@forgeax/engine-physics-rapier3d 0.1.28 → 0.1.30
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/__tests__/contact-observation.unit.test.d.ts +2 -0
- package/dist/__tests__/contact-observation.unit.test.d.ts.map +1 -0
- package/dist/index.d.ts +4 -4
- package/dist/index.d.ts.map +1 -1
- package/dist/index.mjs +512 -321
- package/dist/index.mjs.map +1 -1
- package/dist/rapier-physics-world-3d.d.ts +4 -2
- package/dist/rapier-physics-world-3d.d.ts.map +1 -1
- package/package.json +7 -7
- package/src/__tests__/contact-observation.unit.test.ts +113 -0
- package/src/__tests__/derived-physics.unit.test.ts +482 -1
- package/src/index.ts +4 -4
- package/src/rapier-physics-world-3d.ts +643 -384
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@@ -1,8 +1,8 @@
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import type { Component, SystemHandle, World } from '@forgeax/engine-ecs';
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import { type Vec3 } from '@forgeax/engine-math';
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3
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-
import { type DerivedPhysicsCandidate, type DerivedPhysicsCandidateInput, type DerivedPhysicsFailure, type DerivedPhysicsMotion, type DerivedPhysicsPublication, type DerivedPhysicsSnapshot, type DerivedShapeState, type PhysicsConstraintInput, type PhysicsContactObservation, type PhysicsWorld, type RaycastHit } from '@forgeax/engine-physics';
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3
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import { type DerivedPhysicsCandidate, type DerivedPhysicsCandidateInput, DerivedPhysicsError, type DerivedPhysicsFailure, type DerivedPhysicsMotion, type DerivedPhysicsPublication, type DerivedPhysicsSnapshot, type DerivedShapeState, type PhysicsConstraintInput, type PhysicsContactObservation, type PhysicsWorld, type RaycastHit } from '@forgeax/engine-physics';
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import { type Result } from '@forgeax/engine-types';
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-
import type { Rapier3DModule } from './wasm-loader';
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+
import type { Rapier3DModule } from './wasm-loader.js';
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interface Rapier3DKinematicControllerState {
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readonly entity: number;
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readonly offset: number;
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@@ -149,6 +149,7 @@ export declare class RapierPhysicsWorld3D implements PhysicsWorld {
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prepareDerivedShapeCandidate(input: DerivedPhysicsCandidateInput): ReturnType<NonNullable<PhysicsWorld['prepareDerivedShapeCandidate']>>;
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/** Queue a prepared candidate for the next call to `step()`. */
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admitDerivedShapeCandidate(candidate: DerivedPhysicsCandidate, commitGeometry?: () => Result<void, Error>): ReturnType<NonNullable<PhysicsWorld['admitDerivedShapeCandidate']>>;
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+
admitDerivedShapeCandidates(candidates: readonly DerivedPhysicsCandidate[], commitGeometry?: () => Result<void, Error>): ReturnType<NonNullable<PhysicsWorld['admitDerivedShapeCandidates']>>;
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getDerivedAdmission(entity?: number): {
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readonly entity: number;
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readonly revision: number;
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@@ -164,6 +165,7 @@ export declare class RapierPhysicsWorld3D implements PhysicsWorld {
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getDerivedBodyType(entity: number): 'static' | 'dynamic' | 'kinematic' | undefined;
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getDerivedBodyMass(entity: number): number | undefined;
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getDerivedMotion(entity: number): DerivedPhysicsMotion | undefined;
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+
applyDerivedImpulse(input: Parameters<NonNullable<PhysicsWorld['applyDerivedImpulse']>>[0]): Result<void, DerivedPhysicsError>;
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getDerivedRecoveryState(): 'ready' | 'rebuild-required';
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getDerivedShapes(entity: number): readonly DerivedShapeState[];
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captureDerivedPhysicsState(): DerivedPhysicsSnapshot;
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@@ -1 +1 @@
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1
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-
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1
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+
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package/package.json
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{
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"name": "@forgeax/engine-physics-rapier3d",
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"version": "0.1.
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"version": "0.1.30",
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"private": false,
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"type": "module",
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"license": "Apache-2.0",
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@@ -23,15 +23,15 @@
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],
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"dependencies": {
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"@dimforge/rapier3d-compat": "0.20.0",
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26
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-
"@forgeax/engine-ecs": "0.1.
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27
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-
"@forgeax/engine-math": "0.1.
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28
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-
"@forgeax/engine-physics": "0.1.
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29
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-
"@forgeax/engine-scene": "0.1.
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30
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-
"@forgeax/engine-types": "0.1.
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26
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+
"@forgeax/engine-ecs": "0.1.30",
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"@forgeax/engine-math": "0.1.30",
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28
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+
"@forgeax/engine-physics": "0.1.30",
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29
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"@forgeax/engine-scene": "0.1.30",
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30
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"@forgeax/engine-types": "0.1.30"
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},
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"devDependencies": {
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"@dimforge/rapier3d": "0.20.0",
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34
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-
"@forgeax/engine-runtime": "0.1.
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34
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+
"@forgeax/engine-runtime": "0.1.30"
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},
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"forgeax": {
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"metrics": {
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@@ -0,0 +1,113 @@
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1
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+
import { vec3 } from '@forgeax/engine-math';
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2
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+
import type { PhysicsContactObservation } from '@forgeax/engine-physics';
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3
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+
import { expect, it } from 'vitest';
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4
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+
import { createRapier3DPhysicsWorld } from '../rapier-physics-world-3d';
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5
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+
import { loadRapier3D } from '../wasm-loader';
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6
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+
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7
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+
it.each([
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8
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+
{ yaw: 0, projectileFirst: false, shape: 0 },
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9
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{ yaw: Math.PI / 3, projectileFirst: false, shape: 0 },
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10
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{ yaw: Math.PI / 3, projectileFirst: true, shape: 0 },
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11
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{ yaw: Math.PI / 3, projectileFirst: true, shape: 1 },
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12
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{ yaw: Math.PI / 3, projectileFirst: true, shape: 2 },
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13
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+
])('samples world-space contact against a voxel wall ($yaw, $projectileFirst, $shape)', async ({
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14
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+
yaw,
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15
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+
projectileFirst,
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16
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+
shape,
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17
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+
}) => {
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18
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+
const module = await loadRapier3D();
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19
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+
if ('code' in module) throw module;
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20
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+
const physics = createRapier3DPhysicsWorld(module);
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21
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+
try {
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22
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+
physics.setGravity(vec3.create(0, -9.81, 0));
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23
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+
const pose = (x: number, y: number, z: number) => ({
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24
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position: { x, y, z },
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25
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rotation: { x: 0, y: 0, z: 0, w: 1 },
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26
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+
scale: { x: 1, y: 1, z: 1 },
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27
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});
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28
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+
const body = (type: number) => ({
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type,
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30
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+
mass: 1,
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31
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+
linearDamping: 0,
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32
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+
angularDamping: 0,
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33
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+
gravityScale: 1,
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34
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+
ccdEnabled: 1,
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35
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+
});
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36
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+
const addProjectile = () =>
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37
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+
physics.ensureBody(
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38
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+
2,
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39
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+
pose(10 + Math.cos(yaw) + 0.5 * Math.sin(yaw), 4, -Math.sin(yaw) + 0.5 * Math.cos(yaw)),
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40
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+
body(1),
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41
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{
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42
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shape,
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43
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+
halfExtents: [0.2, 0.2, 0.2],
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44
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+
radius: 0.2,
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45
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+
halfHeight: 0.2,
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46
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+
friction: 0.5,
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47
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+
restitution: 0,
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48
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+
density: 1,
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49
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+
isSensor: 0,
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50
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+
collisionGroups: 0xffffffff,
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51
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+
solverGroups: 0xffffffff,
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52
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+
},
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53
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+
);
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54
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+
if (projectileFirst) addProjectile();
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55
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+
const wallPose = pose(10, 0, 0);
|
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56
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+
wallPose.rotation = { x: 0, y: Math.sin(yaw / 2), z: 0, w: Math.cos(yaw / 2) };
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|
57
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+
physics.ensureBody(1, wallPose, body(0), undefined);
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58
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+
const candidate = physics
|
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59
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+
.prepareDerivedShapeCandidate({
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60
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+
entity: 1,
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61
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+
sourceKey: 'wall',
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62
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+
revision: 0,
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63
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+
bodyType: 'static',
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64
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+
shapes: [
|
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65
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+
{
|
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66
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+
id: 'main',
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67
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+
revision: 0,
|
|
68
|
+
voxelSize: [0.5, 0.5, 0.5],
|
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69
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+
origin: [0, 0, 0],
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70
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+
cells: Array.from(
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71
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+
{ length: 36 },
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72
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+
(_, i) => [i % 6, Math.floor(i / 6) % 3, Math.floor(i / 18)] as const,
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73
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+
),
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74
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+
},
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75
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+
],
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76
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+
massProperties: {
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77
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+
mode: 'explicit',
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78
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+
mass: 9,
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79
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+
centerOfMass: [1.5, 0.75, 0.5],
|
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80
|
+
principalInertia: [1, 1, 1],
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|
81
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+
},
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|
82
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+
})
|
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83
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+
.unwrap();
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84
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+
physics.admitDerivedShapeCandidate(candidate).unwrap();
|
|
85
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+
physics.step(1 / 60);
|
|
86
|
+
if (!projectileFirst) addProjectile();
|
|
87
|
+
let contact: PhysicsContactObservation | undefined;
|
|
88
|
+
for (let i = 0; i < 120 && contact === undefined; i++) {
|
|
89
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+
physics.step(1 / 60);
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|
90
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+
contact = physics.getContactObservations().find((event) => event.phase === 'started');
|
|
91
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+
}
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|
92
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+
expect(contact).toBeDefined();
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|
93
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+
if (contact === undefined) throw new Error('expected a started physics contact');
|
|
94
|
+
const point = contact.point;
|
|
95
|
+
expect(point).toBeDefined();
|
|
96
|
+
if (point === undefined) throw new Error('expected a contact point');
|
|
97
|
+
expect(point[1]).toBeCloseTo(1.5, 1);
|
|
98
|
+
const normal = contact.normal;
|
|
99
|
+
expect(normal).toBeDefined();
|
|
100
|
+
if (normal === undefined) throw new Error('expected a contact normal');
|
|
101
|
+
expect(normal[1]).toBeCloseTo(contact.entityA === 1 ? 1 : -1, 2);
|
|
102
|
+
const dx = point[0] - 10;
|
|
103
|
+
const dz = point[2];
|
|
104
|
+
const localX = Math.cos(yaw) * dx - Math.sin(yaw) * dz;
|
|
105
|
+
const localZ = Math.sin(yaw) * dx + Math.cos(yaw) * dz;
|
|
106
|
+
expect(localX).toBeGreaterThan(0);
|
|
107
|
+
expect(localX).toBeLessThan(3);
|
|
108
|
+
expect(localZ).toBeGreaterThan(0);
|
|
109
|
+
expect(localZ).toBeLessThan(1);
|
|
110
|
+
} finally {
|
|
111
|
+
physics.dispose();
|
|
112
|
+
}
|
|
113
|
+
});
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