r\n        return removed;\r\n    }\r\n\r\n    /**\r\n     * Hide a physics constraint from the viewer utility layer\r\n     * @param constraint the constraint to hide\r\n     */\r\n    public hideConstraint(constraint: Nullable<PhysicsConstraint>) {\r\n        if (!constraint || !this._scene || !this._utilityLayer) {\r\n            return;\r\n        }\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            if (this._constraints[i] === constraint) {\r\n                const meshes = this._constraintMeshes[i];\r\n\r\n                if (!meshes) {\r\n                    continue;\r\n                }\r\n\r\n                meshes.forEach((mesh) => {\r\n                    utilityLayerScene.removeMesh(mesh);\r\n                    mesh.dispose();\r\n                });\r\n\r\n                this._constraints.splice(i, 1);\r\n                this._constraintMeshes.splice(i, 1);\r\n\r\n                this._numConstraints--;\r\n\r\n                if (this._numConstraints > 0) {\r\n                    this._constraints[i] = this._constraints[this._numConstraints];\r\n                    this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\r\n                    this._constraints[this._numConstraints] = null;\r\n                    this._constraintMeshes[this._numConstraints] = null;\r\n                } else {\r\n                    this._constraints[0] = null;\r\n                    this._constraintMeshes[0] = null;\r\n                }\r\n\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numConstraints === 0) {\r\n            this._scene.unregisterBeforeRender(this._constraintRenderFunction);\r\n        }\r\n    }\r\n\r\n    private _getDebugMaterial(scene: Scene): Material {\r\n        if (!this._debugMaterial) {\r\n            this._debugMaterial = new StandardMaterial(\"\", scene);\r\n            this._debugMaterial.wireframe = true;\r\n            this._debugMaterial.emissiveColor = Color3.White();\r\n            this._debugMaterial.disableLighting = true;\r\n        }\r\n\r\n        return this._debugMaterial;\r\n    }\r\n\r\n    private _getDebugInertiaMaterial(scene: Scene): Material {\r\n        if (!this._debugInertiaMaterial) {\r\n            this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\r\n            this._debugInertiaMaterial.disableLighting = true;\r\n            this._debugInertiaMaterial.alpha = 0.0;\r\n        }\r\n\r\n        return this._debugInertiaMaterial;\r\n    }\r\n\r\n    private _getDebugAxisColoredMaterial(axisNumber: number, scene: Scene): Material {\r\n        const material = new StandardMaterial(\"\", scene);\r\n        material.emissiveColor = axisNumber == 0 ? Color3.Red() : axisNumber == 1 ? Color3.Green() : Color3.Blue();\r\n        material.disableLighting = true;\r\n        return material;\r\n    }\r\n\r\n    private _getDebugBoxMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugBoxMesh) {\r\n            this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", { size: 1 }, scene);\r\n            this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugBoxMesh.material = this._getDebugMaterial(scene);\r\n            this._debugBoxMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\r\n    }\r\n\r\n    private _getDebugSphereMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugSphereMesh) {\r\n            this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", { diameter: 1 }, scene);\r\n            this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugSphereMesh.material = this._getDebugMaterial(scene);\r\n            this._debugSphereMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\r\n    }\r\n\r\n    private _getDebugCapsuleMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugCapsuleMesh) {\r\n            this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", { height: 1 } as ICreateCapsuleOptions, scene);\r\n            this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\r\n            this._debugCapsuleMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\r\n    }\r\n\r\n    private _getDebugCylinderMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugCylinderMesh) {\r\n            this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", { diameterTop: 1, diameterBottom: 1, height: 1 }, scene);\r\n            this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugCylinderMesh.material = this._getDebugMaterial(scene);\r\n            this._debugCylinderMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\r\n    }\r\n\r\n    private _getDebugMeshMesh(mesh: Mesh, scene: Scene): AbstractMesh {\r\n        const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\r\n        wireframeOver.setParent(mesh);\r\n        wireframeOver.position = Vector3.Zero();\r\n        wireframeOver.material = this._getDebugMaterial(scene);\r\n\r\n        this._debugMeshMeshes.push(wireframeOver);\r\n\r\n        return wireframeOver;\r\n    }\r\n\r\n    private _getDebugMesh(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n\r\n        // Only create child impostor debug meshes when evaluating the parent\r\n        if (targetMesh && targetMesh.parent && (targetMesh.parent as Mesh).physicsImpostor) {\r\n            return null;\r\n        }\r\n\r\n        let mesh: Nullable<AbstractMesh> = null;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n        if (!impostor.physicsBody) {\r\n            Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\r\n            return null;\r\n        }\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.BoxImpostor:\r\n                mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n                impostor.getBoxSizeToRef(mesh.scaling);\r\n                break;\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n                const radius = impostor.getRadius();\r\n                mesh.scaling.x = radius * 2;\r\n                mesh.scaling.y = radius * 2;\r\n                mesh.scaling.z = radius * 2;\r\n                break;\r\n            }\r\n            case PhysicsImpostor.CapsuleImpostor: {\r\n                mesh = this._getDebugCapsuleMesh(utilityLayerScene);\r\n                const bi = impostor.object.getBoundingInfo();\r\n                mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\r\n                mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n                mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\r\n                break;\r\n            }\r\n            case PhysicsImpostor.MeshImpostor:\r\n                if (targetMesh) {\r\n                    mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\r\n                }\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                if (targetMesh) {\r\n                    // Handle compound impostors\r\n                    const childMeshes = targetMesh.getChildMeshes().filter((c) => {\r\n                        return c.physicsImpostor ? 1 : 0;\r\n                    });\r\n                    childMeshes.forEach((m) => {\r\n                        if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\r\n                            const boundingInfo = m.getBoundingInfo();\r\n                            const min = boundingInfo.boundingBox.minimum;\r\n                            const max = boundingInfo.boundingBox.maximum;\r\n                            switch (m.physicsImpostor.type) {\r\n                                case PhysicsImpostor.BoxImpostor:\r\n                                    mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n                                    mesh.position.copyFrom(min);\r\n                                    mesh.position.addInPlace(max);\r\n                                    mesh.position.scaleInPlace(0.5);\r\n                                    break;\r\n                                case PhysicsImpostor.SphereImpostor:\r\n                                    mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n                                    break;\r\n                                case PhysicsImpostor.CylinderImpostor:\r\n                                    mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n                                    break;\r\n                                default:\r\n                                    mesh = null;\r\n                                    break;\r\n                            }\r\n                            if (mesh) {\r\n                                mesh.scaling.x = max.x - min.x;\r\n                                mesh.scaling.y = max.y - min.y;\r\n                                mesh.scaling.z = max.z - min.z;\r\n                                mesh.parent = m;\r\n                            }\r\n                        }\r\n                    });\r\n                } else {\r\n                    Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\r\n                }\r\n                mesh = null;\r\n                break;\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n                const bi = impostor.object.getBoundingInfo();\r\n                mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\r\n                mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n                mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\r\n                break;\r\n            }\r\n        }\r\n        return mesh;\r\n    }\r\n\r\n    /**\r\n     * Creates a debug mesh for a given physics body\r\n     * @param body The physics body to create the debug mesh for\r\n     * @returns The created debug mesh or null if the utility layer is not available\r\n     *\r\n     * This code is useful for creating a debug mesh for a given physics body.\r\n     * It creates a Mesh object with a VertexData object containing the positions and indices\r\n     * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\r\n     * This allows for visualizing the physics body in the scene.\r\n     */\r\n    private _getDebugBodyMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        const mesh = new Mesh(\"custom\", utilityLayerScene);\r\n        const vertexData = new VertexData();\r\n        const geometry = body.getGeometry() as any;\r\n        vertexData.positions = geometry.positions;\r\n        vertexData.indices = geometry.indices;\r\n        vertexData.applyToMesh(mesh);\r\n        if (body._pluginDataInstances) {\r\n            const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n            mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n        }\r\n        mesh.material = this._getDebugMaterial(utilityLayerScene);\r\n        return mesh;\r\n    }\r\n\r\n    private _getMeshDebugInertiaMatrixToRef(massProps: PhysicsMassProperties, matrix: Matrix) {\r\n        const orientation = massProps.inertiaOrientation ?? Quaternion.Identity();\r\n        const inertiaLocal = massProps.inertia ?? Vector3.Zero();\r\n        const center = massProps.centerOfMass ?? Vector3.Zero();\r\n\r\n        const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\r\n        const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\r\n        const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\r\n        const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const extents = TmpVectors.Vector3[0];\r\n        extents.set(alpha, beta, gamma);\r\n\r\n        const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\r\n        const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\r\n        const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\r\n\r\n        scaling.multiplyToRef(rotation, matrix);\r\n        matrix.multiplyToRef(translation, matrix);\r\n\r\n        return matrix;\r\n    }\r\n\r\n    private _getDebugInertiaMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\r\n        const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", { size: 1 }, utilityLayerScene);\r\n        const matrixRef = Matrix.Identity();\r\n        if (body._pluginDataInstances.length) {\r\n            const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n            for (let i = 0; i < body._pluginDataInstances.length; ++i) {\r\n                const props = body.getMassProperties(i);\r\n                this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n                matrixRef.copyToArray(instanceBuffer, i * 16);\r\n            }\r\n            inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n        } else {\r\n            const props = body.getMassProperties();\r\n            this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n            matrixRef.decomposeToTransformNode(inertiaBoxMesh);\r\n        }\r\n        inertiaBoxMesh.enableEdgesRendering();\r\n        inertiaBoxMesh.edgesWidth = 2.0;\r\n        inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\r\n        inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\r\n\r\n        return inertiaBoxMesh;\r\n    }\r\n\r\n    private _getTransformFromBodyToRef(body: PhysicsBody, matrix: Matrix, instanceIndex?: number) {\r\n        const tnode = body.transformNode;\r\n        if (instanceIndex && instanceIndex >= 0) {\r\n            return Matrix.FromArrayToRef((tnode as Mesh)._thinInstanceDataStorage.matrixData!, instanceIndex, matrix);\r\n        } else {\r\n            return matrix.copyFrom(tnode.getWorldMatrix());\r\n        }\r\n    }\r\n\r\n    private _createAngularConstraintMesh(minLimit: number, maxLimit: number, axisNumber: number, parent: TransformNode, scene: Scene): AbstractMesh {\r\n        const arcAngle = (maxLimit - minLimit) / (Math.PI * 2);\r\n        const mesh = MeshBuilder.CreateCylinder(\"ConstraintCylinder\", { height: 0.0001, diameter: 3 * this._constraintAngularSize, arc: arcAngle }, scene);\r\n        mesh.material = this._getDebugAxisColoredMaterial(axisNumber, scene);\r\n        mesh.parent = parent;\r\n        const parentScaling = parent.absoluteScaling;\r\n        switch (axisNumber) {\r\n            case 0:\r\n                mesh.rotation.z = Math.PI * 0.5;\r\n                mesh.rotation.x = -minLimit + Math.PI * 0.5;\r\n                // scaling on y,z\r\n                mesh.scaling.x = 1 / parentScaling.x;\r\n                mesh.scaling.y = 1 / parentScaling.z;\r\n                mesh.scaling.z = 1 / parentScaling.y;\r\n                break;\r\n            case 1:\r\n                mesh.rotation.y = Math.PI * 1.5 + minLimit;\r\n                // flip x,z\r\n                mesh.scaling.x = 1 / parentScaling.z;\r\n                mesh.scaling.y = 1 / parentScaling.y;\r\n                mesh.scaling.z = 1 / parentScaling.x;\r\n                break;\r\n            case 2:\r\n                mesh.rotation.x = Math.PI * 0.5;\r\n                // flip z,y\r\n                mesh.scaling.x = 1 / parentScaling.x;\r\n                mesh.scaling.y = 1 / parentScaling.z;\r\n                mesh.scaling.z = 1 / parentScaling.y;\r\n                break;\r\n        }\r\n        return mesh;\r\n    }\r\n\r\n    private _createCage(parent: TransformNode, scene: Scene): AbstractMesh {\r\n        const cage = MeshBuilder.CreateBox(\"cage\", { size: 1 }, scene);\r\n        cage.setPivotPoint(new Vector3(-0.5, -0.5, -0.5));\r\n        const transparentMaterial = new StandardMaterial(\"cage_material\", scene);\r\n        transparentMaterial.alpha = 0; // Fully transparent\r\n        cage.material = transparentMaterial;\r\n\r\n        cage.enableEdgesRendering();\r\n        cage.edgesWidth = 4.0;\r\n        cage.edgesColor = new Color4(1, 1, 1, 1);\r\n        cage.parent = parent;\r\n        return cage;\r\n    }\r\n\r\n    private _getDebugConstraintMesh(constraint: PhysicsConstraint): Nullable<Array<AbstractMesh>> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        if (!constraint._initOptions) {\r\n            return null;\r\n        }\r\n\r\n        // Get constraint pivot and axes\r\n        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n            return null;\r\n        }\r\n\r\n        // Create a mesh to parent all the constraint debug meshes to\r\n        const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\r\n\r\n        // First, get a reference to all physic bodies that are using this constraint\r\n        const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\r\n\r\n        const parentedConstraintMeshes = [];\r\n        parentedConstraintMeshes.push(parentingMesh);\r\n\r\n        for (const bodyPairInfo of bodiesUsingConstraint) {\r\n            // Create a mesh to keep the pair of constraint axes\r\n            const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\r\n            parentOfPair.parent = parentingMesh;\r\n\r\n            const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;\r\n            // Get the parent transform\r\n\r\n            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n            const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\r\n            // parentCoordSystemNode.parent = parentingMesh;\r\n            parentCoordSystemNode.parent = parentOfPair;\r\n            // Save parent and index here to be able to get the transform on update\r\n            parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };\r\n            parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n\r\n            const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\r\n            // childCoordSystemNode.parent = parentingMesh;\r\n            childCoordSystemNode.parent = parentOfPair;\r\n            // Save child and index here to be able to get the transform on update\r\n            childCoordSystemNode.metadata = { childBody, childBodyIndex };\r\n            childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n\r\n            // Get the transform to align the XYZ axes to the constraint axes\r\n            const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\r\n            const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\r\n\r\n            const translateTransformParent = pivotA;\r\n            const translateTransformChild = pivotB;\r\n\r\n            // Create a transform node and set its matrix\r\n            const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\r\n            parentTransformNode.position.copyFrom(translateTransformParent);\r\n            parentTransformNode.rotationQuaternion = rotTransformParent;\r\n            parentTransformNode.parent = parentCoordSystemNode;\r\n\r\n            const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\r\n            childTransformNode.parent = childCoordSystemNode;\r\n            childTransformNode.position.copyFrom(translateTransformChild);\r\n            childTransformNode.rotationQuaternion = rotTransformChild;\r\n\r\n            // Create axes for the constraint\r\n            const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n            parentAxes.xAxis.parent = parentTransformNode;\r\n            parentAxes.yAxis.parent = parentTransformNode;\r\n            parentAxes.zAxis.parent = parentTransformNode;\r\n\r\n            const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n            childAxes.xAxis.parent = childTransformNode;\r\n            childAxes.yAxis.parent = childTransformNode;\r\n            childAxes.zAxis.parent = childTransformNode;\r\n\r\n            // constrain vis\r\n            const engine = this._physicsEnginePlugin! as IPhysicsEnginePluginV2;\r\n\r\n            const constraintAxisAngular = [PhysicsConstraintAxis.ANGULAR_X, PhysicsConstraintAxis.ANGULAR_Y, PhysicsConstraintAxis.ANGULAR_Z];\r\n            const constraintAxisLinear = [PhysicsConstraintAxis.LINEAR_X, PhysicsConstraintAxis.LINEAR_Y, PhysicsConstraintAxis.LINEAR_Z];\r\n            const constraintAxis = [constraintAxisAngular, constraintAxisLinear];\r\n\r\n            // count axis. Angular and Linear\r\n            const lockCount = [0, 0];\r\n            for (let angularLinear = 0; angularLinear < 2; angularLinear++) {\r\n                for (let axis = 0; axis < 3; axis++) {\r\n                    const constraintAxisValue = constraintAxis[angularLinear][axis];\r\n                    const axisMode = engine.getAxisMode(constraint, constraintAxisValue);\r\n                    if (axisMode == PhysicsConstraintAxisLimitMode.LOCKED) {\r\n                        lockCount[angularLinear]++;\r\n                    }\r\n                }\r\n            }\r\n\r\n            // Any free/limited Linear axis\r\n            if (lockCount[1] != 3) {\r\n                const cage = this._createCage(parentTransformNode, utilityLayerScene);\r\n\r\n                const min = TmpVectors.Vector3[0];\r\n                const max = TmpVectors.Vector3[1];\r\n                const limited = [false, false, false];\r\n\r\n                limited[0] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_X) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n                limited[1] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Y) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n                limited[2] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Z) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n\r\n                min.x = limited[0] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n                max.x = limited[0] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n                min.y = limited[1] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n                max.y = limited[1] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n                min.z = limited[2] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n                max.z = limited[2] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n\r\n                cage.position.x = min.x + 0.5;\r\n                cage.position.y = min.y + 0.5;\r\n                cage.position.z = min.z + 0.5;\r\n\r\n                cage.scaling.x = max.x - min.x + Epsilon;\r\n                cage.scaling.y = max.y - min.y + Epsilon;\r\n                cage.scaling.z = max.z - min.z + Epsilon;\r\n                parentedConstraintMeshes.push(cage);\r\n            }\r\n\r\n            // Angular\r\n            if (lockCount[0] != 3) {\r\n                for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n                    const axis = constraintAxisAngular[axisIndex];\r\n                    const axisMode = engine.getAxisMode(constraint, axis);\r\n                    let minLimit = 0;\r\n                    let maxLimit = Math.PI * 2;\r\n                    if (axisMode == PhysicsConstraintAxisLimitMode.LIMITED) {\r\n                        minLimit = engine.getAxisMinLimit(constraint, axis)!;\r\n                        maxLimit = engine.getAxisMaxLimit(constraint, axis)!;\r\n                    }\r\n                    if (axisMode != PhysicsConstraintAxisLimitMode.LOCKED && constraint.options.pivotB) {\r\n                        const mesh = this._createAngularConstraintMesh(minLimit, maxLimit, axisIndex, childBody.transformNode, utilityLayerScene);\r\n                        mesh.position.copyFrom(constraint.options.pivotB);\r\n                        parentedConstraintMeshes.push(mesh);\r\n                    }\r\n                }\r\n            }\r\n        }\r\n\r\n        return parentedConstraintMeshes;\r\n    }\r\n\r\n    /**\r\n     * Clean up physics debug display\r\n     */\r\n    public dispose() {\r\n        // impostors\r\n        for (let index = this._numMeshes - 1; index >= 0; index--) {\r\n            this.hideImpostor(this._impostors[0]);\r\n        }\r\n        // bodies\r\n        for (let index = this._numBodies - 1; index >= 0; index--) {\r\n            this.hideBody(this._bodies[0]);\r\n        }\r\n        // inertia\r\n        for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\r\n            this.hideInertia(this._inertiaBodies[0]);\r\n        }\r\n\r\n        if (this._debugBoxMesh) {\r\n            this._debugBoxMesh.dispose();\r\n        }\r\n        if (this._debugSphereMesh) {\r\n            this._debugSphereMesh.dispose();\r\n        }\r\n        if (this._debugCylinderMesh) {\r\n            this._debugCylinderMesh.dispose();\r\n        }\r\n        if (this._debugMaterial) {\r\n            this._debugMaterial.dispose();\r\n        }\r\n\r\n        this._impostors.length = 0;\r\n        this._scene = null;\r\n        this._physicsEnginePlugin = null;\r\n\r\n        if (this._ownUtilityLayer && this._utilityLayer) {\r\n            this._utilityLayer.dispose();\r\n            this._utilityLayer = null;\r\n        }\r\n    }\r\n}\r\n"]}
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type { Nullable } from \"../types\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../Meshes/mesh\";\r\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder\";\r\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector\";\r\nimport { Color3, Color4 } from \"../Maths/math.color\";\r\nimport type { Material } from \"../Materials/material\";\r\nimport { EngineStore } from \"../Engines/engineStore\";\r\nimport { StandardMaterial } from \"../Materials/standardMaterial\";\r\nimport type { IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"../Physics/v1/IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode, type IPhysicsEnginePluginV2, type PhysicsMassProperties } from \"../Physics/v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor\";\r\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer\";\r\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder\";\r\nimport type { ICreateCapsuleOptions } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { CreateCapsule } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport type { PhysicsBody } from \"../Physics/v2/physicsBody\";\r\nimport { VertexData } from \"../Meshes/mesh.vertexData\";\r\nimport { MeshBuilder } from \"../Meshes/meshBuilder\";\r\nimport type { PhysicsConstraint } from \"../Physics/v2/physicsConstraint\";\r\nimport { AxesViewer } from \"./axesViewer\";\r\nimport { TransformNode } from \"../Meshes/transformNode\";\r\nimport { Epsilon } from \"../Maths/math.constants\";\r\n\r\n/**\r\n * Used to show the physics impostor around the specific mesh\r\n */\r\nexport class PhysicsViewer {\r\n    /** @internal */\r\n    protected _impostors: Array<Nullable<PhysicsImpostor>> = [];\r\n    /** @internal */\r\n    protected _meshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _bodies: Array<Nullable<PhysicsBody>> = [];\r\n    /** @internal */\r\n    protected _inertiaBodies: Array<Nullable<PhysicsBody>> = [];\r\n    /** @internal */\r\n    protected _constraints: Array<Nullable<PhysicsConstraint>> = [];\r\n    /** @internal */\r\n    protected _bodyMeshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _inertiaMeshes: Array<Nullable<AbstractMesh>> = [];\r\n    /** @internal */\r\n    protected _constraintMeshes: Array<Nullable<Array<AbstractMesh>>> = [];\r\n    /** @internal */\r\n    protected _scene: Nullable<Scene>;\r\n    /** @internal */\r\n    protected _numMeshes = 0;\r\n    /** @internal */\r\n    protected _numBodies = 0;\r\n    /** @internal */\r\n    protected _numInertiaBodies = 0;\r\n    /** @internal */\r\n    protected _numConstraints = 0;\r\n    /** @internal */\r\n    protected _physicsEnginePlugin: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2 | null;\r\n    private _renderFunction: () => void;\r\n    private _inertiaRenderFunction: () => void;\r\n    private _constraintRenderFunction: () => void;\r\n    private _utilityLayer: Nullable<UtilityLayerRenderer>;\r\n    private _ownUtilityLayer = false;\r\n\r\n    private _debugBoxMesh: Mesh;\r\n    private _debugSphereMesh: Mesh;\r\n    private _debugCapsuleMesh: Mesh;\r\n    private _debugCylinderMesh: Mesh;\r\n    private _debugMaterial: StandardMaterial;\r\n    private _debugInertiaMaterial: StandardMaterial;\r\n    private _debugMeshMeshes = new Array<Mesh>();\r\n\r\n    private _constraintAxesSize = 0.4;\r\n    private _constraintAngularSize = 0.4;\r\n\r\n    /**\r\n     * Creates a new PhysicsViewer\r\n     * @param scene defines the hosting scene\r\n     * @param size Physics V2 size scalar\r\n     * @param utilityLayer The utility layer the viewer will be added to\r\n     */\r\n    constructor(scene?: Scene, size?: number, utilityLayer: UtilityLayerRenderer = UtilityLayerRenderer.DefaultUtilityLayer) {\r\n        this._scene = scene || EngineStore.LastCreatedScene;\r\n        if (!this._scene) {\r\n            return;\r\n        }\r\n        const physicEngine = this._scene.getPhysicsEngine();\r\n\r\n        if (physicEngine) {\r\n            this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\r\n        }\r\n\r\n        if (utilityLayer) {\r\n            this._utilityLayer = utilityLayer;\r\n        } else {\r\n            this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\r\n            this._utilityLayer.pickUtilitySceneFirst = false;\r\n            this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\r\n            this._ownUtilityLayer = true;\r\n        }\r\n        if (size) {\r\n            this._constraintAxesSize = 0.4 * size;\r\n            this._constraintAngularSize = 0.4 * size;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine.\r\n     *\r\n     * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\r\n     * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\r\n     * This ensures that the debug meshes are up to date with the physics engine.\r\n     */\r\n    protected _updateDebugMeshes(): void {\r\n        const plugin = this._physicsEnginePlugin;\r\n\r\n        if (plugin?.getPluginVersion() === 1) {\r\n            this._updateDebugMeshesV1();\r\n        } else {\r\n            this._updateDebugMeshesV2();\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine.\r\n     *\r\n     * This method is useful for synchronizing the debug meshes with the physics impostors.\r\n     * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\r\n     * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\r\n     */\r\n    protected _updateDebugMeshesV1(): void {\r\n        const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV1;\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            const impostor = this._impostors[i];\r\n\r\n            if (!impostor) {\r\n                continue;\r\n            }\r\n\r\n            if (impostor.isDisposed) {\r\n                this.hideImpostor(this._impostors[i--]);\r\n            } else {\r\n                if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n                    continue;\r\n                }\r\n                const mesh = this._meshes[i];\r\n\r\n                if (mesh && plugin) {\r\n                    plugin.syncMeshWithImpostor(mesh, impostor);\r\n                }\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Updates the debug meshes of the physics engine for V2 plugin.\r\n     *\r\n     * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\r\n     * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\r\n     * This ensures that the debug meshes accurately reflect the current state of the physics engine.\r\n     */\r\n    protected _updateDebugMeshesV2(): void {\r\n        const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV2;\r\n        for (let i = 0; i < this._numBodies; ) {\r\n            const body = this._bodies[i];\r\n            if (body && body.isDisposed && this.hideBody(body)) {\r\n                continue;\r\n            }\r\n            const transform = this._bodyMeshes[i];\r\n            if (body && transform) {\r\n                plugin.syncTransform(body, transform);\r\n            }\r\n            i++;\r\n        }\r\n    }\r\n\r\n    protected _updateInertiaMeshes(): void {\r\n        for (let i = 0; i < this._numInertiaBodies; ) {\r\n            const body = this._inertiaBodies[i];\r\n            if (body && body.isDisposed && this.hideInertia(body)) {\r\n                continue;\r\n            }\r\n            const mesh = this._inertiaMeshes[i];\r\n            if (body && mesh) {\r\n                this._updateDebugInertia(body, mesh);\r\n            }\r\n            i++;\r\n        }\r\n    }\r\n\r\n    protected _updateDebugInertia(body: PhysicsBody, inertiaMesh: AbstractMesh): void {\r\n        const inertiaMatrixRef = Matrix.Identity();\r\n        const transformMatrixRef = Matrix.Identity();\r\n        const finalMatrixRef = Matrix.Identity();\r\n        if (body._pluginDataInstances.length) {\r\n            const inertiaAsMesh = inertiaMesh as Mesh;\r\n            const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData!;\r\n            const bodyTransformMatrixData = (body.transformNode as Mesh)._thinInstanceDataStorage.matrixData!;\r\n            for (let i = 0; i < body._pluginDataInstances.length; i++) {\r\n                const props = body.getMassProperties(i);\r\n                this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n                Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\r\n                inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\r\n                finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\r\n            }\r\n            inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\r\n        } else {\r\n            const props = body.getMassProperties();\r\n            this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n            body.transformNode.rotationQuaternion?.toRotationMatrix(transformMatrixRef);\r\n            transformMatrixRef.setTranslation(body.transformNode.position);\r\n            if (body.transformNode.parent) {\r\n                const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\r\n                transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\r\n            }\r\n            inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\r\n            inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\r\n        }\r\n    }\r\n\r\n    protected _updateDebugConstraints() {\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            const constraint = this._constraints[i];\r\n            const mesh = this._constraintMeshes[i];\r\n            if (constraint && mesh) {\r\n                this._updateDebugConstraint(constraint, mesh[0]);\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Given a scaling vector, make all of its components\r\n     * 1, preserving the sign\r\n     * @param scaling\r\n     */\r\n    protected _makeScalingUnitInPlace(scaling: Vector3) {\r\n        if (Math.abs(scaling.x - 1) > Epsilon) {\r\n            scaling.x = 1 * Math.sign(scaling.x);\r\n        }\r\n        if (Math.abs(scaling.y - 1) > Epsilon) {\r\n            scaling.y = 1 * Math.sign(scaling.y);\r\n        }\r\n        if (Math.abs(scaling.z - 1) > Epsilon) {\r\n            scaling.z = 1 * Math.sign(scaling.z);\r\n        }\r\n    }\r\n\r\n    protected _updateDebugConstraint(constraint: PhysicsConstraint, parentingMesh: AbstractMesh) {\r\n        if (!constraint._initOptions) {\r\n            return;\r\n        }\r\n\r\n        // Get constraint pivot and axes\r\n        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n            return;\r\n        }\r\n\r\n        const descendants = parentingMesh.getDescendants(true);\r\n        for (const parentConstraintMesh of descendants) {\r\n            // Get the parent transform\r\n            const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0] as TransformNode;\r\n            const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1] as TransformNode;\r\n\r\n            const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;\r\n            const { childBody, childBodyIndex } = childCoordSystemNode.metadata;\r\n\r\n            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n            parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n            this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\r\n\r\n            childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n            this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\r\n\r\n            // Create a transform node and set its matrix\r\n            const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n            parentTransformNode.position.copyFrom(pivotA);\r\n\r\n            const childTransformNode = childCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n            childTransformNode.position.copyFrom(pivotB);\r\n\r\n            // Get the transform to align the XYZ axes to the constraint axes\r\n            Quaternion.FromRotationMatrixToRef(\r\n                Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]),\r\n                parentTransformNode.rotationQuaternion!\r\n            );\r\n            Quaternion.FromRotationMatrixToRef(\r\n                Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]),\r\n                childTransformNode.rotationQuaternion!\r\n            );\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Renders a specified physic impostor\r\n     * @param impostor defines the impostor to render\r\n     * @param targetMesh defines the mesh represented by the impostor\r\n     * @returns the new debug mesh used to render the impostor\r\n     */\r\n    public showImpostor(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            if (this._impostors[i] == impostor) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugMesh(impostor, targetMesh);\r\n\r\n        if (debugMesh) {\r\n            this._impostors[this._numMeshes] = impostor;\r\n            this._meshes[this._numMeshes] = debugMesh;\r\n\r\n            if (this._numMeshes === 0) {\r\n                this._renderFunction = () => this._updateDebugMeshes();\r\n                this._scene.registerBeforeRender(this._renderFunction);\r\n            }\r\n\r\n            this._numMeshes++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug mesh for a given physics body.\r\n     * @param body The physics body to show.\r\n     * @returns The debug mesh, or null if the body is already shown.\r\n     *\r\n     * This function is useful for visualizing the physics body in the scene.\r\n     * It creates a debug mesh for the given body and adds it to the scene.\r\n     * It also registers a before render function to update the debug mesh position and rotation.\r\n     */\r\n    public showBody(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numBodies; i++) {\r\n            if (this._bodies[i] == body) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugBodyMesh(body);\r\n\r\n        if (debugMesh) {\r\n            this._bodies[this._numBodies] = body;\r\n            this._bodyMeshes[this._numBodies] = debugMesh;\r\n\r\n            if (this._numBodies === 0) {\r\n                this._renderFunction = () => this._updateDebugMeshes();\r\n                this._scene.registerBeforeRender(this._renderFunction);\r\n            }\r\n\r\n            this._numBodies++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug box corresponding to the inertia of a given body\r\n     * @param body the physics body used to get the inertia\r\n     * @returns the debug mesh used to show the inertia, or null if the body is already shown\r\n     */\r\n    public showInertia(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numInertiaBodies; i++) {\r\n            if (this._inertiaBodies[i] == body) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugInertiaMesh(body);\r\n        if (debugMesh) {\r\n            this._inertiaBodies[this._numInertiaBodies] = body;\r\n            this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\r\n\r\n            if (this._numInertiaBodies === 0) {\r\n                this._inertiaRenderFunction = () => this._updateInertiaMeshes();\r\n                this._scene.registerBeforeRender(this._inertiaRenderFunction);\r\n            }\r\n\r\n            this._numInertiaBodies++;\r\n        }\r\n\r\n        return debugMesh;\r\n    }\r\n\r\n    /**\r\n     * Shows a debug mesh for a given physics constraint.\r\n     * @param constraint the physics constraint to show\r\n     * @returns the debug mesh, or null if the constraint is already shown\r\n     */\r\n    public showConstraint(constraint: PhysicsConstraint): Nullable<AbstractMesh> {\r\n        if (!this._scene) {\r\n            return null;\r\n        }\r\n\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            if (this._constraints[i] == constraint) {\r\n                return null;\r\n            }\r\n        }\r\n\r\n        const debugMesh = this._getDebugConstraintMesh(constraint);\r\n        if (debugMesh) {\r\n            this._constraints[this._numConstraints] = constraint;\r\n            this._constraintMeshes[this._numConstraints] = debugMesh;\r\n\r\n            if (this._numConstraints === 0) {\r\n                this._constraintRenderFunction = () => this._updateDebugConstraints();\r\n                this._scene.registerBeforeRender(this._constraintRenderFunction);\r\n            }\r\n\r\n            this._numConstraints++;\r\n        }\r\n\r\n        return debugMesh ? debugMesh[0] : null;\r\n    }\r\n\r\n    /**\r\n     * Hides an impostor from the scene.\r\n     * @param impostor - The impostor to hide.\r\n     *\r\n     * This method is useful for hiding an impostor from the scene. It removes the\r\n     * impostor from the utility layer scene, disposes the mesh, and removes the\r\n     * impostor from the list of impostors. If the impostor is the last one in the\r\n     * list, it also unregisters the render function.\r\n     */\r\n    public hideImpostor(impostor: Nullable<PhysicsImpostor>) {\r\n        if (!impostor || !this._scene || !this._utilityLayer) {\r\n            return;\r\n        }\r\n\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numMeshes; i++) {\r\n            if (this._impostors[i] == impostor) {\r\n                const mesh = this._meshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                const index = this._debugMeshMeshes.indexOf(mesh as Mesh);\r\n                if (index > -1) {\r\n                    this._debugMeshMeshes.splice(index, 1);\r\n                }\r\n\r\n                this._numMeshes--;\r\n                if (this._numMeshes > 0) {\r\n                    this._meshes[i] = this._meshes[this._numMeshes];\r\n                    this._impostors[i] = this._impostors[this._numMeshes];\r\n                    this._meshes[this._numMeshes] = null;\r\n                    this._impostors[this._numMeshes] = null;\r\n                } else {\r\n                    this._meshes[0] = null;\r\n                    this._impostors[0] = null;\r\n                }\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numMeshes === 0) {\r\n            this._scene.unregisterBeforeRender(this._renderFunction);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Hides a body from the physics engine.\r\n     * @param body - The body to hide.\r\n     * @returns true if body actually removed\r\n     *\r\n     * This function is useful for hiding a body from the physics engine.\r\n     * It removes the body from the utility layer scene and disposes the mesh associated with it.\r\n     * It also unregisters the render function if the number of bodies is 0.\r\n     * This is useful for hiding a body from the physics engine without deleting it.\r\n     */\r\n    public hideBody(body: Nullable<PhysicsBody>): boolean {\r\n        if (!body || !this._scene || !this._utilityLayer) {\r\n            return false;\r\n        }\r\n\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numBodies; i++) {\r\n            if (this._bodies[i] === body) {\r\n                const mesh = this._bodyMeshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                this._numBodies--;\r\n                if (this._numBodies > 0) {\r\n                    this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\r\n                    this._bodies[i] = this._bodies[this._numBodies];\r\n                    this._bodyMeshes[this._numBodies] = null;\r\n                    this._bodies[this._numBodies] = null;\r\n                } else {\r\n                    this._bodyMeshes[0] = null;\r\n                    this._bodies[0] = null;\r\n                }\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numBodies === 0) {\r\n            this._scene.unregisterBeforeRender(this._renderFunction);\r\n        }\r\n        return removed;\r\n    }\r\n\r\n    /**\r\n     * Hides a body's inertia from the viewer utility layer\r\n     * @param body the body to hide\r\n     * @returns true if inertia actually removed\r\n     */\r\n    public hideInertia(body: Nullable<PhysicsBody>): boolean {\r\n        if (!body || !this._scene || !this._utilityLayer) {\r\n            return false;\r\n        }\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numInertiaBodies; i++) {\r\n            if (this._inertiaBodies[i] === body) {\r\n                const mesh = this._inertiaMeshes[i];\r\n\r\n                if (!mesh) {\r\n                    continue;\r\n                }\r\n\r\n                utilityLayerScene.removeMesh(mesh);\r\n                mesh.dispose();\r\n\r\n                this._inertiaBodies.splice(i, 1);\r\n                this._inertiaMeshes.splice(i, 1);\r\n\r\n                this._numInertiaBodies--;\r\n\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numInertiaBodies === 0) {\r\n            this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\r\n        }\r\n        return removed;\r\n    }\r\n\r\n    /**\r\n     * Hide a physics constraint from the viewer utility layer\r\n     * @param constraint the constraint to hide\r\n     */\r\n    public hideConstraint(constraint: Nullable<PhysicsConstraint>) {\r\n        if (!constraint || !this._scene || !this._utilityLayer) {\r\n            return;\r\n        }\r\n        let removed = false;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        for (let i = 0; i < this._numConstraints; i++) {\r\n            if (this._constraints[i] === constraint) {\r\n                const meshes = this._constraintMeshes[i];\r\n\r\n                if (!meshes) {\r\n                    continue;\r\n                }\r\n\r\n                for (const mesh of meshes) {\r\n                    utilityLayerScene.removeMesh(mesh);\r\n                    mesh.dispose();\r\n                }\r\n\r\n                this._constraints.splice(i, 1);\r\n                this._constraintMeshes.splice(i, 1);\r\n\r\n                this._numConstraints--;\r\n\r\n                if (this._numConstraints > 0) {\r\n                    this._constraints[i] = this._constraints[this._numConstraints];\r\n                    this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\r\n                    this._constraints[this._numConstraints] = null;\r\n                    this._constraintMeshes[this._numConstraints] = null;\r\n                } else {\r\n                    this._constraints[0] = null;\r\n                    this._constraintMeshes[0] = null;\r\n                }\r\n\r\n                removed = true;\r\n                break;\r\n            }\r\n        }\r\n\r\n        if (removed && this._numConstraints === 0) {\r\n            this._scene.unregisterBeforeRender(this._constraintRenderFunction);\r\n        }\r\n    }\r\n\r\n    private _getDebugMaterial(scene: Scene): Material {\r\n        if (!this._debugMaterial) {\r\n            this._debugMaterial = new StandardMaterial(\"\", scene);\r\n            this._debugMaterial.wireframe = true;\r\n            this._debugMaterial.emissiveColor = Color3.White();\r\n            this._debugMaterial.disableLighting = true;\r\n        }\r\n\r\n        return this._debugMaterial;\r\n    }\r\n\r\n    private _getDebugInertiaMaterial(scene: Scene): Material {\r\n        if (!this._debugInertiaMaterial) {\r\n            this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\r\n            this._debugInertiaMaterial.disableLighting = true;\r\n            this._debugInertiaMaterial.alpha = 0.0;\r\n        }\r\n\r\n        return this._debugInertiaMaterial;\r\n    }\r\n\r\n    private _getDebugAxisColoredMaterial(axisNumber: number, scene: Scene): Material {\r\n        const material = new StandardMaterial(\"\", scene);\r\n        material.emissiveColor = axisNumber == 0 ? Color3.Red() : axisNumber == 1 ? Color3.Green() : Color3.Blue();\r\n        material.disableLighting = true;\r\n        return material;\r\n    }\r\n\r\n    private _getDebugBoxMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugBoxMesh) {\r\n            this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", { size: 1 }, scene);\r\n            this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugBoxMesh.material = this._getDebugMaterial(scene);\r\n            this._debugBoxMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\r\n    }\r\n\r\n    private _getDebugSphereMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugSphereMesh) {\r\n            this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", { diameter: 1 }, scene);\r\n            this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugSphereMesh.material = this._getDebugMaterial(scene);\r\n            this._debugSphereMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\r\n    }\r\n\r\n    private _getDebugCapsuleMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugCapsuleMesh) {\r\n            this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", { height: 1 } as ICreateCapsuleOptions, scene);\r\n            this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\r\n            this._debugCapsuleMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\r\n    }\r\n\r\n    private _getDebugCylinderMesh(scene: Scene): AbstractMesh {\r\n        if (!this._debugCylinderMesh) {\r\n            this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", { diameterTop: 1, diameterBottom: 1, height: 1 }, scene);\r\n            this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\r\n            this._debugCylinderMesh.material = this._getDebugMaterial(scene);\r\n            this._debugCylinderMesh.setEnabled(false);\r\n        }\r\n\r\n        return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\r\n    }\r\n\r\n    private _getDebugMeshMesh(mesh: Mesh, scene: Scene): AbstractMesh {\r\n        const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\r\n        wireframeOver.setParent(mesh);\r\n        wireframeOver.position = Vector3.Zero();\r\n        wireframeOver.material = this._getDebugMaterial(scene);\r\n\r\n        this._debugMeshMeshes.push(wireframeOver);\r\n\r\n        return wireframeOver;\r\n    }\r\n\r\n    private _getDebugMesh(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n\r\n        // Only create child impostor debug meshes when evaluating the parent\r\n        if (targetMesh && targetMesh.parent && (targetMesh.parent as Mesh).physicsImpostor) {\r\n            return null;\r\n        }\r\n\r\n        let mesh: Nullable<AbstractMesh> = null;\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n        if (!impostor.physicsBody) {\r\n            Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\r\n            return null;\r\n        }\r\n        switch (impostor.type) {\r\n            case PhysicsImpostor.BoxImpostor:\r\n                mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n                impostor.getBoxSizeToRef(mesh.scaling);\r\n                break;\r\n            case PhysicsImpostor.SphereImpostor: {\r\n                mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n                const radius = impostor.getRadius();\r\n                mesh.scaling.x = radius * 2;\r\n                mesh.scaling.y = radius * 2;\r\n                mesh.scaling.z = radius * 2;\r\n                break;\r\n            }\r\n            case PhysicsImpostor.CapsuleImpostor: {\r\n                mesh = this._getDebugCapsuleMesh(utilityLayerScene);\r\n                const bi = impostor.object.getBoundingInfo();\r\n                mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\r\n                mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n                mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\r\n                break;\r\n            }\r\n            case PhysicsImpostor.MeshImpostor:\r\n                if (targetMesh) {\r\n                    mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\r\n                }\r\n                break;\r\n            case PhysicsImpostor.NoImpostor:\r\n                if (targetMesh) {\r\n                    // Handle compound impostors\r\n                    const childMeshes = targetMesh.getChildMeshes().filter((c) => {\r\n                        return c.physicsImpostor ? 1 : 0;\r\n                    });\r\n                    for (const m of childMeshes) {\r\n                        if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\r\n                            const boundingInfo = m.getBoundingInfo();\r\n                            const min = boundingInfo.boundingBox.minimum;\r\n                            const max = boundingInfo.boundingBox.maximum;\r\n                            switch (m.physicsImpostor.type) {\r\n                                case PhysicsImpostor.BoxImpostor:\r\n                                    mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n                                    mesh.position.copyFrom(min);\r\n                                    mesh.position.addInPlace(max);\r\n                                    mesh.position.scaleInPlace(0.5);\r\n                                    break;\r\n                                case PhysicsImpostor.SphereImpostor:\r\n                                    mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n                                    break;\r\n                                case PhysicsImpostor.CylinderImpostor:\r\n                                    mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n                                    break;\r\n                                default:\r\n                                    mesh = null;\r\n                                    break;\r\n                            }\r\n                            if (mesh) {\r\n                                mesh.scaling.x = max.x - min.x;\r\n                                mesh.scaling.y = max.y - min.y;\r\n                                mesh.scaling.z = max.z - min.z;\r\n                                mesh.parent = m;\r\n                            }\r\n                        }\r\n                    }\r\n                } else {\r\n                    Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\r\n                }\r\n                mesh = null;\r\n                break;\r\n            case PhysicsImpostor.CylinderImpostor: {\r\n                mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n                const bi = impostor.object.getBoundingInfo();\r\n                mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\r\n                mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n                mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\r\n                break;\r\n            }\r\n        }\r\n        return mesh;\r\n    }\r\n\r\n    /**\r\n     * Creates a debug mesh for a given physics body\r\n     * @param body The physics body to create the debug mesh for\r\n     * @returns The created debug mesh or null if the utility layer is not available\r\n     *\r\n     * This code is useful for creating a debug mesh for a given physics body.\r\n     * It creates a Mesh object with a VertexData object containing the positions and indices\r\n     * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\r\n     * This allows for visualizing the physics body in the scene.\r\n     */\r\n    private _getDebugBodyMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        const mesh = new Mesh(\"custom\", utilityLayerScene);\r\n        const vertexData = new VertexData();\r\n        const geometry = body.getGeometry() as any;\r\n        vertexData.positions = geometry.positions;\r\n        vertexData.indices = geometry.indices;\r\n        vertexData.applyToMesh(mesh);\r\n        if (body._pluginDataInstances) {\r\n            const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n            mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n        }\r\n        mesh.material = this._getDebugMaterial(utilityLayerScene);\r\n        return mesh;\r\n    }\r\n\r\n    private _getMeshDebugInertiaMatrixToRef(massProps: PhysicsMassProperties, matrix: Matrix) {\r\n        const orientation = massProps.inertiaOrientation ?? Quaternion.Identity();\r\n        const inertiaLocal = massProps.inertia ?? Vector3.Zero();\r\n        const center = massProps.centerOfMass ?? Vector3.Zero();\r\n\r\n        const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\r\n        const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\r\n        const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\r\n        const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n        const extents = TmpVectors.Vector3[0];\r\n        extents.set(alpha, beta, gamma);\r\n\r\n        const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\r\n        const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\r\n        const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\r\n\r\n        scaling.multiplyToRef(rotation, matrix);\r\n        matrix.multiplyToRef(translation, matrix);\r\n\r\n        return matrix;\r\n    }\r\n\r\n    private _getDebugInertiaMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\r\n        const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", { size: 1 }, utilityLayerScene);\r\n        const matrixRef = Matrix.Identity();\r\n        if (body._pluginDataInstances.length) {\r\n            const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n            for (let i = 0; i < body._pluginDataInstances.length; ++i) {\r\n                const props = body.getMassProperties(i);\r\n                this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n                matrixRef.copyToArray(instanceBuffer, i * 16);\r\n            }\r\n            inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n        } else {\r\n            const props = body.getMassProperties();\r\n            this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n            matrixRef.decomposeToTransformNode(inertiaBoxMesh);\r\n        }\r\n        inertiaBoxMesh.enableEdgesRendering();\r\n        inertiaBoxMesh.edgesWidth = 2.0;\r\n        inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\r\n        inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\r\n\r\n        return inertiaBoxMesh;\r\n    }\r\n\r\n    private _getTransformFromBodyToRef(body: PhysicsBody, matrix: Matrix, instanceIndex?: number) {\r\n        const tnode = body.transformNode;\r\n        if (instanceIndex && instanceIndex >= 0) {\r\n            return Matrix.FromArrayToRef((tnode as Mesh)._thinInstanceDataStorage.matrixData!, instanceIndex, matrix);\r\n        } else {\r\n            return matrix.copyFrom(tnode.getWorldMatrix());\r\n        }\r\n    }\r\n\r\n    private _createAngularConstraintMesh(minLimit: number, maxLimit: number, axisNumber: number, parent: TransformNode, scene: Scene): AbstractMesh {\r\n        const arcAngle = (maxLimit - minLimit) / (Math.PI * 2);\r\n        const mesh = MeshBuilder.CreateCylinder(\"ConstraintCylinder\", { height: 0.0001, diameter: 3 * this._constraintAngularSize, arc: arcAngle }, scene);\r\n        mesh.material = this._getDebugAxisColoredMaterial(axisNumber, scene);\r\n        mesh.parent = parent;\r\n        const parentScaling = parent.absoluteScaling;\r\n        switch (axisNumber) {\r\n            case 0:\r\n                mesh.rotation.z = Math.PI * 0.5;\r\n                mesh.rotation.x = -minLimit + Math.PI * 0.5;\r\n                // scaling on y,z\r\n                mesh.scaling.x = 1 / parentScaling.x;\r\n                mesh.scaling.y = 1 / parentScaling.z;\r\n                mesh.scaling.z = 1 / parentScaling.y;\r\n                break;\r\n            case 1:\r\n                mesh.rotation.y = Math.PI * 1.5 + minLimit;\r\n                // flip x,z\r\n                mesh.scaling.x = 1 / parentScaling.z;\r\n                mesh.scaling.y = 1 / parentScaling.y;\r\n                mesh.scaling.z = 1 / parentScaling.x;\r\n                break;\r\n            case 2:\r\n                mesh.rotation.x = Math.PI * 0.5;\r\n                // flip z,y\r\n                mesh.scaling.x = 1 / parentScaling.x;\r\n                mesh.scaling.y = 1 / parentScaling.z;\r\n                mesh.scaling.z = 1 / parentScaling.y;\r\n                break;\r\n        }\r\n        return mesh;\r\n    }\r\n\r\n    private _createCage(parent: TransformNode, scene: Scene): AbstractMesh {\r\n        const cage = MeshBuilder.CreateBox(\"cage\", { size: 1 }, scene);\r\n        cage.setPivotPoint(new Vector3(-0.5, -0.5, -0.5));\r\n        const transparentMaterial = new StandardMaterial(\"cage_material\", scene);\r\n        transparentMaterial.alpha = 0; // Fully transparent\r\n        cage.material = transparentMaterial;\r\n\r\n        cage.enableEdgesRendering();\r\n        cage.edgesWidth = 4.0;\r\n        cage.edgesColor = new Color4(1, 1, 1, 1);\r\n        cage.parent = parent;\r\n        return cage;\r\n    }\r\n\r\n    private _getDebugConstraintMesh(constraint: PhysicsConstraint): Nullable<Array<AbstractMesh>> {\r\n        if (!this._utilityLayer) {\r\n            return null;\r\n        }\r\n        const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n        if (!constraint._initOptions) {\r\n            return null;\r\n        }\r\n\r\n        // Get constraint pivot and axes\r\n        const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n        if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n            return null;\r\n        }\r\n\r\n        // Create a mesh to parent all the constraint debug meshes to\r\n        const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\r\n\r\n        // First, get a reference to all physic bodies that are using this constraint\r\n        const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\r\n\r\n        const parentedConstraintMeshes = [];\r\n        parentedConstraintMeshes.push(parentingMesh);\r\n\r\n        for (const bodyPairInfo of bodiesUsingConstraint) {\r\n            // Create a mesh to keep the pair of constraint axes\r\n            const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\r\n            parentOfPair.parent = parentingMesh;\r\n\r\n            const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;\r\n            // Get the parent transform\r\n\r\n            const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n            const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n            const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\r\n            // parentCoordSystemNode.parent = parentingMesh;\r\n            parentCoordSystemNode.parent = parentOfPair;\r\n            // Save parent and index here to be able to get the transform on update\r\n            parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };\r\n            parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n\r\n            const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\r\n            // childCoordSystemNode.parent = parentingMesh;\r\n            childCoordSystemNode.parent = parentOfPair;\r\n            // Save child and index here to be able to get the transform on update\r\n            childCoordSystemNode.metadata = { childBody, childBodyIndex };\r\n            childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n\r\n            // Get the transform to align the XYZ axes to the constraint axes\r\n            const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\r\n            const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\r\n\r\n            const translateTransformParent = pivotA;\r\n            const translateTransformChild = pivotB;\r\n\r\n            // Create a transform node and set its matrix\r\n            const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\r\n            parentTransformNode.position.copyFrom(translateTransformParent);\r\n            parentTransformNode.rotationQuaternion = rotTransformParent;\r\n            parentTransformNode.parent = parentCoordSystemNode;\r\n\r\n            const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\r\n            childTransformNode.parent = childCoordSystemNode;\r\n            childTransformNode.position.copyFrom(translateTransformChild);\r\n            childTransformNode.rotationQuaternion = rotTransformChild;\r\n\r\n            // Create axes for the constraint\r\n            const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n            parentAxes.xAxis.parent = parentTransformNode;\r\n            parentAxes.yAxis.parent = parentTransformNode;\r\n            parentAxes.zAxis.parent = parentTransformNode;\r\n\r\n            const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n            childAxes.xAxis.parent = childTransformNode;\r\n            childAxes.yAxis.parent = childTransformNode;\r\n            childAxes.zAxis.parent = childTransformNode;\r\n\r\n            // constrain vis\r\n            const engine = this._physicsEnginePlugin! as IPhysicsEnginePluginV2;\r\n\r\n            const constraintAxisAngular = [PhysicsConstraintAxis.ANGULAR_X, PhysicsConstraintAxis.ANGULAR_Y, PhysicsConstraintAxis.ANGULAR_Z];\r\n            const constraintAxisLinear = [PhysicsConstraintAxis.LINEAR_X, PhysicsConstraintAxis.LINEAR_Y, PhysicsConstraintAxis.LINEAR_Z];\r\n            const constraintAxis = [constraintAxisAngular, constraintAxisLinear];\r\n\r\n            // count axis. Angular and Linear\r\n            const lockCount = [0, 0];\r\n            for (let angularLinear = 0; angularLinear < 2; angularLinear++) {\r\n                for (let axis = 0; axis < 3; axis++) {\r\n                    const constraintAxisValue = constraintAxis[angularLinear][axis];\r\n                    const axisMode = engine.getAxisMode(constraint, constraintAxisValue);\r\n                    if (axisMode == PhysicsConstraintAxisLimitMode.LOCKED) {\r\n                        lockCount[angularLinear]++;\r\n                    }\r\n                }\r\n            }\r\n\r\n            // Any free/limited Linear axis\r\n            if (lockCount[1] != 3) {\r\n                const cage = this._createCage(parentTransformNode, utilityLayerScene);\r\n\r\n                const min = TmpVectors.Vector3[0];\r\n                const max = TmpVectors.Vector3[1];\r\n                const limited = [false, false, false];\r\n\r\n                limited[0] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_X) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n                limited[1] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Y) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n                limited[2] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Z) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n\r\n                min.x = limited[0] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n                max.x = limited[0] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n                min.y = limited[1] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n                max.y = limited[1] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n                min.z = limited[2] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n                max.z = limited[2] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n\r\n                cage.position.x = min.x + 0.5;\r\n                cage.position.y = min.y + 0.5;\r\n                cage.position.z = min.z + 0.5;\r\n\r\n                cage.scaling.x = max.x - min.x + Epsilon;\r\n                cage.scaling.y = max.y - min.y + Epsilon;\r\n                cage.scaling.z = max.z - min.z + Epsilon;\r\n                parentedConstraintMeshes.push(cage);\r\n            }\r\n\r\n            // Angular\r\n            if (lockCount[0] != 3) {\r\n                for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n                    const axis = constraintAxisAngular[axisIndex];\r\n                    const axisMode = engine.getAxisMode(constraint, axis);\r\n                    let minLimit = 0;\r\n                    let maxLimit = Math.PI * 2;\r\n                    if (axisMode == PhysicsConstraintAxisLimitMode.LIMITED) {\r\n                        minLimit = engine.getAxisMinLimit(constraint, axis)!;\r\n                        maxLimit = engine.getAxisMaxLimit(constraint, axis)!;\r\n                    }\r\n                    if (axisMode != PhysicsConstraintAxisLimitMode.LOCKED && constraint.options.pivotB) {\r\n                        const mesh = this._createAngularConstraintMesh(minLimit, maxLimit, axisIndex, childBody.transformNode, utilityLayerScene);\r\n                        mesh.position.copyFrom(constraint.options.pivotB);\r\n                        parentedConstraintMeshes.push(mesh);\r\n                    }\r\n                }\r\n            }\r\n        }\r\n\r\n        return parentedConstraintMeshes;\r\n    }\r\n\r\n    /**\r\n     * Clean up physics debug display\r\n     */\r\n    public dispose() {\r\n        // impostors\r\n        for (let index = this._numMeshes - 1; index >= 0; index--) {\r\n            this.hideImpostor(this._impostors[0]);\r\n        }\r\n        // bodies\r\n        for (let index = this._numBodies - 1; index >= 0; index--) {\r\n            this.hideBody(this._bodies[0]);\r\n        }\r\n        // inertia\r\n        for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\r\n            this.hideInertia(this._inertiaBodies[0]);\r\n        }\r\n\r\n        if (this._debugBoxMesh) {\r\n            this._debugBoxMesh.dispose();\r\n        }\r\n        if (this._debugSphereMesh) {\r\n            this._debugSphereMesh.dispose();\r\n        }\r\n        if (this._debugCylinderMesh) {\r\n            this._debugCylinderMesh.dispose();\r\n        }\r\n        if (this._debugMaterial) {\r\n            this._debugMaterial.dispose();\r\n        }\r\n\r\n        this._impostors.length = 0;\r\n        this._scene = null;\r\n        this._physicsEnginePlugin = null;\r\n\r\n        if (this._ownUtilityLayer && this._utilityLayer) {\r\n            this._utilityLayer.dispose();\r\n            this._utilityLayer = null;\r\n        }\r\n    }\r\n}\r\n"]}

package/Debug/skeletonViewer.js

@@ -254,9 +254,9 @@ export class SkeletonViewer {
         const tempGrad = new DynamicTexture("temp", { width: size, height: 1 }, scene, false);
         const ctx = tempGrad.getContext();
         const grad = ctx.createLinearGradient(0, 0, size, 0);
-        colorMap.forEach((stop) => {
+        for (const stop of colorMap) {
             grad.addColorStop(stop.location, stop.color.toHexString());
-        });
+        }
         ctx.fillStyle = grad;
         ctx.fillRect(0, 0, size, 1);
         tempGrad.update();
@@ -656,7 +656,7 @@ export class SkeletonViewer {
                 const anchorPoint = new Vector3();
                 boneAbsoluteBindPoseTransform.decompose(undefined, undefined, anchorPoint);
                 if (bone.children.length > 0) {
-                    bone.children.forEach((bc) => {
+                    for (const bc of bone.children) {
                         const childAbsoluteBindPoseTransform = new Matrix();
                         bc.getLocalMatrix().multiplyToRef(boneAbsoluteBindPoseTransform, childAbsoluteBindPoseTransform);
                         const childPoint = new Vector3();
@@ -669,7 +669,7 @@ export class SkeletonViewer {
                             return;
                         }
                         spurs.push(this._createSpur(anchorPoint, bone, childPoint, bc, displayOptions, utilityLayerScene));
-                    });
+                    }
                 }
                 else {
                     const boundingSphere = this._getBoundingSphereForBone(bone.getIndex());