@babylonjs/core 8.45.0 → 8.45.2

package/XR/features/WebXRControllerPhysics.js

@@ -4,6 +4,7 @@ import { PhysicsImpostor } from "../../Physics/v1/physicsImpostor.js";
 import { CreateSphere } from "../../Meshes/Builders/sphereBuilder.js";
 import { WebXRFeatureName, WebXRFeaturesManager } from "../webXRFeaturesManager.js";
 import { Logger } from "../../Misc/logger.js";
+import { PhysicsAggregate } from "../../Physics/v2/physicsAggregate.js";
 /**
  * Options for the controller physics feature
  */
@@ -14,6 +15,26 @@ export class IWebXRControllerPhysicsOptions {
  * including naive calculation of their linear and angular velocity
  */
 export class WebXRControllerPhysics extends WebXRAbstractFeature {
+    _mapImpostorTypeToShapeType(impostorType) {
+        // Map v1 PhysicsImpostor types to v2 PhysicsShapeType
+        switch (impostorType) {
+            case PhysicsImpostor.SphereImpostor:
+                return 0 /* PhysicsShapeType.SPHERE */;
+            case PhysicsImpostor.BoxImpostor:
+                return 3 /* PhysicsShapeType.BOX */;
+            case PhysicsImpostor.CapsuleImpostor:
+                return 1 /* PhysicsShapeType.CAPSULE */;
+            case PhysicsImpostor.CylinderImpostor:
+                return 2 /* PhysicsShapeType.CYLINDER */;
+            case PhysicsImpostor.MeshImpostor:
+                return 6 /* PhysicsShapeType.MESH */;
+            case PhysicsImpostor.ConvexHullImpostor:
+                return 4 /* PhysicsShapeType.CONVEX_HULL */;
+            default:
+                Logger.Warn(`Unsupported impostor type ${impostorType} for v2 physics, defaulting to SPHERE`);
+                return 0 /* PhysicsShapeType.SPHERE */;
+        }
+    }
     _createPhysicsImpostor(xrController) {
         const impostorType = this._options.physicsProperties.impostorType || PhysicsImpostor.SphereImpostor;
         const impostorSize = this._options.physicsProperties.impostorSize || 0.1;
@@ -38,6 +59,36 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             impostorMesh,
         };
     }
+    _createPhysicsAggregate(xrController) {
+        const impostorType = this._options.physicsProperties.impostorType || PhysicsImpostor.SphereImpostor;
+        const impostorSize = this._options.physicsProperties.impostorSize || 0.1;
+        const impostorMesh = CreateSphere("impostor-mesh-" + xrController.uniqueId, {
+            diameterX: typeof impostorSize === "number" ? impostorSize : impostorSize.width,
+            diameterY: typeof impostorSize === "number" ? impostorSize : impostorSize.height,
+            diameterZ: typeof impostorSize === "number" ? impostorSize : impostorSize.depth,
+        });
+        impostorMesh.isVisible = this._debugMode;
+        impostorMesh.isPickable = false;
+        impostorMesh.rotationQuaternion = new Quaternion();
+        const controllerMesh = xrController.grip || xrController.pointer;
+        impostorMesh.position.copyFrom(controllerMesh.position);
+        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion);
+        const shapeType = this._mapImpostorTypeToShapeType(impostorType);
+        const aggregate = new PhysicsAggregate(impostorMesh, shapeType, {
+            mass: 0,
+            friction: this._options.physicsProperties?.friction ?? 0.2,
+            restitution: this._options.physicsProperties?.restitution ?? 0.2,
+        }, this._xrSessionManager.scene);
+        aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);
+        aggregate.body.disableSync = true;
+        this._controllers[xrController.uniqueId] = {
+            xrController,
+            physicsAggregate: aggregate,
+            physicsBody: aggregate.body,
+            isPhysicsV2: true,
+            impostorMesh,
+        };
+    }
     /**
      * Construct a new Controller Physics Feature
      * @param _xrSessionManager the corresponding xr session manager
@@ -54,6 +105,14 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             if (!this._xrSessionManager.scene.isPhysicsEnabled()) {
                 Logger.Warn("physics engine not enabled, skipped. Please add this controller manually.");
             }
+            if (this._physicsVersion === 2) {
+                this._attachControllerV2(xrController);
+            }
+            else {
+                this._attachControllerV1(xrController);
+            }
+        };
+        this._attachControllerV1 = (xrController) => {
             // if no motion controller available, create impostors!
             if (this._options.physicsProperties.useControllerMesh && xrController.inputSource.gamepad) {
                 xrController.onMotionControllerInitObservable.addOnce((motionController) => {
@@ -82,10 +141,46 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
                 this._createPhysicsImpostor(xrController);
             }
         };
+        this._attachControllerV2 = (xrController) => {
+            // if no motion controller available, create physics aggregates!
+            if (this._options.physicsProperties.useControllerMesh && xrController.inputSource.gamepad) {
+                xrController.onMotionControllerInitObservable.addOnce((motionController) => {
+                    if (!motionController._doNotLoadControllerMesh) {
+                        motionController.onModelLoadedObservable.addOnce(() => {
+                            const shapeType = this._mapImpostorTypeToShapeType(PhysicsImpostor.MeshImpostor);
+                            const aggregate = new PhysicsAggregate(motionController.rootMesh, shapeType, {
+                                mass: 0,
+                                friction: this._options.physicsProperties?.friction ?? 0.2,
+                                restitution: this._options.physicsProperties?.restitution ?? 0.2,
+                            }, this._xrSessionManager.scene);
+                            aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);
+                            aggregate.body.disableSync = true;
+                            const controllerMesh = xrController.grip || xrController.pointer;
+                            this._controllers[xrController.uniqueId] = {
+                                xrController,
+                                physicsAggregate: aggregate,
+                                physicsBody: aggregate.body,
+                                isPhysicsV2: true,
+                                oldPos: controllerMesh.position.clone(),
+                                oldRotation: controllerMesh.rotationQuaternion.clone(),
+                            };
+                        });
+                    }
+                    else {
+                        // This controller isn't using a model, create physics aggregate instead
+                        this._createPhysicsAggregate(xrController);
+                    }
+                });
+            }
+            else {
+                this._createPhysicsAggregate(xrController);
+            }
+        };
         this._controllers = {};
         this._debugMode = false;
         this._delta = 0;
         this._lastTimestamp = 0;
+        this._physicsVersion = 1;
         this._tmpQuaternion = new Quaternion();
         this._tmpVector = new Vector3();
         if (!this._options.physicsProperties) {
@@ -123,6 +218,15 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
         if (!super.attach()) {
             return false;
         }
+        // Detect physics version
+        const physicsEngine = this._xrSessionManager.scene.getPhysicsEngine();
+        if (physicsEngine) {
+            this._physicsVersion = physicsEngine.getPluginVersion() || 1;
+        }
+        else {
+            // Default to v1 if no physics engine (warning will be shown later)
+            this._physicsVersion = 1;
+        }
         if (!this._options.xrInput) {
             return true;
         }
@@ -135,20 +239,12 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             this._detachController(controller.uniqueId);
         });
         if (this._options.enableHeadsetImpostor) {
-            const params = this._options.headsetImpostorParams || {
-                impostorType: PhysicsImpostor.SphereImpostor,
-                restitution: 0.8,
-                impostorSize: 0.3,
-            };
-            const impostorSize = params.impostorSize || 0.3;
-            this._headsetMesh = CreateSphere("headset-mesh", {
-                diameterX: typeof impostorSize === "number" ? impostorSize : impostorSize.width,
-                diameterY: typeof impostorSize === "number" ? impostorSize : impostorSize.height,
-                diameterZ: typeof impostorSize === "number" ? impostorSize : impostorSize.depth,
-            });
-            this._headsetMesh.rotationQuaternion = new Quaternion();
-            this._headsetMesh.isVisible = false;
-            this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });
+            if (this._physicsVersion === 2) {
+                this._enableHeadsetPhysicsV2();
+            }
+            else {
+                this._enableHeadsetPhysicsV1();
+            }
         }
         return true;
     }
@@ -169,6 +265,11 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
         if (this._headsetMesh) {
             this._headsetMesh.dispose();
         }
+        // Dispose v2 aggregate if present
+        if (this._headsetAggregateV2) {
+            this._headsetAggregateV2.dispose();
+            this._headsetAggregateV2 = undefined;
+        }
         return true;
     }
     /**
@@ -187,12 +288,47 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
     getImpostorForController(controller) {
         const id = typeof controller === "string" ? controller : controller.uniqueId;
         if (this._controllers[id]) {
-            return this._controllers[id].impostor;
+            return this._controllers[id].impostor || null;
         }
         else {
             return null;
         }
     }
+    /**
+     * Get the physics aggregate for a controller (v2 only)
+     * @param controller the controller or the controller id
+     * @returns the aggregate or null
+     */
+    getPhysicsAggregateForController(controller) {
+        const id = typeof controller === "string" ? controller : controller.uniqueId;
+        if (this._controllers[id]) {
+            return this._controllers[id].physicsAggregate || null;
+        }
+        else {
+            return null;
+        }
+    }
+    /**
+     * Get the physics body for a controller (v2 only)
+     * @param controller the controller or the controller id
+     * @returns the physics body or null
+     */
+    getPhysicsBodyForController(controller) {
+        const id = typeof controller === "string" ? controller : controller.uniqueId;
+        if (this._controllers[id]) {
+            return this._controllers[id].physicsBody || null;
+        }
+        else {
+            return null;
+        }
+    }
+    /**
+     * Get the headset physics aggregate (v2 only)
+     * @returns the physics aggregate or null
+     */
+    getHeadsetPhysicsAggregate() {
+        return this._headsetAggregateV2 || null;
+    }
     /**
      * Update the physics properties provided in the constructor
      * @param newProperties the new properties object
@@ -210,6 +346,14 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
     _onXRFrame(_xrFrame) {
         this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;
         this._lastTimestamp = this._xrSessionManager.currentTimestamp;
+        if (this._physicsVersion === 2) {
+            this._onXRFrameV2();
+        }
+        else {
+            this._onXRFrameV1();
+        }
+    }
+    _onXRFrameV1() {
         if (this._headsetMesh && this._headsetImpostor) {
             this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);
             this._headsetMesh.rotationQuaternion.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);
@@ -272,6 +416,111 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
             }
         }
     }
+    _onXRFrameV2() {
+        if (this._headsetMesh && this._headsetAggregateV2) {
+            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);
+            this._headsetMesh.rotationQuaternion.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);
+            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {
+                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;
+                this._tmpVector.set(lv.x, lv.y, lv.z);
+                this._headsetAggregateV2.body.setLinearVelocity(this._tmpVector);
+            }
+            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {
+                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;
+                this._tmpVector.set(av.x, av.y, av.z);
+                this._headsetAggregateV2.body.setAngularVelocity(this._tmpVector);
+            }
+        }
+        const keys = Object.keys(this._controllers);
+        for (const controllerId of keys) {
+            const controllerData = this._controllers[controllerId];
+            if (!controllerData.isPhysicsV2) {
+                continue;
+            }
+            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;
+            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh.position;
+            if (controllerData.xrController._lastXRPose?.linearVelocity) {
+                const lv = controllerData.xrController._lastXRPose.linearVelocity;
+                this._tmpVector.set(lv.x, lv.y, lv.z);
+                controllerData.physicsBody.setLinearVelocity(this._tmpVector);
+            }
+            else {
+                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);
+                this._tmpVector.scaleInPlace(1000 / this._delta);
+                controllerData.physicsBody.setLinearVelocity(this._tmpVector);
+            }
+            comparedPosition.copyFrom(controllerMesh.position);
+            if (this._debugMode) {
+                Logger.Log([this._tmpVector, "linear"]);
+            }
+            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh.rotationQuaternion;
+            if (controllerData.xrController._lastXRPose?.angularVelocity) {
+                const av = controllerData.xrController._lastXRPose.angularVelocity;
+                this._tmpVector.set(av.x, av.y, av.z);
+                controllerData.physicsBody.setAngularVelocity(this._tmpVector);
+            }
+            else {
+                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion)) {
+                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/
+                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion, this._tmpQuaternion);
+                    const len = Math.sqrt(this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z);
+                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);
+                    // define a better epsilon
+                    if (len < 0.001) {
+                        this._tmpVector.scaleInPlace(2);
+                    }
+                    else {
+                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);
+                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));
+                    }
+                    controllerData.physicsBody.setAngularVelocity(this._tmpVector);
+                }
+            }
+            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion);
+            if (this._debugMode) {
+                Logger.Log([this._tmpVector, this._tmpQuaternion, "angular"]);
+            }
+        }
+    }
+    _enableHeadsetPhysicsV1() {
+        const params = this._options.headsetImpostorParams || {
+            impostorType: PhysicsImpostor.SphereImpostor,
+            restitution: 0.8,
+            impostorSize: 0.3,
+        };
+        const impostorSize = params.impostorSize || 0.3;
+        this._headsetMesh = CreateSphere("headset-mesh", {
+            diameterX: typeof impostorSize === "number" ? impostorSize : impostorSize.width,
+            diameterY: typeof impostorSize === "number" ? impostorSize : impostorSize.height,
+            diameterZ: typeof impostorSize === "number" ? impostorSize : impostorSize.depth,
+        });
+        this._headsetMesh.rotationQuaternion = new Quaternion();
+        this._headsetMesh.isVisible = false;
+        this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });
+    }
+    _enableHeadsetPhysicsV2() {
+        const params = this._options.headsetImpostorParams || {
+            impostorType: PhysicsImpostor.SphereImpostor,
+            restitution: 0.8,
+            impostorSize: 0.3,
+        };
+        const impostorSize = params.impostorSize || 0.3;
+        this._headsetMesh = CreateSphere("headset-mesh", {
+            diameterX: typeof impostorSize === "number" ? impostorSize : impostorSize.width,
+            diameterY: typeof impostorSize === "number" ? impostorSize : impostorSize.height,
+            diameterZ: typeof impostorSize === "number" ? impostorSize : impostorSize.depth,
+        });
+        this._headsetMesh.rotationQuaternion = new Quaternion();
+        this._headsetMesh.isVisible = false;
+        const shapeType = this._mapImpostorTypeToShapeType(params.impostorType);
+        this._headsetAggregateV2 = new PhysicsAggregate(this._headsetMesh, shapeType, {
+            mass: 0,
+            friction: params.friction ?? 0.2,
+            restitution: params.restitution ?? 0.8,
+        }, this._xrSessionManager.scene);
+        this._headsetAggregateV2.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);
+        this._headsetAggregateV2.body.disableSync = true;
+    }
     _detachController(xrControllerUniqueId) {
         const controllerData = this._controllers[xrControllerUniqueId];
         if (!controllerData) {
@@ -280,6 +529,10 @@ export class WebXRControllerPhysics extends WebXRAbstractFeature {
         if (controllerData.impostorMesh) {
             controllerData.impostorMesh.dispose();
         }
+        // Dispose v2 aggregate if present
+        if (controllerData.physicsAggregate) {
+            controllerData.physicsAggregate.dispose();
+        }
         // remove from the map
         delete this._controllers[xrControllerUniqueId];
     }
@@ -293,7 +546,7 @@ WebXRControllerPhysics.Name = WebXRFeatureName.PHYSICS_CONTROLLERS;
  * This is an integer representing the implementation version.
  * This number does not correspond to the webxr specs version
  */
-WebXRControllerPhysics.Version = 1;
+WebXRControllerPhysics.Version = 2;
 //register the plugin
 WebXRFeaturesManager.AddWebXRFeature(WebXRControllerPhysics.Name, (xrSessionManager, options) => {
     return () => new WebXRControllerPhysics(xrSessionManager, options);

package/XR/features/WebXRControllerPhysics.js.map

@@ -1 +1 @@
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor: PhysicsImpostor;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _lastTimestamp: number = 0;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 1;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        for (const controller of this._options.xrInput.controllers) {\r\n            this._attachController(controller);\r\n        }\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            const params = this._options.headsetImpostorParams || {\r\n                impostorType: PhysicsImpostor.SphereImpostor,\r\n                restitution: 0.8,\r\n                impostorSize: 0.3,\r\n            };\r\n            const impostorSize = params.impostorSize || 0.3;\r\n            this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n                diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n                diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n                diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n            });\r\n            this._headsetMesh.rotationQuaternion = new Quaternion();\r\n            this._headsetMesh.isVisible = false;\r\n            this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            this._detachController(controllerId);\r\n        }\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\nimport { PhysicsAggregate } from \"../../Physics/v2/physicsAggregate\";\r\nimport type { PhysicsBody } from \"../../Physics/v2/physicsBody\";\r\nimport { PhysicsMotionType, PhysicsShapeType } from \"../../Physics/v2/IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._attachControllerV2(xrController);\r\n        } else {\r\n            this._attachControllerV1(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV1 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV2 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create physics aggregates!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const shapeType = this._mapImpostorTypeToShapeType(PhysicsImpostor.MeshImpostor);\r\n                        const aggregate = new PhysicsAggregate(\r\n                            motionController.rootMesh!,\r\n                            shapeType,\r\n                            {\r\n                                mass: 0,\r\n                                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n                            },\r\n                            this._xrSessionManager.scene\r\n                        );\r\n\r\n                        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                        aggregate.body.disableSync = true;\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            physicsAggregate: aggregate,\r\n                            physicsBody: aggregate.body,\r\n                            isPhysicsV2: true,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create physics aggregate instead\r\n                    this._createPhysicsAggregate(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsAggregate(xrController);\r\n        }\r\n    };\r\n\r\n    private _mapImpostorTypeToShapeType(impostorType: number): PhysicsShapeType {\r\n        // Map v1 PhysicsImpostor types to v2 PhysicsShapeType\r\n        switch (impostorType) {\r\n            case PhysicsImpostor.SphereImpostor:\r\n                return PhysicsShapeType.SPHERE;\r\n            case PhysicsImpostor.BoxImpostor:\r\n                return PhysicsShapeType.BOX;\r\n            case PhysicsImpostor.CapsuleImpostor:\r\n                return PhysicsShapeType.CAPSULE;\r\n            case PhysicsImpostor.CylinderImpostor:\r\n                return PhysicsShapeType.CYLINDER;\r\n            case PhysicsImpostor.MeshImpostor:\r\n                return PhysicsShapeType.MESH;\r\n            case PhysicsImpostor.ConvexHullImpostor:\r\n                return PhysicsShapeType.CONVEX_HULL;\r\n            default:\r\n                Logger.Warn(`Unsupported impostor type ${impostorType} for v2 physics, defaulting to SPHERE`);\r\n                return PhysicsShapeType.SPHERE;\r\n        }\r\n    }\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _createPhysicsAggregate(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(impostorType);\r\n        const aggregate = new PhysicsAggregate(\r\n            impostorMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        aggregate.body.disableSync = true;\r\n\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            physicsAggregate: aggregate,\r\n            physicsBody: aggregate.body,\r\n            isPhysicsV2: true,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor?: PhysicsImpostor;\r\n            physicsAggregate?: PhysicsAggregate;\r\n            physicsBody?: PhysicsBody;\r\n            isPhysicsV2?: boolean;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _headsetAggregateV2?: PhysicsAggregate;\r\n    private _lastTimestamp: number = 0;\r\n    private _physicsVersion: 1 | 2 = 1;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 2;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        // Detect physics version\r\n        const physicsEngine = this._xrSessionManager.scene.getPhysicsEngine();\r\n        if (physicsEngine) {\r\n            this._physicsVersion = (physicsEngine.getPluginVersion() as 1 | 2) || 1;\r\n        } else {\r\n            // Default to v1 if no physics engine (warning will be shown later)\r\n            this._physicsVersion = 1;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        for (const controller of this._options.xrInput.controllers) {\r\n            this._attachController(controller);\r\n        }\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            if (this._physicsVersion === 2) {\r\n                this._enableHeadsetPhysicsV2();\r\n            } else {\r\n                this._enableHeadsetPhysicsV1();\r\n            }\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            this._detachController(controllerId);\r\n        }\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (this._headsetAggregateV2) {\r\n            this._headsetAggregateV2.dispose();\r\n            this._headsetAggregateV2 = undefined;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics aggregate for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the aggregate or null\r\n     */\r\n    public getPhysicsAggregateForController(controller: WebXRInputSource | string): Nullable<PhysicsAggregate> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsAggregate || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics body for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the physics body or null\r\n     */\r\n    public getPhysicsBodyForController(controller: WebXRInputSource | string): Nullable<PhysicsBody> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsBody || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the headset physics aggregate (v2 only)\r\n     * @returns the physics aggregate or null\r\n     */\r\n    public getHeadsetPhysicsAggregate(): Nullable<PhysicsAggregate> {\r\n        return this._headsetAggregateV2 || null;\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._onXRFrameV2();\r\n        } else {\r\n            this._onXRFrameV1();\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV1(): void {\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV2(): void {\r\n        if (this._headsetMesh && this._headsetAggregateV2) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetAggregateV2.body.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetAggregateV2.body.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (!controllerData.isPhysicsV2) {\r\n                continue;\r\n            }\r\n\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV1(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n        this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV2(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(params.impostorType);\r\n        this._headsetAggregateV2 = new PhysicsAggregate(\r\n            this._headsetMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: params.friction ?? 0.2,\r\n                restitution: params.restitution ?? 0.8,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        this._headsetAggregateV2.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        this._headsetAggregateV2.body.disableSync = true;\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (controllerData.physicsAggregate) {\r\n            controllerData.physicsAggregate.dispose();\r\n        }\r\n\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}

package/XR/features/WebXRHandTracking.js

@@ -2,6 +2,7 @@ import { WebXRAbstractFeature } from "./WebXRAbstractFeature.js";
 import { WebXRFeatureName, WebXRFeaturesManager } from "../webXRFeaturesManager.js";
 import { Matrix, Quaternion } from "../../Maths/math.vector.js";
 import { PhysicsImpostor } from "../../Physics/v1/physicsImpostor.js";
+import { PhysicsAggregate } from "../../Physics/v2/physicsAggregate.js";
 import { Observable } from "../../Misc/observable.js";
 import { SceneLoader } from "../../Loading/sceneLoader.js";
 import { Color3 } from "../../Maths/math.color.js";
@@ -405,8 +406,41 @@ export class WebXRHandTracking extends WebXRAbstractFeature {
                     const props = featureOptions.jointMeshes?.physicsProps || {};
                     // downscale the instances so that physics will be initialized correctly
                     newInstance.scaling.setAll(0.02);
-                    const type = props.impostorType !== undefined ? props.impostorType : PhysicsImpostor.SphereImpostor;
-                    newInstance.physicsImpostor = new PhysicsImpostor(newInstance, type, { mass: 0, ...props });
+                    // Detect physics version
+                    const scene = newInstance.getScene();
+                    const physicsEngine = scene.getPhysicsEngine();
+                    const physicsVersion = physicsEngine?.getPluginVersion() || 1;
+                    if (physicsVersion === 2) {
+                        // V2 physics
+                        const impostorType = props.impostorType !== undefined ? props.impostorType : PhysicsImpostor.SphereImpostor;
+                        let shapeType = 0 /* PhysicsShapeType.SPHERE */;
+                        // Map v1 impostor types to v2 shape types
+                        switch (impostorType) {
+                            case PhysicsImpostor.SphereImpostor:
+                                shapeType = 0 /* PhysicsShapeType.SPHERE */;
+                                break;
+                            case PhysicsImpostor.BoxImpostor:
+                                shapeType = 3 /* PhysicsShapeType.BOX */;
+                                break;
+                            case PhysicsImpostor.CapsuleImpostor:
+                                shapeType = 1 /* PhysicsShapeType.CAPSULE */;
+                                break;
+                            default:
+                                shapeType = 0 /* PhysicsShapeType.SPHERE */;
+                        }
+                        const aggregate = new PhysicsAggregate(newInstance, shapeType, {
+                            mass: 0,
+                            friction: props.friction ?? 0.2,
+                            restitution: props.restitution ?? 0.2,
+                        }, scene);
+                        aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);
+                        aggregate.body.disableSync = true;
+                    }
+                    else {
+                        // V1 physics
+                        const type = props.impostorType !== undefined ? props.impostorType : PhysicsImpostor.SphereImpostor;
+                        newInstance.physicsImpostor = new PhysicsImpostor(newInstance, type, { mass: 0, ...props });
+                    }
                 }
                 newInstance.rotationQuaternion = new Quaternion();
                 newInstance.isVisible = false;