@needle-tools/engine 3.3.0-alpha → 3.5.0-alpha

package/src/engine/engine_physics_rapier.ts

@@ -0,0 +1,1127 @@
+import { BufferAttribute, BufferGeometry, LineBasicMaterial, LineSegments, Matrix4, Mesh, Object3D, Quaternion, Vector3 } from 'three'
+import { CircularBuffer, getParam } from "./engine_utils"
+import { getWorldPosition, getWorldQuaternion, getWorldScale, setWorldPositionXYZ, setWorldQuaternionXYZW } from "./engine_three_utils"
+import {
+    IPhysicsEngine,
+    IComponent,
+    ICollider,
+    IRigidbody,
+    Collision,
+    ContactPoint,
+    Vec3,
+    IGameObject,
+    Vec2,
+    IContext,
+} from './engine_types';
+import { foreachComponent } from './engine_gameobject';
+
+import { ActiveCollisionTypes, ActiveEvents, CoefficientCombineRule, Ball, Collider, ColliderDesc, EventQueue, JointData, QueryFilterFlags, RigidBody, RigidBodyType, ShapeColliderTOI, World, Ray } from '@dimforge/rapier3d-compat';
+import { CollisionDetectionMode, PhysicsMaterialCombine } from '../engine/engine_physics.types';
+import { Gizmos } from './engine_gizmos';
+import { Mathf } from './engine_math';
+import { SphereOverlapResult } from './engine_types';
+import { ContextEvent, ContextRegistry } from './engine_context_registry';
+
+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 $colliderRigidbody = Symbol("rigidbody");
+
+
+let RAPIER: undefined | any = undefined;
+declare const NEEDLE_USE_RAPIER: boolean;
+
+
+if (NEEDLE_USE_RAPIER) {
+    ContextRegistry.registerCallback(ContextEvent.ContextCreationStart, evt => {
+        if (debugPhysics)
+            console.log("Register rapier physics backend")
+        evt.context.physics.engine = new RapierPhysics();
+        // We want the physics engine to be initialized on start so when components start to enable and modify values they don't have delays
+        // TODO: should the promise be returned here to make the engine creation wait?
+        if (NEEDLE_USE_RAPIER) {
+            evt.context.physics.engine.initialize(evt.context);
+        }
+    });
+}
+
+
+declare type PhysicsBody = {
+    translation(): { x: number, y: number, z: number }
+    rotation(): { x: number, y: number, z: number, w: number }
+}
+
+export class RapierPhysics implements IPhysicsEngine {
+
+    removeBody(obj: IComponent) {
+        this.validate();
+        const body = obj[$bodyKey];
+        obj[$bodyKey] = null;
+        if (body && this.world) {
+            const index = this.objects.findIndex(o => o === obj);
+            if (index >= 0) {
+                const body = this.bodies[index];
+                this.bodies.splice(index, 1);
+                this.objects.splice(index, 1);
+
+                if (body instanceof Collider) {
+                    const collider = body as Collider;
+                    this.world?.removeCollider(collider, true);
+
+                    // remove the rigidbody if it doesnt have colliders anymore
+                    const rb = collider.parent();
+                    if (rb && rb.numColliders() <= 0) {
+                        this.world?.removeRigidBody(rb);
+                    }
+                }
+                else if (body instanceof RigidBody) {
+                    // TODO: running this code below causes a crash in rapier
+                    // const rb = body as RigidBody;
+                    // console.log("colliders", rb.numColliders())
+                    // for (let i = 0; i < rb.numColliders(); i++) {
+                    //     const col = rb.collider(i);
+                    //     this.world?.removeCollider(col, true);
+                    // }
+                    // console.log("colliders", rb.numColliders(), rb)
+                    // console.log(rb.handle, rb.userData);
+                    // if (rb.userData === undefined)
+                    //     this.world?.removeRigidBody(rb);
+                }
+
+                // check if we need to remove the rigidbody too
+                // const col = obj as ICollider;
+                // if (col.isCollider && col.attachedRigidbody) {
+                //     const rb = col.attachedRigidbody[$bodyKey] as RigidBody;
+                //     if (rb && rb.numColliders() <= 0) {
+                //         // this.world?.removeRigidBody(rb);
+                //     }
+                // }
+            }
+        }
+    }
+
+    updateBody(comp: ICollider | IRigidbody, translation: boolean, rotation: boolean) {
+        this.validate();
+        if (!this.enabled) return;
+        if (comp.destroyed || !comp.gameObject) return;
+        if (!translation && !rotation) return;
+
+        if ((comp as ICollider).isCollider === true) {
+            // const collider = comp as ICollider;
+            console.warn("TODO: implement updating collider position");
+        }
+        else {
+            const rigidbody = comp as IRigidbody;
+            const body = rigidbody[$bodyKey];
+            if (body) {
+                this.syncPhysicsBody(rigidbody.gameObject, body, translation, rotation);
+            }
+        }
+    }
+
+    updateProperties(rigidbody: IRigidbody) {
+        this.validate();
+        const physicsBody = rigidbody[$bodyKey];
+        if (physicsBody) {
+            this.internalUpdateProperties(rigidbody, physicsBody);
+        }
+    }
+    addForce(rigidbody: IRigidbody, force: Vec3, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rigidbody);
+        body?.addForce(force, wakeup)
+    }
+    addImpulse(rigidbody: IRigidbody, force: Vec3, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rigidbody);
+        body?.applyImpulse(force, wakeup)
+    }
+    getLinearVelocity(rigidbody: IRigidbody): Vec3 | null {
+        this.validate();
+        const body = this.internal_getRigidbody(rigidbody);
+        if (body) {
+            const vel = body.linvel();
+            return vel;
+        }
+        return null;
+    }
+    getAngularVelocity(rb: IRigidbody): Vec3 | null {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        if (body) {
+            const vel = body.angvel();
+            return vel;
+        }
+        return null;
+    }
+    resetForces(rb: IRigidbody, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.resetForces(wakeup);
+    }
+    resetTorques(rb: IRigidbody, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.resetTorques(wakeup);
+    }
+    applyImpulse(rb: IRigidbody, vec: Vec3, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.applyImpulse(vec, wakeup);
+    }
+
+    wakeup(rb: IRigidbody) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.wakeUp();
+    }
+    setAngularVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.setAngvel(vec, wakeup);
+    }
+    setLinearVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean) {
+        this.validate();
+        const body = this.internal_getRigidbody(rb);
+        body?.setLinvel(vec, wakeup);
+    }
+
+    private context?: IContext;
+    private _initializePromise?: Promise<boolean>;
+    private _isInitialized: boolean = false;
+
+    async initialize(context: IContext) {
+        this.context = context;
+        if (!this._initializePromise)
+            this._initializePromise = this.internalInitialization();
+        return this._initializePromise;
+    }
+
+    private async internalInitialization() {
+        // NEEDLE_PHYSICS_INIT_START
+        // use .env file with VITE_NEEDLE_USE_RAPIER=false to treeshape rapier
+        if (import.meta.env.VITE_NEEDLE_USE_RAPIER === "false") {
+            return false;
+        }
+        // Can be transformed during build time to disable rapier
+        if (!NEEDLE_USE_RAPIER) return false;
+        if (this._hasCreatedWorld) {
+            console.error("Invalid call to create physics world: world is already created");
+            return true;
+        }
+        this._hasCreatedWorld = true;
+        if (RAPIER === undefined) {
+            RAPIER = await import("@dimforge/rapier3d-compat");
+            await RAPIER.init()
+        }
+        if (debugPhysics) console.log("Physics engine initialized, creating world...");
+        this.world = new World(this._gravity);
+        this.enabled = true;
+        this._isInitialized = true;
+        if (debugPhysics) console.log("Physics world created");
+        return true;
+        // NEEDLE_PHYSICS_INIT_END
+    }
+
+    /** Check is the physics engine has been initialized and the call can be made */
+    private validate() {
+        if (!this._isInitialized) {
+            if (debugPhysics)
+                console.warn("Physics engine is not initialized");
+        }
+    }
+
+
+    private rapierRay = new Ray({ x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 1 });
+    private raycastVectorsBuffer = new CircularBuffer(() => new Vector3(), 10);
+    /** Fast raycast against physics colliders
+     * @param origin ray origin in screen or worldspace
+     * @param direction ray direction in worldspace
+     * @param maxDistance max distance to raycast
+     * @param solid if true it will also hit the collider if origin is already inside it
+     */
+    public raycast(origin: Vec2 | Vec3, direction: Vec3 | undefined = undefined, maxDistance: number = Infinity, solid: boolean = true)
+        : null | { point: Vector3, collider: ICollider } {
+
+        const ray = this.getPhysicsRay(this.rapierRay, origin, direction);
+        if (!ray) return null;
+
+        const hit = this.world?.castRay(ray, maxDistance, solid, undefined, undefined, undefined, undefined, (c) => {
+            // ignore objects in the IgnoreRaycast=2 layer
+            return !c[$componentKey]?.gameObject.layers.isEnabled(2);
+        });
+        if (hit) {
+            const point = ray.pointAt(hit.toi);
+            const vec = this.raycastVectorsBuffer.get();
+            vec.set(point.x, point.y, point.z);
+            return { point: vec, collider: hit.collider[$componentKey] };
+        }
+
+        return null;
+    }
+
+    public raycastAndGetNormal(origin: Vec2 | Vec3, direction: Vec3 | undefined = undefined, maxDistance: number = Infinity, solid: boolean = true)
+        : null | { point: Vector3, normal: Vector3, collider: ICollider } {
+
+        const ray = this.getPhysicsRay(this.rapierRay, origin, direction);
+        if (!ray) return null;
+
+        const hit = this.world?.castRayAndGetNormal(ray, maxDistance, solid, undefined, undefined, undefined, undefined, (c) => {
+            // ignore objects in the IgnoreRaycast=2 layer
+            return !c[$componentKey]?.gameObject.layers.isEnabled(2);
+        });
+        if (hit) {
+            const point = ray.pointAt(hit.toi);
+            const normal = hit.normal;
+            const vec = this.raycastVectorsBuffer.get();
+            const nor = this.raycastVectorsBuffer.get();
+            vec.set(point.x, point.y, point.z);
+            nor.set(normal.x, normal.y, normal.z);
+            return { point: vec, normal: nor, collider: hit.collider[$componentKey] };
+        }
+        return null;
+    }
+
+    private getPhysicsRay(ray: Ray, origin: Vec2 | Vec3, direction: Vec3 | undefined = undefined): Ray | null {
+        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();
+            vec3.x = origin.x;
+            vec3.y = origin.y;
+            vec3.z = 0;
+            // if the origin is in screen space we need to convert it to raycaster space
+            if (vec3.x > 1 || vec3.y > 1 || vec3.y < -1 || vec3.x < -1) {
+                this.context?.input.convertScreenspaceToRaycastSpace(vec3);
+            }
+            vec3.unproject(cam);
+            origin = vec3;
+        }
+
+        const o = origin as Vec3;
+
+        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;
+    }
+
+
+    private rapierSphere: Ball | null = null;
+    private rapierColliderArray: Array<SphereOverlapResult> = [];
+    private readonly rapierIdentityRotation = { x: 0, y: 0, z: 0, w: 1 };
+    private readonly rapierForwardVector = { x: 0, y: 0, z: 1 };
+    /** Precice sphere overlap detection using rapier against colliders
+     * @param point center of the sphere in worldspace
+     * @param radius radius of the sphere
+     * @returns array of colliders that overlap with the sphere. Note: they currently only contain the collider and the gameobject
+     */
+    public sphereOverlap(point: Vector3, radius: number): Array<SphereOverlapResult> {
+        this.rapierColliderArray.length = 0;
+        if (!this.world) return this.rapierColliderArray;
+        if (!this.rapierSphere)
+            this.rapierSphere = new Ball(radius);
+        this.rapierSphere.radius = radius;
+
+        this.world.intersectionsWithShape(point, this.rapierIdentityRotation, this.rapierSphere, col => {
+            const collider = col[$componentKey] as ICollider
+            // if (collider.gameObject.layers.isEnabled(2)) return true;
+            const intersection = new SphereOverlapResult(collider.gameObject, collider);
+            this.rapierColliderArray.push(intersection);
+            return true; // Return `false` instead if we want to stop searching for other colliders that contain this point.
+        }, QueryFilterFlags.EXCLUDE_SENSORS, undefined, undefined, undefined,
+            col => {
+                const collider = col[$componentKey] as ICollider
+                return collider.gameObject.layers.isEnabled(2) == false
+            }
+        );
+        return this.rapierColliderArray;
+
+
+        // TODO: this only returns one hit
+        // let filterGroups = 0xffffffff;
+        // filterGroups &= ~(1 << 2);
+        // const hit: ShapeColliderTOI | null = this.world.castShape(point,
+        //     this.rapierIdentityRotation,
+        //     this.rapierForwardVector,
+        //     this.rapierSphere,
+        //     0,
+        //     QueryFilterFlags.EXCLUDE_SENSORS,
+        //     // filterGroups,
+        // );
+        // // console.log(hit);
+        // if (hit) {
+        //     const collider = hit.collider[$componentKey] as ICollider
+        //     const intersection = new SphereOverlapResult(collider.gameObject);
+        //     this.rapierColliderArray.push(intersection);
+        //     // const localpt = hit.witness2;
+        //     // // const normal = hit.normal2;
+        //     // const hitPoint = new Vector3(localpt.x, localpt.y, localpt.z);
+        //     // // collider.gameObject.localToWorld(hitPoint);
+        //     // // const normalPt = new Vector3(normal.x, normal.y, normal.z);
+        //     // // const mat = new Matrix4().setPosition(point).scale(new Vector3(radius, radius, radius));
+        //     // // hitPoint.applyMatrix4(mat);
+        //     // console.log(hit.witness2)
+        //     // // hitPoint.add(point);
+        //     // const dist = hitPoint.distanceTo(point);
+        // }
+
+        // return this.rapierColliderArray;
+    }
+
+
+
+
+    // physics simulation
+
+    enabled: boolean = false;
+
+    private _tempPosition: Vector3 = new Vector3();
+    private _tempQuaternion: Quaternion = new Quaternion();
+    private _tempScale: Vector3 = new Vector3();
+    private _tempMatrix: Matrix4 = new Matrix4();
+
+    private static _didLoadPhysicsEngine: boolean = false;
+
+    private _isUpdatingPhysicsWorld: boolean = false;
+    get isUpdating(): boolean { return this._isUpdatingPhysicsWorld; }
+
+
+    private world?: World;
+    private _hasCreatedWorld: boolean = false;
+    private eventQueue?: EventQueue;
+    private collisionHandler?: PhysicsCollisionHandler;
+
+
+    private objects: IComponent[] = [];
+    private bodies: PhysicsBody[] = [];
+
+    private _meshCache: Map<string, Float32Array> = new Map<string, Float32Array>();
+
+    private _gravity = { x: 0.0, y: -9.81, z: 0.0 };
+
+    get gravity() {
+        return this.world?.gravity ?? this._gravity;
+    }
+
+    set gravity(value: Vec3) {
+        if (this.world) {
+            this.world.gravity = value;
+        }
+        else {
+            this._gravity = value;
+        }
+    }
+
+    clearCaches() {
+        this._meshCache.clear();
+    }
+
+    async addBoxCollider(collider: ICollider, center: Vector3, size: Vector3) {
+        if (!this._isInitialized)
+            await this.initialize(collider.context);
+        if (!collider.activeAndEnabled) return;
+
+        if (!this.enabled) {
+            if (debugPhysics) console.warn("Physics are disabled");
+            return;
+        }
+        const obj = collider.gameObject;
+        const scale = getWorldScale(obj, this._tempPosition).multiply(size);
+        scale.multiplyScalar(0.5);
+
+        // prevent negative scale
+        if (scale.x < 0)
+            scale.x = Math.abs(scale.x);
+        if (scale.y < 0)
+            scale.y = Math.abs(scale.y);
+        if (scale.z < 0)
+            scale.z = Math.abs(scale.z);
+
+        // prevent zero scale - seems normals are flipped otherwise
+        if (scale.x == 0) scale.x = 0.0000001;
+        if (scale.y == 0) scale.y = 0.0000001;
+        if (scale.z == 0) scale.z = 0.0000001;
+
+        const desc = ColliderDesc.cuboid(scale.x, scale.y, scale.z);
+        // const objectLayerMask = collider.gameObject.layers.mask;
+        // const mask = objectLayerMask & ~2;
+        // TODO: https://rapier.rs/docs/user_guides/javascript/colliders/#collision-groups-and-solver-groups
+        // desc.setCollisionGroups(objectLayerMask);
+        this.createCollider(collider, desc, center);
+    }
+
+    async addSphereCollider(collider: ICollider, center: Vector3, radius: number) {
+        if (!this._isInitialized)
+            await this.initialize(collider.context);
+        if (!collider.activeAndEnabled) return;
+        if (!this.enabled) {
+            if (debugPhysics) console.warn("Physics are disabled");
+            return;
+        }
+        const obj = collider.gameObject;
+        const scale = getWorldScale(obj, this._tempPosition).multiplyScalar(radius);
+        // Prevent negative scales
+        scale.x = Math.abs(scale.x);
+        const desc = ColliderDesc.ball(scale.x);
+        this.createCollider(collider, desc, center);
+    }
+
+    async addCapsuleCollider(collider: ICollider, center: Vector3, height: number, radius: number) {
+        if (!this._isInitialized)
+            await this.initialize(collider.context);
+        if (!collider.activeAndEnabled) return;
+        if (!this.enabled) {
+            if (debugPhysics) console.warn("Physics are disabled");
+            return;
+        }
+        const obj = collider.gameObject;
+        const scale = getWorldScale(obj, this._tempPosition);
+        // Prevent negative scales
+        scale.x = Math.abs(scale.x);
+        scale.y = Math.abs(scale.y);
+        const desc = ColliderDesc.capsule(height * .5 * scale.y - radius, radius * scale.x);
+        this.createCollider(collider, desc, center);
+    }
+
+    async addMeshCollider(collider: ICollider, mesh: Mesh, convex: boolean, scale: Vector3) {
+        if (!this._isInitialized)
+            await this.initialize(collider.context);
+        if (!collider.activeAndEnabled) return;
+        if (!this.enabled) {
+            if (debugPhysics) console.warn("Physics are disabled");
+            return;
+        }
+        const geo = mesh.geometry;
+        if (!geo) {
+            if (debugPhysics) console.warn("Missing mesh geometry", mesh.name);
+            return;
+        }
+
+        let positions = geo.getAttribute("position").array as Float32Array;
+        const indices = geo.index?.array as Uint32Array;
+
+        // console.log(geo.center())
+
+        // scaling seems not supported yet https://github.com/dimforge/rapier/issues/243
+        if (Math.abs(scale.x - 1) > 0.0001 || Math.abs(scale.y - 1) > 0.0001 || Math.abs(scale.z - 1) > 0.0001) {
+            const key = geo.uuid + "_" + scale.x + "_" + scale.y + "_" + scale.z + "_" + convex;
+            if (this._meshCache.has(key)) {
+                positions = this._meshCache.get(key)!;
+            }
+            else {
+                console.warn("Your model is using scaled mesh colliders which is not optimal for performance", mesh.name, Object.assign({}, scale), mesh);
+                // showBalloonWarning("Your model is using scaled mesh colliders which is not optimal for performance: " + mesh.name + ", consider using unscaled objects");
+                const scaledPositions = new Float32Array(positions.length);
+                for (let i = 0; i < positions.length; i += 3) {
+                    scaledPositions[i] = positions[i] * scale.x;
+                    scaledPositions[i + 1] = positions[i + 1] * scale.y;
+                    scaledPositions[i + 2] = positions[i + 2] * scale.z;
+                }
+                positions = scaledPositions;
+                this._meshCache.set(key, scaledPositions);
+            }
+        }
+        const desc = convex ? ColliderDesc.convexMesh(positions) : ColliderDesc.trimesh(positions, indices);
+        if (desc) {
+            const col = this.createCollider(collider, desc);
+            col.setMassProperties(1, { x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 0 }, { x: 0, y: 0, z: 0, w: 1 });
+            // rb?.setTranslation({ x: 0, y: 2, z: 0 });
+            // col.setTranslationWrtParent(new Vector3(0,2,0));
+
+        }
+    }
+
+    private createCollider(collider: ICollider, desc: ColliderDesc, center?: Vector3) {
+        if (!this.world) throw new Error("Physics world not initialized");
+        const matrix = this._tempMatrix;
+        const {
+            rigidBody,
+            useExplicitMassProperties
+        } = this.getRigidbody(collider, this._tempMatrix);
+
+        matrix.decompose(this._tempPosition, this._tempQuaternion, this._tempScale);
+        getWorldScale(collider.gameObject, this._tempScale);
+        if (center) {
+            center.multiply(this._tempScale);
+            this._tempPosition.x -= center.x;
+            this._tempPosition.y += center.y;
+            this._tempPosition.z += center.z;
+        }
+        desc.setTranslation(this._tempPosition.x, this._tempPosition.y, this._tempPosition.z);
+        desc.setRotation(this._tempQuaternion);
+        desc.setSensor(collider.isTrigger);
+
+        // TODO: we might want to update this if the material changes
+        const physicsMaterial = collider.sharedMaterial;
+        if (physicsMaterial) {
+            desc.setRestitution(physicsMaterial.bounciness);
+            switch (physicsMaterial.bounceCombine) {
+                case PhysicsMaterialCombine.Average:
+                    desc.setRestitutionCombineRule(CoefficientCombineRule.Average);
+                    break;
+                case PhysicsMaterialCombine.Maximum:
+                    desc.setRestitutionCombineRule(CoefficientCombineRule.Max);
+                    break;
+                case PhysicsMaterialCombine.Minimum:
+                    desc.setRestitutionCombineRule(CoefficientCombineRule.Min);
+                    break;
+                case PhysicsMaterialCombine.Multiply:
+                    desc.setRestitutionCombineRule(CoefficientCombineRule.Multiply);
+                    break;
+            }
+            desc.setFriction(physicsMaterial.dynamicFriction);
+            switch (physicsMaterial.frictionCombine) {
+                case PhysicsMaterialCombine.Average:
+                    desc.setFrictionCombineRule(CoefficientCombineRule.Average);
+                    break;
+                case PhysicsMaterialCombine.Maximum:
+                    desc.setFrictionCombineRule(CoefficientCombineRule.Max);
+                    break;
+                case PhysicsMaterialCombine.Minimum:
+                    desc.setFrictionCombineRule(CoefficientCombineRule.Min);
+                    break;
+                case PhysicsMaterialCombine.Multiply:
+                    desc.setFrictionCombineRule(CoefficientCombineRule.Multiply);
+                    break;
+            }
+        }
+
+        // if we want to use explicit mass properties, we need to set the collider density to 0
+        // otherwise rapier will compute the mass properties based on the collider shape and density
+        // https://rapier.rs/docs/user_guides/javascript/rigid_bodies#mass-properties
+        if (useExplicitMassProperties) {
+            // desc.setDensity(0);
+        }
+
+        const col = this.world.createCollider(desc, rigidBody);
+        col[$componentKey] = collider;
+        collider[$bodyKey] = col;
+        col.setActiveEvents(ActiveEvents.COLLISION_EVENTS);
+        // We want to receive collisitons between two triggers too
+        col.setActiveCollisionTypes(ActiveCollisionTypes.ALL);
+
+        // const objectLayerMask = collider.gameObject.layers.mask;
+        // const mask = objectLayerMask & ~2;
+        // col.setCollisionGroups(objectLayerMask);
+        this.objects.push(collider);
+        this.bodies.push(col);
+        return col;
+    }
+
+    private getRigidbody(collider: ICollider, _matrix: Matrix4): { rigidBody: RigidBody, useExplicitMassProperties: boolean } {
+
+        if (!this.world) throw new Error("Physics world not initialized");
+        let rigidBody: RigidBody | null = null;
+        let useExplicitMassProperties = false;
+
+        if (collider.attachedRigidbody) {
+
+            const rb = collider.attachedRigidbody;
+            rigidBody = rb[$bodyKey];
+            useExplicitMassProperties = true;
+            if (!rigidBody) {
+                const kinematic = rb.isKinematic && !debugColliderPlacement;
+                if (debugPhysics)
+                    console.log("Create rigidbody", kinematic);
+                const rigidBodyDesc = kinematic ? RAPIER.RigidBodyDesc.kinematicPositionBased() : RAPIER.RigidBodyDesc.dynamic();
+                const pos = getWorldPosition(collider.attachedRigidbody.gameObject);
+                rigidBodyDesc.setTranslation(pos.x, pos.y, pos.z);
+                rigidBodyDesc.setRotation(getWorldQuaternion(collider.attachedRigidbody.gameObject));
+                rigidBody = this.world.createRigidBody(rigidBodyDesc);
+                this.bodies.push(rigidBody);
+                this.objects.push(rb);
+            }
+            rigidBody[$componentKey] = rb;
+            rb[$bodyKey] = rigidBody;
+            this.internalUpdateProperties(rb, rigidBody);
+            this.getRigidbodyRelativeMatrix(collider.gameObject, rb.gameObject, _matrix);
+
+        }
+        else {
+
+            const rigidBodyDesc = RAPIER.RigidBodyDesc.kinematicPositionBased();
+            const pos = getWorldPosition(collider.gameObject);
+            rigidBodyDesc.setTranslation(pos.x, pos.y, pos.z);
+            rigidBodyDesc.setRotation(getWorldQuaternion(collider.gameObject));
+            rigidBody = this.world.createRigidBody(rigidBodyDesc);
+            _matrix.identity();
+            rigidBody[$componentKey] = null;
+
+        }
+
+        collider[$colliderRigidbody] = rigidBody;
+
+        return { rigidBody: rigidBody, useExplicitMassProperties: useExplicitMassProperties };
+    }
+
+    private internal_getRigidbody(rb: IRigidbody): RigidBody | null {
+        return rb[$bodyKey] as RigidBody;
+    }
+
+    private internalUpdateProperties(rb: IRigidbody, rigidbody: RigidBody) {
+        // continuous collision detection 
+        // https://rapier.rs/docs/user_guides/javascript/rigid_bodies#continuous-collision-detection
+        rigidbody.enableCcd(rb.collisionDetectionMode !== CollisionDetectionMode.Discrete);
+        rigidbody.setLinearDamping(rb.drag);
+        rigidbody.setAngularDamping(rb.angularDrag);
+        rigidbody.setGravityScale(rb.useGravity ? rb.gravityScale : 0, true);
+
+        // https://rapier.rs/docs/user_guides/javascript/rigid_bodies#mass-properties
+        // rigidbody.setAdditionalMass(rb.mass, true);
+        // for (let i = 0; i < rigidbody.numColliders(); i++) {
+        //     const collider = rigidbody.collider(i);
+        //     if (collider) {
+        //         collider.setMass(rb.mass);
+        //         // const density = rb.mass / collider.shape.computeMassProperties().mass;
+        //     }
+        // }
+
+        // lock rotations
+        rigidbody.setEnabledRotations(!rb.lockRotationX, !rb.lockRotationY, !rb.lockRotationZ, true);
+        rigidbody.setEnabledTranslations(!rb.lockPositionX, !rb.lockPositionY, !rb.lockPositionZ, true);
+
+        if (rb.isKinematic) {
+            rigidbody.setBodyType(RAPIER.RigidBodyType.KinematicPositionBased);
+        }
+        else {
+            rigidbody.setBodyType(RAPIER.RigidBodyType.Dynamic);
+        }
+    }
+
+    // private _lastStepTime: number | undefined = 0;
+    private lines?: LineSegments;
+
+    public step(dt?: number) {
+        if (!this.world) return;
+        if (!this.enabled) return;
+        this._isUpdatingPhysicsWorld = true;
+        if (!this.eventQueue) {
+            this.eventQueue = new EventQueue(false);
+        }
+        if (dt) {
+            // if we make to sudden changes to the timestep the physics can get unstable
+            // https://rapier.rs/docs/user_guides/javascript/integration_parameters/#dt
+            this.world.timestep = Mathf.lerp(this.world.timestep, dt, 0.8);
+        }
+        this.world.step(this.eventQueue);
+        this._isUpdatingPhysicsWorld = false;
+        this.updateDebugRendering(this.world);
+    }
+
+    private updateDebugRendering(world: World) {
+        if (debugPhysics || debugColliderPlacement || showColliders) {
+            if (!this.lines) {
+                const material = new LineBasicMaterial({
+                    color: 0x227700,
+                    // vertexColors: THREE.VertexColors
+                });
+                const geometry = new BufferGeometry();
+                this.lines = new LineSegments(geometry, material);
+                this.context?.scene.add(this.lines);
+            }
+            const buffers = world.debugRender();
+            this.lines.geometry.setAttribute('position', new BufferAttribute(buffers.vertices, 3));
+            this.lines.geometry.setAttribute('color', new BufferAttribute(buffers.colors, 4));
+        }
+    }
+
+    public postStep() {
+        if (!this.world) return;
+        if (!this.enabled) return;
+        this._isUpdatingPhysicsWorld = true;
+        this.syncObjects();
+        this._isUpdatingPhysicsWorld = false;
+
+        if (this.eventQueue && !this.collisionHandler) {
+            this.collisionHandler = new PhysicsCollisionHandler(this.world, this.eventQueue);
+        }
+        if (this.collisionHandler) {
+            this.collisionHandler.handleCollisionEvents();
+            this.collisionHandler.update();
+        }
+    }
+
+    /** sync rendered objects with physics world (except for colliders without rigidbody) */
+    private syncObjects() {
+        if (debugColliderPlacement) return;
+        for (let i = 0; i < this.bodies.length; i++) {
+            const obj = this.objects[i];
+            const body = this.bodies[i] as Collider;
+
+            // if the collider is not attached to a rigidbody
+            // it means that its kinematic so we need to update its position
+            const col = (obj as ICollider);
+            if (col?.isCollider === true && !col.attachedRigidbody) {
+                const rigidbody = body.parent();
+                if (rigidbody)
+                    this.syncPhysicsBody(obj.gameObject, rigidbody, true, true);
+                continue;
+            }
+
+
+            // sync
+            const pos = body.translation();
+            const rot = body.rotation();
+            // make sure to keep the collider offset
+            const center = obj["center"] as Vector3;
+            if (center && center.isVector3) {
+                this._tempQuaternion.set(rot.x, rot.y, rot.z, rot.w);
+                const offset = this._tempPosition.copy(center).applyQuaternion(this._tempQuaternion);
+                const scale = getWorldScale(obj.gameObject);
+                offset.multiply(scale);
+                pos.x -= offset.x;
+                pos.y -= offset.y;
+                pos.z -= offset.z;
+            }
+            setWorldPositionXYZ(obj.gameObject, pos.x, pos.y, pos.z);
+            setWorldQuaternionXYZW(obj.gameObject, rot.x, rot.y, rot.z, rot.w);
+        }
+    }
+
+    private syncPhysicsBody(obj: Object3D, body: RigidBody, translation: boolean, rotation: boolean) {
+
+        // const bodyType = body.bodyType();
+        // const previous = physicsBody.translation();
+        // const vel = physicsBody.linvel();
+
+        const worldPosition = getWorldPosition(obj, this._tempPosition);
+        const worldQuaternion = getWorldQuaternion(obj, this._tempQuaternion);
+        const type = body.bodyType();
+        switch (type) {
+            case RigidBodyType.Fixed:
+            case RigidBodyType.KinematicPositionBased:
+            case RigidBodyType.KinematicVelocityBased:
+                if (translation)
+                    body.setNextKinematicTranslation(worldPosition);
+                if (rotation)
+                    body.setNextKinematicRotation(worldQuaternion);
+                break;
+            default:
+                if (translation)
+                    body.setTranslation(worldPosition, false);
+                if (rotation)
+                    body.setRotation(worldQuaternion, false);
+                break;
+
+        }
+        body.wakeUp();
+        // physicsBody.setBodyType(RAPIER.RigidBodyType.Fixed);
+        // physicsBody.setLinvel(vel, false);
+
+        // update velocity
+        // const pos = physicsBody.translation();
+        // pos.x -= previous.x;
+        // pos.y -= previous.y;
+        // pos.z -= previous.z;
+        // // threhold
+        // const t = 1;
+        // const canUpdateVelocity = Math.abs(pos.x) < t && Math.abs(pos.y) < t && Math.abs(pos.z) < t;
+        // if (canUpdateVelocity) {
+        //     const damping = 1 + this.context.time.deltaTime;
+        //     vel.x *= damping;
+        //     vel.y *= damping;
+        //     vel.z *= damping;
+        //     vel.x += pos.x;
+        //     vel.y += pos.y;
+        //     vel.z += pos.z;
+        //     console.log(vel);
+        //     physicsBody.setLinvel(vel, true);
+        // }
+        // else if(debugPhysics) console.warn("Movement exceeded threshold, not updating velocity", pos);
+
+        // body.setBodyType(bodyType);
+    }
+
+    private static _matricesBuffer: Matrix4[] = [];
+    private getRigidbodyRelativeMatrix(comp: Object3D, rigidbody: Object3D, mat: Matrix4, matrices?: Matrix4[]): Matrix4 {
+        // collect all matrices to the rigidbody and then build the rigidbody relative matrix
+        if (matrices === undefined) {
+            matrices = RapierPhysics._matricesBuffer;
+            matrices.length = 0;
+        }
+        if (comp === rigidbody) {
+            const scale = getWorldScale(comp, this._tempPosition);
+            mat.makeScale(scale.x, scale.y, scale.z);
+            for (let i = matrices.length - 1; i >= 0; i--) {
+                mat.multiply(matrices[i]);
+            }
+            return mat;
+        }
+        matrices.push(comp.matrix);
+        if (comp.parent) {
+            this.getRigidbodyRelativeMatrix(comp.parent, rigidbody, mat, matrices);
+        }
+        return mat;
+    }
+
+    private static centerConnectionPos = { x: 0, y: 0, z: 0 };
+    private static centerConnectionRot = { x: 0, y: 0, z: 0, w: 1 };
+
+
+
+    addFixedJoint(body1: IRigidbody, body2: IRigidbody) {
+        if (!this.world) {
+            console.error("Physics world not initialized");
+            return;
+        }
+        const b1 = body1[$bodyKey] as RigidBody;
+        const b2 = body2[$bodyKey] as RigidBody;
+
+        this.calculateJointRelativeMatrices(body1.gameObject, body2.gameObject, this._tempMatrix);
+        this._tempMatrix.decompose(this._tempPosition, this._tempQuaternion, this._tempScale);
+
+        const params = JointData.fixed(
+            RapierPhysics.centerConnectionPos, RapierPhysics.centerConnectionRot,
+            this._tempPosition, this._tempQuaternion,
+        );
+        const joint = this.world.createImpulseJoint(params, b1, b2, true);
+        if (debugPhysics)
+            console.log("ADD FIXED JOINT", joint)
+    }
+
+
+    /** The joint prevents any relative movement between two rigid-bodies, except for relative rotations along one axis. This is typically used to simulate wheels, fans, etc. They are characterized by one local anchor as well as one local axis on each rigid-body. */
+    addHingeJoint(body1: IRigidbody, body2: IRigidbody, anchor: { x: number, y: number, z: number }, axis: { x: number, y: number, z: number }) {
+        if (!this.world) {
+            console.error("Physics world not initialized");
+            return;
+        }
+        const b1 = body1[$bodyKey] as RigidBody;
+        const b2 = body2[$bodyKey] as RigidBody;
+
+        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)
+    }
+
+
+    private calculateJointRelativeMatrices(body1: IGameObject, body2: IGameObject, mat: Matrix4) {
+        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 */
+class PhysicsCollisionHandler {
+
+    readonly world: World;
+    readonly eventQueue: EventQueue;
+
+    constructor(world: World, eventQueue: EventQueue) {
+        this.world = world;
+        this.eventQueue = eventQueue;
+    }
+
+    private activeCollisions: Array<{ collider: ICollider, component: IComponent, collision: Collision }> = [];
+    private activeCollisionsStay: Array<{ collider: ICollider, component: IComponent, collision: Collision }> = [];
+    private activeTriggers: Array<{ collider: ICollider, component: IComponent, otherCollider: ICollider }> = [];
+
+    handleCollisionEvents() {
+        if (!this.eventQueue) return;
+        if (!this.world) return;
+        this.eventQueue.drainCollisionEvents((handle1, handle2, started) => {
+            const col1 = this.world!.getCollider(handle1);
+            const col2 = this.world!.getCollider(handle2);
+            const colliderComponent1 = col1[$componentKey];
+            const colliderComponent2 = col2[$componentKey];
+            if (debugCollisions)
+                console.log("EVT", colliderComponent1.name, colliderComponent2.name, started, col1, col2);
+            if (colliderComponent1 && colliderComponent2) {
+                if (started) {
+                    this.onCollisionStarted(colliderComponent1, col1, colliderComponent2, col2);
+                    this.onCollisionStarted(colliderComponent2, col2, colliderComponent1, col1);
+                }
+                else {
+                    this.onCollisionEnded(colliderComponent1, colliderComponent2);
+                    this.onCollisionEnded(colliderComponent2, colliderComponent1);
+                }
+            }
+        });
+    }
+
+    update() {
+        this.onHandleCollisionStay();
+    }
+
+    private onCollisionStarted(self: ICollider, selfBody: Collider, other: ICollider, otherBody: Collider) {
+        let collision: Collision | null = null;
+
+        // if one is a trigger we dont get collisions but want to raise the trigger events
+        if (self.isTrigger || other.isTrigger) {
+            foreachComponent(self.gameObject, (c: IComponent) => {
+                if (c.onTriggerEnter && !c.destroyed) {
+                    c.onTriggerEnter(other);
+                }
+                this.activeTriggers.push({ collider: self, component: c, otherCollider: other });
+            });
+        }
+        else {
+            const object = self.gameObject;
+            // TODO: we dont respect the flip value here!
+            this.world.contactPair(selfBody, otherBody, (manifold, _flipped) => {
+                foreachComponent(object, (c: IComponent) => {
+                    if (c.destroyed) return;
+                    const hasDeclaredEventMethod = c.onCollisionEnter || c.onCollisionStay || c.onCollisionExit;
+                    if (hasDeclaredEventMethod || debugCollisions) {
+                        if (!collision) {
+                            const contacts: Array<ContactPoint> = [];
+                            const normal = manifold.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);
+                                    if (debugCollisions) {
+                                        Gizmos.DrawDirection(pt, normal, 0xff0000, 3, true);
+                                    }
+                                }
+                            }
+                            collision = new Collision(object, other, contacts);
+                        }
+
+                        // we only need to keep track if any event exists
+                        if (hasDeclaredEventMethod) {
+                            const info = { collider: self, component: c, collision };
+
+                            this.activeCollisions.push(info);
+                            if (c.onCollisionStay) {
+                                this.activeCollisionsStay.push(info);
+                            }
+
+                            c.onCollisionEnter?.call(c, collision);
+                        }
+
+                    }
+                });
+            });
+        }
+    }
+
+    private onHandleCollisionStay() {
+        for (const active of this.activeCollisionsStay) {
+            const c = active.component;
+            if (c.destroyed) continue;
+            if (c.activeAndEnabled && c.onCollisionStay) {
+                const arg = active.collision;
+                c.onCollisionStay(arg);
+            }
+        }
+        for (const active of this.activeTriggers) {
+            const c = active.component;
+            if (c.destroyed) continue;
+            if (c.activeAndEnabled && c.onTriggerStay) {
+                const arg = active.otherCollider;
+                c.onTriggerStay(arg);
+            }
+        }
+    }
+
+    private onCollisionEnded(self: ICollider, other: ICollider) {
+        if (self.destroyed || other.destroyed) return;
+        for (let i = 0; i < this.activeCollisions.length; i++) {
+            const active = this.activeCollisions[i];
+            const collider = active.collider;
+            if (collider.destroyed) {
+                this.activeCollisions.splice(i, 1);
+                i--;
+                continue;
+            }
+            if (collider === self && active.collision.collider === other) {
+                const c = active.component;
+                this.activeCollisions.splice(i, 1);
+                i--;
+                if (c.activeAndEnabled && c.onCollisionExit) {
+                    const collision = active.collision;
+                    c.onCollisionExit(collision);
+                }
+            }
+        }
+        for (let i = 0; i < this.activeCollisionsStay.length; i++) {
+            const active = this.activeCollisionsStay[i];
+            const collider = active.collider;
+            if (collider.destroyed) {
+                this.activeCollisionsStay.splice(i, 1);
+                i--;
+                continue;
+            }
+            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;
+            if (collider.destroyed) {
+                this.activeTriggers.splice(i, 1);
+                i--;
+                continue;
+            }
+            if (collider === self && active.otherCollider === other) {
+                const c = active.component;
+                this.activeTriggers.splice(i, 1);
+                i--;
+                if (c.activeAndEnabled && c.onTriggerExit) {
+                    const collision = active.otherCollider;
+                    c.onTriggerExit(collision);
+                }
+            }
+        }
+    }
+}