@babylonjs/lite 1.7.0 → 1.8.0

package/lib/physics/havok.js.map

@@ -1 +1 @@
-{"version":3,"file":"havok.js","sources":["../../../src/physics/havok.ts"],"sourcesContent":["/**\n * Havok Physics V2 integration for Babylon Lite.\n *\n * Standalone-function API consistent with Lite conventions:\n * ```ts\n *   const world = await createHavokWorld(scene);\n *   setPhysicsGravity(world, { x: 0, y: -9.81, z: 0 });\n *   const agg = createPhysicsAggregate(world, sphere, PhysicsShapeType.SPHERE, { mass: 1 });\n * ```\n *\n * The WASM binary is loaded lazily on first call and cached for subsequent worlds.\n */\n\nimport type { Mat4, Vec3, Quat } from \"../math/types.js\";\nimport type { SceneNode } from \"../scene/scene-node.js\";\nimport type { SceneContext } from \"../scene/scene-core.js\";\nimport type { Mesh } from \"../mesh/mesh.js\";\nimport type { HavokFloatingOriginContext, WorldRegion } from \"./havok-floating-origin.js\";\nimport { onBeforeRender } from \"../scene/scene-core.js\";\nimport { mat4Invert } from \"../math/mat4-invert.js\";\nimport { mat4Multiply } from \"../math/mat4-multiply.js\";\nimport { mat4Scale } from \"../math/mat4-scale.js\";\nimport { mat4Decompose } from \"../math/mat4-decompose.js\";\n\n// ─── Enums ───────────────────────────────────────────────────────────\n\n/** Geometry type of a physics collision shape. */\nexport const enum PhysicsShapeType {\n    SPHERE = 0,\n    CAPSULE = 1,\n    CYLINDER = 2,\n    BOX = 3,\n    CONVEX_HULL = 4,\n    CONTAINER = 5,\n    MESH = 6,\n    HEIGHTFIELD = 7,\n}\n\n/** How a body moves: `STATIC` (immovable), `ANIMATED` (driven by the node transform), or `DYNAMIC` (simulated). */\nexport const enum PhysicsMotionType {\n    STATIC = 0,\n    ANIMATED = 1,\n    DYNAMIC = 2,\n}\n\n/**\n * How a moved transform node is propagated to its physics body before each step.\n * `DISABLED` skips the sync, `TELEPORT` snaps the body to the node (`HP_Body_SetQTransform`),\n * and `ACTION` sets the body's velocity so it reaches the node (`HP_Body_SetTargetQTransform`,\n * dragging resting bodies via friction). Values match Babylon.js `PhysicsPrestepType`.\n */\nexport const enum PhysicsPrestepType {\n    DISABLED = 0,\n    TELEPORT = 1,\n    ACTION = 2,\n}\n\n/** Type of Havok Physics V2 constraint. */\nexport const enum PhysicsConstraintType {\n    BALL_AND_SOCKET = 1,\n    DISTANCE = 2,\n    HINGE = 3,\n    SLIDER = 4,\n    LOCK = 5,\n    PRISMATIC = 6,\n    SIX_DOF = 7,\n}\n\n/** Axis addressed by a Physics V2 constraint limit. */\nexport const enum PhysicsConstraintAxis {\n    LINEAR_X = 0,\n    LINEAR_Y = 1,\n    LINEAR_Z = 2,\n    ANGULAR_X = 3,\n    ANGULAR_Y = 4,\n    ANGULAR_Z = 5,\n    LINEAR_DISTANCE = 6,\n}\n\n// ─── Option interfaces ───────────────────────────────────────────────\n\n/** Geometry parameters describing a collision shape; which fields apply depends on the shape type. */\nexport interface PhysicsShapeParameters {\n    center?: Vec3;\n    radius?: number;\n    pointA?: Vec3;\n    pointB?: Vec3;\n    rotation?: Quat;\n    extents?: Vec3;\n}\n\n/** Options for `createPhysicsShape`: the shape type plus its geometry parameters. */\nexport interface PhysicsShapeOptions {\n    type: PhysicsShapeType;\n    parameters?: PhysicsShapeParameters;\n    /** Mesh or transform hierarchy used when `type` is `MESH` or `CONVEX_HULL`. */\n    mesh?: SceneNode;\n    /** When true, mesh and convex-hull shapes accumulate descendant meshes under `mesh`. */\n    includeChildMeshes?: boolean;\n}\n\n/** Options for `createPhysicsAggregate`: mass, material (friction/restitution), and optional shape geometry overrides. */\nexport interface PhysicsAggregateOptions {\n    mass: number;\n    friction?: number;\n    restitution?: number;\n    radius?: number;\n    pointA?: Vec3;\n    pointB?: Vec3;\n    extents?: Vec3;\n    rotation?: Quat;\n    center?: Vec3;\n    startAsleep?: boolean;\n    isTriggerShape?: boolean;\n    /**\n     * Optional pre-built shape. When provided, it is used directly and the\n     * primitive-shape build path is skipped. This lets callers supply\n     * mesh/convex-hull shapes (built via `createPhysicsShape`) without pulling\n     * the mesh-shape code into `createPhysicsAggregate` itself.\n     */\n    shape?: PhysicsShape;\n}\n\n/** Mass properties applied to a physics body. Omitted fields keep Havok's shape-derived values. */\nexport interface PhysicsMassProperties {\n    centerOfMass?: Vec3;\n    mass?: number;\n    inertia?: Vec3;\n    inertiaOrientation?: Quat;\n}\n\n/** Pivot/axis options used to create a physics constraint. */\nexport interface PhysicsConstraintOptions {\n    pivotA?: Vec3;\n    pivotB?: Vec3;\n    axisA?: Vec3;\n    axisB?: Vec3;\n    perpAxisA?: Vec3;\n    perpAxisB?: Vec3;\n    maxDistance?: number;\n    collision?: boolean;\n}\n\n/** Limit options used by 6DoF constraints. */\nexport interface PhysicsConstraintLimit {\n    axis: PhysicsConstraintAxis;\n    minLimit?: number;\n    maxLimit?: number;\n    stiffness?: number;\n    damping?: number;\n}\n\n// ─── Opaque handles (pure state — no methods) ────────────────────────\n\n/** Opaque handle to a Havok rigid body, bound to a scene node and a motion type. */\nexport interface PhysicsBody {\n    /** @internal */ readonly _hkBody: any;\n    /** @internal */ readonly _world: PhysicsWorld;\n    /** @internal */ _shape?: PhysicsShape | null;\n    /** @internal */ _preStep: boolean;\n    /** @internal How a moved node is propagated to the body pre-step (TELEPORT by default). */\n    _prestepType: PhysicsPrestepType;\n    readonly node: SceneNode;\n    readonly motionType: PhysicsMotionType;\n    /** @internal The floating-origin region this body lives in; set only under floating origin. */\n    _region?: WorldRegion;\n}\n\n/** Opaque handle to a Havok collision shape. */\nexport interface PhysicsShape {\n    /** @internal */ readonly _hkShape: any;\n    /** @internal */ readonly _type: PhysicsShapeType;\n}\n\n/** A body and its shape wired together, as produced by `createPhysicsAggregate`. */\nexport interface PhysicsAggregate {\n    readonly body: PhysicsBody;\n    readonly shape: PhysicsShape;\n}\n\n/** Opaque handle to a Havok constraint between two bodies. */\nexport interface PhysicsConstraint {\n    /** @internal */ readonly _hkConstraint: any;\n    readonly bodyA: PhysicsBody;\n    readonly bodyB: PhysicsBody;\n    readonly type: PhysicsConstraintType;\n    readonly options: PhysicsConstraintOptions;\n    readonly limits?: readonly PhysicsConstraintLimit[];\n}\n\n// ─── PhysicsWorld — pure-state handle ────────────────────────────────\n\n/** Pure-state handle to a Havok physics world: the WASM module, the native world, its bodies, and the timestep. */\nexport interface PhysicsWorld {\n    /** @internal */ readonly _hknp: any;\n    /** @internal */ readonly _hkWorld: any;\n    /** @internal */ readonly _bodies: PhysicsBody[];\n    /** @internal */ _timestep: number;\n    /** @internal World-wide gravity `[x, y, z]` set at creation; used to seed floating-origin regions. */\n    _gravity: number[];\n    /** @internal Floating-origin runtime; present only after `enableHavokFloatingOrigin` is called. */\n    _fo?: HavokFloatingOriginContext;\n    /** @internal Callbacks run after each physics step (post body→node sync, pre-render). */\n    _afterStep?: ((timestep: number) => void)[];\n    /** @internal Lazily-created Havok query collector, cached by the standalone `physics/havok-queries.ts` module. */\n    _queryCollector?: any;\n}\n\n// ─── Factory ─────────────────────────────────────────────────────────\n\n/**\n * Create a Havok physics world and register per-frame stepping on the scene.\n *\n * The caller is responsible for loading the WASM binary externally:\n * ```ts\n *   import HavokPhysics from \"@babylonjs/havok\";\n *   const hknp = await HavokPhysics({ locateFile: () => \"/HavokPhysics.wasm\" });\n *   const world = createHavokWorld(scene, hknp);\n * ```\n *\n * For Large World Rendering, call {@link enableHavokFloatingOrigin} on the returned world (before\n * creating any bodies) to opt into multi-region floating-origin simulation.\n */\nexport function createHavokWorld(scene: SceneContext, hknp: any, gravity?: Vec3): PhysicsWorld {\n    const hkWorld = hknp.HP_World_Create()[1];\n\n    const g = gravity ?? { x: 0, y: -9.81, z: 0 };\n    hknp.HP_World_SetGravity(hkWorld, [g.x, g.y, g.z]);\n\n    const world: PhysicsWorld = {\n        _hknp: hknp,\n        _hkWorld: hkWorld,\n        _bodies: [],\n        _timestep: 1 / 60,\n        _gravity: [g.x, g.y, g.z],\n    };\n\n    // Register per-frame physics step\n    onBeforeRender(scene, (deltaMs: number) => {\n        _stepWorld(world, deltaMs);\n    });\n\n    return world;\n}\n\n/**\n * Opt a Havok world into multi-region floating-origin simulation (Large World Rendering).\n *\n * Loads the floating-origin runtime on demand (`physics/havok-floating-origin.ts`) so worlds that\n * never call this — i.e. ordinary near-origin physics scenes — never pull that code into their\n * bundle. Once enabled, bodies far apart in world space are simulated in separate regions (each\n * within `floatingOriginWorldRadius` of its origin) so the float32 Havok solver keeps full\n * precision. Node transforms remain true world coordinates; eye-relative rendering is handled\n * independently by the floating-origin render path.\n *\n * Must be called **before** creating any bodies in the world. Pair it with an engine created with\n * `useFloatingOrigin: true` so rendering and physics share the same far-from-origin handling.\n * @param world - The physics world to enable floating origin on.\n * @param floatingOriginWorldRadius - Region capture radius in metres (default 100000, matching Babylon.js).\n */\nexport async function enableHavokFloatingOrigin(world: PhysicsWorld, floatingOriginWorldRadius = 100000): Promise<void> {\n    const fo = await import(\"./havok-floating-origin.js\");\n    world._fo = fo.createHavokFloatingOriginContext(world._hkWorld, world._gravity, floatingOriginWorldRadius);\n}\n\n// ─── Per-frame stepping ──────────────────────────────────────────────\n\nfunction _stepWorld(world: PhysicsWorld, deltaMs: number): void {\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n    const dt = Math.min(deltaMs / 1000, 0.1);\n    if (dt <= 0) {\n        return;\n    }\n\n    // Floating-origin worlds run a multi-region step (loaded on demand).\n    if (world._fo) {\n        world._fo.step(world);\n        return;\n    }\n\n    // Pre-step: sync moved nodes into Havok. A body syncs only when its prestep type is not\n    // DISABLED and it is either ANIMATED (kinematic) or explicitly pre-stepped. TELEPORT snaps the\n    // body to the node; ACTION sets a velocity toward it (so resting bodies are dragged via friction).\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b._prestepType !== PhysicsPrestepType.DISABLED && (b.motionType === (PhysicsMotionType.ANIMATED as number) || b._preStep)) {\n            if (b._prestepType === PhysicsPrestepType.ACTION) {\n                _syncNodeToBodyTarget(hknp, b);\n            } else {\n                _syncNodeToBody(hknp, b);\n            }\n        }\n    }\n\n    hknp.HP_World_Step(hkWorld, world._timestep);\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    // After-step hooks run once body→node sync is complete, before rendering. This mirrors\n    // Babylon.js, where physics is advanced inside `scene.animate()` (before render) and\n    // post-step scene logic runs in `onAfterRenderObservable`.\n    if (world._afterStep) {\n        const cbs = world._afterStep;\n        for (let i = 0; i < cbs.length; i++) {\n            cbs[i]!(world._timestep);\n        }\n    }\n}\n\n/**\n * Registers a callback to run after each physics step, once dynamic body transforms have been\n * synced back to their nodes and before the frame is rendered. Use this for per-step logic that\n * must observe (or react to) the freshly-integrated state — e.g. tracking a marker to a body's\n * post-step pose, or applying a force whose effect should integrate on the next step.\n * @param world - The physics world to hook.\n * @param cb - Callback invoked with the world timestep (seconds) after each step.\n */\nexport function onPhysicsAfterStep(world: PhysicsWorld, cb: (timestep: number) => void): void {\n    (world._afterStep ??= []).push(cb);\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]\n    const rot = t[1]; // [x, y, z, w]\n    const node = body.node;\n    node.position.set(pos[0], pos[1], pos[2]);\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    hknp.HP_Body_SetQTransform(body._hkBody, [\n        [p.x, p.y, p.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n}\n\n// ACTION prestep: instead of snapping the body, set its target transform so Havok derives a\n// velocity that carries the body to the node over the step. Resting bodies stacked on top are then\n// dragged along by friction rather than tunneled through.\nfunction _syncNodeToBodyTarget(hknp: any, body: PhysicsBody): void {\n    const node = body.node;\n    const p = node.position;\n    const q = node.rotationQuaternion;\n    hknp.HP_Body_SetTargetQTransform(body._hkBody, [\n        [p.x, p.y, p.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n}\n\n// ─── Gravity ─────────────────────────────────────────────────────────\n\n/**\n * Sets gravity for the world, or for a single region when `worldPosition` is given.\n * Passing a position is useful for planetary scenarios where gravity direction varies by location.\n * @param world - The physics world.\n * @param gravity - Gravity acceleration in m/s².\n * @param worldPosition - Optional world position selecting the region to update; omit to update all regions.\n */\nexport function setPhysicsGravity(world: PhysicsWorld, gravity: Vec3, worldPosition?: Vec3): void {\n    if (world._fo) {\n        world._fo.setGravity(world, [gravity.x, gravity.y, gravity.z], worldPosition);\n        return;\n    }\n    world._hknp.HP_World_SetGravity(world._hkWorld, [gravity.x, gravity.y, gravity.z]);\n}\n\n/**\n * Returns the world's current gravity vector, or a specific region's when `worldPosition` is given.\n * @param world - The physics world.\n * @param worldPosition - Optional world position selecting the region to read; omit for the world-wide gravity.\n * @returns Gravity acceleration in m/s².\n */\nexport function getPhysicsGravity(world: PhysicsWorld, worldPosition?: Vec3): Vec3 {\n    if (worldPosition && world._fo) {\n        const g = world._fo.getRegionGravity(world, worldPosition);\n        return { x: g[0]!, y: g[1]!, z: g[2]! };\n    }\n    const g = world._hknp.HP_World_GetGravity(world._hkWorld)[1];\n    return { x: g[0], y: g[1], z: g[2] };\n}\n\n// ─── Timestep ────────────────────────────────────────────────────────\n\n/**\n * Sets the fixed simulation timestep used by each world step.\n * @param world - The physics world.\n * @param dt - Timestep in seconds (e.g. `1 / 60`).\n */\nexport function setPhysicsTimestep(world: PhysicsWorld, dt: number): void {\n    world._timestep = dt;\n}\n\n/**\n * Returns the world's fixed simulation timestep in seconds.\n * @param world - The physics world.\n * @returns The timestep in seconds.\n */\nexport function getPhysicsTimestep(world: PhysicsWorld): number {\n    return world._timestep;\n}\n\n// ─── Velocity limits ─────────────────────────────────────────────────\n\n/**\n * Clamps the maximum linear and angular speeds of bodies in the world.\n * @param world - The physics world.\n * @param maxLinear - Maximum linear speed.\n * @param maxAngular - Maximum angular speed.\n */\nexport function setPhysicsVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void {\n    if (world._fo) {\n        world._fo.setVelocityLimits(world, maxLinear, maxAngular);\n        return;\n    }\n    world._hknp.HP_World_SetSpeedLimit(world._hkWorld, maxLinear, maxAngular);\n}\n\n/**\n * Returns the world's current maximum linear and angular speed limits.\n * @param world - The physics world.\n * @returns The `maxLinear` and `maxAngular` speed limits.\n */\nexport function getPhysicsVelocityLimits(world: PhysicsWorld): { maxLinear: number; maxAngular: number } {\n    const limits = world._hknp.HP_World_GetSpeedLimit(world._hkWorld);\n    return { maxLinear: limits[1], maxAngular: limits[2] };\n}\n\n// ─── Body ────────────────────────────────────────────────────────────\n\n/**\n * Creates a rigid body bound to a scene node, adds it to the world, and seeds it with the node's transform.\n * @param world - The physics world.\n * @param node - The scene node the body follows / drives.\n * @param motionType - Whether the body is static, animated (kinematic), or dynamic.\n * @param startsAsleep - When true, the body is added in a sleeping state.\n * @returns The created physics body handle.\n */\nexport function createPhysicsBody(world: PhysicsWorld, node: SceneNode, motionType: PhysicsMotionType, startsAsleep = false): PhysicsBody {\n    const { _hknp: hknp, _hkWorld: hkWorld } = world;\n\n    const hkBody = hknp.HP_Body_Create()[1];\n\n    // Set motion type\n    const hkMotion =\n        motionType === PhysicsMotionType.STATIC ? hknp.MotionType.STATIC : motionType === PhysicsMotionType.ANIMATED ? hknp.MotionType.KINEMATIC : hknp.MotionType.DYNAMIC;\n    hknp.HP_Body_SetMotionType(hkBody, hkMotion);\n\n    const body: PhysicsBody = {\n        _hkBody: hkBody,\n        _shape: null,\n        _preStep: false,\n        _prestepType: PhysicsPrestepType.TELEPORT,\n        _world: world,\n        node,\n        motionType,\n    };\n\n    if (world._fo) {\n        // Floating origin: place the body in its region, storing it in region-local coordinates.\n        world._fo.placeBody(world, body, startsAsleep);\n    } else {\n        // Add to world first, then set transform (Havok resets transform on add)\n        hknp.HP_World_AddBody(hkWorld, hkBody, startsAsleep);\n\n        const p = node.position;\n        const q = node.rotationQuaternion;\n        hknp.HP_Body_SetQTransform(hkBody, [\n            [p.x, p.y, p.z],\n            [q.x, q.y, q.z, q.w],\n        ]);\n    }\n\n    world._bodies.push(body);\n    return body;\n}\n\n/**\n * Enable or disable pre-step synchronization from a node transform to its Havok body.\n * @param body - The physics body to update.\n * @param enabled - When true, the node transform is written to Havok before each physics step.\n */\nexport function setPhysicsBodyPreStep(body: PhysicsBody, enabled: boolean): void {\n    body._preStep = enabled;\n}\n\n/**\n * Sets how a moved transform node is propagated to its physics body before each step.\n * `TELEPORT` snaps the body to the node, `ACTION` sets a velocity toward it (so resting bodies are\n * dragged along by friction), and `DISABLED` skips the pre-step sync entirely. Setting any type\n * other than `DISABLED` automatically enables prestep syncing for the body (equivalent to\n * {@link setPhysicsBodyPreStep}), so STATIC/DYNAMIC bodies are synced without an extra call.\n * @param body - The physics body to update.\n * @param type - The prestep behaviour to apply.\n */\nexport function setPhysicsBodyPrestepType(body: PhysicsBody, type: PhysicsPrestepType): void {\n    body._prestepType = type;\n    if (type !== PhysicsPrestepType.DISABLED) {\n        body._preStep = true;\n    }\n}\n\n/**\n * Applies a world-space impulse to a physics body.\n * @param body - The physics body to update.\n * @param impulse - Impulse vector.\n * @param location - World-space application point.\n */\nexport function applyPhysicsBodyImpulse(body: PhysicsBody, impulse: Vec3, location: Vec3): void {\n    const hknp = body._world._hknp;\n    hknp.HP_Body_ApplyImpulse(body._hkBody, [location.x, location.y, location.z], [impulse.x, impulse.y, impulse.z]);\n}\n\n/**\n * Applies a force for one fixed physics timestep, matching Babylon.js PhysicsBody.applyForce.\n * @param world - The physics world.\n * @param body - The physics body to update.\n * @param force - Force vector.\n * @param location - World-space application point.\n */\nexport function applyPhysicsBodyForce(world: PhysicsWorld, body: PhysicsBody, force: Vec3, location: Vec3): void {\n    applyPhysicsBodyImpulse(body, { x: force.x * world._timestep, y: force.y * world._timestep, z: force.z * world._timestep }, location);\n}\n\n/**\n * Creates and enables a Havok constraint between two physics bodies.\n * @param world - The physics world.\n * @param bodyA - Parent body.\n * @param bodyB - Child body.\n * @param type - Constraint type.\n * @param options - Pivot and axis options.\n * @param limits - Optional 6DoF limits.\n */\nexport function createPhysicsConstraint(\n    world: PhysicsWorld,\n    bodyA: PhysicsBody,\n    bodyB: PhysicsBody,\n    type: PhysicsConstraintType,\n    options: PhysicsConstraintOptions = {},\n    limits: readonly PhysicsConstraintLimit[] = []\n): PhysicsConstraint {\n    const hknp = world._hknp;\n    const joint = hknp.HP_Constraint_Create()[1];\n    hknp.HP_Constraint_SetParentBody(joint, bodyA._hkBody);\n    hknp.HP_Constraint_SetChildBody(joint, bodyB._hkBody);\n\n    const pivotA = options.pivotA ?? ZERO_VEC3;\n    const pivotB = options.pivotB ?? ZERO_VEC3;\n    const axisA = options.axisA ?? X_AXIS;\n    const axisB = options.axisB ?? X_AXIS;\n    const perpAxisA = options.perpAxisA ?? normalTo(axisA);\n    const perpAxisB = options.perpAxisB ?? normalTo(axisB);\n    hknp.HP_Constraint_SetAnchorInParent(joint, vec3Array(pivotA), vec3Array(axisA), vec3Array(perpAxisA));\n    hknp.HP_Constraint_SetAnchorInChild(joint, vec3Array(pivotB), vec3Array(axisB), vec3Array(perpAxisB));\n\n    configureConstraintAxes(hknp, joint, type, options, limits);\n    hknp.HP_Constraint_SetCollisionsEnabled(joint, !!options.collision);\n    hknp.HP_Constraint_SetEnabled(joint, true);\n\n    return { _hkConstraint: joint, bodyA, bodyB, type, options: { ...options, axisA, axisB, perpAxisA, perpAxisB }, limits };\n}\n\n/**\n * Sets the Havok filter membership mask for a collision shape.\n * @param world - The physics world.\n * @param shape - The shape to update.\n * @param membershipMask - Bitmask describing which collision group this shape belongs to.\n */\nexport function setPhysicsShapeFilterMembershipMask(world: PhysicsWorld, shape: PhysicsShape, membershipMask: number): void {\n    const info = world._hknp.HP_Shape_GetFilterInfo(shape._hkShape)[1];\n    world._hknp.HP_Shape_SetFilterInfo(shape._hkShape, [membershipMask, info[1]]);\n}\n\n/**\n * Sets the Havok filter collide mask for a collision shape.\n * @param world - The physics world.\n * @param shape - The shape to update.\n * @param collideMask - Bitmask describing which collision groups this shape collides with.\n */\nexport function setPhysicsShapeFilterCollideMask(world: PhysicsWorld, shape: PhysicsShape, collideMask: number): void {\n    const info = world._hknp.HP_Shape_GetFilterInfo(shape._hkShape)[1];\n    world._hknp.HP_Shape_SetFilterInfo(shape._hkShape, [info[0], collideMask]);\n}\n\nconst ZERO_VEC3: Vec3 = { x: 0, y: 0, z: 0 };\nconst X_AXIS: Vec3 = { x: 1, y: 0, z: 0 };\n\nfunction vec3Array(v: Vec3): [number, number, number] {\n    return [v.x, v.y, v.z];\n}\n\nfunction normalTo(axis: Vec3): Vec3 {\n    const ax = Math.abs(axis.x);\n    const ay = Math.abs(axis.y);\n    const az = Math.abs(axis.z);\n    if (ax <= ay && ax <= az) {\n        return normalizeVec3({ x: 0, y: -axis.z, z: axis.y });\n    }\n    if (ay <= ax && ay <= az) {\n        return normalizeVec3({ x: -axis.z, y: 0, z: axis.x });\n    }\n    return normalizeVec3({ x: -axis.y, y: axis.x, z: 0 });\n}\n\nfunction normalizeVec3(v: Vec3): Vec3 {\n    const inv = 1 / Math.max(1e-8, Math.hypot(v.x, v.y, v.z));\n    return { x: v.x * inv, y: v.y * inv, z: v.z * inv };\n}\n\nfunction configureConstraintAxes(hknp: any, joint: any, type: PhysicsConstraintType, options: PhysicsConstraintOptions, limits: readonly PhysicsConstraintLimit[]): void {\n    const axis = hknp.ConstraintAxis;\n    const mode = hknp.ConstraintAxisLimitMode;\n    const lock = (a: any): void => hknp.HP_Constraint_SetAxisMode(joint, a, mode.LOCKED);\n    const limit = (a: any, min: number, max: number): void => {\n        hknp.HP_Constraint_SetAxisMode(joint, a, mode.LIMITED);\n        hknp.HP_Constraint_SetAxisMinLimit(joint, a, min);\n        hknp.HP_Constraint_SetAxisMaxLimit(joint, a, max);\n    };\n\n    switch (type) {\n        case PhysicsConstraintType.LOCK:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_X);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.DISTANCE: {\n            const d = options.maxDistance ?? 0;\n            limit(axis.LINEAR_DISTANCE, d, d);\n            break;\n        }\n        case PhysicsConstraintType.HINGE:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.PRISMATIC:\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_X);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.SLIDER:\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.BALL_AND_SOCKET:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            break;\n        case PhysicsConstraintType.SIX_DOF:\n            for (const l of limits) {\n                const nativeAxis = constraintAxisToNative(axis, l.axis);\n                if ((l.minLimit ?? -1) === 0 && (l.maxLimit ?? -1) === 0) {\n                    lock(nativeAxis);\n                } else {\n                    if (l.minLimit !== undefined || l.maxLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMode(joint, nativeAxis, mode.LIMITED);\n                    }\n                    if (l.minLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMinLimit(joint, nativeAxis, l.minLimit);\n                    }\n                    if (l.maxLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMaxLimit(joint, nativeAxis, l.maxLimit);\n                    }\n                }\n                if (l.stiffness !== undefined) {\n                    hknp.HP_Constraint_SetAxisStiffness(joint, nativeAxis, l.stiffness);\n                }\n                if (l.damping !== undefined) {\n                    hknp.HP_Constraint_SetAxisDamping(joint, nativeAxis, l.damping);\n                }\n            }\n            break;\n    }\n}\n\nfunction constraintAxisToNative(axis: any, value: PhysicsConstraintAxis): any {\n    switch (value) {\n        case PhysicsConstraintAxis.LINEAR_X:\n            return axis.LINEAR_X;\n        case PhysicsConstraintAxis.LINEAR_Y:\n            return axis.LINEAR_Y;\n        case PhysicsConstraintAxis.LINEAR_Z:\n            return axis.LINEAR_Z;\n        case PhysicsConstraintAxis.ANGULAR_X:\n            return axis.ANGULAR_X;\n        case PhysicsConstraintAxis.ANGULAR_Y:\n            return axis.ANGULAR_Y;\n        case PhysicsConstraintAxis.ANGULAR_Z:\n            return axis.ANGULAR_Z;\n        case PhysicsConstraintAxis.LINEAR_DISTANCE:\n            return axis.LINEAR_DISTANCE;\n    }\n}\n\n// ─── Shape ───────────────────────────────────────────────────────────\n\ninterface HavokBuffer {\n    offset: number;\n    numObjects: number;\n}\n\nclass MeshAccumulator {\n    private readonly _vertices: number[] = [];\n    private readonly _indices: number[] = [];\n    private readonly _collectIndices: boolean;\n\n    public constructor(collectIndices: boolean) {\n        this._collectIndices = collectIndices;\n    }\n\n    public addNodeMeshes(root: SceneNode, includeChildren: boolean): void {\n        const invRoot = mat4Invert(root.worldMatrix as Mat4);\n        if (!invRoot) {\n            throw new Error(\"Cannot create physics mesh shape from a singular root transform.\");\n        }\n\n        const rootScale = mat4Scale(root.scaling.x, root.scaling.y, root.scaling.z);\n        const rootToBody = mat4Multiply(rootScale, invRoot);\n        this._addNodeMesh(root, rootToBody);\n\n        if (includeChildren) {\n            for (const child of root.children) {\n                this._addDescendantMeshes(child, rootToBody);\n            }\n        }\n\n        if (this._vertices.length === 0) {\n            throw new Error(\"Cannot create physics mesh shape without vertex positions.\");\n        }\n        if (this._collectIndices && this._indices.length === 0) {\n            throw new Error(\"Cannot create physics mesh shape without triangle indices.\");\n        }\n    }\n\n    public getVertices(hknp: any): HavokBuffer {\n        const numObjects = this._vertices.length;\n        const offset = hknp._malloc(numObjects * 4);\n        new Float32Array(hknp.HEAPU8.buffer, offset, numObjects).set(this._vertices);\n        return { offset, numObjects };\n    }\n\n    public getTriangles(hknp: any): HavokBuffer {\n        const numObjects = this._indices.length;\n        const offset = hknp._malloc(numObjects * 4);\n        new Int32Array(hknp.HEAPU8.buffer, offset, numObjects).set(this._indices);\n        return { offset, numObjects };\n    }\n\n    public freeBuffer(hknp: any, buffer: HavokBuffer): void {\n        hknp._free(buffer.offset);\n    }\n\n    private _addDescendantMeshes(node: SceneNode, rootToBody: Mat4): void {\n        this._addNodeMesh(node, rootToBody);\n        for (const child of node.children) {\n            this._addDescendantMeshes(child, rootToBody);\n        }\n    }\n\n    private _addNodeMesh(node: SceneNode, rootToBody: Mat4): void {\n        if (!isMesh(node)) {\n            return;\n        }\n        const positions = node._cpuPositions;\n        if (!positions || positions.length === 0) {\n            return;\n        }\n\n        const meshToBody = mat4Multiply(rootToBody, node.worldMatrix as Mat4);\n        const indexOffset = this._vertices.length / 3;\n        for (let i = 0; i < positions.length; i += 3) {\n            transformPositionInto(this._vertices, meshToBody, positions[i]!, positions[i + 1]!, positions[i + 2]!);\n        }\n\n        if (!this._collectIndices) {\n            return;\n        }\n\n        const indices = node._cpuIndices;\n        if (!indices) {\n            return;\n        }\n        for (let i = 0; i < indices.length; i += 3) {\n            const a = indices[i]! + indexOffset;\n            const b = indices[i + 1]! + indexOffset;\n            const c = indices[i + 2]! + indexOffset;\n            // Babylon Lite scenes use Babylon.js' default left-handed winding, so\n            // reverse triangle order for Havok's mesh-shape interior optimization.\n            this._indices.push(c, b, a);\n        }\n    }\n}\n\nfunction isMesh(node: SceneNode): node is Mesh {\n    return \"_gpu\" in node && \"_cpuPositions\" in node;\n}\n\nfunction transformPositionInto(dst: number[], m: Mat4, x: number, y: number, z: number): void {\n    dst.push(m[0]! * x + m[4]! * y + m[8]! * z + m[12]!, m[1]! * x + m[5]! * y + m[9]! * z + m[13]!, m[2]! * x + m[6]! * y + m[10]! * z + m[14]!);\n}\n\n/**\n * Creates a collision shape from the given options.\n * @param world - The physics world.\n * @param options - The shape type and its geometry parameters.\n * @returns The created shape handle.\n */\nexport function createPhysicsShape(world: PhysicsWorld, options: PhysicsShapeOptions): PhysicsShape {\n    const { _hknp: hknp } = world;\n    const params = options.parameters ?? {};\n\n    let hkShape: any;\n    const primitiveShape = createPrimitivePhysicsShapeHandle(hknp, options.type, params);\n    if (primitiveShape !== null) {\n        return { _hkShape: primitiveShape, _type: options.type };\n    }\n\n    switch (options.type) {\n        case PhysicsShapeType.CONTAINER: {\n            hkShape = hknp.HP_Shape_CreateContainer()[1];\n            break;\n        }\n        case PhysicsShapeType.CONVEX_HULL:\n        case PhysicsShapeType.MESH: {\n            if (!options.mesh) {\n                throw new Error(\"Physics mesh shapes require a mesh or transform hierarchy.\");\n            }\n            const collectIndices = options.type === PhysicsShapeType.MESH;\n            const accum = new MeshAccumulator(collectIndices);\n            accum.addNodeMeshes(options.mesh, options.includeChildMeshes ?? false);\n            const positions = accum.getVertices(hknp);\n            const numVec3s = positions.numObjects / 3;\n            if (options.type === PhysicsShapeType.CONVEX_HULL) {\n                hkShape = hknp.HP_Shape_CreateConvexHull(positions.offset, numVec3s)[1];\n            } else {\n                const triangles = accum.getTriangles(hknp);\n                const numTriangles = triangles.numObjects / 3;\n                hkShape = hknp.HP_Shape_CreateMesh(positions.offset, numVec3s, triangles.offset, numTriangles)[1];\n                accum.freeBuffer(hknp, triangles);\n            }\n            accum.freeBuffer(hknp, positions);\n            break;\n        }\n        default:\n            throw new Error(`Unsupported shape type: ${options.type}`);\n    }\n\n    return { _hkShape: hkShape, _type: options.type };\n}\n\nfunction createPrimitivePhysicsShapeHandle(hknp: any, type: PhysicsShapeType, params: PhysicsShapeParameters): any | null {\n    switch (type) {\n        case PhysicsShapeType.SPHERE: {\n            const c = params.center ?? { x: 0, y: 0, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateSphere([c.x, c.y, c.z], r)[1];\n        }\n        case PhysicsShapeType.BOX: {\n            const c = params.center ?? { x: 0, y: 0, z: 0 };\n            const q = params.rotation ?? { x: 0, y: 0, z: 0, w: 1 };\n            const e = params.extents ?? { x: 1, y: 1, z: 1 };\n            return hknp.HP_Shape_CreateBox([c.x, c.y, c.z], [q.x, q.y, q.z, q.w], [e.x, e.y, e.z])[1];\n        }\n        case PhysicsShapeType.CAPSULE: {\n            const a = params.pointA ?? { x: 0, y: 0, z: 0 };\n            const b = params.pointB ?? { x: 0, y: 1, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateCapsule([a.x, a.y, a.z], [b.x, b.y, b.z], r)[1];\n        }\n        case PhysicsShapeType.CYLINDER: {\n            const a = params.pointA ?? { x: 0, y: 0, z: 0 };\n            const b = params.pointB ?? { x: 0, y: 1, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateCylinder([a.x, a.y, a.z], [b.x, b.y, b.z], r)[1];\n        }\n        default:\n            return null;\n    }\n}\n\n// ─── Shape ↔ Body wiring ─────────────────────────────────────────────\n\n/**\n * Assigns a collision shape to a body.\n * @param world - The physics world.\n * @param body - The body to attach the shape to.\n * @param shape - The collision shape.\n */\nexport function setPhysicsBodyShape(world: PhysicsWorld, body: PhysicsBody, shape: PhysicsShape): void {\n    world._hknp.HP_Body_SetShape(body._hkBody, shape._hkShape);\n    body._shape = shape;\n}\n\n/**\n * Adds a child shape to a container shape with an explicit local transform.\n * @param world - The physics world.\n * @param container - Parent container shape.\n * @param child - Child shape to append.\n * @param translation - Child translation in container space.\n * @param rotation - Child rotation in container space.\n * @param scale - Child scale in container space.\n */\nexport function addPhysicsShapeChild(world: PhysicsWorld, container: PhysicsShape, child: PhysicsShape, translation?: Vec3, rotation?: Quat, scale?: Vec3): void {\n    const t = translation ?? { x: 0, y: 0, z: 0 };\n    const r = rotation ?? { x: 0, y: 0, z: 0, w: 1 };\n    const s = scale ?? { x: 1, y: 1, z: 1 };\n    world._hknp.HP_Shape_AddChild(container._hkShape, child._hkShape, [\n        [t.x, t.y, t.z],\n        [r.x, r.y, r.z, r.w],\n        [s.x, s.y, s.z],\n    ]);\n}\n\n/**\n * Adds a child shape to a container, deriving its local transform from two scene nodes.\n * @param world - The physics world.\n * @param container - Parent container shape.\n * @param parentNode - Scene node associated with the container shape.\n * @param child - Child shape to append.\n * @param childNode - Scene node associated with the child shape.\n */\nexport function addPhysicsShapeChildFromParent(world: PhysicsWorld, container: PhysicsShape, parentNode: SceneNode, child: PhysicsShape, childNode: SceneNode): void {\n    const invParent = mat4Invert(parentNode.worldMatrix as Mat4);\n    if (!invParent) {\n        throw new Error(\"Cannot add physics child shape from a singular parent transform.\");\n    }\n    const childToParent = mat4Multiply(invParent, childNode.worldMatrix as Mat4);\n    const transform = mat4Decompose(childToParent);\n    addPhysicsShapeChild(world, container, child, transform.translation, transform.rotation, transform.scale);\n}\n\n/**\n * Sets a shape's surface material properties.\n * @param world - The physics world.\n * @param shape - The collision shape.\n * @param friction - Friction coefficient (used for both static and dynamic friction).\n * @param restitution - Bounciness in `[0, 1]`.\n */\nexport function setPhysicsShapeMaterial(world: PhysicsWorld, shape: PhysicsShape, friction: number, restitution: number): void {\n    // Material array: [staticFriction, dynamicFriction, restitution, frictionCombine, restitutionCombine].\n    // Havok's combine modes are embind enum objects, not raw numbers.\n    const combines = world._hknp.MaterialCombine;\n    const material = [friction, friction, restitution, combines.MINIMUM, combines.MAXIMUM];\n    world._hknp.HP_Shape_SetMaterial(shape._hkShape, material);\n}\n\n// ─── Mass ────────────────────────────────────────────────────────────\n\n/**\n * Sets a body's mass, preserving the shape-derived inertia tensor, centre of mass, and inertia\n * orientation (matching Babylon.js `HavokPlugin` — only the mass scalar is overridden). A body with\n * no shape attached yet has no inertia tensor to derive, so it falls back to an isotropic inertia\n * proportional to the mass until a shape is set.\n * @param world - The physics world.\n * @param body - The body to update.\n * @param mass - Mass in kilograms.\n * @param centerOfMass - Optional body-local centre of mass override. When omitted, the shape-derived\n *   centre of mass is preserved. Use this when the collision shape is offset from the body's reference\n *   frame (e.g. a prop whose body origin sits at its base but whose shape is centred on its middle)\n *   so it tumbles around its real centre.\n */\nexport function setPhysicsBodyMass(world: PhysicsWorld, body: PhysicsBody, mass: number, centerOfMass?: Vec3): void {\n    // Match Babylon.js HavokPlugin._internalUpdateMassProperties: for a body with a shape, start from\n    // the shape-derived mass properties (correct anisotropic inertia tensor + centre of mass +\n    // orientation) and override only the mass scalar. Writing a placeholder isotropic inertia would\n    // make constrained/torqued bodies rotate at the wrong rate and break physics parity. A shape-less\n    // body has no inertia to derive, so keep the previous mass-proportional isotropic fallback.\n    const massProps = body._shape ? buildMassProperties(world, body) : [[0, 0, 0], mass, [mass, mass, mass], [0, 0, 0, 1]];\n    massProps[1] = mass;\n    if (centerOfMass) {\n        massProps[0] = [centerOfMass.x, centerOfMass.y, centerOfMass.z];\n    }\n    world._hknp.HP_Body_SetMassProperties(body._hkBody, massProps);\n}\n\n/**\n * Sets a body's mass properties, preserving Havok's shape-derived values for omitted fields.\n * @param world - The physics world.\n * @param body - The body to update.\n * @param properties - Mass-property overrides.\n */\nexport function setPhysicsBodyMassProperties(world: PhysicsWorld, body: PhysicsBody, properties: PhysicsMassProperties): void {\n    const massProps = buildMassProperties(world, body);\n    if (properties.centerOfMass) {\n        massProps[0] = [properties.centerOfMass.x, properties.centerOfMass.y, properties.centerOfMass.z];\n    }\n    if (properties.mass !== undefined) {\n        massProps[1] = properties.mass;\n    }\n    if (properties.inertia) {\n        massProps[2] = [properties.inertia.x, properties.inertia.y, properties.inertia.z];\n    }\n    if (properties.inertiaOrientation) {\n        massProps[3] = [properties.inertiaOrientation.x, properties.inertiaOrientation.y, properties.inertiaOrientation.z, properties.inertiaOrientation.w];\n    }\n    world._hknp.HP_Body_SetMassProperties(body._hkBody, massProps);\n}\n\nfunction buildMassProperties(world: PhysicsWorld, body: PhysicsBody): any[] {\n    const hknp = world._hknp;\n    const ok = hknp.Result?.RESULT_OK ?? 0;\n    const shape = hknp.HP_Body_GetShape(body._hkBody);\n    if (shape[0] === ok) {\n        const shapeMass = hknp.HP_Shape_BuildMassProperties(shape[1]);\n        if (shapeMass[0] === ok) {\n            return shapeMass[1];\n        }\n    }\n    return [[0, 0, 0], 1, [1, 1, 1], [0, 0, 0, 1]];\n}\n\n// ─── Body control (impulse / velocity / motion type / transform) ─────\n// Runtime body controls used by gameplay: shoot/throw (impulse + velocity), grab (switch a body to\n// ANIMATED/kinematic while held, then back to DYNAMIC on release), and teleport (restore/load/undo).\n\n/**\n * Apply a one-shot linear impulse (kg·m/s) to a body at a world `point` (defaults to the body's\n * current position / centre of mass), waking it if asleep. Used to shoot, throw, or shove a prop.\n * @param world - The physics world.\n * @param body - The body to push.\n * @param impulse - World-space impulse vector (kg·m/s).\n * @param point - World point of application; defaults to the body's current position.\n */\nexport function applyPhysicsImpulse(world: PhysicsWorld, body: PhysicsBody, impulse: Vec3, point?: Vec3): void {\n    const hknp = world._hknp;\n    let loc = point;\n    if (!loc) {\n        const t = hknp.HP_Body_GetQTransform(body._hkBody)[1];\n        loc = { x: t[0][0], y: t[0][1], z: t[0][2] };\n    }\n    hknp.HP_Body_ApplyImpulse(body._hkBody, [loc.x, loc.y, loc.z], [impulse.x, impulse.y, impulse.z]);\n}\n\n/**\n * Set a body's linear velocity (m/s) directly — e.g. to impart a throw velocity on release.\n */\nexport function setPhysicsBodyLinearVelocity(world: PhysicsWorld, body: PhysicsBody, velocity: Vec3): void {\n    world._hknp.HP_Body_SetLinearVelocity(body._hkBody, [velocity.x, velocity.y, velocity.z]);\n}\n\n/**\n * Get a body's current linear velocity (m/s).\n */\nexport function getPhysicsBodyLinearVelocity(world: PhysicsWorld, body: PhysicsBody): Vec3 {\n    const v = world._hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n    return { x: v[0], y: v[1], z: v[2] };\n}\n\n/**\n * Set a body's angular velocity (rad/s).\n */\nexport function setPhysicsBodyAngularVelocity(world: PhysicsWorld, body: PhysicsBody, velocity: Vec3): void {\n    world._hknp.HP_Body_SetAngularVelocity(body._hkBody, [velocity.x, velocity.y, velocity.z]);\n}\n\n/**\n * Switch a body's motion type at runtime (e.g. ANIMATED/kinematic while a prop is grabbed, then\n * DYNAMIC on release). Mutates `body.motionType` so the per-frame step syncs it the right way\n * (ANIMATED: node → body before the step; DYNAMIC: body → node after).\n */\nexport function setPhysicsBodyMotionType(world: PhysicsWorld, body: PhysicsBody, motionType: PhysicsMotionType): void {\n    const hknp = world._hknp;\n    const hkMotion =\n        motionType === PhysicsMotionType.STATIC ? hknp.MotionType.STATIC : motionType === PhysicsMotionType.ANIMATED ? hknp.MotionType.KINEMATIC : hknp.MotionType.DYNAMIC;\n    hknp.HP_Body_SetMotionType(body._hkBody, hkMotion);\n    (body as { motionType: PhysicsMotionType }).motionType = motionType;\n}\n\n/**\n * Teleport a body to a world position + orientation (a pure transform set — velocities are left\n * unchanged). For grab-follow, save-restore, and undo. Also updates the bound node so a render that\n * reads the node before the next physics step stays consistent.\n */\nexport function setPhysicsBodyTransform(world: PhysicsWorld, body: PhysicsBody, position: Vec3, rotation: Quat): void {\n    world._hknp.HP_Body_SetQTransform(body._hkBody, [\n        [position.x, position.y, position.z],\n        [rotation.x, rotation.y, rotation.z, rotation.w],\n    ]);\n    body.node.position.set(position.x, position.y, position.z);\n    body.node.rotationQuaternion.set(rotation.x, rotation.y, rotation.z, rotation.w);\n}\n\n// ─── Removal ─────────────────────────────────────────────────────────\n\n/**\n * Remove a single body from the world and release its native handle (the per-frame step skips it from\n * now on). After this the body must not be reused. A body that isn't in the world is ignored, so this is\n * safe to call once per body. Does NOT release the body's collision shape — release that separately with\n * {@link releasePhysicsShape} if it isn't shared.\n * @param world - The physics world.\n * @param body - The body to remove.\n */\nexport function removePhysicsBody(world: PhysicsWorld, body: PhysicsBody): void {\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n    const i = bodies.indexOf(body);\n    if (i < 0) {\n        return; // already removed / not part of this world\n    }\n    bodies.splice(i, 1);\n    hknp.HP_World_RemoveBody(hkWorld, body._hkBody);\n    hknp.HP_Body_Release(body._hkBody);\n}\n\n/**\n * Release a collision shape's native handle, freeing its WASM memory. Only call once no body still\n * references the shape (e.g. after {@link removePhysicsBody}). Useful when rebuilding a changing set of\n * static colliders so their shapes don't accumulate.\n * @param world - The physics world.\n * @param shape - The shape to release.\n */\nexport function releasePhysicsShape(world: PhysicsWorld, shape: PhysicsShape): void {\n    world._hknp.HP_Shape_Release(shape._hkShape);\n}\n\n// ─── Aggregate (convenience) ─────────────────────────────────────────\n\n/**\n * Create a physics aggregate: body + shape + material wired together.\n * `mass === 0` → STATIC, `mass > 0` → DYNAMIC.\n * Primitive shape geometry is auto-sized from the mesh bounding box when not specified.\n */\nexport function createPhysicsAggregate(world: PhysicsWorld, node: Mesh, type: PhysicsShapeType, options: PhysicsAggregateOptions): PhysicsAggregate {\n    const motionType = options.mass === 0 ? PhysicsMotionType.STATIC : PhysicsMotionType.DYNAMIC;\n\n    // Use a caller-supplied pre-built shape if present (e.g. a mesh/convex-hull\n    // shape built via createPhysicsShape); otherwise build a primitive shape.\n    // Reading options.shape adds no mesh code to this function.\n    let shape = options.shape;\n    if (!shape) {\n        // Build shape parameters, auto-sizing from bounding box if needed\n        const shapeParams = _buildShapeParams(node, type, options);\n        const hkShape = createPrimitivePhysicsShapeHandle(world._hknp, type, shapeParams);\n        if (hkShape === null) {\n            throw new Error(\"createPhysicsAggregate supports only primitive physics shapes.\");\n        }\n        shape = { _hkShape: hkShape, _type: type };\n    }\n\n    // Create body\n    const body = createPhysicsBody(world, node, motionType, options.startAsleep);\n    setPhysicsBodyShape(world, body, shape);\n\n    // Set material (friction + restitution) after assigning the shape, matching\n    // Babylon.js PhysicsAggregate/HavokPlugin ordering.\n    const friction = options.friction ?? 0.2;\n    const restitution = options.restitution ?? 0.2;\n    setPhysicsShapeMaterial(world, shape, friction, restitution);\n\n    // Set mass for dynamic bodies\n    if (options.mass > 0) {\n        setPhysicsBodyMass(world, body, options.mass);\n    }\n\n    return { body, shape };\n}\n\nfunction _buildShapeParams(node: Mesh, type: PhysicsShapeType, options: PhysicsAggregateOptions): PhysicsShapeParameters {\n    const params: PhysicsShapeParameters = {};\n\n    if (options.center) {\n        params.center = options.center;\n    }\n    if (options.rotation) {\n        params.rotation = options.rotation;\n    }\n\n    switch (type) {\n        case PhysicsShapeType.SPHERE: {\n            params.radius = options.radius ?? _boundingRadius(node);\n            params.center = params.center ?? _boundingCenter(node);\n            break;\n        }\n        case PhysicsShapeType.BOX: {\n            params.extents = options.extents ?? _boundingExtents(node);\n            params.center = params.center ?? _boundingCenter(node);\n            break;\n        }\n        case PhysicsShapeType.CAPSULE:\n        case PhysicsShapeType.CYLINDER: {\n            params.radius = options.radius ?? _boundingRadius(node);\n            params.pointA = options.pointA ?? { x: 0, y: 0, z: 0 };\n            params.pointB = options.pointB ?? { x: 0, y: 1, z: 0 };\n            break;\n        }\n    }\n    return params;\n}\n\nfunction _boundingCenter(mesh: Mesh): Vec3 {\n    if (mesh.boundMin && mesh.boundMax) {\n        return {\n            x: (mesh.boundMin[0] + mesh.boundMax[0]) * 0.5,\n            y: (mesh.boundMin[1] + mesh.boundMax[1]) * 0.5,\n            z: (mesh.boundMin[2] + mesh.boundMax[2]) * 0.5,\n        };\n    }\n    return { x: 0, y: 0, z: 0 };\n}\n\nfunction _boundingExtents(mesh: Mesh): Vec3 {\n    if (mesh.boundMin && mesh.boundMax) {\n        return {\n            x: mesh.boundMax[0] - mesh.boundMin[0],\n            y: mesh.boundMax[1] - mesh.boundMin[1],\n            z: mesh.boundMax[2] - mesh.boundMin[2],\n        };\n    }\n    return { x: 1, y: 1, z: 1 };\n}\n\nfunction _boundingRadius(mesh: Mesh): number {\n    if (mesh.boundMin && mesh.boundMax) {\n        const dx = mesh.boundMax[0]! - mesh.boundMin[0]!;\n        const dy = mesh.boundMax[1]! - mesh.boundMin[1]!;\n        const dz = mesh.boundMax[2]! - mesh.boundMin[2]!;\n        return Math.max(dx, dy, dz) * 0.5;\n    }\n    return 0.5;\n}\n\ninterface PhysicsDebugGeometry {\n    positions: Float32Array;\n    indices: Uint32Array;\n}\n\n/** @internal */\nexport function getPhysicsBodyDebugGeometry(world: PhysicsWorld, body: PhysicsBody): PhysicsDebugGeometry {\n    const hknp = world._hknp;\n    const shapeResult = hknp.HP_Body_GetShape(body._hkBody);\n    const ok = hknp.Result?.RESULT_OK ?? 0;\n    if (shapeResult[0] !== ok || !shapeResult[1]) {\n        return { positions: new Float32Array(0), indices: new Uint32Array(0) };\n    }\n    const geometryResult = hknp.HP_Shape_CreateDebugDisplayGeometry(shapeResult[1]);\n    if (geometryResult[0] !== ok) {\n        return { positions: new Float32Array(0), indices: new Uint32Array(0) };\n    }\n    const geometryInfo = hknp.HP_DebugGeometry_GetInfo(geometryResult[1])[1];\n    const positionsInPlugin = new Float32Array(hknp.HEAPU8.buffer, geometryInfo[0], geometryInfo[1] * 3);\n    const indicesInPlugin = new Uint32Array(hknp.HEAPU8.buffer, geometryInfo[2], geometryInfo[3] * 3);\n    const positions = positionsInPlugin.slice(0);\n    const indices = indicesInPlugin.slice(0);\n    hknp.HP_DebugGeometry_Release(geometryResult[1]);\n    return { positions, indices };\n}\n\n// ─── Dispose ─────────────────────────────────────────────────────────\n\n/**\n * Removes and releases all bodies, then releases the native world. Call once when tearing down physics.\n * @param world - The physics world to dispose.\n */\nexport function disposePhysics(world: PhysicsWorld): void {\n    if (world._fo) {\n        world._fo.dispose(world);\n        return;\n    }\n\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n\n    // Remove and release all bodies\n    for (let i = bodies.length - 1; i >= 0; i--) {\n        const b = bodies[i]!;\n        hknp.HP_World_RemoveBody(hkWorld, b._hkBody);\n        hknp.HP_Body_Release(b._hkBody);\n    }\n    bodies.length = 0;\n\n    // Release world\n    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+{"version":3,"file":"havok.js","sources":["../../../src/physics/havok.ts"],"sourcesContent":["/**\n * Havok Physics V2 integration for Babylon Lite.\n *\n * Standalone-function API consistent with Lite conventions:\n * ```ts\n *   const world = await createHavokWorld(scene);\n *   setPhysicsGravity(world, { x: 0, y: -9.81, z: 0 });\n *   const agg = createPhysicsAggregate(world, sphere, PhysicsShapeType.SPHERE, { mass: 1 });\n * ```\n *\n * The WASM binary is loaded lazily on first call and cached for subsequent worlds.\n */\n\nimport type { Mat4, Vec3, Quat } from \"../math/types.js\";\nimport type { SceneNode } from \"../scene/scene-node.js\";\nimport type { SceneContext } from \"../scene/scene-core.js\";\nimport type { Mesh } from \"../mesh/mesh.js\";\nimport type { HavokFloatingOriginContext, WorldRegion } from \"./havok-floating-origin.js\";\nimport { mat4Invert } from \"../math/mat4-invert.js\";\nimport { mat4Multiply } from \"../math/mat4-multiply.js\";\nimport { mat4Scale } from \"../math/mat4-scale.js\";\nimport { mat4Decompose } from \"../math/mat4-decompose.js\";\n\n// ─── Enums ───────────────────────────────────────────────────────────\n\n/** Geometry type of a physics collision shape. */\nexport const enum PhysicsShapeType {\n    SPHERE = 0,\n    CAPSULE = 1,\n    CYLINDER = 2,\n    BOX = 3,\n    CONVEX_HULL = 4,\n    CONTAINER = 5,\n    MESH = 6,\n    HEIGHTFIELD = 7,\n}\n\n/** How a body moves: `STATIC` (immovable), `ANIMATED` (driven by the node transform), or `DYNAMIC` (simulated). */\nexport const enum PhysicsMotionType {\n    STATIC = 0,\n    ANIMATED = 1,\n    DYNAMIC = 2,\n}\n\n/**\n * How a moved transform node is propagated to its physics body before each step.\n * `DISABLED` skips the sync, `TELEPORT` snaps the body to the node (`HP_Body_SetQTransform`),\n * and `ACTION` sets the body's velocity so it reaches the node (`HP_Body_SetTargetQTransform`,\n * dragging resting bodies via friction). Values match Babylon.js `PhysicsPrestepType`.\n */\nexport const enum PhysicsPrestepType {\n    DISABLED = 0,\n    TELEPORT = 1,\n    ACTION = 2,\n}\n\n/** Type of Havok Physics V2 constraint. */\nexport const enum PhysicsConstraintType {\n    BALL_AND_SOCKET = 1,\n    DISTANCE = 2,\n    HINGE = 3,\n    SLIDER = 4,\n    LOCK = 5,\n    PRISMATIC = 6,\n    SIX_DOF = 7,\n}\n\n/** Axis addressed by a Physics V2 constraint limit. */\nexport const enum PhysicsConstraintAxis {\n    LINEAR_X = 0,\n    LINEAR_Y = 1,\n    LINEAR_Z = 2,\n    ANGULAR_X = 3,\n    ANGULAR_Y = 4,\n    ANGULAR_Z = 5,\n    LINEAR_DISTANCE = 6,\n}\n\n// ─── Option interfaces ───────────────────────────────────────────────\n\n/** Geometry parameters describing a collision shape; which fields apply depends on the shape type. */\nexport interface PhysicsShapeParameters {\n    center?: Vec3;\n    radius?: number;\n    pointA?: Vec3;\n    pointB?: Vec3;\n    rotation?: Quat;\n    extents?: Vec3;\n}\n\n/** Options for `createPhysicsShape`: the shape type plus its geometry parameters. */\nexport interface PhysicsShapeOptions {\n    type: PhysicsShapeType;\n    parameters?: PhysicsShapeParameters;\n    /** Mesh or transform hierarchy used when `type` is `MESH` or `CONVEX_HULL`. */\n    mesh?: SceneNode;\n    /** When true, mesh and convex-hull shapes accumulate descendant meshes under `mesh`. */\n    includeChildMeshes?: boolean;\n}\n\n/** Options for `createPhysicsAggregate`: mass, material (friction/restitution), and optional shape geometry overrides. */\nexport interface PhysicsAggregateOptions {\n    mass: number;\n    friction?: number;\n    restitution?: number;\n    radius?: number;\n    pointA?: Vec3;\n    pointB?: Vec3;\n    extents?: Vec3;\n    rotation?: Quat;\n    center?: Vec3;\n    startAsleep?: boolean;\n    isTriggerShape?: boolean;\n    /**\n     * Optional pre-built shape. When provided, it is used directly and the\n     * primitive-shape build path is skipped. This lets callers supply\n     * mesh/convex-hull shapes (built via `createPhysicsShape`) without pulling\n     * the mesh-shape code into `createPhysicsAggregate` itself.\n     */\n    shape?: PhysicsShape;\n}\n\n/** Mass properties applied to a physics body. Omitted fields keep Havok's shape-derived values. */\nexport interface PhysicsMassProperties {\n    centerOfMass?: Vec3;\n    mass?: number;\n    inertia?: Vec3;\n    inertiaOrientation?: Quat;\n}\n\n/** Pivot/axis options used to create a physics constraint. */\nexport interface PhysicsConstraintOptions {\n    pivotA?: Vec3;\n    pivotB?: Vec3;\n    axisA?: Vec3;\n    axisB?: Vec3;\n    perpAxisA?: Vec3;\n    perpAxisB?: Vec3;\n    maxDistance?: number;\n    collision?: boolean;\n}\n\n/** Limit options used by 6DoF constraints. */\nexport interface PhysicsConstraintLimit {\n    axis: PhysicsConstraintAxis;\n    minLimit?: number;\n    maxLimit?: number;\n    stiffness?: number;\n    damping?: number;\n}\n\n// ─── Opaque handles (pure state — no methods) ────────────────────────\n\n/** Opaque handle to a Havok rigid body, bound to a scene node and a motion type. */\nexport interface PhysicsBody {\n    /** @internal */ readonly _hkBody: any;\n    /** @internal */ readonly _world: PhysicsWorld;\n    /** @internal */ _shape?: PhysicsShape | null;\n    /** @internal */ _preStep: boolean;\n    /** @internal How a moved node is propagated to the body pre-step (TELEPORT by default). */\n    _prestepType: PhysicsPrestepType;\n    readonly node: SceneNode;\n    readonly motionType: PhysicsMotionType;\n    /** @internal The floating-origin region this body lives in; set only under floating origin. */\n    _region?: WorldRegion;\n}\n\n/** Opaque handle to a Havok collision shape. */\nexport interface PhysicsShape {\n    /** @internal */ readonly _hkShape: any;\n    /** @internal */ readonly _type: PhysicsShapeType;\n}\n\n/** A body and its shape wired together, as produced by `createPhysicsAggregate`. */\nexport interface PhysicsAggregate {\n    readonly body: PhysicsBody;\n    readonly shape: PhysicsShape;\n}\n\n/** Opaque handle to a Havok constraint between two bodies. */\nexport interface PhysicsConstraint {\n    /** @internal */ readonly _hkConstraint: any;\n    readonly bodyA: PhysicsBody;\n    readonly bodyB: PhysicsBody;\n    readonly type: PhysicsConstraintType;\n    readonly options: PhysicsConstraintOptions;\n    readonly limits?: readonly PhysicsConstraintLimit[];\n}\n\n// ─── PhysicsWorld — pure-state handle ────────────────────────────────\n\n/** Pure-state handle to a Havok physics world: the WASM module, the native world, its bodies, and the timestep. */\nexport interface PhysicsWorld {\n    /** @internal */ readonly _hknp: any;\n    /** @internal */ readonly _hkWorld: any;\n    /** @internal */ readonly _bodies: PhysicsBody[];\n    /** @internal Owning scene, retained so out-of-step callers (e.g. the character controller) can\n     *  read the current per-frame delta (`scene.fixedDeltaMs` / `engine._currentDelta`) when the\n     *  world has no fixed step configured. The world already captures the scene in its per-frame\n     *  step closure, so this adds no new lifetime coupling. */\n    readonly _scene: SceneContext;\n    /** @internal Fixed simulation step in **milliseconds**, matching {@link SceneContext.fixedDeltaMs}.\n     *  Independent of the scene: defaults to `0` (\"no world-level fixed step\") and is only set by\n     *  {@link setPhysicsTimestep} / {@link setPhysicsTimestepMs}. When `0`, the step resolves the live\n     *  per-frame delta the scene feeds it (`scene.fixedDeltaMs` when running fixed, else the engine's\n     *  real frame delta), so runtime changes to `scene.fixedDeltaMs` are always respected. */\n    _fixedDeltaMs: number;\n    /** @internal World-wide gravity `[x, y, z]` set at creation; used to seed floating-origin regions. */\n    _gravity: number[];\n    /** @internal Floating-origin runtime; present only after `enableHavokFloatingOrigin` is called. */\n    _fo?: HavokFloatingOriginContext;\n    /** @internal Callbacks run after each physics step (post body→node sync, pre-render). */\n    _afterStep?: ((timestep: number) => void)[];\n    /** @internal Lazily-created Havok query collector, cached by the standalone `physics/havok-queries.ts` module. */\n    _queryCollector?: any;\n    /** @internal Removes the per-frame step callback from the scene; called by `disposePhysics` before the native world is released. */\n    _stopStep?: () => void;\n}\n\n// ─── Factory ─────────────────────────────────────────────────────────\n\n/**\n * Create a Havok physics world and register per-frame stepping on the scene.\n *\n * The caller is responsible for loading the WASM binary externally:\n * ```ts\n *   import HavokPhysics from \"@babylonjs/havok\";\n *   const hknp = await HavokPhysics({ locateFile: () => \"/HavokPhysics.wasm\" });\n *   const world = createHavokWorld(scene, hknp);\n * ```\n *\n * For Large World Rendering, call {@link enableHavokFloatingOrigin} on the returned world (before\n * creating any bodies) to opt into multi-region floating-origin simulation.\n */\nexport function createHavokWorld(scene: SceneContext, hknp: any, gravity?: Vec3): PhysicsWorld {\n    const hkWorld = hknp.HP_World_Create()[1];\n\n    const g = gravity ?? { x: 0, y: -9.81, z: 0 };\n    hknp.HP_World_SetGravity(hkWorld, [g.x, g.y, g.z]);\n\n    const world: PhysicsWorld = {\n        _hknp: hknp,\n        _hkWorld: hkWorld,\n        _bodies: [],\n        _scene: scene,\n        _fixedDeltaMs: 0,\n        _gravity: [g.x, g.y, g.z],\n    };\n\n    // Register the per-frame physics step directly on the scene (mirror of\n    // physics-viewer.ts). Keep a remover so disposePhysics can stop stepping\n    // before the native world is released — otherwise a still-running step\n    // would step a freed world (use-after-free in Havok WASM).\n    const stepCb = (deltaMs: number): void => {\n        _stepWorld(world, deltaMs);\n    };\n    scene._beforeRender.unshift(stepCb);\n    world._stopStep = () => {\n        const i = scene._beforeRender.indexOf(stepCb);\n        if (i >= 0) {\n            scene._beforeRender.splice(i, 1);\n        }\n    };\n\n    return world;\n}\n\n/**\n * Opt a Havok world into multi-region floating-origin simulation (Large World Rendering).\n *\n * Loads the floating-origin runtime on demand (`physics/havok-floating-origin.ts`) so worlds that\n * never call this — i.e. ordinary near-origin physics scenes — never pull that code into their\n * bundle. Once enabled, bodies far apart in world space are simulated in separate regions (each\n * within `floatingOriginWorldRadius` of its origin) so the float32 Havok solver keeps full\n * precision. Node transforms remain true world coordinates; eye-relative rendering is handled\n * independently by the floating-origin render path.\n *\n * Must be called **before** creating any bodies in the world. Pair it with an engine created with\n * `useFloatingOrigin: true` so rendering and physics share the same far-from-origin handling.\n * @param world - The physics world to enable floating origin on.\n * @param floatingOriginWorldRadius - Region capture radius in metres (default 100000, matching Babylon.js).\n */\nexport async function enableHavokFloatingOrigin(world: PhysicsWorld, floatingOriginWorldRadius = 100000): Promise<void> {\n    const fo = await import(\"./havok-floating-origin.js\");\n    world._fo = fo.createHavokFloatingOriginContext(world._hkWorld, world._gravity, floatingOriginWorldRadius);\n}\n\n// ─── Per-frame stepping ──────────────────────────────────────────────\n\n/** Hard ceiling on a single physics step (100 ms = a 10 fps floor). A long hitch — backgrounded tab,\n *  GC pause, hit breakpoint — otherwise hands Havok a huge dt, which tunnels fast bodies through thin\n *  geometry and can destabilise the constraint solver. Shared by the per-frame step and the\n *  out-of-loop callers (`worldStepSeconds`) so every physics consumer agrees on the effective step. */\nconst MAX_STEP_MS = 100;\n\nfunction _stepWorld(world: PhysicsWorld, deltaMs: number): void {\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n    // Step size in ms: the world's own fixed step when set (`> 0`), otherwise the live per-frame delta\n    // the scene supplies — which the render loop already resolves as `scene.fixedDeltaMs > 0 ?\n    // scene.fixedDeltaMs : engine._currentDelta`, so runtime changes to `scene.fixedDeltaMs` flow\n    // through here every frame. Reject non-finite or non-positive steps up front — matching the\n    // animation/sprite managers — so a NaN/negative delta can never reach the solver (a NaN dt would\n    // poison every body's integration).\n    const stepMs = world._fixedDeltaMs > 0 ? world._fixedDeltaMs : deltaMs;\n    if (!Number.isFinite(stepMs) || stepMs <= 0) {\n        return;\n    }\n    // Clamp the step (see MAX_STEP_MS): capping degrades a stall into a brief slow-motion rather than\n    // an explosion (Babylon.js caps its physics substep the same way).\n    const dt = Math.min(stepMs, MAX_STEP_MS) / 1000;\n\n    // Floating-origin worlds run a multi-region step (loaded on demand).\n    if (world._fo) {\n        world._fo.step(world, dt);\n        return;\n    }\n\n    // Pre-step: sync moved nodes into Havok. A body syncs only when its prestep type is not\n    // DISABLED and it is either ANIMATED (kinematic) or explicitly pre-stepped. TELEPORT snaps the\n    // body to the node; ACTION sets a velocity toward it (so resting bodies are dragged via friction).\n    for (let i = 0; i < bodies.length; i++) {\n        const b = bodies[i]!;\n        if (b._prestepType !== PhysicsPrestepType.DISABLED && (b.motionType === (PhysicsMotionType.ANIMATED as number) || b._preStep)) {\n            if (b._prestepType === PhysicsPrestepType.ACTION) {\n                _syncNodeToBodyTarget(hknp, b);\n            } else {\n                _syncNodeToBody(hknp, b);\n            }\n        }\n    }\n\n    hknp.HP_World_Step(hkWorld, dt);\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    // After-step hooks run once body→node sync is complete, before rendering. This mirrors\n    // Babylon.js, where physics is advanced inside `scene.animate()` (before render) and\n    // post-step scene logic runs in `onAfterRenderObservable`.\n    if (world._afterStep) {\n        const cbs = world._afterStep;\n        for (let i = 0; i < cbs.length; i++) {\n            cbs[i]!(dt);\n        }\n    }\n}\n\n/**\n * Registers a callback to run after each physics step, once dynamic body transforms have been\n * synced back to their nodes and before the frame is rendered. Use this for per-step logic that\n * must observe (or react to) the freshly-integrated state — e.g. tracking a marker to a body's\n * post-step pose, or applying a force whose effect should integrate on the next step.\n * @param world - The physics world to hook.\n * @param cb - Callback invoked with the world timestep (seconds) after each step.\n */\nexport function onPhysicsAfterStep(world: PhysicsWorld, cb: (timestep: number) => void): void {\n    (world._afterStep ??= []).push(cb);\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]\n    const rot = t[1]; // [x, y, z, w]\n    const node = body.node;\n    node.position.set(pos[0], pos[1], pos[2]);\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    hknp.HP_Body_SetQTransform(body._hkBody, [\n        [p.x, p.y, p.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n}\n\n// ACTION prestep: instead of snapping the body, set its target transform so Havok derives a\n// velocity that carries the body to the node over the step. Resting bodies stacked on top are then\n// dragged along by friction rather than tunneled through.\nfunction _syncNodeToBodyTarget(hknp: any, body: PhysicsBody): void {\n    const node = body.node;\n    const p = node.position;\n    const q = node.rotationQuaternion;\n    hknp.HP_Body_SetTargetQTransform(body._hkBody, [\n        [p.x, p.y, p.z],\n        [q.x, q.y, q.z, q.w],\n    ]);\n}\n\n// ─── Gravity ─────────────────────────────────────────────────────────\n\n/**\n * Sets gravity for the world, or for a single region when `worldPosition` is given.\n * Passing a position is useful for planetary scenarios where gravity direction varies by location.\n * @param world - The physics world.\n * @param gravity - Gravity acceleration in m/s².\n * @param worldPosition - Optional world position selecting the region to update; omit to update all regions.\n */\nexport function setPhysicsGravity(world: PhysicsWorld, gravity: Vec3, worldPosition?: Vec3): void {\n    if (world._fo) {\n        world._fo.setGravity(world, [gravity.x, gravity.y, gravity.z], worldPosition);\n        return;\n    }\n    world._hknp.HP_World_SetGravity(world._hkWorld, [gravity.x, gravity.y, gravity.z]);\n}\n\n/**\n * Returns the world's current gravity vector, or a specific region's when `worldPosition` is given.\n * @param world - The physics world.\n * @param worldPosition - Optional world position selecting the region to read; omit for the world-wide gravity.\n * @returns Gravity acceleration in m/s².\n */\nexport function getPhysicsGravity(world: PhysicsWorld, worldPosition?: Vec3): Vec3 {\n    if (worldPosition && world._fo) {\n        const g = world._fo.getRegionGravity(world, worldPosition);\n        return { x: g[0]!, y: g[1]!, z: g[2]! };\n    }\n    const g = world._hknp.HP_World_GetGravity(world._hkWorld)[1];\n    return { x: g[0], y: g[1], z: g[2] };\n}\n\n// ─── Timestep ────────────────────────────────────────────────────────\n\n/**\n * Sets the fixed simulation timestep used by each world step, in **seconds**.\n *\n * Pass `0` to make the world step at the real per-frame delta instead of a fixed step.\n * See {@link setPhysicsTimestepMs} for the millisecond-based equivalent.\n * @param world - The physics world.\n * @param dt - Fixed step in seconds (e.g. `1 / 60`), or `0` to use the frame delta.\n */\nexport function setPhysicsTimestep(world: PhysicsWorld, dt: number): void {\n    world._fixedDeltaMs = dt * 1000;\n}\n\n/**\n * Returns the world's fixed simulation timestep in **seconds** (`0` means the real per-frame delta\n * is used). See {@link getPhysicsTimestepMs} for the millisecond-based equivalent.\n * @param world - The physics world.\n * @returns The fixed step in seconds.\n */\nexport function getPhysicsTimestep(world: PhysicsWorld): number {\n    return world._fixedDeltaMs / 1000;\n}\n\n/**\n * Sets the fixed simulation timestep used by each world step, in **milliseconds** (matching\n * {@link SceneContext.fixedDeltaMs}). Pass `0` to make the world step at the real per-frame delta\n * instead of a fixed step. See {@link setPhysicsTimestep} for the seconds-based equivalent.\n * @param world - The physics world.\n * @param fixedDeltaMs - Fixed step in milliseconds (e.g. `1000 / 60`), or `0` to use the frame delta.\n */\nexport function setPhysicsTimestepMs(world: PhysicsWorld, fixedDeltaMs: number): void {\n    world._fixedDeltaMs = fixedDeltaMs;\n}\n\n/**\n * Returns the world's fixed simulation timestep in **milliseconds** (`0` means the real per-frame\n * delta is used). See {@link getPhysicsTimestep} for the seconds-based equivalent.\n * @param world - The physics world.\n * @returns The fixed step in milliseconds.\n */\nexport function getPhysicsTimestepMs(world: PhysicsWorld): number {\n    return world._fixedDeltaMs;\n}\n\n/**\n * Effective physics step in **seconds** for callers that run outside the per-frame step loop\n * (force→impulse application, the character controller): the world's fixed step when set, otherwise\n * the owning scene's current per-frame delta — its own `fixedDeltaMs`, else the engine's real frame\n * delta — mirroring how `_stepWorld` resolves the delta the scene feeds it. Applies the same\n * finite/positive guard and {@link MAX_STEP_MS} clamp as `_stepWorld`, so every physics caller agrees\n * on the effective step. Returns `0` on a frame with no delta yet (e.g. before the first render);\n * callers guard against that.\n * @internal\n */\nexport function worldStepSeconds(world: PhysicsWorld): number {\n    const scene = world._scene;\n    const stepMs = world._fixedDeltaMs > 0 ? world._fixedDeltaMs : scene.fixedDeltaMs > 0 ? scene.fixedDeltaMs : scene.surface.engine._currentDelta;\n    if (!Number.isFinite(stepMs) || stepMs <= 0) {\n        return 0;\n    }\n    return Math.min(stepMs, MAX_STEP_MS) / 1000;\n}\n\n// ─── Velocity limits ─────────────────────────────────────────────────\n\n/**\n * Clamps the maximum linear and angular speeds of bodies in the world.\n * @param world - The physics world.\n * @param maxLinear - Maximum linear speed.\n * @param maxAngular - Maximum angular speed.\n */\nexport function setPhysicsVelocityLimits(world: PhysicsWorld, maxLinear: number, maxAngular: number): void {\n    if (world._fo) {\n        world._fo.setVelocityLimits(world, maxLinear, maxAngular);\n        return;\n    }\n    world._hknp.HP_World_SetSpeedLimit(world._hkWorld, maxLinear, maxAngular);\n}\n\n/**\n * Returns the world's current maximum linear and angular speed limits.\n * @param world - The physics world.\n * @returns The `maxLinear` and `maxAngular` speed limits.\n */\nexport function getPhysicsVelocityLimits(world: PhysicsWorld): { maxLinear: number; maxAngular: number } {\n    const limits = world._hknp.HP_World_GetSpeedLimit(world._hkWorld);\n    return { maxLinear: limits[1], maxAngular: limits[2] };\n}\n\n// ─── Body ────────────────────────────────────────────────────────────\n\n/**\n * Creates a rigid body bound to a scene node, adds it to the world, and seeds it with the node's transform.\n * @param world - The physics world.\n * @param node - The scene node the body follows / drives.\n * @param motionType - Whether the body is static, animated (kinematic), or dynamic.\n * @param startsAsleep - When true, the body is added in a sleeping state.\n * @returns The created physics body handle.\n */\nexport function createPhysicsBody(world: PhysicsWorld, node: SceneNode, motionType: PhysicsMotionType, startsAsleep = false): PhysicsBody {\n    const { _hknp: hknp, _hkWorld: hkWorld } = world;\n\n    const hkBody = hknp.HP_Body_Create()[1];\n\n    // Set motion type\n    const hkMotion =\n        motionType === PhysicsMotionType.STATIC ? hknp.MotionType.STATIC : motionType === PhysicsMotionType.ANIMATED ? hknp.MotionType.KINEMATIC : hknp.MotionType.DYNAMIC;\n    hknp.HP_Body_SetMotionType(hkBody, hkMotion);\n\n    const body: PhysicsBody = {\n        _hkBody: hkBody,\n        _shape: null,\n        _preStep: false,\n        _prestepType: PhysicsPrestepType.TELEPORT,\n        _world: world,\n        node,\n        motionType,\n    };\n\n    if (world._fo) {\n        // Floating origin: place the body in its region, storing it in region-local coordinates.\n        world._fo.placeBody(world, body, startsAsleep);\n    } else {\n        // Add to world first, then set transform (Havok resets transform on add)\n        hknp.HP_World_AddBody(hkWorld, hkBody, startsAsleep);\n\n        const p = node.position;\n        const q = node.rotationQuaternion;\n        hknp.HP_Body_SetQTransform(hkBody, [\n            [p.x, p.y, p.z],\n            [q.x, q.y, q.z, q.w],\n        ]);\n    }\n\n    world._bodies.push(body);\n    return body;\n}\n\n/**\n * Enable or disable pre-step synchronization from a node transform to its Havok body.\n * @param body - The physics body to update.\n * @param enabled - When true, the node transform is written to Havok before each physics step.\n */\nexport function setPhysicsBodyPreStep(body: PhysicsBody, enabled: boolean): void {\n    body._preStep = enabled;\n}\n\n/**\n * Sets how a moved transform node is propagated to its physics body before each step.\n * `TELEPORT` snaps the body to the node, `ACTION` sets a velocity toward it (so resting bodies are\n * dragged along by friction), and `DISABLED` skips the pre-step sync entirely. Setting any type\n * other than `DISABLED` automatically enables prestep syncing for the body (equivalent to\n * {@link setPhysicsBodyPreStep}), so STATIC/DYNAMIC bodies are synced without an extra call.\n * @param body - The physics body to update.\n * @param type - The prestep behaviour to apply.\n */\nexport function setPhysicsBodyPrestepType(body: PhysicsBody, type: PhysicsPrestepType): void {\n    body._prestepType = type;\n    if (type !== PhysicsPrestepType.DISABLED) {\n        body._preStep = true;\n    }\n}\n\n/**\n * Applies a world-space impulse to a physics body.\n * @param body - The physics body to update.\n * @param impulse - Impulse vector.\n * @param location - World-space application point.\n */\nexport function applyPhysicsBodyImpulse(body: PhysicsBody, impulse: Vec3, location: Vec3): void {\n    const hknp = body._world._hknp;\n    hknp.HP_Body_ApplyImpulse(body._hkBody, [location.x, location.y, location.z], [impulse.x, impulse.y, impulse.z]);\n}\n\n/**\n * Applies a force for one fixed physics timestep, matching Babylon.js PhysicsBody.applyForce.\n * @param world - The physics world.\n * @param body - The physics body to update.\n * @param force - Force vector.\n * @param location - World-space application point.\n */\nexport function applyPhysicsBodyForce(world: PhysicsWorld, body: PhysicsBody, force: Vec3, location: Vec3): void {\n    // impulse = force × Δt (seconds). When the world has no fixed step, `worldStepSeconds` falls back\n    // to the scene's current per-frame delta (its `fixedDeltaMs`, else the engine's real frame delta).\n    const dt = worldStepSeconds(world);\n    applyPhysicsBodyImpulse(body, { x: force.x * dt, y: force.y * dt, z: force.z * dt }, location);\n}\n\n/**\n * Creates and enables a Havok constraint between two physics bodies.\n * @param world - The physics world.\n * @param bodyA - Parent body.\n * @param bodyB - Child body.\n * @param type - Constraint type.\n * @param options - Pivot and axis options.\n * @param limits - Optional 6DoF limits.\n */\nexport function createPhysicsConstraint(\n    world: PhysicsWorld,\n    bodyA: PhysicsBody,\n    bodyB: PhysicsBody,\n    type: PhysicsConstraintType,\n    options: PhysicsConstraintOptions = {},\n    limits: readonly PhysicsConstraintLimit[] = []\n): PhysicsConstraint {\n    const hknp = world._hknp;\n    const joint = hknp.HP_Constraint_Create()[1];\n    hknp.HP_Constraint_SetParentBody(joint, bodyA._hkBody);\n    hknp.HP_Constraint_SetChildBody(joint, bodyB._hkBody);\n\n    const pivotA = options.pivotA ?? ZERO_VEC3;\n    const pivotB = options.pivotB ?? ZERO_VEC3;\n    const axisA = options.axisA ?? X_AXIS;\n    const axisB = options.axisB ?? X_AXIS;\n    const perpAxisA = options.perpAxisA ?? normalTo(axisA);\n    const perpAxisB = options.perpAxisB ?? normalTo(axisB);\n    hknp.HP_Constraint_SetAnchorInParent(joint, vec3Array(pivotA), vec3Array(axisA), vec3Array(perpAxisA));\n    hknp.HP_Constraint_SetAnchorInChild(joint, vec3Array(pivotB), vec3Array(axisB), vec3Array(perpAxisB));\n\n    configureConstraintAxes(hknp, joint, type, options, limits);\n    hknp.HP_Constraint_SetCollisionsEnabled(joint, !!options.collision);\n    hknp.HP_Constraint_SetEnabled(joint, true);\n\n    return { _hkConstraint: joint, bodyA, bodyB, type, options: { ...options, axisA, axisB, perpAxisA, perpAxisB }, limits };\n}\n\n/**\n * Sets the Havok filter membership mask for a collision shape.\n * @param world - The physics world.\n * @param shape - The shape to update.\n * @param membershipMask - Bitmask describing which collision group this shape belongs to.\n */\nexport function setPhysicsShapeFilterMembershipMask(world: PhysicsWorld, shape: PhysicsShape, membershipMask: number): void {\n    const info = world._hknp.HP_Shape_GetFilterInfo(shape._hkShape)[1];\n    world._hknp.HP_Shape_SetFilterInfo(shape._hkShape, [membershipMask, info[1]]);\n}\n\n/**\n * Sets the Havok filter collide mask for a collision shape.\n * @param world - The physics world.\n * @param shape - The shape to update.\n * @param collideMask - Bitmask describing which collision groups this shape collides with.\n */\nexport function setPhysicsShapeFilterCollideMask(world: PhysicsWorld, shape: PhysicsShape, collideMask: number): void {\n    const info = world._hknp.HP_Shape_GetFilterInfo(shape._hkShape)[1];\n    world._hknp.HP_Shape_SetFilterInfo(shape._hkShape, [info[0], collideMask]);\n}\n\nconst ZERO_VEC3: Vec3 = { x: 0, y: 0, z: 0 };\nconst X_AXIS: Vec3 = { x: 1, y: 0, z: 0 };\n\nfunction vec3Array(v: Vec3): [number, number, number] {\n    return [v.x, v.y, v.z];\n}\n\nfunction normalTo(axis: Vec3): Vec3 {\n    const ax = Math.abs(axis.x);\n    const ay = Math.abs(axis.y);\n    const az = Math.abs(axis.z);\n    if (ax <= ay && ax <= az) {\n        return normalizeVec3({ x: 0, y: -axis.z, z: axis.y });\n    }\n    if (ay <= ax && ay <= az) {\n        return normalizeVec3({ x: -axis.z, y: 0, z: axis.x });\n    }\n    return normalizeVec3({ x: -axis.y, y: axis.x, z: 0 });\n}\n\nfunction normalizeVec3(v: Vec3): Vec3 {\n    const inv = 1 / Math.max(1e-8, Math.hypot(v.x, v.y, v.z));\n    return { x: v.x * inv, y: v.y * inv, z: v.z * inv };\n}\n\nfunction configureConstraintAxes(hknp: any, joint: any, type: PhysicsConstraintType, options: PhysicsConstraintOptions, limits: readonly PhysicsConstraintLimit[]): void {\n    const axis = hknp.ConstraintAxis;\n    const mode = hknp.ConstraintAxisLimitMode;\n    const lock = (a: any): void => hknp.HP_Constraint_SetAxisMode(joint, a, mode.LOCKED);\n    const limit = (a: any, min: number, max: number): void => {\n        hknp.HP_Constraint_SetAxisMode(joint, a, mode.LIMITED);\n        hknp.HP_Constraint_SetAxisMinLimit(joint, a, min);\n        hknp.HP_Constraint_SetAxisMaxLimit(joint, a, max);\n    };\n\n    switch (type) {\n        case PhysicsConstraintType.LOCK:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_X);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.DISTANCE: {\n            const d = options.maxDistance ?? 0;\n            limit(axis.LINEAR_DISTANCE, d, d);\n            break;\n        }\n        case PhysicsConstraintType.HINGE:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.PRISMATIC:\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_X);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.SLIDER:\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            lock(axis.ANGULAR_Y);\n            lock(axis.ANGULAR_Z);\n            break;\n        case PhysicsConstraintType.BALL_AND_SOCKET:\n            lock(axis.LINEAR_X);\n            lock(axis.LINEAR_Y);\n            lock(axis.LINEAR_Z);\n            break;\n        case PhysicsConstraintType.SIX_DOF:\n            for (const l of limits) {\n                const nativeAxis = constraintAxisToNative(axis, l.axis);\n                if ((l.minLimit ?? -1) === 0 && (l.maxLimit ?? -1) === 0) {\n                    lock(nativeAxis);\n                } else {\n                    if (l.minLimit !== undefined || l.maxLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMode(joint, nativeAxis, mode.LIMITED);\n                    }\n                    if (l.minLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMinLimit(joint, nativeAxis, l.minLimit);\n                    }\n                    if (l.maxLimit !== undefined) {\n                        hknp.HP_Constraint_SetAxisMaxLimit(joint, nativeAxis, l.maxLimit);\n                    }\n                }\n                if (l.stiffness !== undefined) {\n                    hknp.HP_Constraint_SetAxisStiffness(joint, nativeAxis, l.stiffness);\n                }\n                if (l.damping !== undefined) {\n                    hknp.HP_Constraint_SetAxisDamping(joint, nativeAxis, l.damping);\n                }\n            }\n            break;\n    }\n}\n\nfunction constraintAxisToNative(axis: any, value: PhysicsConstraintAxis): any {\n    switch (value) {\n        case PhysicsConstraintAxis.LINEAR_X:\n            return axis.LINEAR_X;\n        case PhysicsConstraintAxis.LINEAR_Y:\n            return axis.LINEAR_Y;\n        case PhysicsConstraintAxis.LINEAR_Z:\n            return axis.LINEAR_Z;\n        case PhysicsConstraintAxis.ANGULAR_X:\n            return axis.ANGULAR_X;\n        case PhysicsConstraintAxis.ANGULAR_Y:\n            return axis.ANGULAR_Y;\n        case PhysicsConstraintAxis.ANGULAR_Z:\n            return axis.ANGULAR_Z;\n        case PhysicsConstraintAxis.LINEAR_DISTANCE:\n            return axis.LINEAR_DISTANCE;\n    }\n}\n\n// ─── Shape ───────────────────────────────────────────────────────────\n\ninterface HavokBuffer {\n    offset: number;\n    numObjects: number;\n}\n\nclass MeshAccumulator {\n    private readonly _vertices: number[] = [];\n    private readonly _indices: number[] = [];\n    private readonly _collectIndices: boolean;\n\n    public constructor(collectIndices: boolean) {\n        this._collectIndices = collectIndices;\n    }\n\n    public addNodeMeshes(root: SceneNode, includeChildren: boolean): void {\n        const invRoot = mat4Invert(root.worldMatrix as Mat4);\n        if (!invRoot) {\n            throw new Error(\"Cannot create physics mesh shape from a singular root transform.\");\n        }\n\n        const rootScale = mat4Scale(root.scaling.x, root.scaling.y, root.scaling.z);\n        const rootToBody = mat4Multiply(rootScale, invRoot);\n        this._addNodeMesh(root, rootToBody);\n\n        if (includeChildren) {\n            for (const child of root.children) {\n                this._addDescendantMeshes(child, rootToBody);\n            }\n        }\n\n        if (this._vertices.length === 0) {\n            throw new Error(\"Cannot create physics mesh shape without vertex positions.\");\n        }\n        if (this._collectIndices && this._indices.length === 0) {\n            throw new Error(\"Cannot create physics mesh shape without triangle indices.\");\n        }\n    }\n\n    public getVertices(hknp: any): HavokBuffer {\n        const numObjects = this._vertices.length;\n        const offset = hknp._malloc(numObjects * 4);\n        new Float32Array(hknp.HEAPU8.buffer, offset, numObjects).set(this._vertices);\n        return { offset, numObjects };\n    }\n\n    public getTriangles(hknp: any): HavokBuffer {\n        const numObjects = this._indices.length;\n        const offset = hknp._malloc(numObjects * 4);\n        new Int32Array(hknp.HEAPU8.buffer, offset, numObjects).set(this._indices);\n        return { offset, numObjects };\n    }\n\n    public freeBuffer(hknp: any, buffer: HavokBuffer): void {\n        hknp._free(buffer.offset);\n    }\n\n    private _addDescendantMeshes(node: SceneNode, rootToBody: Mat4): void {\n        this._addNodeMesh(node, rootToBody);\n        for (const child of node.children) {\n            this._addDescendantMeshes(child, rootToBody);\n        }\n    }\n\n    private _addNodeMesh(node: SceneNode, rootToBody: Mat4): void {\n        if (!isMesh(node)) {\n            return;\n        }\n        const positions = node._cpuPositions;\n        if (!positions || positions.length === 0) {\n            return;\n        }\n\n        const meshToBody = mat4Multiply(rootToBody, node.worldMatrix as Mat4);\n        const indexOffset = this._vertices.length / 3;\n        for (let i = 0; i < positions.length; i += 3) {\n            transformPositionInto(this._vertices, meshToBody, positions[i]!, positions[i + 1]!, positions[i + 2]!);\n        }\n\n        if (!this._collectIndices) {\n            return;\n        }\n\n        const indices = node._cpuIndices;\n        if (!indices) {\n            return;\n        }\n        for (let i = 0; i < indices.length; i += 3) {\n            const a = indices[i]! + indexOffset;\n            const b = indices[i + 1]! + indexOffset;\n            const c = indices[i + 2]! + indexOffset;\n            // Babylon Lite scenes use Babylon.js' default left-handed winding, so\n            // reverse triangle order for Havok's mesh-shape interior optimization.\n            this._indices.push(c, b, a);\n        }\n    }\n}\n\nfunction isMesh(node: SceneNode): node is Mesh {\n    return \"_gpu\" in node && \"_cpuPositions\" in node;\n}\n\nfunction transformPositionInto(dst: number[], m: Mat4, x: number, y: number, z: number): void {\n    dst.push(m[0]! * x + m[4]! * y + m[8]! * z + m[12]!, m[1]! * x + m[5]! * y + m[9]! * z + m[13]!, m[2]! * x + m[6]! * y + m[10]! * z + m[14]!);\n}\n\n/**\n * Creates a collision shape from the given options.\n * @param world - The physics world.\n * @param options - The shape type and its geometry parameters.\n * @returns The created shape handle.\n */\nexport function createPhysicsShape(world: PhysicsWorld, options: PhysicsShapeOptions): PhysicsShape {\n    const { _hknp: hknp } = world;\n    const params = options.parameters ?? {};\n\n    let hkShape: any;\n    const primitiveShape = createPrimitivePhysicsShapeHandle(hknp, options.type, params);\n    if (primitiveShape !== null) {\n        return { _hkShape: primitiveShape, _type: options.type };\n    }\n\n    switch (options.type) {\n        case PhysicsShapeType.CONTAINER: {\n            hkShape = hknp.HP_Shape_CreateContainer()[1];\n            break;\n        }\n        case PhysicsShapeType.CONVEX_HULL:\n        case PhysicsShapeType.MESH: {\n            if (!options.mesh) {\n                throw new Error(\"Physics mesh shapes require a mesh or transform hierarchy.\");\n            }\n            const collectIndices = options.type === PhysicsShapeType.MESH;\n            const accum = new MeshAccumulator(collectIndices);\n            accum.addNodeMeshes(options.mesh, options.includeChildMeshes ?? false);\n            const positions = accum.getVertices(hknp);\n            const numVec3s = positions.numObjects / 3;\n            if (options.type === PhysicsShapeType.CONVEX_HULL) {\n                hkShape = hknp.HP_Shape_CreateConvexHull(positions.offset, numVec3s)[1];\n            } else {\n                const triangles = accum.getTriangles(hknp);\n                const numTriangles = triangles.numObjects / 3;\n                hkShape = hknp.HP_Shape_CreateMesh(positions.offset, numVec3s, triangles.offset, numTriangles)[1];\n                accum.freeBuffer(hknp, triangles);\n            }\n            accum.freeBuffer(hknp, positions);\n            break;\n        }\n        default:\n            throw new Error(`Unsupported shape type: ${options.type}`);\n    }\n\n    return { _hkShape: hkShape, _type: options.type };\n}\n\nfunction createPrimitivePhysicsShapeHandle(hknp: any, type: PhysicsShapeType, params: PhysicsShapeParameters): any | null {\n    switch (type) {\n        case PhysicsShapeType.SPHERE: {\n            const c = params.center ?? { x: 0, y: 0, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateSphere([c.x, c.y, c.z], r)[1];\n        }\n        case PhysicsShapeType.BOX: {\n            const c = params.center ?? { x: 0, y: 0, z: 0 };\n            const q = params.rotation ?? { x: 0, y: 0, z: 0, w: 1 };\n            const e = params.extents ?? { x: 1, y: 1, z: 1 };\n            return hknp.HP_Shape_CreateBox([c.x, c.y, c.z], [q.x, q.y, q.z, q.w], [e.x, e.y, e.z])[1];\n        }\n        case PhysicsShapeType.CAPSULE: {\n            const a = params.pointA ?? { x: 0, y: 0, z: 0 };\n            const b = params.pointB ?? { x: 0, y: 1, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateCapsule([a.x, a.y, a.z], [b.x, b.y, b.z], r)[1];\n        }\n        case PhysicsShapeType.CYLINDER: {\n            const a = params.pointA ?? { x: 0, y: 0, z: 0 };\n            const b = params.pointB ?? { x: 0, y: 1, z: 0 };\n            const r = params.radius ?? 0.5;\n            return hknp.HP_Shape_CreateCylinder([a.x, a.y, a.z], [b.x, b.y, b.z], r)[1];\n        }\n        default:\n            return null;\n    }\n}\n\n// ─── Shape ↔ Body wiring ─────────────────────────────────────────────\n\n/**\n * Assigns a collision shape to a body.\n * @param world - The physics world.\n * @param body - The body to attach the shape to.\n * @param shape - The collision shape.\n */\nexport function setPhysicsBodyShape(world: PhysicsWorld, body: PhysicsBody, shape: PhysicsShape): void {\n    world._hknp.HP_Body_SetShape(body._hkBody, shape._hkShape);\n    body._shape = shape;\n}\n\n/**\n * Adds a child shape to a container shape with an explicit local transform.\n * @param world - The physics world.\n * @param container - Parent container shape.\n * @param child - Child shape to append.\n * @param translation - Child translation in container space.\n * @param rotation - Child rotation in container space.\n * @param scale - Child scale in container space.\n */\nexport function addPhysicsShapeChild(world: PhysicsWorld, container: PhysicsShape, child: PhysicsShape, translation?: Vec3, rotation?: Quat, scale?: Vec3): void {\n    const t = translation ?? { x: 0, y: 0, z: 0 };\n    const r = rotation ?? { x: 0, y: 0, z: 0, w: 1 };\n    const s = scale ?? { x: 1, y: 1, z: 1 };\n    world._hknp.HP_Shape_AddChild(container._hkShape, child._hkShape, [\n        [t.x, t.y, t.z],\n        [r.x, r.y, r.z, r.w],\n        [s.x, s.y, s.z],\n    ]);\n}\n\n/**\n * Adds a child shape to a container, deriving its local transform from two scene nodes.\n * @param world - The physics world.\n * @param container - Parent container shape.\n * @param parentNode - Scene node associated with the container shape.\n * @param child - Child shape to append.\n * @param childNode - Scene node associated with the child shape.\n */\nexport function addPhysicsShapeChildFromParent(world: PhysicsWorld, container: PhysicsShape, parentNode: SceneNode, child: PhysicsShape, childNode: SceneNode): void {\n    const invParent = mat4Invert(parentNode.worldMatrix as Mat4);\n    if (!invParent) {\n        throw new Error(\"Cannot add physics child shape from a singular parent transform.\");\n    }\n    const childToParent = mat4Multiply(invParent, childNode.worldMatrix as Mat4);\n    const transform = mat4Decompose(childToParent);\n    addPhysicsShapeChild(world, container, child, transform.translation, transform.rotation, transform.scale);\n}\n\n/**\n * Sets a shape's surface material properties.\n * @param world - The physics world.\n * @param shape - The collision shape.\n * @param friction - Friction coefficient (used for both static and dynamic friction).\n * @param restitution - Bounciness in `[0, 1]`.\n */\nexport function setPhysicsShapeMaterial(world: PhysicsWorld, shape: PhysicsShape, friction: number, restitution: number): void {\n    // Material array: [staticFriction, dynamicFriction, restitution, frictionCombine, restitutionCombine].\n    // Havok's combine modes are embind enum objects, not raw numbers.\n    const combines = world._hknp.MaterialCombine;\n    const material = [friction, friction, restitution, combines.MINIMUM, combines.MAXIMUM];\n    world._hknp.HP_Shape_SetMaterial(shape._hkShape, material);\n}\n\n// ─── Mass ────────────────────────────────────────────────────────────\n\n/**\n * Sets a body's mass, preserving the shape-derived inertia tensor, centre of mass, and inertia\n * orientation (matching Babylon.js `HavokPlugin` — only the mass scalar is overridden). A body with\n * no shape attached yet has no inertia tensor to derive, so it falls back to an isotropic inertia\n * proportional to the mass until a shape is set.\n * @param world - The physics world.\n * @param body - The body to update.\n * @param mass - Mass in kilograms.\n * @param centerOfMass - Optional body-local centre of mass override. When omitted, the shape-derived\n *   centre of mass is preserved. Use this when the collision shape is offset from the body's reference\n *   frame (e.g. a prop whose body origin sits at its base but whose shape is centred on its middle)\n *   so it tumbles around its real centre.\n */\nexport function setPhysicsBodyMass(world: PhysicsWorld, body: PhysicsBody, mass: number, centerOfMass?: Vec3): void {\n    // Match Babylon.js HavokPlugin._internalUpdateMassProperties: for a body with a shape, start from\n    // the shape-derived mass properties (correct anisotropic inertia tensor + centre of mass +\n    // orientation) and override only the mass scalar. Writing a placeholder isotropic inertia would\n    // make constrained/torqued bodies rotate at the wrong rate and break physics parity. A shape-less\n    // body has no inertia to derive, so keep the previous mass-proportional isotropic fallback.\n    const massProps = body._shape ? buildMassProperties(world, body) : [[0, 0, 0], mass, [mass, mass, mass], [0, 0, 0, 1]];\n    massProps[1] = mass;\n    if (centerOfMass) {\n        massProps[0] = [centerOfMass.x, centerOfMass.y, centerOfMass.z];\n    }\n    world._hknp.HP_Body_SetMassProperties(body._hkBody, massProps);\n}\n\n/**\n * Sets a body's mass properties, preserving Havok's shape-derived values for omitted fields.\n * @param world - The physics world.\n * @param body - The body to update.\n * @param properties - Mass-property overrides.\n */\nexport function setPhysicsBodyMassProperties(world: PhysicsWorld, body: PhysicsBody, properties: PhysicsMassProperties): void {\n    const massProps = buildMassProperties(world, body);\n    if (properties.centerOfMass) {\n        massProps[0] = [properties.centerOfMass.x, properties.centerOfMass.y, properties.centerOfMass.z];\n    }\n    if (properties.mass !== undefined) {\n        massProps[1] = properties.mass;\n    }\n    if (properties.inertia) {\n        massProps[2] = [properties.inertia.x, properties.inertia.y, properties.inertia.z];\n    }\n    if (properties.inertiaOrientation) {\n        massProps[3] = [properties.inertiaOrientation.x, properties.inertiaOrientation.y, properties.inertiaOrientation.z, properties.inertiaOrientation.w];\n    }\n    world._hknp.HP_Body_SetMassProperties(body._hkBody, massProps);\n}\n\nfunction buildMassProperties(world: PhysicsWorld, body: PhysicsBody): any[] {\n    const hknp = world._hknp;\n    const ok = hknp.Result?.RESULT_OK ?? 0;\n    const shape = hknp.HP_Body_GetShape(body._hkBody);\n    if (shape[0] === ok) {\n        const shapeMass = hknp.HP_Shape_BuildMassProperties(shape[1]);\n        if (shapeMass[0] === ok) {\n            return shapeMass[1];\n        }\n    }\n    return [[0, 0, 0], 1, [1, 1, 1], [0, 0, 0, 1]];\n}\n\n// ─── Body control (impulse / velocity / motion type / transform) ─────\n// Runtime body controls used by gameplay: shoot/throw (impulse + velocity), grab (switch a body to\n// ANIMATED/kinematic while held, then back to DYNAMIC on release), and teleport (restore/load/undo).\n\n/**\n * Apply a one-shot linear impulse (kg·m/s) to a body at a world `point` (defaults to the body's\n * current position / centre of mass), waking it if asleep. Used to shoot, throw, or shove a prop.\n * @param world - The physics world.\n * @param body - The body to push.\n * @param impulse - World-space impulse vector (kg·m/s).\n * @param point - World point of application; defaults to the body's current position.\n */\nexport function applyPhysicsImpulse(world: PhysicsWorld, body: PhysicsBody, impulse: Vec3, point?: Vec3): void {\n    const hknp = world._hknp;\n    let loc = point;\n    if (!loc) {\n        const t = hknp.HP_Body_GetQTransform(body._hkBody)[1];\n        loc = { x: t[0][0], y: t[0][1], z: t[0][2] };\n    }\n    hknp.HP_Body_ApplyImpulse(body._hkBody, [loc.x, loc.y, loc.z], [impulse.x, impulse.y, impulse.z]);\n}\n\n/**\n * Set a body's linear velocity (m/s) directly — e.g. to impart a throw velocity on release.\n */\nexport function setPhysicsBodyLinearVelocity(world: PhysicsWorld, body: PhysicsBody, velocity: Vec3): void {\n    world._hknp.HP_Body_SetLinearVelocity(body._hkBody, [velocity.x, velocity.y, velocity.z]);\n}\n\n/**\n * Get a body's current linear velocity (m/s).\n */\nexport function getPhysicsBodyLinearVelocity(world: PhysicsWorld, body: PhysicsBody): Vec3 {\n    const v = world._hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n    return { x: v[0], y: v[1], z: v[2] };\n}\n\n/**\n * Set a body's angular velocity (rad/s).\n */\nexport function setPhysicsBodyAngularVelocity(world: PhysicsWorld, body: PhysicsBody, velocity: Vec3): void {\n    world._hknp.HP_Body_SetAngularVelocity(body._hkBody, [velocity.x, velocity.y, velocity.z]);\n}\n\n/**\n * Switch a body's motion type at runtime (e.g. ANIMATED/kinematic while a prop is grabbed, then\n * DYNAMIC on release). Mutates `body.motionType` so the per-frame step syncs it the right way\n * (ANIMATED: node → body before the step; DYNAMIC: body → node after).\n */\nexport function setPhysicsBodyMotionType(world: PhysicsWorld, body: PhysicsBody, motionType: PhysicsMotionType): void {\n    const hknp = world._hknp;\n    const hkMotion =\n        motionType === PhysicsMotionType.STATIC ? hknp.MotionType.STATIC : motionType === PhysicsMotionType.ANIMATED ? hknp.MotionType.KINEMATIC : hknp.MotionType.DYNAMIC;\n    hknp.HP_Body_SetMotionType(body._hkBody, hkMotion);\n    (body as { motionType: PhysicsMotionType }).motionType = motionType;\n}\n\n/**\n * Teleport a body to a world position + orientation (a pure transform set — velocities are left\n * unchanged). For grab-follow, save-restore, and undo. Also updates the bound node so a render that\n * reads the node before the next physics step stays consistent.\n */\nexport function setPhysicsBodyTransform(world: PhysicsWorld, body: PhysicsBody, position: Vec3, rotation: Quat): void {\n    world._hknp.HP_Body_SetQTransform(body._hkBody, [\n        [position.x, position.y, position.z],\n        [rotation.x, rotation.y, rotation.z, rotation.w],\n    ]);\n    body.node.position.set(position.x, position.y, position.z);\n    body.node.rotationQuaternion.set(rotation.x, rotation.y, rotation.z, rotation.w);\n}\n\n// ─── Removal ─────────────────────────────────────────────────────────\n\n/**\n * Remove a single body from the world and release its native handle (the per-frame step skips it from\n * now on). After this the body must not be reused. A body that isn't in the world is ignored, so this is\n * safe to call once per body. Does NOT release the body's collision shape — release that separately with\n * {@link releasePhysicsShape} if it isn't shared.\n * @param world - The physics world.\n * @param body - The body to remove.\n */\nexport function removePhysicsBody(world: PhysicsWorld, body: PhysicsBody): void {\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n    const i = bodies.indexOf(body);\n    if (i < 0) {\n        return; // already removed / not part of this world\n    }\n    bodies.splice(i, 1);\n    hknp.HP_World_RemoveBody(hkWorld, body._hkBody);\n    hknp.HP_Body_Release(body._hkBody);\n}\n\n/**\n * Release a collision shape's native handle, freeing its WASM memory. Only call once no body still\n * references the shape (e.g. after {@link removePhysicsBody}). Useful when rebuilding a changing set of\n * static colliders so their shapes don't accumulate.\n * @param world - The physics world.\n * @param shape - The shape to release.\n */\nexport function releasePhysicsShape(world: PhysicsWorld, shape: PhysicsShape): void {\n    world._hknp.HP_Shape_Release(shape._hkShape);\n}\n\n// ─── Aggregate (convenience) ─────────────────────────────────────────\n\n/**\n * Create a physics aggregate: body + shape + material wired together.\n * `mass === 0` → STATIC, `mass > 0` → DYNAMIC.\n * Primitive shape geometry is auto-sized from the mesh bounding box when not specified.\n */\nexport function createPhysicsAggregate(world: PhysicsWorld, node: Mesh, type: PhysicsShapeType, options: PhysicsAggregateOptions): PhysicsAggregate {\n    const motionType = options.mass === 0 ? PhysicsMotionType.STATIC : PhysicsMotionType.DYNAMIC;\n\n    // Use a caller-supplied pre-built shape if present (e.g. a mesh/convex-hull\n    // shape built via createPhysicsShape); otherwise build a primitive shape.\n    // Reading options.shape adds no mesh code to this function.\n    let shape = options.shape;\n    if (!shape) {\n        // Build shape parameters, auto-sizing from bounding box if needed\n        const shapeParams = _buildShapeParams(node, type, options);\n        const hkShape = createPrimitivePhysicsShapeHandle(world._hknp, type, shapeParams);\n        if (hkShape === null) {\n            throw new Error(\"createPhysicsAggregate supports only primitive physics shapes.\");\n        }\n        shape = { _hkShape: hkShape, _type: type };\n    }\n\n    // Create body\n    const body = createPhysicsBody(world, node, motionType, options.startAsleep);\n    setPhysicsBodyShape(world, body, shape);\n\n    // Set material (friction + restitution) after assigning the shape, matching\n    // Babylon.js PhysicsAggregate/HavokPlugin ordering.\n    const friction = options.friction ?? 0.2;\n    const restitution = options.restitution ?? 0.2;\n    setPhysicsShapeMaterial(world, shape, friction, restitution);\n\n    // Set mass for dynamic bodies\n    if (options.mass > 0) {\n        setPhysicsBodyMass(world, body, options.mass);\n    }\n\n    return { body, shape };\n}\n\nfunction _buildShapeParams(node: Mesh, type: PhysicsShapeType, options: PhysicsAggregateOptions): PhysicsShapeParameters {\n    const params: PhysicsShapeParameters = {};\n\n    if (options.center) {\n        params.center = options.center;\n    }\n    if (options.rotation) {\n        params.rotation = options.rotation;\n    }\n\n    switch (type) {\n        case PhysicsShapeType.SPHERE: {\n            params.radius = options.radius ?? _boundingRadius(node);\n            params.center = params.center ?? _boundingCenter(node);\n            break;\n        }\n        case PhysicsShapeType.BOX: {\n            params.extents = options.extents ?? _boundingExtents(node);\n            params.center = params.center ?? _boundingCenter(node);\n            break;\n        }\n        case PhysicsShapeType.CAPSULE:\n        case PhysicsShapeType.CYLINDER: {\n            params.radius = options.radius ?? _boundingRadius(node);\n            params.pointA = options.pointA ?? { x: 0, y: 0, z: 0 };\n            params.pointB = options.pointB ?? { x: 0, y: 1, z: 0 };\n            break;\n        }\n    }\n    return params;\n}\n\nfunction _boundingCenter(mesh: Mesh): Vec3 {\n    if (mesh.boundMin && mesh.boundMax) {\n        return {\n            x: (mesh.boundMin[0] + mesh.boundMax[0]) * 0.5,\n            y: (mesh.boundMin[1] + mesh.boundMax[1]) * 0.5,\n            z: (mesh.boundMin[2] + mesh.boundMax[2]) * 0.5,\n        };\n    }\n    return { x: 0, y: 0, z: 0 };\n}\n\nfunction _boundingExtents(mesh: Mesh): Vec3 {\n    if (mesh.boundMin && mesh.boundMax) {\n        return {\n            x: mesh.boundMax[0] - mesh.boundMin[0],\n            y: mesh.boundMax[1] - mesh.boundMin[1],\n            z: mesh.boundMax[2] - mesh.boundMin[2],\n        };\n    }\n    return { x: 1, y: 1, z: 1 };\n}\n\nfunction _boundingRadius(mesh: Mesh): number {\n    if (mesh.boundMin && mesh.boundMax) {\n        const dx = mesh.boundMax[0]! - mesh.boundMin[0]!;\n        const dy = mesh.boundMax[1]! - mesh.boundMin[1]!;\n        const dz = mesh.boundMax[2]! - mesh.boundMin[2]!;\n        return Math.max(dx, dy, dz) * 0.5;\n    }\n    return 0.5;\n}\n\ninterface PhysicsDebugGeometry {\n    positions: Float32Array;\n    indices: Uint32Array;\n}\n\n/** @internal */\nexport function getPhysicsBodyDebugGeometry(world: PhysicsWorld, body: PhysicsBody): PhysicsDebugGeometry {\n    const hknp = world._hknp;\n    const shapeResult = hknp.HP_Body_GetShape(body._hkBody);\n    const ok = hknp.Result?.RESULT_OK ?? 0;\n    if (shapeResult[0] !== ok || !shapeResult[1]) {\n        return { positions: new Float32Array(0), indices: new Uint32Array(0) };\n    }\n    const geometryResult = hknp.HP_Shape_CreateDebugDisplayGeometry(shapeResult[1]);\n    if (geometryResult[0] !== ok) {\n        return { positions: new Float32Array(0), indices: new Uint32Array(0) };\n    }\n    const geometryInfo = hknp.HP_DebugGeometry_GetInfo(geometryResult[1])[1];\n    const positionsInPlugin = new Float32Array(hknp.HEAPU8.buffer, geometryInfo[0], geometryInfo[1] * 3);\n    const indicesInPlugin = new Uint32Array(hknp.HEAPU8.buffer, geometryInfo[2], geometryInfo[3] * 3);\n    const positions = positionsInPlugin.slice(0);\n    const indices = indicesInPlugin.slice(0);\n    hknp.HP_DebugGeometry_Release(geometryResult[1]);\n    return { positions, indices };\n}\n\n// ─── Dispose ─────────────────────────────────────────────────────────\n\n/**\n * Removes and releases all bodies, then releases the native world. Call once when tearing down physics.\n * @param world - The physics world to dispose.\n */\nexport function disposePhysics(world: PhysicsWorld): void {\n    // Stop per-frame stepping before any native world is released so a still-queued\n    // _beforeRender callback can't step a freed world (use-after-free in Havok WASM).\n    world._stopStep?.();\n    world._stopStep = undefined;\n\n    // Drop after-step hooks (e.g. the collision-event drain registered by\n    // onPhysicsCollision). They read the native world via HP_World_GetCollisionEvents,\n    // so they must not survive it — clear them alongside the step callback.\n    world._afterStep = undefined;\n\n    if (world._fo) {\n        world._fo.dispose(world);\n        return;\n    }\n\n    const { _hknp: hknp, _hkWorld: hkWorld, _bodies: bodies } = world;\n\n    // Remove and release all bodies\n    for (let i = bodies.length - 1; i >= 0; i--) {\n        const b = bodies[i]!;\n        hknp.HP_World_RemoveBody(hkWorld, b._hkBody);\n        hknp.HP_Body_Release(b._hkBody);\n    }\n    bodies.length = 0;\n\n    // Release world\n    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package/lib/picking/gpu-picker.js

@@ -26,7 +26,8 @@ function createGpuPicker(scene) {
     _rt: null,
     _sceneUbo: null,
     _sceneBG: null,
-    _gsMeshResources: null
+    _gsMeshResources: null,
+    _pending: null
   };
 }
 function ensureTargets(engine, picker) {
@@ -97,7 +98,7 @@ function createPickDiscardBindGroup(engine, layout, discard, mesh, tempBuffers)
     entries
   });
 }
-async function pickAsync(picker, x, y, options) {
+async function pickAsyncImpl(picker, x, y, options) {
   const scene = picker._scene;
   const pickFilter = options?.filter ?? null;
   const pickDiscard = options?.discard ?? null;
@@ -366,6 +367,19 @@ async function pickAsync(picker, x, y, options) {
   }
   return info;
 }
+function pickAsync(picker, x, y, options) {
+  const prior = picker._pending ?? Promise.resolve();
+  const run = prior.then(
+    () => pickAsyncImpl(picker, x, y, options),
+    () => pickAsyncImpl(picker, x, y, options)
+    // a prior pick's rejection must not wedge the queue for this caller
+  );
+  picker._pending = run.then(
+    () => void 0,
+    () => void 0
+  );
+  return run;
+}
 function disposePicker(picker) {
   if (picker._rt) {
     picker._rt.colorTex.destroy();