@babylonjs/lite 1.1.0 → 1.3.0

package/{havok-floating-origin-VVdJRUYc.js.map → havok-floating-origin-CQ7yE-XD.js.map}

@@ -1 +1 @@
-{"version":3,"file":"havok-floating-origin-VVdJRUYc.js","sources":["../src/physics/havok-floating-origin.ts"],"sourcesContent":["/**\n * Havok multi-region floating origin (Large World Rendering).\n *\n * This module is **dynamic-imported only when the engine has `useFloatingOrigin: true`**\n * (from `createHavokWorld`), so non-floating-origin physics scenes never pull this code into\n * their bundle.\n *\n * Under floating origin, bodies far apart in world space are simulated in separate regions —\n * each a native Havok world with a fixed `origin`. Bodies are stored in region-local coordinates\n * (`worldPos - origin`, near zero), so the float32 Havok solver keeps full precision at large\n * world coordinates. Node transforms remain true world coordinates; the eye-relative render path\n * is handled independently.\n *\n * Mirrors Babylon.js's `scene.floatingOriginMode` + Havok plugin `floatingOriginWorldRadius`.\n */\n\nimport type { Vec3 } from \"../math/types.js\";\nimport type { PhysicsBody, PhysicsWorld } from \"./havok.js\";\nimport { PhysicsMotionType } from \"./havok.js\";\n\n/**\n * A simulation region: a native Havok world whose bodies are simulated relative to a fixed\n * `origin`. `_regions[0]` is the default region (origin at the world origin).\n */\nexport interface WorldRegion {\n    /** @internal */ _world: any;\n    /** Floating origin (world-space centre) this region's bodies are stored relative to. */\n    origin: Vec3;\n    /** This region's gravity vector `[x, y, z]`. */\n    gravity: number[];\n}\n\n/**\n * Floating-origin runtime stored on `PhysicsWorld._fo` (present only when floating origin is on).\n * Holds region state plus the standalone hooks the core physics module calls in place of its\n * single-world fast path.\n */\nexport interface HavokFloatingOriginContext {\n    /** All simulation regions; `regions[0]` is the default (origin-centred) region. */\n    regions: WorldRegion[];\n    /** Region capture radius (metres). */\n    radius: number;\n    /** Most recently set world-wide gravity `[x, y, z]`; seeds newly created regions. */\n    gravity: number[];\n    placeBody(world: PhysicsWorld, body: PhysicsBody, startsAsleep: boolean): void;\n    step(world: PhysicsWorld): void;\n    setGravity(world: PhysicsWorld, gravity: number[], worldPosition?: Vec3): void;\n    getRegionGravity(world: PhysicsWorld, worldPosition: Vec3): number[];\n    setVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void;\n    dispose(world: PhysicsWorld): void;\n}\n\n/**\n * Builds the floating-origin context, seeding it with the world's default region (the native world\n * already created by `createHavokWorld`, centred at the origin).\n */\nexport function createHavokFloatingOriginContext(hkWorld: any, gravity: number[], radius: number): HavokFloatingOriginContext {\n    return {\n        regions: [{ _world: hkWorld, origin: { x: 0, y: 0, z: 0 }, gravity: [...gravity] }],\n        radius,\n        gravity: [...gravity],\n        placeBody: _placeBody,\n        step: _step,\n        setGravity: _setGravity,\n        getRegionGravity: _getRegionGravity,\n        setVelocityLimits: _setVelocityLimits,\n        dispose: _dispose,\n    };\n}\n\n// ─── Region lookup / creation ────────────────────────────────────────\n\n/** Returns the region whose origin is within the capture radius of `pos`, or null. */\nfunction _findRegion(fo: HavokFloatingOriginContext, pos: Vec3): WorldRegion | null {\n    const r2 = fo.radius * fo.radius;\n    for (const region of fo.regions) {\n        const dx = pos.x - region.origin.x;\n        const dy = pos.y - region.origin.y;\n        const dz = pos.z - region.origin.z;\n        if (dx * dx + dy * dy + dz * dz <= r2) {\n            return region;\n        }\n    }\n    return null;\n}\n\n/** Returns an existing region containing `pos`, or creates a new one centred at `pos`. */\nfunction _getOrCreateRegion(world: PhysicsWorld, pos: Vec3): WorldRegion {\n    const fo = world._fo!;\n    const found = _findRegion(fo, pos);\n    if (found) {\n        return found;\n    }\n    const hknp = world._hknp;\n    const newWorld = hknp.HP_World_Create()[1];\n    hknp.HP_World_SetGravity(newWorld, fo.gravity);\n    const limits = hknp.HP_World_GetSpeedLimit(world._hkWorld);\n    hknp.HP_World_SetSpeedLimit(newWorld, limits[1], limits[2]);\n    const region: WorldRegion = {\n        _world: newWorld,\n        origin: { x: pos.x, y: pos.y, z: pos.z },\n        gravity: [...fo.gravity],\n    };\n    fo.regions.push(region);\n    return region;\n}\n\n// ─── Hooks ───────────────────────────────────────────────────────────\n\nfunction _placeBody(world: PhysicsWorld, body: PhysicsBody, startsAsleep: boolean): void {\n    const hknp = world._hknp;\n    const node = body.node;\n    const region = _getOrCreateRegion(world, node.position);\n    hknp.HP_World_AddBody(region._world, body._hkBody, startsAsleep);\n    const p = node.position;\n    const q = node.rotationQuaternion;\n    const o = region.origin;\n    hknp.HP_Body_SetQTransform(body._hkBody, [\n        [p.x - o.x, p.y - o.y, p.z - o.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n    body._region = region;\n}\n\nfunction _step(world: PhysicsWorld): void {\n    const hknp = world._hknp;\n    const bodies = world._bodies;\n    const regions = world._fo!.regions;\n\n    // Re-region bodies that drifted out of their region BEFORE stepping.\n    for (let i = 0; i < bodies.length; i++) {\n        _reRegionBody(world, bodies[i]!);\n    }\n\n    // Pre-step: sync ANIMATED bodies from node → Havok.\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b.motionType === (PhysicsMotionType.ANIMATED as number)) {\n            _syncNodeToBody(hknp, b);\n        }\n    }\n\n    // Step every region world.\n    for (let i = 0; i < regions.length; i++) {\n        hknp.HP_World_Step(regions[i]!._world, world._timestep);\n    }\n\n    // Post-step: sync DYNAMIC bodies from Havok → node.\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b.motionType === (PhysicsMotionType.DYNAMIC as number)) {\n            _syncBodyToNode(hknp, b);\n        }\n    }\n\n    // Reclaim regions emptied by migration.\n    _gcRegions(world);\n}\n\nfunction _setGravity(world: PhysicsWorld, gravity: number[], worldPosition?: Vec3): void {\n    const fo = world._fo!;\n    const hknp = world._hknp;\n    if (worldPosition) {\n        const region = _getOrCreateRegion(world, worldPosition);\n        region.gravity = gravity;\n        hknp.HP_World_SetGravity(region._world, gravity);\n        return;\n    }\n    fo.gravity = gravity;\n    for (const region of fo.regions) {\n        region.gravity = gravity;\n        hknp.HP_World_SetGravity(region._world, gravity);\n    }\n}\n\nfunction _getRegionGravity(world: PhysicsWorld, worldPosition: Vec3): number[] {\n    return _getOrCreateRegion(world, worldPosition).gravity;\n}\n\nfunction _setVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void {\n    for (const region of world._fo!.regions) {\n        world._hknp.HP_World_SetSpeedLimit(region._world, maxLinear, maxAngular);\n    }\n}\n\nfunction _dispose(world: PhysicsWorld): void {\n    const hknp = world._hknp;\n    const bodies = world._bodies;\n    for (let i = bodies.length - 1; i >= 0; i--) {\n        const b = bodies[i]!;\n        hknp.HP_World_RemoveBody(b._region!._world, b._hkBody);\n        hknp.HP_Body_Release(b._hkBody);\n    }\n    bodies.length = 0;\n    const regions = world._fo!.regions;\n    for (const region of regions) {\n        hknp.HP_World_Release(region._world);\n    }\n    regions.length = 0;\n}\n\n// ─── Migration & sync ────────────────────────────────────────────────\n\n/**\n * Moves a body to the correct region if it has drifted past `radius * 1.2` (hysteresis) from its\n * current region's origin, preserving linear and angular velocity. Uses a one-second velocity\n * look-ahead to prefer joining an existing target region over spawning a throwaway one.\n */\nfunction _reRegionBody(world: PhysicsWorld, body: PhysicsBody): void {\n    const hknp = world._hknp;\n    const fo = world._fo!;\n    const current = body._region!;\n\n    const t = hknp.HP_Body_GetQTransform(body._hkBody)[1];\n    const localPos = t[0];\n    const orientation = t[1];\n\n    // Distance from region origin == magnitude of the local position.\n    const margin = fo.radius * 1.2;\n    if (localPos[0] * localPos[0] + localPos[1] * localPos[1] + localPos[2] * localPos[2] <= margin * margin) {\n        return;\n    }\n\n    const wx = localPos[0] + current.origin.x;\n    const wy = localPos[1] + current.origin.y;\n    const wz = localPos[2] + current.origin.z;\n\n    const linVel = hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n    const angVel = hknp.HP_Body_GetAngularVelocity(body._hkBody)[1];\n\n    const worldPos: Vec3 = { x: wx, y: wy, z: wz };\n    const lookAhead: Vec3 = { x: wx + linVel[0], y: wy + linVel[1], z: wz + linVel[2] };\n\n    let next = _findRegion(fo, lookAhead);\n    if (!next || next === current) {\n        next = _findRegion(fo, worldPos);\n    }\n    if (!next || next === current) {\n        next = _getOrCreateRegion(world, worldPos);\n    }\n    if (next === current) {\n        return;\n    }\n\n    hknp.HP_World_RemoveBody(current._world, body._hkBody);\n    const o = next.origin;\n    hknp.HP_Body_SetQTransform(body._hkBody, [[wx - o.x, wy - o.y, wz - o.z], orientation]);\n    hknp.HP_World_AddBody(next._world, body._hkBody, false);\n    hknp.HP_Body_SetLinearVelocity(body._hkBody, linVel);\n    hknp.HP_Body_SetAngularVelocity(body._hkBody, angVel);\n    body._region = next;\n}\n\n/** Releases any non-default region that no longer holds any bodies. */\nfunction _gcRegions(world: PhysicsWorld): void {\n    const regions = world._fo!.regions;\n    if (regions.length <= 1) {\n        return;\n    }\n    const hknp = world._hknp;\n    const used = new Set<WorldRegion>();\n    for (let i = 0; i < world._bodies.length; i++) {\n        used.add(world._bodies[i]!._region!);\n    }\n    for (let i = regions.length - 1; i >= 1; i--) {\n        const region = regions[i]!;\n        if (!used.has(region)) {\n            hknp.HP_World_Release(region._world);\n            regions.splice(i, 1);\n        }\n    }\n}\n\nfunction _syncBodyToNode(hknp: any, body: PhysicsBody): void {\n    const t = hknp.HP_Body_GetQTransform(body._hkBody)[1];\n    const pos = t[0]; // [x, y, z] in region-local space\n    const rot = t[1]; // [x, y, z, w]\n    const o = body._region!.origin;\n    const node = body.node;\n    node.position.set(pos[0] + o.x, pos[1] + o.y, pos[2] + o.z);\n    node.rotationQuaternion.set(rot[0], rot[1], rot[2], rot[3]);\n}\n\nfunction _syncNodeToBody(hknp: any, body: PhysicsBody): void {\n    const node = body.node;\n    const p = node.position;\n    const q = node.rotationQuaternion;\n    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]);\n}\n"],"names":[],"mappings":";AAwDO,SAAS,iCAAiC,SAAc,SAAmB,QAA4C;AAC1H,SAAO;AAAA,IACH,SAAS,CAAC,EAAE,QAAQ,SAAS,QAAQ,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,KAAK,SAAS,CAAC,GAAG,OAAO,GAAG;AAAA,IAClF;AAAA,IACA,SAAS,CAAC,GAAG,OAAO;AAAA,IACpB,WAAW;AAAA,IACX,MAAM;AAAA,IACN,YAAY;AAAA,IACZ,kBAAkB;AAAA,IAClB,mBAAmB;AAAA,IACnB,SAAS;AAAA,EAAA;AAEjB;AAKA,SAAS,YAAY,IAAgC,KAA+B;AAChF,QAAM,KAAK,GAAG,SAAS,GAAG;AAC1B,aAAW,UAAU,GAAG,SAAS;AAC7B,UAAM,KAAK,IAAI,IAAI,OAAO,OAAO;AACjC,UAAM,KAAK,IAAI,IAAI,OAAO,OAAO;AACjC,UAAM,KAAK,IAAI,IAAI,OAAO,OAAO;AACjC,QAAI,KAAK,KAAK,KAAK,KAAK,KAAK,MAAM,IAAI;AACnC,aAAO;AAAA,IACX;AAAA,EACJ;AACA,SAAO;AACX;AAGA,SAAS,mBAAmB,OAAqB,KAAwB;AACrE,QAAM,KAAK,MAAM;AACjB,QAAM,QAAQ,YAAY,IAAI,GAAG;AACjC,MAAI,OAAO;AACP,WAAO;AAAA,EACX;AACA,QAAM,OAAO,MAAM;AACnB,QAAM,WAAW,KAAK,gBAAA,EAAkB,CAAC;AACzC,OAAK,oBAAoB,UAAU,GAAG,OAAO;AAC7C,QAAM,SAAS,KAAK,uBAAuB,MAAM,QAAQ;AACzD,OAAK,uBAAuB,UAAU,OAAO,CAAC,GAAG,OAAO,CAAC,CAAC;AAC1D,QAAM,SAAsB;AAAA,IACxB,QAAQ;AAAA,IACR,QAAQ,EAAE,GAAG,IAAI,GAAG,GAAG,IAAI,GAAG,GAAG,IAAI,EAAA;AAAA,IACrC,SAAS,CAAC,GAAG,GAAG,OAAO;AAAA,EAAA;AAE3B,KAAG,QAAQ,KAAK,MAAM;AACtB,SAAO;AACX;AAIA,SAAS,WAAW,OAAqB,MAAmB,cAA6B;AACrF,QAAM,OAAO,MAAM;AACnB,QAAM,OAAO,KAAK;AAClB,QAAM,SAAS,mBAAmB,OAAO,KAAK,QAAQ;AACtD,OAAK,iBAAiB,OAAO,QAAQ,KAAK,SAAS,YAAY;AAC/D,QAAM,IAAI,KAAK;AACf,QAAM,IAAI,KAAK;AACf,QAAM,IAAI,OAAO;AACjB,OAAK,sBAAsB,KAAK,SAAS;AAAA,IACrC,CAAC,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;AAAA,IAChC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;AAAA,EAAA,CACtB;AACD,OAAK,UAAU;AACnB;AAEA,SAAS,MAAM,OAA2B;AACtC,QAAM,OAAO,MAAM;AACnB,QAAM,SAAS,MAAM;AACrB,QAAM,UAAU,MAAM,IAAK;AAG3B,WAAS,IAAI,GAAG,IAAI,OAAO,QAAQ,KAAK;AACpC,kBAAc,OAAO,OAAO,CAAC,CAAE;AAAA,EACnC;AAGA,WAAS,IAAI,GAAG,IAAI,OAAO,QAAQ,KAAK;AACpC,UAAM,IAAI,OAAO,CAAC;AAClB,QAAI,EAAE,eAAgB,kBAAkB,UAAqB;AACzD,sBAAgB,MAAM,CAAC;AAAA,IAC3B;AAAA,EACJ;AAGA,WAAS,IAAI,GAAG,IAAI,QAAQ,QAAQ,KAAK;AACrC,SAAK,cAAc,QAAQ,CAAC,EAAG,QAAQ,MAAM,SAAS;AAAA,EAC1D;AAGA,WAAS,IAAI,GAAG,IAAI,OAAO,QAAQ,KAAK;AACpC,UAAM,IAAI,OAAO,CAAC;AAClB,QAAI,EAAE,eAAgB,kBAAkB,SAAoB;AACxD,sBAAgB,MAAM,CAAC;AAAA,IAC3B;AAAA,EACJ;AAGA,aAAW,KAAK;AACpB;AAEA,SAAS,YAAY,OAAqB,SAAmB,eAA4B;AACrF,QAAM,KAAK,MAAM;AACjB,QAAM,OAAO,MAAM;AACnB,MAAI,eAAe;AACf,UAAM,SAAS,mBAAmB,OAAO,aAAa;AACtD,WAAO,UAAU;AACjB,SAAK,oBAAoB,OAAO,QAAQ,OAAO;AAC/C;AAAA,EACJ;AACA,KAAG,UAAU;AACb,aAAW,UAAU,GAAG,SAAS;AAC7B,WAAO,UAAU;AACjB,SAAK,oBAAoB,OAAO,QAAQ,OAAO;AAAA,EACnD;AACJ;AAEA,SAAS,kBAAkB,OAAqB,eAA+B;AAC3E,SAAO,mBAAmB,OAAO,aAAa,EAAE;AACpD;AAEA,SAAS,mBAAmB,OAAqB,WAAmB,YAA0B;AAC1F,aAAW,UAAU,MAAM,IAAK,SAAS;AACrC,UAAM,MAAM,uBAAuB,OAAO,QAAQ,WAAW,UAAU;AAAA,EAC3E;AACJ;AAEA,SAAS,SAAS,OAA2B;AACzC,QAAM,OAAO,MAAM;AACnB,QAAM,SAAS,MAAM;AACrB,WAAS,IAAI,OAAO,SAAS,GAAG,KAAK,GAAG,KAAK;AACzC,UAAM,IAAI,OAAO,CAAC;AAClB,SAAK,oBAAoB,EAAE,QAAS,QAAQ,EAAE,OAAO;AACrD,SAAK,gBAAgB,EAAE,OAAO;AAAA,EAClC;AACA,SAAO,SAAS;AAChB,QAAM,UAAU,MAAM,IAAK;AAC3B,aAAW,UAAU,SAAS;AAC1B,SAAK,iBAAiB,OAAO,MAAM;AAAA,EACvC;AACA,UAAQ,SAAS;AACrB;AASA,SAAS,cAAc,OAAqB,MAAyB;AACjE,QAAM,OAAO,MAAM;AACnB,QAAM,KAAK,MAAM;AACjB,QAAM,UAAU,KAAK;AAErB,QAAM,IAAI,KAAK,sBAAsB,KAAK,OAAO,EAAE,CAAC;AACpD,QAAM,WAAW,EAAE,CAAC;AACpB,QAAM,cAAc,EAAE,CAAC;AAGvB,QAAM,SAAS,GAAG,SAAS;AAC3B,MAAI,SAAS,CAAC,IAAI,SAAS,CAAC,IAAI,SAAS,CAAC,IAAI,SAAS,CAAC,IAAI,SAAS,CAAC,IAAI,SAAS,CAAC,KAAK,SAAS,QAAQ;AACtG;AAAA,EACJ;AAEA,QAAM,KAAK,SAAS,CAAC,IAAI,QAAQ,OAAO;AACxC,QAAM,KAAK,SAAS,CAAC,IAAI,QAAQ,OAAO;AACxC,QAAM,KAAK,SAAS,CAAC,IAAI,QAAQ,OAAO;AAExC,QAAM,SAAS,KAAK,0BAA0B,KAAK,OAAO,EAAE,CAAC;AAC7D,QAAM,SAAS,KAAK,2BAA2B,KAAK,OAAO,EAAE,CAAC;AAE9D,QAAM,WAAiB,EAAE,GAAG,IAAI,GAAG,IAAI,GAAG,GAAA;AAC1C,QAAM,YAAkB,EAAE,GAAG,KAAK,OAAO,CAAC,GAAG,GAAG,KAAK,OAAO,CAAC,GAAG,GAAG,KAAK,OAAO,CAAC,EAAA;AAEhF,MAAI,OAAO,YAAY,IAAI,SAAS;AACpC,MAAI,CAAC,QAAQ,SAAS,SAAS;AAC3B,WAAO,YAAY,IAAI,QAAQ;AAAA,EACnC;AACA,MAAI,CAAC,QAAQ,SAAS,SAAS;AAC3B,WAAO,mBAAmB,OAAO,QAAQ;AAAA,EAC7C;AACA,MAAI,SAAS,SAAS;AAClB;AAAA,EACJ;AAEA,OAAK,oBAAoB,QAAQ,QAAQ,KAAK,OAAO;AACrD,QAAM,IAAI,KAAK;AACf,OAAK,sBAAsB,KAAK,SAAS,CAAC,CAAC,KAAK,EAAE,GAAG,KAAK,EAAE,GAAG,KAAK,EAAE,CAAC,GAAG,WAAW,CAAC;AACtF,OAAK,iBAAiB,KAAK,QAAQ,KAAK,SAAS,KAAK;AACtD,OAAK,0BAA0B,KAAK,SAAS,MAAM;AACnD,OAAK,2BAA2B,KAAK,SAAS,MAAM;AACpD,OAAK,UAAU;AACnB;AAGA,SAAS,WAAW,OAA2B;AAC3C,QAAM,UAAU,MAAM,IAAK;AAC3B,MAAI,QAAQ,UAAU,GAAG;AACrB;AAAA,EACJ;AACA,QAAM,OAAO,MAAM;AACnB,QAAM,2BAAW,IAAA;AACjB,WAAS,IAAI,GAAG,IAAI,MAAM,QAAQ,QAAQ,KAAK;AAC3C,SAAK,IAAI,MAAM,QAAQ,CAAC,EAAG,OAAQ;AAAA,EACvC;AACA,WAAS,IAAI,QAAQ,SAAS,GAAG,KAAK,GAAG,KAAK;AAC1C,UAAM,SAAS,QAAQ,CAAC;AACxB,QAAI,CAAC,KAAK,IAAI,MAAM,GAAG;AACnB,WAAK,iBAAiB,OAAO,MAAM;AACnC,cAAQ,OAAO,GAAG,CAAC;AAAA,IACvB;AAAA,EACJ;AACJ;AAEA,SAAS,gBAAgB,MAAW,MAAyB;AACzD,QAAM,IAAI,KAAK,sBAAsB,KAAK,OAAO,EAAE,CAAC;AACpD,QAAM,MAAM,EAAE,CAAC;AACf,QAAM,MAAM,EAAE,CAAC;AACf,QAAM,IAAI,KAAK,QAAS;AACxB,QAAM,OAAO,KAAK;AAClB,OAAK,SAAS,IAAI,IAAI,CAAC,IAAI,EAAE,GAAG,IAAI,CAAC,IAAI,EAAE,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC;AAC1D,OAAK,mBAAmB,IAAI,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,CAAC;AAC9D;AAEA,SAAS,gBAAgB,MAAW,MAAyB;AACzD,QAAM,OAAO,KAAK;AAClB,QAAM,IAAI,KAAK;AACf,QAAM,IAAI,KAAK;AACf,QAAM,IA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+{"version":3,"file":"havok-floating-origin-CQ7yE-XD.js","sources":["../src/physics/havok-floating-origin.ts"],"sourcesContent":["/**\n * Havok multi-region floating origin (Large World Rendering).\n *\n * This module is **dynamic-imported only when the engine has `useFloatingOrigin: true`**\n * (from `createHavokWorld`), so non-floating-origin physics scenes never pull this code into\n * their bundle.\n *\n * Under floating origin, bodies far apart in world space are simulated in separate regions —\n * each a native Havok world with a fixed `origin`. Bodies are stored in region-local coordinates\n * (`worldPos - origin`, near zero), so the float32 Havok solver keeps full precision at large\n * world coordinates. Node transforms remain true world coordinates; the eye-relative render path\n * is handled independently.\n *\n * Mirrors Babylon.js's `scene.floatingOriginMode` + Havok plugin `floatingOriginWorldRadius`.\n */\n\nimport type { Vec3 } from \"../math/types.js\";\nimport type { PhysicsBody, PhysicsWorld } from \"./havok.js\";\nimport { PhysicsMotionType } from \"./havok.js\";\n\n/**\n * A simulation region: a native Havok world whose bodies are simulated relative to a fixed\n * `origin`. `_regions[0]` is the default region (origin at the world origin).\n */\nexport interface WorldRegion {\n    /** @internal */ _world: any;\n    /** Floating origin (world-space centre) this region's bodies are stored relative to. */\n    origin: Vec3;\n    /** This region's gravity vector `[x, y, z]`. */\n    gravity: number[];\n}\n\n/**\n * Floating-origin runtime stored on `PhysicsWorld._fo` (present only when floating origin is on).\n * Holds region state plus the standalone hooks the core physics module calls in place of its\n * single-world fast path.\n */\nexport interface HavokFloatingOriginContext {\n    /** All simulation regions; `regions[0]` is the default (origin-centred) region. */\n    regions: WorldRegion[];\n    /** Region capture radius (metres). */\n    radius: number;\n    /** Most recently set world-wide gravity `[x, y, z]`; seeds newly created regions. */\n    gravity: number[];\n    placeBody(world: PhysicsWorld, body: PhysicsBody, startsAsleep: boolean): void;\n    step(world: PhysicsWorld): void;\n    setGravity(world: PhysicsWorld, gravity: number[], worldPosition?: Vec3): void;\n    getRegionGravity(world: PhysicsWorld, worldPosition: Vec3): number[];\n    setVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void;\n    dispose(world: PhysicsWorld): void;\n}\n\n/**\n * Builds the floating-origin context, seeding it with the world's default region (the native world\n * already created by `createHavokWorld`, centred at the origin).\n */\nexport function createHavokFloatingOriginContext(hkWorld: any, gravity: number[], radius: number): HavokFloatingOriginContext {\n    return {\n        regions: [{ _world: hkWorld, origin: { x: 0, y: 0, z: 0 }, gravity: [...gravity] }],\n        radius,\n        gravity: [...gravity],\n        placeBody: _placeBody,\n        step: _step,\n        setGravity: _setGravity,\n        getRegionGravity: _getRegionGravity,\n        setVelocityLimits: _setVelocityLimits,\n        dispose: _dispose,\n    };\n}\n\n// ─── Region lookup / creation ────────────────────────────────────────\n\n/** Returns the region whose origin is within the capture radius of `pos`, or null. */\nfunction _findRegion(fo: HavokFloatingOriginContext, pos: Vec3): WorldRegion | null {\n    const r2 = fo.radius * fo.radius;\n    for (const region of fo.regions) {\n        const dx = pos.x - region.origin.x;\n        const dy = pos.y - region.origin.y;\n        const dz = pos.z - region.origin.z;\n        if (dx * dx + dy * dy + dz * dz <= r2) {\n            return region;\n        }\n    }\n    return null;\n}\n\n/** Returns an existing region containing `pos`, or creates a new one centred at `pos`. */\nfunction _getOrCreateRegion(world: PhysicsWorld, pos: Vec3): WorldRegion {\n    const fo = world._fo!;\n    const found = _findRegion(fo, pos);\n    if (found) {\n        return found;\n    }\n    const hknp = world._hknp;\n    const newWorld = hknp.HP_World_Create()[1];\n    hknp.HP_World_SetGravity(newWorld, fo.gravity);\n    const limits = hknp.HP_World_GetSpeedLimit(world._hkWorld);\n    hknp.HP_World_SetSpeedLimit(newWorld, limits[1], limits[2]);\n    const region: WorldRegion = {\n        _world: newWorld,\n        origin: { x: pos.x, y: pos.y, z: pos.z },\n        gravity: [...fo.gravity],\n    };\n    fo.regions.push(region);\n    return region;\n}\n\n// ─── Hooks ───────────────────────────────────────────────────────────\n\nfunction _placeBody(world: PhysicsWorld, body: PhysicsBody, startsAsleep: boolean): void {\n    const hknp = world._hknp;\n    const node = body.node;\n    const region = _getOrCreateRegion(world, node.position);\n    hknp.HP_World_AddBody(region._world, body._hkBody, startsAsleep);\n    const p = node.position;\n    const q = node.rotationQuaternion;\n    const o = region.origin;\n    hknp.HP_Body_SetQTransform(body._hkBody, [\n        [p.x - o.x, p.y - o.y, p.z - o.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n    body._region = region;\n}\n\nfunction _step(world: PhysicsWorld): void {\n    const hknp = world._hknp;\n    const bodies = world._bodies;\n    const regions = world._fo!.regions;\n\n    // Re-region bodies that drifted out of their region BEFORE stepping.\n    for (let i = 0; i < bodies.length; i++) {\n        _reRegionBody(world, bodies[i]!);\n    }\n\n    // Pre-step: sync ANIMATED bodies from node → Havok.\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b.motionType === (PhysicsMotionType.ANIMATED as number)) {\n            _syncNodeToBody(hknp, b);\n        }\n    }\n\n    // Step every region world.\n    for (let i = 0; i < regions.length; i++) {\n        hknp.HP_World_Step(regions[i]!._world, world._timestep);\n    }\n\n    // Post-step: sync DYNAMIC bodies from Havok → node.\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b.motionType === (PhysicsMotionType.DYNAMIC as number)) {\n            _syncBodyToNode(hknp, b);\n        }\n    }\n\n    // Reclaim regions emptied by migration.\n    _gcRegions(world);\n}\n\nfunction _setGravity(world: PhysicsWorld, gravity: number[], worldPosition?: Vec3): void {\n    const fo = world._fo!;\n    const hknp = world._hknp;\n    if (worldPosition) {\n        const region = _getOrCreateRegion(world, worldPosition);\n        region.gravity = gravity;\n        hknp.HP_World_SetGravity(region._world, gravity);\n        return;\n    }\n    fo.gravity = gravity;\n    for (const region of fo.regions) {\n        region.gravity = gravity;\n        hknp.HP_World_SetGravity(region._world, gravity);\n    }\n}\n\nfunction _getRegionGravity(world: PhysicsWorld, worldPosition: Vec3): number[] {\n    return _getOrCreateRegion(world, worldPosition).gravity;\n}\n\nfunction _setVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void {\n    for (const region of world._fo!.regions) {\n        world._hknp.HP_World_SetSpeedLimit(region._world, maxLinear, maxAngular);\n    }\n}\n\nfunction _dispose(world: PhysicsWorld): void {\n    const hknp = world._hknp;\n    const bodies = world._bodies;\n    for (let i = bodies.length - 1; i >= 0; i--) {\n        const b = bodies[i]!;\n        hknp.HP_World_RemoveBody(b._region!._world, b._hkBody);\n        hknp.HP_Body_Release(b._hkBody);\n    }\n    bodies.length = 0;\n    const regions = world._fo!.regions;\n    for (const region of regions) {\n        hknp.HP_World_Release(region._world);\n    }\n    regions.length = 0;\n}\n\n// ─── Migration & sync ────────────────────────────────────────────────\n\n/**\n * Moves a body to the correct region if it has drifted past `radius * 1.2` (hysteresis) from its\n * current region's origin, preserving linear and angular velocity. Uses a one-second velocity\n * look-ahead to prefer joining an existing target region over spawning a throwaway one.\n */\nfunction _reRegionBody(world: PhysicsWorld, body: PhysicsBody): void {\n    const hknp = world._hknp;\n    const fo = world._fo!;\n    const current = body._region!;\n\n    const t = hknp.HP_Body_GetQTransform(body._hkBody)[1];\n    const localPos = t[0];\n    const orientation = t[1];\n\n    // Distance from region origin == magnitude of the local position.\n    const margin = fo.radius * 1.2;\n    if (localPos[0] * localPos[0] + localPos[1] * localPos[1] + localPos[2] * localPos[2] <= margin * margin) {\n        return;\n    }\n\n    const wx = localPos[0] + current.origin.x;\n    const wy = localPos[1] + current.origin.y;\n    const wz = localPos[2] + current.origin.z;\n\n    const linVel = hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n    const angVel = hknp.HP_Body_GetAngularVelocity(body._hkBody)[1];\n\n    const worldPos: Vec3 = { x: wx, y: wy, z: wz };\n    const lookAhead: Vec3 = { x: wx + linVel[0], y: wy + linVel[1], z: wz + linVel[2] };\n\n    let next = _findRegion(fo, lookAhead);\n    if (!next || next === current) {\n        next = _findRegion(fo, worldPos);\n    }\n    if (!next || next === current) {\n        next = _getOrCreateRegion(world, worldPos);\n    }\n    if (next === current) {\n        return;\n    }\n\n    hknp.HP_World_RemoveBody(current._world, body._hkBody);\n    const o = next.origin;\n    hknp.HP_Body_SetQTransform(body._hkBody, [[wx - o.x, wy - o.y, wz - o.z], orientation]);\n    hknp.HP_World_AddBody(next._world, body._hkBody, false);\n    hknp.HP_Body_SetLinearVelocity(body._hkBody, linVel);\n    hknp.HP_Body_SetAngularVelocity(body._hkBody, angVel);\n    body._region = next;\n}\n\n/** Releases any non-default region that no longer holds any bodies. */\nfunction _gcRegions(world: PhysicsWorld): void {\n    const regions = world._fo!.regions;\n    if (regions.length <= 1) {\n        return;\n    }\n    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