@hology/core 0.0.239 → 0.0.240

package/dist/effects/vfx/gpu-vfx-world-service.d.ts

@@ -81,6 +81,8 @@ export declare class GpuVfxWorldService {
             arena: ReturnType<import("./gpu-particle-arena.js").GpuParticleArena["getStats"]>;
         }>;
     };
+    /** Activate one slot per prepared template for a real loading-frame submit. */
+    beginPipelineWarmup(): () => void;
     prepare(asset: VfxAsset, revision?: string | number): Promise<PreparedGpuVfxEffect | null>;
     private createEntry;
     private spawn;

package/dist/effects/vfx/gpu-vfx-world-service.js

@@ -1,4 +1,4 @@
-import{__decorate as e,__metadata as t}from"tslib";import{Service as s}from"typedi";import{inject as r}from"../../gameplay/inject.js";import{AssetLoader as i}from"../../gameplay/services/asset-loader.js";import{ViewController as n}from"../../gameplay/services/render.js";import{AssetResourceLoader as a}from"../../scene/asset-resource-loader.js";import{AssetsProvider as o}from"../../scene/assets-provider.js";import{ShaderProvider as h}from"../../gameplay/services/shader-provider.js";import{createGpuSpriteShaderGraphResolver as l}from"./vfx-materializer.js";import{GpuSpriteRenderClassCache as u,hasGpuUnsupportedVfxInputBindings as c}from"./gpu-sprite-compiler.js";import{addGpuSpriteRenderGraphPasses as d}from"./gpu-sprite-render-graph.js";import{GpuSpriteWorldRuntime as p}from"./gpu-sprite-world-runtime.js";import{GpuSpriteTemplateCache as m}from"./gpu-sprite-template.js";import{gpuVfxCapacityClass as g}from"./gpu-vfx-capacity.js";export class GpuVfxEffectHandle{constructor(e,t){this.epoch=e,this.instance=t,this.released=!1}setPosition(e){return!this.released&&this.epoch.runtime.setPosition(this.instance,e)}setTransform(e){return!this.released&&this.epoch.runtime.setTransform(this.instance,e)}pause(){return!this.released&&this.epoch.runtime.pause(this.instance)}play(){return!this.released&&this.epoch.runtime.play(this.instance)}restart(){return!this.released&&this.epoch.runtime.restart(this.instance)}stop(){return!this.released&&this.epoch.runtime.stop(this.instance)}expire(e){return!this.released&&this.epoch.runtime.stop(this.instance,Math.max(0,e))}kill(){return!this.released&&this.epoch.runtime.stop(this.instance,0)}setTimescale(e){return!this.released&&this.epoch.runtime.setTimescale(this.instance,e)}setInput(e,t){return!this.released&&this.epoch.runtime.setInput(this.instance,e,t)}release(){return!this.released&&(this.released=!0,this.epoch.runtime.destroy(this.instance))}get active(){return!this.released&&this.epoch.runtime.has(this.instance)}}export class PreparedGpuVfxEffect{constructor(e,t,s){this.entry=e,this.spawnEntry=t,this.releaseEntry=s,this.released=!1}spawn(e){return this.released?null:this.spawnEntry(this.entry,e)}release(){this.released||(this.released=!0,this.releaseEntry(this.entry))}}let f=class{constructor(){this.view=r(n),this.assetLoader=r(i),this.assetsProvider=r(o),this.assetResources=r(a),this.shaderProvider=r(h),this.templateCache=new m,this.renderClassCache=new u,this.entriesByAssetId=new Map,this.entries=new Set,this.epochs=new Set,this.reportedCpuFallbacks=new Set,this.currentEpoch=null,this.nextGeneration=1,this.rebuildTail=Promise.resolve(!0),this.unregisterRenderGraph=null,this.estimatedWorldBytes=0,this.profilingEnabled=!1,this.view.onLateUpdate().subscribe(e=>this.update(e))}setProfilingEnabled(e){this.profilingEnabled=e}getStats(){const e=this.currentEpoch;return null==e?null:{particles:e.runtime.runtime.getStats(),scheduler:e.runtime.scheduler.getStats()}}async prepare(e,t){if("webgpu-experimental"!==this.view.requestedBackend)return null;if(c(e))return this.reportCpuFallback(e,t,["one or more authored VFX input bindings are not supported on GPU"]),null;let s=this.entriesByAssetId.get(e.id);if(null==s||s.asset!==e||s.revision!==t){const r=s;s={asset:e,revision:t,pending:(async()=>(null!=r&&await this.retireEntry(r.pending),this.createEntry(e,t)))()},this.entriesByAssetId.set(e.id,s)}const r=await s.pending;if(null==r)return this.reportCpuFallback(e,t,["GPU template preparation rejected this asset without a diagnostic"]),null;r.references+=1;const i=g(r.references),n=this.currentEpoch?.reservations.get(r)??0,a=r.reservedInstances;return i>r.reservedInstances&&(r.reservedInstances=i),n<i&&!await this.queueRebuild()?(r.references-=1,r.reservedInstances=a,this.reportCpuFallback(e,t,["the shared GPU VFX world could not grow within its memory budget or WebGPU device limits"]),null):new PreparedGpuVfxEffect(r,(e,t)=>this.spawn(e,t),e=>this.releaseEntry(e))}async createEntry(e,t){const s=await this.templateCache.resolve(e,{assets:this.assets,renderClassCache:this.renderClassCache,resolveCustomMaterial:this.resolveCustomMaterial,revision:t});if(null==s.template){const r=s.compatibility.issues.filter(e=>"error"===e.severity).map(e=>`${e.emitter}: ${e.message}`);return this.reportCpuFallback(e,t,r.length>0?r:s.reasons),null}const r={asset:e,revision:t,references:0,reservedInstances:1,retired:!1};return this.entries.add(r),r}spawn(e,t){let s=this.currentEpoch,r=s?.templateIndices.get(e);if(null==r&&e.retired)for(const t of this.epochs){const i=t.templateIndices.get(e);t.disposalQueued||null==i||(s=t,r=i)}if(null==s||null==r)return null;const i=s.runtime.spawn(r,t);return null==i?null:new GpuVfxEffectHandle(s,i)}releaseEntry(e){e.references=Math.max(0,e.references-1)}async retireEntry(e){const t=await e;null!=t&&(t.retired=!0,this.entries.delete(t))}queueRebuild(){const e=this.rebuildTail.then(()=>this.rebuildWorld()).catch(e=>(console.error("[Hology GPU VFX] Failed to rebuild the shared world generation.",e),!1));return this.rebuildTail=e,e}async rebuildWorld(){const e=[...this.entries].filter(e=>!e.retired);if(0===e.length)return null!=this.currentEpoch&&(this.currentEpoch.retired=!0,this.currentEpoch=null,this.disposeRetiredEpochs()),!0;if(null!=this.currentEpoch&&this.currentEpoch.templateIndices.size===e.length&&e.every(e=>(this.currentEpoch.reservations.get(e)??0)>=e.reservedInstances))return!0;const t=[...this.epochs].reduce((e,t)=>t===this.currentEpoch&&0===t.runtime.scheduler.getStats().activeInstances?e:e+t.estimatedBytes,0),s=Math.max(0,this.view.webgpuVfxWorldMemoryBudgetBytes-t),r=await p.create({templates:e.map(e=>({asset:e.asset,revision:e.revision,maximumInstances:e.reservedInstances})),assets:this.assets,templateCache:this.templateCache,renderClassCache:this.renderClassCache,resolveCustomMaterial:this.resolveCustomMaterial,particlePageSize:256,aliveCountReadback:this.profilingEnabled,device:this.view.experimentalWebGpuDevice??void 0,maximumStorageBytes:s});if(null==r)return!1;const i=r.runtime.getStats().storageBytes;if(i>this.view.webgpuVfxWorldMemoryBudgetBytes||t+i>this.view.webgpuVfxWorldMemoryBudgetBytes)return r.dispose(),console.warn(`[Hology GPU VFX] Refusing shared world growth: retained storage would become ${y(t+i)} MiB, exceeding the ${y(this.view.webgpuVfxWorldMemoryBudgetBytes)} MiB budget.`),!1;const n={generation:this.nextGeneration++,runtime:r,templateIndices:new Map(e.map((e,t)=>[e,t])),reservations:new Map(e.map(e=>[e,e.reservedInstances])),estimatedBytes:i,retired:!1,disposalQueued:!1};return null!=this.currentEpoch&&(this.currentEpoch.retired=!0),this.currentEpoch=n,this.epochs.add(n),this.estimatedWorldBytes+=i,this.ensureRenderGraph(),console.info(`[Hology GPU VFX] Shared world generation ${n.generation}: ${e.length} template(s), ${e.reduce((e,t)=>e+t.reservedInstances,0)} reserved instance(s), ${r.runtime.emitters.length} emitter slots, ${r.runtime.getStats().capacity.toLocaleString()} particle slots, ${y(i)} MiB estimated storage.`),this.disposeRetiredEpochs(),!0}ensureRenderGraph(){if(null!=this.unregisterRenderGraph)return;const e=(e,t)=>d(e,this,t,"WorldGpuVfx");e.getSceneTextureReads=()=>this.getSceneTextureReads(),this.unregisterRenderGraph=this.view.registerExperimentalWebGpuRenderGraphExtension(e)}update(e){for(const t of this.epochs)t.runtime.update(e);this.disposeRetiredEpochs()}disposeRetiredEpochs(){for(const e of this.epochs){if(!e.retired||e.disposalQueued||0!==e.runtime.scheduler.getStats().activeInstances||[...e.templateIndices.keys()].some(e=>e.retired&&e.references>0))continue;e.disposalQueued=!0,this.epochs.delete(e),this.estimatedWorldBytes=Math.max(0,this.estimatedWorldBytes-e.estimatedBytes);const t=()=>{e.runtime.dispose(),console.info(`[Hology GPU VFX] Retired shared world generation ${e.generation}, releasing ${y(e.estimatedBytes)} MiB estimated storage.`)},s=this.view.experimentalWebGpuDevice;null==s?t():s.queue.onSubmittedWorkDone().then(t,t)}}reportCpuFallback(e,t,s){const r=`${e.id}:${t??""}`;this.reportedCpuFallbacks.has(r)||(this.reportedCpuFallbacks.add(r),console.warn(`[Hology GPU VFX] Falling back to CPU for "${e.name}".`,s))}executeCompute(e){for(const t of this.epochs)t.runtime.runtime.executeCompute(e)}executeRender(e,t){for(const s of this.epochs)s.runtime.runtime.executeRender(e,t)}getSceneTextureReads(){const e=new Set;for(const t of this.epochs)if(t.runtime.runtime.hasActiveParticles)for(const s of t.runtime.runtime.getSceneTextureReads())e.add(s);return[...e]}getComputeTextureReads(){const e=new Set;for(const t of this.epochs)if(t.runtime.runtime.hasActiveParticles)for(const s of t.runtime.runtime.getComputeTextureReads())e.add(s);return[...e]}get assets(){return{getTexture:e=>this.assetLoader.getTextureByAssetId(e),getMesh:async e=>(await this.assetResources.getMesh(await this.assetsProvider.getAsset(e),{applyMaterials:!0,rescale:!0})).scene}}get resolveCustomMaterial(){return l(this.assetsProvider,this.assetResources,this.shaderProvider,{getAsset:e=>this.assetLoader.getAsset(e),getTexture:e=>this.assetLoader.getTextureByAssetId(e),getMaterial:e=>this.assetLoader.getMaterialByAssetId(e),getMesh:e=>this.assetLoader.getModelByAssetId(e).then(e=>e.scene)})}};f=e([s(),t("design:paramtypes",[])],f);export{f as GpuVfxWorldService};function y(e){return(e/1048576).toFixed(1)}/*
+import{__decorate as e,__metadata as t}from"tslib";import*as s from"three";import{Service as r}from"typedi";import{inject as i}from"../../gameplay/inject.js";import{AssetLoader as n}from"../../gameplay/services/asset-loader.js";import{ViewController as a}from"../../gameplay/services/render.js";import{AssetResourceLoader as o}from"../../scene/asset-resource-loader.js";import{AssetsProvider as h}from"../../scene/assets-provider.js";import{ShaderProvider as l}from"../../gameplay/services/shader-provider.js";import{createGpuSpriteShaderGraphResolver as c}from"./vfx-materializer.js";import{GpuSpriteRenderClassCache as u,hasGpuUnsupportedVfxInputBindings as d}from"./gpu-sprite-compiler.js";import{addGpuSpriteRenderGraphPasses as p}from"./gpu-sprite-render-graph.js";import{GpuSpriteWorldRuntime as m}from"./gpu-sprite-world-runtime.js";import{GpuSpriteTemplateCache as g}from"./gpu-sprite-template.js";import{gpuVfxCapacityClass as f}from"./gpu-vfx-capacity.js";export class GpuVfxEffectHandle{constructor(e,t){this.epoch=e,this.instance=t,this.released=!1}setPosition(e){return!this.released&&this.epoch.runtime.setPosition(this.instance,e)}setTransform(e){return!this.released&&this.epoch.runtime.setTransform(this.instance,e)}pause(){return!this.released&&this.epoch.runtime.pause(this.instance)}play(){return!this.released&&this.epoch.runtime.play(this.instance)}restart(){return!this.released&&this.epoch.runtime.restart(this.instance)}stop(){return!this.released&&this.epoch.runtime.stop(this.instance)}expire(e){return!this.released&&this.epoch.runtime.stop(this.instance,Math.max(0,e))}kill(){return!this.released&&this.epoch.runtime.stop(this.instance,0)}setTimescale(e){return!this.released&&this.epoch.runtime.setTimescale(this.instance,e)}setInput(e,t){return!this.released&&this.epoch.runtime.setInput(this.instance,e,t)}release(){return!this.released&&(this.released=!0,this.epoch.runtime.destroy(this.instance))}get active(){return!this.released&&this.epoch.runtime.has(this.instance)}}export class PreparedGpuVfxEffect{constructor(e,t,s){this.entry=e,this.spawnEntry=t,this.releaseEntry=s,this.released=!1}spawn(e){return this.released?null:this.spawnEntry(this.entry,e)}release(){this.released||(this.released=!0,this.releaseEntry(this.entry))}}let y=class{constructor(){this.view=i(a),this.assetLoader=i(n),this.assetsProvider=i(h),this.assetResources=i(o),this.shaderProvider=i(l),this.templateCache=new g,this.renderClassCache=new u,this.entriesByAssetId=new Map,this.entries=new Set,this.epochs=new Set,this.reportedCpuFallbacks=new Set,this.currentEpoch=null,this.nextGeneration=1,this.rebuildTail=Promise.resolve(!0),this.unregisterRenderGraph=null,this.estimatedWorldBytes=0,this.profilingEnabled=!1,this.view.onLateUpdate().subscribe(e=>this.update(e))}setProfilingEnabled(e){this.profilingEnabled=e}getStats(){const e=this.currentEpoch;return null==e?null:{particles:e.runtime.runtime.getStats(),scheduler:e.runtime.scheduler.getStats()}}beginPipelineWarmup(){const e=[],t=new s.Vector3;for(const s of this.epochs){for(const r of s.templateIndices.values()){const i=s.runtime.spawn(r,t);null!=i&&e.push({epoch:s,instance:i})}s.runtime.flushActivePages()}return()=>{for(const{epoch:t,instance:s}of e)t.runtime.destroy(s);for(const e of this.epochs)e.runtime.flushActivePages()}}async prepare(e,t){if("webgpu-experimental"!==this.view.requestedBackend)return null;if(d(e))return this.reportCpuFallback(e,t,["one or more authored VFX input bindings are not supported on GPU"]),null;let s=this.entriesByAssetId.get(e.id);if(null==s||s.asset!==e||s.revision!==t){const r=s;s={asset:e,revision:t,pending:(async()=>(null!=r&&await this.retireEntry(r.pending),this.createEntry(e,t)))()},this.entriesByAssetId.set(e.id,s)}const r=await s.pending;if(null==r)return this.reportCpuFallback(e,t,["GPU template preparation rejected this asset without a diagnostic"]),null;r.references+=1;const i=f(r.references),n=this.currentEpoch?.reservations.get(r)??0,a=r.reservedInstances;return i>r.reservedInstances&&(r.reservedInstances=i),n<i&&!await this.queueRebuild()?(r.references-=1,r.reservedInstances=a,this.reportCpuFallback(e,t,["the shared GPU VFX world could not grow within its memory budget or WebGPU device limits"]),null):new PreparedGpuVfxEffect(r,(e,t)=>this.spawn(e,t),e=>this.releaseEntry(e))}async createEntry(e,t){const s=await this.templateCache.resolve(e,{assets:this.assets,renderClassCache:this.renderClassCache,resolveCustomMaterial:this.resolveCustomMaterial,revision:t});if(null==s.template){const r=s.compatibility.issues.filter(e=>"error"===e.severity).map(e=>`${e.emitter}: ${e.message}`);return this.reportCpuFallback(e,t,r.length>0?r:s.reasons),null}const r={asset:e,revision:t,references:0,reservedInstances:1,retired:!1};return this.entries.add(r),r}spawn(e,t){let s=this.currentEpoch,r=s?.templateIndices.get(e);if(null==r&&e.retired)for(const t of this.epochs){const i=t.templateIndices.get(e);t.disposalQueued||null==i||(s=t,r=i)}if(null==s||null==r)return null;const i=s.runtime.spawn(r,t);return null==i?null:new GpuVfxEffectHandle(s,i)}releaseEntry(e){e.references=Math.max(0,e.references-1)}async retireEntry(e){const t=await e;null!=t&&(t.retired=!0,this.entries.delete(t))}queueRebuild(){const e=this.rebuildTail.then(()=>this.rebuildWorld()).catch(e=>(console.error("[Hology GPU VFX] Failed to rebuild the shared world generation.",e),!1));return this.rebuildTail=e,e}async rebuildWorld(){const e=[...this.entries].filter(e=>!e.retired);if(0===e.length)return null!=this.currentEpoch&&(this.currentEpoch.retired=!0,this.currentEpoch=null,this.disposeRetiredEpochs()),!0;if(null!=this.currentEpoch&&this.currentEpoch.templateIndices.size===e.length&&e.every(e=>(this.currentEpoch.reservations.get(e)??0)>=e.reservedInstances))return!0;const t=[...this.epochs].reduce((e,t)=>t===this.currentEpoch&&0===t.runtime.scheduler.getStats().activeInstances?e:e+t.estimatedBytes,0),s=Math.max(0,this.view.webgpuVfxWorldMemoryBudgetBytes-t),r=await m.create({templates:e.map(e=>({asset:e.asset,revision:e.revision,maximumInstances:e.reservedInstances})),assets:this.assets,templateCache:this.templateCache,renderClassCache:this.renderClassCache,resolveCustomMaterial:this.resolveCustomMaterial,particlePageSize:256,aliveCountReadback:this.profilingEnabled,device:this.view.experimentalWebGpuDevice??void 0,maximumStorageBytes:s});if(null==r)return!1;const i=r.runtime.getStats().storageBytes;if(i>this.view.webgpuVfxWorldMemoryBudgetBytes||t+i>this.view.webgpuVfxWorldMemoryBudgetBytes)return r.dispose(),console.warn(`[Hology GPU VFX] Refusing shared world growth: retained storage would become ${v(t+i)} MiB, exceeding the ${v(this.view.webgpuVfxWorldMemoryBudgetBytes)} MiB budget.`),!1;const n={generation:this.nextGeneration++,runtime:r,templateIndices:new Map(e.map((e,t)=>[e,t])),reservations:new Map(e.map(e=>[e,e.reservedInstances])),estimatedBytes:i,retired:!1,disposalQueued:!1};return null!=this.currentEpoch&&(this.currentEpoch.retired=!0),this.currentEpoch=n,this.epochs.add(n),this.estimatedWorldBytes+=i,this.ensureRenderGraph(),console.info(`[Hology GPU VFX] Shared world generation ${n.generation}: ${e.length} template(s), ${e.reduce((e,t)=>e+t.reservedInstances,0)} reserved instance(s), ${r.runtime.emitters.length} emitter slots, ${r.runtime.getStats().capacity.toLocaleString()} particle slots, ${v(i)} MiB estimated storage.`),this.disposeRetiredEpochs(),!0}ensureRenderGraph(){if(null!=this.unregisterRenderGraph)return;const e=(e,t)=>p(e,this,t,"WorldGpuVfx");e.getSceneTextureReads=()=>this.getSceneTextureReads(),this.unregisterRenderGraph=this.view.registerExperimentalWebGpuRenderGraphExtension(e)}update(e){for(const t of this.epochs)t.runtime.update(e);this.disposeRetiredEpochs()}disposeRetiredEpochs(){for(const e of this.epochs){if(!e.retired||e.disposalQueued||0!==e.runtime.scheduler.getStats().activeInstances||[...e.templateIndices.keys()].some(e=>e.retired&&e.references>0))continue;e.disposalQueued=!0,this.epochs.delete(e),this.estimatedWorldBytes=Math.max(0,this.estimatedWorldBytes-e.estimatedBytes);const t=()=>{e.runtime.dispose(),console.info(`[Hology GPU VFX] Retired shared world generation ${e.generation}, releasing ${v(e.estimatedBytes)} MiB estimated storage.`)},s=this.view.experimentalWebGpuDevice;null==s?t():s.queue.onSubmittedWorkDone().then(t,t)}}reportCpuFallback(e,t,s){const r=`${e.id}:${t??""}`;this.reportedCpuFallbacks.has(r)||(this.reportedCpuFallbacks.add(r),console.warn(`[Hology GPU VFX] Falling back to CPU for "${e.name}".`,s))}executeCompute(e){for(const t of this.epochs)t.runtime.runtime.executeCompute(e)}executeRender(e,t){for(const s of this.epochs)s.runtime.runtime.executeRender(e,t)}getSceneTextureReads(){const e=new Set;for(const t of this.epochs)if(t.runtime.runtime.hasActiveParticles)for(const s of t.runtime.runtime.getSceneTextureReads())e.add(s);return[...e]}getComputeTextureReads(){const e=new Set;for(const t of this.epochs)if(t.runtime.runtime.hasActiveParticles)for(const s of t.runtime.runtime.getComputeTextureReads())e.add(s);return[...e]}get assets(){return{getTexture:e=>this.assetLoader.getTextureByAssetId(e),getMesh:async e=>(await this.assetResources.getMesh(await this.assetsProvider.getAsset(e),{applyMaterials:!0,rescale:!0})).scene}}get resolveCustomMaterial(){return c(this.assetsProvider,this.assetResources,this.shaderProvider,{getAsset:e=>this.assetLoader.getAsset(e),getTexture:e=>this.assetLoader.getTextureByAssetId(e),getMaterial:e=>this.assetLoader.getMaterialByAssetId(e),getMesh:e=>this.assetLoader.getModelByAssetId(e).then(e=>e.scene)})}};y=e([r(),t("design:paramtypes",[])],y);export{y as GpuVfxWorldService};function v(e){return(e/1048576).toFixed(1)}/*
  * Copyright (©) 2026 Hology Interactive AB. All rights reserved.
  * See the LICENSE.md file for details.
  */

package/dist/gameplay/actors/builtin/components/character/character-animation.d.ts

@@ -60,7 +60,9 @@ export declare class CharacterAnimationComponent extends ActorComponent {
     private world;
     private physicsSystem;
     /** Master toggle for foot IK. Disable to use pure animation pose. */
-    footIkEnabled: boolean;
+    private _footIkEnabled;
+    get footIkEnabled(): boolean;
+    set footIkEnabled(enabled: boolean);
     footIkMoving: boolean;
     /** Ray start height above foot position, in meters. */
     footIkRayStartHeight: number;
@@ -123,6 +125,7 @@ export declare class CharacterAnimationComponent extends ActorComponent {
     /** Right leg chain mapping (Mixamo defaults). */
     rightLegIkBones: LegBoneConfig;
     private ikRoot?;
+    private ikRootBone?;
     private ikSkinnedMesh?;
     private ikSolver?;
     private ikTargetBones?;

package/dist/gameplay/actors/builtin/components/character/character-animation.js

@@ -1,4 +1,4 @@
-import{__decorate as t}from"tslib";import{ActorComponent as e,Component as o}from"../../../component.js";import{canCrossFadeFromAnimationAction as i}from"../../../../animation/animation-action.js";import{RootMotionClip as s}from"../../../../animation/root-motion.js";import{inject as r}from"../../../../inject.js";import{ViewController as n}from"../../../../services/render.js";import{AnimationMixer as l,Bone as a,Object3D as h,LoopOnce as c,Raycaster as d,Vector3 as p,SkinnedMesh as u,Skeleton as f,Quaternion as g,Matrix4 as m,MathUtils as y,ArrowHelper as k,Group as S}from"three";import{getCharacterMovementLike as w}from"./character-movement-like.js";import{CCDIKSolver as b}from"three/addons/animation/CCDIKSolver.js";import{World as v}from"../../../../services/world.js";import{PhysicsSystem as L,RayTestResult as x}from"../../../../services/physics/physics-system.js";import{ArrayMap as I}from"../../../../../utils/collections.js";import{getAnimationClipRigId as P,getAnimationRigChainBoneNames as B,getAnimationRigDataFromObject as R,getAnimationRigIdFromObject as F,setAnimationClipRigId as A}from"../../../../animation/retarget.js";const D=new p(0,-1,0),M=new p(0,1,0),W=new p(1,1,1),T=new g,C=new p,O=new p,q=new p,V=new p,U=new p,N=new g,E=new g,H=new g,z=new g,j=new m,Q=new m,G=new p(1,0,0),$=new p(0,1,0),_=new p(0,0,1);function K(){return{point:new p,normal:new p,hasNormal:!1}}const Y=["mixamorigHips","Hips","hips","Pelvis","pelvis"],J={upper:["LeftUpLeg","leftUpLeg","left_up_leg"],lower:["LeftLeg","leftLeg","left_leg"],foot:["LeftFoot","leftFoot","left_foot"]},X={upper:["RightUpLeg","rightUpLeg","right_up_leg"],lower:["RightLeg","rightLeg","right_leg"],foot:["RightFoot","rightFoot","right_foot"]},Z=["left","right"];let tt=class extends e{constructor(){super(...arguments),this.viewController=r(n),this.poseProcessors=new I,this.stateMachines=[],this.upperStateMachines=[],this.fadeTime=.2,this.movementSpeed=null,this.upperBodyTimer=0,this.upperBodyOverride=!1,this.fullBodyTimer=0,this.currentFullBodyPriority=-1,this.currentUpperBodyPriority=-1,this.sequenceAnimationControlled=!1,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0,this.externalControlActive=!1,this.world=r(v),this.physicsSystem=r(L),this.footIkEnabled=!1,this.footIkMoving=!1,this.footIkRayStartHeight=.5,this.footIkRayLength=1.5,this.footIkRaycastMode="physics",this.footIkFootOffset=.08,this.footIkAutoContactOffset=!1,this.footIkPositionLerpSpeed=28,this.footIkRotationLerpSpeed=14,this.footIkWeightInSpeed=34,this.footIkWeightOutSpeed=30,this.footIkMaxSlopeAngleDeg=40,this.footIkForwardSampleDistance=.14,this.footIkSideSampleDistance=.08,this.footIkMaxHorizontalOffset=.22,this.footIkMaxVerticalOffsetDown=.75,this.footIkMaxVerticalOffsetUp=.2,this.footIkPelvisEnabled=!0,this.footIkPelvisBone="mixamorigHips",this.footIkPelvisLerpSpeed=24,this.footIkPelvisMaxOffsetDown=.4,this.footIkPelvisMaxOffsetUp=.08,this.footIkRequireGrounded=!0,this.footIkSimpleTiltOnly=!1,this.footIkDebug=!1,this.footIkDebugNormalLength=.25,this.footIkDebugAxisLength=.2,this.footIkExtraClearance=.01,this.footIkPlantReleaseUpSpeed=.08,this.footIkPlantReleaseExtension=.9,this.footIkPlantAttachExtension=.96,this.footIkPlantReleaseLift=.055,this.footIkPlantAttachLift=.02,this.leftLegIkBones={upperLeg:"mixamorigLeftUpLeg",lowerLeg:"mixamorigLeftLeg",foot:"mixamorigLeftFoot"},this.rightLegIkBones={upperLeg:"mixamorigRightUpLeg",lowerLeg:"mixamorigRightLeg",foot:"mixamorigRightFoot"},this.ikPelvisOffsetY=0,this.ikPelvisDescendantStack=[],this.ikWorldUpdateNodes=[],this.footIkStateReset=!0,this.ikLegState={left:{targetPosition:new p,normal:new p(0,1,0),forward:new p(0,0,1),pitch:0,contactOffset:0,planted:!1,lastFootWorldPos:new p,hasLastFootSample:!1,weight:0,top:!1},right:{targetPosition:new p,normal:new p(0,1,0),forward:new p(0,0,1),pitch:0,contactOffset:0,planted:!1,lastFootWorldPos:new p,hasLastFootSample:!1,weight:0,top:!1}},this.ikWarnedMissingBones=!1,this.raycaster=new d,this.raycastIntersections=[],this.footIkRayTo=new p,this.footIkRayTestResult=new x,this.footIkRayTestOptions={debug:!1,excludeTriggers:!0,resolveActor:!1,collisionFilter:-2},this.footIkHits={center:K(),toe:K(),heel:K(),side:K()},this.footIkAxesScratch={up:new p,forward:new p,right:new p},this.footIkSampleAxesScratch={forward:new p,right:new p},this.footIkScratch={footWorldPos:new p,centerRayStart:new p,toeRayStart:new p,heelRayStart:new p,sideRayStart:new p,desiredTargetPos:new p,desiredNormal:new p,desiredForward:new p,debugRayEndA:new p,debugRayEndB:new p,debugRayEndC:new p,debugRayEndD:new p,debugRayEndE:new p,debugRayEndF:new p},this.ikPreSolve={left:{upper:new g,lower:new g,foot:new g},right:{upper:new g,lower:new g,foot:new g}},this.getFullBodyClip=st(t=>t.uuid,t=>et(this.fullBodyMask,t)),this.getUpperBodyClip=st(t=>t.uuid,t=>et(this.upperBodyMask,t))}onInit(){this.viewController.onUpdate(this.actor).subscribe(t=>this.updateInternal(t)),this.characterMovement=w(this.actor),this.footIkRayTestOptions.excludeActor=this.actor}onEndPlay(){this.disposeFootIkDebug()}raycastDownFirstValid(t,e,o){const i=this.world.scene;this.raycaster.set(t,D),this.raycaster.near=0,this.raycaster.far=e,this.raycastIntersections.length=0,this.raycaster.intersectObject(i,!0,this.raycastIntersections);for(const t of this.raycastIntersections)if(!(this.isFootIkDebugObject(t.object)||this.isRelatedToActorHierarchy(t.object)||this.isSkinnedMeshObject(t.object)))return o.point.copy(t.point),null!=t.face?(o.normal.copy(t.face.normal).transformDirection(t.object.matrixWorld).normalize(),o.hasNormal=!0):o.hasNormal=!1,this.raycastIntersections.length=0,!0;return this.raycastIntersections.length=0,!1}rayTestDown(t,e,o){const i=this.footIkRayTo.copy(t).addScaledVector(D,e),s=this.physicsSystem.rayTest(t,i,this.footIkRayTestResult,this.footIkRayTestOptions);return!!s.hasHit&&(o.point.copy(s.hitPoint),o.normal.copy(s.hitNormal),o.normal.lengthSq()>1e-8?(o.normal.normalize(),o.hasNormal=!0):o.hasNormal=!1,!0)}isRelatedToActorHierarchy(t){const e=this.actor?.object;return null!=e&&null!=t&&(nt(t,e)||nt(e,t))}isFootIkDebugObject(t){let e=t;for(;null!=e;){if(!0===e.userData?.footIkDebug)return!0;e=e.parent}return!1}isSkinnedMeshObject(t){let e=t;for(;null!=e;){if(e instanceof u||!0===e.isSkinnedMesh)return!0;e=e.parent}return!1}getRootMotionAction(){if(this.fullBodyAction.getClip()instanceof s)return this.fullBodyAction}getFullBodyAction(){return this.fullBodyAction}setup(t,e,o){null!=e&&(this.upperBodyMask=ot(e),this.fullBodyMask=function(t,e){const o=new Set(ot(e).map(t=>t.uuid)),i=[];return t.traverse(t=>{(t instanceof a||t.isBone)&&!o.has(t.uuid)&&i.push(t)}),i}(rt(t),e)),null!=this.mixer&&this.mixer.stopAllAction(),this.mixer=new l(t),this.animationRigId=F(t),this.animationRigData=R(t),this.ikRoot=t,this.disposeFootIkDebug(),this.initializeFootIk(t,o),this.syncFootIkDebug()}updateStateMachines(t){this.stateMachines.forEach(e=>{e.step(t);const o=e.current.clip;null!=o&&this.play(o,{priority:e.current.options.priority??0,loop:e.current.options.loop??!0})}),this.upperStateMachines.forEach(e=>{e.step(t);const o=e.current.clip;null!=o?this.playUpper(o,{priority:e.current.options.priority??0,loop:e.current.options.loop??!0}):this.play(this.fullBodyClip)})}addPoseProcessor(t){const e={id:t.id,phase:t.phase??"afterMixer",order:t.order??0,update:t.update};this.removePoseProcessor(e.id);const o=this.poseProcessors.get(e.phase);let i=o.findIndex(t=>t.order>e.order);return-1===i&&(i=o.length),o.splice(i,0,e),()=>{const t=o.indexOf(e);-1!==t&&(o.splice(t,1),0===o.length&&this.poseProcessors.delete(e.phase))}}removePoseProcessor(t){for(const[e,o]of this.poseProcessors.entries()){const i=o.findIndex(e=>e.id===t);if(-1!==i)return o.splice(i,1),void(0===o.length&&this.poseProcessors.delete(e))}}runPoseProcessors(t,e){if(0===this.poseProcessors.size||null==this.mixer||!this.poseProcessors.present(t))return;const o=this.mixer.getRoot();if(!(o instanceof h))return;const i=this.poseProcessorContext??(this.poseProcessorContext={deltaTime:e,phase:t,animation:this,mixer:this.mixer,root:o});i.deltaTime=e,i.phase=t,i.mixer=this.mixer,i.root=o;const s=this.poseProcessors.get(t);for(let t=0;t<s.length;t++)s[t].update(i)}updateInternal(t){if(null==this.mixer)return;if(this.externalControlActive)return;this.upperBodyTimer+=t*(this.upperBodyAction?.timeScale??1),this.fullBodyTimer+=t*(this.fullBodyAction?.timeScale??1);let e=!1;this.sequenceAnimationReleasePending&&(this.sequenceAnimationReleaseFrames>0?(e=!0,this.sequenceAnimationReleaseFrames--):(this.sequenceAnimationReleasePending=!1,this.currentFullBodyPriority=-1,this.sequenceAnimationControlled=!1,this.overrideFadeTime=null,this.fullBodyTimer=0)),this.upperBodyAction&&this.upperBodyOverride&&this.upperBodyAction.getClip().duration-2*(this.overrideFadeTimeUpper??this.fadeTime)<this.upperBodyTimer&&(this.upperBodyOverride=!1,null!=this.fullBodyClip&&this.transition(this.upperBodyAction,this.getUpperBodyClip(this.fullBodyClip)),this.upperBodyAction=null,this.overrideFadeTimeUpper=null),!this.sequenceAnimationControlled&&!this.sequenceAnimationReleasePending&&this.fullBodyAction&&this.fullBodyAction.loop===c&&this.fullBodyAction.getClip().duration-2*(this.overrideFadeTime??this.fadeTime)<this.fullBodyTimer&&(this.currentFullBodyPriority=-1,this.overrideFadeTime=null),null!=this.characterMovement&&(this.movementSpeed=this.characterMovement.horizontalSpeed),e||this.updateStateMachines(t),this.syncMovementSpeed(this.fullBodyAction),this.upperBodyOverride||this.syncMovementSpeed(this.upperBodyAction),this.runPoseProcessors("beforeMixer",t),this.mixer.update(t),this.runPoseProcessors("afterMixer",t),this.runPoseProcessors("beforeIk",t),this.updateFootIk(t),this.runPoseProcessors("afterIk",t)}initializeFootIk(t,e){if(this.ikSolver=null,this.ikSkinnedMesh=null,this.ikBoneRefs=null,this.ikLegLengths=null,this.ikPelvisBone=null,this.ikPelvisOffsetY=0,this.ikFootAxes=null,this.ikTargetBones=null,this.ikWorldUpdateNodes.length=0,this.footIkStateReset=!0,this.ikWarnedMissingBones=!1,this.ikLegState.left.weight=0,this.ikLegState.right.weight=0,!this.footIkEnabled)return;const o=this.findFirstSkinnedMesh(t);if(null==o||null==o.skeleton)return;this.ikSkinnedMesh=o,t.updateWorldMatrix(!0,!0);const i=o.skeleton,s=B(this.animationRigData,"leftLeg"),r=B(this.animationRigData,"rightLeg"),n=this.resolveLegBoneRefs(i,this.leftLegIkBones,J,s),l=this.resolveLegBoneRefs(i,this.rightLegIkBones,X,r);if(null==n||null==l)return void(this.ikWarnedMissingBones||(this.ikWarnedMissingBones=!0,console.warn(`[CharacterAnimationComponent] Foot IK disabled: missing leg bones. Left=${this.leftLegIkBones.upperLeg}/${this.leftLegIkBones.lowerLeg}/${this.leftLegIkBones.foot}, Right=${this.rightLegIkBones.upperLeg}/${this.rightLegIkBones.lowerLeg}/${this.rightLegIkBones.foot}`)));this.ikBoneRefs={left:n,right:l},this.ikLegLengths={left:this.computeLegLengths(n),right:this.computeLegLengths(l)},this.ikFootAxes={left:this.detectFootAxisBasis(n.foot),right:this.detectFootAxisBasis(l.foot)};const h=this.animationRigData?.bones.find(t=>t.id===this.animationRigData?.pelvisBoneId)?.name;this.ikPelvisBone=this.resolvePelvisBone(i,n,l,h),this.rebuildFootIkWorldUpdateNodes(),this.ikLegState.left.targetPosition.copy(n.foot.getWorldPosition(C)),this.ikLegState.right.targetPosition.copy(l.foot.getWorldPosition(C)),this.ikLegState.left.normal.set(0,1,0),this.ikLegState.right.normal.set(0,1,0),this.ikLegState.left.pitch=0,this.ikLegState.right.pitch=0,this.ikLegState.left.contactOffset=this.estimateFootContactOffset(i,"left",n.foot),this.ikLegState.right.contactOffset=this.estimateFootContactOffset(i,"right",l.foot),this.ikLegState.left.planted=!1,this.ikLegState.right.planted=!1,this.ikLegState.left.lastFootWorldPos.copy(n.foot.getWorldPosition(C)),this.ikLegState.right.lastFootWorldPos.copy(l.foot.getWorldPosition(C)),this.ikLegState.left.hasLastFootSample=!1,this.ikLegState.right.hasLastFootSample=!1;const c=this.resolveFootAxes("left",n.foot),d=this.resolveFootAxes("right",l.foot);this.ikLegState.left.forward.copy(c.forward),this.ikLegState.right.forward.copy(d.forward);const p=e??rt(t);if(null==p)return;let u=i.getBoneByName("_IKTargetLeftFoot"),g=i.getBoneByName("_IKTargetRightFoot"),y=!1;if(null==u&&(u=new a,u.name="_IKTargetLeftFoot",p.add(u),y=!0),null==g&&(g=new a,g.name="_IKTargetRightFoot",p.add(g),y=!0),this.setBoneWorldPosition(u,n.foot.getWorldPosition(C)),this.setBoneWorldPosition(g,l.foot.getWorldPosition(C)),y||i.bones.indexOf(u)<0||i.bones.indexOf(g)<0){const e=i.bones.slice(),o=i.boneInverses.map(t=>t.clone());e.indexOf(u)<0&&(e.push(u),o.push((new m).copy(u.matrixWorld).invert())),e.indexOf(g)<0&&(e.push(g),o.push((new m).copy(g.matrixWorld).invert()));const s=new f(e,o);t.traverse(t=>{const e=t;!0===e.isSkinnedMesh&&e.skeleton===i&&e.bind(s,e.bindMatrix)})}this.ikTargetBones={left:u,right:g},this.rebuildFootIkWorldUpdateNodes();const k=o.skeleton.bones,S={target:k.indexOf(u),effector:k.indexOf(n.foot),links:[{index:k.indexOf(n.lower)},{index:k.indexOf(n.upper)}],iteration:8},w={target:k.indexOf(g),effector:k.indexOf(l.foot),links:[{index:k.indexOf(l.lower)},{index:k.indexOf(l.upper)}],iteration:8};if(S.target<0||S.effector<0||S.links.some(t=>t.index<0)||w.target<0||w.effector<0||w.links.some(t=>t.index<0))return console.warn("[CharacterAnimationComponent] Foot IK disabled: failed to resolve IK indexes in skeleton."),void(this.ikSolver=null);this.ikSolver=new b(o,[S,w])}findFirstSkinnedMesh(t){let e;return t.traverse(t=>{null==e&&(t instanceof u||!0===t.isSkinnedMesh)&&(e=t)}),e}resolveLegBoneRefs(t,e,o,i=[]){const s=this.findBoneByNames(t,[i[0],e.upperLeg,...o.upper].filter(t=>null!=t)),r=this.findBoneByNames(t,[i.at(-2),e.lowerLeg,...o.lower].filter(t=>null!=t)),n=this.findBoneByNames(t,[i.at(-1),e.foot,...o.foot].filter(t=>null!=t));if(null!=s&&null!=r&&null!=n)return{upper:s,lower:r,foot:n}}findBoneByNames(t,e){for(const o of e){const e=t.getBoneByName(o);if(null!=e)return e}}resolvePelvisBone(t,e,o,i){const s=this.findBoneByNames(t,[i,this.footIkPelvisBone,...Y].filter(t=>null!=t));if(null!=s)return s;const r=e.upper.parent,n=o.upper.parent;return null!=r&&r===n&&(r instanceof a||!0===r.isBone)||null!=r&&(r instanceof a||!0===r.isBone)?r:void 0}computeLegLengths(t){const e=t.upper.getWorldPosition(C),o=t.lower.getWorldPosition(O),i=t.foot.getWorldPosition(q),s=e.distanceTo(o),r=o.distanceTo(i);return{upper:s,lower:r,total:s+r}}setBoneWorldPosition(t,e){const o=t.parent;null==o?t.position.copy(e):t.position.copy(C.copy(e).applyMatrix4(j.copy(o.matrixWorld).invert())),t.quaternion.copy(T),t.scale.copy(W),t.updateMatrixWorld(!0)}syncFootIkDebug(){this.footIkDebug&&null!=this.ikRoot?(null!=this.ikDebugRoot&&null!=this.ikDebugLegs||(this.ikDebugRoot=new S,this.ikDebugRoot.name="FootIKDebug",this.ikDebugRoot.userData.footIkDebug=!0,this.ikDebugLegs={left:this.createDebugLeg("LeftFootIK",53503),right:this.createDebugLeg("RightFootIK",16755200)},this.ikDebugRoot.add(this.ikDebugLegs.left.root,this.ikDebugLegs.right.root),this.world.scene.add(this.ikDebugRoot)),this.ikDebugRoot.visible=!0):null!=this.ikDebugRoot&&(this.ikDebugRoot.visible=!1)}disposeFootIkDebug(){null!=this.ikDebugRoot&&(this.ikDebugRoot.removeFromParent(),this.ikDebugRoot.clear()),this.ikDebugRoot=null,this.ikDebugLegs=null}createDebugLeg(t,e){const o=new S;o.name=t,o.userData.footIkDebug=!0;const i=this.createDebugArrow(e),s=this.createDebugArrow(e),r=this.createDebugArrow(e),n=this.createDebugArrow(e),l=this.createDebugArrow(65280),a=this.createDebugArrow(6750054),h=this.createDebugArrow(16711935),c=this.createDebugArrow(16776960),d=this.createDebugArrow(16737792);return o.add(i,s,r,n,l,a,h,c,d),{root:o,rayCenter:i,rayToe:s,rayHeel:r,raySide:n,hitNormal:l,footUp:a,footToTarget:h,solveUpper:c,solveLower:d}}createDebugArrow(t){const e=new k(M,new p,.001,t);return e.userData.footIkDebug=!0,e.traverse(t=>{t.userData.footIkDebug=!0,t.raycast=()=>{}}),e.visible=!1,e}setDebugArrow(t,e,o){C.subVectors(o,e);const i=C.length();i<1e-6?t.visible=!1:(t.visible=!0,t.position.copy(e),t.setDirection(C.multiplyScalar(1/i)),t.setLength(i,Math.min(.08,.25*i),Math.min(.05,.2*i)))}resetDebugVisibility(){null!=this.ikDebugLegs&&(this.ikDebugLegs.left.rayCenter.visible=!1,this.ikDebugLegs.left.rayToe.visible=!1,this.ikDebugLegs.left.rayHeel.visible=!1,this.ikDebugLegs.left.raySide.visible=!1,this.ikDebugLegs.left.hitNormal.visible=!1,this.ikDebugLegs.left.footUp.visible=!1,this.ikDebugLegs.left.footToTarget.visible=!1,this.ikDebugLegs.left.solveUpper.visible=!1,this.ikDebugLegs.left.solveLower.visible=!1,this.ikDebugLegs.right.rayCenter.visible=!1,this.ikDebugLegs.right.rayToe.visible=!1,this.ikDebugLegs.right.rayHeel.visible=!1,this.ikDebugLegs.right.raySide.visible=!1,this.ikDebugLegs.right.hitNormal.visible=!1,this.ikDebugLegs.right.footUp.visible=!1,this.ikDebugLegs.right.footToTarget.visible=!1,this.ikDebugLegs.right.solveUpper.visible=!1,this.ikDebugLegs.right.solveLower.visible=!1)}updateFootIk(t){if(this.syncFootIkDebug(),!this.footIkEnabled||null==this.ikBoneRefs||null==this.ikRoot)return void this.resetDebugVisibility();if(!this.footIkMoving&&(this.movementSpeed??0)>.01)return this.footIkStateReset||(this.syncFootIkWorldMatrices(),this.resetFootIkState(),this.footIkStateReset=!0),void this.resetDebugVisibility();this.syncFootIkWorldMatrices(),this.footIkStateReset=!1;const e=this.characterMovement?.isGrounded??!0;return this.footIkSimpleTiltOnly?(this.updatePelvisOffset(t,!1),this.updateLegTiltSimple("left",this.ikBoneRefs.left.foot,this.ikLegState.left,e,t),void this.updateLegTiltSimple("right",this.ikBoneRefs.right.foot,this.ikLegState.right,e,t)):null==this.ikLegLengths||null==this.ikTargetBones||null==this.ikSkinnedMesh||null==this.ikSolver?(this.updatePelvisOffset(t,!1),void this.resetDebugVisibility()):(this.updateLegIkTarget("left",this.ikBoneRefs.left,this.ikLegLengths.left,this.ikTargetBones.left,this.ikLegState.left,e,t),this.updateLegIkTarget("right",this.ikBoneRefs.right,this.ikLegLengths.right,this.ikTargetBones.right,this.ikLegState.right,e,t),this.updatePelvisOffset(t,!0),this.setBoneWorldPosition(this.ikTargetBones.left,this.ikLegState.left.targetPosition),this.setBoneWorldPosition(this.ikTargetBones.right,this.ikLegState.right.targetPosition),this.ikPreSolve.left.upper.copy(this.ikBoneRefs.left.upper.quaternion),this.ikPreSolve.left.lower.copy(this.ikBoneRefs.left.lower.quaternion),this.ikPreSolve.left.foot.copy(this.ikBoneRefs.left.foot.quaternion),this.ikPreSolve.right.upper.copy(this.ikBoneRefs.right.upper.quaternion),this.ikPreSolve.right.lower.copy(this.ikBoneRefs.right.lower.quaternion),this.ikPreSolve.right.foot.copy(this.ikBoneRefs.right.foot.quaternion),null!=this.ikDebugLegs&&(this.ikDebugLegs.left.solveUpper.visible=!1,this.ikDebugLegs.left.solveLower.visible=!1,this.ikDebugLegs.right.solveUpper.visible=!1,this.ikDebugLegs.right.solveLower.visible=!1),this.ikSolver.update(),this.blendLegAfterSolve(this.ikBoneRefs.left,this.ikPreSolve.left,this.ikLegState.left.weight),this.blendLegAfterSolve(this.ikBoneRefs.right,this.ikPreSolve.right,this.ikLegState.right.weight),this.applySimpleFootPitch("left",this.ikBoneRefs.left.foot,this.ikLegState.left),void this.applySimpleFootPitch("right",this.ikBoneRefs.right.foot,this.ikLegState.right))}resetFootIkState(){if(null!=this.ikBoneRefs){for(const t of Z){const e=this.ikBoneRefs[t],o=this.ikLegState[t],i=C.setFromMatrixPosition(e.foot.matrixWorld);o.targetPosition.copy(i),o.lastFootWorldPos.copy(i),o.hasLastFootSample=!0,o.weight=0,o.normal.set(0,1,0);const s=this.resolveFootAxes(t,e.foot,this.footIkAxesScratch);o.forward.copy(s.forward),o.pitch=0,this.footIkAutoContactOffset?o.contactOffset=Math.max(o.contactOffset,this.footIkFootOffset+this.footIkExtraClearance):o.contactOffset=this.footIkFootOffset+this.footIkExtraClearance,o.planted=!1}this.ikPelvisOffsetY=0}}updatePelvisOffset(t,e){if(null==this.ikPelvisBone)return;let o=0;if(e&&this.footIkPelvisEnabled&&null!=this.ikBoneRefs&&null!=this.ikLegLengths){this.ikLegState.left.top=!1,this.ikLegState.right.top=!1;for(const t of Z){const e=this.ikBoneRefs[t],i=this.ikLegLengths[t],s=this.ikLegState[t];if(!s.planted)continue;const r=C.setFromMatrixPosition(e.upper.matrixWorld),n=.998*i.total,l=this.computeRequiredPelvisDrop(r,s.targetPosition,n);if(l>0){const e="left"===t?"right":"left";this.ikLegState[e].top=!0}o=Math.min(o,-l)}o=y.clamp(o,-this.footIkPelvisMaxOffsetDown,this.footIkPelvisMaxOffsetUp)}const i=1-Math.exp(-this.footIkPelvisLerpSpeed*t);this.ikPelvisOffsetY=y.lerp(this.ikPelvisOffsetY,o,i);const s=O.setFromMatrixPosition(this.ikPelvisBone.matrixWorld),r=q.copy(s).addScaledVector(M,this.ikPelvisOffsetY);null==this.ikPelvisBone.parent?this.ikPelvisBone.position.copy(r):this.ikPelvisBone.position.copy(r.applyMatrix4(j.copy(this.ikPelvisBone.parent.matrixWorld).invert())),this.updatePelvisWorldTranslation(s)}updatePelvisWorldTranslation(t){const e=this.ikPelvisBone;if(null==e)return;e.updateMatrix(),null==e.parent?e.matrixWorld.copy(e.matrix):e.matrixWorld.multiplyMatrices(e.parent.matrixWorld,e.matrix),e.matrixWorldNeedsUpdate=!1;const o=e.matrixWorld.elements,i=o[12]-t.x,s=o[13]-t.y,r=o[14]-t.z;if(0===i&&0===s&&0===r)return;const n=this.ikPelvisDescendantStack;n.length=0;for(let t=0;t<e.children.length;t++)n.push(e.children[t]);for(;n.length>0;){const t=n.pop(),e=t.matrixWorld.elements;e[12]+=i,e[13]+=s,e[14]+=r,t.matrixWorldNeedsUpdate=!1;for(let e=0;e<t.children.length;e++)n.push(t.children[e])}}rebuildFootIkWorldUpdateNodes(){const t=this.ikRoot,e=this.ikBoneRefs;if(null==t||null==e)return void(this.ikWorldUpdateNodes.length=0);const o=new Set,i=[this.ikPelvisBone,e.left.upper,e.left.lower,e.left.foot,e.right.upper,e.right.lower,e.right.foot,this.ikTargetBones?.left,this.ikTargetBones?.right];for(const e of i){let i=e;for(;null!=i&&(o.add(i),i!==t);)i=i.parent??void 0}this.ikWorldUpdateNodes.length=0,t.traverse(t=>{o.has(t)&&this.ikWorldUpdateNodes.push(t)})}syncFootIkWorldMatrices(){const t=this.ikRoot;if(null!=t){t.updateWorldMatrix(!0,!1);for(const e of this.ikWorldUpdateNodes)e!==t&&(e.matrixAutoUpdate&&e.updateMatrix(),e.matrixWorldAutoUpdate&&(null==e.parent?e.matrixWorld.copy(e.matrix):e.matrixWorld.multiplyMatrices(e.parent.matrixWorld,e.matrix)),e.matrixWorldNeedsUpdate=!1)}}computeFootVerticalSpeed(t,e,o){return!t.hasLastFootSample||o<=1e-6?0:(e.y-t.lastFootWorldPos.y)/o}updateFootSample(t,e){t.lastFootWorldPos.copy(e),t.hasLastFootSample=!0}estimateFootContactOffset(t,e,o){const i=this.footIkFootOffset+this.footIkExtraClearance;if(!this.footIkAutoContactOffset)return i;const s=t.bones.indexOf(o);if(s<0)return i;const r=t.boneInverses[s];if(null==r)return i;const n=this.ikFootAxes?.[e]??this.detectFootAxisBasis(o),l=o.getWorldPosition(O),h=q.copy(n.upLocal).applyQuaternion(this.getCurrentWorldQuaternion(o,N)).normalize();let c=0;return o.traverse(e=>{if(!(e instanceof a)||e===o)return;const i=t.bones.indexOf(e);if(i<0)return;const s=j.copy(t.boneInverses[i]).invert(),n=Q.copy(r).multiply(s),d=C.setFromMatrixPosition(n),p=V.copy(d).applyMatrix4(o.matrixWorld).sub(l);c=Math.min(c,p.dot(h))}),Math.max(i,-c+this.footIkExtraClearance)}shouldPlantFoot(t,e,o,i,s,r){if(!e||!o)return!1;const n=this.footIkPlantReleaseExtension,l=this.footIkPlantAttachExtension,a=this.footIkPlantReleaseLift,h=this.footIkPlantAttachLift;return t.planted?!(i>this.footIkPlantReleaseUpSpeed&&(s<n||r>a)):s>=l&&r<=h||i<=0&&s>=n}computeLegExtensionRatio(t,e){const o=C.setFromMatrixPosition(t.upper.matrixWorld),i=O.setFromMatrixPosition(t.foot.matrixWorld),s=o.distanceTo(i);return e.total<=1e-6?1:y.clamp(s/e.total,0,1.2)}computeRequiredPelvisDrop(t,e,o){const i=V.subVectors(t,e),s=i.length();if(s<=o+1e-6)return 0;const r=i.dot(M),n=o*o-Math.max(s*s-r*r,0);if(n<=0)return s-o;const l=Math.sqrt(n),a=r-l,h=r+l;return a>=0?a:h>=0?h:0}updateLegTiltSimple(t,e,o,i,s){const r=this.footIkScratch,n=this.footIkHits,l=r.footWorldPos.setFromMatrixPosition(e.matrixWorld),a=this.computeFootVerticalSpeed(o,l,s),h=this.resolveFootAxes(t,e,this.footIkAxesScratch),c=this.resolveGroundSampleAxes(t,e,h,this.footIkSampleAxesScratch),d=r.centerRayStart.copy(l).addScaledVector(M,this.footIkRayStartHeight),p=r.toeRayStart.copy(d).addScaledVector(c.forward,this.footIkForwardSampleDistance),u=r.heelRayStart.copy(d).addScaledVector(c.forward,-this.footIkForwardSampleDistance),f=r.sideRayStart.copy(d).addScaledVector(c.right,this.footIkSideSampleDistance),g=this.getFirstGroundHit(d,n.center),m=this.getFirstGroundHit(p,n.toe),k=this.getFirstGroundHit(u,n.heel),S=this.getFirstGroundHit(f,n.side),w=r.desiredNormal.set(0,1,0),b=r.desiredForward.copy(c.forward);let v=0,L=0,x=this.footIkWeightOutSpeed;const I=null!=g||null!=m||null!=k;let P=l.y;null!=g?P=g.point.y:null!=m&&null!=k?P=.5*(m.point.y+k.point.y):null!=m?P=m.point.y:null!=k&&(P=k.point.y);const B=this.ikBoneRefs?.[t],R=this.ikLegLengths?.[t],F=null!=B&&null!=R?this.computeLegExtensionRatio(B,R):1,A=Math.max(0,l.y-P,l.y-o.targetPosition.y),D=this.shouldPlantFoot(o,!this.footIkRequireGrounded||i,I,a,F,A);D?this.computeDesiredGroundNormal(c,g,m,k,S,w)&&(this.computeDesiredFootForward(c.forward,c.right,w,m,k,b),v=this.computeDesiredPitchAngle(m,k,c.forward),L=1,x=this.footIkWeightInSpeed):this.computeDesiredFootForward(c.forward,c.right,w,null,null,b);const W=1-Math.exp(-this.footIkPositionLerpSpeed*s),T=1-Math.exp(-x*s);o.normal.lerp(w,W).normalize(),o.forward.lerp(b,W).normalize(),o.pitch=y.lerp(o.pitch,v,W),o.weight=y.lerp(o.weight,L,T),o.planted=D&&L>.001,this.updateFootSample(o,l),this.applySimpleFootPitch(t,e,o),this.updateLegDebug(t,{footWorldPos:l,centerRayStart:d,toeRayStart:p,heelRayStart:u,sideRayStart:f,centerHit:g,toeHit:m,heelHit:k,sideHit:S,desiredNormal:o.normal,desiredTargetPos:r.footWorldPos,weight:o.weight})}updateLegIkTarget(t,e,o,i,s,r,n){const l=this.footIkScratch,a=this.footIkHits,h=e.foot,c=l.footWorldPos.setFromMatrixPosition(h.matrixWorld),d=this.computeFootVerticalSpeed(s,c,n),p=this.resolveFootAxes(t,h,this.footIkAxesScratch),u=this.resolveGroundSampleAxes(t,h,p,this.footIkSampleAxesScratch),f=l.centerRayStart.copy(c).addScaledVector(M,this.footIkRayStartHeight),g=l.toeRayStart.copy(f).addScaledVector(u.forward,this.footIkForwardSampleDistance),m=l.heelRayStart.copy(f).addScaledVector(u.forward,-this.footIkForwardSampleDistance),k=l.sideRayStart.copy(f).addScaledVector(u.right,this.footIkSideSampleDistance),S=this.getFirstGroundHit(f,a.center),w=this.getFirstGroundHit(g,a.toe),b=this.getFirstGroundHit(m,a.heel),v=this.getFirstGroundHit(k,a.side),L=l.desiredTargetPos.copy(c),x=l.desiredNormal.set(0,1,0),I=l.desiredForward.copy(u.forward);let P=0,B=0,R=this.footIkWeightOutSpeed;const F=null!=S||null!=w||null!=b;let A=c.y;null!=S?A=S.point.y:null!=w&&null!=b?A=.5*(w.point.y+b.point.y):null!=w?A=w.point.y:null!=b&&(A=b.point.y);const D=this.computeLegExtensionRatio(e,o),W=Math.max(0,c.y-A,c.y-s.targetPosition.y),T=this.shouldPlantFoot(s,!this.footIkRequireGrounded||r,F,d,D,W);if(T){if(L.copy(c),this.computeDesiredGroundNormal(u,S,w,b,v,x)){this.computeDesiredFootForward(u.forward,u.right,x,w,b,I),P=this.computeDesiredPitchAngle(w,b,u.forward);const t=Math.max(0,Math.sin(P))*this.footIkForwardSampleDistance*.45,e=Math.max(this.footIkFootOffset+this.footIkExtraClearance,s.contactOffset);L.y=A+e+t,s.top&&(L.y-=this.ikPelvisOffsetY/2),B=1,R=this.footIkWeightInSpeed}}else this.computeDesiredFootForward(u.forward,u.right,x,null,null,I),L.copy(c),L.y+=this.footIkFootOffset;this.clampDesiredFootTarget(e,o,c,L);const C=1-Math.exp(-this.footIkPositionLerpSpeed*n),O=1-Math.exp(-R*n);s.targetPosition.lerp(L,C),s.normal.lerp(x,C).normalize(),s.forward.lerp(I,C).normalize(),s.pitch=y.lerp(s.pitch,P,C),s.weight=y.lerp(s.weight,B,O),s.planted=T&&B>.001,this.updateFootSample(s,c),this.setBoneWorldPosition(i,s.targetPosition),this.updateLegDebug(t,{footWorldPos:c,centerRayStart:f,toeRayStart:g,heelRayStart:m,sideRayStart:k,centerHit:S,toeHit:w,heelHit:b,sideHit:v,desiredNormal:x,desiredTargetPos:s.targetPosition,weight:s.weight})}updateLegDebug(t,e){if(!this.footIkDebug||null==this.ikDebugLegs||null==this.ikBoneRefs)return;const o=this.ikDebugLegs[t],i=this.ikBoneRefs[t],s=this.resolveFootAxes(t,i.foot,this.footIkAxesScratch),r=this.footIkScratch,n=e.centerHit?.point??r.debugRayEndA.copy(e.centerRayStart).addScaledVector(D,this.footIkRayLength),l=e.toeHit?.point??r.debugRayEndB.copy(e.toeRayStart).addScaledVector(D,this.footIkRayLength),a=e.heelHit?.point??r.debugRayEndC.copy(e.heelRayStart).addScaledVector(D,this.footIkRayLength),h=e.sideHit?.point??r.debugRayEndD.copy(e.sideRayStart).addScaledVector(D,this.footIkRayLength);this.setDebugArrow(o.rayCenter,e.centerRayStart,n),this.setDebugArrow(o.rayToe,e.toeRayStart,l),this.setDebugArrow(o.rayHeel,e.heelRayStart,a),this.setDebugArrow(o.raySide,e.sideRayStart,h);const c=e.centerHit?.point??e.toeHit?.point??e.heelHit?.point??e.sideHit?.point??e.footWorldPos;this.setDebugArrow(o.hitNormal,c,r.debugRayEndE.copy(c).addScaledVector(e.desiredNormal,this.footIkDebugNormalLength)),this.setDebugArrow(o.footUp,e.footWorldPos,r.debugRayEndF.copy(e.footWorldPos).addScaledVector(s.up,this.footIkDebugAxisLength*(.15+e.weight))),this.setDebugArrow(o.footToTarget,e.footWorldPos,e.desiredTargetPos)}getFirstGroundHit(t,e){return"physics"===this.footIkRaycastMode?this.rayTestDown(t,this.footIkRayLength,e)?e:null:"physicsThenRender"===this.footIkRaycastMode?this.rayTestDown(t,this.footIkRayLength,e)||this.raycastDownFirstValid(t,this.footIkRayLength,e)?e:null:this.raycastDownFirstValid(t,this.footIkRayLength,e)?e:null}resolveGroundSampleAxes(t,e,o,i){const s=o??this.resolveFootAxes(t,e),r=i??{forward:new p,right:new p},n=this.getCurrentWorldDirection(this.actor.object,V);n.addScaledVector(M,-n.dot(M)),n.lengthSq()<1e-8&&n.copy(s.forward).addScaledVector(M,-s.forward.dot(M)),n.lengthSq()<1e-8&&n.set(0,0,1),n.normalize();const l=U.crossVectors(M,n);return l.lengthSq()<1e-8?l.copy(s.right):l.normalize(),l.dot(s.right)<0&&l.multiplyScalar(-1),r.forward.copy(n),r.right.copy(l),r}computeDesiredGroundNormal(t,e,o,i,s,r){const n=this.computeAverageHitNormal(e,o,i,s,V);let l=!1,a=0,h=0;if(null!=o&&null!=i){const e=O.subVectors(o.point,i.point).dot(t.forward);Math.abs(e)>1e-5&&(a=(o.point.y-i.point.y)/e,l=!0)}if(null!=s&&null!=e){const o=q.subVectors(s.point,e.point).dot(t.right);Math.abs(o)>1e-5&&(h=(s.point.y-e.point.y)/o,l=!0)}if(l&&(r.copy(M),r.addScaledVector(t.forward,-a),r.addScaledVector(t.right,-h),r.lengthSq()>1e-8?r.normalize():l=!1),l)null!=n&&r.dot(n)<0&&r.multiplyScalar(-1);else{if(null==n)return!1;r.copy(n),l=!0}return r.dot(M)<0&&r.multiplyScalar(-1),this.clampSlopeNormal(r),!0}computeAverageHitNormal(t,e,o,i,s){s.set(0,0,0);let r=0;return null!=t&&t.hasNormal&&(s.add(t.normal),r++),null!=e&&e.hasNormal&&(s.add(e.normal),r++),null!=o&&o.hasNormal&&(s.add(o.normal),r++),null!=i&&i.hasNormal&&(s.add(i.normal),r++),0===r||s.lengthSq()<1e-8?null:(s.multiplyScalar(1/r).normalize(),s)}computeDesiredFootForward(t,e,o,i,s,r){null!=i&&null!=s?r.subVectors(i.point,s.point):r.copy(t),r.addScaledVector(o,-r.dot(o)),r.lengthSq()<1e-8&&(r.copy(this.getCurrentWorldDirection(this.actor.object,V)),r.addScaledVector(o,-r.dot(o))),r.lengthSq()<1e-8&&r.crossVectors(o,e),r.lengthSq()<1e-8&&r.set(0,0,1),r.normalize();const n=V.copy(this.getCurrentWorldDirection(this.actor.object,V));n.addScaledVector(o,-n.dot(o)),n.lengthSq()<1e-8&&(n.copy(t),n.addScaledVector(o,-n.dot(o))),n.lengthSq()>1e-8&&n.normalize(),r.dot(n)<0&&r.multiplyScalar(-1)}computeDesiredPitchAngle(t,e,o){if(null==t||null==e)return 0;const i=O.subVectors(t.point,e.point),s=Math.abs(i.dot(o));if(s<1e-5)return 0;const r=t.point.y-e.point.y,n=y.degToRad(this.footIkMaxSlopeAngleDeg);return y.clamp(-Math.atan2(r,s),-n,n)}applySimpleFootPitch(t,e,o){if(null==e.parent||o.weight<=.001)return;const i=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),s=o.pitch*o.weight;if(Math.abs(s)<=1e-5)return;const r=this.resolveLocalPitchSign(i),n=N.copy(e.quaternion),l=E.setFromAxisAngle(i.rightLocal,s*r);e.quaternion.copy(n.multiply(l))}resolveLocalPitchSign(t){const e=H.setFromAxisAngle(t.rightLocal,.15);return q.copy(t.upLocal).applyQuaternion(e).sub(t.upLocal).dot(t.forwardLocal)>=0?1:-1}clampDesiredFootTarget(t,e,o,i){const s=O.subVectors(i,o),r=s.dot(M),n=q.copy(s).addScaledVector(M,-r),l=n.length();l>this.footIkMaxHorizontalOffset&&l>1e-6&&n.multiplyScalar(this.footIkMaxHorizontalOffset/l);const a=y.clamp(r,-this.footIkMaxVerticalOffsetDown,this.footIkMaxVerticalOffsetUp);if(i.copy(o),i.add(n),i.addScaledVector(M,a),this.footIkPelvisEnabled)return;const h=t.upper.getWorldPosition(C).clone(),c=O.subVectors(i,h),d=c.length(),p=.995*e.total;d>p&&d>1e-6&&i.copy(h).addScaledVector(c,p/d)}solveTwoBoneLeg(t,e,o){const i=e.upper.getWorldPosition(C).clone(),s=e.lower.getWorldPosition(O).clone(),r=e.foot.getWorldPosition(q).clone(),n=i.distanceTo(s),l=s.distanceTo(r);if(n<1e-5||l<1e-5)return;const a=(new p).subVectors(o,i),h=a.length();if(h<1e-5)return;const c=Math.abs(n-l)+1e-4,d=n+l-1e-4,u=y.clamp(h,c,d),f=a.multiplyScalar(1/h),g=(new p).subVectors(s,i).normalize(),m=(new p).subVectors(r,s).normalize(),k=(new p).crossVectors(g,m);k.lengthSq()<1e-8&&(k.copy(this.getCurrentWorldDirection(this.actor.object,C).cross(M)),k.lengthSq()<1e-8&&k.set(1,0,0)),k.normalize();const S=(u*u+n*n-l*l)/(2*u),w=Math.max(n*n-S*S,0),b=Math.sqrt(w),v=(new p).copy(i).addScaledVector(f,S);let L=(new p).crossVectors(k,f);L.lengthSq()<1e-8&&(L=(new p).crossVectors(f,M),L.lengthSq()<1e-8&&(L=new p(1,0,0))),L.normalize();const x=(new p).copy(v).addScaledVector(L,b),I=(new p).copy(v).addScaledVector(L,-b),P=(new p).subVectors(s,v).dot(L)>=0?x:I;this.rotateBoneToward(e.upper,i,s,P),e.upper.updateMatrixWorld(!0);const B=e.lower.getWorldPosition(O),R=e.foot.getWorldPosition(q);this.rotateBoneToward(e.lower,B,R,o),e.lower.updateMatrixWorld(!0),this.updateSolveDebug(t,i,P,o)}updateSolveDebug(t,e,o,i){if(!this.footIkDebug||null==this.ikDebugLegs)return;const s=this.ikDebugLegs[t];this.setDebugArrow(s.solveUpper,e,o),this.setDebugArrow(s.solveLower,o,i)}rotateBoneToward(t,e,o,i){const s=(new p).subVectors(o,e),r=(new p).subVectors(i,e);if(s.lengthSq()<1e-10||r.lengthSq()<1e-10)return;if(s.normalize(),r.normalize(),s.dot(r)>.9999)return;const n=(new g).setFromUnitVectors(s,r),l=this.getCurrentWorldQuaternion(t,N),a=E.copy(n).multiply(l);if(null==t.parent)return void t.quaternion.copy(a);const h=this.getCurrentWorldQuaternion(t.parent,H),c=z.copy(h).invert().multiply(a);t.quaternion.copy(c)}detectFootAxisBasis(t){const e=this.getCurrentWorldQuaternion(t,N),o=this.getCurrentWorldDirection(this.actor.object,C);o.lengthSq()<1e-6&&o.set(0,0,1),o.normalize();const i=[{local:G.clone(),world:G.clone().applyQuaternion(e)},{local:$.clone(),world:$.clone().applyQuaternion(e)},{local:_.clone(),world:_.clone().applyQuaternion(e)}];i.push({local:G.clone().multiplyScalar(-1),world:G.clone().multiplyScalar(-1).applyQuaternion(e)}),i.push({local:$.clone().multiplyScalar(-1),world:$.clone().multiplyScalar(-1).applyQuaternion(e)}),i.push({local:_.clone().multiplyScalar(-1),world:_.clone().multiplyScalar(-1).applyQuaternion(e)});let s=i[0],r=-1/0;for(const t of i){const e=t.world.dot(M);e>r&&(r=e,s=t)}let n=i[0],l=-1/0;for(const t of i){if(Math.abs(t.world.dot(s.world))>.6)continue;const e=Math.abs(t.world.dot(o));e>l&&(l=e,n=t)}n.world.dot(o)<0&&(n={local:n.local.clone().multiplyScalar(-1),world:n.world.clone().multiplyScalar(-1)});const a=s.local.clone().normalize(),h=n.local.clone().normalize(),c=a.clone().cross(h).normalize();return{upLocal:a,forwardLocal:c.clone().cross(a).normalize(),rightLocal:c}}resolveFootAxes(t,e,o){const i=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),s=o??{up:new p,forward:new p,right:new p},r=this.getCurrentWorldQuaternion(e,N);return s.up.copy(i.upLocal).applyQuaternion(r).normalize(),s.forward.copy(i.forwardLocal).applyQuaternion(r).normalize(),s.right.copy(i.rightLocal).applyQuaternion(r).normalize(),s}getCurrentWorldQuaternion(t,e){return t.matrixWorld.decompose(U,e,V),e}getCurrentWorldDirection(t,e){const o=t.matrixWorld.elements;return e.set(o[8],o[9],o[10]).normalize()}clampSlopeNormal(t){const e=y.clamp(t.dot(M),-1,1),o=Math.acos(e),i=y.degToRad(this.footIkMaxSlopeAngleDeg);if(o<=i||o<1e-5)return;const s=i/o;t.lerpVectors(M,t,s).normalize()}blendLegAfterSolve(t,e,o){if(!(o>=.999)){if(o<=.001)return t.upper.quaternion.copy(e.upper),t.lower.quaternion.copy(e.lower),void t.foot.quaternion.copy(e.foot);this.blendBoneQuaternion(t.upper,e.upper,o),this.blendBoneQuaternion(t.lower,e.lower,o),this.blendBoneQuaternion(t.foot,e.foot,o)}}blendBoneQuaternion(t,e,o){N.copy(t.quaternion),t.quaternion.copy(e).slerp(N,o)}alignFootToGroundNormal(t,e,o,i){if(o.weight<=.001||null==e.parent)return;const s=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),r=C.copy(o.normal).normalize(),n=O.copy(o.forward);if(n.addScaledVector(r,-n.dot(r)),n.lengthSq()<1e-8){const o=this.resolveFootAxes(t,e);n.copy(o.forward).addScaledVector(r,-o.forward.dot(r))}if(n.lengthSq()<1e-8)return;n.normalize();const l=q.crossVectors(r,n);if(l.lengthSq()<1e-8)return;l.normalize(),n.copy(V.crossVectors(l,r)).normalize(),j.makeBasis(s.rightLocal,s.upLocal,s.forwardLocal),N.setFromRotationMatrix(j),Q.makeBasis(l,r,n),E.setFromRotationMatrix(Q);const a=H.copy(E).multiply(z.copy(N).invert()),h=this.getCurrentWorldQuaternion(e.parent,z),c=E.copy(h).invert().multiply(a),d=(1-Math.exp(-this.footIkRotationLerpSpeed*i))*o.weight;e.quaternion.slerp(c,y.clamp(d,0,1))}getMixer(){return this.mixer}beginExternalControl(){this.externalControlActive=!0}endExternalControl(){this.externalControlActive=!1}stopSequenceAnimation(){this.currentFullBodyPriority=-1,this.externalControlActive=!1,this.sequenceAnimationControlled=!1,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0,this.upperBodyOverride=!1,this.overrideFadeTimeUpper=null,this.fullBodyTimer=0}requestSequenceAnimationRelease(){this.externalControlActive=!1,this.sequenceAnimationControlled=!1,this.currentFullBodyPriority=-1,this.sequenceAnimationReleasePending=!0,this.sequenceAnimationReleaseFrames=1,this.upperBodyOverride=!1,this.overrideFadeTimeUpper=null}cancelRootMotionAction(t){null!=t&&this.fullBodyAction!==t||(this.currentFullBodyPriority=-1,this.externalControlActive=!1,this.fullBodyAction?.stop(),this.fullBodyAction=null,this.fullBodyTimer=0)}beginExternalAnimationControl(t,e={}){it(null!=this.mixer,"Can't begin external control before setup is called"),this.assertClipRigCompatible(t),this.mixer.stopAllAction(),this.currentFullBodyPriority=99,this.fullBodyTimer=0;const o=this.mixer.clipAction(t);return o.setLoop(c,1),o.clampWhenFinished=!0,o.timeScale=e.timeScale??1,o.reset(),o.play(),this.fullBodyAction=o,this.externalControlActive=!0,o}syncMovementSpeed(t){if(null!=t){const e=t.getClip();if(e instanceof s&&e.fixedInPlace&&null!=this.movementSpeed){t.timeScale=e.duration/e.displacement*this.movementSpeed;const o=this.mixer.getRoot();o instanceof h&&(t.timeScale/=o.scale.x)}}}playStateMachine(t){this.stateMachines.push(t)}playUpperStateMachine(t){this.upperStateMachines.push(t)}removeStateMachine(t){const e=this.stateMachines.indexOf(t);e>=0&&this.stateMachines.splice(e,1)}removeUpperStateMachine(t){const e=this.upperStateMachines.indexOf(t);e>=0&&this.upperStateMachines.splice(e,1)}playUpper(t,e={}){this.assertClipRigCompatible(t);const o=e?.priority??1;o<this.currentUpperBodyPriority||(this.currentUpperBodyPriority=o,this.upperBodyAction=this.transition(this.upperBodyAction,this.getUpperBodyClip(t),e),this.upperBodyAction.timeScale=e?.timeScale??1,this.upperBodyTimer=0,this.upperBodyOverride=!0,this.overrideFadeTimeUpper=e.fadeTime)}play(t,e={}){it(null!=this.mixer,"Can't play animation before setup is called"),this.assertClipRigCompatible(t);const o=e.priority??1;o<this.currentFullBodyPriority||(this.currentFullBodyPriority=o,this.fullBodyTimer=0,e.sequenceControlled&&(this.sequenceAnimationControlled=!0,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0),this.upperBodyOverride||(this.upperBodyAction=this.transition(this.upperBodyAction,this.getUpperBodyClip(t),e),this.upperBodyAction.timeScale=e?.timeScale??1),this.fullBodyClip=t,this.fullBodyAction=this.transition(this.fullBodyAction,this.getFullBodyClip(t),e),this.fullBodyAction.timeScale=e?.timeScale??1,this.fullBodyAction.getClip().uuid==this.upperBodyAction.getClip().uuid&&this.upperBodyAction.syncWith(this.fullBodyAction),this.overrideFadeTime=e.fadeTime)}assertClipRigCompatible(t){const e=P(t);if(e===this.animationRigId||null==e&&null==this.animationRigId)return;const o=`${t.uuid}|${e??""}|${this.animationRigId??""}`;if(!lt.has(o)){if(lt.add(o),null==e||null==this.animationRigId)return void console.warn(`Animation clip "${t.name}" or its character has no rig assigned. Playing without rig compatibility validation for legacy compatibility.`);console.warn(`Animation clip "${t.name}" targets rig ${e??"no rig"}, but this character uses rig ${this.animationRigId??"no rig"}. Generate and assign a retargeted clip for the character rig.`)}}onActionDone(t){return new Promise(e=>{const o=i=>{i.action===t&&(e(i.action),this.mixer.removeEventListener("finished",o))};this.mixer.addEventListener("finished",o)})}transition(t,e,o={}){const s=o?.fadeTime??this.fadeTime;if(null!=t&&t.getClip().uuid===e.uuid)return t.isRunning()||!1!==o.loop||!t.clampWhenFinished||o.sequenceControlled?(t.isRunning()||(t.reset(),null!=o.offset&&(t.time=o.offset),t.enabled=!0,t.weight=1,t.setEffectiveWeight(1),t.setEffectiveTimeScale(1),t.play(),!1===o.loop&&(t.setLoop(c,1),t.clampWhenFinished=!0)),t):t;if(i(t)){const i=t,r=this.mixer.clipAction(e);r.reset(),null!=o.offset&&(r.time=o.offset),r.play(),r.enabled=!0,r.setEffectiveTimeScale(1),r.weight=1,i.crossFadeTo(r,s,!1),t=r}else(t=this.mixer.clipAction(e)).reset(),null!=o.offset&&(t.time=o.offset),t.enabled=!0,t.weight=1,t.setEffectiveWeight(1),t.setEffectiveTimeScale(1),t.play();return!1===o.loop&&(t.setLoop(c,1),t.clampWhenFinished=!0),t}};tt=t([o({inEditor:!0})],tt);export{tt as CharacterAnimationComponent};function et(t,e){if(null==t)return e;const o=e.clone();A(o,P(e));const i=new Set(t.map(t=>t.name));return o.tracks=o.tracks.filter(t=>i.has(t.name.split(".")[0])),o}function ot(t){return t.flatMap(t=>function(t){const e=[];return t.traverse(t=>{e.push(t)}),e}(t)).filter(t=>t instanceof a)}function it(t,e){if(!1===t||"function"==typeof t&&!1===t())throw new Error(e)}function st(t,e){const o=new Map;return(i,...s)=>{const r=t(i);return o.has(r)||o.set(r,e(i,...s)),o.get(r)}}function rt(t){let e;return t.traverse(t=>{(t instanceof a||t.isBone)&&null==e&&(e=t)}),e}function nt(t,e){let o=e;for(;null!=o;){if(o===t)return!0;o=o.parent}return!1}const lt=new Set;/*
+import{__decorate as t}from"tslib";import{ActorComponent as e,Component as o}from"../../../component.js";import{canCrossFadeFromAnimationAction as i}from"../../../../animation/animation-action.js";import{RootMotionClip as s}from"../../../../animation/root-motion.js";import{inject as r}from"../../../../inject.js";import{ViewController as n}from"../../../../services/render.js";import{AnimationMixer as l,Bone as a,Object3D as h,LoopOnce as c,Raycaster as d,Vector3 as p,SkinnedMesh as u,Skeleton as f,Quaternion as g,Matrix4 as m,MathUtils as y,ArrowHelper as k,Group as S}from"three";import{getCharacterMovementLike as w}from"./character-movement-like.js";import{CCDIKSolver as b}from"three/addons/animation/CCDIKSolver.js";import{World as v}from"../../../../services/world.js";import{PhysicsSystem as L,RayTestResult as x}from"../../../../services/physics/physics-system.js";import{ArrayMap as I}from"../../../../../utils/collections.js";import{getAnimationClipRigId as B,getAnimationRigChainBoneNames as P,getAnimationRigDataFromObject as R,getAnimationRigIdFromObject as F,setAnimationClipRigId as D}from"../../../../animation/retarget.js";const A=new p(0,-1,0),M=new p(0,1,0),W=new p(1,1,1),T=new g,C=new p,O=new p,q=new p,V=new p,U=new p,E=new g,N=new g,H=new g,z=new g,j=new m,Q=new m,G=new p(1,0,0),_=new p(0,1,0),$=new p(0,0,1);function K(){return{point:new p,normal:new p,hasNormal:!1}}const Y=["mixamorigHips","Hips","hips","Pelvis","pelvis"],J={upper:["LeftUpLeg","leftUpLeg","left_up_leg"],lower:["LeftLeg","leftLeg","left_leg"],foot:["LeftFoot","leftFoot","left_foot"]},X={upper:["RightUpLeg","rightUpLeg","right_up_leg"],lower:["RightLeg","rightLeg","right_leg"],foot:["RightFoot","rightFoot","right_foot"]},Z=["left","right"];let tt=class extends e{constructor(){super(...arguments),this.viewController=r(n),this.poseProcessors=new I,this.stateMachines=[],this.upperStateMachines=[],this.fadeTime=.2,this.movementSpeed=null,this.upperBodyTimer=0,this.upperBodyOverride=!1,this.fullBodyTimer=0,this.currentFullBodyPriority=-1,this.currentUpperBodyPriority=-1,this.sequenceAnimationControlled=!1,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0,this.externalControlActive=!1,this.world=r(v),this.physicsSystem=r(L),this._footIkEnabled=!1,this.footIkMoving=!1,this.footIkRayStartHeight=.5,this.footIkRayLength=1.5,this.footIkRaycastMode="physics",this.footIkFootOffset=.08,this.footIkAutoContactOffset=!1,this.footIkPositionLerpSpeed=28,this.footIkRotationLerpSpeed=14,this.footIkWeightInSpeed=34,this.footIkWeightOutSpeed=30,this.footIkMaxSlopeAngleDeg=40,this.footIkForwardSampleDistance=.14,this.footIkSideSampleDistance=.08,this.footIkMaxHorizontalOffset=.22,this.footIkMaxVerticalOffsetDown=.75,this.footIkMaxVerticalOffsetUp=.2,this.footIkPelvisEnabled=!0,this.footIkPelvisBone="mixamorigHips",this.footIkPelvisLerpSpeed=24,this.footIkPelvisMaxOffsetDown=.4,this.footIkPelvisMaxOffsetUp=.08,this.footIkRequireGrounded=!0,this.footIkSimpleTiltOnly=!1,this.footIkDebug=!1,this.footIkDebugNormalLength=.25,this.footIkDebugAxisLength=.2,this.footIkExtraClearance=.01,this.footIkPlantReleaseUpSpeed=.08,this.footIkPlantReleaseExtension=.9,this.footIkPlantAttachExtension=.96,this.footIkPlantReleaseLift=.055,this.footIkPlantAttachLift=.02,this.leftLegIkBones={upperLeg:"mixamorigLeftUpLeg",lowerLeg:"mixamorigLeftLeg",foot:"mixamorigLeftFoot"},this.rightLegIkBones={upperLeg:"mixamorigRightUpLeg",lowerLeg:"mixamorigRightLeg",foot:"mixamorigRightFoot"},this.ikPelvisOffsetY=0,this.ikPelvisDescendantStack=[],this.ikWorldUpdateNodes=[],this.footIkStateReset=!0,this.ikLegState={left:{targetPosition:new p,normal:new p(0,1,0),forward:new p(0,0,1),pitch:0,contactOffset:0,planted:!1,lastFootWorldPos:new p,hasLastFootSample:!1,weight:0,top:!1},right:{targetPosition:new p,normal:new p(0,1,0),forward:new p(0,0,1),pitch:0,contactOffset:0,planted:!1,lastFootWorldPos:new p,hasLastFootSample:!1,weight:0,top:!1}},this.ikWarnedMissingBones=!1,this.raycaster=new d,this.raycastIntersections=[],this.footIkRayTo=new p,this.footIkRayTestResult=new x,this.footIkRayTestOptions={debug:!1,excludeTriggers:!0,resolveActor:!1,collisionFilter:-2},this.footIkHits={center:K(),toe:K(),heel:K(),side:K()},this.footIkAxesScratch={up:new p,forward:new p,right:new p},this.footIkSampleAxesScratch={forward:new p,right:new p},this.footIkScratch={footWorldPos:new p,centerRayStart:new p,toeRayStart:new p,heelRayStart:new p,sideRayStart:new p,desiredTargetPos:new p,desiredNormal:new p,desiredForward:new p,debugRayEndA:new p,debugRayEndB:new p,debugRayEndC:new p,debugRayEndD:new p,debugRayEndE:new p,debugRayEndF:new p},this.ikPreSolve={left:{upper:new g,lower:new g,foot:new g},right:{upper:new g,lower:new g,foot:new g}},this.getFullBodyClip=st(t=>t.uuid,t=>et(this.fullBodyMask,t)),this.getUpperBodyClip=st(t=>t.uuid,t=>et(this.upperBodyMask,t))}get footIkEnabled(){return this._footIkEnabled}set footIkEnabled(t){this._footIkEnabled!==t&&(this._footIkEnabled=t,null!=this.ikRoot&&(this.disposeFootIkDebug(),this.initializeFootIk(this.ikRoot,this.ikRootBone),this.syncFootIkDebug()))}onInit(){this.viewController.onUpdate(this.actor).subscribe(t=>this.updateInternal(t)),this.characterMovement=w(this.actor),this.footIkRayTestOptions.excludeActor=this.actor}onEndPlay(){this.disposeFootIkDebug()}raycastDownFirstValid(t,e,o){const i=this.world.scene;this.raycaster.set(t,A),this.raycaster.near=0,this.raycaster.far=e,this.raycastIntersections.length=0,this.raycaster.intersectObject(i,!0,this.raycastIntersections);for(const t of this.raycastIntersections)if(!(this.isFootIkDebugObject(t.object)||this.isRelatedToActorHierarchy(t.object)||this.isSkinnedMeshObject(t.object)))return o.point.copy(t.point),null!=t.face?(o.normal.copy(t.face.normal).transformDirection(t.object.matrixWorld).normalize(),o.hasNormal=!0):o.hasNormal=!1,this.raycastIntersections.length=0,!0;return this.raycastIntersections.length=0,!1}rayTestDown(t,e,o){const i=this.footIkRayTo.copy(t).addScaledVector(A,e),s=this.physicsSystem.rayTest(t,i,this.footIkRayTestResult,this.footIkRayTestOptions);return!!s.hasHit&&(o.point.copy(s.hitPoint),o.normal.copy(s.hitNormal),o.normal.lengthSq()>1e-8?(o.normal.normalize(),o.hasNormal=!0):o.hasNormal=!1,!0)}isRelatedToActorHierarchy(t){const e=this.actor?.object;return null!=e&&null!=t&&(nt(t,e)||nt(e,t))}isFootIkDebugObject(t){let e=t;for(;null!=e;){if(!0===e.userData?.footIkDebug)return!0;e=e.parent}return!1}isSkinnedMeshObject(t){let e=t;for(;null!=e;){if(e instanceof u||!0===e.isSkinnedMesh)return!0;e=e.parent}return!1}getRootMotionAction(){if(this.fullBodyAction.getClip()instanceof s)return this.fullBodyAction}getFullBodyAction(){return this.fullBodyAction}setup(t,e,o){null!=e&&(this.upperBodyMask=ot(e),this.fullBodyMask=function(t,e){const o=new Set(ot(e).map(t=>t.uuid)),i=[];return t.traverse(t=>{(t instanceof a||t.isBone)&&!o.has(t.uuid)&&i.push(t)}),i}(rt(t),e)),null!=this.mixer&&this.mixer.stopAllAction(),this.mixer=new l(t),this.animationRigId=F(t),this.animationRigData=R(t),this.ikRoot=t,this.ikRootBone=o,this.disposeFootIkDebug(),this.initializeFootIk(t,o),this.syncFootIkDebug()}updateStateMachines(t){this.stateMachines.forEach(e=>{e.step(t);const o=e.current.clip;null!=o&&this.play(o,{priority:e.current.options.priority??0,loop:e.current.options.loop??!0})}),this.upperStateMachines.forEach(e=>{e.step(t);const o=e.current.clip;null!=o?this.playUpper(o,{priority:e.current.options.priority??0,loop:e.current.options.loop??!0}):this.play(this.fullBodyClip)})}addPoseProcessor(t){const e={id:t.id,phase:t.phase??"afterMixer",order:t.order??0,update:t.update};this.removePoseProcessor(e.id);const o=this.poseProcessors.get(e.phase);let i=o.findIndex(t=>t.order>e.order);return-1===i&&(i=o.length),o.splice(i,0,e),()=>{const t=o.indexOf(e);-1!==t&&(o.splice(t,1),0===o.length&&this.poseProcessors.delete(e.phase))}}removePoseProcessor(t){for(const[e,o]of this.poseProcessors.entries()){const i=o.findIndex(e=>e.id===t);if(-1!==i)return o.splice(i,1),void(0===o.length&&this.poseProcessors.delete(e))}}runPoseProcessors(t,e){if(0===this.poseProcessors.size||null==this.mixer||!this.poseProcessors.present(t))return;const o=this.mixer.getRoot();if(!(o instanceof h))return;const i=this.poseProcessorContext??(this.poseProcessorContext={deltaTime:e,phase:t,animation:this,mixer:this.mixer,root:o});i.deltaTime=e,i.phase=t,i.mixer=this.mixer,i.root=o;const s=this.poseProcessors.get(t);for(let t=0;t<s.length;t++)s[t].update(i)}updateInternal(t){if(null==this.mixer)return;if(this.externalControlActive)return;this.upperBodyTimer+=t*(this.upperBodyAction?.timeScale??1),this.fullBodyTimer+=t*(this.fullBodyAction?.timeScale??1);let e=!1;this.sequenceAnimationReleasePending&&(this.sequenceAnimationReleaseFrames>0?(e=!0,this.sequenceAnimationReleaseFrames--):(this.sequenceAnimationReleasePending=!1,this.currentFullBodyPriority=-1,this.sequenceAnimationControlled=!1,this.overrideFadeTime=null,this.fullBodyTimer=0)),this.upperBodyAction&&this.upperBodyOverride&&this.upperBodyAction.getClip().duration-2*(this.overrideFadeTimeUpper??this.fadeTime)<this.upperBodyTimer&&(this.upperBodyOverride=!1,null!=this.fullBodyClip&&this.transition(this.upperBodyAction,this.getUpperBodyClip(this.fullBodyClip)),this.upperBodyAction=null,this.overrideFadeTimeUpper=null),!this.sequenceAnimationControlled&&!this.sequenceAnimationReleasePending&&this.fullBodyAction&&this.fullBodyAction.loop===c&&this.fullBodyAction.getClip().duration-2*(this.overrideFadeTime??this.fadeTime)<this.fullBodyTimer&&(this.currentFullBodyPriority=-1,this.overrideFadeTime=null),null!=this.characterMovement&&(this.movementSpeed=this.characterMovement.horizontalSpeed),e||this.updateStateMachines(t),this.syncMovementSpeed(this.fullBodyAction),this.upperBodyOverride||this.syncMovementSpeed(this.upperBodyAction),this.runPoseProcessors("beforeMixer",t),this.mixer.update(t),this.runPoseProcessors("afterMixer",t),this.runPoseProcessors("beforeIk",t),this.updateFootIk(t),this.runPoseProcessors("afterIk",t)}initializeFootIk(t,e){if(this.ikSolver=null,this.ikSkinnedMesh=null,this.ikBoneRefs=null,this.ikLegLengths=null,this.ikPelvisBone=null,this.ikPelvisOffsetY=0,this.ikFootAxes=null,this.ikTargetBones=null,this.ikWorldUpdateNodes.length=0,this.footIkStateReset=!0,this.ikWarnedMissingBones=!1,this.ikLegState.left.weight=0,this.ikLegState.right.weight=0,!this.footIkEnabled)return;const o=this.findFirstSkinnedMesh(t);if(null==o||null==o.skeleton)return;this.ikSkinnedMesh=o,t.updateWorldMatrix(!0,!0);const i=o.skeleton,s=P(this.animationRigData,"leftLeg"),r=P(this.animationRigData,"rightLeg"),n=this.resolveLegBoneRefs(i,this.leftLegIkBones,J,s),l=this.resolveLegBoneRefs(i,this.rightLegIkBones,X,r);if(null==n||null==l)return void(this.ikWarnedMissingBones||(this.ikWarnedMissingBones=!0,console.warn(`[CharacterAnimationComponent] Foot IK disabled: missing leg bones. Left=${this.leftLegIkBones.upperLeg}/${this.leftLegIkBones.lowerLeg}/${this.leftLegIkBones.foot}, Right=${this.rightLegIkBones.upperLeg}/${this.rightLegIkBones.lowerLeg}/${this.rightLegIkBones.foot}`)));this.ikBoneRefs={left:n,right:l},this.ikLegLengths={left:this.computeLegLengths(n),right:this.computeLegLengths(l)},this.ikFootAxes={left:this.detectFootAxisBasis(n.foot),right:this.detectFootAxisBasis(l.foot)};const h=this.animationRigData?.bones.find(t=>t.id===this.animationRigData?.pelvisBoneId)?.name;this.ikPelvisBone=this.resolvePelvisBone(i,n,l,h),this.rebuildFootIkWorldUpdateNodes(),this.ikLegState.left.targetPosition.copy(n.foot.getWorldPosition(C)),this.ikLegState.right.targetPosition.copy(l.foot.getWorldPosition(C)),this.ikLegState.left.normal.set(0,1,0),this.ikLegState.right.normal.set(0,1,0),this.ikLegState.left.pitch=0,this.ikLegState.right.pitch=0,this.ikLegState.left.contactOffset=this.estimateFootContactOffset(i,"left",n.foot),this.ikLegState.right.contactOffset=this.estimateFootContactOffset(i,"right",l.foot),this.ikLegState.left.planted=!1,this.ikLegState.right.planted=!1,this.ikLegState.left.lastFootWorldPos.copy(n.foot.getWorldPosition(C)),this.ikLegState.right.lastFootWorldPos.copy(l.foot.getWorldPosition(C)),this.ikLegState.left.hasLastFootSample=!1,this.ikLegState.right.hasLastFootSample=!1;const c=this.resolveFootAxes("left",n.foot),d=this.resolveFootAxes("right",l.foot);this.ikLegState.left.forward.copy(c.forward),this.ikLegState.right.forward.copy(d.forward);const p=e??rt(t);if(null==p)return;let u=i.getBoneByName("_IKTargetLeftFoot"),g=i.getBoneByName("_IKTargetRightFoot"),y=!1;if(null==u&&(u=new a,u.name="_IKTargetLeftFoot",p.add(u),y=!0),null==g&&(g=new a,g.name="_IKTargetRightFoot",p.add(g),y=!0),this.setBoneWorldPosition(u,n.foot.getWorldPosition(C)),this.setBoneWorldPosition(g,l.foot.getWorldPosition(C)),y||i.bones.indexOf(u)<0||i.bones.indexOf(g)<0){const e=i.bones.slice(),o=i.boneInverses.map(t=>t.clone());e.indexOf(u)<0&&(e.push(u),o.push((new m).copy(u.matrixWorld).invert())),e.indexOf(g)<0&&(e.push(g),o.push((new m).copy(g.matrixWorld).invert()));const s=new f(e,o);t.traverse(t=>{const e=t;!0===e.isSkinnedMesh&&e.skeleton===i&&e.bind(s,e.bindMatrix)})}this.ikTargetBones={left:u,right:g},this.rebuildFootIkWorldUpdateNodes();const k=o.skeleton.bones,S={target:k.indexOf(u),effector:k.indexOf(n.foot),links:[{index:k.indexOf(n.lower)},{index:k.indexOf(n.upper)}],iteration:8},w={target:k.indexOf(g),effector:k.indexOf(l.foot),links:[{index:k.indexOf(l.lower)},{index:k.indexOf(l.upper)}],iteration:8};if(S.target<0||S.effector<0||S.links.some(t=>t.index<0)||w.target<0||w.effector<0||w.links.some(t=>t.index<0))return console.warn("[CharacterAnimationComponent] Foot IK disabled: failed to resolve IK indexes in skeleton."),void(this.ikSolver=null);this.ikSolver=new b(o,[S,w])}findFirstSkinnedMesh(t){let e;return t.traverse(t=>{null==e&&(t instanceof u||!0===t.isSkinnedMesh)&&(e=t)}),e}resolveLegBoneRefs(t,e,o,i=[]){const s=this.findBoneByNames(t,[i[0],e.upperLeg,...o.upper].filter(t=>null!=t)),r=this.findBoneByNames(t,[i.at(-2),e.lowerLeg,...o.lower].filter(t=>null!=t)),n=this.findBoneByNames(t,[i.at(-1),e.foot,...o.foot].filter(t=>null!=t));if(null!=s&&null!=r&&null!=n)return{upper:s,lower:r,foot:n}}findBoneByNames(t,e){for(const o of e){const e=t.getBoneByName(o);if(null!=e)return e}}resolvePelvisBone(t,e,o,i){const s=this.findBoneByNames(t,[i,this.footIkPelvisBone,...Y].filter(t=>null!=t));if(null!=s)return s;const r=e.upper.parent,n=o.upper.parent;return null!=r&&r===n&&(r instanceof a||!0===r.isBone)||null!=r&&(r instanceof a||!0===r.isBone)?r:void 0}computeLegLengths(t){const e=t.upper.getWorldPosition(C),o=t.lower.getWorldPosition(O),i=t.foot.getWorldPosition(q),s=e.distanceTo(o),r=o.distanceTo(i);return{upper:s,lower:r,total:s+r}}setBoneWorldPosition(t,e){const o=t.parent;null==o?t.position.copy(e):t.position.copy(C.copy(e).applyMatrix4(j.copy(o.matrixWorld).invert())),t.quaternion.copy(T),t.scale.copy(W),t.updateMatrixWorld(!0)}syncFootIkDebug(){this.footIkDebug&&null!=this.ikRoot?(null!=this.ikDebugRoot&&null!=this.ikDebugLegs||(this.ikDebugRoot=new S,this.ikDebugRoot.name="FootIKDebug",this.ikDebugRoot.userData.footIkDebug=!0,this.ikDebugLegs={left:this.createDebugLeg("LeftFootIK",53503),right:this.createDebugLeg("RightFootIK",16755200)},this.ikDebugRoot.add(this.ikDebugLegs.left.root,this.ikDebugLegs.right.root),this.world.scene.add(this.ikDebugRoot)),this.ikDebugRoot.visible=!0):null!=this.ikDebugRoot&&(this.ikDebugRoot.visible=!1)}disposeFootIkDebug(){null!=this.ikDebugRoot&&(this.ikDebugRoot.removeFromParent(),this.ikDebugRoot.clear()),this.ikDebugRoot=null,this.ikDebugLegs=null}createDebugLeg(t,e){const o=new S;o.name=t,o.userData.footIkDebug=!0;const i=this.createDebugArrow(e),s=this.createDebugArrow(e),r=this.createDebugArrow(e),n=this.createDebugArrow(e),l=this.createDebugArrow(65280),a=this.createDebugArrow(6750054),h=this.createDebugArrow(16711935),c=this.createDebugArrow(16776960),d=this.createDebugArrow(16737792);return o.add(i,s,r,n,l,a,h,c,d),{root:o,rayCenter:i,rayToe:s,rayHeel:r,raySide:n,hitNormal:l,footUp:a,footToTarget:h,solveUpper:c,solveLower:d}}createDebugArrow(t){const e=new k(M,new p,.001,t);return e.userData.footIkDebug=!0,e.traverse(t=>{t.userData.footIkDebug=!0,t.raycast=()=>{}}),e.visible=!1,e}setDebugArrow(t,e,o){C.subVectors(o,e);const i=C.length();i<1e-6?t.visible=!1:(t.visible=!0,t.position.copy(e),t.setDirection(C.multiplyScalar(1/i)),t.setLength(i,Math.min(.08,.25*i),Math.min(.05,.2*i)))}resetDebugVisibility(){null!=this.ikDebugLegs&&(this.ikDebugLegs.left.rayCenter.visible=!1,this.ikDebugLegs.left.rayToe.visible=!1,this.ikDebugLegs.left.rayHeel.visible=!1,this.ikDebugLegs.left.raySide.visible=!1,this.ikDebugLegs.left.hitNormal.visible=!1,this.ikDebugLegs.left.footUp.visible=!1,this.ikDebugLegs.left.footToTarget.visible=!1,this.ikDebugLegs.left.solveUpper.visible=!1,this.ikDebugLegs.left.solveLower.visible=!1,this.ikDebugLegs.right.rayCenter.visible=!1,this.ikDebugLegs.right.rayToe.visible=!1,this.ikDebugLegs.right.rayHeel.visible=!1,this.ikDebugLegs.right.raySide.visible=!1,this.ikDebugLegs.right.hitNormal.visible=!1,this.ikDebugLegs.right.footUp.visible=!1,this.ikDebugLegs.right.footToTarget.visible=!1,this.ikDebugLegs.right.solveUpper.visible=!1,this.ikDebugLegs.right.solveLower.visible=!1)}updateFootIk(t){if(this.syncFootIkDebug(),!this.footIkEnabled||null==this.ikBoneRefs||null==this.ikRoot)return void this.resetDebugVisibility();if(!this.footIkMoving&&(this.movementSpeed??0)>.01)return this.footIkStateReset||(this.syncFootIkWorldMatrices(),this.resetFootIkState(),this.footIkStateReset=!0),void this.resetDebugVisibility();this.syncFootIkWorldMatrices(),this.footIkStateReset=!1;const e=this.characterMovement?.isGrounded??!0;return this.footIkSimpleTiltOnly?(this.updatePelvisOffset(t,!1),this.updateLegTiltSimple("left",this.ikBoneRefs.left.foot,this.ikLegState.left,e,t),void this.updateLegTiltSimple("right",this.ikBoneRefs.right.foot,this.ikLegState.right,e,t)):null==this.ikLegLengths||null==this.ikTargetBones||null==this.ikSkinnedMesh||null==this.ikSolver?(this.updatePelvisOffset(t,!1),void this.resetDebugVisibility()):(this.updateLegIkTarget("left",this.ikBoneRefs.left,this.ikLegLengths.left,this.ikTargetBones.left,this.ikLegState.left,e,t),this.updateLegIkTarget("right",this.ikBoneRefs.right,this.ikLegLengths.right,this.ikTargetBones.right,this.ikLegState.right,e,t),this.updatePelvisOffset(t,!0),this.setBoneWorldPosition(this.ikTargetBones.left,this.ikLegState.left.targetPosition),this.setBoneWorldPosition(this.ikTargetBones.right,this.ikLegState.right.targetPosition),this.ikPreSolve.left.upper.copy(this.ikBoneRefs.left.upper.quaternion),this.ikPreSolve.left.lower.copy(this.ikBoneRefs.left.lower.quaternion),this.ikPreSolve.left.foot.copy(this.ikBoneRefs.left.foot.quaternion),this.ikPreSolve.right.upper.copy(this.ikBoneRefs.right.upper.quaternion),this.ikPreSolve.right.lower.copy(this.ikBoneRefs.right.lower.quaternion),this.ikPreSolve.right.foot.copy(this.ikBoneRefs.right.foot.quaternion),null!=this.ikDebugLegs&&(this.ikDebugLegs.left.solveUpper.visible=!1,this.ikDebugLegs.left.solveLower.visible=!1,this.ikDebugLegs.right.solveUpper.visible=!1,this.ikDebugLegs.right.solveLower.visible=!1),this.ikSolver.update(),this.blendLegAfterSolve(this.ikBoneRefs.left,this.ikPreSolve.left,this.ikLegState.left.weight),this.blendLegAfterSolve(this.ikBoneRefs.right,this.ikPreSolve.right,this.ikLegState.right.weight),this.applySimpleFootPitch("left",this.ikBoneRefs.left.foot,this.ikLegState.left),void this.applySimpleFootPitch("right",this.ikBoneRefs.right.foot,this.ikLegState.right))}resetFootIkState(){if(null!=this.ikBoneRefs){for(const t of Z){const e=this.ikBoneRefs[t],o=this.ikLegState[t],i=C.setFromMatrixPosition(e.foot.matrixWorld);o.targetPosition.copy(i),o.lastFootWorldPos.copy(i),o.hasLastFootSample=!0,o.weight=0,o.normal.set(0,1,0);const s=this.resolveFootAxes(t,e.foot,this.footIkAxesScratch);o.forward.copy(s.forward),o.pitch=0,this.footIkAutoContactOffset?o.contactOffset=Math.max(o.contactOffset,this.footIkFootOffset+this.footIkExtraClearance):o.contactOffset=this.footIkFootOffset+this.footIkExtraClearance,o.planted=!1}this.ikPelvisOffsetY=0}}updatePelvisOffset(t,e){if(null==this.ikPelvisBone)return;let o=0;if(e&&this.footIkPelvisEnabled&&null!=this.ikBoneRefs&&null!=this.ikLegLengths){this.ikLegState.left.top=!1,this.ikLegState.right.top=!1;for(const t of Z){const e=this.ikBoneRefs[t],i=this.ikLegLengths[t],s=this.ikLegState[t];if(!s.planted)continue;const r=C.setFromMatrixPosition(e.upper.matrixWorld),n=.998*i.total,l=this.computeRequiredPelvisDrop(r,s.targetPosition,n);if(l>0){const e="left"===t?"right":"left";this.ikLegState[e].top=!0}o=Math.min(o,-l)}o=y.clamp(o,-this.footIkPelvisMaxOffsetDown,this.footIkPelvisMaxOffsetUp)}const i=1-Math.exp(-this.footIkPelvisLerpSpeed*t);this.ikPelvisOffsetY=y.lerp(this.ikPelvisOffsetY,o,i);const s=O.setFromMatrixPosition(this.ikPelvisBone.matrixWorld),r=q.copy(s).addScaledVector(M,this.ikPelvisOffsetY);null==this.ikPelvisBone.parent?this.ikPelvisBone.position.copy(r):this.ikPelvisBone.position.copy(r.applyMatrix4(j.copy(this.ikPelvisBone.parent.matrixWorld).invert())),this.updatePelvisWorldTranslation(s)}updatePelvisWorldTranslation(t){const e=this.ikPelvisBone;if(null==e)return;e.updateMatrix(),null==e.parent?e.matrixWorld.copy(e.matrix):e.matrixWorld.multiplyMatrices(e.parent.matrixWorld,e.matrix),e.matrixWorldNeedsUpdate=!1;const o=e.matrixWorld.elements,i=o[12]-t.x,s=o[13]-t.y,r=o[14]-t.z;if(0===i&&0===s&&0===r)return;const n=this.ikPelvisDescendantStack;n.length=0;for(let t=0;t<e.children.length;t++)n.push(e.children[t]);for(;n.length>0;){const t=n.pop(),e=t.matrixWorld.elements;e[12]+=i,e[13]+=s,e[14]+=r,t.matrixWorldNeedsUpdate=!1;for(let e=0;e<t.children.length;e++)n.push(t.children[e])}}rebuildFootIkWorldUpdateNodes(){const t=this.ikRoot,e=this.ikBoneRefs;if(null==t||null==e)return void(this.ikWorldUpdateNodes.length=0);const o=new Set,i=[this.ikPelvisBone,e.left.upper,e.left.lower,e.left.foot,e.right.upper,e.right.lower,e.right.foot,this.ikTargetBones?.left,this.ikTargetBones?.right];for(const e of i){let i=e;for(;null!=i&&(o.add(i),i!==t);)i=i.parent??void 0}this.ikWorldUpdateNodes.length=0,t.traverse(t=>{o.has(t)&&this.ikWorldUpdateNodes.push(t)})}syncFootIkWorldMatrices(){const t=this.ikRoot;if(null!=t){t.updateWorldMatrix(!0,!1);for(const e of this.ikWorldUpdateNodes)e!==t&&(e.matrixAutoUpdate&&e.updateMatrix(),e.matrixWorldAutoUpdate&&(null==e.parent?e.matrixWorld.copy(e.matrix):e.matrixWorld.multiplyMatrices(e.parent.matrixWorld,e.matrix)),e.matrixWorldNeedsUpdate=!1)}}computeFootVerticalSpeed(t,e,o){return!t.hasLastFootSample||o<=1e-6?0:(e.y-t.lastFootWorldPos.y)/o}updateFootSample(t,e){t.lastFootWorldPos.copy(e),t.hasLastFootSample=!0}estimateFootContactOffset(t,e,o){const i=this.footIkFootOffset+this.footIkExtraClearance;if(!this.footIkAutoContactOffset)return i;const s=t.bones.indexOf(o);if(s<0)return i;const r=t.boneInverses[s];if(null==r)return i;const n=this.ikFootAxes?.[e]??this.detectFootAxisBasis(o),l=o.getWorldPosition(O),h=q.copy(n.upLocal).applyQuaternion(this.getCurrentWorldQuaternion(o,E)).normalize();let c=0;return o.traverse(e=>{if(!(e instanceof a)||e===o)return;const i=t.bones.indexOf(e);if(i<0)return;const s=j.copy(t.boneInverses[i]).invert(),n=Q.copy(r).multiply(s),d=C.setFromMatrixPosition(n),p=V.copy(d).applyMatrix4(o.matrixWorld).sub(l);c=Math.min(c,p.dot(h))}),Math.max(i,-c+this.footIkExtraClearance)}shouldPlantFoot(t,e,o,i,s,r){if(!e||!o)return!1;const n=this.footIkPlantReleaseExtension,l=this.footIkPlantAttachExtension,a=this.footIkPlantReleaseLift,h=this.footIkPlantAttachLift;return t.planted?!(i>this.footIkPlantReleaseUpSpeed&&(s<n||r>a)):s>=l&&r<=h||i<=0&&s>=n}computeLegExtensionRatio(t,e){const o=C.setFromMatrixPosition(t.upper.matrixWorld),i=O.setFromMatrixPosition(t.foot.matrixWorld),s=o.distanceTo(i);return e.total<=1e-6?1:y.clamp(s/e.total,0,1.2)}computeRequiredPelvisDrop(t,e,o){const i=V.subVectors(t,e),s=i.length();if(s<=o+1e-6)return 0;const r=i.dot(M),n=o*o-Math.max(s*s-r*r,0);if(n<=0)return s-o;const l=Math.sqrt(n),a=r-l,h=r+l;return a>=0?a:h>=0?h:0}updateLegTiltSimple(t,e,o,i,s){const r=this.footIkScratch,n=this.footIkHits,l=r.footWorldPos.setFromMatrixPosition(e.matrixWorld),a=this.computeFootVerticalSpeed(o,l,s),h=this.resolveFootAxes(t,e,this.footIkAxesScratch),c=this.resolveGroundSampleAxes(t,e,h,this.footIkSampleAxesScratch),d=r.centerRayStart.copy(l).addScaledVector(M,this.footIkRayStartHeight),p=r.toeRayStart.copy(d).addScaledVector(c.forward,this.footIkForwardSampleDistance),u=r.heelRayStart.copy(d).addScaledVector(c.forward,-this.footIkForwardSampleDistance),f=r.sideRayStart.copy(d).addScaledVector(c.right,this.footIkSideSampleDistance),g=this.getFirstGroundHit(d,n.center),m=this.getFirstGroundHit(p,n.toe),k=this.getFirstGroundHit(u,n.heel),S=this.getFirstGroundHit(f,n.side),w=r.desiredNormal.set(0,1,0),b=r.desiredForward.copy(c.forward);let v=0,L=0,x=this.footIkWeightOutSpeed;const I=null!=g||null!=m||null!=k;let B=l.y;null!=g?B=g.point.y:null!=m&&null!=k?B=.5*(m.point.y+k.point.y):null!=m?B=m.point.y:null!=k&&(B=k.point.y);const P=this.ikBoneRefs?.[t],R=this.ikLegLengths?.[t],F=null!=P&&null!=R?this.computeLegExtensionRatio(P,R):1,D=Math.max(0,l.y-B,l.y-o.targetPosition.y),A=this.shouldPlantFoot(o,!this.footIkRequireGrounded||i,I,a,F,D);A?this.computeDesiredGroundNormal(c,g,m,k,S,w)&&(this.computeDesiredFootForward(c.forward,c.right,w,m,k,b),v=this.computeDesiredPitchAngle(m,k,c.forward),L=1,x=this.footIkWeightInSpeed):this.computeDesiredFootForward(c.forward,c.right,w,null,null,b);const W=1-Math.exp(-this.footIkPositionLerpSpeed*s),T=1-Math.exp(-x*s);o.normal.lerp(w,W).normalize(),o.forward.lerp(b,W).normalize(),o.pitch=y.lerp(o.pitch,v,W),o.weight=y.lerp(o.weight,L,T),o.planted=A&&L>.001,this.updateFootSample(o,l),this.applySimpleFootPitch(t,e,o),this.updateLegDebug(t,{footWorldPos:l,centerRayStart:d,toeRayStart:p,heelRayStart:u,sideRayStart:f,centerHit:g,toeHit:m,heelHit:k,sideHit:S,desiredNormal:o.normal,desiredTargetPos:r.footWorldPos,weight:o.weight})}updateLegIkTarget(t,e,o,i,s,r,n){const l=this.footIkScratch,a=this.footIkHits,h=e.foot,c=l.footWorldPos.setFromMatrixPosition(h.matrixWorld),d=this.computeFootVerticalSpeed(s,c,n),p=this.resolveFootAxes(t,h,this.footIkAxesScratch),u=this.resolveGroundSampleAxes(t,h,p,this.footIkSampleAxesScratch),f=l.centerRayStart.copy(c).addScaledVector(M,this.footIkRayStartHeight),g=l.toeRayStart.copy(f).addScaledVector(u.forward,this.footIkForwardSampleDistance),m=l.heelRayStart.copy(f).addScaledVector(u.forward,-this.footIkForwardSampleDistance),k=l.sideRayStart.copy(f).addScaledVector(u.right,this.footIkSideSampleDistance),S=this.getFirstGroundHit(f,a.center),w=this.getFirstGroundHit(g,a.toe),b=this.getFirstGroundHit(m,a.heel),v=this.getFirstGroundHit(k,a.side),L=l.desiredTargetPos.copy(c),x=l.desiredNormal.set(0,1,0),I=l.desiredForward.copy(u.forward);let B=0,P=0,R=this.footIkWeightOutSpeed;const F=null!=S||null!=w||null!=b;let D=c.y;null!=S?D=S.point.y:null!=w&&null!=b?D=.5*(w.point.y+b.point.y):null!=w?D=w.point.y:null!=b&&(D=b.point.y);const A=this.computeLegExtensionRatio(e,o),W=Math.max(0,c.y-D,c.y-s.targetPosition.y),T=this.shouldPlantFoot(s,!this.footIkRequireGrounded||r,F,d,A,W);if(T){if(L.copy(c),this.computeDesiredGroundNormal(u,S,w,b,v,x)){this.computeDesiredFootForward(u.forward,u.right,x,w,b,I),B=this.computeDesiredPitchAngle(w,b,u.forward);const t=Math.max(0,Math.sin(B))*this.footIkForwardSampleDistance*.45,e=Math.max(this.footIkFootOffset+this.footIkExtraClearance,s.contactOffset);L.y=D+e+t,s.top&&(L.y-=this.ikPelvisOffsetY/2),P=1,R=this.footIkWeightInSpeed}}else this.computeDesiredFootForward(u.forward,u.right,x,null,null,I),L.copy(c),L.y+=this.footIkFootOffset;this.clampDesiredFootTarget(e,o,c,L);const C=1-Math.exp(-this.footIkPositionLerpSpeed*n),O=1-Math.exp(-R*n);s.targetPosition.lerp(L,C),s.normal.lerp(x,C).normalize(),s.forward.lerp(I,C).normalize(),s.pitch=y.lerp(s.pitch,B,C),s.weight=y.lerp(s.weight,P,O),s.planted=T&&P>.001,this.updateFootSample(s,c),this.setBoneWorldPosition(i,s.targetPosition),this.updateLegDebug(t,{footWorldPos:c,centerRayStart:f,toeRayStart:g,heelRayStart:m,sideRayStart:k,centerHit:S,toeHit:w,heelHit:b,sideHit:v,desiredNormal:x,desiredTargetPos:s.targetPosition,weight:s.weight})}updateLegDebug(t,e){if(!this.footIkDebug||null==this.ikDebugLegs||null==this.ikBoneRefs)return;const o=this.ikDebugLegs[t],i=this.ikBoneRefs[t],s=this.resolveFootAxes(t,i.foot,this.footIkAxesScratch),r=this.footIkScratch,n=e.centerHit?.point??r.debugRayEndA.copy(e.centerRayStart).addScaledVector(A,this.footIkRayLength),l=e.toeHit?.point??r.debugRayEndB.copy(e.toeRayStart).addScaledVector(A,this.footIkRayLength),a=e.heelHit?.point??r.debugRayEndC.copy(e.heelRayStart).addScaledVector(A,this.footIkRayLength),h=e.sideHit?.point??r.debugRayEndD.copy(e.sideRayStart).addScaledVector(A,this.footIkRayLength);this.setDebugArrow(o.rayCenter,e.centerRayStart,n),this.setDebugArrow(o.rayToe,e.toeRayStart,l),this.setDebugArrow(o.rayHeel,e.heelRayStart,a),this.setDebugArrow(o.raySide,e.sideRayStart,h);const c=e.centerHit?.point??e.toeHit?.point??e.heelHit?.point??e.sideHit?.point??e.footWorldPos;this.setDebugArrow(o.hitNormal,c,r.debugRayEndE.copy(c).addScaledVector(e.desiredNormal,this.footIkDebugNormalLength)),this.setDebugArrow(o.footUp,e.footWorldPos,r.debugRayEndF.copy(e.footWorldPos).addScaledVector(s.up,this.footIkDebugAxisLength*(.15+e.weight))),this.setDebugArrow(o.footToTarget,e.footWorldPos,e.desiredTargetPos)}getFirstGroundHit(t,e){return"physics"===this.footIkRaycastMode?this.rayTestDown(t,this.footIkRayLength,e)?e:null:"physicsThenRender"===this.footIkRaycastMode?this.rayTestDown(t,this.footIkRayLength,e)||this.raycastDownFirstValid(t,this.footIkRayLength,e)?e:null:this.raycastDownFirstValid(t,this.footIkRayLength,e)?e:null}resolveGroundSampleAxes(t,e,o,i){const s=o??this.resolveFootAxes(t,e),r=i??{forward:new p,right:new p},n=this.getCurrentWorldDirection(this.actor.object,V);n.addScaledVector(M,-n.dot(M)),n.lengthSq()<1e-8&&n.copy(s.forward).addScaledVector(M,-s.forward.dot(M)),n.lengthSq()<1e-8&&n.set(0,0,1),n.normalize();const l=U.crossVectors(M,n);return l.lengthSq()<1e-8?l.copy(s.right):l.normalize(),l.dot(s.right)<0&&l.multiplyScalar(-1),r.forward.copy(n),r.right.copy(l),r}computeDesiredGroundNormal(t,e,o,i,s,r){const n=this.computeAverageHitNormal(e,o,i,s,V);let l=!1,a=0,h=0;if(null!=o&&null!=i){const e=O.subVectors(o.point,i.point).dot(t.forward);Math.abs(e)>1e-5&&(a=(o.point.y-i.point.y)/e,l=!0)}if(null!=s&&null!=e){const o=q.subVectors(s.point,e.point).dot(t.right);Math.abs(o)>1e-5&&(h=(s.point.y-e.point.y)/o,l=!0)}if(l&&(r.copy(M),r.addScaledVector(t.forward,-a),r.addScaledVector(t.right,-h),r.lengthSq()>1e-8?r.normalize():l=!1),l)null!=n&&r.dot(n)<0&&r.multiplyScalar(-1);else{if(null==n)return!1;r.copy(n),l=!0}return r.dot(M)<0&&r.multiplyScalar(-1),this.clampSlopeNormal(r),!0}computeAverageHitNormal(t,e,o,i,s){s.set(0,0,0);let r=0;return null!=t&&t.hasNormal&&(s.add(t.normal),r++),null!=e&&e.hasNormal&&(s.add(e.normal),r++),null!=o&&o.hasNormal&&(s.add(o.normal),r++),null!=i&&i.hasNormal&&(s.add(i.normal),r++),0===r||s.lengthSq()<1e-8?null:(s.multiplyScalar(1/r).normalize(),s)}computeDesiredFootForward(t,e,o,i,s,r){null!=i&&null!=s?r.subVectors(i.point,s.point):r.copy(t),r.addScaledVector(o,-r.dot(o)),r.lengthSq()<1e-8&&(r.copy(this.getCurrentWorldDirection(this.actor.object,V)),r.addScaledVector(o,-r.dot(o))),r.lengthSq()<1e-8&&r.crossVectors(o,e),r.lengthSq()<1e-8&&r.set(0,0,1),r.normalize();const n=V.copy(this.getCurrentWorldDirection(this.actor.object,V));n.addScaledVector(o,-n.dot(o)),n.lengthSq()<1e-8&&(n.copy(t),n.addScaledVector(o,-n.dot(o))),n.lengthSq()>1e-8&&n.normalize(),r.dot(n)<0&&r.multiplyScalar(-1)}computeDesiredPitchAngle(t,e,o){if(null==t||null==e)return 0;const i=O.subVectors(t.point,e.point),s=Math.abs(i.dot(o));if(s<1e-5)return 0;const r=t.point.y-e.point.y,n=y.degToRad(this.footIkMaxSlopeAngleDeg);return y.clamp(-Math.atan2(r,s),-n,n)}applySimpleFootPitch(t,e,o){if(null==e.parent||o.weight<=.001)return;const i=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),s=o.pitch*o.weight;if(Math.abs(s)<=1e-5)return;const r=this.resolveLocalPitchSign(i),n=E.copy(e.quaternion),l=N.setFromAxisAngle(i.rightLocal,s*r);e.quaternion.copy(n.multiply(l))}resolveLocalPitchSign(t){const e=H.setFromAxisAngle(t.rightLocal,.15);return q.copy(t.upLocal).applyQuaternion(e).sub(t.upLocal).dot(t.forwardLocal)>=0?1:-1}clampDesiredFootTarget(t,e,o,i){const s=O.subVectors(i,o),r=s.dot(M),n=q.copy(s).addScaledVector(M,-r),l=n.length();l>this.footIkMaxHorizontalOffset&&l>1e-6&&n.multiplyScalar(this.footIkMaxHorizontalOffset/l);const a=y.clamp(r,-this.footIkMaxVerticalOffsetDown,this.footIkMaxVerticalOffsetUp);if(i.copy(o),i.add(n),i.addScaledVector(M,a),this.footIkPelvisEnabled)return;const h=t.upper.getWorldPosition(C).clone(),c=O.subVectors(i,h),d=c.length(),p=.995*e.total;d>p&&d>1e-6&&i.copy(h).addScaledVector(c,p/d)}solveTwoBoneLeg(t,e,o){const i=e.upper.getWorldPosition(C).clone(),s=e.lower.getWorldPosition(O).clone(),r=e.foot.getWorldPosition(q).clone(),n=i.distanceTo(s),l=s.distanceTo(r);if(n<1e-5||l<1e-5)return;const a=(new p).subVectors(o,i),h=a.length();if(h<1e-5)return;const c=Math.abs(n-l)+1e-4,d=n+l-1e-4,u=y.clamp(h,c,d),f=a.multiplyScalar(1/h),g=(new p).subVectors(s,i).normalize(),m=(new p).subVectors(r,s).normalize(),k=(new p).crossVectors(g,m);k.lengthSq()<1e-8&&(k.copy(this.getCurrentWorldDirection(this.actor.object,C).cross(M)),k.lengthSq()<1e-8&&k.set(1,0,0)),k.normalize();const S=(u*u+n*n-l*l)/(2*u),w=Math.max(n*n-S*S,0),b=Math.sqrt(w),v=(new p).copy(i).addScaledVector(f,S);let L=(new p).crossVectors(k,f);L.lengthSq()<1e-8&&(L=(new p).crossVectors(f,M),L.lengthSq()<1e-8&&(L=new p(1,0,0))),L.normalize();const x=(new p).copy(v).addScaledVector(L,b),I=(new p).copy(v).addScaledVector(L,-b),B=(new p).subVectors(s,v).dot(L)>=0?x:I;this.rotateBoneToward(e.upper,i,s,B),e.upper.updateMatrixWorld(!0);const P=e.lower.getWorldPosition(O),R=e.foot.getWorldPosition(q);this.rotateBoneToward(e.lower,P,R,o),e.lower.updateMatrixWorld(!0),this.updateSolveDebug(t,i,B,o)}updateSolveDebug(t,e,o,i){if(!this.footIkDebug||null==this.ikDebugLegs)return;const s=this.ikDebugLegs[t];this.setDebugArrow(s.solveUpper,e,o),this.setDebugArrow(s.solveLower,o,i)}rotateBoneToward(t,e,o,i){const s=(new p).subVectors(o,e),r=(new p).subVectors(i,e);if(s.lengthSq()<1e-10||r.lengthSq()<1e-10)return;if(s.normalize(),r.normalize(),s.dot(r)>.9999)return;const n=(new g).setFromUnitVectors(s,r),l=this.getCurrentWorldQuaternion(t,E),a=N.copy(n).multiply(l);if(null==t.parent)return void t.quaternion.copy(a);const h=this.getCurrentWorldQuaternion(t.parent,H),c=z.copy(h).invert().multiply(a);t.quaternion.copy(c)}detectFootAxisBasis(t){const e=this.getCurrentWorldQuaternion(t,E),o=this.getCurrentWorldDirection(this.actor.object,C);o.lengthSq()<1e-6&&o.set(0,0,1),o.normalize();const i=[{local:G.clone(),world:G.clone().applyQuaternion(e)},{local:_.clone(),world:_.clone().applyQuaternion(e)},{local:$.clone(),world:$.clone().applyQuaternion(e)}];i.push({local:G.clone().multiplyScalar(-1),world:G.clone().multiplyScalar(-1).applyQuaternion(e)}),i.push({local:_.clone().multiplyScalar(-1),world:_.clone().multiplyScalar(-1).applyQuaternion(e)}),i.push({local:$.clone().multiplyScalar(-1),world:$.clone().multiplyScalar(-1).applyQuaternion(e)});let s=i[0],r=-1/0;for(const t of i){const e=t.world.dot(M);e>r&&(r=e,s=t)}let n=i[0],l=-1/0;for(const t of i){if(Math.abs(t.world.dot(s.world))>.6)continue;const e=Math.abs(t.world.dot(o));e>l&&(l=e,n=t)}n.world.dot(o)<0&&(n={local:n.local.clone().multiplyScalar(-1),world:n.world.clone().multiplyScalar(-1)});const a=s.local.clone().normalize(),h=n.local.clone().normalize(),c=a.clone().cross(h).normalize();return{upLocal:a,forwardLocal:c.clone().cross(a).normalize(),rightLocal:c}}resolveFootAxes(t,e,o){const i=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),s=o??{up:new p,forward:new p,right:new p},r=this.getCurrentWorldQuaternion(e,E);return s.up.copy(i.upLocal).applyQuaternion(r).normalize(),s.forward.copy(i.forwardLocal).applyQuaternion(r).normalize(),s.right.copy(i.rightLocal).applyQuaternion(r).normalize(),s}getCurrentWorldQuaternion(t,e){return t.matrixWorld.decompose(U,e,V),e}getCurrentWorldDirection(t,e){const o=t.matrixWorld.elements;return e.set(o[8],o[9],o[10]).normalize()}clampSlopeNormal(t){const e=y.clamp(t.dot(M),-1,1),o=Math.acos(e),i=y.degToRad(this.footIkMaxSlopeAngleDeg);if(o<=i||o<1e-5)return;const s=i/o;t.lerpVectors(M,t,s).normalize()}blendLegAfterSolve(t,e,o){if(!(o>=.999)){if(o<=.001)return t.upper.quaternion.copy(e.upper),t.lower.quaternion.copy(e.lower),void t.foot.quaternion.copy(e.foot);this.blendBoneQuaternion(t.upper,e.upper,o),this.blendBoneQuaternion(t.lower,e.lower,o),this.blendBoneQuaternion(t.foot,e.foot,o)}}blendBoneQuaternion(t,e,o){E.copy(t.quaternion),t.quaternion.copy(e).slerp(E,o)}alignFootToGroundNormal(t,e,o,i){if(o.weight<=.001||null==e.parent)return;const s=this.ikFootAxes?.[t]??this.detectFootAxisBasis(e),r=C.copy(o.normal).normalize(),n=O.copy(o.forward);if(n.addScaledVector(r,-n.dot(r)),n.lengthSq()<1e-8){const o=this.resolveFootAxes(t,e);n.copy(o.forward).addScaledVector(r,-o.forward.dot(r))}if(n.lengthSq()<1e-8)return;n.normalize();const l=q.crossVectors(r,n);if(l.lengthSq()<1e-8)return;l.normalize(),n.copy(V.crossVectors(l,r)).normalize(),j.makeBasis(s.rightLocal,s.upLocal,s.forwardLocal),E.setFromRotationMatrix(j),Q.makeBasis(l,r,n),N.setFromRotationMatrix(Q);const a=H.copy(N).multiply(z.copy(E).invert()),h=this.getCurrentWorldQuaternion(e.parent,z),c=N.copy(h).invert().multiply(a),d=(1-Math.exp(-this.footIkRotationLerpSpeed*i))*o.weight;e.quaternion.slerp(c,y.clamp(d,0,1))}getMixer(){return this.mixer}beginExternalControl(){this.externalControlActive=!0}endExternalControl(){this.externalControlActive=!1}stopSequenceAnimation(){this.currentFullBodyPriority=-1,this.externalControlActive=!1,this.sequenceAnimationControlled=!1,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0,this.upperBodyOverride=!1,this.overrideFadeTimeUpper=null,this.fullBodyTimer=0}requestSequenceAnimationRelease(){this.externalControlActive=!1,this.sequenceAnimationControlled=!1,this.currentFullBodyPriority=-1,this.sequenceAnimationReleasePending=!0,this.sequenceAnimationReleaseFrames=1,this.upperBodyOverride=!1,this.overrideFadeTimeUpper=null}cancelRootMotionAction(t){null!=t&&this.fullBodyAction!==t||(this.currentFullBodyPriority=-1,this.externalControlActive=!1,this.fullBodyAction?.stop(),this.fullBodyAction=null,this.fullBodyTimer=0)}beginExternalAnimationControl(t,e={}){it(null!=this.mixer,"Can't begin external control before setup is called"),this.assertClipRigCompatible(t),this.mixer.stopAllAction(),this.currentFullBodyPriority=99,this.fullBodyTimer=0;const o=this.mixer.clipAction(t);return o.setLoop(c,1),o.clampWhenFinished=!0,o.timeScale=e.timeScale??1,o.reset(),o.play(),this.fullBodyAction=o,this.externalControlActive=!0,o}syncMovementSpeed(t){if(null!=t){const e=t.getClip();if(e instanceof s&&e.fixedInPlace&&null!=this.movementSpeed){t.timeScale=e.duration/e.displacement*this.movementSpeed;const o=this.mixer.getRoot();o instanceof h&&(t.timeScale/=o.scale.x)}}}playStateMachine(t){this.stateMachines.push(t)}playUpperStateMachine(t){this.upperStateMachines.push(t)}removeStateMachine(t){const e=this.stateMachines.indexOf(t);e>=0&&this.stateMachines.splice(e,1)}removeUpperStateMachine(t){const e=this.upperStateMachines.indexOf(t);e>=0&&this.upperStateMachines.splice(e,1)}playUpper(t,e={}){this.assertClipRigCompatible(t);const o=e?.priority??1;o<this.currentUpperBodyPriority||(this.currentUpperBodyPriority=o,this.upperBodyAction=this.transition(this.upperBodyAction,this.getUpperBodyClip(t),e),this.upperBodyAction.timeScale=e?.timeScale??1,this.upperBodyTimer=0,this.upperBodyOverride=!0,this.overrideFadeTimeUpper=e.fadeTime)}play(t,e={}){it(null!=this.mixer,"Can't play animation before setup is called"),this.assertClipRigCompatible(t);const o=e.priority??1;o<this.currentFullBodyPriority||(this.currentFullBodyPriority=o,this.fullBodyTimer=0,e.sequenceControlled&&(this.sequenceAnimationControlled=!0,this.sequenceAnimationReleasePending=!1,this.sequenceAnimationReleaseFrames=0),this.upperBodyOverride||(this.upperBodyAction=this.transition(this.upperBodyAction,this.getUpperBodyClip(t),e),this.upperBodyAction.timeScale=e?.timeScale??1),this.fullBodyClip=t,this.fullBodyAction=this.transition(this.fullBodyAction,this.getFullBodyClip(t),e),this.fullBodyAction.timeScale=e?.timeScale??1,this.fullBodyAction.getClip().uuid==this.upperBodyAction.getClip().uuid&&this.upperBodyAction.syncWith(this.fullBodyAction),this.overrideFadeTime=e.fadeTime)}assertClipRigCompatible(t){const e=B(t);if(e===this.animationRigId||null==e&&null==this.animationRigId)return;const o=`${t.uuid}|${e??""}|${this.animationRigId??""}`;if(!lt.has(o)){if(lt.add(o),null==e||null==this.animationRigId)return void console.warn(`Animation clip "${t.name}" or its character has no rig assigned. Playing without rig compatibility validation for legacy compatibility.`);console.warn(`Animation clip "${t.name}" targets rig ${e??"no rig"}, but this character uses rig ${this.animationRigId??"no rig"}. Generate and assign a retargeted clip for the character rig.`)}}onActionDone(t){return new Promise(e=>{const o=i=>{i.action===t&&(e(i.action),this.mixer.removeEventListener("finished",o))};this.mixer.addEventListener("finished",o)})}transition(t,e,o={}){const s=o?.fadeTime??this.fadeTime;if(null!=t&&t.getClip().uuid===e.uuid)return t.isRunning()||!1!==o.loop||!t.clampWhenFinished||o.sequenceControlled?(t.isRunning()||(t.reset(),null!=o.offset&&(t.time=o.offset),t.enabled=!0,t.weight=1,t.setEffectiveWeight(1),t.setEffectiveTimeScale(1),t.play(),!1===o.loop&&(t.setLoop(c,1),t.clampWhenFinished=!0)),t):t;if(i(t)){const i=t,r=this.mixer.clipAction(e);r.reset(),null!=o.offset&&(r.time=o.offset),r.play(),r.enabled=!0,r.setEffectiveTimeScale(1),r.weight=1,i.crossFadeTo(r,s,!1),t=r}else(t=this.mixer.clipAction(e)).reset(),null!=o.offset&&(t.time=o.offset),t.enabled=!0,t.weight=1,t.setEffectiveWeight(1),t.setEffectiveTimeScale(1),t.play();return!1===o.loop&&(t.setLoop(c,1),t.clampWhenFinished=!0),t}};tt=t([o({inEditor:!0})],tt);export{tt as CharacterAnimationComponent};function et(t,e){if(null==t)return e;const o=e.clone();D(o,B(e));const i=new Set(t.map(t=>t.name));return o.tracks=o.tracks.filter(t=>i.has(t.name.split(".")[0])),o}function ot(t){return t.flatMap(t=>function(t){const e=[];return t.traverse(t=>{e.push(t)}),e}(t)).filter(t=>t instanceof a)}function it(t,e){if(!1===t||"function"==typeof t&&!1===t())throw new Error(e)}function st(t,e){const o=new Map;return(i,...s)=>{const r=t(i);return o.has(r)||o.set(r,e(i,...s)),o.get(r)}}function rt(t){let e;return t.traverse(t=>{(t instanceof a||t.isBone)&&null==e&&(e=t)}),e}function nt(t,e){let o=e;for(;null!=o;){if(o===t)return!0;o=o.parent}return!1}const lt=new Set;/*
  * Copyright (©) 2026 Hology Interactive AB. All rights reserved.
  * See the LICENSE.md file for details.
  */

package/dist/gameplay/initiate.js

@@ -1,4 +1,4 @@
-import e from"typedi";import{loadScene as t}from"../scene/bootstrap.js";import{ActorFactory as n}from"./actors/factory.js";import{World as s}from"./services/world.js";import{SceneMaterializer as o}from"../scene/materializer.js";import{ViewController as r}from"./services/render.js";import{RenderingView as i}from"../rendering.js";import{PhysicsSystem as a}from"./services/physics/physics-system.js";import{MeshComponent as c}from"./actors/builtin/components/mesh-component.js";import{builtInComponents as d}from"./actors/builtin/components/index.js";import{activeContainerInstance as m}from"./actors/internal/container-map.js";import{InputService as l}from"./input/index.js";import{RuntimeAssetsService as p}from"../scene/runtime-asset-service.js";import{AssetResourceLoader as u}from"../scene/asset-resource-loader.js";import{AssetLoader as h}from"./services/asset-loader.js";import{polyfillClient as g}from"./polyfill.js";import{Subject as f}from"rxjs";import{PointerEvents as w}from"./services/pointer-events.js";import{RuntimeBundledBackendService as b}from"../scene/runtime-bundled-backend-service.js";import{Scene as v}from"three";import{ShaderProvider as j}from"./services/shader-provider.js";import{SceneDataService as S}from"../scene/scene-data-service.js";import{NetMode as x}from"./net/net-session.js";import{AssetsProvider as y}from"../scene/assets-provider.js";export function initiateGame(f,w){if(g(),0!=w.element.childNodes.length)return console.error("Can not initialize the game with a non-empty html element"),null;e.has(r);const I=e.of("default"),P=new HologyRuntime(I),G=new n(I,{inEditor:!1});var E;G.classes=w.actors,e.set(n,G),E=w.element,Object.assign(E.style,{position:"absolute",top:"0",left:"0",width:"100%",height:"100%",overflow:"hidden"});const R=new i(w.element,{backend:w.rendering?.backend??"webgpu-experimental",enableXR:!0===w.xr?.enabled,maxPixelRatio:w.rendering?.maxPixelRatio,resolutionScale:w.rendering?.resolutionScale,dynamicResolution:w.rendering?.dynamicResolution,upscaling:w.rendering?.upscaling,webgpuPostProcessing:w.rendering?.webgpuPostProcessing,webgpuVfx:w.rendering?.webgpuVfx??"auto",msaa:w.rendering?.msaa,fpsCap:w.rendering?.fpsCap,depthPrepass:{enabled:!0===w.rendering?.depthPrepass?.enabled},bloom:{enabled:!1!==w?.rendering?.bloom?.enabled},reflection:{enabled:!1!==w?.rendering?.reflection?.enabled},occlusionCulling:{enabled:!1!==w?.rendering?.occlusionCulling?.enabled},shadows:{cascadeUpdateIntervals:[22,40,60,120]}});R.renderer.shadowMap.enabled=w.rendering?.shadows?.enabled??!0,R.renderer.shadowMap.autoUpdate=w.rendering?.shadows?.autoUpdate??!0,R.renderer.debug.checkShaderErrors=!1,e.set(i,R);const k=new r(R);e.set(r,k);const C=new b,D=new p(C),M=new u;M.setDataDir(w.dataDir),M.initKtx2(R.renderer);const z=Object.entries(w.shaders).map(([e,t])=>({name:e,type:t})),A=Object.entries(w.actors).map(([e,t])=>({name:e,type:t})),O={...d,...w.components??{}},U=Object.entries(O).map(([e,t])=>({name:e,type:t})),F=new j(z);e.set(j,F);const H=new h(M,D,z);e.set(y,D),e.set(u,M),e.set(h,H);const N=new v,T=new o(N,new S,D,M,R,z,A,G,U);T.inEditor=!1,T.netMode=w.multi?.session?.mode??x.none,e.set(o,T);const W=e.get(s);return e.set(s,W),W.materializer=T,(async()=>{const n=e.get(a);if(await n.start(),P.isShutdown)return;if(await C.preloadData(),P.isShutdown)return;if(W.scene=N,null!=w.multi?.session){const{NetService:e}=await import("./net/service/net-service.js"),t=I.get(e);t.session=w.multi.session,t.start(),P.shutdownStarted.subscribe(()=>t.stop())}const{scene:s,actors:o,materializer:r}=await t(R,w.sceneName,w.dataDir,w.shaders,w.actors,O,G,C,D,M,{detailTier:w.detailTier,nodeMode:w.multi?.session?.mode??x.none});W.scene=s,n.scene=W.scene;for(const e of N.children)W.scene.add(e);if(P.isShutdown)return void R.stop();e.import([c]);for(const e of o)W.addActor(e);n.addFromScene(s),await W.startSceneEventGraphs(r),m.value=I,I.remove(f),I.set({id:f,type:f});const i=I.get(f);if(m.value=null,P.gameInstance=i,i instanceof GameInstance&&await i.onPreload(),P.isShutdown)return void R.stop();console.log("Start compile shaders"),console.time("compile shaders"),await R.compileAsync(),console.timeEnd("compile shaders"),"webgpu-experimental"===R.activeBackend?console.log("Finished compiling the experimental WebGPU scene."):console.log("Finished compile shaders. Programs: ",R.renderer.info.programs?.length??0),console.log("Start init scene textures"),console.time("init scene textures"),R.initTextures(),console.timeEnd("init scene textures");const d=I.get(l);R.loop(e=>{d.update(e)}),P.status=5,P.shutdownStarted.subscribe(()=>{M.disposeAll()}),i instanceof GameInstance&&await i.onStart(),P._resolver(!0)})(),P}export class GameInstance{onPreload(){}onStart(){}onShutdown(){}}export function createHologyScene(){}export class HologyRuntime{constructor(e){this.containerInstance=e,this.status=0,this.isShutdown=!1,this.shutdownStarted=new f,this.ready=new Promise(e=>{this._resolver=e})}getWorld(){return this.containerInstance.get(s)}getService(e){return this.containerInstance.get(e)}shutdown(){this.isShutdown=!0;const e=this.shutdownStarted;e.next(),e.complete(),this.gameInstance instanceof GameInstance&&this.gameInstance.onShutdown(),this.containerInstance.get(l).stop();const t=this.containerInstance.get(i);t?.stop();const n=this.getWorld();n.stopSceneEventGraphs();const s=this.containerInstance.get(r);s.setMuted(!0),s.dispose();for(const e of[...n.actors])n.removeActor(e);this.containerInstance.get(a).stop(),this.containerInstance.get(o).dispose();const c=this.containerInstance.get(y);c instanceof p&&c.dispose(),this.containerInstance.get(w).stop(),this.containerInstance.reset(),this.shutdownStarted.complete()}}/*
+import e from"typedi";import{loadScene as t}from"../scene/bootstrap.js";import{ActorFactory as n}from"./actors/factory.js";import{World as s}from"./services/world.js";import{SceneMaterializer as o}from"../scene/materializer.js";import{ViewController as r}from"./services/render.js";import{RenderingView as i}from"../rendering.js";import{PhysicsSystem as a}from"./services/physics/physics-system.js";import{MeshComponent as c}from"./actors/builtin/components/mesh-component.js";import{builtInComponents as d}from"./actors/builtin/components/index.js";import{activeContainerInstance as m}from"./actors/internal/container-map.js";import{InputService as l}from"./input/index.js";import{RuntimeAssetsService as p}from"../scene/runtime-asset-service.js";import{AssetResourceLoader as u}from"../scene/asset-resource-loader.js";import{AssetLoader as h}from"./services/asset-loader.js";import{polyfillClient as g}from"./polyfill.js";import{Subject as f}from"rxjs";import{PointerEvents as w}from"./services/pointer-events.js";import{RuntimeBundledBackendService as b}from"../scene/runtime-bundled-backend-service.js";import{Scene as v}from"three";import{ShaderProvider as j}from"./services/shader-provider.js";import{SceneDataService as x}from"../scene/scene-data-service.js";import{NetMode as S}from"./net/net-session.js";import{AssetsProvider as y}from"../scene/assets-provider.js";import{GpuVfxWorldService as I}from"../effects/vfx/gpu-vfx-world-service.js";export function initiateGame(f,w){if(g(),0!=w.element.childNodes.length)return console.error("Can not initialize the game with a non-empty html element"),null;e.has(r);const P=e.of("default"),G=new HologyRuntime(P),D=new n(P,{inEditor:!1});var k;D.classes=w.actors,e.set(n,D),k=w.element,Object.assign(k.style,{position:"absolute",top:"0",left:"0",width:"100%",height:"100%",overflow:"hidden"});const W=new i(w.element,{backend:w.rendering?.backend??"webgpu-experimental",enableXR:!0===w.xr?.enabled,maxPixelRatio:w.rendering?.maxPixelRatio,resolutionScale:w.rendering?.resolutionScale,dynamicResolution:w.rendering?.dynamicResolution,upscaling:w.rendering?.upscaling,webgpuPostProcessing:w.rendering?.webgpuPostProcessing,webgpuVfx:w.rendering?.webgpuVfx??"auto",msaa:w.rendering?.msaa,fpsCap:w.rendering?.fpsCap,depthPrepass:{enabled:!0===w.rendering?.depthPrepass?.enabled},bloom:{enabled:!1!==w?.rendering?.bloom?.enabled},reflection:{enabled:!1!==w?.rendering?.reflection?.enabled},occlusionCulling:{enabled:!1!==w?.rendering?.occlusionCulling?.enabled},shadows:{cascadeUpdateIntervals:[22,40,60,120]}});W.renderer.shadowMap.enabled=w.rendering?.shadows?.enabled??!0,W.renderer.shadowMap.autoUpdate=w.rendering?.shadows?.autoUpdate??!0,W.renderer.debug.checkShaderErrors=!1,e.set(i,W);const E=new r(W);e.set(r,E);const R=new b,A=new p(R),C=new u;C.setDataDir(w.dataDir),C.initKtx2(W.renderer);const M=Object.entries(w.shaders).map(([e,t])=>({name:e,type:t})),z=Object.entries(w.actors).map(([e,t])=>({name:e,type:t})),F={...d,...w.components??{}},O=Object.entries(F).map(([e,t])=>({name:e,type:t})),U=new j(M);e.set(j,U);const q=new h(C,A,M);e.set(y,A),e.set(u,C),e.set(h,q);const H=new v,N=new o(H,new x,A,C,W,M,z,D,O);N.inEditor=!1,N.netMode=w.multi?.session?.mode??S.none,e.set(o,N);const T=e.get(s);return e.set(s,T),T.materializer=N,(async()=>{const n=e.get(a);if(await n.start(),G.isShutdown)return;if(await R.preloadData(),G.isShutdown)return;if(T.scene=H,null!=w.multi?.session){const{NetService:e}=await import("./net/service/net-service.js"),t=P.get(e);t.session=w.multi.session,t.start(),G.shutdownStarted.subscribe(()=>t.stop())}const{scene:s,actors:o,materializer:r}=await t(W,w.sceneName,w.dataDir,w.shaders,w.actors,F,D,R,A,C,{detailTier:w.detailTier,nodeMode:w.multi?.session?.mode??S.none});T.scene=s,n.scene=T.scene;for(const e of H.children)T.scene.add(e);if(G.isShutdown)return void W.stop();e.import([c]);for(const e of o)T.addActor(e);n.addFromScene(s),await T.startSceneEventGraphs(r),m.value=P,P.remove(f),P.set({id:f,type:f});const i=P.get(f);if(m.value=null,G.gameInstance=i,i instanceof GameInstance&&await i.onPreload(),G.isShutdown)return void W.stop();if(console.log("Start compile shaders"),console.time("compile shaders"),await W.compileAsync(),console.timeEnd("compile shaders"),"webgpu-experimental"===W.activeBackend?console.log("Finished compiling the experimental WebGPU scene."):console.log("Finished compile shaders. Programs: ",W.renderer.info.programs?.length??0),console.log("Start init scene textures"),console.time("init scene textures"),W.initTextures(),console.timeEnd("init scene textures"),"webgpu-experimental"===W.activeBackend){const e=P.get(I).beginPipelineWarmup();try{W.render(0),await(W.experimentalWebGpuDevice?.queue.onSubmittedWorkDone())}finally{e()}W.render(0),await(W.experimentalWebGpuDevice?.queue.onSubmittedWorkDone()),await new Promise(e=>requestAnimationFrame(()=>e()))}const d=P.get(l);W.loop(e=>{d.update(e)}),G.status=5,G.shutdownStarted.subscribe(()=>{C.disposeAll()}),i instanceof GameInstance&&await i.onStart(),G._resolver(!0)})(),G}export class GameInstance{onPreload(){}onStart(){}onShutdown(){}}export function createHologyScene(){}export class HologyRuntime{constructor(e){this.containerInstance=e,this.status=0,this.isShutdown=!1,this.shutdownStarted=new f,this.ready=new Promise(e=>{this._resolver=e})}getWorld(){return this.containerInstance.get(s)}getService(e){return this.containerInstance.get(e)}shutdown(){this.isShutdown=!0;const e=this.shutdownStarted;e.next(),e.complete(),this.gameInstance instanceof GameInstance&&this.gameInstance.onShutdown(),this.containerInstance.get(l).stop();const t=this.containerInstance.get(i);t?.stop();const n=this.getWorld();n.stopSceneEventGraphs();const s=this.containerInstance.get(r);s.setMuted(!0),s.dispose();for(const e of[...n.actors])n.removeActor(e);this.containerInstance.get(a).stop(),this.containerInstance.get(o).dispose();const c=this.containerInstance.get(y);c instanceof p&&c.dispose(),this.containerInstance.get(w).stop(),this.containerInstance.reset(),this.shutdownStarted.complete()}}/*
  * Copyright (©) 2026 Hology Interactive AB. All rights reserved.
  * See the LICENSE.md file for details.
  */

package/dist/gameplay/services/physics/physics-system.d.ts

@@ -195,6 +195,7 @@ export declare class PhysicsSystem extends AbstractPhysicsSystem {
      * @private
      */
     private updatePhysics;
+    private readonly handleCollisionEvent;
     /**
      * Performs a raycast test from the camera's perspective.
      * @param distance - Maximum distance of the raycast

package/dist/gameplay/services/physics/physics-system.js

@@ -1,4 +1,4 @@
-import{__decorate as t,__metadata as e}from"tslib";import*as i from"@dimforge/rapier3d-simd-compat";import{QueryFilterFlags as s}from"@dimforge/rapier3d-simd-compat";import{BehaviorSubject as o,distinctUntilChanged as n,filter as r,map as a,Subject as l,takeUntil as c}from"rxjs";import*as d from"three";import{ArrowHelper as h,BufferAttribute as u,BufferGeometry as p,Group as y,LineSegments as g,Matrix4 as m,Object3D as b,Quaternion as f,Raycaster as w,Scene as x,Vector3 as v}from"three";import*as B from"three/examples/jsm/utils/BufferGeometryUtils.js";import{Service as D}from"typedi";import{ActorComponent as S,Component as A}from"../../../gameplay/actors/component.js";import{inject as C}from"../../../gameplay/inject.js";import{BoxCollisionShape as R,CapsuleCollisionShape as M,ConeCollisionShape as E,ConvexPolyhedronCollisionShape as T,CylinderCollisionShape as z,PhysicalShapeMesh as P,PlaneCollisionShape as F,SphereCollisionShape as _,toInstancedCollisionShape as I,TrimeshCollisionShape as j}from"../../../scene/collision/collision-shape.js";import{AssetMeshInstance as W}from"../../../scene/asset-resource-loader.js";import{LandscapeGroup as N}from"../../../scene/landscape/landscape.js";import{calculateEffectiveScale as k}from"../../../utils/three/traverse.js";import{ViewController as L}from"../render.js";import{World as V}from"../world.js";import{AbstractPhysicsSystem as O}from"./abstract-physics-system.js";import{NetRole as U}from"../../net/index.js";export{ActorComponent,attach,Attach,Component}from"../../actors/component.js";export class RayTestResult{constructor(){this.hasHit=!1,this.hitPoint=new v,this.hitNormal=new v}}export class ShapeCastResult{constructor(){this.hasHit=!1,this.hitPoint=new v,this.normal=new v}reset(){this.actor=void 0,this.hasHit=!1,this.distance=0,this.hitPoint.set(0,0,0),this.normal.set(0,0,0)}}ShapeCastResult.shared=new ShapeCastResult;export var PhysicsBodyType;!function(t){t[t.dynamic=1]="dynamic",t[t.static=2]="static",t[t.kinematic=4]="kinematic",t[t.kinematicVelocityBased=8]="kinematicVelocityBased"}(PhysicsBodyType||(PhysicsBodyType={}));const G=new v,K=new v,X=new f,q=new f,H=new f;let Q=class extends O{set showDebug(t){this.shouldRenderDebug=t,t||this.clearRayDebugArrows(),this.debugMesh&&(this.debugMesh.visible=t),this.staticDebugMesh&&(this.staticDebugMesh.visible=t)}get showDebug(){return this.shouldRenderDebug}constructor(){super(),this.staticMeshes=new Map,this.staticBodies=new Map,this.actorBodies=new Map,this.bodyActors=new Map,this.colliders=new Map,this.rayDebugArrowPool=[],this.activeRayDebugArrows=[],this.nonFixedBodies=new Set,this.collisionEvents=new l,this.beforeStep=new l,this.afterStep=new l,this.shouldRenderDebug=!1,this.viewController=C(L),this.shapeCacheBox=new Map,this.shapeCacheBall=new Map,this.staticDebugNeedsUpdate=!0,this.invalidateStaticDebug=()=>{this.staticDebugNeedsUpdate=!0},this._raycaster=new w,this._reusableResult=new RayTestResult,this._raytestDiff=new v,this._raytestDirection=new v,this.controlledActors=new Set,this._isStopped=!1,this.ready=this.setup()}getBallShape(t){let e=this.shapeCacheBall.get(t);return null==e&&(e=new this.rapier.Ball(t),this.shapeCacheBall.set(t,e)),e}getBoxShape(t,e,i){const s=t+1e6*e+1e12*i;let o=this.shapeCacheBox.get(s);return null==o&&(o=new this.rapier.Cuboid(t,e,i),this.shapeCacheBox.set(s,o)),o}hasBoxIntersection(t){const e=t.getCenter(G),i=t.getSize(K),s=this.getBoxShape(i.x/2,i.y/2,i.z/2);return null!=this.world.intersectionWithShape(e,X,s)}hasSphereIntersection(t){const e=this.getBallShape(t.radius);return null!=this.world.intersectionWithShape(t.center,X,e)}findActorsInRadius(t,e,i){const s=this.getBallShape(e),o=[];for(const[e,n]of this.bodyActors)if(null==i||n instanceof i)for(let i=0,r=e.numColliders();i<r;i++){e.collider(i).intersectsShape(s,t,X)&&o.push(n)}return o}createDebugMesh(){const t=new g(new p,new d.LineBasicMaterial({color:255}));return t.frustumCulled=!1,t}updateDebugMesh(t,e){const i=t.geometry,s=i.getAttribute("position");if(null==s||s.array.length<e.length){null!=s&&i.dispose();const t=new Float32Array(e.length);t.set(e);const o=new u(t,3);o.setUsage(d.DynamicDrawUsage),i.setAttribute("position",o)}else e.length>0&&(s.array.set(e),s.clearUpdateRanges(),s.addUpdateRange(0,e.length),s.needsUpdate=!0);i.setDrawRange(0,e.length/3)}async start(){return await this.ready,this.handleTick(),this.handleCollisionEvents(),this.ready}handleCollisionEvents(){this.collisionSub=this.collisionEvents.subscribe(t=>{const e=this.colliders.get(t.handle1);if(null==e)return;const i=this.world.getCollider(t.handle2);if(null==i||null==i.parent())return;const s=this.bodyActors.get(i.parent());null!=s&&(t.started?e.onBeginOverlapActor.next({actor:s}):e.onEndOverlapActor.next({actor:s}))})}renderDebug(){if(null==this.scene)return;if(null==this.staticDebugMesh&&(this.staticDebugMesh=this.createDebugMesh(),this.staticDebugMesh.visible=this.shouldRenderDebug,this.staticDebugMesh.raycast=function(){},this.scene.add(this.staticDebugMesh)),null==this.debugMesh&&(this.debugMesh=this.createDebugMesh(),this.debugMesh.visible=this.shouldRenderDebug,this.debugMesh.raycast=function(){},this.scene.add(this.debugMesh)),this.staticDebugNeedsUpdate){const t=this.world.debugRender(s.ONLY_FIXED);this.updateDebugMesh(this.staticDebugMesh,t.vertices),this.staticDebugNeedsUpdate=!1}const t=this.world.debugRender(s.EXCLUDE_FIXED);this.updateDebugMesh(this.debugMesh,t.vertices)}async setup(){if(null!=this.rapier)throw new Error("Rapier is already estup");this.rapier=await ct(),this.eventQueue=new this.rapier.EventQueue(!0),this.setupWorld()}handleTick(){this.fixedupdateSub=this.viewController.onUpdate().subscribe(t=>{this._isStopped||(t=Math.min(.1,t),this.beforeStep.next(t),this.updatePhysics(t),this.showDebug&&this.renderDebug(),this.releaseExpiredRayDebugArrows(),this.nonFixedBodies.forEach(t=>{let e,i=this.staticMeshes.get(t);if(null==i&&(e=this.bodyActors.get(t),null!=e)){if(e.netRole===U.simulatedProxy)return;i=e.object}null!=i&&i.parent instanceof x&&(t.translation(i.position),(t.isDynamic()||t.isKinematic()&&!this.controlledActors.has(this.bodyActors.get(t)?.id))&&t.rotation(i.quaternion),i.matrixWorldNeedsUpdate=!0)}),this.afterStep.next(t))})}_updateWorld(){this.world.timestep=0,this.world.step()}updatePhysics(t){this._isStopped||(this.world.timestep=t,this.world.step(this.eventQueue),this.eventQueue.drainCollisionEvents((t,e,i)=>{this.collisionEvents.next({handle1:t,handle2:e,started:i}),this.collisionEvents.next({handle1:e,handle2:t,started:i})}))}rayTestFromCamera(t,e,i){this._raycaster.setFromCamera(nt,this.viewController.getCamera());const s=this._raycaster.ray.origin,o=this._raycaster.ray.direction.multiplyScalar(t).add(s);return this.rayTest(s,o,e,i)}rayTest(t,e,i,o){null==i&&(i=this._reusableResult);const n=this._raytestDiff,r=this._raytestDirection;n.subVectors(e,t);const a=n.length();if(0===a)return console.warn("Ray test called with to and from being equal"),i;r.copy(n).multiplyScalar(1/a),null==ft&&(ft=new this.rapier.Ray(new this.rapier.Vector3(0,0,0),new this.rapier.Vector3(0,1,0))),dt(ft.origin,t),dt(ft.dir,r);const l=this.world.castRayAndGetNormal(ft,a,!1,o?.excludeTriggers?s.EXCLUDE_SENSORS:void 0,o?.collisionFilter,void 0,null!=o?.excludeActor?this.actorBodies.get(o.excludeActor.id):void 0);if(i.hasHit=null!=l,i.actor=void 0,i.hasHit&&(i._internal=l,ut(i.hitNormal,l.normal),i.hitPoint.copy(t).addScaledVector(r,l.timeOfImpact),i.distance=l.timeOfImpact,!1!==o?.resolveActor)){const t=l.collider.parent();i.actor=null!=t?this.bodyActors.get(t):null}return this.showDebug&&!1!==o?.debug&&null!=this.scene&&this.drawRayDebugArrow(r,t,a,o?.debugColor,o?.debugLifetime),i}drawRayDebugArrow(t,e,i,s=255,o=200){let n=this.rayDebugArrowPool.pop();null==n?n=new h(t,e,i,s,.2,.1):(n.setDirection(t),n.position.copy(e),n.setLength(i,.2,.1),n.setColor(s)),n.userData.physicsRayDebugExpiresAt=performance.now()+o,this.activeRayDebugArrows.push(n),this.scene.add(n)}releaseExpiredRayDebugArrows(){if(0===this.activeRayDebugArrows.length)return;const t=performance.now();let e=0;for(let i=0;i<this.activeRayDebugArrows.length;i++){const s=this.activeRayDebugArrows[i];s.userData.physicsRayDebugExpiresAt<=t?(s.removeFromParent(),this.rayDebugArrowPool.push(s)):this.activeRayDebugArrows[e++]=s}this.activeRayDebugArrows.length=e}clearRayDebugArrows(){for(const t of this.activeRayDebugArrows)t.removeFromParent(),this.rayDebugArrowPool.push(t);this.activeRayDebugArrows.length=0}setGravity(t,e,i){this.world.gravity.x=t,this.world.gravity.y=e,this.world.gravity.z=i}getGravity(){return Z.set(this.world.gravity.x,this.world.gravity.y,this.world.gravity.z)}addFromScene(t){this.addRecursively(t);for(const t of this.staticBodies.values())pt(t,t=>t.setActiveEvents(i.ActiveEvents.COLLISION_EVENTS))}addRecursively(t){if(this.removeSceneObject(t),!function(t){if(null!=t.userData?.src){const e=t.userData?.src;return"actor"===e.type}return!1}(t))if(t instanceof P&&null!=t.collisionShape){const e=this.createStaticBody(t,[t.collisionShape],t.physics);this.staticMeshes.set(e,t),this.staticBodies.set(t,e)}else if(t instanceof W){const e=!1!==t.userData?.src?.collisionDetection;if(t.children[0]&&(t.children[0].instanceMatrix&&e||t.children[0].isBatchedMesh))this.createForInstancedMesh(t.children[0],t.collisionShapes);else if(e&&t.children.length>0){const e=this.createStaticBody(t,t.collisionShapes,t.physics);this.staticMeshes.set(e,t),this.staticBodies.set(t,e)}0===t.children.length&&(t.matrixAutoUpdate=!1,t.matrixWorldAutoUpdate=!1)}else t instanceof N?this.addLandscapeGroup(t):(t instanceof y||t instanceof x)&&t.children.forEach(t=>this.addRecursively(t))}createForInstancedMesh(t,e){const i=new m;if(t instanceof d.BatchedMesh){const e=t._instanceInfo??t._drawInfo,s=new Map,o=t.userData.collisionMatrices;for(let n=0;n<e.length;n++){if(null!=t.userData.hasCollision&&!t.userData.hasCollision[n])continue;const e=t.userData.collisionShapes;let r=e?.[n];if(null==r&&null==e&&t.parent instanceof W&&(r=t.parent.collisionShapes),null==r)continue;const a=o?.[n];let l=r;null==a&&(l=s.get(r),null==l&&(l=this.instancedShapeReset(r),s.set(r,l)));const c=new b;c.matrix.identity(),null!=a?i.copy(a):t.getMatrixAt(n,i),c.applyMatrix4(i);this.createStaticBody(c,l)}}else{const s=this.instancedShapeReset(e);for(let e=0;e<t.count;e++){if(null!=t.userData.hasCollision&&!t.userData.hasCollision[e])continue;const o=new b;o.matrix.identity(),i.fromArray(t.instanceMatrix.array,16*e),o.applyMatrix4(i);this.createStaticBody(o,s)}}}instancedShapeReset(t){return t.filter(t=>null!=t).map(t=>I(t))}getCharacterController(t){return this.world?.createCharacterController(t)}getActorComputedMovement(t,e,i,o=null){const n=this.actorBodies.get(t.id);this.controlledActors.add(t.id);const r=n.collider(0);e.computeColliderMovement(r,i,s.EXCLUDE_SENSORS,o,void 0);const a=e.computedMovement();return ut(yt,a),yt}setActorCapsuleCollider(t,e,i,s){const o=this.actorBodies.get(t.id),n=o?.collider(0);if(null==o||null==n)return!1;const r=t.object?.getWorldScale(bt)??et,a=Math.max(0,e*Math.abs(r.y)),l=Math.max(.001,i*Math.max(Math.abs(r.x),Math.abs(r.z)));return n.setHalfHeight(a/2),n.setRadius(l),ot.set(0,s,0).multiply(r),dt(it,ot),n.setTranslationWrtParent(it),o.recomputeMassPropertiesFromColliders(),o.isFixed()&&this.invalidateStaticDebug(),!0}hasActorCapsuleIntersection(t,e,i,o,n,r=null){const a=this.actorBodies.get(t.id),l=t.object?.getWorldScale(bt)??et,c=Math.max(0,i*Math.abs(l.y)),d=Math.max(.001,o*Math.max(Math.abs(l.x),Math.abs(l.z))),h=new this.rapier.Capsule(c/2,d),u=t.object?.getWorldQuaternion(H)??X;ot.set(0,n,0).multiply(l).applyQuaternion(u).add(e);return null!=this.world.intersectionWithShape(ot,u,h,s.EXCLUDE_SENSORS,r??void 0,void 0,a,mt)}createCollider(t,e){const i=this.addShape(e?.body,t),s=new PhysicsCollider(i,this.world,this.invalidateStaticDebug);return this.colliders.set(i.handle,s),(null==e||e.body.isFixed())&&this.invalidateStaticDebug(),s.disposed.subscribe(()=>{this.colliders.delete(i.handle)}),s}createBody(t=PhysicsBodyType.dynamic,e={}){const i=(()=>{switch(t){case PhysicsBodyType.dynamic:return this.rapier.RigidBodyDesc.dynamic();case PhysicsBodyType.static:return this.rapier.RigidBodyDesc.fixed();case PhysicsBodyType.kinematic:return this.rapier.RigidBodyDesc.kinematicPositionBased();case PhysicsBodyType.kinematicVelocityBased:return this.rapier.RigidBodyDesc.kinematicVelocityBased();default:return this.rapier.RigidBodyDesc.dynamic()}})();e.position&&i.setTranslation(e.position.x,e.position.y,e.position.z),e.rotation&&i.setRotation({x:e.rotation.x,y:e.rotation.y,z:e.rotation.z,w:e.rotation.w}),"boolean"==typeof e.canSleep&&i.setCanSleep(e.canSleep),"boolean"==typeof e.ccdEnabled&&i.setCcdEnabled(e.ccdEnabled),"number"==typeof e.gravityScale&&i.setGravityScale(e.gravityScale),"number"==typeof e.mass&&i.setAdditionalMass(e.mass),void 0!==e.userData&&(i.userData=e.userData);const s=this.world.createRigidBody(i);return s.isFixed()?this.invalidateStaticDebug():this.nonFixedBodies.add(s),new PhysicsBody(s,this.world,this.invalidateStaticDebug)}createJoint(t,e,i){let s,o;switch(i.type){case"fixed":s=this.rapier.JointData.fixed(i.anchor1,i.frame1,i.anchor2,i.frame2);break;case"spherical":s=this.rapier.JointData.spherical(i.anchor1,i.anchor2);break;case"revolute":s=this.rapier.JointData.revolute(i.anchor1,i.anchor2,i.axis),null!=i.limits&&(o=i.limits)}const n=this.world.createImpulseJoint(s,t.body,e.body,!0);if(null!=o){n.setLimits(o[0],o[1])}return n.setContactsEnabled(i.contactsEnabled??!1),new PhysicsJoint(n,this.world)}getCharacterComputedMovement(t,e,i,o=null){const n=t.collider;e.computeColliderMovement(n,i,s.EXCLUDE_SENSORS,o,void 0);const r=e.computedMovement();return ut(yt,r),yt}setNextKinematicTranslation(t,e){const i=this.actorBodies.get(t.id),s=i.translation(it);s.x+=e.x,s.y+=e.y,s.z+=e.z,i?.setNextKinematicTranslation(s)}setNextKinematicPosition(t,e){this.actorBodies.get(t.id).setNextKinematicTranslation(e)}setNextKinematicRotation(t,e){this.actorBodies.get(t.id).setNextKinematicRotation(e)}setNextKinematicTransform(t){!function(t,e){const i=e.getWorldPosition(J),s=e.getWorldQuaternion($);t.setNextKinematicTranslation(rt(i)),t.setNextKinematicRotation(at(s))}(this.actorBodies.get(t.id),t.object)}setAngularVelocity(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.setAngvel(it,!0)}setLinearVelocity(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.setLinvel(it,!0)}getLinearVelocity(t,e=new v){const i=this.actorBodies.get(t.id);if(null==i)return e.set(0,0,0);const s=i.linvel();return e.x=s.x,e.y=s.y,e.z=s.z,e}getAngularVelocity(t,e=new v){const i=this.actorBodies.get(t.id);if(null==i)return e.set(0,0,0);const s=i.angvel();return e.x=s.x,e.y=s.y,e.z=s.z,e}setLinearDamping(t,e){const i=this.actorBodies.get(t.id);i?.setLinearDamping(e)}getLienarDamping(t){const e=this.actorBodies.get(t.id);return e?.linearDamping()??0}setAngularDamping(t,e){const i=this.actorBodies.get(t.id);i?.setAngularDamping(e)}getAngularDamping(t){const e=this.actorBodies.get(t.id);e?.angularDamping()}setPosition(t,e){const i=this.actorBodies.get(t.id);i?.setTranslation(rt(e),!1)}getPosition(t,e=new v){const i=this.actorBodies.get(t.id);i&&i.translation(e)}setRotation(t,e){const i=this.actorBodies.get(t.id);i?.setTranslation(at(e),!1)}getRotation(t,e=new f){const i=this.actorBodies.get(t.id);i&&function(t,e){t.x=e.x,t.y=e.y,t.z=e.z,t.w=e.w}(e,i.rotation())}lockTranslations(t,e){const i=this.actorBodies.get(t.id);i?.lockTranslations(e,!1)}lockRotations(t,e){const i=this.actorBodies.get(t.id);i?.lockRotations(e,!1)}setEnabledTranslations(t,e,i,s){const o=this.actorBodies.get(t.id);o?.setEnabledTranslations(e,i,s,!1)}setEnabledRotations(t,e,i,s){const o=this.actorBodies.get(t.id);o?.setEnabledRotations(e,i,s,!1)}addLandscapeGroup(t){this.invalidateStaticDebug();const e=t.userData.src,s=e.landscape.heightMaps;for(const n of t.sections){this.staticBodies.has(n)&&this.world.removeRigidBody(this.staticBodies.get(n));var o=n.getWorldPosition(new v);if(e.landscape.holes&&e.landscape.holes.some(t=>t.m===n.name&&0!==t.w[0])){const t=n.geometry.clone(),i=n.scale,s=n.geometry.getAttribute("hole"),r=new Float32Array(t.getAttribute("position").array);for(let t=0;t<r.length;t+=3)r[t]*=i.x,r[t+1]*=i.y,r[t+2]*=i.z;const a=t.index;for(let t=0;t<a.count;t+=3){const e=s.getX(a.getX(t)),i=s.getX(a.getY(t)),o=s.getX(a.getZ(t));(e>.5||i>.5||o>.5)&&(a.setX(t,0),a.setY(t,0),a.setZ(t,0))}const l=this.rapier.ColliderDesc.trimesh(r,new Uint32Array(t.getIndex().array));if(!1!==e.collisionDetection){const t=this.world.createRigidBody(this.rapier.RigidBodyDesc.fixed()),e=new this.rapier.Vector3(0,0,0);dt(e,o),t.setTranslation(e,!1),this.world.createCollider(l,t),this.staticBodies.set(n,t)}continue}const t=e.landscape.options.density+1,r=e.landscape.options.sectionSize,a=new Array(t);for(let e=0;e<t;e++)a[e]=new Array(t).fill(0);const l=s.find(t=>t.x===n.x&&t.y==n.y);if(null!=l)for(const e of l.points){if(null==a[e.i%t])continue;const i=t-1-Math.floor(e.i/t);i in a[e.i%t]?a[e.i%t][i]=e.y/r:console.warn("wrong index",{points:a,point:e,i:e.i%t,k:i,heightMap:l})}const c=e.landscape.options.density,d=a.flatMap(t=>t.reverse()),h=i.ColliderDesc.heightfield(c,c,new Float32Array(d),new this.rapier.Vector3(r,r,r));if(!1!==e.collisionDetection){const t=this.world.createRigidBody(this.rapier.RigidBodyDesc.fixed()),e=new this.rapier.Vector3(0,0,0);dt(e,o),t.setTranslation(e,!1),this.world.createCollider(h,t),this.staticBodies.set(n,t)}}}setEnabled(t,e){const i=this.actorBodies.get(t.id);i?.setEnabled(e),i?.isFixed()&&this.invalidateStaticDebug()}addActor(t,e,i={}){if(0==e.length)return void console.error("No collision shapes were defined when adding actor to the physics system.");this.removeActor(t);const s=t.object;let o;switch(i.type??PhysicsBodyType.static){case PhysicsBodyType.dynamic:o=this.rapier.RigidBodyDesc.dynamic(),o.mass=i.mass??1;break;case PhysicsBodyType.kinematic:o=this.rapier.RigidBodyDesc.kinematicPositionBased();break;case PhysicsBodyType.kinematicVelocityBased:o=this.rapier.RigidBodyDesc.kinematicVelocityBased();break;default:o=i.isTrigger?this.rapier.RigidBodyDesc.kinematicVelocityBased():this.rapier.RigidBodyDesc.fixed()}const n=this.world.createRigidBody(o);n.enableCcd(1==i.continousCollisionDetection);for(const t of e){const e=this.addShape(n,t,s);gt.set(e,!i.isTrigger)}return i.type!==PhysicsBodyType.static&&this.nonFixedBodies.add(n),pt(n,t=>{null!=i.isTrigger&&(t.setSensor(i.isTrigger),t.setActiveCollisionTypes(this.rapier.ActiveCollisionTypes.ALL),t.setActiveEvents(this.rapier.ActiveEvents.COLLISION_EVENTS)),null!=i.friction&&t.setFriction(i.friction),null!=i.density&&t.setDensity(i.density),null!=i.mass&&t.setMass(i.mass),null!=i.restitution&&t.setRestitution(i.restitution)}),Y(n,s),!0===i.ignoreForNavMesh&&(n.userData={ignoreForNavMesh:!0}),this.actorBodies.set(t.id,n),this.bodyActors.set(n,t),n.isFixed()&&this.invalidateStaticDebug(),new PhysicsBody(n,this.world,this.invalidateStaticDebug)}applyTorque(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.addTorque(it,!0)}applyTorqueImpulse(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.applyTorqueImpulse(it,!0)}resetForces(t){const e=this.actorBodies.get(t.id);e?.resetForces(!1)}resetTorques(t){const e=this.actorBodies.get(t.id);e?.resetTorques(!1)}applyForce(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.addForce(it,!0)}applyImpulse(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.applyImpulse(it,!0)}applyLocalForce(t,e,i){const s=this.actorBodies.get(t.id);dt(it,e),null==i?s?.addForce(it,!0):(dt(st,i),s?.addForceAtPoint(it,st,!0))}applyLocalImpulse(t,e,i){const s=this.actorBodies.get(t.id);dt(it,e),null==i?s.applyImpulse(it,!0):(dt(st,i),s.applyImpulseAtPoint(it,st,!0))}applyRadiusImpulse(t,e,s){this.world.bodies.forEach(o=>{if(o.collider(0)?.isSensor())return;if(o.bodyType()!==i.RigidBodyType.Dynamic)return;const n=ot;ut(n,o.translation());const r=n.clone().sub(t);if(r.length()>e)return;const a=r.clone().normalize().multiplyScalar(s);it.x=a.x,it.y=a.y,it.z=a.z,o.applyImpulse(it,!0)})}removeActor(t){if(null==t)return;this.controlledActors.delete(t.id);const e=this.actorBodies.get(t.id);null!=e&&(e.isFixed()&&this.invalidateStaticDebug(),this.bodyActors.delete(e),this.world.removeRigidBody(e),this.nonFixedBodies.delete(e)),this.actorBodies.delete(t.id)}removeRemoved(t){if(null==t)return;const e=new Set;t.traverse(t=>{e.add(t.uuid)});for(const[t,i]of this.staticBodies.entries())e.has(t.uuid)&&this.world.getRigidBody(i.handle)&&(this.invalidateStaticDebug(),this.staticBodies.delete(t),this.world.removeRigidBody(i),this.nonFixedBodies.delete(i))}removeSceneObject(t){if(t instanceof N){for(const e of t.sections)this.removeSceneObject(e);return}let e=this.staticBodies.get(t);null!=e&&this.world.getRigidBody(e.handle)&&(this.invalidateStaticDebug(),this.world.removeRigidBody(e),this.nonFixedBodies.delete(e)),this.staticBodies.delete(t)}activateActorEvents(t){this.actorBodies.get(t.id)}_onCollisionWithActorEvent(t,e,i){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(({started:t})=>t===i),a(({handle1:t,handle2:e,started:i})=>({a1:this.bodyActors.get(this.world.getCollider(t)?.parent()),a2:this.bodyActors.get(this.world.getCollider(e)?.parent()),started:i})),r(({a1:i,a2:s})=>null!=i&&null!=s&&i.id===t.id&&e(i,s)),a(({a2:t})=>t))}onBeginContact(t){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(t=>t.started),r(({handle1:e})=>{const i=this.bodyActors.get(this.world.getCollider(e)?.parent());return null!=i&&i.id===t.id}),a(t=>t.handle2))}onEndContact(t){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(t=>!t.started),r(({handle1:e})=>{const i=this.bodyActors.get(this.world.getCollider(e)?.parent());return null!=i&&i.id===t.id}),a(t=>t.handle2))}onHasContactChanged(t){const e=new Set,i=new o(!1);return this.onBeginContact(t).subscribe(t=>{e.add(t),i.next(e.size>0)}),this.onEndContact(t).subscribe(t=>{e.delete(t),i.next(e.size>0)}),i.pipe(n())}onBeginOverlap(t){return this._onCollisionWithActorEvent(t,()=>!0,!0)}onEndOverlap(t){return this._onCollisionWithActorEvent(t,()=>!0,!1)}onBeginOverlapWithActorType(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>i instanceof e,!0)}onEndOverlapWithActorType(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>i instanceof e,!1)}onBeginOverlapWithActor(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>e.id===i.id,!0)}onEndOverlapWithActor(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>e.id===i.id,!1)}onCollisionWithActor(t,e){return this.onBeginOverlapWithActor(t,e)}onCollisionWithActorType(t,e){return this.onBeginOverlapWithActorType(t,e)}updateActorTransform(t){const e=this.actorBodies.get(t.id);null!=e&&(Y(e,t.object),e.isFixed()&&this.invalidateStaticDebug())}flushModifiedBodyPositionsToColliders(){this.world.propagateModifiedBodyPositionsToColliders()}setupWorld(){const t=new this.rapier.World({x:0,y:-9.81,z:0});this.world=t,this.invalidateStaticDebug()}sphereCast(t,e,i,o,n=ShapeCastResult.shared,r){n.reset();const a=this.getBallShape(e);it.x=i.x,it.y=i.y,it.z=i.z;const l=r?.excludeActor?this.actorBodies.get(r.excludeActor.id):null,c=this.world.castShape(t,X,it,a,.01,o,!0,r?.excludeTriggers?s.EXCLUDE_SENSORS:void 0,r?.collisionFilter??void 0,null,l);if(null!=c){ut(n.hitPoint,c.witness1),n.normal.set(c.normal1.x,c.normal1.y,c.normal1.z),n.distance=c.time_of_impact,n.hasHit=!0;const t=c.collider.parent();if(t){const e=this.bodyActors.get(t);e&&(n.actor=e)}}return n}castActorShape(t,e,i,s=ShapeCastResult.shared,o=void 0){s.reset();const n=this.actorBodies.get(t.id);if(n&&n.numColliders()>0){for(let t=0;t<n.numColliders();t++){const r=n.collider(t);let a=r.shape,l=r.translation(),c=r.rotation(),d=e,h=i;const u=this.world.castShape(l,c,d,a,.01,h,!0,null,o,null,n,void 0);if(null!=u){u.collider;const t=r;return ut(s.hitPoint,u.witness1),xt(t.rotation(),u.normal1,s.normal,q),s.distance=u.time_of_impact,s.actor=this.bodyActors.get(u.collider.parent()),s.hasHit=!0,s}}return s}return console.warn("Actor is not added to the physics system"),s}stop(){if(!this._isStopped){this._isStopped=!0,this.bodyActors.clear(),this.actorBodies.clear(),this.staticBodies.clear(),this.staticMeshes.clear(),this.colliders.clear(),this.fixedupdateSub?.unsubscribe(),this.collisionSub?.unsubscribe(),this.world?.bodies.forEach(t=>{this.world.removeRigidBody(t),this.nonFixedBodies.delete(t)});try{this.eventQueue?.free()}catch(t){console.warn("Error when freeing physics event queue",t)}try{this.world?.free(),this.world=void 0}catch(t){console.warn("Error while freeing physics world",t)}this.clearRayDebugArrows();for(const t of this.rayDebugArrowPool)t.dispose();this.rayDebugArrowPool.length=0}}createStaticBody(t,e,s){const o=s?.type===PhysicsBodyType.dynamic?i.RigidBodyDesc.dynamic():i.RigidBodyDesc.fixed();o.setSleeping(!0);const n=this.world.createRigidBody(o);s?.type===PhysicsBodyType.dynamic&&this.nonFixedBodies.add(n);let r=0;for(const i of e){if(r>128){console.warn("Too many collision shapes for object",t);break}if(r++,null==i){console.warn("Collision shape is missing for object",t);continue}const o=this.addShape(n,i,t);null!=o&&(null!=s?.friction&&o.setFriction(s.friction),null!=s?.density&&o.setDensity(s.density),null!=s?.mass&&o.setMass(s.mass/e.length),null!=s?.restitution&&o.setRestitution(s.restitution))}return Y(n,t),n.userData=t.uuid,n.sleep(),n.isFixed()&&this.invalidateStaticDebug(),n}addShape(t=void 0,e,i){const s=i?.getWorldScale(bt)??et,o=this.createShape(e,s);if(null==o)return void console.error("Failed to create physics shape. This can happen if the geometry is degenerate or zero-scaled.",{shapeInfo:e,object:i});this.applyShapeSettings(o,e);const n=e.offset.clone().multiply(s);dt(o.translation,n);const r=(new f).setFromEuler(e.rotation);ht(o.rotation,r),null!=t&&t.numColliders()>128&&console.warn(`Rigid body has many colliders (${t.numColliders()}). Consider using a Trimesh if this is static geometry.`,t);try{return this.world.createCollider(o,t)}catch(t){return void console.error("Failed to create collider",t)}}applyShapeSettings(t,e){null!=e.collisionGroup&&t.setCollisionGroups(e.collisionGroup),t.friction=e.friction??.1,null!=e.restitution&&(t.restitution=e.restitution),null!=e.density&&(t.density=e.density,t.massPropsMode=i.MassPropsMode.Density),null!=e.mass&&(t.mass=e.mass,t.massPropsMode=i.MassPropsMode.Mass)}createShape(t,e){if(t instanceof R)return this.rapier.ColliderDesc.cuboid(t.dimensions.x*e.x/2,t.dimensions.y*e.y/2,t.dimensions.z*e.z/2);if(t instanceof M){return this.rapier.ColliderDesc.capsule(t.length/2*e.y,t.radius*Math.max(e.z,e.x))}if(t instanceof j){const i=null!=t.geometry.getIndex()?t.geometry:B.mergeVertices(t.geometry),s=extractFloat32Array(i.getAttribute("position"));for(let t=0;t<s.length;t+=3)s[t]*=e.x,s[t+1]*=e.y,s[t+2]*=e.z;const o=i.getIndex();return null==o?(console.error("Trimesh collision shape is missing an index buffer.",t),null):this.rapier.ColliderDesc.trimesh(s,new Uint32Array(o.array))}if(t instanceof T){let i,s;t.mesh instanceof d.Mesh?i=t.mesh.geometry:t.mesh instanceof d.BufferGeometry?i=t.mesh:console.log("Unknownd shape",{shapeInfo:t}),t.mesh instanceof d.Mesh&&(s=k(t.mesh));const o=`${i.uuid}|${s?.x??1},${s?.y??1},${s?.z??1}|${e.x},${e.y},${e.z}`,n=tt.get(o);if(void 0!==n)return n;const r=extractFloat32Array(i.getAttribute("position"));if(null!=s)for(let t=0;t<r.length;t+=3)r[t]*=s.x,r[t+1]*=s.y,r[t+2]*=s.z;for(let t=0;t<r.length;t+=3)r[t]*=e.x,r[t+1]*=e.y,r[t+2]*=e.z;const a=this.rapier.ColliderDesc.convexHull(r);return null==a&&console.error("Failed to compute convex hull. Points may be coplanar or too few.",{count:r.length/3}),tt.set(o,a),a}if(t instanceof _){const i=2*e.x-e.y-e.z;return Math.abs(i)>.01?this.createShape(new T(new d.SphereGeometry(t.radius).scale(e.x,e.y,e.z)),new v(1,1,1)):this.rapier.ColliderDesc.ball(t.radius*Math.max(e.x,e.y,e.z))}return t instanceof z?this.rapier.ColliderDesc.cylinder(t.height/2*e.y,t.radiusTop*Math.max(e.z,e.x)):t instanceof E?this.rapier.ColliderDesc.cone(t.height*e.y,t.radiusBottom/2*Math.max(e.z,e.x)):t instanceof F?this.rapier.ColliderDesc.cuboid(t.width/2*e.x,t.height/2*e.y,.001):(console.error("Unsupported shape",t),this.rapier.ColliderDesc.cuboid(1,1,1))}createCharacterCollision(){return new this.rapier.CharacterCollision}};Q=t([D(),e("design:paramtypes",[])],Q);export{Q as PhysicsSystem};const J=new v,$=new d.Quaternion;function Y(t,e){const i=e.getWorldPosition(J),s=e.getWorldQuaternion($);t.setTranslation(rt(i),!1),t.setRotation(at(s),!1)}const Z=new v,tt=new Map,et=new v(1,1,1),it=new i.Vector3(0,0,0),st=new i.Vector3(0,0,0),ot=new v,nt=new d.Vector2;function rt(t){return dt(it,t),it}function at(t){return ht(q,t),q}let lt=null;const ct=async()=>(null==lt&&(lt=(async()=>{let t=await import("@dimforge/rapier3d-simd-compat");return await t.init(),t})()),lt);function dt(t,e){t.x=e.x,t.y=e.y,t.z=e.z}function ht(t,e){t.x=e.x,t.y=e.y,t.z=e.z,t.w=e.w}function ut(t,e){t.x=e.x,t.y=e.y,t.z=e.z}function pt(t,e){for(let i=0,s=t.numColliders();i<s;i++){e(t.collider(i))}}const yt=new v,gt=new WeakMap,mt=t=>gt.get(t)??!0,bt=new v;let ft,wt=class extends S{constructor(){super(...arguments),this._active=!0,this.physics=C(Q),this.world=C(V)}set active(t){this._active=t,t?(this.world.scene.remove(this.actor.object),this.physics.setEnabled(this.actor,t)):(this.world.scene.add(this.actor.object),this.physics.setEnabled(this.actor,t))}get active(){return this._active}};wt=t([A()],wt);export function extractFloat32Array(t){const e=t.itemSize,i=t.count,s=new Float32Array(i*e);for(let o=0;o<i;o++)for(let i=0;i<e;i++)s[o*e+i]=t.getComponent(o,i);return s}function xt(t,e,i,s){return s.set(t.x,t.y,t.z,t.w),i.set(e.x,e.y,e.z),i.applyQuaternion(s),i}export class PhysicsCollider{constructor(t,e,i){this.collider=t,this.world=e,this.invalidateStaticDebug=i,this.disposed=new l,this.onBeginOverlapActor=new l,this.onEndOverlapActor=new l}dispose(){const t=this.collider.parent();(null==t||t.isFixed())&&this.invalidateStaticDebug?.(),this.world.removeCollider(this.collider,!1),this.disposed.next(!0),this.disposed.complete(),this.onBeginOverlapActor.complete(),this.onEndOverlapActor.complete()}set mass(t){this.collider.setMass(t)}get mass(){return this.collider.mass()}set friction(t){this.collider.setFriction(t)}get friction(){return this.collider.friction()}set restitution(t){this.collider.setRestitution(t)}get restitution(){return this.collider.restitution()}set density(t){this.collider.setDensity(t)}get density(){return this.collider.density()}set isTrigger(t){this.collider.setSensor(t)}get isTrigger(){return this.collider.isSensor()}set collisionGroups(t){this.collider.setCollisionGroups(t)}get collisionGroups(){return this.collider.collisionGroups()}set enabled(t){this.collider.setEnabled(t);const e=this.collider.parent();(null==e||e.isFixed())&&this.invalidateStaticDebug?.()}get enabled(){return this.collider.isEnabled()}}export class PhysicsBody{constructor(t,e,i){this.invalidateStaticDebug=i,this.body=t,this.world=e}dispose(){this.body.isFixed()&&this.invalidateStaticDebug?.(),this.world.removeRigidBody(this.body)}setEnabled(t){this.body.setEnabled(t),this.body.isFixed()&&this.invalidateStaticDebug?.()}isEnabled(){return this.body.isEnabled()}getPosition(t){return this.body.translation(t)}setPosition(t){this.body.setTranslation({x:t.x,y:t.y,z:t.z},!0),this.body.isFixed()&&this.invalidateStaticDebug?.()}getRotation(t){const e=this.body.rotation();return t.set(e.x,e.y,e.z,e.w),t}setRotation(t){this.body.setRotation({x:t.x,y:t.y,z:t.z,w:t.w},!0),this.body.isFixed()&&this.invalidateStaticDebug?.()}getLinearVelocity(t){const e=this.body.linvel();return t.set(e.x,e.y,e.z),t}setLinearVelocity(t){this.body.setLinvel({x:t.x,y:t.y,z:t.z},!0)}getAngularVelocity(t){const e=this.body.angvel();return t.set(e.x,e.y,e.z),t}setAngularVelocity(t){this.body.setAngvel({x:t.x,y:t.y,z:t.z},!0)}setLinearDamping(t){this.body.setLinearDamping(t)}setAngularDamping(t){this.body.setAngularDamping(t)}applyImpulse(t,e=!0){this.body.applyImpulse({x:t.x,y:t.y,z:t.z},e)}applyTorqueImpulse(t,e=!0){this.body.applyTorqueImpulse({x:t.x,y:t.y,z:t.z},e)}setNextKinematicPosition(t){this.body.setNextKinematicTranslation(t)}setNextKinematicRotation(t){this.body.setNextKinematicRotation(t)}setType(t){const e=this.body.isFixed();this.body.setBodyType(function(t){switch(t){case PhysicsBodyType.dynamic:return i.RigidBodyType.Dynamic;case PhysicsBodyType.static:return i.RigidBodyType.Fixed;case PhysicsBodyType.kinematic:return i.RigidBodyType.KinematicPositionBased;case PhysicsBodyType.kinematicVelocityBased:return i.RigidBodyType.KinematicVelocityBased}}(t),t!==PhysicsBodyType.static),(e||this.body.isFixed())&&this.invalidateStaticDebug?.()}setGravityScale(t){this.body.setGravityScale(t,!1)}getGravityScale(){return this.body.gravityScale()}isDynamic(){return this.body.isDynamic()}isKinematic(){return this.body.isKinematic()}isStatic(){return this.body.isFixed()}sleep(){this.body.sleep()}wakeUp(){this.body.wakeUp()}}export class PhysicsJoint{constructor(t,e){this.joint=t,this.world=e}dispose(){this.joint.isValid()&&this.world.removeImpulseJoint(this.joint,!0)}setContactsEnabled(t){this.joint.setContactsEnabled(t)}get contactsEnabled(){return this.joint.contactsEnabled()}}/*
+import{__decorate as t,__metadata as e}from"tslib";import*as i from"@dimforge/rapier3d-simd-compat";import{QueryFilterFlags as s}from"@dimforge/rapier3d-simd-compat";import{BehaviorSubject as o,distinctUntilChanged as n,filter as r,map as a,Subject as l,takeUntil as c}from"rxjs";import*as d from"three";import{ArrowHelper as h,BufferAttribute as u,BufferGeometry as p,Group as y,LineSegments as g,Matrix4 as m,Object3D as b,Quaternion as f,Raycaster as w,Scene as x,Vector3 as v}from"three";import*as B from"three/examples/jsm/utils/BufferGeometryUtils.js";import{Service as D}from"typedi";import{ActorComponent as S,Component as A}from"../../../gameplay/actors/component.js";import{inject as C}from"../../../gameplay/inject.js";import{BoxCollisionShape as R,CapsuleCollisionShape as M,ConeCollisionShape as E,ConvexPolyhedronCollisionShape as T,CylinderCollisionShape as z,PhysicalShapeMesh as P,PlaneCollisionShape as F,SphereCollisionShape as _,toInstancedCollisionShape as I,TrimeshCollisionShape as j}from"../../../scene/collision/collision-shape.js";import{AssetMeshInstance as W}from"../../../scene/asset-resource-loader.js";import{LandscapeGroup as N}from"../../../scene/landscape/landscape.js";import{calculateEffectiveScale as k}from"../../../utils/three/traverse.js";import{ViewController as L}from"../render.js";import{World as V}from"../world.js";import{AbstractPhysicsSystem as O}from"./abstract-physics-system.js";import{NetRole as U}from"../../net/index.js";export{ActorComponent,attach,Attach,Component}from"../../actors/component.js";export class RayTestResult{constructor(){this.hasHit=!1,this.hitPoint=new v,this.hitNormal=new v}}export class ShapeCastResult{constructor(){this.hasHit=!1,this.hitPoint=new v,this.normal=new v}reset(){this.actor=void 0,this.hasHit=!1,this.distance=0,this.hitPoint.set(0,0,0),this.normal.set(0,0,0)}}ShapeCastResult.shared=new ShapeCastResult;export var PhysicsBodyType;!function(t){t[t.dynamic=1]="dynamic",t[t.static=2]="static",t[t.kinematic=4]="kinematic",t[t.kinematicVelocityBased=8]="kinematicVelocityBased"}(PhysicsBodyType||(PhysicsBodyType={}));const G=new v,K=new v,X=new f,q=new f,H=new f;let Q=class extends O{set showDebug(t){this.shouldRenderDebug=t,t||this.clearRayDebugArrows(),this.debugMesh&&(this.debugMesh.visible=t),this.staticDebugMesh&&(this.staticDebugMesh.visible=t)}get showDebug(){return this.shouldRenderDebug}constructor(){super(),this.staticMeshes=new Map,this.staticBodies=new Map,this.actorBodies=new Map,this.bodyActors=new Map,this.colliders=new Map,this.rayDebugArrowPool=[],this.activeRayDebugArrows=[],this.nonFixedBodies=new Set,this.collisionEvents=new l,this.beforeStep=new l,this.afterStep=new l,this.shouldRenderDebug=!1,this.viewController=C(L),this.shapeCacheBox=new Map,this.shapeCacheBall=new Map,this.staticDebugNeedsUpdate=!0,this.invalidateStaticDebug=()=>{this.staticDebugNeedsUpdate=!0},this.handleCollisionEvent=(t,e,i)=>{this.collisionEvents.next({handle1:t,handle2:e,started:i}),this.collisionEvents.next({handle1:e,handle2:t,started:i})},this._raycaster=new w,this._reusableResult=new RayTestResult,this._raytestDiff=new v,this._raytestDirection=new v,this.controlledActors=new Set,this._isStopped=!1,this.ready=this.setup()}getBallShape(t){let e=this.shapeCacheBall.get(t);return null==e&&(e=new this.rapier.Ball(t),this.shapeCacheBall.set(t,e)),e}getBoxShape(t,e,i){const s=t+1e6*e+1e12*i;let o=this.shapeCacheBox.get(s);return null==o&&(o=new this.rapier.Cuboid(t,e,i),this.shapeCacheBox.set(s,o)),o}hasBoxIntersection(t){const e=t.getCenter(G),i=t.getSize(K),s=this.getBoxShape(i.x/2,i.y/2,i.z/2);return null!=this.world.intersectionWithShape(e,X,s)}hasSphereIntersection(t){const e=this.getBallShape(t.radius);return null!=this.world.intersectionWithShape(t.center,X,e)}findActorsInRadius(t,e,i){const s=this.getBallShape(e),o=[];for(const[e,n]of this.bodyActors)if(null==i||n instanceof i)for(let i=0,r=e.numColliders();i<r;i++){e.collider(i).intersectsShape(s,t,X)&&o.push(n)}return o}createDebugMesh(){const t=new g(new p,new d.LineBasicMaterial({color:255}));return t.frustumCulled=!1,t}updateDebugMesh(t,e){const i=t.geometry,s=i.getAttribute("position");if(null==s||s.array.length<e.length){null!=s&&i.dispose();const t=new Float32Array(e.length);t.set(e);const o=new u(t,3);o.setUsage(d.DynamicDrawUsage),i.setAttribute("position",o)}else e.length>0&&(s.array.set(e),s.clearUpdateRanges(),s.addUpdateRange(0,e.length),s.needsUpdate=!0);i.setDrawRange(0,e.length/3)}async start(){return await this.ready,this.handleTick(),this.handleCollisionEvents(),this.ready}handleCollisionEvents(){this.collisionSub=this.collisionEvents.subscribe(t=>{const e=this.colliders.get(t.handle1);if(null==e)return;const i=this.world.getCollider(t.handle2);if(null==i||null==i.parent())return;const s=this.bodyActors.get(i.parent());null!=s&&(t.started?e.onBeginOverlapActor.next({actor:s}):e.onEndOverlapActor.next({actor:s}))})}renderDebug(){if(null==this.scene)return;if(null==this.staticDebugMesh&&(this.staticDebugMesh=this.createDebugMesh(),this.staticDebugMesh.visible=this.shouldRenderDebug,this.staticDebugMesh.raycast=function(){},this.scene.add(this.staticDebugMesh)),null==this.debugMesh&&(this.debugMesh=this.createDebugMesh(),this.debugMesh.visible=this.shouldRenderDebug,this.debugMesh.raycast=function(){},this.scene.add(this.debugMesh)),this.staticDebugNeedsUpdate){const t=this.world.debugRender(s.ONLY_FIXED);this.updateDebugMesh(this.staticDebugMesh,t.vertices),this.staticDebugNeedsUpdate=!1}const t=this.world.debugRender(s.EXCLUDE_FIXED);this.updateDebugMesh(this.debugMesh,t.vertices)}async setup(){if(null!=this.rapier)throw new Error("Rapier is already estup");this.rapier=await ct(),this.eventQueue=new this.rapier.EventQueue(!0),this.setupWorld()}handleTick(){this.fixedupdateSub=this.viewController.onUpdate().subscribe(t=>{if(!this._isStopped){t=Math.min(.1,t),this.beforeStep.next(t),this.updatePhysics(t),this.showDebug&&this.renderDebug(),this.releaseExpiredRayDebugArrows();for(const t of this.nonFixedBodies){let e,i=this.staticMeshes.get(t);if(null==i){if(e=this.bodyActors.get(t),e?.netRole===U.simulatedProxy)continue;i=e?.object}null!=i&&i.parent instanceof x&&(t.translation(i.position),(t.isDynamic()||t.isKinematic()&&!this.controlledActors.has(e?.id))&&t.rotation(i.quaternion),i.matrixWorldNeedsUpdate=!0)}this.afterStep.next(t)}})}_updateWorld(){this.world.timestep=0,this.world.step()}updatePhysics(t){this._isStopped||(this.world.timestep=t,this.world.step(this.eventQueue),this.eventQueue.drainCollisionEvents(this.handleCollisionEvent))}rayTestFromCamera(t,e,i){this._raycaster.setFromCamera(nt,this.viewController.getCamera());const s=this._raycaster.ray.origin,o=this._raycaster.ray.direction.multiplyScalar(t).add(s);return this.rayTest(s,o,e,i)}rayTest(t,e,i,o){null==i&&(i=this._reusableResult);const n=this._raytestDiff,r=this._raytestDirection;n.subVectors(e,t);const a=n.length();if(0===a)return console.warn("Ray test called with to and from being equal"),i;r.copy(n).multiplyScalar(1/a),null==ft&&(ft=new this.rapier.Ray(new this.rapier.Vector3(0,0,0),new this.rapier.Vector3(0,1,0))),dt(ft.origin,t),dt(ft.dir,r);const l=this.world.castRayAndGetNormal(ft,a,!1,o?.excludeTriggers?s.EXCLUDE_SENSORS:void 0,o?.collisionFilter,void 0,null!=o?.excludeActor?this.actorBodies.get(o.excludeActor.id):void 0);if(i.hasHit=null!=l,i.actor=void 0,i.hasHit&&(i._internal=l,ut(i.hitNormal,l.normal),i.hitPoint.copy(t).addScaledVector(r,l.timeOfImpact),i.distance=l.timeOfImpact,!1!==o?.resolveActor)){const t=l.collider.parent();i.actor=null!=t?this.bodyActors.get(t):null}return this.showDebug&&!1!==o?.debug&&null!=this.scene&&this.drawRayDebugArrow(r,t,a,o?.debugColor,o?.debugLifetime),i}drawRayDebugArrow(t,e,i,s=255,o=200){let n=this.rayDebugArrowPool.pop();null==n?n=new h(t,e,i,s,.2,.1):(n.setDirection(t),n.position.copy(e),n.setLength(i,.2,.1),n.setColor(s)),n.userData.physicsRayDebugExpiresAt=performance.now()+o,this.activeRayDebugArrows.push(n),this.scene.add(n)}releaseExpiredRayDebugArrows(){if(0===this.activeRayDebugArrows.length)return;const t=performance.now();let e=0;for(let i=0;i<this.activeRayDebugArrows.length;i++){const s=this.activeRayDebugArrows[i];s.userData.physicsRayDebugExpiresAt<=t?(s.removeFromParent(),this.rayDebugArrowPool.push(s)):this.activeRayDebugArrows[e++]=s}this.activeRayDebugArrows.length=e}clearRayDebugArrows(){for(const t of this.activeRayDebugArrows)t.removeFromParent(),this.rayDebugArrowPool.push(t);this.activeRayDebugArrows.length=0}setGravity(t,e,i){this.world.gravity.x=t,this.world.gravity.y=e,this.world.gravity.z=i}getGravity(){return Z.set(this.world.gravity.x,this.world.gravity.y,this.world.gravity.z)}addFromScene(t){this.addRecursively(t);for(const t of this.staticBodies.values())pt(t,t=>t.setActiveEvents(i.ActiveEvents.COLLISION_EVENTS))}addRecursively(t){if(this.removeSceneObject(t),!function(t){if(null!=t.userData?.src){const e=t.userData?.src;return"actor"===e.type}return!1}(t))if(t instanceof P&&null!=t.collisionShape){const e=this.createStaticBody(t,[t.collisionShape],t.physics);this.staticMeshes.set(e,t),this.staticBodies.set(t,e)}else if(t instanceof W){const e=!1!==t.userData?.src?.collisionDetection;if(t.children[0]&&(t.children[0].instanceMatrix&&e||t.children[0].isBatchedMesh))this.createForInstancedMesh(t.children[0],t.collisionShapes);else if(e&&t.children.length>0){const e=this.createStaticBody(t,t.collisionShapes,t.physics);this.staticMeshes.set(e,t),this.staticBodies.set(t,e)}0===t.children.length&&(t.matrixAutoUpdate=!1,t.matrixWorldAutoUpdate=!1)}else t instanceof N?this.addLandscapeGroup(t):(t instanceof y||t instanceof x)&&t.children.forEach(t=>this.addRecursively(t))}createForInstancedMesh(t,e){const i=new m;if(t instanceof d.BatchedMesh){const e=t._instanceInfo??t._drawInfo,s=new Map,o=t.userData.collisionMatrices;for(let n=0;n<e.length;n++){if(null!=t.userData.hasCollision&&!t.userData.hasCollision[n])continue;const e=t.userData.collisionShapes;let r=e?.[n];if(null==r&&null==e&&t.parent instanceof W&&(r=t.parent.collisionShapes),null==r)continue;const a=o?.[n];let l=r;null==a&&(l=s.get(r),null==l&&(l=this.instancedShapeReset(r),s.set(r,l)));const c=new b;c.matrix.identity(),null!=a?i.copy(a):t.getMatrixAt(n,i),c.applyMatrix4(i);this.createStaticBody(c,l)}}else{const s=this.instancedShapeReset(e);for(let e=0;e<t.count;e++){if(null!=t.userData.hasCollision&&!t.userData.hasCollision[e])continue;const o=new b;o.matrix.identity(),i.fromArray(t.instanceMatrix.array,16*e),o.applyMatrix4(i);this.createStaticBody(o,s)}}}instancedShapeReset(t){return t.filter(t=>null!=t).map(t=>I(t))}getCharacterController(t){return this.world?.createCharacterController(t)}getActorComputedMovement(t,e,i,o=null){const n=this.actorBodies.get(t.id);this.controlledActors.add(t.id);const r=n.collider(0);e.computeColliderMovement(r,i,s.EXCLUDE_SENSORS,o,void 0);const a=e.computedMovement();return ut(yt,a),yt}setActorCapsuleCollider(t,e,i,s){const o=this.actorBodies.get(t.id),n=o?.collider(0);if(null==o||null==n)return!1;const r=t.object?.getWorldScale(bt)??et,a=Math.max(0,e*Math.abs(r.y)),l=Math.max(.001,i*Math.max(Math.abs(r.x),Math.abs(r.z)));return n.setHalfHeight(a/2),n.setRadius(l),ot.set(0,s,0).multiply(r),dt(it,ot),n.setTranslationWrtParent(it),o.recomputeMassPropertiesFromColliders(),o.isFixed()&&this.invalidateStaticDebug(),!0}hasActorCapsuleIntersection(t,e,i,o,n,r=null){const a=this.actorBodies.get(t.id),l=t.object?.getWorldScale(bt)??et,c=Math.max(0,i*Math.abs(l.y)),d=Math.max(.001,o*Math.max(Math.abs(l.x),Math.abs(l.z))),h=new this.rapier.Capsule(c/2,d),u=t.object?.getWorldQuaternion(H)??X;ot.set(0,n,0).multiply(l).applyQuaternion(u).add(e);return null!=this.world.intersectionWithShape(ot,u,h,s.EXCLUDE_SENSORS,r??void 0,void 0,a,mt)}createCollider(t,e){const i=this.addShape(e?.body,t),s=new PhysicsCollider(i,this.world,this.invalidateStaticDebug);return this.colliders.set(i.handle,s),(null==e||e.body.isFixed())&&this.invalidateStaticDebug(),s.disposed.subscribe(()=>{this.colliders.delete(i.handle)}),s}createBody(t=PhysicsBodyType.dynamic,e={}){const i=(()=>{switch(t){case PhysicsBodyType.dynamic:return this.rapier.RigidBodyDesc.dynamic();case PhysicsBodyType.static:return this.rapier.RigidBodyDesc.fixed();case PhysicsBodyType.kinematic:return this.rapier.RigidBodyDesc.kinematicPositionBased();case PhysicsBodyType.kinematicVelocityBased:return this.rapier.RigidBodyDesc.kinematicVelocityBased();default:return this.rapier.RigidBodyDesc.dynamic()}})();e.position&&i.setTranslation(e.position.x,e.position.y,e.position.z),e.rotation&&i.setRotation({x:e.rotation.x,y:e.rotation.y,z:e.rotation.z,w:e.rotation.w}),"boolean"==typeof e.canSleep&&i.setCanSleep(e.canSleep),"boolean"==typeof e.ccdEnabled&&i.setCcdEnabled(e.ccdEnabled),"number"==typeof e.gravityScale&&i.setGravityScale(e.gravityScale),"number"==typeof e.mass&&i.setAdditionalMass(e.mass),void 0!==e.userData&&(i.userData=e.userData);const s=this.world.createRigidBody(i);return s.isFixed()?this.invalidateStaticDebug():this.nonFixedBodies.add(s),new PhysicsBody(s,this.world,this.invalidateStaticDebug)}createJoint(t,e,i){let s,o;switch(i.type){case"fixed":s=this.rapier.JointData.fixed(i.anchor1,i.frame1,i.anchor2,i.frame2);break;case"spherical":s=this.rapier.JointData.spherical(i.anchor1,i.anchor2);break;case"revolute":s=this.rapier.JointData.revolute(i.anchor1,i.anchor2,i.axis),null!=i.limits&&(o=i.limits)}const n=this.world.createImpulseJoint(s,t.body,e.body,!0);if(null!=o){n.setLimits(o[0],o[1])}return n.setContactsEnabled(i.contactsEnabled??!1),new PhysicsJoint(n,this.world)}getCharacterComputedMovement(t,e,i,o=null){const n=t.collider;e.computeColliderMovement(n,i,s.EXCLUDE_SENSORS,o,void 0);const r=e.computedMovement();return ut(yt,r),yt}setNextKinematicTranslation(t,e){const i=this.actorBodies.get(t.id),s=i.translation(it);s.x+=e.x,s.y+=e.y,s.z+=e.z,i?.setNextKinematicTranslation(s)}setNextKinematicPosition(t,e){this.actorBodies.get(t.id).setNextKinematicTranslation(e)}setNextKinematicRotation(t,e){this.actorBodies.get(t.id).setNextKinematicRotation(e)}setNextKinematicTransform(t){!function(t,e){const i=e.getWorldPosition(J),s=e.getWorldQuaternion($);t.setNextKinematicTranslation(rt(i)),t.setNextKinematicRotation(at(s))}(this.actorBodies.get(t.id),t.object)}setAngularVelocity(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.setAngvel(it,!0)}setLinearVelocity(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.setLinvel(it,!0)}getLinearVelocity(t,e=new v){const i=this.actorBodies.get(t.id);if(null==i)return e.set(0,0,0);const s=i.linvel();return e.x=s.x,e.y=s.y,e.z=s.z,e}getAngularVelocity(t,e=new v){const i=this.actorBodies.get(t.id);if(null==i)return e.set(0,0,0);const s=i.angvel();return e.x=s.x,e.y=s.y,e.z=s.z,e}setLinearDamping(t,e){const i=this.actorBodies.get(t.id);i?.setLinearDamping(e)}getLienarDamping(t){const e=this.actorBodies.get(t.id);return e?.linearDamping()??0}setAngularDamping(t,e){const i=this.actorBodies.get(t.id);i?.setAngularDamping(e)}getAngularDamping(t){const e=this.actorBodies.get(t.id);e?.angularDamping()}setPosition(t,e){const i=this.actorBodies.get(t.id);i?.setTranslation(rt(e),!1)}getPosition(t,e=new v){const i=this.actorBodies.get(t.id);i&&i.translation(e)}setRotation(t,e){const i=this.actorBodies.get(t.id);i?.setTranslation(at(e),!1)}getRotation(t,e=new f){const i=this.actorBodies.get(t.id);i&&function(t,e){t.x=e.x,t.y=e.y,t.z=e.z,t.w=e.w}(e,i.rotation())}lockTranslations(t,e){const i=this.actorBodies.get(t.id);i?.lockTranslations(e,!1)}lockRotations(t,e){const i=this.actorBodies.get(t.id);i?.lockRotations(e,!1)}setEnabledTranslations(t,e,i,s){const o=this.actorBodies.get(t.id);o?.setEnabledTranslations(e,i,s,!1)}setEnabledRotations(t,e,i,s){const o=this.actorBodies.get(t.id);o?.setEnabledRotations(e,i,s,!1)}addLandscapeGroup(t){this.invalidateStaticDebug();const e=t.userData.src,s=e.landscape.heightMaps;for(const n of t.sections){this.staticBodies.has(n)&&this.world.removeRigidBody(this.staticBodies.get(n));var o=n.getWorldPosition(new v);if(e.landscape.holes&&e.landscape.holes.some(t=>t.m===n.name&&0!==t.w[0])){const t=n.geometry.clone(),i=n.scale,s=n.geometry.getAttribute("hole"),r=new Float32Array(t.getAttribute("position").array);for(let t=0;t<r.length;t+=3)r[t]*=i.x,r[t+1]*=i.y,r[t+2]*=i.z;const a=t.index;for(let t=0;t<a.count;t+=3){const e=s.getX(a.getX(t)),i=s.getX(a.getY(t)),o=s.getX(a.getZ(t));(e>.5||i>.5||o>.5)&&(a.setX(t,0),a.setY(t,0),a.setZ(t,0))}const l=this.rapier.ColliderDesc.trimesh(r,new Uint32Array(t.getIndex().array));if(!1!==e.collisionDetection){const t=this.world.createRigidBody(this.rapier.RigidBodyDesc.fixed()),e=new this.rapier.Vector3(0,0,0);dt(e,o),t.setTranslation(e,!1),this.world.createCollider(l,t),this.staticBodies.set(n,t)}continue}const t=e.landscape.options.density+1,r=e.landscape.options.sectionSize,a=new Array(t);for(let e=0;e<t;e++)a[e]=new Array(t).fill(0);const l=s.find(t=>t.x===n.x&&t.y==n.y);if(null!=l)for(const e of l.points){if(null==a[e.i%t])continue;const i=t-1-Math.floor(e.i/t);i in a[e.i%t]?a[e.i%t][i]=e.y/r:console.warn("wrong index",{points:a,point:e,i:e.i%t,k:i,heightMap:l})}const c=e.landscape.options.density,d=a.flatMap(t=>t.reverse()),h=i.ColliderDesc.heightfield(c,c,new Float32Array(d),new this.rapier.Vector3(r,r,r));if(!1!==e.collisionDetection){const t=this.world.createRigidBody(this.rapier.RigidBodyDesc.fixed()),e=new this.rapier.Vector3(0,0,0);dt(e,o),t.setTranslation(e,!1),this.world.createCollider(h,t),this.staticBodies.set(n,t)}}}setEnabled(t,e){const i=this.actorBodies.get(t.id);i?.setEnabled(e),i?.isFixed()&&this.invalidateStaticDebug()}addActor(t,e,i={}){if(0==e.length)return void console.error("No collision shapes were defined when adding actor to the physics system.");this.removeActor(t);const s=t.object;let o;switch(i.type??PhysicsBodyType.static){case PhysicsBodyType.dynamic:o=this.rapier.RigidBodyDesc.dynamic(),o.mass=i.mass??1;break;case PhysicsBodyType.kinematic:o=this.rapier.RigidBodyDesc.kinematicPositionBased();break;case PhysicsBodyType.kinematicVelocityBased:o=this.rapier.RigidBodyDesc.kinematicVelocityBased();break;default:o=i.isTrigger?this.rapier.RigidBodyDesc.kinematicVelocityBased():this.rapier.RigidBodyDesc.fixed()}const n=this.world.createRigidBody(o);n.enableCcd(1==i.continousCollisionDetection);for(const t of e){const e=this.addShape(n,t,s);gt.set(e,!i.isTrigger)}return i.type!==PhysicsBodyType.static&&this.nonFixedBodies.add(n),pt(n,t=>{null!=i.isTrigger&&(t.setSensor(i.isTrigger),t.setActiveCollisionTypes(this.rapier.ActiveCollisionTypes.ALL),t.setActiveEvents(this.rapier.ActiveEvents.COLLISION_EVENTS)),null!=i.friction&&t.setFriction(i.friction),null!=i.density&&t.setDensity(i.density),null!=i.mass&&t.setMass(i.mass),null!=i.restitution&&t.setRestitution(i.restitution)}),Y(n,s),!0===i.ignoreForNavMesh&&(n.userData={ignoreForNavMesh:!0}),this.actorBodies.set(t.id,n),this.bodyActors.set(n,t),n.isFixed()&&this.invalidateStaticDebug(),new PhysicsBody(n,this.world,this.invalidateStaticDebug)}applyTorque(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.addTorque(it,!0)}applyTorqueImpulse(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.applyTorqueImpulse(it,!0)}resetForces(t){const e=this.actorBodies.get(t.id);e?.resetForces(!1)}resetTorques(t){const e=this.actorBodies.get(t.id);e?.resetTorques(!1)}applyForce(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.addForce(it,!0)}applyImpulse(t,e){const i=this.actorBodies.get(t.id);it.x=e.x,it.y=e.y,it.z=e.z,i?.applyImpulse(it,!0)}applyLocalForce(t,e,i){const s=this.actorBodies.get(t.id);dt(it,e),null==i?s?.addForce(it,!0):(dt(st,i),s?.addForceAtPoint(it,st,!0))}applyLocalImpulse(t,e,i){const s=this.actorBodies.get(t.id);dt(it,e),null==i?s.applyImpulse(it,!0):(dt(st,i),s.applyImpulseAtPoint(it,st,!0))}applyRadiusImpulse(t,e,s){this.world.bodies.forEach(o=>{if(o.collider(0)?.isSensor())return;if(o.bodyType()!==i.RigidBodyType.Dynamic)return;const n=ot;ut(n,o.translation());const r=n.clone().sub(t);if(r.length()>e)return;const a=r.clone().normalize().multiplyScalar(s);it.x=a.x,it.y=a.y,it.z=a.z,o.applyImpulse(it,!0)})}removeActor(t){if(null==t)return;this.controlledActors.delete(t.id);const e=this.actorBodies.get(t.id);null!=e&&(e.isFixed()&&this.invalidateStaticDebug(),this.bodyActors.delete(e),this.world.removeRigidBody(e),this.nonFixedBodies.delete(e)),this.actorBodies.delete(t.id)}removeRemoved(t){if(null==t)return;const e=new Set;t.traverse(t=>{e.add(t.uuid)});for(const[t,i]of this.staticBodies.entries())e.has(t.uuid)&&this.world.getRigidBody(i.handle)&&(this.invalidateStaticDebug(),this.staticBodies.delete(t),this.world.removeRigidBody(i),this.nonFixedBodies.delete(i))}removeSceneObject(t){if(t instanceof N){for(const e of t.sections)this.removeSceneObject(e);return}let e=this.staticBodies.get(t);null!=e&&this.world.getRigidBody(e.handle)&&(this.invalidateStaticDebug(),this.world.removeRigidBody(e),this.nonFixedBodies.delete(e)),this.staticBodies.delete(t)}activateActorEvents(t){this.actorBodies.get(t.id)}_onCollisionWithActorEvent(t,e,i){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(({started:t})=>t===i),a(({handle1:t,handle2:e,started:i})=>({a1:this.bodyActors.get(this.world.getCollider(t)?.parent()),a2:this.bodyActors.get(this.world.getCollider(e)?.parent()),started:i})),r(({a1:i,a2:s})=>null!=i&&null!=s&&i.id===t.id&&e(i,s)),a(({a2:t})=>t))}onBeginContact(t){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(t=>t.started),r(({handle1:e})=>{const i=this.bodyActors.get(this.world.getCollider(e)?.parent());return null!=i&&i.id===t.id}),a(t=>t.handle2))}onEndContact(t){return this.activateActorEvents(t),this.collisionEvents.pipe(c(t.disposed),r(t=>!t.started),r(({handle1:e})=>{const i=this.bodyActors.get(this.world.getCollider(e)?.parent());return null!=i&&i.id===t.id}),a(t=>t.handle2))}onHasContactChanged(t){const e=new Set,i=new o(!1);return this.onBeginContact(t).subscribe(t=>{e.add(t),i.next(e.size>0)}),this.onEndContact(t).subscribe(t=>{e.delete(t),i.next(e.size>0)}),i.pipe(n())}onBeginOverlap(t){return this._onCollisionWithActorEvent(t,()=>!0,!0)}onEndOverlap(t){return this._onCollisionWithActorEvent(t,()=>!0,!1)}onBeginOverlapWithActorType(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>i instanceof e,!0)}onEndOverlapWithActorType(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>i instanceof e,!1)}onBeginOverlapWithActor(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>e.id===i.id,!0)}onEndOverlapWithActor(t,e){return this._onCollisionWithActorEvent(t,(t,i)=>e.id===i.id,!1)}onCollisionWithActor(t,e){return this.onBeginOverlapWithActor(t,e)}onCollisionWithActorType(t,e){return this.onBeginOverlapWithActorType(t,e)}updateActorTransform(t){const e=this.actorBodies.get(t.id);null!=e&&(Y(e,t.object),e.isFixed()&&this.invalidateStaticDebug())}flushModifiedBodyPositionsToColliders(){this.world.propagateModifiedBodyPositionsToColliders()}setupWorld(){const t=new this.rapier.World({x:0,y:-9.81,z:0});this.world=t,this.invalidateStaticDebug()}sphereCast(t,e,i,o,n=ShapeCastResult.shared,r){n.reset();const a=this.getBallShape(e);it.x=i.x,it.y=i.y,it.z=i.z;const l=r?.excludeActor?this.actorBodies.get(r.excludeActor.id):null,c=this.world.castShape(t,X,it,a,.01,o,!0,r?.excludeTriggers?s.EXCLUDE_SENSORS:void 0,r?.collisionFilter??void 0,null,l);if(null!=c){ut(n.hitPoint,c.witness1),n.normal.set(c.normal1.x,c.normal1.y,c.normal1.z),n.distance=c.time_of_impact,n.hasHit=!0;const t=c.collider.parent();if(t){const e=this.bodyActors.get(t);e&&(n.actor=e)}}return n}castActorShape(t,e,i,s=ShapeCastResult.shared,o=void 0){s.reset();const n=this.actorBodies.get(t.id);if(n&&n.numColliders()>0){for(let t=0;t<n.numColliders();t++){const r=n.collider(t);let a=r.shape,l=r.translation(),c=r.rotation(),d=e,h=i;const u=this.world.castShape(l,c,d,a,.01,h,!0,null,o,null,n,void 0);if(null!=u){u.collider;const t=r;return ut(s.hitPoint,u.witness1),xt(t.rotation(),u.normal1,s.normal,q),s.distance=u.time_of_impact,s.actor=this.bodyActors.get(u.collider.parent()),s.hasHit=!0,s}}return s}return console.warn("Actor is not added to the physics system"),s}stop(){if(!this._isStopped){this._isStopped=!0,this.bodyActors.clear(),this.actorBodies.clear(),this.staticBodies.clear(),this.staticMeshes.clear(),this.colliders.clear(),this.fixedupdateSub?.unsubscribe(),this.collisionSub?.unsubscribe(),this.world?.bodies.forEach(t=>{this.world.removeRigidBody(t),this.nonFixedBodies.delete(t)});try{this.eventQueue?.free()}catch(t){console.warn("Error when freeing physics event queue",t)}try{this.world?.free(),this.world=void 0}catch(t){console.warn("Error while freeing physics world",t)}this.clearRayDebugArrows();for(const t of this.rayDebugArrowPool)t.dispose();this.rayDebugArrowPool.length=0}}createStaticBody(t,e,s){const o=s?.type===PhysicsBodyType.dynamic?i.RigidBodyDesc.dynamic():i.RigidBodyDesc.fixed();o.setSleeping(!0);const n=this.world.createRigidBody(o);s?.type===PhysicsBodyType.dynamic&&this.nonFixedBodies.add(n);let r=0;for(const i of e){if(r>128){console.warn("Too many collision shapes for object",t);break}if(r++,null==i){console.warn("Collision shape is missing for object",t);continue}const o=this.addShape(n,i,t);null!=o&&(null!=s?.friction&&o.setFriction(s.friction),null!=s?.density&&o.setDensity(s.density),null!=s?.mass&&o.setMass(s.mass/e.length),null!=s?.restitution&&o.setRestitution(s.restitution))}return Y(n,t),n.userData=t.uuid,n.sleep(),n.isFixed()&&this.invalidateStaticDebug(),n}addShape(t=void 0,e,i){const s=i?.getWorldScale(bt)??et,o=this.createShape(e,s);if(null==o)return void console.error("Failed to create physics shape. This can happen if the geometry is degenerate or zero-scaled.",{shapeInfo:e,object:i});this.applyShapeSettings(o,e);const n=e.offset.clone().multiply(s);dt(o.translation,n);const r=(new f).setFromEuler(e.rotation);ht(o.rotation,r),null!=t&&t.numColliders()>128&&console.warn(`Rigid body has many colliders (${t.numColliders()}). Consider using a Trimesh if this is static geometry.`,t);try{return this.world.createCollider(o,t)}catch(t){return void console.error("Failed to create collider",t)}}applyShapeSettings(t,e){null!=e.collisionGroup&&t.setCollisionGroups(e.collisionGroup),t.friction=e.friction??.1,null!=e.restitution&&(t.restitution=e.restitution),null!=e.density&&(t.density=e.density,t.massPropsMode=i.MassPropsMode.Density),null!=e.mass&&(t.mass=e.mass,t.massPropsMode=i.MassPropsMode.Mass)}createShape(t,e){if(t instanceof R)return this.rapier.ColliderDesc.cuboid(t.dimensions.x*e.x/2,t.dimensions.y*e.y/2,t.dimensions.z*e.z/2);if(t instanceof M){return this.rapier.ColliderDesc.capsule(t.length/2*e.y,t.radius*Math.max(e.z,e.x))}if(t instanceof j){const i=null!=t.geometry.getIndex()?t.geometry:B.mergeVertices(t.geometry),s=extractFloat32Array(i.getAttribute("position"));for(let t=0;t<s.length;t+=3)s[t]*=e.x,s[t+1]*=e.y,s[t+2]*=e.z;const o=i.getIndex();return null==o?(console.error("Trimesh collision shape is missing an index buffer.",t),null):this.rapier.ColliderDesc.trimesh(s,new Uint32Array(o.array))}if(t instanceof T){let i,s;t.mesh instanceof d.Mesh?i=t.mesh.geometry:t.mesh instanceof d.BufferGeometry?i=t.mesh:console.log("Unknownd shape",{shapeInfo:t}),t.mesh instanceof d.Mesh&&(s=k(t.mesh));const o=`${i.uuid}|${s?.x??1},${s?.y??1},${s?.z??1}|${e.x},${e.y},${e.z}`,n=tt.get(o);if(void 0!==n)return n;const r=extractFloat32Array(i.getAttribute("position"));if(null!=s)for(let t=0;t<r.length;t+=3)r[t]*=s.x,r[t+1]*=s.y,r[t+2]*=s.z;for(let t=0;t<r.length;t+=3)r[t]*=e.x,r[t+1]*=e.y,r[t+2]*=e.z;const a=this.rapier.ColliderDesc.convexHull(r);return null==a&&console.error("Failed to compute convex hull. Points may be coplanar or too few.",{count:r.length/3}),tt.set(o,a),a}if(t instanceof _){const i=2*e.x-e.y-e.z;return Math.abs(i)>.01?this.createShape(new T(new d.SphereGeometry(t.radius).scale(e.x,e.y,e.z)),new v(1,1,1)):this.rapier.ColliderDesc.ball(t.radius*Math.max(e.x,e.y,e.z))}return t instanceof z?this.rapier.ColliderDesc.cylinder(t.height/2*e.y,t.radiusTop*Math.max(e.z,e.x)):t instanceof E?this.rapier.ColliderDesc.cone(t.height*e.y,t.radiusBottom/2*Math.max(e.z,e.x)):t instanceof F?this.rapier.ColliderDesc.cuboid(t.width/2*e.x,t.height/2*e.y,.001):(console.error("Unsupported shape",t),this.rapier.ColliderDesc.cuboid(1,1,1))}createCharacterCollision(){return new this.rapier.CharacterCollision}};Q=t([D(),e("design:paramtypes",[])],Q);export{Q as PhysicsSystem};const J=new v,$=new d.Quaternion;function Y(t,e){const i=e.getWorldPosition(J),s=e.getWorldQuaternion($);t.setTranslation(rt(i),!1),t.setRotation(at(s),!1)}const Z=new v,tt=new Map,et=new v(1,1,1),it=new i.Vector3(0,0,0),st=new i.Vector3(0,0,0),ot=new v,nt=new d.Vector2;function rt(t){return dt(it,t),it}function at(t){return ht(q,t),q}let lt=null;const ct=async()=>(null==lt&&(lt=(async()=>{let t=await import("@dimforge/rapier3d-simd-compat");return await t.init(),t})()),lt);function dt(t,e){t.x=e.x,t.y=e.y,t.z=e.z}function ht(t,e){t.x=e.x,t.y=e.y,t.z=e.z,t.w=e.w}function ut(t,e){t.x=e.x,t.y=e.y,t.z=e.z}function pt(t,e){for(let i=0,s=t.numColliders();i<s;i++){e(t.collider(i))}}const yt=new v,gt=new WeakMap,mt=t=>gt.get(t)??!0,bt=new v;let ft,wt=class extends S{constructor(){super(...arguments),this._active=!0,this.physics=C(Q),this.world=C(V)}set active(t){this._active=t,t?(this.world.scene.remove(this.actor.object),this.physics.setEnabled(this.actor,t)):(this.world.scene.add(this.actor.object),this.physics.setEnabled(this.actor,t))}get active(){return this._active}};wt=t([A()],wt);export function extractFloat32Array(t){const e=t.itemSize,i=t.count,s=new Float32Array(i*e);for(let o=0;o<i;o++)for(let i=0;i<e;i++)s[o*e+i]=t.getComponent(o,i);return s}function xt(t,e,i,s){return s.set(t.x,t.y,t.z,t.w),i.set(e.x,e.y,e.z),i.applyQuaternion(s),i}export class PhysicsCollider{constructor(t,e,i){this.collider=t,this.world=e,this.invalidateStaticDebug=i,this.disposed=new l,this.onBeginOverlapActor=new l,this.onEndOverlapActor=new l}dispose(){const t=this.collider.parent();(null==t||t.isFixed())&&this.invalidateStaticDebug?.(),this.world.removeCollider(this.collider,!1),this.disposed.next(!0),this.disposed.complete(),this.onBeginOverlapActor.complete(),this.onEndOverlapActor.complete()}set mass(t){this.collider.setMass(t)}get mass(){return this.collider.mass()}set friction(t){this.collider.setFriction(t)}get friction(){return this.collider.friction()}set restitution(t){this.collider.setRestitution(t)}get restitution(){return this.collider.restitution()}set density(t){this.collider.setDensity(t)}get density(){return this.collider.density()}set isTrigger(t){this.collider.setSensor(t)}get isTrigger(){return this.collider.isSensor()}set collisionGroups(t){this.collider.setCollisionGroups(t)}get collisionGroups(){return this.collider.collisionGroups()}set enabled(t){this.collider.setEnabled(t);const e=this.collider.parent();(null==e||e.isFixed())&&this.invalidateStaticDebug?.()}get enabled(){return this.collider.isEnabled()}}export class PhysicsBody{constructor(t,e,i){this.invalidateStaticDebug=i,this.body=t,this.world=e}dispose(){this.body.isFixed()&&this.invalidateStaticDebug?.(),this.world.removeRigidBody(this.body)}setEnabled(t){this.body.setEnabled(t),this.body.isFixed()&&this.invalidateStaticDebug?.()}isEnabled(){return this.body.isEnabled()}getPosition(t){return this.body.translation(t)}setPosition(t){this.body.setTranslation({x:t.x,y:t.y,z:t.z},!0),this.body.isFixed()&&this.invalidateStaticDebug?.()}getRotation(t){const e=this.body.rotation();return t.set(e.x,e.y,e.z,e.w),t}setRotation(t){this.body.setRotation({x:t.x,y:t.y,z:t.z,w:t.w},!0),this.body.isFixed()&&this.invalidateStaticDebug?.()}getLinearVelocity(t){const e=this.body.linvel();return t.set(e.x,e.y,e.z),t}setLinearVelocity(t){this.body.setLinvel({x:t.x,y:t.y,z:t.z},!0)}getAngularVelocity(t){const e=this.body.angvel();return t.set(e.x,e.y,e.z),t}setAngularVelocity(t){this.body.setAngvel({x:t.x,y:t.y,z:t.z},!0)}setLinearDamping(t){this.body.setLinearDamping(t)}setAngularDamping(t){this.body.setAngularDamping(t)}applyImpulse(t,e=!0){this.body.applyImpulse({x:t.x,y:t.y,z:t.z},e)}applyTorqueImpulse(t,e=!0){this.body.applyTorqueImpulse({x:t.x,y:t.y,z:t.z},e)}setNextKinematicPosition(t){this.body.setNextKinematicTranslation(t)}setNextKinematicRotation(t){this.body.setNextKinematicRotation(t)}setType(t){const e=this.body.isFixed();this.body.setBodyType(function(t){switch(t){case PhysicsBodyType.dynamic:return i.RigidBodyType.Dynamic;case PhysicsBodyType.static:return i.RigidBodyType.Fixed;case PhysicsBodyType.kinematic:return i.RigidBodyType.KinematicPositionBased;case PhysicsBodyType.kinematicVelocityBased:return i.RigidBodyType.KinematicVelocityBased}}(t),t!==PhysicsBodyType.static),(e||this.body.isFixed())&&this.invalidateStaticDebug?.()}setGravityScale(t){this.body.setGravityScale(t,!1)}getGravityScale(){return this.body.gravityScale()}isDynamic(){return this.body.isDynamic()}isKinematic(){return this.body.isKinematic()}isStatic(){return this.body.isFixed()}sleep(){this.body.sleep()}wakeUp(){this.body.wakeUp()}}export class PhysicsJoint{constructor(t,e){this.joint=t,this.world=e}dispose(){this.joint.isValid()&&this.world.removeImpulseJoint(this.joint,!0)}setContactsEnabled(t){this.joint.setContactsEnabled(t)}get contactsEnabled(){return this.joint.contactsEnabled()}}/*
  * Copyright (©) 2026 Hology Interactive AB. All rights reserved.
  * See the LICENSE.md file for details.
  */