@iwsdk/core 0.5.3 → 1.0.0-rc.0

package/dist/physics/physics-runtime.js

@@ -0,0 +1,423 @@
+import HavokPhysics from '@babylonjs/havok';
+import { PHYSICS_PROTOCOL_VERSION, PHYSICS_HEADER_BYTES, PHYSICS_OUTPUT_RECORD_FLOATS, getCapsuleAxisEndpoints, PHYSICS_HEADER_WORDS, PHYSICS_INPUT_RECORD_FLOATS } from './physics-worker-protocol.js';
+import { reusableFloat32View } from './physics-worker-utils.js';
+
+/**
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+async function initialize(state, gravity) {
+    if (state.destroyed) {
+        throw new Error('Physics runtime has been destroyed');
+    }
+    if (!state.initializePromise) {
+        state.initializePromise = (async () => {
+            const engine = await HavokPhysics();
+            if (state.destroyed) {
+                throw new Error('Physics runtime was destroyed during initialization');
+            }
+            const world = engine.HP_World_Create()[1];
+            try {
+                engine.HP_World_SetGravity(world, gravity);
+            }
+            catch (error) {
+                engine.HP_World_Release(world);
+                throw error;
+            }
+            state.havok = engine;
+            state.havokWorld = world;
+        })();
+    }
+    await state.initializePromise;
+}
+function requireHavok(state) {
+    if (!state.havok || !state.havokWorld) {
+        throw new Error('Physics runtime received a message before initialization');
+    }
+    return [state.havok, state.havokWorld];
+}
+function getHeapFloatView(state, engine) {
+    state.heapFloatView = reusableFloat32View(state.heapFloatView, engine.HEAPU8.buffer);
+    return state.heapFloatView;
+}
+function copyFloat32ToHeap(engine, source) {
+    const offset = engine._malloc(source.byteLength);
+    new Float32Array(engine.HEAPU8.buffer, offset, source.length).set(source);
+    return offset;
+}
+function copyInt32ToHeap(engine, source) {
+    const offset = engine._malloc(source.byteLength);
+    new Int32Array(engine.HEAPU8.buffer, offset, source.length).set(source);
+    return offset;
+}
+function configureShapeMaterial(engine, shape, descriptor) {
+    engine.HP_Shape_SetDensity(shape, descriptor.density);
+    engine.HP_Shape_SetMaterial(shape, [
+        descriptor.friction,
+        descriptor.friction,
+        descriptor.restitution,
+        engine.MaterialCombine.MINIMUM,
+        engine.MaterialCombine.MAXIMUM,
+    ]);
+    return shape;
+}
+function createShape(engine, descriptor) {
+    const dimensions = descriptor.dimensions;
+    let shape;
+    try {
+        switch (descriptor.type) {
+            case 'Sphere':
+                shape = engine.HP_Shape_CreateSphere([0, 0, 0], dimensions[0])[1];
+                break;
+            case 'Box':
+                shape = engine.HP_Shape_CreateBox([0, 0, 0], [0, 0, 0, 1], dimensions)[1];
+                break;
+            case 'Cylinder':
+                shape = engine.HP_Shape_CreateCylinder([0, -dimensions[1] / 2, 0], [0, dimensions[1] / 2, 0], dimensions[0])[1];
+                break;
+            case 'Capsules': {
+                const endpoints = getCapsuleAxisEndpoints(dimensions[0], dimensions[1]);
+                if (!endpoints) {
+                    throw new Error('Capsule dimensions require a positive radius and a total height greater than or equal to twice the radius');
+                }
+                shape = engine.HP_Shape_CreateCapsule(endpoints[0], endpoints[1], dimensions[0])[1];
+                break;
+            }
+            case 'ConvexHull': {
+                if (!descriptor.vertices) {
+                    throw new Error('Convex hull body is missing its vertex buffer');
+                }
+                const vertices = new Float32Array(descriptor.vertices);
+                const vertexOffset = copyFloat32ToHeap(engine, vertices);
+                try {
+                    shape = engine.HP_Shape_CreateConvexHull(vertexOffset, vertices.length / 3)[1];
+                }
+                finally {
+                    engine._free(vertexOffset);
+                }
+                break;
+            }
+            case 'TriMesh': {
+                if (!descriptor.vertices || !descriptor.indices) {
+                    throw new Error('Tri-mesh body is missing vertex or index data');
+                }
+                const vertices = new Float32Array(descriptor.vertices);
+                const indices = new Uint32Array(descriptor.indices);
+                const vertexOffset = copyFloat32ToHeap(engine, vertices);
+                const indexOffset = copyInt32ToHeap(engine, indices);
+                try {
+                    shape = engine.HP_Shape_CreateMesh(vertexOffset, vertices.length / 3, indexOffset, indices.length / 3)[1];
+                }
+                finally {
+                    engine._free(vertexOffset);
+                    engine._free(indexOffset);
+                }
+                break;
+            }
+        }
+        return configureShapeMaterial(engine, shape, descriptor);
+    }
+    catch (error) {
+        if (shape) {
+            engine.HP_Shape_Release(shape);
+        }
+        throw error;
+    }
+}
+function motionTypeForState(engine, state) {
+    switch (state) {
+        case 'STATIC':
+            return engine.MotionType.STATIC;
+        case 'KINEMATIC':
+            return engine.MotionType.KINEMATIC;
+        case 'DYNAMIC':
+        default:
+            return engine.MotionType.DYNAMIC;
+    }
+}
+function removeBody(state, handle) {
+    const entry = state.bodies.get(handle);
+    if (!entry) {
+        return;
+    }
+    const [engine, world] = requireHavok(state);
+    engine.HP_World_RemoveBody(world, entry.body);
+    engine.HP_Body_Release(entry.body);
+    engine.HP_Shape_Release(entry.shape);
+    state.bodies.delete(handle);
+}
+function addBody(state, message) {
+    const [engine, world] = requireHavok(state);
+    removeBody(state, message.handle);
+    const shape = createShape(engine, message.shape);
+    let body;
+    let addedToWorld = false;
+    try {
+        body = engine.HP_Body_Create()[1];
+        engine.HP_Body_SetShape(body, shape);
+        engine.HP_Body_SetQTransform(body, [message.position, message.quaternion]);
+        engine.HP_Body_SetLinearDamping(body, message.linearDamping);
+        engine.HP_Body_SetAngularDamping(body, message.angularDamping);
+        engine.HP_Body_SetGravityFactor(body, message.gravityFactor);
+        const shapeMass = engine.HP_Shape_BuildMassProperties(shape);
+        const massProperties = shapeMass[0] === engine.Result.RESULT_OK
+            ? shapeMass[1]
+            : [[0, 0, 0], 1, [1, 1, 1], [0, 0, 0, 1]];
+        if (message.centerOfMass.every((value) => value === Infinity)) {
+            message.centerOfMass = [...massProperties[0]];
+        }
+        else {
+            massProperties[0] = [...message.centerOfMass];
+        }
+        engine.HP_Body_SetMassProperties(body, massProperties);
+        engine.HP_Body_SetMotionType(body, motionTypeForState(engine, message.state));
+        engine.HP_World_AddBody(world, body, false);
+        addedToWorld = true;
+        state.bodies.set(message.handle, {
+            body,
+            shape,
+            state: message.state,
+            transformOffset: engine.HP_Body_GetWorldTransformOffset(body)[1],
+        });
+    }
+    catch (error) {
+        if (body) {
+            if (addedToWorld) {
+                engine.HP_World_RemoveBody(world, body);
+            }
+            engine.HP_Body_Release(body);
+        }
+        engine.HP_Shape_Release(shape);
+        throw error;
+    }
+    return message.centerOfMass;
+}
+function applyCommands(state, buffer) {
+    const [engine] = requireHavok(state);
+    const ints = new Int32Array(buffer);
+    const floats = new Float32Array(buffer);
+    const commandCount = ints[2 /* PhysicsHeaderIndex.CommandCount */];
+    for (let index = 0; index < commandCount; index++) {
+        const base = PHYSICS_HEADER_WORDS + index * PHYSICS_INPUT_RECORD_FLOATS;
+        const handle = floats[base + 0 /* PhysicsInputOffset.Handle */];
+        const flags = floats[base + 1 /* PhysicsInputOffset.Flags */];
+        const entry = state.bodies.get(handle);
+        if (!entry) {
+            continue;
+        }
+        if (flags &
+            (2 /* PhysicsCommandFlag.SetTransform */ | 1 /* PhysicsCommandFlag.SetTargetTransform */)) {
+            const position = [
+                floats[base + 2 /* PhysicsInputOffset.PositionX */],
+                floats[base + 3 /* PhysicsInputOffset.PositionY */],
+                floats[base + 4 /* PhysicsInputOffset.PositionZ */],
+            ];
+            const quaternion = [
+                floats[base + 5 /* PhysicsInputOffset.QuaternionX */],
+                floats[base + 6 /* PhysicsInputOffset.QuaternionY */],
+                floats[base + 7 /* PhysicsInputOffset.QuaternionZ */],
+                floats[base + 8 /* PhysicsInputOffset.QuaternionW */],
+            ];
+            if (flags & 2 /* PhysicsCommandFlag.SetTransform */) {
+                engine.HP_Body_SetQTransform(entry.body, [position, quaternion]);
+            }
+            if (flags & 1 /* PhysicsCommandFlag.SetTargetTransform */) {
+                engine.HP_Body_SetTargetQTransform(entry.body, [position, quaternion]);
+            }
+        }
+        if (flags & 4 /* PhysicsCommandFlag.ResetLinearVelocity */) {
+            engine.HP_Body_SetLinearVelocity(entry.body, [0, 0, 0]);
+        }
+        if (flags & 8 /* PhysicsCommandFlag.ResetAngularVelocity */) {
+            engine.HP_Body_SetAngularVelocity(entry.body, [0, 0, 0]);
+        }
+        if (flags & 16 /* PhysicsCommandFlag.ApplyImpulse */) {
+            engine.HP_Body_ApplyImpulse(entry.body, [
+                floats[base + 9 /* PhysicsInputOffset.ImpulsePointX */],
+                floats[base + 10 /* PhysicsInputOffset.ImpulsePointY */],
+                floats[base + 11 /* PhysicsInputOffset.ImpulsePointZ */],
+            ], [
+                floats[base + 12 /* PhysicsInputOffset.ImpulseX */],
+                floats[base + 13 /* PhysicsInputOffset.ImpulseY */],
+                floats[base + 14 /* PhysicsInputOffset.ImpulseZ */],
+            ]);
+        }
+        if (flags & 32 /* PhysicsCommandFlag.SetLinearVelocity */) {
+            engine.HP_Body_SetLinearVelocity(entry.body, [
+                floats[base + 15 /* PhysicsInputOffset.LinearVelocityX */],
+                floats[base + 16 /* PhysicsInputOffset.LinearVelocityY */],
+                floats[base + 17 /* PhysicsInputOffset.LinearVelocityZ */],
+            ]);
+        }
+        if (flags & 64 /* PhysicsCommandFlag.SetAngularVelocity */) {
+            engine.HP_Body_SetAngularVelocity(entry.body, [
+                floats[base + 18 /* PhysicsInputOffset.AngularVelocityX */],
+                floats[base + 19 /* PhysicsInputOffset.AngularVelocityY */],
+                floats[base + 20 /* PhysicsInputOffset.AngularVelocityZ */],
+            ]);
+        }
+        if (flags & 128 /* PhysicsCommandFlag.SetGravityFactor */) {
+            engine.HP_Body_SetGravityFactor(entry.body, floats[base + 21 /* PhysicsInputOffset.GravityFactor */]);
+        }
+        if (flags & 256 /* PhysicsCommandFlag.SetLinearDamping */) {
+            engine.HP_Body_SetLinearDamping(entry.body, floats[base + 22 /* PhysicsInputOffset.LinearDamping */]);
+        }
+        if (flags & 512 /* PhysicsCommandFlag.SetAngularDamping */) {
+            engine.HP_Body_SetAngularDamping(entry.body, floats[base + 23 /* PhysicsInputOffset.AngularDamping */]);
+        }
+    }
+}
+function writeQuaternionFromMatrix(heap, matrixBase, output, outputBase) {
+    const m11 = heap[matrixBase];
+    const m12 = heap[matrixBase + 4];
+    const m13 = heap[matrixBase + 8];
+    const m21 = heap[matrixBase + 1];
+    const m22 = heap[matrixBase + 5];
+    const m23 = heap[matrixBase + 9];
+    const m31 = heap[matrixBase + 2];
+    const m32 = heap[matrixBase + 6];
+    const m33 = heap[matrixBase + 10];
+    const trace = m11 + m22 + m33;
+    let x;
+    let y;
+    let z;
+    let w;
+    if (trace > 0) {
+        const scale = 0.5 / Math.sqrt(trace + 1);
+        w = 0.25 / scale;
+        x = (m32 - m23) * scale;
+        y = (m13 - m31) * scale;
+        z = (m21 - m12) * scale;
+    }
+    else if (m11 > m22 && m11 > m33) {
+        const scale = 2 * Math.sqrt(1 + m11 - m22 - m33);
+        w = (m32 - m23) / scale;
+        x = 0.25 * scale;
+        y = (m12 + m21) / scale;
+        z = (m13 + m31) / scale;
+    }
+    else if (m22 > m33) {
+        const scale = 2 * Math.sqrt(1 + m22 - m11 - m33);
+        w = (m13 - m31) / scale;
+        x = (m12 + m21) / scale;
+        y = 0.25 * scale;
+        z = (m23 + m32) / scale;
+    }
+    else {
+        const scale = 2 * Math.sqrt(1 + m33 - m11 - m22);
+        w = (m21 - m12) / scale;
+        x = (m13 + m31) / scale;
+        y = (m23 + m32) / scale;
+        z = 0.25 * scale;
+    }
+    output[outputBase + 4 /* PhysicsOutputOffset.QuaternionX */] = x;
+    output[outputBase + 5 /* PhysicsOutputOffset.QuaternionY */] = y;
+    output[outputBase + 6 /* PhysicsOutputOffset.QuaternionZ */] = z;
+    output[outputBase + 7 /* PhysicsOutputOffset.QuaternionW */] = w;
+}
+function writeResults(state, buffer) {
+    const [engine, world] = requireHavok(state);
+    const ints = new Int32Array(buffer);
+    const floats = new Float32Array(buffer);
+    const bodyBuffer = engine.HP_World_GetBodyBuffer(world)[1];
+    const maxResults = Math.floor((buffer.byteLength - PHYSICS_HEADER_BYTES) /
+        (PHYSICS_OUTPUT_RECORD_FLOATS * 4));
+    let resultCount = 0;
+    for (const [handle, entry] of state.bodies) {
+        if (entry.state === 'STATIC') {
+            continue;
+        }
+        if (resultCount === maxResults) {
+            ints[4 /* PhysicsHeaderIndex.Status */] |= 1 /* PhysicsExchangeStatus.ResultsTruncated */;
+            break;
+        }
+        const base = PHYSICS_HEADER_WORDS + resultCount * PHYSICS_OUTPUT_RECORD_FLOATS;
+        const matrixBase = (bodyBuffer + entry.transformOffset) >> 2;
+        const linearVelocity = engine.HP_Body_GetLinearVelocity(entry.body)[1];
+        const angularVelocity = engine.HP_Body_GetAngularVelocity(entry.body)[1];
+        const heap = getHeapFloatView(state, engine);
+        floats[base + 0 /* PhysicsOutputOffset.Handle */] = handle;
+        floats[base + 1 /* PhysicsOutputOffset.PositionX */] = heap[matrixBase + 12];
+        floats[base + 2 /* PhysicsOutputOffset.PositionY */] = heap[matrixBase + 13];
+        floats[base + 3 /* PhysicsOutputOffset.PositionZ */] = heap[matrixBase + 14];
+        writeQuaternionFromMatrix(heap, matrixBase, floats, base);
+        floats[base + 8 /* PhysicsOutputOffset.LinearVelocityX */] = linearVelocity[0];
+        floats[base + 9 /* PhysicsOutputOffset.LinearVelocityY */] = linearVelocity[1];
+        floats[base + 10 /* PhysicsOutputOffset.LinearVelocityZ */] = linearVelocity[2];
+        floats[base + 11 /* PhysicsOutputOffset.AngularVelocityX */] = angularVelocity[0];
+        floats[base + 12 /* PhysicsOutputOffset.AngularVelocityY */] = angularVelocity[1];
+        floats[base + 13 /* PhysicsOutputOffset.AngularVelocityZ */] = angularVelocity[2];
+        resultCount++;
+    }
+    ints[3 /* PhysicsHeaderIndex.ResultCount */] = resultCount;
+}
+/** Shared Havok runtime used by both main-thread and worker transports. */
+class PhysicsRuntime {
+    constructor() {
+        this.state = {
+            bodies: new Map(),
+            destroyed: false,
+        };
+    }
+    initialize(gravity) {
+        return initialize(this.state, gravity);
+    }
+    setGravity(gravity) {
+        const [engine, world] = requireHavok(this.state);
+        engine.HP_World_SetGravity(world, gravity);
+    }
+    addBody(message) {
+        return addBody(this.state, message);
+    }
+    removeBody(handle) {
+        removeBody(this.state, handle);
+    }
+    step(buffer) {
+        const ints = new Int32Array(buffer);
+        try {
+            if (ints[0 /* PhysicsHeaderIndex.Version */] !== PHYSICS_PROTOCOL_VERSION) {
+                throw new Error('Physics exchange buffer protocol version mismatch');
+            }
+            const [engine, world] = requireHavok(this.state);
+            applyCommands(this.state, buffer);
+            const floats = new Float32Array(buffer);
+            const delta = floats[8 /* PhysicsHeaderIndex.Delta */];
+            const stepCount = Math.max(0, ints[5 /* PhysicsHeaderIndex.StepCount */]);
+            for (let index = 0; index < stepCount; index++) {
+                engine.HP_World_SetIdealStepTime(world, delta);
+                engine.HP_World_Step(world, delta);
+            }
+            writeResults(this.state, buffer);
+            return { buffer };
+        }
+        catch (error) {
+            ints[4 /* PhysicsHeaderIndex.Status */] |= 2 /* PhysicsExchangeStatus.StepFailed */;
+            ints[3 /* PhysicsHeaderIndex.ResultCount */] = 0;
+            return {
+                buffer,
+                error: error instanceof Error ? error.message : String(error),
+            };
+        }
+    }
+    destroy() {
+        if (this.state.destroyed) {
+            return;
+        }
+        this.state.destroyed = true;
+        for (const handle of [...this.state.bodies.keys()]) {
+            removeBody(this.state, handle);
+        }
+        if (this.state.havok && this.state.havokWorld) {
+            this.state.havok.HP_World_Release(this.state.havokWorld);
+        }
+        this.state.havok = undefined;
+        this.state.havokWorld = undefined;
+        this.state.heapFloatView = undefined;
+        this.state.initializePromise = undefined;
+    }
+}
+
+export { PhysicsRuntime };
+//# sourceMappingURL=physics-runtime.js.map

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

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