@babylonjs/core 8.48.0 → 8.48.1

package/Physics/v1/physicsImpostor.js.map

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

package/Shaders/ShadersInclude/gaussianSplatting.js

@@ -7,7 +7,7 @@ matrix[0][1],matrix[1][1],matrix[2][1],
 matrix[0][2],matrix[1][2],matrix[2][2]);}
 #endif
 vec2 getDataUV(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return vec2((x+0.5)/textureSize.x,(y+0.5)/textureSize.y);}
-#if SH_DEGREE>0
+#if SH_DEGREE>0 || IS_COMPOUND
 ivec2 getDataUVint(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return ivec2(uint(x+0.5),uint(y+0.5));}
 #endif
 struct Splat {vec4 center;vec4 color;vec4 covA;vec4 covB;
@@ -20,14 +20,20 @@ uvec4 sh1;
 #if SH_DEGREE>2
 uvec4 sh2;
 #endif
+#if IS_COMPOUND
+uint partIndex;
+#endif
 };float getSplatIndex(int localIndex)
 {float splatIndex;switch (localIndex)
 {case 0: splatIndex=splatIndex0.x; break;case 1: splatIndex=splatIndex0.y; break;case 2: splatIndex=splatIndex0.z; break;case 3: splatIndex=splatIndex0.w; break;case 4: splatIndex=splatIndex1.x; break;case 5: splatIndex=splatIndex1.y; break;case 6: splatIndex=splatIndex1.z; break;case 7: splatIndex=splatIndex1.w; break;case 8: splatIndex=splatIndex2.x; break;case 9: splatIndex=splatIndex2.y; break;case 10: splatIndex=splatIndex2.z; break;case 11: splatIndex=splatIndex2.w; break;case 12: splatIndex=splatIndex3.x; break;case 13: splatIndex=splatIndex3.y; break;case 14: splatIndex=splatIndex3.z; break;case 15: splatIndex=splatIndex3.w; break;}
 return splatIndex;}
 Splat readSplat(float splatIndex)
 {Splat splat;vec2 splatUV=getDataUV(splatIndex,dataTextureSize);splat.center=texture2D(centersTexture,splatUV);splat.color=texture2D(colorsTexture,splatUV);splat.covA=texture2D(covariancesATexture,splatUV)*splat.center.w;splat.covB=texture2D(covariancesBTexture,splatUV)*splat.center.w;
+#if SH_DEGREE>0 || IS_COMPOUND
+ivec2 splatUVint=getDataUVint(splatIndex,dataTextureSize);
+#endif
 #if SH_DEGREE>0
-ivec2 splatUVint=getDataUVint(splatIndex,dataTextureSize);splat.sh0=texelFetch(shTexture0,splatUVint,0);
+splat.sh0=texelFetch(shTexture0,splatUVint,0);
 #endif
 #if SH_DEGREE>1
 splat.sh1=texelFetch(shTexture1,splatUVint,0);
@@ -35,6 +41,9 @@ splat.sh1=texelFetch(shTexture1,splatUVint,0);
 #if SH_DEGREE>2
 splat.sh2=texelFetch(shTexture2,splatUVint,0);
 #endif
+#if IS_COMPOUND
+splat.partIndex=uint(texture2D(partIndicesTexture,splatUV).r*255.0+0.5);
+#endif
 return splat;}
 #if defined(WEBGL2) || defined(WEBGPU) || defined(NATIVE)
 vec3 computeColorFromSHDegree(vec3 dir,const vec3 sh[16])
@@ -112,7 +121,11 @@ float mid=(cov2d[0][0]+cov2d[1][1])/2.0;float radius=length(vec2((cov2d[0][0]-co
 vec2 diagonalVector=normalize(vec2(cov2d[0][1],lambda1-cov2d[0][0]));vec2 majorAxis=min(sqrt(2.0*lambda1),1024.0)*diagonalVector;vec2 minorAxis=min(sqrt(2.0*lambda2),1024.0)*vec2(diagonalVector.y,-diagonalVector.x);vec2 vCenter=vec2(pos2d);float scaleFactor=isOrtho ? 1.0 : pos2d.w;return vec4(
 vCenter 
 + ((meshPos.x*majorAxis
-+ meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,pos2d.zw);}`;
++ meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,pos2d.zw);}
+#if IS_COMPOUND
+mat4 getPartWorld(uint partIndex) {return partWorld[partIndex];}
+#endif
+`;
 // Sideeffect
 if (!ShaderStore.IncludesShadersStore[name]) {
     ShaderStore.IncludesShadersStore[name] = shader;

package/Shaders/ShadersInclude/gaussianSplatting.js.map

@@ -1 +1 @@
-{"version":3,"file":"gaussianSplatting.js","sourceRoot":"","sources":["../../../../../dev/core/src/Shaders/ShadersInclude/gaussianSplatting.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAExD,MAAM,IAAI,GAAG,mBAAmB,CAAC;AACjC,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;kEA+GmD,CAAC;AACnE,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,oBAAoB,CAAC,IAAI,CAAC,EAAE,CAAC;IAC1C,WAAW,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AACpD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,iBAAiB,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../../Engines/shaderStore\";\n\nconst name = \"gaussianSplatting\";\nconst shader = `#if !defined(WEBGL2) && !defined(WEBGPU) && !defined(NATIVE)\nmat3 transpose(mat3 matrix) {return mat3(matrix[0][0],matrix[1][0],matrix[2][0],\nmatrix[0][1],matrix[1][1],matrix[2][1],\nmatrix[0][2],matrix[1][2],matrix[2][2]);}\n#endif\nvec2 getDataUV(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return vec2((x+0.5)/textureSize.x,(y+0.5)/textureSize.y);}\n#if SH_DEGREE>0\nivec2 getDataUVint(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return ivec2(uint(x+0.5),uint(y+0.5));}\n#endif\nstruct Splat {vec4 center;vec4 color;vec4 covA;vec4 covB;\n#if SH_DEGREE>0\nuvec4 sh0; \n#endif\n#if SH_DEGREE>1\nuvec4 sh1;\n#endif\n#if SH_DEGREE>2\nuvec4 sh2;\n#endif\n};float getSplatIndex(int localIndex)\n{float splatIndex;switch (localIndex)\n{case 0: splatIndex=splatIndex0.x; break;case 1: splatIndex=splatIndex0.y; break;case 2: splatIndex=splatIndex0.z; break;case 3: splatIndex=splatIndex0.w; break;case 4: splatIndex=splatIndex1.x; break;case 5: splatIndex=splatIndex1.y; break;case 6: splatIndex=splatIndex1.z; break;case 7: splatIndex=splatIndex1.w; break;case 8: splatIndex=splatIndex2.x; break;case 9: splatIndex=splatIndex2.y; break;case 10: splatIndex=splatIndex2.z; break;case 11: splatIndex=splatIndex2.w; break;case 12: splatIndex=splatIndex3.x; break;case 13: splatIndex=splatIndex3.y; break;case 14: splatIndex=splatIndex3.z; break;case 15: splatIndex=splatIndex3.w; break;}\nreturn splatIndex;}\nSplat readSplat(float splatIndex)\n{Splat splat;vec2 splatUV=getDataUV(splatIndex,dataTextureSize);splat.center=texture2D(centersTexture,splatUV);splat.color=texture2D(colorsTexture,splatUV);splat.covA=texture2D(covariancesATexture,splatUV)*splat.center.w;splat.covB=texture2D(covariancesBTexture,splatUV)*splat.center.w;\n#if SH_DEGREE>0\nivec2 splatUVint=getDataUVint(splatIndex,dataTextureSize);splat.sh0=texelFetch(shTexture0,splatUVint,0);\n#endif\n#if SH_DEGREE>1\nsplat.sh1=texelFetch(shTexture1,splatUVint,0);\n#endif\n#if SH_DEGREE>2\nsplat.sh2=texelFetch(shTexture2,splatUVint,0);\n#endif\nreturn splat;}\n#if defined(WEBGL2) || defined(WEBGPU) || defined(NATIVE)\nvec3 computeColorFromSHDegree(vec3 dir,const vec3 sh[16])\n{const float SH_C0=0.28209479;const float SH_C1=0.48860251;float SH_C2[5];SH_C2[0]=1.092548430;SH_C2[1]=-1.09254843;SH_C2[2]=0.315391565;SH_C2[3]=-1.09254843;SH_C2[4]=0.546274215;float SH_C3[7];SH_C3[0]=-0.59004358;SH_C3[1]=2.890611442;SH_C3[2]=-0.45704579;SH_C3[3]=0.373176332;SH_C3[4]=-0.45704579;SH_C3[5]=1.445305721;SH_C3[6]=-0.59004358;vec3 result=/*SH_C0**/sh[0];\n#if SH_DEGREE>0\nfloat x=dir.x;float y=dir.y;float z=dir.z;result+=- SH_C1*y*sh[1]+SH_C1*z*sh[2]-SH_C1*x*sh[3];\n#if SH_DEGREE>1\nfloat xx=x*x,yy=y*y,zz=z*z;float xy=x*y,yz=y*z,xz=x*z;result+=\nSH_C2[0]*xy*sh[4] +\nSH_C2[1]*yz*sh[5] +\nSH_C2[2]*(2.0*zz-xx-yy)*sh[6] +\nSH_C2[3]*xz*sh[7] +\nSH_C2[4]*(xx-yy)*sh[8];\n#if SH_DEGREE>2\nresult+=\nSH_C3[0]*y*(3.0*xx-yy)*sh[9] +\nSH_C3[1]*xy*z*sh[10] +\nSH_C3[2]*y*(4.0*zz-xx-yy)*sh[11] +\nSH_C3[3]*z*(2.0*zz-3.0*xx-3.0*yy)*sh[12] +\nSH_C3[4]*x*(4.0*zz-xx-yy)*sh[13] +\nSH_C3[5]*z*(xx-yy)*sh[14] +\nSH_C3[6]*x*(xx-3.0*yy)*sh[15];\n#endif\n#endif\n#endif\nreturn result;}\nvec4 decompose(uint value)\n{vec4 components=vec4(\nfloat((value ) & 255u),\nfloat((value>>uint( 8)) & 255u),\nfloat((value>>uint(16)) & 255u),\nfloat((value>>uint(24)) & 255u));return components*vec4(2./255.)-vec4(1.);}\nvec3 computeSH(Splat splat,vec3 dir)\n{vec3 sh[16];sh[0]=vec3(0.,0.,0.);\n#if SH_DEGREE>0\nvec4 sh00=decompose(splat.sh0.x);vec4 sh01=decompose(splat.sh0.y);vec4 sh02=decompose(splat.sh0.z);sh[1]=vec3(sh00.x,sh00.y,sh00.z);sh[2]=vec3(sh00.w,sh01.x,sh01.y);sh[3]=vec3(sh01.z,sh01.w,sh02.x);\n#endif\n#if SH_DEGREE>1\nvec4 sh03=decompose(splat.sh0.w);vec4 sh04=decompose(splat.sh1.x);vec4 sh05=decompose(splat.sh1.y);sh[4]=vec3(sh02.y,sh02.z,sh02.w);sh[5]=vec3(sh03.x,sh03.y,sh03.z);sh[6]=vec3(sh03.w,sh04.x,sh04.y);sh[7]=vec3(sh04.z,sh04.w,sh05.x);sh[8]=vec3(sh05.y,sh05.z,sh05.w);\n#endif\n#if SH_DEGREE>2\nvec4 sh06=decompose(splat.sh1.z);vec4 sh07=decompose(splat.sh1.w);vec4 sh08=decompose(splat.sh2.x);vec4 sh09=decompose(splat.sh2.y);vec4 sh10=decompose(splat.sh2.z);vec4 sh11=decompose(splat.sh2.w);sh[9]=vec3(sh06.x,sh06.y,sh06.z);sh[10]=vec3(sh06.w,sh07.x,sh07.y);sh[11]=vec3(sh07.z,sh07.w,sh08.x);sh[12]=vec3(sh08.y,sh08.z,sh08.w);sh[13]=vec3(sh09.x,sh09.y,sh09.z);sh[14]=vec3(sh09.w,sh10.x,sh10.y);sh[15]=vec3(sh10.z,sh10.w,sh11.x); \n#endif\nreturn computeColorFromSHDegree(dir,sh);}\n#else\nvec3 computeSH(Splat splat,vec3 dir)\n{return vec3(0.,0.,0.);}\n#endif\nvec4 gaussianSplatting(vec2 meshPos,vec3 worldPos,vec2 scale,vec3 covA,vec3 covB,mat4 worldMatrix,mat4 viewMatrix,mat4 projectionMatrix)\n{mat4 modelView=viewMatrix*worldMatrix;vec4 camspace=viewMatrix*vec4(worldPos,1.);vec4 pos2d=projectionMatrix*camspace;float bounds=1.2*pos2d.w;if (pos2d.z<-pos2d.w || pos2d.x<-bounds || pos2d.x>bounds\n|| pos2d.y<-bounds || pos2d.y>bounds) {return vec4(0.0,0.0,2.0,1.0);}\nmat3 Vrk=mat3(\ncovA.x,covA.y,covA.z,\ncovA.y,covB.x,covB.y,\ncovA.z,covB.y,covB.z\n);bool isOrtho=abs(projectionMatrix[3][3]-1.0)<0.001;mat3 J;if (isOrtho) {J=mat3(\nfocal.x,0.,0.,\n0.,focal.y,0.,\n0.,0.,0.\n);} else {J=mat3(\nfocal.x/camspace.z,0.,-(focal.x*camspace.x)/(camspace.z*camspace.z),\n0.,focal.y/camspace.z,-(focal.y*camspace.y)/(camspace.z*camspace.z),\n0.,0.,0.\n);}\nmat3 T=transpose(mat3(modelView))*J;mat3 cov2d=transpose(T)*Vrk*T;\n#if COMPENSATION\nfloat c00=cov2d[0][0];float c11=cov2d[1][1];float c01=cov2d[0][1];float detOrig=c00*c11-c01*c01;\n#endif\ncov2d[0][0]+=kernelSize;cov2d[1][1]+=kernelSize;\n#if COMPENSATION\nvec3 c2d=vec3(cov2d[0][0],c01,cov2d[1][1]);float detBlur=c2d.x*c2d.z-c2d.y*c2d.y;float compensation=sqrt(max(0.,detOrig/detBlur));vColor.w*=compensation;\n#endif\nfloat mid=(cov2d[0][0]+cov2d[1][1])/2.0;float radius=length(vec2((cov2d[0][0]-cov2d[1][1])/2.0,cov2d[0][1]));float epsilon=0.0001;float lambda1=mid+radius+epsilon,lambda2=mid-radius+epsilon;if (lambda2<0.0)\n{return vec4(0.0,0.0,2.0,1.0);}\nvec2 diagonalVector=normalize(vec2(cov2d[0][1],lambda1-cov2d[0][0]));vec2 majorAxis=min(sqrt(2.0*lambda1),1024.0)*diagonalVector;vec2 minorAxis=min(sqrt(2.0*lambda2),1024.0)*vec2(diagonalVector.y,-diagonalVector.x);vec2 vCenter=vec2(pos2d);float scaleFactor=isOrtho ? 1.0 : pos2d.w;return vec4(\nvCenter \n+ ((meshPos.x*majorAxis\n+ meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,pos2d.zw);}`;\n// Sideeffect\nif (!ShaderStore.IncludesShadersStore[name]) {\n    ShaderStore.IncludesShadersStore[name] = shader;\n}\n/** @internal */\nexport const gaussianSplatting = { name, shader };\n"]}
+{"version":3,"file":"gaussianSplatting.js","sourceRoot":"","sources":["../../../../../dev/core/src/Shaders/ShadersInclude/gaussianSplatting.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAExD,MAAM,IAAI,GAAG,mBAAmB,CAAC;AACjC,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA4Hd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,oBAAoB,CAAC,IAAI,CAAC,EAAE,CAAC;IAC1C,WAAW,CAAC,oBAAoB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AACpD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,iBAAiB,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../../Engines/shaderStore\";\n\nconst name = \"gaussianSplatting\";\nconst shader = `#if !defined(WEBGL2) && !defined(WEBGPU) && !defined(NATIVE)\nmat3 transpose(mat3 matrix) {return mat3(matrix[0][0],matrix[1][0],matrix[2][0],\nmatrix[0][1],matrix[1][1],matrix[2][1],\nmatrix[0][2],matrix[1][2],matrix[2][2]);}\n#endif\nvec2 getDataUV(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return vec2((x+0.5)/textureSize.x,(y+0.5)/textureSize.y);}\n#if SH_DEGREE>0 || IS_COMPOUND\nivec2 getDataUVint(float index,vec2 textureSize) {float y=floor(index/textureSize.x);float x=index-y*textureSize.x;return ivec2(uint(x+0.5),uint(y+0.5));}\n#endif\nstruct Splat {vec4 center;vec4 color;vec4 covA;vec4 covB;\n#if SH_DEGREE>0\nuvec4 sh0; \n#endif\n#if SH_DEGREE>1\nuvec4 sh1;\n#endif\n#if SH_DEGREE>2\nuvec4 sh2;\n#endif\n#if IS_COMPOUND\nuint partIndex;\n#endif\n};float getSplatIndex(int localIndex)\n{float splatIndex;switch (localIndex)\n{case 0: splatIndex=splatIndex0.x; break;case 1: splatIndex=splatIndex0.y; break;case 2: splatIndex=splatIndex0.z; break;case 3: splatIndex=splatIndex0.w; break;case 4: splatIndex=splatIndex1.x; break;case 5: splatIndex=splatIndex1.y; break;case 6: splatIndex=splatIndex1.z; break;case 7: splatIndex=splatIndex1.w; break;case 8: splatIndex=splatIndex2.x; break;case 9: splatIndex=splatIndex2.y; break;case 10: splatIndex=splatIndex2.z; break;case 11: splatIndex=splatIndex2.w; break;case 12: splatIndex=splatIndex3.x; break;case 13: splatIndex=splatIndex3.y; break;case 14: splatIndex=splatIndex3.z; break;case 15: splatIndex=splatIndex3.w; break;}\nreturn splatIndex;}\nSplat readSplat(float splatIndex)\n{Splat splat;vec2 splatUV=getDataUV(splatIndex,dataTextureSize);splat.center=texture2D(centersTexture,splatUV);splat.color=texture2D(colorsTexture,splatUV);splat.covA=texture2D(covariancesATexture,splatUV)*splat.center.w;splat.covB=texture2D(covariancesBTexture,splatUV)*splat.center.w;\n#if SH_DEGREE>0 || IS_COMPOUND\nivec2 splatUVint=getDataUVint(splatIndex,dataTextureSize);\n#endif\n#if SH_DEGREE>0\nsplat.sh0=texelFetch(shTexture0,splatUVint,0);\n#endif\n#if SH_DEGREE>1\nsplat.sh1=texelFetch(shTexture1,splatUVint,0);\n#endif\n#if SH_DEGREE>2\nsplat.sh2=texelFetch(shTexture2,splatUVint,0);\n#endif\n#if IS_COMPOUND\nsplat.partIndex=uint(texture2D(partIndicesTexture,splatUV).r*255.0+0.5);\n#endif\nreturn splat;}\n#if defined(WEBGL2) || defined(WEBGPU) || defined(NATIVE)\nvec3 computeColorFromSHDegree(vec3 dir,const vec3 sh[16])\n{const float SH_C0=0.28209479;const float SH_C1=0.48860251;float SH_C2[5];SH_C2[0]=1.092548430;SH_C2[1]=-1.09254843;SH_C2[2]=0.315391565;SH_C2[3]=-1.09254843;SH_C2[4]=0.546274215;float SH_C3[7];SH_C3[0]=-0.59004358;SH_C3[1]=2.890611442;SH_C3[2]=-0.45704579;SH_C3[3]=0.373176332;SH_C3[4]=-0.45704579;SH_C3[5]=1.445305721;SH_C3[6]=-0.59004358;vec3 result=/*SH_C0**/sh[0];\n#if SH_DEGREE>0\nfloat x=dir.x;float y=dir.y;float z=dir.z;result+=- SH_C1*y*sh[1]+SH_C1*z*sh[2]-SH_C1*x*sh[3];\n#if SH_DEGREE>1\nfloat xx=x*x,yy=y*y,zz=z*z;float xy=x*y,yz=y*z,xz=x*z;result+=\nSH_C2[0]*xy*sh[4] +\nSH_C2[1]*yz*sh[5] +\nSH_C2[2]*(2.0*zz-xx-yy)*sh[6] +\nSH_C2[3]*xz*sh[7] +\nSH_C2[4]*(xx-yy)*sh[8];\n#if SH_DEGREE>2\nresult+=\nSH_C3[0]*y*(3.0*xx-yy)*sh[9] +\nSH_C3[1]*xy*z*sh[10] +\nSH_C3[2]*y*(4.0*zz-xx-yy)*sh[11] +\nSH_C3[3]*z*(2.0*zz-3.0*xx-3.0*yy)*sh[12] +\nSH_C3[4]*x*(4.0*zz-xx-yy)*sh[13] +\nSH_C3[5]*z*(xx-yy)*sh[14] +\nSH_C3[6]*x*(xx-3.0*yy)*sh[15];\n#endif\n#endif\n#endif\nreturn result;}\nvec4 decompose(uint value)\n{vec4 components=vec4(\nfloat((value ) & 255u),\nfloat((value>>uint( 8)) & 255u),\nfloat((value>>uint(16)) & 255u),\nfloat((value>>uint(24)) & 255u));return components*vec4(2./255.)-vec4(1.);}\nvec3 computeSH(Splat splat,vec3 dir)\n{vec3 sh[16];sh[0]=vec3(0.,0.,0.);\n#if SH_DEGREE>0\nvec4 sh00=decompose(splat.sh0.x);vec4 sh01=decompose(splat.sh0.y);vec4 sh02=decompose(splat.sh0.z);sh[1]=vec3(sh00.x,sh00.y,sh00.z);sh[2]=vec3(sh00.w,sh01.x,sh01.y);sh[3]=vec3(sh01.z,sh01.w,sh02.x);\n#endif\n#if SH_DEGREE>1\nvec4 sh03=decompose(splat.sh0.w);vec4 sh04=decompose(splat.sh1.x);vec4 sh05=decompose(splat.sh1.y);sh[4]=vec3(sh02.y,sh02.z,sh02.w);sh[5]=vec3(sh03.x,sh03.y,sh03.z);sh[6]=vec3(sh03.w,sh04.x,sh04.y);sh[7]=vec3(sh04.z,sh04.w,sh05.x);sh[8]=vec3(sh05.y,sh05.z,sh05.w);\n#endif\n#if SH_DEGREE>2\nvec4 sh06=decompose(splat.sh1.z);vec4 sh07=decompose(splat.sh1.w);vec4 sh08=decompose(splat.sh2.x);vec4 sh09=decompose(splat.sh2.y);vec4 sh10=decompose(splat.sh2.z);vec4 sh11=decompose(splat.sh2.w);sh[9]=vec3(sh06.x,sh06.y,sh06.z);sh[10]=vec3(sh06.w,sh07.x,sh07.y);sh[11]=vec3(sh07.z,sh07.w,sh08.x);sh[12]=vec3(sh08.y,sh08.z,sh08.w);sh[13]=vec3(sh09.x,sh09.y,sh09.z);sh[14]=vec3(sh09.w,sh10.x,sh10.y);sh[15]=vec3(sh10.z,sh10.w,sh11.x); \n#endif\nreturn computeColorFromSHDegree(dir,sh);}\n#else\nvec3 computeSH(Splat splat,vec3 dir)\n{return vec3(0.,0.,0.);}\n#endif\nvec4 gaussianSplatting(vec2 meshPos,vec3 worldPos,vec2 scale,vec3 covA,vec3 covB,mat4 worldMatrix,mat4 viewMatrix,mat4 projectionMatrix)\n{mat4 modelView=viewMatrix*worldMatrix;vec4 camspace=viewMatrix*vec4(worldPos,1.);vec4 pos2d=projectionMatrix*camspace;float bounds=1.2*pos2d.w;if (pos2d.z<-pos2d.w || pos2d.x<-bounds || pos2d.x>bounds\n|| pos2d.y<-bounds || pos2d.y>bounds) {return vec4(0.0,0.0,2.0,1.0);}\nmat3 Vrk=mat3(\ncovA.x,covA.y,covA.z,\ncovA.y,covB.x,covB.y,\ncovA.z,covB.y,covB.z\n);bool isOrtho=abs(projectionMatrix[3][3]-1.0)<0.001;mat3 J;if (isOrtho) {J=mat3(\nfocal.x,0.,0.,\n0.,focal.y,0.,\n0.,0.,0.\n);} else {J=mat3(\nfocal.x/camspace.z,0.,-(focal.x*camspace.x)/(camspace.z*camspace.z),\n0.,focal.y/camspace.z,-(focal.y*camspace.y)/(camspace.z*camspace.z),\n0.,0.,0.\n);}\nmat3 T=transpose(mat3(modelView))*J;mat3 cov2d=transpose(T)*Vrk*T;\n#if COMPENSATION\nfloat c00=cov2d[0][0];float c11=cov2d[1][1];float c01=cov2d[0][1];float detOrig=c00*c11-c01*c01;\n#endif\ncov2d[0][0]+=kernelSize;cov2d[1][1]+=kernelSize;\n#if COMPENSATION\nvec3 c2d=vec3(cov2d[0][0],c01,cov2d[1][1]);float detBlur=c2d.x*c2d.z-c2d.y*c2d.y;float compensation=sqrt(max(0.,detOrig/detBlur));vColor.w*=compensation;\n#endif\nfloat mid=(cov2d[0][0]+cov2d[1][1])/2.0;float radius=length(vec2((cov2d[0][0]-cov2d[1][1])/2.0,cov2d[0][1]));float epsilon=0.0001;float lambda1=mid+radius+epsilon,lambda2=mid-radius+epsilon;if (lambda2<0.0)\n{return vec4(0.0,0.0,2.0,1.0);}\nvec2 diagonalVector=normalize(vec2(cov2d[0][1],lambda1-cov2d[0][0]));vec2 majorAxis=min(sqrt(2.0*lambda1),1024.0)*diagonalVector;vec2 minorAxis=min(sqrt(2.0*lambda2),1024.0)*vec2(diagonalVector.y,-diagonalVector.x);vec2 vCenter=vec2(pos2d);float scaleFactor=isOrtho ? 1.0 : pos2d.w;return vec4(\nvCenter \n+ ((meshPos.x*majorAxis\n+ meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,pos2d.zw);}\n#if IS_COMPOUND\nmat4 getPartWorld(uint partIndex) {return partWorld[partIndex];}\n#endif\n`;\n// Sideeffect\nif (!ShaderStore.IncludesShadersStore[name]) {\n    ShaderStore.IncludesShadersStore[name] = shader;\n}\n/** @internal */\nexport const gaussianSplatting = { name, shader };\n"]}

package/Shaders/gaussianSplatting.vertex.js

@@ -19,7 +19,11 @@ const shader = `#include<__decl__gaussianSplattingVertex>
 #include<fogVertexDeclaration>
 #include<logDepthDeclaration>
 #include<helperFunctions>
-uniform vec2 invViewport;uniform vec2 dataTextureSize;uniform vec2 focal;uniform float kernelSize;uniform vec3 eyePosition;uniform float alpha;uniform sampler2D covariancesATexture;uniform sampler2D covariancesBTexture;uniform sampler2D centersTexture;uniform sampler2D colorsTexture;
+uniform vec2 invViewport;uniform vec2 dataTextureSize;uniform vec2 focal;uniform float kernelSize;uniform vec3 eyePosition;uniform float alpha;
+#if IS_COMPOUND
+uniform mat4 partWorld[MAX_PART_COUNT];
+#endif
+uniform sampler2D covariancesATexture;uniform sampler2D covariancesBTexture;uniform sampler2D centersTexture;uniform sampler2D colorsTexture;
 #if SH_DEGREE>0
 uniform highp usampler2D shTexture0;
 #endif
@@ -29,13 +33,22 @@ uniform highp usampler2D shTexture1;
 #if SH_DEGREE>2
 uniform highp usampler2D shTexture2;
 #endif
+#if IS_COMPOUND
+uniform sampler2D partIndicesTexture;
+#endif
 varying vec4 vColor;varying vec2 vPosition;
 #include<gaussianSplatting>
-void main () {float splatIndex=getSplatIndex(int(position.z+0.5));Splat splat=readSplat(splatIndex);vec3 covA=splat.covA.xyz;vec3 covB=vec3(splat.covA.w,splat.covB.xy);vec4 worldPos=world*vec4(splat.center.xyz,1.0);vColor=splat.color;vPosition=position.xy;
+void main () {float splatIndex=getSplatIndex(int(position.z+0.5));Splat splat=readSplat(splatIndex);vec3 covA=splat.covA.xyz;vec3 covB=vec3(splat.covA.w,splat.covB.xy);
+#if IS_COMPOUND
+mat4 splatWorld=getPartWorld(splat.partIndex);
+#else
+mat4 splatWorld=world;
+#endif
+vec4 worldPos=splatWorld*vec4(splat.center.xyz,1.0);vColor=splat.color;vPosition=position.xy;
 #if SH_DEGREE>0
-mat3 worldRot=mat3(world);mat3 normWorldRot=inverseMat3(worldRot);vec3 eyeToSplatLocalSpace=normalize(normWorldRot*(worldPos.xyz-eyePosition));vColor.xyz=splat.color.xyz+computeSH(splat,eyeToSplatLocalSpace);
+mat3 worldRot=mat3(splatWorld);mat3 normWorldRot=inverseMat3(worldRot);vec3 eyeToSplatLocalSpace=normalize(normWorldRot*(worldPos.xyz-eyePosition));vColor.xyz=splat.color.xyz+computeSH(splat,eyeToSplatLocalSpace);
 #endif
-vColor.w*=alpha;gl_Position=gaussianSplatting(position.xy,worldPos.xyz,vec2(1.,1.),covA,covB,world,view,projection);
+vColor.w*=alpha;gl_Position=gaussianSplatting(position.xy,worldPos.xyz,vec2(1.,1.),covA,covB,splatWorld,view,projection);
 #include<clipPlaneVertex>
 #include<fogVertex>
 #include<logDepthVertex>

package/Shaders/gaussianSplatting.vertex.js.map

@@ -1 +1 @@
-{"version":3,"file":"gaussianSplatting.vertex.js","sourceRoot":"","sources":["../../../../dev/core/src/Shaders/gaussianSplatting.vertex.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,wBAAwB,CAAC;AACrD,OAAO,qDAAqD,CAAC;AAC7D,OAAO,kDAAkD,CAAC;AAC1D,OAAO,6CAA6C,CAAC;AACrD,OAAO,uCAAuC,CAAC;AAC/C,OAAO,sCAAsC,CAAC;AAC9C,OAAO,kCAAkC,CAAC;AAC1C,OAAO,oCAAoC,CAAC;AAC5C,OAAO,kCAAkC,CAAC;AAC1C,OAAO,4BAA4B,CAAC;AACpC,OAAO,iCAAiC,CAAC;AAEzC,MAAM,IAAI,GAAG,+BAA+B,CAAC;AAC7C,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA6Bd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,YAAY,CAAC,IAAI,CAAC,EAAE,CAAC;IAClC,WAAW,CAAC,YAAY,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AAC5C,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,6BAA6B,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../Engines/shaderStore\";\nimport \"./ShadersInclude/gaussianSplattingVertexDeclaration\";\nimport \"./ShadersInclude/gaussianSplattingUboDeclaration\";\nimport \"./ShadersInclude/clipPlaneVertexDeclaration\";\nimport \"./ShadersInclude/fogVertexDeclaration\";\nimport \"./ShadersInclude/logDepthDeclaration\";\nimport \"./ShadersInclude/helperFunctions\";\nimport \"./ShadersInclude/gaussianSplatting\";\nimport \"./ShadersInclude/clipPlaneVertex\";\nimport \"./ShadersInclude/fogVertex\";\nimport \"./ShadersInclude/logDepthVertex\";\n\nconst name = \"gaussianSplattingVertexShader\";\nconst shader = `#include<__decl__gaussianSplattingVertex>\n#ifdef LOGARITHMICDEPTH\n#extension GL_EXT_frag_depth : enable\n#endif\n#include<clipPlaneVertexDeclaration>\n#include<fogVertexDeclaration>\n#include<logDepthDeclaration>\n#include<helperFunctions>\nuniform vec2 invViewport;uniform vec2 dataTextureSize;uniform vec2 focal;uniform float kernelSize;uniform vec3 eyePosition;uniform float alpha;uniform sampler2D covariancesATexture;uniform sampler2D covariancesBTexture;uniform sampler2D centersTexture;uniform sampler2D colorsTexture;\n#if SH_DEGREE>0\nuniform highp usampler2D shTexture0;\n#endif\n#if SH_DEGREE>1\nuniform highp usampler2D shTexture1;\n#endif\n#if SH_DEGREE>2\nuniform highp usampler2D shTexture2;\n#endif\nvarying vec4 vColor;varying vec2 vPosition;\n#include<gaussianSplatting>\nvoid main () {float splatIndex=getSplatIndex(int(position.z+0.5));Splat splat=readSplat(splatIndex);vec3 covA=splat.covA.xyz;vec3 covB=vec3(splat.covA.w,splat.covB.xy);vec4 worldPos=world*vec4(splat.center.xyz,1.0);vColor=splat.color;vPosition=position.xy;\n#if SH_DEGREE>0\nmat3 worldRot=mat3(world);mat3 normWorldRot=inverseMat3(worldRot);vec3 eyeToSplatLocalSpace=normalize(normWorldRot*(worldPos.xyz-eyePosition));vColor.xyz=splat.color.xyz+computeSH(splat,eyeToSplatLocalSpace);\n#endif\nvColor.w*=alpha;gl_Position=gaussianSplatting(position.xy,worldPos.xyz,vec2(1.,1.),covA,covB,world,view,projection);\n#include<clipPlaneVertex>\n#include<fogVertex>\n#include<logDepthVertex>\n}\n`;\n// Sideeffect\nif (!ShaderStore.ShadersStore[name]) {\n    ShaderStore.ShadersStore[name] = shader;\n}\n/** @internal */\nexport const gaussianSplattingVertexShader = { name, shader };\n"]}
+{"version":3,"file":"gaussianSplatting.vertex.js","sourceRoot":"","sources":["../../../../dev/core/src/Shaders/gaussianSplatting.vertex.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,wBAAwB,CAAC;AACrD,OAAO,qDAAqD,CAAC;AAC7D,OAAO,kDAAkD,CAAC;AAC1D,OAAO,6CAA6C,CAAC;AACrD,OAAO,uCAAuC,CAAC;AAC/C,OAAO,sCAAsC,CAAC;AAC9C,OAAO,kCAAkC,CAAC;AAC1C,OAAO,oCAAoC,CAAC;AAC5C,OAAO,kCAAkC,CAAC;AAC1C,OAAO,4BAA4B,CAAC;AACpC,OAAO,iCAAiC,CAAC;AAEzC,MAAM,IAAI,GAAG,+BAA+B,CAAC;AAC7C,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CA0Cd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,YAAY,CAAC,IAAI,CAAC,EAAE,CAAC;IAClC,WAAW,CAAC,YAAY,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AAC5C,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,6BAA6B,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../Engines/shaderStore\";\nimport \"./ShadersInclude/gaussianSplattingVertexDeclaration\";\nimport \"./ShadersInclude/gaussianSplattingUboDeclaration\";\nimport \"./ShadersInclude/clipPlaneVertexDeclaration\";\nimport \"./ShadersInclude/fogVertexDeclaration\";\nimport \"./ShadersInclude/logDepthDeclaration\";\nimport \"./ShadersInclude/helperFunctions\";\nimport \"./ShadersInclude/gaussianSplatting\";\nimport \"./ShadersInclude/clipPlaneVertex\";\nimport \"./ShadersInclude/fogVertex\";\nimport \"./ShadersInclude/logDepthVertex\";\n\nconst name = \"gaussianSplattingVertexShader\";\nconst shader = `#include<__decl__gaussianSplattingVertex>\n#ifdef LOGARITHMICDEPTH\n#extension GL_EXT_frag_depth : enable\n#endif\n#include<clipPlaneVertexDeclaration>\n#include<fogVertexDeclaration>\n#include<logDepthDeclaration>\n#include<helperFunctions>\nuniform vec2 invViewport;uniform vec2 dataTextureSize;uniform vec2 focal;uniform float kernelSize;uniform vec3 eyePosition;uniform float alpha;\n#if IS_COMPOUND\nuniform mat4 partWorld[MAX_PART_COUNT];\n#endif\nuniform sampler2D covariancesATexture;uniform sampler2D covariancesBTexture;uniform sampler2D centersTexture;uniform sampler2D colorsTexture;\n#if SH_DEGREE>0\nuniform highp usampler2D shTexture0;\n#endif\n#if SH_DEGREE>1\nuniform highp usampler2D shTexture1;\n#endif\n#if SH_DEGREE>2\nuniform highp usampler2D shTexture2;\n#endif\n#if IS_COMPOUND\nuniform sampler2D partIndicesTexture;\n#endif\nvarying vec4 vColor;varying vec2 vPosition;\n#include<gaussianSplatting>\nvoid main () {float splatIndex=getSplatIndex(int(position.z+0.5));Splat splat=readSplat(splatIndex);vec3 covA=splat.covA.xyz;vec3 covB=vec3(splat.covA.w,splat.covB.xy);\n#if IS_COMPOUND\nmat4 splatWorld=getPartWorld(splat.partIndex);\n#else\nmat4 splatWorld=world;\n#endif\nvec4 worldPos=splatWorld*vec4(splat.center.xyz,1.0);vColor=splat.color;vPosition=position.xy;\n#if SH_DEGREE>0\nmat3 worldRot=mat3(splatWorld);mat3 normWorldRot=inverseMat3(worldRot);vec3 eyeToSplatLocalSpace=normalize(normWorldRot*(worldPos.xyz-eyePosition));vColor.xyz=splat.color.xyz+computeSH(splat,eyeToSplatLocalSpace);\n#endif\nvColor.w*=alpha;gl_Position=gaussianSplatting(position.xy,worldPos.xyz,vec2(1.,1.),covA,covB,splatWorld,view,projection);\n#include<clipPlaneVertex>\n#include<fogVertex>\n#include<logDepthVertex>\n}\n`;\n// Sideeffect\nif (!ShaderStore.ShadersStore[name]) {\n    ShaderStore.ShadersStore[name] = shader;\n}\n/** @internal */\nexport const gaussianSplattingVertexShader = { name, shader };\n"]}

package/ShadersWGSL/ShadersInclude/gaussianSplatting.js

@@ -15,6 +15,9 @@ sh1: vec4<u32>,
 #if SH_DEGREE>2
 sh2: vec4<u32>,
 #endif
+#if IS_COMPOUND
+partIndex: u32,
+#endif
 };fn getSplatIndex(localIndex: i32,splatIndex0: vec4f,splatIndex1: vec4f,splatIndex2: vec4f,splatIndex3: vec4f)->f32 {var splatIndex: f32;switch (localIndex)
 {case 0:
 {splatIndex=splatIndex0.x;break;}
@@ -59,6 +62,9 @@ splat.sh1=textureLoad(shTexture1,splatUVi32,0);
 #if SH_DEGREE>2
 splat.sh2=textureLoad(shTexture2,splatUVi32,0);
 #endif
+#if IS_COMPOUND
+splat.partIndex=u32(textureLoad(partIndicesTexture,splatUVi32,0).r*255.0+0.5);
+#endif
 return splat;}
 fn computeColorFromSHDegree(dir: vec3f,sh: array<vec3<f32>,16>)->vec3f
 {let SH_C0: f32=0.28209479;let SH_C1: f32=0.48860251;var SH_C2: array<f32,5>=array<f32,5>(
@@ -158,7 +164,11 @@ let diagonalVector=normalize(vec2<f32>(cov2d[0][1],lambda1-cov2d[0][0]));let maj
 vCenter+((meshPos.x*majorAxis+meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,
 pos2d.z,
 pos2d.w
-);}`;
+);}
+#if IS_COMPOUND
+fn getPartWorld(partIndex: u32)->mat4x4<f32> {return uniforms.partWorld[partIndex];}
+#endif
+`;
 // Sideeffect
 if (!ShaderStore.IncludesShadersStoreWGSL[name]) {
     ShaderStore.IncludesShadersStoreWGSL[name] = shader;

package/ShadersWGSL/ShadersInclude/gaussianSplatting.js.map

@@ -1 +1 @@
-{"version":3,"file":"gaussianSplatting.js","sourceRoot":"","sources":["../../../../../dev/core/src/ShadersWGSL/ShadersInclude/gaussianSplatting.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAExD,MAAM,IAAI,GAAG,mBAAmB,CAAC;AACjC,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IA6JX,CAAC;AACL,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,wBAAwB,CAAC,IAAI,CAAC,EAAE,CAAC;IAC9C,WAAW,CAAC,wBAAwB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AACxD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,qBAAqB,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../../Engines/shaderStore\";\n\nconst name = \"gaussianSplatting\";\nconst shader = `fn getDataUV(index: f32,dataTextureSize: vec2f)->vec2<f32> {let y: f32=floor(index/dataTextureSize.x);let x: f32=index-y*dataTextureSize.x;return vec2f((x+0.5),(y+0.5));}\nstruct Splat {center: vec4f,\ncolor: vec4f,\ncovA: vec4f,\ncovB: vec4f,\n#if SH_DEGREE>0\nsh0: vec4<u32>,\n#endif\n#if SH_DEGREE>1\nsh1: vec4<u32>,\n#endif\n#if SH_DEGREE>2\nsh2: vec4<u32>,\n#endif\n};fn getSplatIndex(localIndex: i32,splatIndex0: vec4f,splatIndex1: vec4f,splatIndex2: vec4f,splatIndex3: vec4f)->f32 {var splatIndex: f32;switch (localIndex)\n{case 0:\n{splatIndex=splatIndex0.x;break;}\ncase 1:\n{splatIndex=splatIndex0.y;break;}\ncase 2:\n{splatIndex=splatIndex0.z;break;}\ncase 3:\n{splatIndex=splatIndex0.w;break;}\ncase 4:\n{splatIndex=splatIndex1.x;break;}\ncase 5:\n{splatIndex=splatIndex1.y;break;}\ncase 6:\n{splatIndex=splatIndex1.z;break;}\ncase 7:\n{splatIndex=splatIndex1.w;break;}\ncase 8:\n{splatIndex=splatIndex2.x;break;}\ncase 9:\n{splatIndex=splatIndex2.y;break;}\ncase 10:\n{splatIndex=splatIndex2.z;break;}\ncase 11:\n{splatIndex=splatIndex2.w;break;}\ncase 12:\n{splatIndex=splatIndex3.x;break;}\ncase 13:\n{splatIndex=splatIndex3.y;break;}\ncase 14:\n{splatIndex=splatIndex3.z;break;}\ndefault:\n{splatIndex=splatIndex3.w;break;}}\nreturn splatIndex;}\nfn readSplat(splatIndex: f32,dataTextureSize: vec2f)->Splat {var splat: Splat;let splatUV=getDataUV(splatIndex,dataTextureSize);let splatUVi32=vec2<i32>(i32(splatUV.x),i32(splatUV.y));splat.center=textureLoad(centersTexture,splatUVi32,0);splat.color=textureLoad(colorsTexture,splatUVi32,0);splat.covA=textureLoad(covariancesATexture,splatUVi32,0)*splat.center.w;splat.covB=textureLoad(covariancesBTexture,splatUVi32,0)*splat.center.w;\n#if SH_DEGREE>0\nsplat.sh0=textureLoad(shTexture0,splatUVi32,0);\n#endif\n#if SH_DEGREE>1\nsplat.sh1=textureLoad(shTexture1,splatUVi32,0);\n#endif\n#if SH_DEGREE>2\nsplat.sh2=textureLoad(shTexture2,splatUVi32,0);\n#endif\nreturn splat;}\nfn computeColorFromSHDegree(dir: vec3f,sh: array<vec3<f32>,16>)->vec3f\n{let SH_C0: f32=0.28209479;let SH_C1: f32=0.48860251;var SH_C2: array<f32,5>=array<f32,5>(\n1.092548430,\n-1.09254843,\n0.315391565,\n-1.09254843,\n0.546274215\n);var SH_C3: array<f32,7>=array<f32,7>(\n-0.59004358,\n2.890611442,\n-0.45704579,\n0.373176332,\n-0.45704579,\n1.445305721,\n-0.59004358\n);var result: vec3f=/*SH_C0**/sh[0];\n#if SH_DEGREE>0\nlet x: f32=dir.x;let y: f32=dir.y;let z: f32=dir.z;result+=-SH_C1*y*sh[1]+SH_C1*z*sh[2]-SH_C1*x*sh[3];\n#if SH_DEGREE>1\nlet xx: f32=x*x;let yy: f32=y*y;let zz: f32=z*z;let xy: f32=x*y;let yz: f32=y*z;let xz: f32=x*z;result+=\nSH_C2[0]*xy*sh[4] +\nSH_C2[1]*yz*sh[5] +\nSH_C2[2]*(2.0f*zz-xx-yy)*sh[6] +\nSH_C2[3]*xz*sh[7] +\nSH_C2[4]*(xx-yy)*sh[8];\n#if SH_DEGREE>2\nresult+=\nSH_C3[0]*y*(3.0f*xx-yy)*sh[9] +\nSH_C3[1]*xy*z*sh[10] +\nSH_C3[2]*y*(4.0f*zz-xx-yy)*sh[11] +\nSH_C3[3]*z*(2.0f*zz-3.0f*xx-3.0f*yy)*sh[12] +\nSH_C3[4]*x*(4.0f*zz-xx-yy)*sh[13] +\nSH_C3[5]*z*(xx-yy)*sh[14] +\nSH_C3[6]*x*(xx-3.0f*yy)*sh[15];\n#endif\n#endif\n#endif\nreturn result;}\nfn decompose(value: u32)->vec4f\n{let components : vec4f=vec4f(\nf32((value ) & 255u),\nf32((value>>u32( 8)) & 255u),\nf32((value>>u32(16)) & 255u),\nf32((value>>u32(24)) & 255u));return components*vec4f(2./255.)-vec4f(1.);}\nfn computeSH(splat: Splat,dir: vec3f)->vec3f\n{var sh: array<vec3<f32>,16>;sh[0]=vec3f(0.,0.,0.);\n#if SH_DEGREE>0\nlet sh00: vec4f=decompose(splat.sh0.x);let sh01: vec4f=decompose(splat.sh0.y);let sh02: vec4f=decompose(splat.sh0.z);sh[1]=vec3f(sh00.x,sh00.y,sh00.z);sh[2]=vec3f(sh00.w,sh01.x,sh01.y);sh[3]=vec3f(sh01.z,sh01.w,sh02.x);\n#endif\n#if SH_DEGREE>1\nlet sh03: vec4f=decompose(splat.sh0.w);let sh04: vec4f=decompose(splat.sh1.x);let sh05: vec4f=decompose(splat.sh1.y);sh[4]=vec3f(sh02.y,sh02.z,sh02.w);sh[5]=vec3f(sh03.x,sh03.y,sh03.z);sh[6]=vec3f(sh03.w,sh04.x,sh04.y);sh[7]=vec3f(sh04.z,sh04.w,sh05.x);sh[8]=vec3f(sh05.y,sh05.z,sh05.w);\n#endif\n#if SH_DEGREE>2\nlet sh06: vec4f=decompose(splat.sh1.z);let sh07: vec4f=decompose(splat.sh1.w);let sh08: vec4f=decompose(splat.sh2.x);let sh09: vec4f=decompose(splat.sh2.y);let sh10: vec4f=decompose(splat.sh2.z);let sh11: vec4f=decompose(splat.sh2.w);sh[9]=vec3f(sh06.x,sh06.y,sh06.z);sh[10]=vec3f(sh06.w,sh07.x,sh07.y);sh[11]=vec3f(sh07.z,sh07.w,sh08.x);sh[12]=vec3f(sh08.y,sh08.z,sh08.w);sh[13]=vec3f(sh09.x,sh09.y,sh09.z);sh[14]=vec3f(sh09.w,sh10.x,sh10.y);sh[15]=vec3f(sh10.z,sh10.w,sh11.x); \n#endif\nreturn computeColorFromSHDegree(dir,sh);}\nfn gaussianSplatting(\nmeshPos: vec2<f32>,\nworldPos: vec3<f32>,\nscale: vec2<f32>,\ncovA: vec3<f32>,\ncovB: vec3<f32>,\nworldMatrix: mat4x4<f32>,\nviewMatrix: mat4x4<f32>,\nprojectionMatrix: mat4x4<f32>,\nfocal: vec2f,\ninvViewport: vec2f,\nkernelSize: f32\n)->vec4f {let modelView=viewMatrix*worldMatrix;let camspace=viewMatrix*vec4f(worldPos,1.0);let pos2d=projectionMatrix*camspace;let bounds=1.2*pos2d.w;if (pos2d.z<0. || pos2d.x<-bounds || pos2d.x>bounds || pos2d.y<-bounds || pos2d.y>bounds) {return vec4f(0.0,0.0,2.0,1.0);}\nlet Vrk=mat3x3<f32>(\ncovA.x,covA.y,covA.z,\ncovA.y,covB.x,covB.y,\ncovA.z,covB.y,covB.z\n);let isOrtho=abs(projectionMatrix[3][3]-1.0)<0.001;var J: mat3x3<f32>;if (isOrtho) {J=mat3x3<f32>(\nfocal.x,0.0,0.0,\n0.0,focal.y,0.0,\n0.0,0.0,0.0\n);} else {J=mat3x3<f32>(\nfocal.x/camspace.z,0.0,-(focal.x*camspace.x)/(camspace.z*camspace.z),\n0.0,focal.y/camspace.z,-(focal.y*camspace.y)/(camspace.z*camspace.z),\n0.0,0.0,0.0\n);}\nlet T=transpose(mat3x3<f32>(\nmodelView[0].xyz,\nmodelView[1].xyz,\nmodelView[2].xyz))*J;var cov2d=transpose(T)*Vrk*T;\n#if COMPENSATION\nlet c00: f32=cov2d[0][0];let c11: f32=cov2d[1][1];let c01: f32=cov2d[0][1];let detOrig: f32=c00*c11-c01*c01;\n#endif\ncov2d[0][0]+=kernelSize;cov2d[1][1]+=kernelSize;\n#if COMPENSATION\nlet c2d: vec3f=vec3f(cov2d[0][0],c01,cov2d[1][1]);let detBlur: f32=c2d.x*c2d.z-c2d.y*c2d.y;let compensation: f32=sqrt(max(0.,detOrig/detBlur));vertexOutputs.vColor.w*=compensation;\n#endif\nlet mid=(cov2d[0][0]+cov2d[1][1])/2.0;let radius=length(vec2<f32>((cov2d[0][0]-cov2d[1][1])/2.0,cov2d[0][1]));let lambda1=mid+radius;let lambda2=mid-radius;if (lambda2<0.0) {return vec4f(0.0,0.0,2.0,1.0);}\nlet diagonalVector=normalize(vec2<f32>(cov2d[0][1],lambda1-cov2d[0][0]));let majorAxis=min(sqrt(2.0*lambda1),1024.0)*diagonalVector;let minorAxis=min(sqrt(2.0*lambda2),1024.0)*vec2<f32>(diagonalVector.y,-diagonalVector.x);let vCenter=vec2<f32>(pos2d.x,pos2d.y);let scaleFactor=select(pos2d.w,1.0,isOrtho);return vec4f(\nvCenter+((meshPos.x*majorAxis+meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,\npos2d.z,\npos2d.w\n);}`;\n// Sideeffect\nif (!ShaderStore.IncludesShadersStoreWGSL[name]) {\n    ShaderStore.IncludesShadersStoreWGSL[name] = shader;\n}\n/** @internal */\nexport const gaussianSplattingWGSL = { name, shader };\n"]}
+{"version":3,"file":"gaussianSplatting.js","sourceRoot":"","sources":["../../../../../dev/core/src/ShadersWGSL/ShadersInclude/gaussianSplatting.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAExD,MAAM,IAAI,GAAG,mBAAmB,CAAC;AACjC,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAuKd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,wBAAwB,CAAC,IAAI,CAAC,EAAE,CAAC;IAC9C,WAAW,CAAC,wBAAwB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AACxD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,qBAAqB,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../../Engines/shaderStore\";\n\nconst name = \"gaussianSplatting\";\nconst shader = `fn getDataUV(index: f32,dataTextureSize: vec2f)->vec2<f32> {let y: f32=floor(index/dataTextureSize.x);let x: f32=index-y*dataTextureSize.x;return vec2f((x+0.5),(y+0.5));}\nstruct Splat {center: vec4f,\ncolor: vec4f,\ncovA: vec4f,\ncovB: vec4f,\n#if SH_DEGREE>0\nsh0: vec4<u32>,\n#endif\n#if SH_DEGREE>1\nsh1: vec4<u32>,\n#endif\n#if SH_DEGREE>2\nsh2: vec4<u32>,\n#endif\n#if IS_COMPOUND\npartIndex: u32,\n#endif\n};fn getSplatIndex(localIndex: i32,splatIndex0: vec4f,splatIndex1: vec4f,splatIndex2: vec4f,splatIndex3: vec4f)->f32 {var splatIndex: f32;switch (localIndex)\n{case 0:\n{splatIndex=splatIndex0.x;break;}\ncase 1:\n{splatIndex=splatIndex0.y;break;}\ncase 2:\n{splatIndex=splatIndex0.z;break;}\ncase 3:\n{splatIndex=splatIndex0.w;break;}\ncase 4:\n{splatIndex=splatIndex1.x;break;}\ncase 5:\n{splatIndex=splatIndex1.y;break;}\ncase 6:\n{splatIndex=splatIndex1.z;break;}\ncase 7:\n{splatIndex=splatIndex1.w;break;}\ncase 8:\n{splatIndex=splatIndex2.x;break;}\ncase 9:\n{splatIndex=splatIndex2.y;break;}\ncase 10:\n{splatIndex=splatIndex2.z;break;}\ncase 11:\n{splatIndex=splatIndex2.w;break;}\ncase 12:\n{splatIndex=splatIndex3.x;break;}\ncase 13:\n{splatIndex=splatIndex3.y;break;}\ncase 14:\n{splatIndex=splatIndex3.z;break;}\ndefault:\n{splatIndex=splatIndex3.w;break;}}\nreturn splatIndex;}\nfn readSplat(splatIndex: f32,dataTextureSize: vec2f)->Splat {var splat: Splat;let splatUV=getDataUV(splatIndex,dataTextureSize);let splatUVi32=vec2<i32>(i32(splatUV.x),i32(splatUV.y));splat.center=textureLoad(centersTexture,splatUVi32,0);splat.color=textureLoad(colorsTexture,splatUVi32,0);splat.covA=textureLoad(covariancesATexture,splatUVi32,0)*splat.center.w;splat.covB=textureLoad(covariancesBTexture,splatUVi32,0)*splat.center.w;\n#if SH_DEGREE>0\nsplat.sh0=textureLoad(shTexture0,splatUVi32,0);\n#endif\n#if SH_DEGREE>1\nsplat.sh1=textureLoad(shTexture1,splatUVi32,0);\n#endif\n#if SH_DEGREE>2\nsplat.sh2=textureLoad(shTexture2,splatUVi32,0);\n#endif\n#if IS_COMPOUND\nsplat.partIndex=u32(textureLoad(partIndicesTexture,splatUVi32,0).r*255.0+0.5);\n#endif\nreturn splat;}\nfn computeColorFromSHDegree(dir: vec3f,sh: array<vec3<f32>,16>)->vec3f\n{let SH_C0: f32=0.28209479;let SH_C1: f32=0.48860251;var SH_C2: array<f32,5>=array<f32,5>(\n1.092548430,\n-1.09254843,\n0.315391565,\n-1.09254843,\n0.546274215\n);var SH_C3: array<f32,7>=array<f32,7>(\n-0.59004358,\n2.890611442,\n-0.45704579,\n0.373176332,\n-0.45704579,\n1.445305721,\n-0.59004358\n);var result: vec3f=/*SH_C0**/sh[0];\n#if SH_DEGREE>0\nlet x: f32=dir.x;let y: f32=dir.y;let z: f32=dir.z;result+=-SH_C1*y*sh[1]+SH_C1*z*sh[2]-SH_C1*x*sh[3];\n#if SH_DEGREE>1\nlet xx: f32=x*x;let yy: f32=y*y;let zz: f32=z*z;let xy: f32=x*y;let yz: f32=y*z;let xz: f32=x*z;result+=\nSH_C2[0]*xy*sh[4] +\nSH_C2[1]*yz*sh[5] +\nSH_C2[2]*(2.0f*zz-xx-yy)*sh[6] +\nSH_C2[3]*xz*sh[7] +\nSH_C2[4]*(xx-yy)*sh[8];\n#if SH_DEGREE>2\nresult+=\nSH_C3[0]*y*(3.0f*xx-yy)*sh[9] +\nSH_C3[1]*xy*z*sh[10] +\nSH_C3[2]*y*(4.0f*zz-xx-yy)*sh[11] +\nSH_C3[3]*z*(2.0f*zz-3.0f*xx-3.0f*yy)*sh[12] +\nSH_C3[4]*x*(4.0f*zz-xx-yy)*sh[13] +\nSH_C3[5]*z*(xx-yy)*sh[14] +\nSH_C3[6]*x*(xx-3.0f*yy)*sh[15];\n#endif\n#endif\n#endif\nreturn result;}\nfn decompose(value: u32)->vec4f\n{let components : vec4f=vec4f(\nf32((value ) & 255u),\nf32((value>>u32( 8)) & 255u),\nf32((value>>u32(16)) & 255u),\nf32((value>>u32(24)) & 255u));return components*vec4f(2./255.)-vec4f(1.);}\nfn computeSH(splat: Splat,dir: vec3f)->vec3f\n{var sh: array<vec3<f32>,16>;sh[0]=vec3f(0.,0.,0.);\n#if SH_DEGREE>0\nlet sh00: vec4f=decompose(splat.sh0.x);let sh01: vec4f=decompose(splat.sh0.y);let sh02: vec4f=decompose(splat.sh0.z);sh[1]=vec3f(sh00.x,sh00.y,sh00.z);sh[2]=vec3f(sh00.w,sh01.x,sh01.y);sh[3]=vec3f(sh01.z,sh01.w,sh02.x);\n#endif\n#if SH_DEGREE>1\nlet sh03: vec4f=decompose(splat.sh0.w);let sh04: vec4f=decompose(splat.sh1.x);let sh05: vec4f=decompose(splat.sh1.y);sh[4]=vec3f(sh02.y,sh02.z,sh02.w);sh[5]=vec3f(sh03.x,sh03.y,sh03.z);sh[6]=vec3f(sh03.w,sh04.x,sh04.y);sh[7]=vec3f(sh04.z,sh04.w,sh05.x);sh[8]=vec3f(sh05.y,sh05.z,sh05.w);\n#endif\n#if SH_DEGREE>2\nlet sh06: vec4f=decompose(splat.sh1.z);let sh07: vec4f=decompose(splat.sh1.w);let sh08: vec4f=decompose(splat.sh2.x);let sh09: vec4f=decompose(splat.sh2.y);let sh10: vec4f=decompose(splat.sh2.z);let sh11: vec4f=decompose(splat.sh2.w);sh[9]=vec3f(sh06.x,sh06.y,sh06.z);sh[10]=vec3f(sh06.w,sh07.x,sh07.y);sh[11]=vec3f(sh07.z,sh07.w,sh08.x);sh[12]=vec3f(sh08.y,sh08.z,sh08.w);sh[13]=vec3f(sh09.x,sh09.y,sh09.z);sh[14]=vec3f(sh09.w,sh10.x,sh10.y);sh[15]=vec3f(sh10.z,sh10.w,sh11.x); \n#endif\nreturn computeColorFromSHDegree(dir,sh);}\nfn gaussianSplatting(\nmeshPos: vec2<f32>,\nworldPos: vec3<f32>,\nscale: vec2<f32>,\ncovA: vec3<f32>,\ncovB: vec3<f32>,\nworldMatrix: mat4x4<f32>,\nviewMatrix: mat4x4<f32>,\nprojectionMatrix: mat4x4<f32>,\nfocal: vec2f,\ninvViewport: vec2f,\nkernelSize: f32\n)->vec4f {let modelView=viewMatrix*worldMatrix;let camspace=viewMatrix*vec4f(worldPos,1.0);let pos2d=projectionMatrix*camspace;let bounds=1.2*pos2d.w;if (pos2d.z<0. || pos2d.x<-bounds || pos2d.x>bounds || pos2d.y<-bounds || pos2d.y>bounds) {return vec4f(0.0,0.0,2.0,1.0);}\nlet Vrk=mat3x3<f32>(\ncovA.x,covA.y,covA.z,\ncovA.y,covB.x,covB.y,\ncovA.z,covB.y,covB.z\n);let isOrtho=abs(projectionMatrix[3][3]-1.0)<0.001;var J: mat3x3<f32>;if (isOrtho) {J=mat3x3<f32>(\nfocal.x,0.0,0.0,\n0.0,focal.y,0.0,\n0.0,0.0,0.0\n);} else {J=mat3x3<f32>(\nfocal.x/camspace.z,0.0,-(focal.x*camspace.x)/(camspace.z*camspace.z),\n0.0,focal.y/camspace.z,-(focal.y*camspace.y)/(camspace.z*camspace.z),\n0.0,0.0,0.0\n);}\nlet T=transpose(mat3x3<f32>(\nmodelView[0].xyz,\nmodelView[1].xyz,\nmodelView[2].xyz))*J;var cov2d=transpose(T)*Vrk*T;\n#if COMPENSATION\nlet c00: f32=cov2d[0][0];let c11: f32=cov2d[1][1];let c01: f32=cov2d[0][1];let detOrig: f32=c00*c11-c01*c01;\n#endif\ncov2d[0][0]+=kernelSize;cov2d[1][1]+=kernelSize;\n#if COMPENSATION\nlet c2d: vec3f=vec3f(cov2d[0][0],c01,cov2d[1][1]);let detBlur: f32=c2d.x*c2d.z-c2d.y*c2d.y;let compensation: f32=sqrt(max(0.,detOrig/detBlur));vertexOutputs.vColor.w*=compensation;\n#endif\nlet mid=(cov2d[0][0]+cov2d[1][1])/2.0;let radius=length(vec2<f32>((cov2d[0][0]-cov2d[1][1])/2.0,cov2d[0][1]));let lambda1=mid+radius;let lambda2=mid-radius;if (lambda2<0.0) {return vec4f(0.0,0.0,2.0,1.0);}\nlet diagonalVector=normalize(vec2<f32>(cov2d[0][1],lambda1-cov2d[0][0]));let majorAxis=min(sqrt(2.0*lambda1),1024.0)*diagonalVector;let minorAxis=min(sqrt(2.0*lambda2),1024.0)*vec2<f32>(diagonalVector.y,-diagonalVector.x);let vCenter=vec2<f32>(pos2d.x,pos2d.y);let scaleFactor=select(pos2d.w,1.0,isOrtho);return vec4f(\nvCenter+((meshPos.x*majorAxis+meshPos.y*minorAxis)*invViewport*scaleFactor)*scale,\npos2d.z,\npos2d.w\n);}\n#if IS_COMPOUND\nfn getPartWorld(partIndex: u32)->mat4x4<f32> {return uniforms.partWorld[partIndex];}\n#endif\n`;\n// Sideeffect\nif (!ShaderStore.IncludesShadersStoreWGSL[name]) {\n    ShaderStore.IncludesShadersStoreWGSL[name] = shader;\n}\n/** @internal */\nexport const gaussianSplattingWGSL = { name, shader };\n"]}