@iwsdk/core 0.4.1 → 0.5.0

package/dist/physics/physics-system.d.ts.map

@@ -1 +1 @@
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package/dist/physics/physics-system.js

@@ -1,12 +1,11 @@
-import '../index.js';
 import '../runtime/three.js';
-import { PhysicsBody, DEFAULT_LINEAR_DAMPING, DEFAULT_ANGULAR_DAMPING, DEFAULT_GRAVITY_FACTOR, PhysicsState } from './physicsBody.js';
+import { PhysicsBody, DEFAULT_ANGULAR_DAMPING, DEFAULT_LINEAR_DAMPING, DEFAULT_GRAVITY_FACTOR, PhysicsState } from './physicsBody.js';
 import { PhysicsManipulation } from './physicsManipulation.js';
 import { PhysicsShape, PhysicsShapeType } from './physicsShape.js';
-import { detectShapeFromGeometry, generateMergedGeometry } from './utils.js';
+import { detectShapeFromGeometry, generateMergedGeometry, sequentialIndices } from './utils.js';
+import { createSystem } from '../ecs/system.js';
 import { Types, ne } from 'elics';
 import { Grabbed } from '../grab/grabbed.js';
-import { createSystem } from '../ecs/system.js';
 import { Vector3, Matrix4, Mesh } from 'three';
 
 /**
@@ -15,6 +14,36 @@ import { Vector3, Matrix4, Mesh } from 'three';
  * This source code is licensed under the MIT license found in the
  * LICENSE file in the root directory of this source tree.
  */
+const ZERO_VECTOR = [0, 0, 0];
+function getCapsuleAxisEndpoints(radius, totalHeight) {
+    if (!Number.isFinite(radius) ||
+        !Number.isFinite(totalHeight) ||
+        radius <= 0 ||
+        totalHeight < radius * 2) {
+        return null;
+    }
+    const halfSegment = totalHeight / 2 - radius;
+    if (halfSegment === 0) {
+        return [
+            [0, 0, 0],
+            [0, 0, 0],
+        ];
+    }
+    return [
+        [0, -halfSegment, 0],
+        [0, halfSegment, 0],
+    ];
+}
+function vector3ToArray(value) {
+    return 'x' in value
+        ? [value.x, value.y, value.z]
+        : [value[0], value[1], value[2]];
+}
+function quaternionToArray(value) {
+    return 'w' in value
+        ? [value.x, value.y, value.z, value.w]
+        : [value[0], value[1], value[2], value[3]];
+}
 /**
  * Manages physics simulation using the Havok physics engine.
  *
@@ -53,6 +82,23 @@ class PhysicsSystem extends createSystem({
         required: [PhysicsBody, PhysicsManipulation],
         where: [ne(PhysicsBody, '_engineBody', 0)],
     },
+    // Bodies whose gravityFactor / linearDamping / angularDamping differ from
+    // the defaults. The value predicate keeps each set limited to overridden
+    // bodies, so the common case (default values) is never visited by the
+    // per-frame reactive sync below, and the queries re-fire whenever the field
+    // is `setValue`-d.
+    gravityOverrides: {
+        required: [PhysicsBody, PhysicsShape],
+        where: [ne(PhysicsBody, 'gravityFactor', DEFAULT_GRAVITY_FACTOR)],
+    },
+    linearDampingOverrides: {
+        required: [PhysicsBody, PhysicsShape],
+        where: [ne(PhysicsBody, 'linearDamping', DEFAULT_LINEAR_DAMPING)],
+    },
+    angularDampingOverrides: {
+        required: [PhysicsBody, PhysicsShape],
+        where: [ne(PhysicsBody, 'angularDamping', DEFAULT_ANGULAR_DAMPING)],
+    },
 }, {
     gravity: { type: Types.Vec3, default: [0, -9.81, 0] },
 }) {
@@ -61,6 +107,14 @@ class PhysicsSystem extends createSystem({
         this.scaleBuffer = new Vector3();
         this.matrixBuffer = new Matrix4();
     }
+    /** Float32 view over the current Havok heap buffer (see {@link heapFloatView}). */
+    getHeapFloatView() {
+        const buffer = this.havok.HEAPU8.buffer;
+        if (!this.heapFloatView || this.heapFloatView.buffer !== buffer) {
+            this.heapFloatView = new Float32Array(buffer);
+        }
+        return this.heapFloatView;
+    }
     async init() {
         const { default: HavokPhysics } = await import('@babylonjs/havok');
         this.havok = await HavokPhysics();
@@ -80,6 +134,80 @@ class PhysicsSystem extends createSystem({
                 this.havok.HP_World_RemoveBody(this.havokWorld, [BigInt(engineBody)]);
             }
         });
+        this.subscribeReactiveOverrides();
+    }
+    /**
+     * Teleport an existing Havok body to `pose`.
+     *
+     * @remarks
+     * No-ops until the entity has a live {@link PhysicsBody}. The pose is pushed
+     * directly to Havok and mirrored onto `entity.object3D` immediately so callers
+     * do not need to wait for the next physics tick before reading the reset
+     * transform. Linear and angular velocity are cleared by default, which is the
+     * expected behavior for reset/home-position flows.
+     *
+     * @example Reset a fallen prop to its home pose
+     * ```ts
+     * const physics = world.getSystem(PhysicsSystem);
+     * physics.setBodyTransform(prop, {
+     *   position: homePosition,
+     *   quaternion: homeQuaternion,
+     * });
+     * ```
+     */
+    setBodyTransform(entity, pose, options = {}) {
+        if (!this.havok || !entity.hasComponent(PhysicsBody)) {
+            return;
+        }
+        const engineBody = entity.getValue(PhysicsBody, '_engineBody');
+        if (!engineBody) {
+            return;
+        }
+        const body = [BigInt(engineBody)];
+        const position = vector3ToArray(pose.position);
+        const quaternion = quaternionToArray(pose.quaternion);
+        this.havok.HP_Body_SetQTransform(body, [position, quaternion]);
+        if (entity.object3D) {
+            entity.object3D.position.set(position[0], position[1], position[2]);
+            entity.object3D.quaternion.set(quaternion[0], quaternion[1], quaternion[2], quaternion[3]);
+            entity.object3D.updateMatrixWorld(true);
+        }
+        if (options.resetVelocity === false) {
+            return;
+        }
+        this.havok.HP_Body_SetLinearVelocity(body, [...ZERO_VECTOR]);
+        this.havok.HP_Body_SetAngularVelocity(body, [...ZERO_VECTOR]);
+        entity.getVectorView(PhysicsBody, '_linearVelocity').set(ZERO_VECTOR);
+        entity.getVectorView(PhysicsBody, '_angularVelocity').set(ZERO_VECTOR);
+    }
+    /**
+     * Reset a body's gravityFactor / linearDamping / angularDamping to the engine
+     * default when its field returns to the default value. The entity then drops
+     * out of the override set, so {@link syncReactiveOverrides} no longer visits
+     * it — this is the one place that restores the default. The `hasComponent`
+     * guard distinguishes the value-returned-to-default case from the other
+     * disqualify cause (PhysicsBody/PhysicsShape removal), where the body is being
+     * released and must not be written to.
+     */
+    subscribeReactiveOverrides() {
+        this.queries.gravityOverrides.subscribe('disqualify', (entity) => {
+            if (entity.hasComponent(PhysicsBody) &&
+                entity.hasComponent(PhysicsShape)) {
+                this.syncGravityFactor(entity);
+            }
+        });
+        this.queries.linearDampingOverrides.subscribe('disqualify', (entity) => {
+            if (entity.hasComponent(PhysicsBody) &&
+                entity.hasComponent(PhysicsShape)) {
+                this.syncLinearDamping(entity);
+            }
+        });
+        this.queries.angularDampingOverrides.subscribe('disqualify', (entity) => {
+            if (entity.hasComponent(PhysicsBody) &&
+                entity.hasComponent(PhysicsShape)) {
+                this.syncAngularDamping(entity);
+            }
+        });
     }
     update(delta) {
         if (this.havok && this.havokWorld) {
@@ -101,10 +229,19 @@ class PhysicsSystem extends createSystem({
             }
             else {
                 if (!engineBody && engineShape) {
-                    const bodyRepsonse = this.createBody([BigInt(engineShape)], entity.object3D.position, entity.object3D.quaternion, entity.getValue(PhysicsBody, 'state'), (_a = entity.getValue(PhysicsBody, 'linearDamping')) !== null && _a !== void 0 ? _a : DEFAULT_LINEAR_DAMPING, (_b = entity.getValue(PhysicsBody, 'angularDamping')) !== null && _b !== void 0 ? _b : DEFAULT_ANGULAR_DAMPING, (_c = entity.getValue(PhysicsBody, 'gravityFactor')) !== null && _c !== void 0 ? _c : DEFAULT_GRAVITY_FACTOR, entity.getVectorView(PhysicsBody, 'centerOfMass'));
+                    const linearDamping = (_a = entity.getValue(PhysicsBody, 'linearDamping')) !== null && _a !== void 0 ? _a : DEFAULT_LINEAR_DAMPING;
+                    const angularDamping = (_b = entity.getValue(PhysicsBody, 'angularDamping')) !== null && _b !== void 0 ? _b : DEFAULT_ANGULAR_DAMPING;
+                    const gravityFactor = (_c = entity.getValue(PhysicsBody, 'gravityFactor')) !== null && _c !== void 0 ? _c : DEFAULT_GRAVITY_FACTOR;
+                    const bodyRepsonse = this.createBody([BigInt(engineShape)], entity.object3D.position, entity.object3D.quaternion, entity.getValue(PhysicsBody, 'state'), linearDamping, angularDamping, gravityFactor, entity.getVectorView(PhysicsBody, 'centerOfMass'));
                     if (bodyRepsonse) {
                         entity.setValue(PhysicsBody, '_engineBody', Number(bodyRepsonse.createdBody));
                         entity.setValue(PhysicsBody, '_engineOffset', bodyRepsonse.offset);
+                        // Seed the reactive shadows with what createBody just pushed, so the
+                        // first per-frame sync sees no drift and skips a redundant write.
+                        PhysicsBody.data._engineGravityFactor[entity.index] = gravityFactor;
+                        PhysicsBody.data._engineLinearDamping[entity.index] = linearDamping;
+                        PhysicsBody.data._engineAngularDamping[entity.index] =
+                            angularDamping;
                     }
                 }
                 else if (engineBody && this.bodyBuffer) {
@@ -121,7 +258,7 @@ class PhysicsSystem extends createSystem({
                     // Processing physics body motion here
                     const position = entity.object3D.position;
                     const quaternion = entity.object3D.quaternion;
-                    if (entity.hasComponent(Grabbed)) {
+                    if (Grabbed.bitmask && entity.hasComponent(Grabbed)) {
                         this.havok.HP_Body_SetTargetQTransform([BigInt(engineBody)], [
                             [position.x, position.y, position.z],
                             [quaternion.x, quaternion.y, quaternion.z, quaternion.w],
@@ -129,10 +266,14 @@ class PhysicsSystem extends createSystem({
                         return;
                     }
                     const bodyOffset = (_d = entity.getValue(PhysicsBody, '_engineOffset')) !== null && _d !== void 0 ? _d : 0;
-                    const transformBuffer = new Float32Array(this.havok.HEAPU8.buffer, this.bodyBuffer + bodyOffset, 16);
+                    // Read the 16-float transform straight out of the cached heap view.
+                    // `bodyBuffer + bodyOffset` is 4-byte aligned (it was a valid
+                    // Float32Array byteOffset previously), so `>> 2` is exact.
+                    const heap = this.getHeapFloatView();
+                    const base = (this.bodyBuffer + bodyOffset) >> 2;
                     for (let mi = 0; mi < 15; mi++) {
                         if ((mi & 3) != 3) {
-                            this.matrixBuffer.elements[mi] = transformBuffer[mi];
+                            this.matrixBuffer.elements[mi] = heap[base + mi];
                         }
                     }
                     this.matrixBuffer.elements[15] = 1.0;
@@ -140,6 +281,7 @@ class PhysicsSystem extends createSystem({
                 }
             }
         });
+        this.syncReactiveOverrides();
         this.queries.manipluatedEntities.entities.forEach((entity) => {
             const engineBody = entity.getValue(PhysicsBody, '_engineBody');
             if (!entity.object3D || !this.havok || !this.havokWorld || !engineBody) {
@@ -219,8 +361,98 @@ class PhysicsSystem extends createSystem({
             createdBody: body,
         };
     }
+    /**
+     * Push post-creation gravityFactor / linearDamping / angularDamping edits to
+     * Havok. Only overridden bodies are visited (see the value-predicate queries
+     * in the system definition); each sync diffs the component value against the
+     * last-pushed shadow, so a body whose field is unchanged this frame costs only
+     * a typed-array compare.
+     */
+    syncReactiveOverrides() {
+        this.queries.gravityOverrides.entities.forEach((entity) => {
+            this.syncGravityFactor(entity);
+        });
+        this.queries.linearDampingOverrides.entities.forEach((entity) => {
+            this.syncLinearDamping(entity);
+        });
+        this.queries.angularDampingOverrides.entities.forEach((entity) => {
+            this.syncAngularDamping(entity);
+        });
+    }
+    /**
+     * Sync the entity's current {@link PhysicsBody.gravityFactor} onto its Havok
+     * body. Diffs the component value against `_engineGravityFactor` (the last
+     * value pushed) rather than reading back from Havok, so an unchanged body
+     * costs only a typed-array compare — no WASM call and no allocation. The Havok
+     * write and shadow update happen only on an actual change. No-op until the body
+     * exists. See {@link gravityOverrides}.
+     */
+    syncGravityFactor(entity) {
+        if (!this.havok) {
+            return;
+        }
+        const index = entity.index;
+        const engineBody = PhysicsBody.data._engineBody[index];
+        if (!engineBody) {
+            return;
+        }
+        const target = PhysicsBody.data.gravityFactor[index];
+        if (PhysicsBody.data._engineGravityFactor[index] === target) {
+            return;
+        }
+        this.havok.HP_Body_SetGravityFactor([BigInt(engineBody)], target);
+        PhysicsBody.data._engineGravityFactor[index] = target;
+    }
+    /**
+     * Sync the entity's current {@link PhysicsBody.linearDamping} onto its Havok
+     * body. Diffs against `_engineLinearDamping` (the last value pushed) rather
+     * than reading back from Havok, so an unchanged body costs only a typed-array
+     * compare — no WASM call and no allocation. The Havok write and shadow update
+     * happen only on an actual change. No-op until the body exists.
+     * See {@link linearDampingOverrides}.
+     */
+    syncLinearDamping(entity) {
+        if (!this.havok) {
+            return;
+        }
+        const index = entity.index;
+        const engineBody = PhysicsBody.data._engineBody[index];
+        if (!engineBody) {
+            return;
+        }
+        const target = PhysicsBody.data.linearDamping[index];
+        if (PhysicsBody.data._engineLinearDamping[index] === target) {
+            return;
+        }
+        this.havok.HP_Body_SetLinearDamping([BigInt(engineBody)], target);
+        PhysicsBody.data._engineLinearDamping[index] = target;
+    }
+    /**
+     * Sync the entity's current {@link PhysicsBody.angularDamping} onto its Havok
+     * body. Diffs against `_engineAngularDamping` (the last value pushed) rather
+     * than reading back from Havok, so an unchanged body costs only a typed-array
+     * compare — no WASM call and no allocation. The Havok write and shadow update
+     * happen only on an actual change. No-op until the body exists.
+     * See {@link angularDampingOverrides}.
+     */
+    syncAngularDamping(entity) {
+        if (!this.havok) {
+            return;
+        }
+        const index = entity.index;
+        const engineBody = PhysicsBody.data._engineBody[index];
+        if (!engineBody) {
+            return;
+        }
+        const target = PhysicsBody.data.angularDamping[index];
+        if (PhysicsBody.data._engineAngularDamping[index] === target) {
+            return;
+        }
+        this.havok.HP_Body_SetAngularDamping([BigInt(engineBody)], target);
+        PhysicsBody.data._engineAngularDamping[index] = target;
+    }
     createHavokShapes(entity, dimensionsView) {
-        var _a, _b, _c, _d, _e, _f, _g, _h, _j, _k, _l, _m, _o, _p, _q;
+        var _a, _b, _c, _d, _e, _f, _g, _h, _j, _k, _l, _m, _o, _p, _q, _r, _s, _t;
         if (!entity.object3D) {
             console.warn('PhysicsSystem: No object3D attached to entity', entity.index);
             return;
@@ -270,8 +502,20 @@ class PhysicsSystem extends createSystem({
                 }
                 break;
             }
+            case PhysicsShapeType.Capsules: {
+                const capsuleShape = this.createCapsuleShape(dimensionsView[0], // radius
+                dimensionsView[1], // total end-to-end height
+                (_k = entity.getValue(PhysicsShape, 'density')) !== null && _k !== void 0 ? _k : 1.0, (_l = entity.getValue(PhysicsShape, 'restitution')) !== null && _l !== void 0 ? _l : 0, (_m = entity.getValue(PhysicsShape, 'friction')) !== null && _m !== void 0 ? _m : 0.5);
+                if (capsuleShape) {
+                    PhysicsShape.data._engineShape[entity.index] = Number(capsuleShape);
+                }
+                else {
+                    console.warn('PhysicsSystem: Failed to create capsule shape for entity', entity.index);
+                }
+                break;
+            }
             case PhysicsShapeType.ConvexHull: {
-                const convexHullShape = this.createConvexHullShape(entity.object3D, (_k = entity.getValue(PhysicsShape, 'density')) !== null && _k !== void 0 ? _k : 1.0, (_l = entity.getValue(PhysicsShape, 'restitution')) !== null && _l !== void 0 ? _l : 0, (_m = entity.getValue(PhysicsShape, 'friction')) !== null && _m !== void 0 ? _m : 0.5);
+                const convexHullShape = this.createConvexHullShape(entity.object3D, (_o = entity.getValue(PhysicsShape, 'density')) !== null && _o !== void 0 ? _o : 1.0, (_p = entity.getValue(PhysicsShape, 'restitution')) !== null && _p !== void 0 ? _p : 0, (_q = entity.getValue(PhysicsShape, 'friction')) !== null && _q !== void 0 ? _q : 0.5);
                 if (convexHullShape) {
                     PhysicsShape.data._engineShape[entity.index] =
                         Number(convexHullShape);
@@ -282,7 +526,7 @@ class PhysicsSystem extends createSystem({
                 break;
             }
             case PhysicsShapeType.TriMesh: {
-                const triMeshShape = this.createTriMeshShape(entity.object3D, (_o = entity.getValue(PhysicsShape, 'density')) !== null && _o !== void 0 ? _o : 1.0, (_p = entity.getValue(PhysicsShape, 'restitution')) !== null && _p !== void 0 ? _p : 0, (_q = entity.getValue(PhysicsShape, 'friction')) !== null && _q !== void 0 ? _q : 0.5);
+                const triMeshShape = this.createTriMeshShape(entity.object3D, (_r = entity.getValue(PhysicsShape, 'density')) !== null && _r !== void 0 ? _r : 1.0, (_s = entity.getValue(PhysicsShape, 'restitution')) !== null && _s !== void 0 ? _s : 0, (_t = entity.getValue(PhysicsShape, 'friction')) !== null && _t !== void 0 ? _t : 0.5);
                 if (triMeshShape) {
                     PhysicsShape.data._engineShape[entity.index] = Number(triMeshShape);
                 }
@@ -330,7 +574,7 @@ class PhysicsSystem extends createSystem({
             console.warn('PhysicsSystem: Cannot create cylinder shape - Havok physics engine not initialized');
             return;
         }
-        const cylinderShape = this.havok.HP_Shape_CreateCylinder([0, 0, 0], [0, height, 0], radius)[1];
+        const cylinderShape = this.havok.HP_Shape_CreateCylinder([0, -height / 2, 0], [0, height / 2, 0], radius)[1];
         this.havok.HP_Shape_SetDensity(cylinderShape, density);
         this.havok.HP_Shape_SetMaterial(cylinderShape, [
             friction,
@@ -341,24 +585,56 @@ class PhysicsSystem extends createSystem({
         ]);
         return cylinderShape;
     }
+    createCapsuleShape(radius, totalHeight, density, restitution, friction) {
+        if (!this.havok) {
+            console.warn('PhysicsSystem: Cannot create capsule shape - Havok physics engine not initialized');
+            return;
+        }
+        const endpoints = getCapsuleAxisEndpoints(radius, totalHeight);
+        if (!endpoints) {
+            console.warn('PhysicsSystem: Capsule dimensions require a positive radius and a total height greater than or equal to twice the radius');
+            return;
+        }
+        const [pointA, pointB] = endpoints;
+        const capsuleShape = this.havok.HP_Shape_CreateCapsule(pointA, pointB, radius)[1];
+        this.havok.HP_Shape_SetDensity(capsuleShape, density);
+        this.havok.HP_Shape_SetMaterial(capsuleShape, [
+            friction,
+            friction,
+            restitution,
+            this.havok.MaterialCombine.MINIMUM,
+            this.havok.MaterialCombine.MAXIMUM,
+        ]);
+        return capsuleShape;
+    }
     createConvexHullShape(object3D, density, restitution, friction) {
         if (!this.havok) {
             console.warn('PhysicsSystem: Cannot create convex hull shape - Havok physics engine not initialized');
             return;
         }
+        // When object3D is not a Mesh we build a merged geometry here and must
+        // dispose it once the shape is created; a Mesh's own geometry stays in use.
+        const ownsGeometry = !(object3D instanceof Mesh);
         const geometry = object3D instanceof Mesh
             ? object3D.geometry
             : generateMergedGeometry(object3D);
-        const vertices = this.getVertices(geometry.attributes.position.array);
-        if (!vertices) {
+        const positionAttribute = geometry.attributes.position;
+        if (!positionAttribute) {
             console.warn('PhysicsSystem: Failed to get vertices for convex hull shape with object3D name ' +
                 object3D.name +
                 ' &id ' +
                 object3D.id);
+            if (ownsGeometry) {
+                geometry.dispose();
+            }
             return;
         }
+        const vertices = this.getVertices(positionAttribute.array);
         const convexHullShape = this.havok.HP_Shape_CreateConvexHull(vertices.offset, vertices.numObjects / 3)[1];
         this.havok._free(vertices.offset);
+        if (ownsGeometry) {
+            geometry.dispose();
+        }
         this.havok.HP_Shape_SetDensity(convexHullShape, density);
         this.havok.HP_Shape_SetMaterial(convexHullShape, [
             friction,
@@ -370,33 +646,38 @@ class PhysicsSystem extends createSystem({
         return convexHullShape;
     }
     createTriMeshShape(object3D, density, restitution, friction) {
+        var _a, _b;
         if (!this.havok) {
             console.warn('PhysicsSystem: Cannot create tri-mesh shape - Havok physics engine not initialized');
             return;
         }
+        // When object3D is not a Mesh we build a merged geometry here and must
+        // dispose it once the shape is created; a Mesh's own geometry stays in use.
+        const ownsGeometry = !(object3D instanceof Mesh);
         const geometry = object3D instanceof Mesh
             ? object3D.geometry
             : generateMergedGeometry(object3D);
-        const vertices = this.getVertices(geometry.attributes.position.array);
-        const indices = this.getIndices(geometry.index.array);
-        if (!vertices || !indices) {
-            if (!vertices) {
-                console.warn('PhysicsSystem: Failed to get vertices for tri-mesh shape with object3D name ' +
-                    object3D.name +
-                    ' &id ' +
-                    object3D.id);
-            }
-            if (!indices) {
-                console.warn('PhysicsSystem: Failed to get indices for tri-mesh shape with object3D name ' +
-                    object3D.name +
-                    ' &id ' +
-                    object3D.id);
+        const positionAttribute = geometry.attributes.position;
+        if (!positionAttribute) {
+            console.warn('PhysicsSystem: Failed to get vertices for tri-mesh shape with object3D name ' +
+                object3D.name +
+                ' &id ' +
+                object3D.id);
+            if (ownsGeometry) {
+                geometry.dispose();
             }
             return;
         }
+        const vertices = this.getVertices(positionAttribute.array);
+        // geometry.index is null for non-indexed geometry; synthesize the implicit
+        // sequential index list so non-indexed meshes don't dereference null here.
+        const indices = this.getIndices((_b = (_a = geometry.index) === null || _a === void 0 ? void 0 : _a.array) !== null && _b !== void 0 ? _b : sequentialIndices(positionAttribute.count));
         const triMeshShape = this.havok.HP_Shape_CreateMesh(vertices.offset, vertices.numObjects / 3, indices.offset, indices.numObjects / 3)[1];
         this.havok._free(vertices.offset);
         this.havok._free(indices.offset);
+        if (ownsGeometry) {
+            geometry.dispose();
+        }
         this.havok.HP_Shape_SetDensity(triMeshShape, density);
         this.havok.HP_Shape_SetMaterial(triMeshShape, [
             friction,
@@ -429,5 +710,5 @@ class PhysicsSystem extends createSystem({
     }
 }
 
-export { PhysicsSystem };
+export { PhysicsSystem, getCapsuleAxisEndpoints };
 //# sourceMappingURL=physics-system.js.map

package/dist/physics/physics-system.js.map

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