@babylonjs/lite 1.6.0 → 1.8.0

package/lib/physics/havok-floating-origin.js.map

@@ -1 +1 @@
-{"version":3,"file":"havok-floating-origin.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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+{"version":3,"file":"havok-floating-origin.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, dt: number): 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, dt: number): 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, dt);\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. 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};\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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package/lib/physics/havok.js

@@ -1,4 +1,3 @@
-import { onBeforeRender } from '../scene/scene-core.js';
 import { mat4Invert } from '../math/mat4-invert.js';
 import { mat4Multiply } from '../math/mat4-multiply.js';
 import { mat4Scale } from '../math/mat4-scale.js';
@@ -55,26 +54,36 @@ function createHavokWorld(scene, hknp, gravity) {
     _hknp: hknp,
     _hkWorld: hkWorld,
     _bodies: [],
-    _timestep: 1 / 60,
+    _scene: scene,
+    _fixedDeltaMs: 0,
     _gravity: [g.x, g.y, g.z]
   };
-  onBeforeRender(scene, (deltaMs) => {
+  const stepCb = (deltaMs) => {
     _stepWorld(world, deltaMs);
-  });
+  };
+  scene._beforeRender.unshift(stepCb);
+  world._stopStep = () => {
+    const i = scene._beforeRender.indexOf(stepCb);
+    if (i >= 0) {
+      scene._beforeRender.splice(i, 1);
+    }
+  };
   return world;
 }
 async function enableHavokFloatingOrigin(world, floatingOriginWorldRadius = 1e5) {
   const fo = await import('./havok-floating-origin.js');
   world._fo = fo.createHavokFloatingOriginContext(world._hkWorld, world._gravity, floatingOriginWorldRadius);
 }
+const MAX_STEP_MS = 100;
 function _stepWorld(world, deltaMs) {
   const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;
-  const dt = Math.min(deltaMs / 1e3, 0.1);
-  if (dt <= 0) {
+  const stepMs = world._fixedDeltaMs > 0 ? world._fixedDeltaMs : deltaMs;
+  if (!Number.isFinite(stepMs) || stepMs <= 0) {
     return;
   }
+  const dt = Math.min(stepMs, MAX_STEP_MS) / 1e3;
   if (world._fo) {
-    world._fo.step(world);
+    world._fo.step(world, dt);
     return;
   }
   for (let i = 0; i < bodies.length; i++) {
@@ -87,7 +96,7 @@ function _stepWorld(world, deltaMs) {
       }
     }
   }
-  hknp.HP_World_Step(hkWorld, world._timestep);
+  hknp.HP_World_Step(hkWorld, dt);
   for (let i = 0; i < bodies.length; i++) {
     const b = bodies[i];
     if (b.motionType === 2 /* DYNAMIC */) {
@@ -97,7 +106,7 @@ function _stepWorld(world, deltaMs) {
   if (world._afterStep) {
     const cbs = world._afterStep;
     for (let i = 0; i < cbs.length; i++) {
-      cbs[i](world._timestep);
+      cbs[i](dt);
     }
   }
 }
@@ -146,10 +155,24 @@ function getPhysicsGravity(world, worldPosition) {
   return { x: g[0], y: g[1], z: g[2] };
 }
 function setPhysicsTimestep(world, dt) {
-  world._timestep = dt;
+  world._fixedDeltaMs = dt * 1e3;
 }
 function getPhysicsTimestep(world) {
-  return world._timestep;
+  return world._fixedDeltaMs / 1e3;
+}
+function setPhysicsTimestepMs(world, fixedDeltaMs) {
+  world._fixedDeltaMs = fixedDeltaMs;
+}
+function getPhysicsTimestepMs(world) {
+  return world._fixedDeltaMs;
+}
+function worldStepSeconds(world) {
+  const scene = world._scene;
+  const stepMs = world._fixedDeltaMs > 0 ? world._fixedDeltaMs : scene.fixedDeltaMs > 0 ? scene.fixedDeltaMs : scene.surface.engine._currentDelta;
+  if (!Number.isFinite(stepMs) || stepMs <= 0) {
+    return 0;
+  }
+  return Math.min(stepMs, MAX_STEP_MS) / 1e3;
 }
 function setPhysicsVelocityLimits(world, maxLinear, maxAngular) {
   if (world._fo) {
@@ -204,7 +227,8 @@ function applyPhysicsBodyImpulse(body, impulse, location) {
   hknp.HP_Body_ApplyImpulse(body._hkBody, [location.x, location.y, location.z], [impulse.x, impulse.y, impulse.z]);
 }
 function applyPhysicsBodyForce(world, body, force, location) {
-  applyPhysicsBodyImpulse(body, { x: force.x * world._timestep, y: force.y * world._timestep, z: force.z * world._timestep }, location);
+  const dt = worldStepSeconds(world);
+  applyPhysicsBodyImpulse(body, { x: force.x * dt, y: force.y * dt, z: force.z * dt }, location);
 }
 function createPhysicsConstraint(world, bodyA, bodyB, type, options = {}, limits = []) {
   const hknp = world._hknp;
@@ -704,6 +728,9 @@ function getPhysicsBodyDebugGeometry(world, body) {
   return { positions, indices };
 }
 function disposePhysics(world) {
+  world._stopStep?.();
+  world._stopStep = void 0;
+  world._afterStep = void 0;
   if (world._fo) {
     world._fo.dispose(world);
     return;
@@ -718,5 +745,5 @@ function disposePhysics(world) {
   hknp.HP_World_Release(hkWorld);
 }
 
-export { PhysicsConstraintAxis, PhysicsConstraintType, PhysicsMotionType, PhysicsPrestepType, PhysicsShapeType, addPhysicsShapeChild, addPhysicsShapeChildFromParent, applyPhysicsBodyForce, applyPhysicsBodyImpulse, applyPhysicsImpulse, createHavokWorld, createPhysicsAggregate, createPhysicsBody, createPhysicsConstraint, createPhysicsShape, disposePhysics, enableHavokFloatingOrigin, getPhysicsBodyDebugGeometry, getPhysicsBodyLinearVelocity, getPhysicsGravity, getPhysicsTimestep, getPhysicsVelocityLimits, onPhysicsAfterStep, releasePhysicsShape, removePhysicsBody, setPhysicsBodyAngularVelocity, setPhysicsBodyLinearVelocity, setPhysicsBodyMass, setPhysicsBodyMassProperties, setPhysicsBodyMotionType, setPhysicsBodyPreStep, setPhysicsBodyPrestepType, setPhysicsBodyShape, setPhysicsBodyTransform, setPhysicsGravity, setPhysicsShapeFilterCollideMask, setPhysicsShapeFilterMembershipMask, setPhysicsShapeMaterial, setPhysicsTimestep, setPhysicsVelocityLimits };
+export { PhysicsConstraintAxis, PhysicsConstraintType, PhysicsMotionType, PhysicsPrestepType, PhysicsShapeType, addPhysicsShapeChild, addPhysicsShapeChildFromParent, applyPhysicsBodyForce, applyPhysicsBodyImpulse, applyPhysicsImpulse, createHavokWorld, createPhysicsAggregate, createPhysicsBody, createPhysicsConstraint, createPhysicsShape, disposePhysics, enableHavokFloatingOrigin, getPhysicsBodyDebugGeometry, getPhysicsBodyLinearVelocity, getPhysicsGravity, getPhysicsTimestep, getPhysicsTimestepMs, getPhysicsVelocityLimits, onPhysicsAfterStep, releasePhysicsShape, removePhysicsBody, setPhysicsBodyAngularVelocity, setPhysicsBodyLinearVelocity, setPhysicsBodyMass, setPhysicsBodyMassProperties, setPhysicsBodyMotionType, setPhysicsBodyPreStep, setPhysicsBodyPrestepType, setPhysicsBodyShape, setPhysicsBodyTransform, setPhysicsGravity, setPhysicsShapeFilterCollideMask, setPhysicsShapeFilterMembershipMask, setPhysicsShapeMaterial, setPhysicsTimestep, setPhysicsTimestepMs, setPhysicsVelocityLimits, worldStepSeconds };
 //# sourceMappingURL=havok.js.map