@needle-tools/engine 2.39.0-pre → 2.40.0-pre

package/lib/engine/engine_physics.js

@@ -1,14 +1,17 @@
 import { Box3, BufferAttribute, BufferGeometry, Layers, LineBasicMaterial, LineSegments, Matrix4, Quaternion, Raycaster, Sphere, Vector2, Vector3 } from 'three';
-import { getParam } from "./engine_utils";
+import { CircularBuffer, getParam } from "./engine_utils";
 import { getWorldPosition, getWorldQuaternion, getWorldScale, setWorldPositionXYZ, setWorldQuaternionXYZW } from "./engine_three_utils";
-import { Collision, ContactPoint } from './engine_types';
+import { Collision, ContactPoint, } from './engine_types';
 import { foreachComponent } from './engine_gameobject';
 import RAPIER, { ActiveEvents, Collider, ColliderDesc, EventQueue, JointData, RigidBody, RigidBodyType, World } from '@dimforge/rapier3d-compat';
 import { CollisionDetectionMode } from '../engine/engine_physics.types';
 const debugPhysics = getParam("debugphysics");
 const debugColliderPlacement = getParam("debugphysicscolliders");
 const debugCollisions = getParam("debugcollisions");
+const showColliders = getParam("showcolliders");
+/** on physics body and references the needle component */
 const $componentKey = Symbol("needle component");
+/** on needle component and references physics body */
 const $bodyKey = Symbol("physics body");
 const $colliderRigidbody = Symbol("rigidbody");
 // const $removed = Symbol("removed");
@@ -115,6 +118,10 @@ export class Physics {
         opts.ray = ray;
         return this.raycast(opts);
     }
+    /** raycast against rendered three objects. This might be very slow depending on your scene complexity.
+     * We recommend setting objects to IgnoreRaycast layer (2) when you don't need them to be raycasted.
+     * Raycasting SkinnedMeshes is specially expensive.
+     */
     raycast(options = null) {
         if (!options)
             options = this.defaultRaycastOptions;
@@ -168,12 +175,70 @@ export class Physics {
         // shoot
         results.length = 0;
         rc.intersectObjects(targets, options.recursive, results);
+        // TODO: instead of doing this we should temporerly set these objects to layer 2 during raycasting
         const ignorelist = options.ignore;
         if (ignorelist !== undefined && ignorelist.length > 0) {
             results = results.filter(r => !ignorelist.includes(r.object));
         }
         return results;
     }
+    rapierRay = new RAPIER.Ray({ x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 1 });
+    raycastVectorsBuffer = new CircularBuffer(() => new Vector3(), 10);
+    /** raycast against colliders */
+    raycastPhysicsFast(origin, direction = undefined, maxDistance = Infinity, solid = true) {
+        const ray = this.getPhysicsRay(this.rapierRay, origin, direction);
+        if (!ray)
+            return null;
+        const hit = this.world?.castRay(ray, maxDistance, solid);
+        if (hit) {
+            const point = ray.pointAt(hit.toi);
+            const vec = this.raycastVectorsBuffer.get();
+            vec.set(point.x, point.y, point.z);
+            return { point: vec, collider: hit.collider[$componentKey] };
+        }
+        return null;
+    }
+    getPhysicsRay(ray, origin, direction = undefined) {
+        const cam = this.context.mainCamera;
+        // if we get origin in 2d space we need to project it to 3d space
+        if (origin["z"] === undefined) {
+            if (!cam) {
+                console.error("Can not perform raycast from 2d point - no main camera found");
+                return null;
+            }
+            const vec3 = this.raycastVectorsBuffer.get();
+            // if the origin is in screen space we need to convert it to raycaster space
+            if (origin.x > 1 || origin.y > 1 || origin.y < -1 || origin.x < -1) {
+                this.context.input.convertScreenspaceToRaycastSpace(origin);
+            }
+            vec3.set(origin.x, origin.y, -1);
+            vec3.unproject(cam);
+            origin = vec3;
+        }
+        const o = origin;
+        ray.origin.x = o.x;
+        ray.origin.y = o.y;
+        ray.origin.z = o.z;
+        const vec = this.raycastVectorsBuffer.get();
+        if (direction)
+            vec.set(direction.x, direction.y, direction.z);
+        else {
+            if (!cam) {
+                console.error("Can not perform raycast - no camera found");
+                return null;
+            }
+            vec.set(ray.origin.x, ray.origin.y, ray.origin.z);
+            const camPosition = getWorldPosition(cam);
+            vec.sub(camPosition);
+        }
+        // we need to normalize the ray because our input is a max travel length and the direction may be not normalized
+        vec.normalize();
+        ray.dir.x = vec.x;
+        ray.dir.y = vec.y;
+        ray.dir.z = vec.z;
+        // Gizmos.DrawRay(ray.origin, ray.dir, 0xff0000, Infinity);
+        return ray;
+    }
     // physics simulation
     _tempPosition = new Vector3();
     _tempQuaternion = new Quaternion();
@@ -438,7 +503,7 @@ export class Physics {
         this.updateDebugRendering(this.world);
     }
     updateDebugRendering(world) {
-        if (debugPhysics || debugColliderPlacement) {
+        if (debugPhysics || debugColliderPlacement || showColliders) {
             if (!this.lines) {
                 let material = new LineBasicMaterial({
                     color: 0xffffff,
@@ -572,17 +637,47 @@ export class Physics {
     }
     static centerConnectionPos = { x: 0, y: 0, z: 0 };
     static centerConnectionRot = { x: 0, y: 0, z: 0, w: 1 };
-    addFixedJoint(body1, body2, rel) {
+    addFixedJoint(body1, body2) {
         if (!this.world) {
             console.error("Physics world not initialized");
             return;
         }
         const b1 = body1[$bodyKey];
         const b2 = body2[$bodyKey];
-        const rot = body1.worldQuaternion.multiply(body2.worldQuaternion.invert());
-        const params = JointData.fixed(Physics.centerConnectionPos, Physics.centerConnectionRot, rel, rot);
+        this.calculateJointRelativeMatrices(body1.gameObject, body2.gameObject, this._tempMatrix);
+        this._tempMatrix.decompose(this._tempPosition, this._tempQuaternion, this._tempScale);
+        const params = JointData.fixed(Physics.centerConnectionPos, Physics.centerConnectionRot, this._tempPosition, this._tempQuaternion);
         const joint = this.world.createImpulseJoint(params, b1, b2, true);
-        console.log("ADD JOINT", joint);
+        if (debugPhysics)
+            console.log("ADD FIXED JOINT", joint);
+    }
+    addHingeJoint(body1, body2, anchor, axis) {
+        if (!this.world) {
+            console.error("Physics world not initialized");
+            return;
+        }
+        const b1 = body1[$bodyKey];
+        const b2 = body2[$bodyKey];
+        this.calculateJointRelativeMatrices(body1.gameObject, body2.gameObject, this._tempMatrix);
+        this._tempMatrix.decompose(this._tempPosition, this._tempQuaternion, this._tempScale);
+        let params = RAPIER.JointData.revolute(anchor, this._tempPosition, axis);
+        let joint = this.world.createImpulseJoint(params, b1, b2, true);
+        if (debugPhysics)
+            console.log("ADD HINGE JOINT", joint);
+    }
+    calculateJointRelativeMatrices(body1, body2, mat) {
+        body1.updateWorldMatrix(true, false);
+        body2.updateWorldMatrix(true, false);
+        const world1 = body1.matrixWorld;
+        const world2 = body2.matrixWorld;
+        // set scale to 1
+        world1.elements[0] = 1;
+        world1.elements[5] = 1;
+        world1.elements[10] = 1;
+        world2.elements[0] = 1;
+        world2.elements[5] = 1;
+        world2.elements[10] = 1;
+        mat.copy(world2).premultiply(world1.invert()).invert();
     }
 }
 /** responsible of processing collision events for the component system */
@@ -594,6 +689,7 @@ class PhysicsCollisionHandler {
         this.eventQueue = eventQueue;
     }
     activeCollisions = [];
+    activeCollisionsStay = [];
     activeTriggers = [];
     handleCollisionEvents() {
         if (!this.eventQueue)
@@ -638,29 +734,37 @@ class PhysicsCollisionHandler {
             // TODO: we dont respect the flip value here!
             this.world.contactPair(selfBody, otherBody, (manifold, _flipped) => {
                 foreachComponent(object, (c) => {
-                    if (c.onCollisionEnter) {
+                    if (c.onCollisionEnter || c.onCollisionStay || c.onCollisionExit) {
                         if (!collision) {
                             const contacts = [];
                             const normal = manifold.normal();
-                            for (let i = 0; i < manifold.numContacts(); i++) {
-                                const pt1 = manifold.localContactPoint1(i);
-                                const dist = manifold.contactDist(i);
-                                if (pt1) {
-                                    const contact = new ContactPoint(pt1, dist, normal);
+                            for (let i = 0; i < manifold.numSolverContacts(); i++) {
+                                // solver points are in world space
+                                // https://rapier.rs/docs/user_guides/javascript/advanced_collision_detection_js#the-contact-graph
+                                const pt = manifold.solverContactPoint(i);
+                                const impulse = manifold.contactImpulse(i);
+                                if (pt) {
+                                    const dist = manifold.contactDist(i);
+                                    const friction = manifold.solverContactFriction(i);
+                                    const contact = new ContactPoint(pt, dist, normal, impulse, friction);
                                     contacts.push(contact);
                                 }
                             }
                             collision = new Collision(object, other, contacts);
                         }
-                        c.onCollisionEnter.call(c, collision);
-                        this.activeCollisions.push({ collider: self, component: c, collision });
+                        const info = { collider: self, component: c, collision };
+                        this.activeCollisions.push(info);
+                        if (c.onCollisionStay) {
+                            this.activeCollisionsStay.push(info);
+                        }
+                        c.onCollisionEnter?.call(c, collision);
                     }
                 });
             });
         }
     }
     onHandleCollisionStay() {
-        for (const active of this.activeCollisions) {
+        for (const active of this.activeCollisionsStay) {
             const c = active.component;
             if (c.activeAndEnabled && c.onCollisionStay) {
                 const arg = active.collision;
@@ -689,6 +793,19 @@ class PhysicsCollisionHandler {
                 }
             }
         }
+        for (let i = 0; i < this.activeCollisionsStay.length; i++) {
+            const active = this.activeCollisionsStay[i];
+            const collider = active.collider;
+            if (collider === self && active.collision.collider === other) {
+                const c = active.component;
+                this.activeCollisionsStay.splice(i, 1);
+                i--;
+                if (c.activeAndEnabled && c.onCollisionExit) {
+                    const collision = active.collision;
+                    c.onCollisionExit(collision);
+                }
+            }
+        }
         for (let i = 0; i < this.activeTriggers.length; i++) {
             const active = this.activeTriggers[i];
             const collider = active.collider;

package/lib/engine/engine_physics.js.map

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package/lib/engine/engine_three_utils.js

@@ -1,28 +1,7 @@
 import * as THREE from "three";
 import { Mathf } from "./engine_math";
 import { Vector3, Quaternion, Uniform } from "three";
-class CircularBuffer {
-    _factory;
-    _cache = [];
-    _maxSize;
-    _index = 0;
-    constructor(factory, maxSize) {
-        this._factory = factory;
-        this._maxSize = maxSize;
-    }
-    get() {
-        let i = this._index++;
-        if (i >= this._cache.length) {
-            if (i >= this._maxSize) {
-                i = this._index = 0;
-            }
-            else {
-                this._cache.push(this._factory());
-            }
-        }
-        return this._cache[i];
-    }
-}
+import { CircularBuffer } from "./engine_utils";
 const flipYQuat = new Quaternion().setFromAxisAngle(new Vector3(0, 1, 0), Math.PI);
 export function lookAtInverse(obj, target) {
     obj.lookAt(target);

package/lib/engine/engine_three_utils.js.map

@@ -1 +1 @@
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package/lib/engine/engine_types.d.ts

@@ -109,20 +109,26 @@ export declare const $physicsKey: unique symbol;
 export declare type ICollisionContext = {
     getCollider(obj: Object3D): ICollider;
 };
-export declare type Vec3 = {
+export declare type Vec2 = {
     x: number;
     y: number;
-    z: number;
 };
-export declare type Vec2 = {
+export declare type Vec3 = {
     x: number;
     y: number;
+    z: number;
 };
 export declare class ContactPoint {
-    readonly localPoint: Vec3;
+    private readonly _point;
+    private readonly _normal;
     readonly distance: number;
-    readonly normal: Vec3;
-    constructor(localPt: Vec3, dist: number, normal: Vec3);
+    readonly impulse: number;
+    readonly friction: number;
+    /** worldspace point */
+    get point(): Vector3;
+    /** worldspace normal */
+    get normal(): Vector3;
+    constructor(point: Vec3, dist: number, normal: Vec3, impulse: number, friction: number);
 }
 export declare class Collision {
     readonly contacts: ContactPoint[];

package/lib/engine/engine_types.js

@@ -1,12 +1,29 @@
+import { Vector3 } from "three";
+import { CircularBuffer } from "./engine_utils";
 export const $physicsKey = Symbol("object");
+const contactsVectorBuffer = new CircularBuffer(() => new Vector3(), 20);
 export class ContactPoint {
-    localPoint;
+    _point;
+    _normal;
     distance;
-    normal;
-    constructor(localPt, dist, normal) {
-        this.localPoint = localPt;
+    impulse;
+    friction;
+    /** worldspace point */
+    get point() {
+        const target = contactsVectorBuffer.get();
+        return target.set(this._point.x, this._point.y, this._point.z);
+    }
+    /** worldspace normal */
+    get normal() {
+        const target = contactsVectorBuffer.get();
+        return target.set(this._normal.x, this._normal.y, this._normal.z);
+    }
+    constructor(point, dist, normal, impulse, friction) {
+        this._point = point;
         this.distance = dist;
-        this.normal = normal;
+        this._normal = normal;
+        this.impulse = impulse;
+        this.friction = friction;
     }
 }
 /// all info in here must be readonly because the object is only created once per started collision

package/lib/engine/engine_types.js.map

@@ -1 +1 @@
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package/lib/engine/engine_utils.d.ts

@@ -2,6 +2,14 @@ import { SourceIdentifier } from "./engine_types";
 export declare const nameofFactory: <T>() => (name: keyof T) => keyof T;
 export declare function nameof<T>(name: keyof T): keyof T;
 export declare function isDebugMode(): boolean;
+export declare class CircularBuffer<T> {
+    private _factory;
+    private _cache;
+    private _maxSize;
+    private _index;
+    constructor(factory: () => T, maxSize: number);
+    get(): T;
+}
 export declare function getUrlParams(): URLSearchParams;
 export declare function getParam(paramName: string): string | boolean;
 export declare function setParam(paramName: string, paramValue: string): void;

package/lib/engine/engine_utils.js

@@ -6,6 +6,28 @@ export function nameof(name) {
 export function isDebugMode() {
     return getParam("debug") ? true : false;
 }
+export class CircularBuffer {
+    _factory;
+    _cache = [];
+    _maxSize;
+    _index = 0;
+    constructor(factory, maxSize) {
+        this._factory = factory;
+        this._maxSize = maxSize;
+    }
+    get() {
+        let i = this._index++;
+        if (i >= this._cache.length) {
+            if (i >= this._maxSize) {
+                i = this._index = 0;
+            }
+            else {
+                this._cache.push(this._factory());
+            }
+        }
+        return this._cache[i];
+    }
+}
 let saveParams = false;
 const requestedParams = [];
 setTimeout(() => {

package/lib/engine/engine_utils.js.map

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package/lib/engine/extensions/NEEDLE_lightmaps.js

@@ -30,7 +30,7 @@ export class NEEDLE_lightmaps {
             const ext = extensions[EXTENSION_NAME];
             if (ext) {
                 const arr = ext.textures;
-                if (!arr.length) {
+                if (!arr?.length) {
                     return null;
                 }
                 if (debug)