@flighthq/physics3d-abi 0.4.0-next.1827.9db114b

package/dist/physics3DAbiCommand.js

@@ -0,0 +1,554 @@
+import { Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from '@flighthq/physics3d/contract';
+import { Physics3DAbiBodyFlag, Physics3DAbiBodyType, Physics3DAbiCommandByteLength, Physics3DAbiCommandHeaderByteLength, Physics3DAbiCommandKind, Physics3DAbiCommandMagic, Physics3DAbiCommandRecordHeaderByteLength, Physics3DAbiJointKind, Physics3DAbiSetColliderPayloadOffset, Physics3DAbiShapeHeaderByteLength, Physics3DAbiShapeKind, Physics3DAbiVersion, } from './physics3DAbiLayout';
+export function getPhysics3DAbiSetColliderCommandByteLength(collider) {
+    const shapeByteLength = getShapeByteLength(collider.local);
+    if (shapeByteLength < 0)
+        return -1;
+    const byteLength = Physics3DAbiCommandRecordHeaderByteLength + Physics3DAbiSetColliderPayloadOffset.Shape + shapeByteLength;
+    return Number.isSafeInteger(byteLength) && byteLength <= 0xffffffff ? byteLength : -1;
+}
+export function writePhysics3DAbiApplyForceAtPointCommand(out, bodyId, x, y, z, pointX, pointY, pointZ) {
+    return writeBodyAction(out, Physics3DAbiCommandKind.ApplyForceAtPoint, bodyId, x, y, z, pointX, pointY, pointZ);
+}
+export function writePhysics3DAbiApplyForceCommand(out, bodyId, x, y, z) {
+    return writeBodyAction(out, Physics3DAbiCommandKind.ApplyForce, bodyId, x, y, z, 0, 0, 0);
+}
+export function writePhysics3DAbiApplyLinearImpulseAtPointCommand(out, bodyId, x, y, z, pointX, pointY, pointZ) {
+    return writeBodyAction(out, Physics3DAbiCommandKind.ApplyLinearImpulseAtPoint, bodyId, x, y, z, pointX, pointY, pointZ);
+}
+export function writePhysics3DAbiApplyLinearImpulseCommand(out, bodyId, x, y, z) {
+    return writeBodyAction(out, Physics3DAbiCommandKind.ApplyLinearImpulse, bodyId, x, y, z, 0, 0, 0);
+}
+export function writePhysics3DAbiApplyTorqueCommand(out, bodyId, x, y, z) {
+    return writeBodyAction(out, Physics3DAbiCommandKind.ApplyTorque, bodyId, x, y, z, 0, 0, 0);
+}
+export function writePhysics3DAbiDestroyBodyCommand(out, bodyId) {
+    return writeEmptyCommand(out, Physics3DAbiCommandKind.DestroyBody, bodyId);
+}
+export function writePhysics3DAbiDestroyColliderCommand(out, colliderId) {
+    return writeEmptyCommand(out, Physics3DAbiCommandKind.DestroyCollider, colliderId);
+}
+export function writePhysics3DAbiDestroyJointCommand(out, jointId) {
+    return writeEmptyCommand(out, Physics3DAbiCommandKind.DestroyJoint, jointId);
+}
+export function writePhysics3DAbiSetBodyCommand(out, bodyId, body) {
+    if (!isObjectId(bodyId))
+        return false;
+    const type = encodeBodyType(body.type);
+    if (type < 0)
+        return false;
+    const record = beginCommand(out, Physics3DAbiCommandKind.SetBody, Physics3DAbiCommandByteLength.SetBody, bodyId, 0);
+    if (record === null)
+        return false;
+    let flags = type;
+    if (body.fixedRotation)
+        flags |= Physics3DAbiBodyFlag.FixedRotation;
+    if (body.bullet)
+        flags |= Physics3DAbiBodyFlag.Bullet;
+    if (body.sleeping)
+        flags |= Physics3DAbiBodyFlag.Sleeping;
+    if (body.sleepEnabled)
+        flags |= Physics3DAbiBodyFlag.SleepEnabled;
+    record.view.setUint32(record.payload, flags, true);
+    record.view.setUint32(record.payload + 4, 0, true);
+    writeBodyValues(record.view, record.payload + 8, body);
+    finishCommand(out, record);
+    return true;
+}
+export function writePhysics3DAbiSetColliderCommand(out, colliderId, bodyId, collider) {
+    if (!isObjectId(colliderId) ||
+        !isObjectId(bodyId) ||
+        !isUint32(collider.filter.categoryBits) ||
+        !isUint32(collider.filter.maskBits) ||
+        !isInt32(collider.filter.groupIndex)) {
+        return false;
+    }
+    const shapeByteLength = getShapeByteLength(collider.local);
+    if (shapeByteLength < 0)
+        return false;
+    const record = beginCommand(out, Physics3DAbiCommandKind.SetCollider, Physics3DAbiCommandRecordHeaderByteLength + Physics3DAbiSetColliderPayloadOffset.Shape + shapeByteLength, colliderId, bodyId);
+    if (record === null)
+        return false;
+    record.view.setUint32(record.payload, collider.sensor ? 1 : 0, true);
+    record.view.setUint32(record.payload + 4, collider.filter.categoryBits >>> 0, true);
+    record.view.setUint32(record.payload + 8, collider.filter.maskBits >>> 0, true);
+    record.view.setInt32(record.payload + 12, collider.filter.groupIndex | 0, true);
+    record.view.setFloat64(record.payload + 16, collider.material.density, true);
+    record.view.setFloat64(record.payload + 24, collider.material.friction, true);
+    record.view.setFloat64(record.payload + 32, collider.material.restitution, true);
+    writeShape(record.view, record.payload + Physics3DAbiSetColliderPayloadOffset.Shape, collider.local);
+    finishCommand(out, record);
+    return true;
+}
+export function writePhysics3DAbiSetGravityCommand(out, x, y, z) {
+    const record = beginCommand(out, Physics3DAbiCommandKind.SetGravity, Physics3DAbiCommandByteLength.SetGravity, 0, 0);
+    if (record === null)
+        return false;
+    record.view.setFloat64(record.payload, x, true);
+    record.view.setFloat64(record.payload + 8, y, true);
+    record.view.setFloat64(record.payload + 16, z, true);
+    finishCommand(out, record);
+    return true;
+}
+export function writePhysics3DAbiSetJointCommand(out, jointId, joint) {
+    if (!isObjectId(jointId) || !isObjectId(joint.bodyA) || !isObjectId(joint.bodyB))
+        return false;
+    const kind = encodeJointKind(joint.kind);
+    if (kind === 0)
+        return false;
+    const record = beginCommand(out, Physics3DAbiCommandKind.SetJoint, Physics3DAbiCommandByteLength.SetJoint, jointId, 0);
+    if (record === null)
+        return false;
+    const flags = encodeJointFlags(joint, kind);
+    record.view.setUint32(record.payload, kind, true);
+    record.view.setUint32(record.payload + 4, joint.bodyA, true);
+    record.view.setUint32(record.payload + 8, joint.bodyB, true);
+    record.view.setUint32(record.payload + 12, flags, true);
+    const frames = hasJointFrames(joint) ? joint : null;
+    writeFloat64Values(record.view, record.payload + 16, [
+        joint.localAnchorAX,
+        joint.localAnchorAY,
+        joint.localAnchorAZ,
+        joint.localAnchorBX,
+        joint.localAnchorBY,
+        joint.localAnchorBZ,
+        joint.breakForce,
+        joint.breakTorque,
+        frames?.localRotationAX ?? 0,
+        frames?.localRotationAY ?? 0,
+        frames?.localRotationAZ ?? 0,
+        frames?.localRotationAW ?? 1,
+        frames?.localRotationBX ?? 0,
+        frames?.localRotationBY ?? 0,
+        frames?.localRotationBZ ?? 0,
+        frames?.localRotationBW ?? 1,
+    ]);
+    writeFloat64Values(record.view, record.payload + 144, getJointKindValues(joint, kind));
+    finishCommand(out, record);
+    return true;
+}
+export function writePhysics3DAbiSetSolverConfigCommand(out, config) {
+    if (!isUint32(config.substeps) ||
+        !isUint32(config.maxCcdSubsteps) ||
+        !isUint32(config.maxCcdRotationSubsteps) ||
+        !isUint32(config.sequentialImpulse.velocityIterations) ||
+        !isUint32(config.sequentialImpulse.positionIterations)) {
+        return false;
+    }
+    const record = beginCommand(out, Physics3DAbiCommandKind.SetSolverConfig, Physics3DAbiCommandByteLength.SetSolverConfig, 0, 0);
+    if (record === null)
+        return false;
+    let flags = 0;
+    if (config.allowSleeping)
+        flags |= 1;
+    if (config.continuousCollision)
+        flags |= 1 << 1;
+    if (config.sequentialImpulse.warmStarting)
+        flags |= 1 << 2;
+    record.view.setUint32(record.payload, flags, true);
+    record.view.setUint32(record.payload + 4, config.substeps, true);
+    record.view.setUint32(record.payload + 8, config.maxCcdSubsteps, true);
+    record.view.setUint32(record.payload + 12, config.maxCcdRotationSubsteps, true);
+    record.view.setUint32(record.payload + 16, config.sequentialImpulse.velocityIterations, true);
+    record.view.setUint32(record.payload + 20, config.sequentialImpulse.positionIterations, true);
+    record.view.setUint32(record.payload + 24, 0, true);
+    record.view.setUint32(record.payload + 28, 0, true);
+    writeFloat64Values(record.view, record.payload + 32, [
+        config.sleepLinearThreshold,
+        config.sleepAngularThreshold,
+        config.timeToSleep,
+        config.sequentialImpulse.penetrationSlop,
+        config.sequentialImpulse.positionCorrection,
+        config.sequentialImpulse.restitutionThreshold,
+    ]);
+    finishCommand(out, record);
+    return true;
+}
+export function writePhysics3DAbiWakeBodyCommand(out, bodyId) {
+    return writeEmptyCommand(out, Physics3DAbiCommandKind.WakeBody, bodyId);
+}
+function beginCommand(out, kind, byteLength, objectId, relatedId) {
+    if (!Number.isSafeInteger(byteLength) ||
+        byteLength < Physics3DAbiCommandRecordHeaderByteLength ||
+        byteLength > 0xffffffff ||
+        byteLength % 8 !== 0 ||
+        !Number.isSafeInteger(out.byteLength) ||
+        out.byteLength < Physics3DAbiCommandHeaderByteLength ||
+        !Number.isSafeInteger(out.commandCount) ||
+        out.commandCount < 0 ||
+        !Number.isSafeInteger(out.byteLength + byteLength) ||
+        out.byteLength + byteLength > out.data.byteLength) {
+        return null;
+    }
+    const view = new DataView(out.data.buffer, out.data.byteOffset, out.data.byteLength);
+    if (view.getUint32(0, true) !== Physics3DAbiCommandMagic ||
+        view.getUint32(4, true) !== Physics3DAbiVersion ||
+        view.getUint32(8, true) !== out.byteLength ||
+        view.getUint32(12, true) !== out.commandCount) {
+        return null;
+    }
+    const start = out.byteLength;
+    view.setUint32(start, kind, true);
+    view.setUint32(start + 4, byteLength, true);
+    view.setUint32(start + 8, objectId >>> 0, true);
+    view.setUint32(start + 12, relatedId >>> 0, true);
+    return { view, start, payload: start + Physics3DAbiCommandRecordHeaderByteLength, byteLength };
+}
+function encodeBodyType(type) {
+    if (type === 'dynamic')
+        return Physics3DAbiBodyType.Dynamic;
+    if (type === 'kinematic')
+        return Physics3DAbiBodyType.Kinematic;
+    if (type === 'static')
+        return Physics3DAbiBodyType.Static;
+    return -1;
+}
+function encodeJointFlags(joint, kind) {
+    let flags = joint.collideConnected ? 1 : 0;
+    if (joint.broken)
+        flags |= 1 << 1;
+    if (kind === Physics3DAbiJointKind.Distance) {
+        const distance = joint;
+        if (distance.enableSpring)
+            flags |= 1 << 2;
+        if (distance.enableLimit)
+            flags |= 1 << 3;
+    }
+    else if (kind === Physics3DAbiJointKind.Hinge) {
+        const hinge = joint;
+        if (hinge.enableLimit)
+            flags |= 1 << 2;
+        if (hinge.enableMotor)
+            flags |= 1 << 3;
+        if (hinge.enableLimitSpring)
+            flags |= 1 << 4;
+    }
+    else if (kind === Physics3DAbiJointKind.Slider) {
+        const slider = joint;
+        if (slider.enableLimit)
+            flags |= 1 << 2;
+        if (slider.enableMotor)
+            flags |= 1 << 3;
+        if (slider.enableLimitSpring)
+            flags |= 1 << 4;
+    }
+    else if (kind === Physics3DAbiJointKind.ConeTwist) {
+        const cone = joint;
+        if (cone.enableSwingLimit)
+            flags |= 1 << 2;
+        if (cone.enableTwistLimit)
+            flags |= 1 << 3;
+        if (cone.enableLimitSpring)
+            flags |= 1 << 4;
+    }
+    else if (kind === Physics3DAbiJointKind.Generic6Dof) {
+        if (joint.enableLimitSpring)
+            flags |= 1 << 2;
+    }
+    return flags;
+}
+function encodeJointKind(kind) {
+    if (kind === Physics3DBallAndSocketJointKind)
+        return Physics3DAbiJointKind.BallAndSocket;
+    if (kind === Physics3DDistanceJointKind)
+        return Physics3DAbiJointKind.Distance;
+    if (kind === Physics3DFixedJointKind)
+        return Physics3DAbiJointKind.Fixed;
+    if (kind === Physics3DHingeJointKind)
+        return Physics3DAbiJointKind.Hinge;
+    if (kind === Physics3DSliderJointKind)
+        return Physics3DAbiJointKind.Slider;
+    if (kind === Physics3DConeTwistJointKind)
+        return Physics3DAbiJointKind.ConeTwist;
+    if (kind === Physics3DGeneric6DofJointKind)
+        return Physics3DAbiJointKind.Generic6Dof;
+    return 0;
+}
+function encodeShapeKind(shape) {
+    if (shape.kind === 'sphere')
+        return Physics3DAbiShapeKind.Sphere;
+    if (shape.kind === 'aabb')
+        return Physics3DAbiShapeKind.Aabb;
+    if (shape.kind === 'box')
+        return Physics3DAbiShapeKind.Box;
+    if (shape.kind === 'capsule')
+        return Physics3DAbiShapeKind.Capsule;
+    if (shape.kind === 'cylinder')
+        return Physics3DAbiShapeKind.Cylinder;
+    if (shape.kind === 'cone')
+        return Physics3DAbiShapeKind.Cone;
+    if (shape.kind === 'convex')
+        return Physics3DAbiShapeKind.Convex;
+    if (shape.kind === 'triangle-mesh')
+        return Physics3DAbiShapeKind.TriangleMesh;
+    if (shape.kind === 'heightfield')
+        return Physics3DAbiShapeKind.Heightfield;
+    return 0;
+}
+function finishCommand(out, command) {
+    out.byteLength = command.start + command.byteLength;
+    out.commandCount += 1;
+    command.view.setUint32(8, out.byteLength, true);
+    command.view.setUint32(12, out.commandCount, true);
+}
+function getJointKindValues(joint, kind) {
+    const values = new Array(14).fill(0);
+    if (kind === Physics3DAbiJointKind.Distance) {
+        const value = joint;
+        values[0] = value.length;
+        values[1] = value.frequencyHz;
+        values[2] = value.dampingRatio;
+        values[3] = value.minLength;
+        values[4] = value.maxLength;
+    }
+    else if (kind === Physics3DAbiJointKind.Hinge) {
+        const value = joint;
+        values[0] = value.lowerAngle;
+        values[1] = value.upperAngle;
+        values[2] = value.motorSpeed;
+        values[3] = value.maxMotorTorque;
+        values[4] = value.limitFrequencyHz;
+        values[5] = value.limitDampingRatio;
+    }
+    else if (kind === Physics3DAbiJointKind.Slider) {
+        const value = joint;
+        values[0] = value.lowerTranslation;
+        values[1] = value.upperTranslation;
+        values[2] = value.motorSpeed;
+        values[3] = value.maxMotorForce;
+        values[4] = value.limitFrequencyHz;
+        values[5] = value.limitDampingRatio;
+    }
+    else if (kind === Physics3DAbiJointKind.ConeTwist) {
+        const value = joint;
+        values[0] = value.swingLimitY;
+        values[1] = value.swingLimitZ;
+        values[2] = value.lowerTwistAngle;
+        values[3] = value.upperTwistAngle;
+        values[4] = value.limitFrequencyHz;
+        values[5] = value.limitDampingRatio;
+    }
+    else if (kind === Physics3DAbiJointKind.Generic6Dof) {
+        const value = joint;
+        values[0] = value.lowerLinearX;
+        values[1] = value.lowerLinearY;
+        values[2] = value.lowerLinearZ;
+        values[3] = value.upperLinearX;
+        values[4] = value.upperLinearY;
+        values[5] = value.upperLinearZ;
+        values[6] = value.lowerAngularX;
+        values[7] = value.lowerAngularY;
+        values[8] = value.lowerAngularZ;
+        values[9] = value.upperAngularX;
+        values[10] = value.upperAngularY;
+        values[11] = value.upperAngularZ;
+        values[12] = value.limitFrequencyHz;
+        values[13] = value.limitDampingRatio;
+    }
+    return values;
+}
+function getShapeByteLength(shape) {
+    const kind = encodeShapeKind(shape);
+    if (kind === 0)
+        return -1;
+    if ((shape.kind === 'triangle-mesh' && (!isUint32(shape.version) || shape.indices.some((index) => !isUint32(index)))) ||
+        (shape.kind === 'heightfield' && (!isUint32(shape.version) || !isUint32(shape.columns) || !isUint32(shape.rows)))) {
+        return -1;
+    }
+    const scalarCount = getShapeScalarCount(shape);
+    const integerCount = getShapeIntegerCount(shape);
+    const unaligned = Physics3DAbiShapeHeaderByteLength + scalarCount * 8 + integerCount * 4;
+    if (!Number.isSafeInteger(unaligned) || unaligned > 0xffffffff)
+        return -1;
+    return align8(unaligned);
+}
+function getShapeIntegerCount(shape) {
+    if (shape.kind === 'triangle-mesh')
+        return shape.indices.length;
+    if (shape.kind === 'heightfield')
+        return 2;
+    return 0;
+}
+function getShapeScalarCount(shape) {
+    if (shape.kind === 'sphere')
+        return 4;
+    if (shape.kind === 'aabb')
+        return 6;
+    if (shape.kind === 'box')
+        return 10;
+    if (shape.kind === 'capsule' || shape.kind === 'cylinder' || shape.kind === 'cone')
+        return 7;
+    if (shape.kind === 'convex')
+        return shape.points.length;
+    if (shape.kind === 'triangle-mesh')
+        return 7 + shape.points.length;
+    return 9 + shape.heights.length;
+}
+function hasJointFrames(joint) {
+    return 'localRotationAX' in joint;
+}
+function isObjectId(value) {
+    return Number.isInteger(value) && value > 0 && value <= 0xffffffff;
+}
+function isInt32(value) {
+    return Number.isInteger(value) && value >= -0x80000000 && value <= 0x7fffffff;
+}
+function isUint32(value) {
+    return Number.isInteger(value) && value >= 0 && value <= 0xffffffff;
+}
+function writeBodyAction(out, kind, bodyId, x, y, z, pointX, pointY, pointZ) {
+    if (!isObjectId(bodyId))
+        return false;
+    const record = beginCommand(out, kind, Physics3DAbiCommandByteLength.BodyAction, bodyId, 0);
+    if (record === null)
+        return false;
+    record.view.setFloat64(record.payload, x, true);
+    record.view.setFloat64(record.payload + 8, y, true);
+    record.view.setFloat64(record.payload + 16, z, true);
+    record.view.setFloat64(record.payload + 24, pointX, true);
+    record.view.setFloat64(record.payload + 32, pointY, true);
+    record.view.setFloat64(record.payload + 40, pointZ, true);
+    finishCommand(out, record);
+    return true;
+}
+function writeEmptyCommand(out, kind, objectId) {
+    if (!isObjectId(objectId))
+        return false;
+    const record = beginCommand(out, kind, Physics3DAbiCommandRecordHeaderByteLength, objectId, 0);
+    if (record === null)
+        return false;
+    finishCommand(out, record);
+    return true;
+}
+function writeBodyValues(view, byteOffset, body) {
+    view.setFloat64(byteOffset, body.x, true);
+    view.setFloat64(byteOffset + 8, body.y, true);
+    view.setFloat64(byteOffset + 16, body.z, true);
+    view.setFloat64(byteOffset + 24, body.orientationX, true);
+    view.setFloat64(byteOffset + 32, body.orientationY, true);
+    view.setFloat64(byteOffset + 40, body.orientationZ, true);
+    view.setFloat64(byteOffset + 48, body.orientationW, true);
+    view.setFloat64(byteOffset + 56, body.velocityX, true);
+    view.setFloat64(byteOffset + 64, body.velocityY, true);
+    view.setFloat64(byteOffset + 72, body.velocityZ, true);
+    view.setFloat64(byteOffset + 80, body.angularVelocityX, true);
+    view.setFloat64(byteOffset + 88, body.angularVelocityY, true);
+    view.setFloat64(byteOffset + 96, body.angularVelocityZ, true);
+    view.setFloat64(byteOffset + 104, body.forceX, true);
+    view.setFloat64(byteOffset + 112, body.forceY, true);
+    view.setFloat64(byteOffset + 120, body.forceZ, true);
+    view.setFloat64(byteOffset + 128, body.torqueX, true);
+    view.setFloat64(byteOffset + 136, body.torqueY, true);
+    view.setFloat64(byteOffset + 144, body.torqueZ, true);
+    view.setFloat64(byteOffset + 152, body.mass, true);
+    view.setFloat64(byteOffset + 160, body.inertiaXX, true);
+    view.setFloat64(byteOffset + 168, body.inertiaYY, true);
+    view.setFloat64(byteOffset + 176, body.inertiaZZ, true);
+    view.setFloat64(byteOffset + 184, body.inertiaXY, true);
+    view.setFloat64(byteOffset + 192, body.inertiaXZ, true);
+    view.setFloat64(byteOffset + 200, body.inertiaYZ, true);
+    view.setFloat64(byteOffset + 208, body.centerX, true);
+    view.setFloat64(byteOffset + 216, body.centerY, true);
+    view.setFloat64(byteOffset + 224, body.centerZ, true);
+    view.setFloat64(byteOffset + 232, body.linearDamping, true);
+    view.setFloat64(byteOffset + 240, body.angularDamping, true);
+    view.setFloat64(byteOffset + 248, body.gravityScale, true);
+    view.setFloat64(byteOffset + 256, body.sleepTimer, true);
+}
+function writeFloat64Values(view, byteOffset, values) {
+    for (let i = 0; i < values.length; i += 1)
+        view.setFloat64(byteOffset + i * 8, values[i], true);
+}
+function writeShape(view, byteOffset, shape) {
+    const scalarCount = getShapeScalarCount(shape);
+    const integerCount = getShapeIntegerCount(shape);
+    view.setUint32(byteOffset, encodeShapeKind(shape), true);
+    view.setUint32(byteOffset + 4, scalarCount, true);
+    view.setUint32(byteOffset + 8, integerCount, true);
+    view.setUint32(byteOffset + 12, 'version' in shape ? shape.version : 0, true);
+    const scalarOffset = byteOffset + Physics3DAbiShapeHeaderByteLength;
+    writeShapeScalars(view, scalarOffset, shape);
+    const integerOffset = scalarOffset + scalarCount * 8;
+    if (shape.kind === 'triangle-mesh') {
+        for (let i = 0; i < shape.indices.length; i += 1) {
+            view.setUint32(integerOffset + i * 4, shape.indices[i], true);
+        }
+    }
+    else if (shape.kind === 'heightfield') {
+        view.setUint32(integerOffset, shape.columns, true);
+        view.setUint32(integerOffset + 4, shape.rows, true);
+    }
+    const unalignedEnd = integerOffset + integerCount * 4;
+    const alignedEnd = align8(unalignedEnd);
+    for (let i = unalignedEnd; i < alignedEnd; i += 1)
+        view.setUint8(i, 0);
+}
+function writeShapeScalars(view, byteOffset, shape) {
+    if (shape.kind === 'sphere') {
+        writeFloat64Values(view, byteOffset, [shape.x, shape.y, shape.z, shape.radius]);
+    }
+    else if (shape.kind === 'aabb') {
+        writeFloat64Values(view, byteOffset, [shape.minX, shape.minY, shape.minZ, shape.maxX, shape.maxY, shape.maxZ]);
+    }
+    else if (shape.kind === 'box') {
+        writeFloat64Values(view, byteOffset, [
+            shape.x,
+            shape.y,
+            shape.z,
+            shape.halfX,
+            shape.halfY,
+            shape.halfZ,
+            shape.rotationX,
+            shape.rotationY,
+            shape.rotationZ,
+            shape.rotationW,
+        ]);
+    }
+    else if (shape.kind === 'capsule' || shape.kind === 'cylinder') {
+        writeFloat64Values(view, byteOffset, [shape.x0, shape.y0, shape.z0, shape.x1, shape.y1, shape.z1, shape.radius]);
+    }
+    else if (shape.kind === 'cone') {
+        writeFloat64Values(view, byteOffset, [
+            shape.apexX,
+            shape.apexY,
+            shape.apexZ,
+            shape.baseX,
+            shape.baseY,
+            shape.baseZ,
+            shape.radius,
+        ]);
+    }
+    else if (shape.kind === 'convex') {
+        writeFloat64Values(view, byteOffset, shape.points);
+    }
+    else if (shape.kind === 'triangle-mesh') {
+        writeFloat64Values(view, byteOffset, [
+            shape.x,
+            shape.y,
+            shape.z,
+            shape.rotationX,
+            shape.rotationY,
+            shape.rotationZ,
+            shape.rotationW,
+        ]);
+        writeFloat64Values(view, byteOffset + 7 * 8, shape.points);
+    }
+    else {
+        writeFloat64Values(view, byteOffset, [
+            shape.cellSizeX,
+            shape.cellSizeZ,
+            shape.x,
+            shape.y,
+            shape.z,
+            shape.rotationX,
+            shape.rotationY,
+            shape.rotationZ,
+            shape.rotationW,
+        ]);
+        writeFloat64Values(view, byteOffset + 9 * 8, shape.heights);
+    }
+}
+function align8(value) {
+    return Math.ceil(value / 8) * 8;
+}
+//# sourceMappingURL=physics3DAbiCommand.js.map

package/dist/physics3DAbiCommand.js.map

@@ -0,0 +1 @@
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