@gg-web-engine/rapier3d 0.0.24

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

@@ -0,0 +1,123 @@
+import { RawImpulseJointSet } from "../raw";
+import { Coarena } from "../coarena";
+import { ImpulseJoint,
+// #endif
+ } from "./impulse_joint";
+/**
+ * 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 class ImpulseJointSet {
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+        if (!!this.map) {
+            this.map.clear();
+        }
+        this.map = undefined;
+    }
+    constructor(raw) {
+        this.raw = raw || new RawImpulseJointSet();
+        this.map = new Coarena();
+        // Initialize the map with the existing elements, if any.
+        if (raw) {
+            raw.forEachJointHandle((handle) => {
+                this.map.set(handle, ImpulseJoint.newTyped(raw, null, handle));
+            });
+        }
+    }
+    /** @internal */
+    finalizeDeserialization(bodies) {
+        this.map.forEach((joint) => joint.finalizeDeserialization(bodies));
+    }
+    /**
+     * 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, desc, parent1, parent2, wakeUp) {
+        const rawParams = desc.intoRaw();
+        const handle = this.raw.createJoint(rawParams, parent1, parent2, wakeUp);
+        rawParams.free();
+        let joint = ImpulseJoint.newTyped(this.raw, bodies, handle);
+        this.map.set(handle, joint);
+        return joint;
+    }
+    /**
+     * 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, wakeUp) {
+        this.raw.remove(handle, wakeUp);
+        this.unmap(handle);
+    }
+    /**
+     * 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, f) {
+        this.raw.forEachJointAttachedToRigidBody(handle, f);
+    }
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    unmap(handle) {
+        this.map.delete(handle);
+    }
+    /**
+     * The number of joints on this set.
+     */
+    len() {
+        return this.map.len();
+    }
+    /**
+     * Does this set contain a joint with the given handle?
+     *
+     * @param handle - The joint handle to check.
+     */
+    contains(handle) {
+        return this.get(handle) != null;
+    }
+    /**
+     * 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) {
+        return this.map.get(handle);
+    }
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    forEach(f) {
+        this.map.forEach(f);
+    }
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    getAll() {
+        return this.map.getAll();
+    }
+}
+//# sourceMappingURL=impulse_joint_set.js.map

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

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

@@ -0,0 +1,10 @@
+export * from "./rigid_body";
+export * from "./rigid_body_set";
+export * from "./integration_parameters";
+export * from "./impulse_joint";
+export * from "./impulse_joint_set";
+export * from "./multibody_joint";
+export * from "./multibody_joint_set";
+export * from "./coefficient_combine_rule";
+export * from "./ccd_solver";
+export * from "./island_manager";

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

@@ -0,0 +1,11 @@
+export * from "./rigid_body";
+export * from "./rigid_body_set";
+export * from "./integration_parameters";
+export * from "./impulse_joint";
+export * from "./impulse_joint_set";
+export * from "./multibody_joint";
+export * from "./multibody_joint_set";
+export * from "./coefficient_combine_rule";
+export * from "./ccd_solver";
+export * from "./island_manager";
+//# sourceMappingURL=index.js.map

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

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

@@ -0,0 +1,55 @@
+import { RawIntegrationParameters } from "../raw";
+export declare class IntegrationParameters {
+    raw: RawIntegrationParameters;
+    constructor(raw?: RawIntegrationParameters);
+    /**
+     * Free the WASM memory used by these integration parameters.
+     */
+    free(): void;
+    /**
+     * The timestep length (default: `1.0 / 60.0`)
+     */
+    get dt(): number;
+    /**
+     * The Error Reduction Parameter in `[0, 1]` is the proportion of
+     * the positional error to be corrected at each time step (default: `0.2`).
+     */
+    get erp(): number;
+    /**
+     * Amount of penetration the engine wont attempt to correct (default: `0.001m`).
+     */
+    get allowedLinearError(): number;
+    /**
+     * The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
+     */
+    get predictionDistance(): number;
+    /**
+     * Maximum number of iterations performed by the velocity constraints solver (default: `4`).
+     */
+    get maxVelocityIterations(): number;
+    /**
+     * Maximum number of friction iterations performed by the position-based constraints solver (default: `1`).
+     */
+    get maxVelocityFrictionIterations(): number;
+    /**
+     * Maximum number of stabilization iterations performed by the position-based constraints solver (default: `1`).
+     */
+    get maxStabilizationIterations(): number;
+    /**
+     * Minimum number of dynamic bodies in each active island (default: `128`).
+     */
+    get minIslandSize(): number;
+    /**
+     * Maximum number of substeps performed by the  solver (default: `1`).
+     */
+    get maxCcdSubsteps(): number;
+    set dt(value: number);
+    set erp(value: number);
+    set allowedLinearError(value: number);
+    set predictionDistance(value: number);
+    set maxVelocityIterations(value: number);
+    set maxVelocityFrictionIterations(value: number);
+    set maxStabilizationIterations(value: number);
+    set minIslandSize(value: number);
+    set maxCcdSubsteps(value: number);
+}

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

@@ -0,0 +1,98 @@
+import { RawIntegrationParameters } from "../raw";
+export class IntegrationParameters {
+    constructor(raw) {
+        this.raw = raw || new RawIntegrationParameters();
+    }
+    /**
+     * Free the WASM memory used by these integration parameters.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+    /**
+     * The timestep length (default: `1.0 / 60.0`)
+     */
+    get dt() {
+        return this.raw.dt;
+    }
+    /**
+     * The Error Reduction Parameter in `[0, 1]` is the proportion of
+     * the positional error to be corrected at each time step (default: `0.2`).
+     */
+    get erp() {
+        return this.raw.erp;
+    }
+    /**
+     * Amount of penetration the engine wont attempt to correct (default: `0.001m`).
+     */
+    get allowedLinearError() {
+        return this.raw.allowedLinearError;
+    }
+    /**
+     * The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
+     */
+    get predictionDistance() {
+        return this.raw.predictionDistance;
+    }
+    /**
+     * Maximum number of iterations performed by the velocity constraints solver (default: `4`).
+     */
+    get maxVelocityIterations() {
+        return this.raw.maxVelocityIterations;
+    }
+    /**
+     * Maximum number of friction iterations performed by the position-based constraints solver (default: `1`).
+     */
+    get maxVelocityFrictionIterations() {
+        return this.raw.maxVelocityFrictionIterations;
+    }
+    /**
+     * Maximum number of stabilization iterations performed by the position-based constraints solver (default: `1`).
+     */
+    get maxStabilizationIterations() {
+        return this.raw.maxStabilizationIterations;
+    }
+    /**
+     * Minimum number of dynamic bodies in each active island (default: `128`).
+     */
+    get minIslandSize() {
+        return this.raw.minIslandSize;
+    }
+    /**
+     * Maximum number of substeps performed by the  solver (default: `1`).
+     */
+    get maxCcdSubsteps() {
+        return this.raw.maxCcdSubsteps;
+    }
+    set dt(value) {
+        this.raw.dt = value;
+    }
+    set erp(value) {
+        this.raw.erp = value;
+    }
+    set allowedLinearError(value) {
+        this.raw.allowedLinearError = value;
+    }
+    set predictionDistance(value) {
+        this.raw.predictionDistance = value;
+    }
+    set maxVelocityIterations(value) {
+        this.raw.maxVelocityIterations = value;
+    }
+    set maxVelocityFrictionIterations(value) {
+        this.raw.maxVelocityFrictionIterations = value;
+    }
+    set maxStabilizationIterations(value) {
+        this.raw.maxStabilizationIterations = value;
+    }
+    set minIslandSize(value) {
+        this.raw.minIslandSize = value;
+    }
+    set maxCcdSubsteps(value) {
+        this.raw.maxCcdSubsteps = value;
+    }
+}
+//# sourceMappingURL=integration_parameters.js.map

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

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

@@ -0,0 +1,24 @@
+import { RawIslandManager } from "../raw";
+import { RigidBodyHandle } from "./rigid_body";
+/**
+ * The CCD solver responsible for resolving Continuous Collision Detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`
+ * once you are done using it.
+ */
+export declare class IslandManager {
+    raw: RawIslandManager;
+    /**
+     * Release the WASM memory occupied by this narrow-phase.
+     */
+    free(): void;
+    constructor(raw?: RawIslandManager);
+    /**
+     * Applies the given closure to the handle of each active rigid-bodies contained by this set.
+     *
+     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.
+     *
+     * @param f - The closure to apply.
+     */
+    forEachActiveRigidBodyHandle(f: (handle: RigidBodyHandle) => void): void;
+}

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

@@ -0,0 +1,32 @@
+import { RawIslandManager } from "../raw";
+/**
+ * The CCD solver responsible for resolving Continuous Collision Detection.
+ *
+ * To avoid leaking WASM resources, this MUST be freed manually with `ccdSolver.free()`
+ * once you are done using it.
+ */
+export class IslandManager {
+    /**
+     * Release the WASM memory occupied by this narrow-phase.
+     */
+    free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+        this.raw = undefined;
+    }
+    constructor(raw) {
+        this.raw = raw || new RawIslandManager();
+    }
+    /**
+     * Applies the given closure to the handle of each active rigid-bodies contained by this set.
+     *
+     * A rigid-body is active if it is not sleeping, i.e., if it moved recently.
+     *
+     * @param f - The closure to apply.
+     */
+    forEachActiveRigidBodyHandle(f) {
+        this.raw.forEachActiveRigidBodyHandle(f);
+    }
+}
+//# sourceMappingURL=island_manager.js.map

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

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

@@ -0,0 +1,42 @@
+import { RawJointAxis, RawMultibodyJointSet } from "../raw";
+/**
+ * The integer identifier of a collider added to a `ColliderSet`.
+ */
+export type MultibodyJointHandle = number;
+export declare class MultibodyJoint {
+    protected rawSet: RawMultibodyJointSet;
+    handle: MultibodyJointHandle;
+    constructor(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle);
+    static newTyped(rawSet: RawMultibodyJointSet, handle: MultibodyJointHandle): MultibodyJoint;
+    /**
+     * Checks if this joint is still valid (i.e. that it has
+     * not been deleted from the joint set yet).
+     */
+    isValid(): boolean;
+    /**
+     * 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 UnitMultibodyJoint extends MultibodyJoint {
+    /**
+     * The axis left free by this joint.
+     */
+    protected rawAxis?(): RawJointAxis;
+}
+export declare class FixedMultibodyJoint extends MultibodyJoint {
+}
+export declare class PrismaticMultibodyJoint extends UnitMultibodyJoint {
+    rawAxis(): RawJointAxis;
+}
+export declare class RevoluteMultibodyJoint extends UnitMultibodyJoint {
+    rawAxis(): RawJointAxis;
+}
+export declare class SphericalMultibodyJoint extends MultibodyJoint {
+}

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

@@ -0,0 +1,124 @@
+import { RawJointAxis } from "../raw";
+import { JointType, } from "./impulse_joint";
+export class MultibodyJoint {
+    constructor(rawSet, handle) {
+        this.rawSet = rawSet;
+        this.handle = handle;
+    }
+    static newTyped(rawSet, handle) {
+        switch (rawSet.jointType(handle)) {
+            case JointType.Revolute:
+                return new RevoluteMultibodyJoint(rawSet, handle);
+            case JointType.Prismatic:
+                return new PrismaticMultibodyJoint(rawSet, handle);
+            case JointType.Fixed:
+                return new FixedMultibodyJoint(rawSet, handle);
+            // #if DIM3
+            case JointType.Spherical:
+                return new SphericalMultibodyJoint(rawSet, handle);
+            // #endif
+            default:
+                return new MultibodyJoint(rawSet, handle);
+        }
+    }
+    /**
+     * 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 unique integer identifier of the first rigid-body this joint it attached to.
+    //  */
+    // public bodyHandle1(): RigidBodyHandle {
+    //     return this.rawSet.jointBodyHandle1(this.handle);
+    // }
+    //
+    // /**
+    //  * The unique integer identifier of the second rigid-body this joint is attached to.
+    //  */
+    // public bodyHandle2(): RigidBodyHandle {
+    //     return this.rawSet.jointBodyHandle2(this.handle);
+    // }
+    //
+    // /**
+    //  * The type of this joint given as a string.
+    //  */
+    // public type(): JointType {
+    //     return this.rawSet.jointType(this.handle);
+    // }
+    //
+    // // #if DIM3
+    // /**
+    //  * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
+    //  */
+    // public frameX1(): Rotation {
+    //     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.
+    //  */
+    // public frameX2(): Rotation {
+    //     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 points application point on the
+    //  * local frame of the first rigid-body it is attached to.
+    //  */
+    // public anchor1(): Vector {
+    //     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 points application point on the
+    //  * local frame of the second rigid-body it is attached to.
+    //  */
+    // public anchor2(): Vector {
+    //     return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
+    // }
+    /**
+     * 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 UnitMultibodyJoint extends MultibodyJoint {
+}
+export class FixedMultibodyJoint extends MultibodyJoint {
+}
+export class PrismaticMultibodyJoint extends UnitMultibodyJoint {
+    rawAxis() {
+        return RawJointAxis.X;
+    }
+}
+export class RevoluteMultibodyJoint extends UnitMultibodyJoint {
+    rawAxis() {
+        return RawJointAxis.AngX;
+    }
+}
+// #if DIM3
+export class SphericalMultibodyJoint extends MultibodyJoint {
+}
+// #endif
+//# sourceMappingURL=multibody_joint.js.map

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

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

@@ -0,0 +1,76 @@
+import { RawMultibodyJointSet } from "../raw";
+import { MultibodyJoint, MultibodyJointHandle } from "./multibody_joint";
+import { 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 MultibodyJointSet {
+    raw: RawMultibodyJointSet;
+    private map;
+    /**
+     * Release the WASM memory occupied by this joint set.
+     */
+    free(): void;
+    constructor(raw?: RawMultibodyJointSet);
+    /**
+     * Creates a new joint and return its integer handle.
+     *
+     * @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(desc: JointData, parent1: RigidBodyHandle, parent2: RigidBodyHandle, wakeUp: boolean): MultibodyJoint;
+    /**
+     * Remove a joint from this set.
+     *
+     * @param handle - The integer handle of the joint.
+     * @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
+     */
+    remove(handle: MultibodyJointHandle, wake_up: boolean): void;
+    /**
+     * Internal function, do not call directly.
+     * @param handle
+     */
+    unmap(handle: MultibodyJointHandle): 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: MultibodyJointHandle): 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: MultibodyJointHandle): MultibodyJoint | null;
+    /**
+     * Applies the given closure to each joint contained by this set.
+     *
+     * @param f - The closure to apply.
+     */
+    forEach(f: (joint: MultibodyJoint) => void): void;
+    /**
+     * Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.
+     *
+     * @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body.
+     */
+    forEachJointHandleAttachedToRigidBody(handle: RigidBodyHandle, f: (handle: MultibodyJointHandle) => void): void;
+    /**
+     * Gets all joints in the list.
+     *
+     * @returns joint list.
+     */
+    getAll(): MultibodyJoint[];
+}