@gg-web-engine/rapier3d 0.0.24

package/etc/@dimforge/rapier3d/dynamics/impulse_joint.d.ts

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+import { Rotation, Vector } from "../math";
+import { RawGenericJoint, RawImpulseJointSet, RawJointAxis } from "../raw";
+import { RigidBody } from "./rigid_body";
+import { RigidBodySet } from "./rigid_body_set";
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type ImpulseJointHandle = number;
+/**
+ * An enum grouping all possible types of joints:
+ *
+ * - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
+ *               bodies except for the rotation along one axis.
+ * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
+ * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
+ *                bodies except for the translation along one axis.
+ * - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
+ */
+export declare enum JointType {
+    Revolute = 0,
+    Fixed = 1,
+    Prismatic = 2,
+    Spherical = 3
+}
+export declare enum MotorModel {
+    AccelerationBased = 0,
+    ForceBased = 1
+}
+export declare class ImpulseJoint {
+    protected rawSet: RawImpulseJointSet;
+    protected bodySet: RigidBodySet;
+    handle: ImpulseJointHandle;
+    constructor(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: ImpulseJointHandle);
+    static newTyped(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: ImpulseJointHandle): ImpulseJoint;
+    /** @internal */
+    finalizeDeserialization(bodySet: RigidBodySet): void;
+    /**
+     * Checks if this joint is still valid (i.e. that it has
+     * not been deleted from the joint set yet).
+     */
+    isValid(): boolean;
+    /**
+     * The first rigid-body this joint it attached to.
+     */
+    body1(): RigidBody;
+    /**
+     * The second rigid-body this joint is attached to.
+     */
+    body2(): RigidBody;
+    /**
+     * The type of this joint given as a string.
+     */
+    type(): JointType;
+    /**
+     * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+     */
+    frameX1(): Rotation;
+    /**
+     * The rotation matrix that aligns this joint's second local axis to the `x` axis.
+     */
+    frameX2(): Rotation;
+    /**
+     * The position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    anchor1(): Vector;
+    /**
+     * The position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    anchor2(): Vector;
+    /**
+     * Sets the position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    setAnchor1(newPos: Vector): void;
+    /**
+     * Sets the position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    setAnchor2(newPos: Vector): void;
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    setContactsEnabled(enabled: boolean): void;
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    contactsEnabled(): boolean;
+}
+export declare class UnitImpulseJoint extends ImpulseJoint {
+    /**
+     * The axis left free by this joint.
+     */
+    protected rawAxis?(): RawJointAxis;
+    /**
+     * Are the limits enabled for this joint?
+     */
+    limitsEnabled(): boolean;
+    /**
+     * The min limit of this joint.
+     */
+    limitsMin(): number;
+    /**
+     * The max limit of this joint.
+     */
+    limitsMax(): number;
+    /**
+     * Sets the limits of this joint.
+     *
+     * @param min - The minimum bound of this joint’s free coordinate.
+     * @param max - The maximum bound of this joint’s free coordinate.
+     */
+    setLimits(min: number, max: number): void;
+    configureMotorModel(model: MotorModel): void;
+    configureMotorVelocity(targetVel: number, factor: number): void;
+    configureMotorPosition(targetPos: number, stiffness: number, damping: number): void;
+    configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number): void;
+}
+export declare class FixedImpulseJoint extends ImpulseJoint {
+}
+export declare class PrismaticImpulseJoint extends UnitImpulseJoint {
+    rawAxis(): RawJointAxis;
+}
+export declare class RevoluteImpulseJoint extends UnitImpulseJoint {
+    rawAxis(): RawJointAxis;
+}
+export declare class SphericalImpulseJoint extends ImpulseJoint {
+}
+export declare class JointData {
+    anchor1: Vector;
+    anchor2: Vector;
+    axis: Vector;
+    frame1: Rotation;
+    frame2: Rotation;
+    jointType: JointType;
+    limitsEnabled: boolean;
+    limits: Array<number>;
+    private constructor();
+    /**
+     * Creates a new joint descriptor that builds a Fixed joint.
+     *
+     * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
+     * anchor and local frames coincide in world-space.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
+     */
+    static fixed(anchor1: Vector, frame1: Rotation, anchor2: Vector, frame2: Rotation): JointData;
+    /**
+     * Create a new joint descriptor that builds spherical joints.
+     *
+     * A spherical joint allows three relative rotational degrees of freedom
+     * by preventing any relative translation between the anchors of the
+     * two attached rigid-bodies.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     */
+    static spherical(anchor1: Vector, anchor2: Vector): JointData;
+    /**
+     * Creates a new joint descriptor that builds a Prismatic joint.
+     *
+     * A prismatic joint removes all the degrees of freedom between the
+     * affected bodies, except for the translation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    static prismatic(anchor1: Vector, anchor2: Vector, axis: Vector): JointData;
+    /**
+     * Create a new joint descriptor that builds Revolute joints.
+     *
+     * A revolute joint removes all degrees of freedom between the affected
+     * bodies except for the rotation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    static revolute(anchor1: Vector, anchor2: Vector, axis: Vector): JointData;
+    intoRaw(): RawGenericJoint;
+}

package/etc/@dimforge/rapier3d/dynamics/impulse_joint.js

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+import { VectorOps, RotationOps } from "../math";
+import { RawGenericJoint, RawJointAxis, } from "../raw";
+/**
+ * An enum grouping all possible types of joints:
+ *
+ * - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
+ *               bodies except for the rotation along one axis.
+ * - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
+ * - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
+ *                bodies except for the translation along one axis.
+ * - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
+ */
+export var JointType;
+(function (JointType) {
+    JointType[JointType["Revolute"] = 0] = "Revolute";
+    JointType[JointType["Fixed"] = 1] = "Fixed";
+    JointType[JointType["Prismatic"] = 2] = "Prismatic";
+    // #if DIM3
+    JointType[JointType["Spherical"] = 3] = "Spherical";
+    // #endif
+})(JointType || (JointType = {}));
+export var MotorModel;
+(function (MotorModel) {
+    MotorModel[MotorModel["AccelerationBased"] = 0] = "AccelerationBased";
+    MotorModel[MotorModel["ForceBased"] = 1] = "ForceBased";
+})(MotorModel || (MotorModel = {}));
+export class ImpulseJoint {
+    constructor(rawSet, bodySet, handle) {
+        this.rawSet = rawSet;
+        this.bodySet = bodySet;
+        this.handle = handle;
+    }
+    static newTyped(rawSet, bodySet, handle) {
+        switch (rawSet.jointType(handle)) {
+            case JointType.Revolute:
+                return new RevoluteImpulseJoint(rawSet, bodySet, handle);
+            case JointType.Prismatic:
+                return new PrismaticImpulseJoint(rawSet, bodySet, handle);
+            case JointType.Fixed:
+                return new FixedImpulseJoint(rawSet, bodySet, handle);
+            // #if DIM3
+            case JointType.Spherical:
+                return new SphericalImpulseJoint(rawSet, bodySet, handle);
+            // #endif
+            default:
+                return new ImpulseJoint(rawSet, bodySet, handle);
+        }
+    }
+    /** @internal */
+    finalizeDeserialization(bodySet) {
+        this.bodySet = bodySet;
+    }
+    /**
+     * Checks if this joint is still valid (i.e. that it has
+     * not been deleted from the joint set yet).
+     */
+    isValid() {
+        return this.rawSet.contains(this.handle);
+    }
+    /**
+     * The first rigid-body this joint it attached to.
+     */
+    body1() {
+        return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
+    }
+    /**
+     * The second rigid-body this joint is attached to.
+     */
+    body2() {
+        return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
+    }
+    /**
+     * The type of this joint given as a string.
+     */
+    type() {
+        return this.rawSet.jointType(this.handle);
+    }
+    // #if DIM3
+    /**
+     * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+     */
+    frameX1() {
+        return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
+    }
+    // #endif
+    // #if DIM3
+    /**
+     * The rotation matrix that aligns this joint's second local axis to the `x` axis.
+     */
+    frameX2() {
+        return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
+    }
+    // #endif
+    /**
+     * The position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    anchor1() {
+        return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
+    }
+    /**
+     * The position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    anchor2() {
+        return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
+    }
+    /**
+     * Sets the position of the first anchor of this joint.
+     *
+     * The first anchor gives the position of the application point on the
+     * local frame of the first rigid-body it is attached to.
+     */
+    setAnchor1(newPos) {
+        const rawPoint = VectorOps.intoRaw(newPos);
+        this.rawSet.jointSetAnchor1(this.handle, rawPoint);
+        rawPoint.free();
+    }
+    /**
+     * Sets the position of the second anchor of this joint.
+     *
+     * The second anchor gives the position of the application point on the
+     * local frame of the second rigid-body it is attached to.
+     */
+    setAnchor2(newPos) {
+        const rawPoint = VectorOps.intoRaw(newPos);
+        this.rawSet.jointSetAnchor2(this.handle, rawPoint);
+        rawPoint.free();
+    }
+    /**
+     * Controls whether contacts are computed between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    setContactsEnabled(enabled) {
+        this.rawSet.jointSetContactsEnabled(this.handle, enabled);
+    }
+    /**
+     * Indicates if contacts are enabled between colliders attached
+     * to the rigid-bodies linked by this joint.
+     */
+    contactsEnabled() {
+        return this.rawSet.jointContactsEnabled(this.handle);
+    }
+}
+export class UnitImpulseJoint extends ImpulseJoint {
+    /**
+     * Are the limits enabled for this joint?
+     */
+    limitsEnabled() {
+        return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
+    }
+    /**
+     * The min limit of this joint.
+     */
+    limitsMin() {
+        return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
+    }
+    /**
+     * The max limit of this joint.
+     */
+    limitsMax() {
+        return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
+    }
+    /**
+     * Sets the limits of this joint.
+     *
+     * @param min - The minimum bound of this joint’s free coordinate.
+     * @param max - The maximum bound of this joint’s free coordinate.
+     */
+    setLimits(min, max) {
+        this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
+    }
+    configureMotorModel(model) {
+        this.rawSet.jointConfigureMotorModel(this.handle, this.rawAxis(), model);
+    }
+    configureMotorVelocity(targetVel, factor) {
+        this.rawSet.jointConfigureMotorVelocity(this.handle, this.rawAxis(), targetVel, factor);
+    }
+    configureMotorPosition(targetPos, stiffness, damping) {
+        this.rawSet.jointConfigureMotorPosition(this.handle, this.rawAxis(), targetPos, stiffness, damping);
+    }
+    configureMotor(targetPos, targetVel, stiffness, damping) {
+        this.rawSet.jointConfigureMotor(this.handle, this.rawAxis(), targetPos, targetVel, stiffness, damping);
+    }
+}
+export class FixedImpulseJoint extends ImpulseJoint {
+}
+export class PrismaticImpulseJoint extends UnitImpulseJoint {
+    rawAxis() {
+        return RawJointAxis.X;
+    }
+}
+export class RevoluteImpulseJoint extends UnitImpulseJoint {
+    rawAxis() {
+        return RawJointAxis.AngX;
+    }
+}
+// #if DIM3
+export class SphericalImpulseJoint extends ImpulseJoint {
+}
+// #endif
+export class JointData {
+    constructor() { }
+    /**
+     * Creates a new joint descriptor that builds a Fixed joint.
+     *
+     * A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
+     * anchor and local frames coincide in world-space.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
+     */
+    static fixed(anchor1, frame1, anchor2, frame2) {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.frame1 = frame1;
+        res.frame2 = frame2;
+        res.jointType = JointType.Fixed;
+        return res;
+    }
+    // #if DIM3
+    /**
+     * Create a new joint descriptor that builds spherical joints.
+     *
+     * A spherical joint allows three relative rotational degrees of freedom
+     * by preventing any relative translation between the anchors of the
+     * two attached rigid-bodies.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     */
+    static spherical(anchor1, anchor2) {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.jointType = JointType.Spherical;
+        return res;
+    }
+    /**
+     * Creates a new joint descriptor that builds a Prismatic joint.
+     *
+     * A prismatic joint removes all the degrees of freedom between the
+     * affected bodies, except for the translation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    static prismatic(anchor1, anchor2, axis) {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.jointType = JointType.Prismatic;
+        return res;
+    }
+    /**
+     * Create a new joint descriptor that builds Revolute joints.
+     *
+     * A revolute joint removes all degrees of freedom between the affected
+     * bodies except for the rotation along one axis.
+     *
+     * @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
+     *                  local-space of the rigid-body.
+     * @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
+     */
+    static revolute(anchor1, anchor2, axis) {
+        let res = new JointData();
+        res.anchor1 = anchor1;
+        res.anchor2 = anchor2;
+        res.axis = axis;
+        res.jointType = JointType.Revolute;
+        return res;
+    }
+    // #endif
+    intoRaw() {
+        let rawA1 = VectorOps.intoRaw(this.anchor1);
+        let rawA2 = VectorOps.intoRaw(this.anchor2);
+        let rawAx;
+        let result;
+        let limitsEnabled = false;
+        let limitsMin = 0.0;
+        let limitsMax = 0.0;
+        switch (this.jointType) {
+            case JointType.Fixed:
+                let rawFra1 = RotationOps.intoRaw(this.frame1);
+                let rawFra2 = RotationOps.intoRaw(this.frame2);
+                result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);
+                rawFra1.free();
+                rawFra2.free();
+                break;
+            case JointType.Prismatic:
+                rawAx = VectorOps.intoRaw(this.axis);
+                if (!!this.limitsEnabled) {
+                    limitsEnabled = true;
+                    limitsMin = this.limits[0];
+                    limitsMax = this.limits[1];
+                }
+                // #if DIM3
+                result = RawGenericJoint.prismatic(rawA1, rawA2, rawAx, limitsEnabled, limitsMin, limitsMax);
+                // #endif
+                rawAx.free();
+                break;
+            // #if DIM3
+            case JointType.Spherical:
+                result = RawGenericJoint.spherical(rawA1, rawA2);
+                break;
+            case JointType.Revolute:
+                rawAx = VectorOps.intoRaw(this.axis);
+                result = RawGenericJoint.revolute(rawA1, rawA2, rawAx);
+                rawAx.free();
+                break;
+            // #endif
+        }
+        rawA1.free();
+        rawA2.free();
+        return result;
+    }
+}
+//# sourceMappingURL=impulse_joint.js.map

package/etc/@dimforge/rapier3d/dynamics/impulse_joint.js.map

@@ -0,0 +1 @@
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package/etc/@dimforge/rapier3d/dynamics/impulse_joint_set.d.ts

@@ -0,0 +1,79 @@
+import { RawImpulseJointSet } from "../raw";
+import { RigidBodySet } from "./rigid_body_set";
+import { ImpulseJoint, ImpulseJointHandle, JointData } from "./impulse_joint";
+import { RigidBodyHandle } from "./rigid_body";
+/**
+ * A set of joints.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
+ * once you are done using it (and all the joints it created).
+ */
+export declare class ImpulseJointSet {
+    raw: RawImpulseJointSet;
+    private map;
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    free(): void;
+    constructor(raw?: RawImpulseJointSet);
+    /** @internal */
+    finalizeDeserialization(bodies: RigidBodySet): void;
+    /**
+     * Creates a new joint and return its integer handle.
+     *
+     * @param bodies - The set of rigid-bodies containing the bodies the joint is attached to.
+     * @param desc - The joint's parameters.
+     * @param parent1 - The handle of the first rigid-body this joint is attached to.
+     * @param parent2 - The handle of the second rigid-body this joint is attached to.
+     * @param wakeUp - Should the attached rigid-bodies be awakened?
+     */
+    createJoint(bodies: RigidBodySet, desc: JointData, parent1: RigidBodyHandle, parent2: RigidBodyHandle, wakeUp: boolean): ImpulseJoint;
+    /**
+     * Remove a joint from this set.
+     *
+     * @param handle - The integer handle of the joint.
+     * @param wakeUp - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
+     */
+    remove(handle: ImpulseJointHandle, wakeUp: boolean): void;
+    /**
+     * Calls the given closure with the integer handle of each impulse joint attached to this rigid-body.
+     *
+     * @param f - The closure called with the integer handle of each impulse joint attached to the rigid-body.
+     */
+    forEachJointHandleAttachedToRigidBody(handle: RigidBodyHandle, f: (handle: ImpulseJointHandle) => void): void;
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    unmap(handle: ImpulseJointHandle): void;
+    /**
+     * The number of joints on this set.
+     */
+    len(): number;
+    /**
+     * Does this set contain a joint with the given handle?
+     *
+     * @param handle - The joint handle to check.
+     */
+    contains(handle: ImpulseJointHandle): boolean;
+    /**
+     * Gets the joint with the given handle.
+     *
+     * Returns `null` if no joint with the specified handle exists.
+     *
+     * @param handle - The integer handle of the joint to retrieve.
+     */
+    get(handle: ImpulseJointHandle): ImpulseJoint | null;
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    forEach(f: (joint: ImpulseJoint) => void): void;
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    getAll(): ImpulseJoint[];
+}