@onerjs/core 8.42.3 → 8.42.4

package/ShadersWGSL/gpuUpdateParticles.compute.js.map

@@ -1 +1 @@
-{"version":3,"file":"gpuUpdateParticles.compute.js","sourceRoot":"","sources":["../../../../dev/core/src/ShadersWGSL/gpuUpdateParticles.compute.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,wBAAwB,CAAC;AAErD,MAAM,IAAI,GAAG,iCAAiC,CAAC;AAC/C,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAgSd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,gBAAgB,CAAC,IAAI,CAAC,EAAE,CAAC;IACtC,WAAW,CAAC,gBAAgB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AAChD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,mCAAmC,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../Engines/shaderStore\";\n\nconst name = \"gpuUpdateParticlesComputeShader\";\nconst shader = `struct Particle {position : vec3<f32>,\nage : f32,\nsize : vec3<f32>,\nlife : f32,\nseed : vec4<f32>,\ndirection : vec3<f32>,\ndummy0: f32,\n#ifdef CUSTOMEMITTER\ninitialPosition : vec3<f32>,\ndummy1: f32,\n#endif\n#ifndef COLORGRADIENTS\ncolor : vec4<f32>,\n#endif\n#ifndef BILLBOARD\ninitialDirection : vec3<f32>,\ndummy2: f32,\n#endif\n#ifdef NOISE\nnoiseCoordinates1 : vec3<f32>,\ndummy3: f32,\nnoiseCoordinates2 : vec3<f32>,\ndummy4: f32,\n#endif\n#ifdef ANGULARSPEEDGRADIENTS\nangle : f32,\n#else\nangle : vec2<f32>,\n#endif\n#ifdef ANIMATESHEET\ncellIndex : f32,\n#ifdef ANIMATESHEETRANDOMSTART\ncellStartOffset : f32,\n#endif\n#endif\n};struct Particles {particles : array<Particle>,};struct SimParams {currentCount : f32,\ntimeDelta : f32,\nstopFactor : f32,\nrandomTextureSize: i32,\nlifeTime : vec2<f32>,\nemitPower : vec2<f32>,\n#ifndef COLORGRADIENTS\ncolor1 : vec4<f32>,\ncolor2 : vec4<f32>,\n#endif\nsizeRange : vec2<f32>,\nscaleRange : vec4<f32>,\nangleRange : vec4<f32>,\ngravity : vec3<f32>,\n#ifdef LIMITVELOCITYGRADIENTS\nlimitVelocityDamping : f32,\n#endif\n#ifdef ANIMATESHEET\ncellInfos : vec4<f32>,\n#endif\n#ifdef NOISE\nnoiseStrength : vec3<f32>,\n#endif\n#ifdef FLOWMAP\nflowMapProjection : mat4x4<f32>,\nflowMapStrength : f32,\n#endif\n#ifndef LOCAL\nemitterWM : mat4x4<f32>,\n#endif\n#ifdef BOXEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\nminEmitBox : vec3<f32>,\nmaxEmitBox : vec3<f32>,\n#endif\n#ifdef CONEEMITTER\nradius : vec2<f32>,\nconeAngle : f32,\nheight : vec2<f32>,\n#ifdef DIRECTEDCONEEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n#ifdef CYLINDEREMITTER\nradius : f32,\nheight : f32,\nradiusRange : f32,\n#ifdef DIRECTEDCYLINDEREMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n#ifdef HEMISPHERICEMITTER\nradius : f32,\nradiusRange : f32,\ndirectionRandomizer : f32,\n#endif\n#ifdef POINTEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#endif\n#ifdef SPHEREEMITTER\nradius : f32,\nradiusRange : f32,\n#ifdef DIRECTEDSPHEREEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n};@binding(0) @group(0) var<uniform> params : SimParams;@binding(1) @group(0) var<storage,read> particlesIn : Particles;@binding(2) @group(0) var<storage,read_write> particlesOut : Particles;@binding(3) @group(0) var randomTexture : texture_2d<f32>;@binding(4) @group(0) var randomTexture2 : texture_2d<f32>;\n#ifdef SIZEGRADIENTS\n@binding(0) @group(1) var sizeGradientSampler : sampler;@binding(1) @group(1) var sizeGradientTexture : texture_2d<f32>;\n#endif \n#ifdef ANGULARSPEEDGRADIENTS\n@binding(2) @group(1) var angularSpeedGradientSampler : sampler;@binding(3) @group(1) var angularSpeedGradientTexture : texture_2d<f32>;\n#endif \n#ifdef VELOCITYGRADIENTS\n@binding(4) @group(1) var velocityGradientSampler : sampler;@binding(5) @group(1) var velocityGradientTexture : texture_2d<f32>;\n#endif\n#ifdef LIMITVELOCITYGRADIENTS\n@binding(6) @group(1) var limitVelocityGradientSampler : sampler;@binding(7) @group(1) var limitVelocityGradientTexture : texture_2d<f32>;\n#endif\n#ifdef DRAGGRADIENTS\n@binding(8) @group(1) var dragGradientSampler : sampler;@binding(9) @group(1) var dragGradientTexture : texture_2d<f32>;\n#endif\n#ifdef NOISE\n@binding(10) @group(1) var noiseSampler : sampler;@binding(11) @group(1) var noiseTexture : texture_2d<f32>;\n#endif\n#ifdef FLOWMAP\n@binding(12) @group(1) var flowMapSampler : sampler;@binding(13) @group(1) var flowMapTexture : texture_2d<f32>;\n#endif\nfn getRandomVec3(offset : f32,vertexID : f32)->vec3<f32> {return textureLoad(randomTexture2,vec2<i32>(i32(vertexID*offset/params.currentCount*f32(params.randomTextureSize)) % params.randomTextureSize,0),0).rgb;}\nfn getRandomVec4(offset : f32,vertexID : f32)->vec4<f32> {return textureLoad(randomTexture,vec2<i32>(i32(vertexID*offset/params.currentCount*f32(params.randomTextureSize)) % params.randomTextureSize,0),0);}\n@compute @workgroup_size(64)\nfn main(@builtin(global_invocation_id) GlobalInvocationID : vec3<u32>) {let index : u32=GlobalInvocationID.x;let vertexID : f32=f32(index);if (index>=u32(params.currentCount)) {return;}\nlet PI : f32=3.14159;let timeDelta : f32=params.timeDelta;let newAge : f32=particlesIn.particles[index].age+timeDelta;let life : f32=particlesIn.particles[index].life;let seed : vec4<f32>=particlesIn.particles[index].seed;let direction : vec3<f32>=particlesIn.particles[index].direction;if (newAge>=life && params.stopFactor != 0.) {var newPosition : vec3<f32>;var newDirection : vec3<f32>;let randoms : vec4<f32>=getRandomVec4(seed.x,vertexID);let outLife : f32=params.lifeTime.x+(params.lifeTime.y-params.lifeTime.x)*randoms.r;particlesOut.particles[index].life=outLife;particlesOut.particles[index].age=newAge-life;particlesOut.particles[index].seed=seed;var sizex : f32;\n#ifdef SIZEGRADIENTS \nsizex=textureSampleLevel(sizeGradientTexture,sizeGradientSampler,vec2<f32>(0.,0.),0.).r;\n#else\nsizex=params.sizeRange.x+(params.sizeRange.y-params.sizeRange.x)*randoms.g;\n#endif\nparticlesOut.particles[index].size=vec3<f32>(\nsizex,\nparams.scaleRange.x+(params.scaleRange.y-params.scaleRange.x)*randoms.b,\nparams.scaleRange.z+(params.scaleRange.w-params.scaleRange.z)*randoms.a);\n#ifndef COLORGRADIENTS\nparticlesOut.particles[index].color=params.color1+(params.color2-params.color1)*randoms.b;\n#endif\n#ifndef ANGULARSPEEDGRADIENTS \nparticlesOut.particles[index].angle=vec2<f32>(\nparams.angleRange.z+(params.angleRange.w-params.angleRange.z)*randoms.r,\nparams.angleRange.x+(params.angleRange.y-params.angleRange.x)*randoms.a);\n#else\nparticlesOut.particles[index].angle=params.angleRange.z+(params.angleRange.w-params.angleRange.z)*randoms.r;\n#endif \n#if defined(POINTEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);newPosition=vec3<f32>(0.,0.,0.);newDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#elif defined(BOXEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);newPosition=params.minEmitBox+(params.maxEmitBox-params.minEmitBox)*randoms2;newDirection=params.direction1+(params.direction2-params.direction1)*randoms3; \n#elif defined(HEMISPHERICEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let phi : f32=2.0*PI*randoms2.x;let theta : f32=acos(-1.0+2.0*randoms2.y);let randX : f32=cos(phi)*sin(theta);let randY : f32=cos(theta);let randZ : f32=sin(phi)*sin(theta);newPosition=(params.radius-(params.radius*params.radiusRange*randoms2.z))*vec3<f32>(randX,abs(randY),randZ);newDirection=normalize(newPosition+params.directionRandomizer*randoms3);\n#elif defined(SPHEREEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let phi : f32=2.0*PI*randoms2.x;let theta : f32=acos(-1.0+2.0*randoms2.y);let randX : f32=cos(phi)*sin(theta);let randY : f32=cos(theta);let randZ : f32=sin(phi)*sin(theta);newPosition=(params.radius-(params.radius*params.radiusRange*randoms2.z))*vec3<f32>(randX,randY,randZ);\n#ifdef DIRECTEDSPHEREEMITTER\nnewDirection=normalize(params.direction1+(params.direction2-params.direction1)*randoms3);\n#else\nnewDirection=normalize(newPosition+params.directionRandomizer*randoms3);\n#endif\n#elif defined(CYLINDEREMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let yPos : f32=(-0.5+randoms2.x)*params.height;var angle : f32=randoms2.y*PI*2.;let inverseRadiusRangeSquared : f32=(1.-params.radiusRange)*(1.-params.radiusRange);let positionRadius : f32=params.radius*sqrt(inverseRadiusRangeSquared+randoms2.z*(1.-inverseRadiusRangeSquared));let xPos : f32=positionRadius*cos(angle);let zPos : f32=positionRadius*sin(angle);newPosition=vec3<f32>(xPos,yPos,zPos);\n#ifdef DIRECTEDCYLINDEREMITTER\nnewDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#else\nangle=angle+(-0.5+randoms3.x)*PI*params.directionRandomizer;newDirection=vec3<f32>(cos(angle),(-0.5+randoms3.y)*params.directionRandomizer,sin(angle));newDirection=normalize(newDirection);\n#endif\n#elif defined(CONEEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let s : f32=2.0*PI*randoms2.x;\n#ifdef CONEEMITTERSPAWNPOINT\nlet h : f32=0.0001;\n#else\nvar h : f32=randoms2.y*params.height.y;h=1.-h*h; \n#endif\nvar lRadius : f32=params.radius.x-params.radius.x*randoms2.z*params.radius.y;lRadius=lRadius*h;let randX : f32=lRadius*sin(s);let randZ : f32=lRadius*cos(s);let randY : f32=h *params.height.x;newPosition=vec3<f32>(randX,randY,randZ); \nlet randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);\n#ifdef DIRECTEDCONEEMITTER\nnewDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#else\nif (abs(cos(params.coneAngle))==1.0) {newDirection=vec3<f32>(0.,1.0,0.);} else {newDirection=normalize(newPosition+params.directionRandomizer*randoms3); }\n#endif\n#elif defined(CUSTOMEMITTER)\nnewPosition=particlesIn.particles[index].initialPosition;particlesOut.particles[index].initialPosition=newPosition;\n#else \nnewPosition=vec3<f32>(0.,0.,0.);newDirection=2.0*(getRandomVec3(seed.w,vertexID)-vec3<f32>(0.5,0.5,0.5));\n#endif\nlet power : f32=params.emitPower.x+(params.emitPower.y-params.emitPower.x)*randoms.a;\n#ifdef LOCAL\nparticlesOut.particles[index].position=newPosition;\n#else\nparticlesOut.particles[index].position=(params.emitterWM*vec4<f32>(newPosition,1.)).xyz;\n#endif\n#ifdef CUSTOMEMITTER\nparticlesOut.particles[index].direction=direction;\n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=direction;\n#endif\n#else\n#ifdef LOCAL\nlet initial : vec3<f32>=newDirection;\n#else \nlet initial : vec3<f32>=(params.emitterWM*vec4<f32>(newDirection,0.)).xyz;\n#endif\nparticlesOut.particles[index].direction=initial*power;\n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=initial;\n#endif\n#endif\n#ifdef ANIMATESHEET \nparticlesOut.particles[index].cellIndex=params.cellInfos.x;\n#ifdef ANIMATESHEETRANDOMSTART\nparticlesOut.particles[index].cellStartOffset=randoms.a*outLife;\n#endif \n#endif\n#ifdef NOISE\nparticlesOut.particles[index].noiseCoordinates1=particlesIn.particles[index].noiseCoordinates1;particlesOut.particles[index].noiseCoordinates2=particlesIn.particles[index].noiseCoordinates2;\n#endif\n} else {var directionScale : f32=timeDelta;particlesOut.particles[index].age=newAge;let ageGradient : f32=newAge/life;\n#ifdef VELOCITYGRADIENTS\ndirectionScale=directionScale*textureSampleLevel(velocityGradientTexture,velocityGradientSampler,vec2<f32>(ageGradient,0.),0.).r;\n#endif\n#ifdef DRAGGRADIENTS\ndirectionScale=directionScale*(1.0-textureSampleLevel(dragGradientTexture,dragGradientSampler,vec2<f32>(ageGradient,0.),0.).r);\n#endif\nlet position : vec3<f32>=particlesIn.particles[index].position;\n#if defined(CUSTOMEMITTER)\nparticlesOut.particles[index].position=position+(direction-position)*ageGradient; \nparticlesOut.particles[index].initialPosition=particlesIn.particles[index].initialPosition;\n#else\nparticlesOut.particles[index].position=position+direction*directionScale;\n#endif\nparticlesOut.particles[index].life=life;particlesOut.particles[index].seed=seed;\n#ifndef COLORGRADIENTS \nparticlesOut.particles[index].color=particlesIn.particles[index].color;\n#endif\n#ifdef SIZEGRADIENTS\nparticlesOut.particles[index].size=vec3<f32>(\ntextureSampleLevel(sizeGradientTexture,sizeGradientSampler,vec2<f32>(ageGradient,0.),0.).r,\nparticlesIn.particles[index].size.yz);\n#else\nparticlesOut.particles[index].size=particlesIn.particles[index].size;\n#endif \n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=particlesIn.particles[index].initialDirection;\n#endif\n#ifdef CUSTOMEMITTER\nparticlesOut.particles[index].direction=direction;\n#else\nvar updatedDirection : vec3<f32>=direction+params.gravity*timeDelta;\n#ifdef FLOWMAP\nvar clipSpace=(params.flowMapProjection*vec4f(position,1.));var ndcSpace=clipSpace.xyz/clipSpace.w;var flowMapUV=ndcSpace.xy*0.5+0.5;var flowMapValue=textureSampleLevel(flowMapTexture,flowMapSampler,flowMapUV,0.);var flowMapDirection=(flowMapValue.xyz*2.0-1.0)*flowMapValue.w;updatedDirection+=flowMapDirection*timeDelta*params.flowMapStrength;\n#endif\n#ifdef LIMITVELOCITYGRADIENTS\nlet limitVelocity : f32=textureSampleLevel(limitVelocityGradientTexture,limitVelocityGradientSampler,vec2<f32>(ageGradient,0.),0.).r;let currentVelocity : f32=length(updatedDirection);if (currentVelocity>limitVelocity) {updatedDirection=updatedDirection*params.limitVelocityDamping;}\n#endif\nparticlesOut.particles[index].direction=updatedDirection;\n#ifdef NOISE\nlet noiseCoordinates1 : vec3<f32>=particlesIn.particles[index].noiseCoordinates1;let noiseCoordinates2 : vec3<f32>=particlesIn.particles[index].noiseCoordinates2;let fetchedR : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates1.x,noiseCoordinates1.y)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let fetchedG : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates1.z,noiseCoordinates2.x)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let fetchedB : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates2.y,noiseCoordinates2.z)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let force : vec3<f32>=vec3<f32>(-1.+2.*fetchedR,-1.+2.*fetchedG,-1.+2.*fetchedB)*params.noiseStrength;particlesOut.particles[index].direction=particlesOut.particles[index].direction+force*timeDelta;particlesOut.particles[index].noiseCoordinates1=noiseCoordinates1;particlesOut.particles[index].noiseCoordinates2=noiseCoordinates2;\n#endif \n#endif \n#ifdef ANGULARSPEEDGRADIENTS\nlet angularSpeed : f32=textureSampleLevel(angularSpeedGradientTexture,angularSpeedGradientSampler,vec2<f32>(ageGradient,0.),0.).r;particlesOut.particles[index].angle=particlesIn.particles[index].angle+angularSpeed*timeDelta;\n#else\nlet angle : vec2<f32>=particlesIn.particles[index].angle;particlesOut.particles[index].angle=vec2<f32>(angle.x+angle.y*timeDelta,angle.y);\n#endif\n#ifdef ANIMATESHEET \nvar offsetAge : f32=particlesOut.particles[index].age;let dist : f32=params.cellInfos.y-params.cellInfos.x;\n#ifdef ANIMATESHEETRANDOMSTART\nlet cellStartOffset : f32=particlesIn.particles[index].cellStartOffset;particlesOut.particles[index].cellStartOffset=cellStartOffset;offsetAge=offsetAge+cellStartOffset;\n#else\nlet cellStartOffset : f32=0.;\n#endif \nvar ratio : f32;if (params.cellInfos.w==1.0) {ratio=clamp(((cellStartOffset+params.cellInfos.z*offsetAge) % life)/life,0.,1.0);}\nelse {ratio=clamp((cellStartOffset+params.cellInfos.z*offsetAge)/life,0.,1.0);}\nparticlesOut.particles[index].cellIndex=f32(i32(params.cellInfos.x+ratio*dist));\n#endif\n}}\n`;\n// Sideeffect\nif (!ShaderStore.ShadersStoreWGSL[name]) {\n    ShaderStore.ShadersStoreWGSL[name] = shader;\n}\n/** @internal */\nexport const gpuUpdateParticlesComputeShaderWGSL = { name, shader };\n"]}
+{"version":3,"file":"gpuUpdateParticles.compute.js","sourceRoot":"","sources":["../../../../dev/core/src/ShadersWGSL/gpuUpdateParticles.compute.ts"],"names":[],"mappings":"AAAA,eAAe;AACf,OAAO,EAAE,WAAW,EAAE,MAAM,wBAAwB,CAAC;AAErD,MAAM,IAAI,GAAG,iCAAiC,CAAC;AAC/C,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAgSd,CAAC;AACF,aAAa;AACb,IAAI,CAAC,WAAW,CAAC,gBAAgB,CAAC,IAAI,CAAC,EAAE,CAAC;IACtC,WAAW,CAAC,gBAAgB,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC;AAChD,CAAC;AACD,gBAAgB;AAChB,MAAM,CAAC,MAAM,mCAAmC,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC","sourcesContent":["// Do not edit.\nimport { ShaderStore } from \"../Engines/shaderStore\";\n\nconst name = \"gpuUpdateParticlesComputeShader\";\nconst shader = `struct Particle {position : vec3<f32>,\nage : f32,\nsize : vec3<f32>,\nlife : f32,\nseed : vec4<f32>,\ndirection : vec3<f32>,\ndummy0: f32,\n#ifdef CUSTOMEMITTER\ninitialPosition : vec3<f32>,\ndummy1: f32,\n#endif\n#ifndef COLORGRADIENTS\ncolor : vec4<f32>,\n#endif\n#ifndef BILLBOARD\ninitialDirection : vec3<f32>,\ndummy2: f32,\n#endif\n#ifdef NOISE\nnoiseCoordinates1 : vec3<f32>,\ndummy3: f32,\nnoiseCoordinates2 : vec3<f32>,\ndummy4: f32,\n#endif\n#ifdef ANGULARSPEEDGRADIENTS\nangle : f32,\n#else\nangle : vec2<f32>,\n#endif\n#ifdef ANIMATESHEET\ncellIndex : f32,\n#ifdef ANIMATESHEETRANDOMSTART\ncellStartOffset : f32,\n#endif\n#endif\n};struct Particles {particles : array<Particle>,};struct SimParams {currentCount : f32,\ntimeDelta : f32,\nstopFactor : f32,\nrandomTextureSize: i32,\nlifeTime : vec2<f32>,\nemitPower : vec2<f32>,\n#ifndef COLORGRADIENTS\ncolor1 : vec4<f32>,\ncolor2 : vec4<f32>,\n#endif\nsizeRange : vec2<f32>,\nscaleRange : vec4<f32>,\nangleRange : vec4<f32>,\ngravity : vec3<f32>,\n#ifdef LIMITVELOCITYGRADIENTS\nlimitVelocityDamping : f32,\n#endif\n#ifdef ANIMATESHEET\ncellInfos : vec4<f32>,\n#endif\n#ifdef NOISE\nnoiseStrength : vec3<f32>,\n#endif\n#ifdef FLOWMAP\nflowMapProjection : mat4x4<f32>,\nflowMapStrength : f32,\n#endif\n#ifndef LOCAL\nemitterWM : mat4x4<f32>,\n#endif\n#ifdef BOXEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\nminEmitBox : vec3<f32>,\nmaxEmitBox : vec3<f32>,\n#endif\n#ifdef CONEEMITTER\nradius : vec2<f32>,\nconeAngle : f32,\nheight : vec2<f32>,\n#ifdef DIRECTEDCONEEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n#ifdef CYLINDEREMITTER\nradius : f32,\nheight : f32,\nradiusRange : f32,\n#ifdef DIRECTEDCYLINDEREMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n#ifdef HEMISPHERICEMITTER\nradius : f32,\nradiusRange : f32,\ndirectionRandomizer : f32,\n#endif\n#ifdef POINTEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#endif\n#ifdef SPHEREEMITTER\nradius : f32,\nradiusRange : f32,\n#ifdef DIRECTEDSPHEREEMITTER\ndirection1 : vec3<f32>,\ndirection2 : vec3<f32>,\n#else\ndirectionRandomizer : f32,\n#endif\n#endif\n};@binding(0) @group(0) var<uniform> params : SimParams;@binding(1) @group(0) var<storage,read> particlesIn : Particles;@binding(2) @group(0) var<storage,read_write> particlesOut : Particles;@binding(3) @group(0) var randomTexture : texture_2d<f32>;@binding(4) @group(0) var randomTexture2 : texture_2d<f32>;\n#ifdef SIZEGRADIENTS\n@binding(0) @group(1) var sizeGradientSampler : sampler;@binding(1) @group(1) var sizeGradientTexture : texture_2d<f32>;\n#endif \n#ifdef ANGULARSPEEDGRADIENTS\n@binding(2) @group(1) var angularSpeedGradientSampler : sampler;@binding(3) @group(1) var angularSpeedGradientTexture : texture_2d<f32>;\n#endif \n#ifdef VELOCITYGRADIENTS\n@binding(4) @group(1) var velocityGradientSampler : sampler;@binding(5) @group(1) var velocityGradientTexture : texture_2d<f32>;\n#endif\n#ifdef LIMITVELOCITYGRADIENTS\n@binding(6) @group(1) var limitVelocityGradientSampler : sampler;@binding(7) @group(1) var limitVelocityGradientTexture : texture_2d<f32>;\n#endif\n#ifdef DRAGGRADIENTS\n@binding(8) @group(1) var dragGradientSampler : sampler;@binding(9) @group(1) var dragGradientTexture : texture_2d<f32>;\n#endif\n#ifdef NOISE\n@binding(10) @group(1) var noiseSampler : sampler;@binding(11) @group(1) var noiseTexture : texture_2d<f32>;\n#endif\n#ifdef FLOWMAP\n@binding(12) @group(1) var flowMapSampler : sampler;@binding(13) @group(1) var flowMapTexture : texture_2d<f32>;\n#endif\nfn getRandomVec3(offset : f32,vertexID : f32)->vec3<f32> {return textureLoad(randomTexture2,vec2<i32>(i32(vertexID*offset/params.currentCount*f32(params.randomTextureSize)) % params.randomTextureSize,0),0).rgb;}\nfn getRandomVec4(offset : f32,vertexID : f32)->vec4<f32> {return textureLoad(randomTexture,vec2<i32>(i32(vertexID*offset/params.currentCount*f32(params.randomTextureSize)) % params.randomTextureSize,0),0);}\n@compute @workgroup_size(64)\nfn main(@builtin(global_invocation_id) GlobalInvocationID : vec3<u32>) {let index : u32=GlobalInvocationID.x;let vertexID : f32=f32(index);if (index>=u32(params.currentCount)) {return;}\nlet PI : f32=3.14159;let timeDelta : f32=params.timeDelta;let newAge : f32=particlesIn.particles[index].age+timeDelta;let life : f32=particlesIn.particles[index].life;let seed : vec4<f32>=particlesIn.particles[index].seed;let direction : vec3<f32>=particlesIn.particles[index].direction;if (newAge>=life && params.stopFactor != 0.) {var newPosition : vec3<f32>;var newDirection : vec3<f32>;let randoms : vec4<f32>=getRandomVec4(seed.x,vertexID);let outLife : f32=params.lifeTime.x+(params.lifeTime.y-params.lifeTime.x)*randoms.r;particlesOut.particles[index].life=outLife;particlesOut.particles[index].age=newAge-life;particlesOut.particles[index].seed=seed;var sizex : f32;\n#ifdef SIZEGRADIENTS \nsizex=textureSampleLevel(sizeGradientTexture,sizeGradientSampler,vec2<f32>(0.,0.),0.).r;\n#else\nsizex=params.sizeRange.x+(params.sizeRange.y-params.sizeRange.x)*randoms.g;\n#endif\nparticlesOut.particles[index].size=vec3<f32>(\nsizex,\nparams.scaleRange.x+(params.scaleRange.y-params.scaleRange.x)*randoms.b,\nparams.scaleRange.z+(params.scaleRange.w-params.scaleRange.z)*randoms.a);\n#ifndef COLORGRADIENTS\nparticlesOut.particles[index].color=params.color1+(params.color2-params.color1)*randoms.b;\n#endif\n#ifndef ANGULARSPEEDGRADIENTS \nparticlesOut.particles[index].angle=vec2<f32>(\nparams.angleRange.z+(params.angleRange.w-params.angleRange.z)*randoms.r,\nparams.angleRange.x+(params.angleRange.y-params.angleRange.x)*randoms.a);\n#else\nparticlesOut.particles[index].angle=params.angleRange.z+(params.angleRange.w-params.angleRange.z)*randoms.r;\n#endif \n#if defined(POINTEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);newPosition=vec3<f32>(0.,0.,0.);newDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#elif defined(BOXEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);newPosition=params.minEmitBox+(params.maxEmitBox-params.minEmitBox)*randoms2;newDirection=params.direction1+(params.direction2-params.direction1)*randoms3; \n#elif defined(HEMISPHERICEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let phi : f32=2.0*PI*randoms2.x;let theta : f32=acos(-1.0+2.0*randoms2.y);let randX : f32=cos(phi)*sin(theta);let randY : f32=cos(theta);let randZ : f32=sin(phi)*sin(theta);newPosition=(params.radius-(params.radius*params.radiusRange*randoms2.z))*vec3<f32>(randX,abs(randY),randZ);newDirection=normalize(newPosition+params.directionRandomizer*randoms3);\n#elif defined(SPHEREEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let phi : f32=2.0*PI*randoms2.x;let theta : f32=acos(-1.0+2.0*randoms2.y);let randX : f32=cos(phi)*sin(theta);let randY : f32=cos(theta);let randZ : f32=sin(phi)*sin(theta);newPosition=(params.radius-(params.radius*params.radiusRange*randoms2.z))*vec3<f32>(randX,randY,randZ);\n#ifdef DIRECTEDSPHEREEMITTER\nnewDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#else\nnewDirection=normalize(newPosition+params.directionRandomizer*randoms3);\n#endif\n#elif defined(CYLINDEREMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);let yPos : f32=(-0.5+randoms2.x)*params.height;var angle : f32=randoms2.y*PI*2.;let inverseRadiusRangeSquared : f32=(1.-params.radiusRange)*(1.-params.radiusRange);let positionRadius : f32=params.radius*sqrt(inverseRadiusRangeSquared+randoms2.z*(1.-inverseRadiusRangeSquared));let xPos : f32=positionRadius*cos(angle);let zPos : f32=positionRadius*sin(angle);newPosition=vec3<f32>(xPos,yPos,zPos);\n#ifdef DIRECTEDCYLINDEREMITTER\nnewDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#else\nangle=angle+(-0.5+randoms3.x)*PI*params.directionRandomizer;newDirection=vec3<f32>(cos(angle),(-0.5+randoms3.y)*params.directionRandomizer,sin(angle));newDirection=normalize(newDirection);\n#endif\n#elif defined(CONEEMITTER)\nlet randoms2 : vec3<f32>=getRandomVec3(seed.y,vertexID);let s : f32=2.0*PI*randoms2.x;\n#ifdef CONEEMITTERSPAWNPOINT\nlet h : f32=0.0001;\n#else\nvar h : f32=randoms2.y*params.height.y;h=1.-h*h; \n#endif\nvar lRadius : f32=params.radius.x-params.radius.x*randoms2.z*params.radius.y;lRadius=lRadius*h;let randX : f32=lRadius*sin(s);let randZ : f32=lRadius*cos(s);let randY : f32=h *params.height.x;newPosition=vec3<f32>(randX,randY,randZ); \nlet randoms3 : vec3<f32>=getRandomVec3(seed.z,vertexID);\n#ifdef DIRECTEDCONEEMITTER\nnewDirection=params.direction1+(params.direction2-params.direction1)*randoms3;\n#else\nif (abs(cos(params.coneAngle))==1.0) {newDirection=vec3<f32>(0.,1.0,0.);} else {newDirection=normalize(newPosition+params.directionRandomizer*randoms3); }\n#endif\n#elif defined(CUSTOMEMITTER)\nnewPosition=particlesIn.particles[index].initialPosition;particlesOut.particles[index].initialPosition=newPosition;\n#else \nnewPosition=vec3<f32>(0.,0.,0.);newDirection=2.0*(getRandomVec3(seed.w,vertexID)-vec3<f32>(0.5,0.5,0.5));\n#endif\nlet power : f32=params.emitPower.x+(params.emitPower.y-params.emitPower.x)*randoms.a;\n#ifdef LOCAL\nparticlesOut.particles[index].position=newPosition;\n#else\nparticlesOut.particles[index].position=(params.emitterWM*vec4<f32>(newPosition,1.)).xyz;\n#endif\n#ifdef CUSTOMEMITTER\nparticlesOut.particles[index].direction=direction;\n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=direction;\n#endif\n#else\n#ifdef LOCAL\nlet initial : vec3<f32>=newDirection;\n#else \nlet initial : vec3<f32>=(params.emitterWM*vec4<f32>(newDirection,0.)).xyz;\n#endif\nparticlesOut.particles[index].direction=initial*power;\n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=initial;\n#endif\n#endif\n#ifdef ANIMATESHEET \nparticlesOut.particles[index].cellIndex=params.cellInfos.x;\n#ifdef ANIMATESHEETRANDOMSTART\nparticlesOut.particles[index].cellStartOffset=randoms.a*outLife;\n#endif \n#endif\n#ifdef NOISE\nparticlesOut.particles[index].noiseCoordinates1=particlesIn.particles[index].noiseCoordinates1;particlesOut.particles[index].noiseCoordinates2=particlesIn.particles[index].noiseCoordinates2;\n#endif\n} else {var directionScale : f32=timeDelta;particlesOut.particles[index].age=newAge;let ageGradient : f32=newAge/life;\n#ifdef VELOCITYGRADIENTS\ndirectionScale=directionScale*textureSampleLevel(velocityGradientTexture,velocityGradientSampler,vec2<f32>(ageGradient,0.),0.).r;\n#endif\n#ifdef DRAGGRADIENTS\ndirectionScale=directionScale*(1.0-textureSampleLevel(dragGradientTexture,dragGradientSampler,vec2<f32>(ageGradient,0.),0.).r);\n#endif\nlet position : vec3<f32>=particlesIn.particles[index].position;\n#if defined(CUSTOMEMITTER)\nparticlesOut.particles[index].position=position+(direction-position)*ageGradient; \nparticlesOut.particles[index].initialPosition=particlesIn.particles[index].initialPosition;\n#else\nparticlesOut.particles[index].position=position+direction*directionScale;\n#endif\nparticlesOut.particles[index].life=life;particlesOut.particles[index].seed=seed;\n#ifndef COLORGRADIENTS \nparticlesOut.particles[index].color=particlesIn.particles[index].color;\n#endif\n#ifdef SIZEGRADIENTS\nparticlesOut.particles[index].size=vec3<f32>(\ntextureSampleLevel(sizeGradientTexture,sizeGradientSampler,vec2<f32>(ageGradient,0.),0.).r,\nparticlesIn.particles[index].size.yz);\n#else\nparticlesOut.particles[index].size=particlesIn.particles[index].size;\n#endif \n#ifndef BILLBOARD \nparticlesOut.particles[index].initialDirection=particlesIn.particles[index].initialDirection;\n#endif\n#ifdef CUSTOMEMITTER\nparticlesOut.particles[index].direction=direction;\n#else\nvar updatedDirection : vec3<f32>=direction+params.gravity*timeDelta;\n#ifdef FLOWMAP\nvar clipSpace=(params.flowMapProjection*vec4f(position,1.));var ndcSpace=clipSpace.xyz/clipSpace.w;var flowMapUV=ndcSpace.xy*0.5+0.5;var flowMapValue=textureSampleLevel(flowMapTexture,flowMapSampler,flowMapUV,0.);var flowMapDirection=(flowMapValue.xyz*2.0-1.0)*flowMapValue.w;updatedDirection+=flowMapDirection*timeDelta*params.flowMapStrength;\n#endif\n#ifdef LIMITVELOCITYGRADIENTS\nlet limitVelocity : f32=textureSampleLevel(limitVelocityGradientTexture,limitVelocityGradientSampler,vec2<f32>(ageGradient,0.),0.).r;let currentVelocity : f32=length(updatedDirection);if (currentVelocity>limitVelocity) {updatedDirection=updatedDirection*params.limitVelocityDamping;}\n#endif\nparticlesOut.particles[index].direction=updatedDirection;\n#ifdef NOISE\nlet noiseCoordinates1 : vec3<f32>=particlesIn.particles[index].noiseCoordinates1;let noiseCoordinates2 : vec3<f32>=particlesIn.particles[index].noiseCoordinates2;let fetchedR : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates1.x,noiseCoordinates1.y)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let fetchedG : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates1.z,noiseCoordinates2.x)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let fetchedB : f32=textureSampleLevel(noiseTexture,noiseSampler,vec2<f32>(noiseCoordinates2.y,noiseCoordinates2.z)*vec2<f32>(0.5,0.5)+vec2<f32>(0.5,0.5),0.).r;let force : vec3<f32>=vec3<f32>(-1.+2.*fetchedR,-1.+2.*fetchedG,-1.+2.*fetchedB)*params.noiseStrength;particlesOut.particles[index].direction=particlesOut.particles[index].direction+force*timeDelta;particlesOut.particles[index].noiseCoordinates1=noiseCoordinates1;particlesOut.particles[index].noiseCoordinates2=noiseCoordinates2;\n#endif \n#endif \n#ifdef ANGULARSPEEDGRADIENTS\nlet angularSpeed : f32=textureSampleLevel(angularSpeedGradientTexture,angularSpeedGradientSampler,vec2<f32>(ageGradient,0.),0.).r;particlesOut.particles[index].angle=particlesIn.particles[index].angle+angularSpeed*timeDelta;\n#else\nlet angle : vec2<f32>=particlesIn.particles[index].angle;particlesOut.particles[index].angle=vec2<f32>(angle.x+angle.y*timeDelta,angle.y);\n#endif\n#ifdef ANIMATESHEET \nvar offsetAge : f32=particlesOut.particles[index].age;let dist : f32=params.cellInfos.y-params.cellInfos.x;\n#ifdef ANIMATESHEETRANDOMSTART\nlet cellStartOffset : f32=particlesIn.particles[index].cellStartOffset;particlesOut.particles[index].cellStartOffset=cellStartOffset;offsetAge=offsetAge+cellStartOffset;\n#else\nlet cellStartOffset : f32=0.;\n#endif \nvar ratio : f32;if (params.cellInfos.w==1.0) {ratio=clamp(((cellStartOffset+params.cellInfos.z*offsetAge) % life)/life,0.,1.0);}\nelse {ratio=clamp((cellStartOffset+params.cellInfos.z*offsetAge)/life,0.,1.0);}\nparticlesOut.particles[index].cellIndex=f32(i32(params.cellInfos.x+ratio*dist));\n#endif\n}}\n`;\n// Sideeffect\nif (!ShaderStore.ShadersStoreWGSL[name]) {\n    ShaderStore.ShadersStoreWGSL[name] = shader;\n}\n/** @internal */\nexport const gpuUpdateParticlesComputeShaderWGSL = { name, shader };\n"]}

package/XR/features/WebXRControllerPhysics.d.ts

@@ -6,6 +6,7 @@ import type { WebXRSessionManager } from "../webXRSessionManager.js";
 import type { Nullable } from "../../types.js";
 import { PhysicsAggregate } from "../../Physics/v2/physicsAggregate.js";
 import type { PhysicsBody } from "../../Physics/v2/physicsBody.js";
+import "../../Physics/joinedPhysicsEngineComponent.js";
 /**
  * Options for the controller physics feature
  */

package/XR/features/WebXRControllerPhysics.js

@@ -5,6 +5,7 @@ import { CreateSphere } from "../../Meshes/Builders/sphereBuilder.js";
 import { WebXRFeatureName, WebXRFeaturesManager } from "../webXRFeaturesManager.js";
 import { Logger } from "../../Misc/logger.js";
 import { PhysicsAggregate } from "../../Physics/v2/physicsAggregate.js";
+import "../../Physics/joinedPhysicsEngineComponent.js";
 /**
  * Options for the controller physics feature
  */

package/XR/features/WebXRControllerPhysics.js.map

@@ -1 +1 @@
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\nimport { PhysicsAggregate } from \"../../Physics/v2/physicsAggregate\";\r\nimport type { PhysicsBody } from \"../../Physics/v2/physicsBody\";\r\nimport { PhysicsMotionType, PhysicsShapeType } from \"../../Physics/v2/IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._attachControllerV2(xrController);\r\n        } else {\r\n            this._attachControllerV1(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV1 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV2 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create physics aggregates!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const shapeType = this._mapImpostorTypeToShapeType(PhysicsImpostor.MeshImpostor);\r\n                        const aggregate = new PhysicsAggregate(\r\n                            motionController.rootMesh!,\r\n                            shapeType,\r\n                            {\r\n                                mass: 0,\r\n                                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n                            },\r\n                            this._xrSessionManager.scene\r\n                        );\r\n\r\n                        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                        aggregate.body.disableSync = true;\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            physicsAggregate: aggregate,\r\n                            physicsBody: aggregate.body,\r\n                            isPhysicsV2: true,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create physics aggregate instead\r\n                    this._createPhysicsAggregate(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsAggregate(xrController);\r\n        }\r\n    };\r\n\r\n    private _mapImpostorTypeToShapeType(impostorType: number): PhysicsShapeType {\r\n        // Map v1 PhysicsImpostor types to v2 PhysicsShapeType\r\n        switch (impostorType) {\r\n            case PhysicsImpostor.SphereImpostor:\r\n                return PhysicsShapeType.SPHERE;\r\n            case PhysicsImpostor.BoxImpostor:\r\n                return PhysicsShapeType.BOX;\r\n            case PhysicsImpostor.CapsuleImpostor:\r\n                return PhysicsShapeType.CAPSULE;\r\n            case PhysicsImpostor.CylinderImpostor:\r\n                return PhysicsShapeType.CYLINDER;\r\n            case PhysicsImpostor.MeshImpostor:\r\n                return PhysicsShapeType.MESH;\r\n            case PhysicsImpostor.ConvexHullImpostor:\r\n                return PhysicsShapeType.CONVEX_HULL;\r\n            default:\r\n                Logger.Warn(`Unsupported impostor type ${impostorType} for v2 physics, defaulting to SPHERE`);\r\n                return PhysicsShapeType.SPHERE;\r\n        }\r\n    }\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _createPhysicsAggregate(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(impostorType);\r\n        const aggregate = new PhysicsAggregate(\r\n            impostorMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        aggregate.body.disableSync = true;\r\n\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            physicsAggregate: aggregate,\r\n            physicsBody: aggregate.body,\r\n            isPhysicsV2: true,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor?: PhysicsImpostor;\r\n            physicsAggregate?: PhysicsAggregate;\r\n            physicsBody?: PhysicsBody;\r\n            isPhysicsV2?: boolean;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _headsetAggregateV2?: PhysicsAggregate;\r\n    private _lastTimestamp: number = 0;\r\n    private _physicsVersion: 1 | 2 = 1;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 2;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        // Detect physics version\r\n        const physicsEngine = this._xrSessionManager.scene.getPhysicsEngine();\r\n        if (physicsEngine) {\r\n            this._physicsVersion = (physicsEngine.getPluginVersion() as 1 | 2) || 1;\r\n        } else {\r\n            // Default to v1 if no physics engine (warning will be shown later)\r\n            this._physicsVersion = 1;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        for (const controller of this._options.xrInput.controllers) {\r\n            this._attachController(controller);\r\n        }\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            if (this._physicsVersion === 2) {\r\n                this._enableHeadsetPhysicsV2();\r\n            } else {\r\n                this._enableHeadsetPhysicsV1();\r\n            }\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            this._detachController(controllerId);\r\n        }\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (this._headsetAggregateV2) {\r\n            this._headsetAggregateV2.dispose();\r\n            this._headsetAggregateV2 = undefined;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics aggregate for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the aggregate or null\r\n     */\r\n    public getPhysicsAggregateForController(controller: WebXRInputSource | string): Nullable<PhysicsAggregate> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsAggregate || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics body for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the physics body or null\r\n     */\r\n    public getPhysicsBodyForController(controller: WebXRInputSource | string): Nullable<PhysicsBody> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsBody || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the headset physics aggregate (v2 only)\r\n     * @returns the physics aggregate or null\r\n     */\r\n    public getHeadsetPhysicsAggregate(): Nullable<PhysicsAggregate> {\r\n        return this._headsetAggregateV2 || null;\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._onXRFrameV2();\r\n        } else {\r\n            this._onXRFrameV1();\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV1(): void {\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV2(): void {\r\n        if (this._headsetMesh && this._headsetAggregateV2) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetAggregateV2.body.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetAggregateV2.body.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (!controllerData.isPhysicsV2) {\r\n                continue;\r\n            }\r\n\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV1(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n        this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV2(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(params.impostorType);\r\n        this._headsetAggregateV2 = new PhysicsAggregate(\r\n            this._headsetMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: params.friction ?? 0.2,\r\n                restitution: params.restitution ?? 0.8,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        this._headsetAggregateV2.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        this._headsetAggregateV2.body.disableSync = true;\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (controllerData.physicsAggregate) {\r\n            controllerData.physicsAggregate.dispose();\r\n        }\r\n\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}
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{ WebXRAbstractFeature } from \"./WebXRAbstractFeature\";\r\nimport { Vector3, Quaternion } from \"../../Maths/math.vector\";\r\nimport type { WebXRInputSource } from \"../webXRInputSource\";\r\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor\";\r\nimport type { WebXRInput } from \"../webXRInput\";\r\nimport type { WebXRSessionManager } from \"../webXRSessionManager\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder\";\r\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport type { Nullable } from \"../../types\";\r\nimport { PhysicsAggregate } from \"../../Physics/v2/physicsAggregate\";\r\nimport type { PhysicsBody } from \"../../Physics/v2/physicsBody\";\r\nimport { PhysicsMotionType, PhysicsShapeType } from \"../../Physics/v2/IPhysicsEnginePlugin\";\r\n\r\nimport \"../../Physics/joinedPhysicsEngineComponent\";\r\n\r\n/**\r\n * Options for the controller physics feature\r\n */\r\nexport class IWebXRControllerPhysicsOptions {\r\n    /**\r\n     * Should the headset get its own impostor\r\n     */\r\n    enableHeadsetImpostor?: boolean;\r\n    /**\r\n     * Optional parameters for the headset impostor\r\n     */\r\n    headsetImpostorParams?: {\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * The physics properties of the future impostors\r\n     */\r\n    physicsProperties?: {\r\n        /**\r\n         * If set to true, a mesh impostor will be created when the controller mesh was loaded\r\n         * Note that this requires a physics engine that supports mesh impostors!\r\n         */\r\n        useControllerMesh?: boolean;\r\n        /**\r\n         * The type of impostor to create. Default is sphere\r\n         */\r\n        impostorType?: number;\r\n        /**\r\n         * the size of the impostor. Defaults to 10cm\r\n         */\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        /**\r\n         * Friction definitions\r\n         */\r\n        friction?: number;\r\n        /**\r\n         * Restitution\r\n         */\r\n        restitution?: number;\r\n    };\r\n    /**\r\n     * the xr input to use with this pointer selection\r\n     */\r\n    public xrInput: WebXRInput;\r\n}\r\n\r\n/**\r\n * Add physics impostor to your webxr controllers,\r\n * including naive calculation of their linear and angular velocity\r\n */\r\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\r\n    private _attachController = (xrController: WebXRInputSource) => {\r\n        if (this._controllers[xrController.uniqueId]) {\r\n            // already attached\r\n            return;\r\n        }\r\n        if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\r\n            Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\r\n        }\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._attachControllerV2(xrController);\r\n        } else {\r\n            this._attachControllerV1(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV1 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create impostors!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const impostor = new PhysicsImpostor(motionController.rootMesh!, PhysicsImpostor.MeshImpostor, {\r\n                            mass: 0,\r\n                            ...this._options.physicsProperties,\r\n                        });\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            impostor,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create impostors instead\r\n                    this._createPhysicsImpostor(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsImpostor(xrController);\r\n        }\r\n    };\r\n\r\n    private _attachControllerV2 = (xrController: WebXRInputSource) => {\r\n        // if no motion controller available, create physics aggregates!\r\n        if (this._options.physicsProperties!.useControllerMesh && xrController.inputSource.gamepad) {\r\n            xrController.onMotionControllerInitObservable.addOnce((motionController) => {\r\n                if (!motionController._doNotLoadControllerMesh) {\r\n                    motionController.onModelLoadedObservable.addOnce(() => {\r\n                        const shapeType = this._mapImpostorTypeToShapeType(PhysicsImpostor.MeshImpostor);\r\n                        const aggregate = new PhysicsAggregate(\r\n                            motionController.rootMesh!,\r\n                            shapeType,\r\n                            {\r\n                                mass: 0,\r\n                                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n                            },\r\n                            this._xrSessionManager.scene\r\n                        );\r\n\r\n                        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                        aggregate.body.disableSync = true;\r\n\r\n                        const controllerMesh = xrController.grip || xrController.pointer;\r\n                        this._controllers[xrController.uniqueId] = {\r\n                            xrController,\r\n                            physicsAggregate: aggregate,\r\n                            physicsBody: aggregate.body,\r\n                            isPhysicsV2: true,\r\n                            oldPos: controllerMesh.position.clone(),\r\n                            oldRotation: controllerMesh.rotationQuaternion!.clone(),\r\n                        };\r\n                    });\r\n                } else {\r\n                    // This controller isn't using a model, create physics aggregate instead\r\n                    this._createPhysicsAggregate(xrController);\r\n                }\r\n            });\r\n        } else {\r\n            this._createPhysicsAggregate(xrController);\r\n        }\r\n    };\r\n\r\n    private _mapImpostorTypeToShapeType(impostorType: number): PhysicsShapeType {\r\n        // Map v1 PhysicsImpostor types to v2 PhysicsShapeType\r\n        switch (impostorType) {\r\n            case PhysicsImpostor.SphereImpostor:\r\n                return PhysicsShapeType.SPHERE;\r\n            case PhysicsImpostor.BoxImpostor:\r\n                return PhysicsShapeType.BOX;\r\n            case PhysicsImpostor.CapsuleImpostor:\r\n                return PhysicsShapeType.CAPSULE;\r\n            case PhysicsImpostor.CylinderImpostor:\r\n                return PhysicsShapeType.CYLINDER;\r\n            case PhysicsImpostor.MeshImpostor:\r\n                return PhysicsShapeType.MESH;\r\n            case PhysicsImpostor.ConvexHullImpostor:\r\n                return PhysicsShapeType.CONVEX_HULL;\r\n            default:\r\n                Logger.Warn(`Unsupported impostor type ${impostorType} for v2 physics, defaulting to SPHERE`);\r\n                return PhysicsShapeType.SPHERE;\r\n        }\r\n    }\r\n\r\n    private _createPhysicsImpostor(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n        const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\r\n            mass: 0,\r\n            ...this._options.physicsProperties,\r\n        });\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            impostor,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _createPhysicsAggregate(xrController: WebXRInputSource) {\r\n        const impostorType: number = this._options.physicsProperties!.impostorType || PhysicsImpostor.SphereImpostor;\r\n        const impostorSize: number | { width: number; height: number; depth: number } = this._options.physicsProperties!.impostorSize || 0.1;\r\n        const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        impostorMesh.isVisible = this._debugMode;\r\n        impostorMesh.isPickable = false;\r\n        impostorMesh.rotationQuaternion = new Quaternion();\r\n        const controllerMesh = xrController.grip || xrController.pointer;\r\n        impostorMesh.position.copyFrom(controllerMesh.position);\r\n        impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(impostorType);\r\n        const aggregate = new PhysicsAggregate(\r\n            impostorMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: this._options.physicsProperties?.friction ?? 0.2,\r\n                restitution: this._options.physicsProperties?.restitution ?? 0.2,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        aggregate.body.disableSync = true;\r\n\r\n        this._controllers[xrController.uniqueId] = {\r\n            xrController,\r\n            physicsAggregate: aggregate,\r\n            physicsBody: aggregate.body,\r\n            isPhysicsV2: true,\r\n            impostorMesh,\r\n        };\r\n    }\r\n\r\n    private _controllers: {\r\n        [id: string]: {\r\n            xrController: WebXRInputSource;\r\n            impostorMesh?: AbstractMesh;\r\n            impostor?: PhysicsImpostor;\r\n            physicsAggregate?: PhysicsAggregate;\r\n            physicsBody?: PhysicsBody;\r\n            isPhysicsV2?: boolean;\r\n            oldPos?: Vector3;\r\n            oldSpeed?: Vector3;\r\n            oldRotation?: Quaternion;\r\n        };\r\n    } = {};\r\n    private _debugMode = false;\r\n    private _delta: number = 0;\r\n    private _headsetImpostor?: PhysicsImpostor;\r\n    private _headsetMesh?: AbstractMesh;\r\n    private _headsetAggregateV2?: PhysicsAggregate;\r\n    private _lastTimestamp: number = 0;\r\n    private _physicsVersion: 1 | 2 = 1;\r\n    private _tmpQuaternion: Quaternion = new Quaternion();\r\n    private _tmpVector: Vector3 = new Vector3();\r\n\r\n    /**\r\n     * The module's name\r\n     */\r\n    public static readonly Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\r\n    /**\r\n     * The (Babylon) version of this module.\r\n     * This is an integer representing the implementation version.\r\n     * This number does not correspond to the webxr specs version\r\n     */\r\n    public static readonly Version = 2;\r\n\r\n    /**\r\n     * Construct a new Controller Physics Feature\r\n     * @param _xrSessionManager the corresponding xr session manager\r\n     * @param _options options to create this feature with\r\n     */\r\n    constructor(\r\n        _xrSessionManager: WebXRSessionManager,\r\n        private readonly _options: IWebXRControllerPhysicsOptions\r\n    ) {\r\n        super(_xrSessionManager);\r\n        if (!this._options.physicsProperties) {\r\n            this._options.physicsProperties = {};\r\n        }\r\n    }\r\n\r\n    /**\r\n     * @internal\r\n     * enable debugging - will show console outputs and the impostor mesh\r\n     */\r\n    public _enablePhysicsDebug() {\r\n        this._debugMode = true;\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (controllerData.impostorMesh) {\r\n                controllerData.impostorMesh.isVisible = true;\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\r\n     * @param xrController the controller to add\r\n     */\r\n    public addController(xrController: WebXRInputSource) {\r\n        this._attachController(xrController);\r\n    }\r\n\r\n    /**\r\n     * attach this feature\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override attach(): boolean {\r\n        if (!super.attach()) {\r\n            return false;\r\n        }\r\n\r\n        // Detect physics version\r\n        const physicsEngine = this._xrSessionManager.scene.getPhysicsEngine();\r\n        if (physicsEngine) {\r\n            this._physicsVersion = (physicsEngine.getPluginVersion() as 1 | 2) || 1;\r\n        } else {\r\n            // Default to v1 if no physics engine (warning will be shown later)\r\n            this._physicsVersion = 1;\r\n        }\r\n\r\n        if (!this._options.xrInput) {\r\n            return true;\r\n        }\r\n\r\n        for (const controller of this._options.xrInput.controllers) {\r\n            this._attachController(controller);\r\n        }\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\r\n        this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\r\n            // REMOVE the controller\r\n            this._detachController(controller.uniqueId);\r\n        });\r\n\r\n        if (this._options.enableHeadsetImpostor) {\r\n            if (this._physicsVersion === 2) {\r\n                this._enableHeadsetPhysicsV2();\r\n            } else {\r\n                this._enableHeadsetPhysicsV1();\r\n            }\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * detach this feature.\r\n     * Will usually be called by the features manager\r\n     *\r\n     * @returns true if successful.\r\n     */\r\n    public override detach(): boolean {\r\n        if (!super.detach()) {\r\n            return false;\r\n        }\r\n\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            this._detachController(controllerId);\r\n        }\r\n\r\n        if (this._headsetMesh) {\r\n            this._headsetMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (this._headsetAggregateV2) {\r\n            this._headsetAggregateV2.dispose();\r\n            this._headsetAggregateV2 = undefined;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    /**\r\n     * Get the headset impostor, if enabled\r\n     * @returns the impostor\r\n     */\r\n    public getHeadsetImpostor() {\r\n        return this._headsetImpostor;\r\n    }\r\n\r\n    /**\r\n     * Get the physics impostor of a specific controller.\r\n     * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\r\n     * @param controller the controller or the controller id of which to get the impostor\r\n     * @returns the impostor or null\r\n     */\r\n    public getImpostorForController(controller: WebXRInputSource | string): Nullable<PhysicsImpostor> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].impostor || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics aggregate for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the aggregate or null\r\n     */\r\n    public getPhysicsAggregateForController(controller: WebXRInputSource | string): Nullable<PhysicsAggregate> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsAggregate || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the physics body for a controller (v2 only)\r\n     * @param controller the controller or the controller id\r\n     * @returns the physics body or null\r\n     */\r\n    public getPhysicsBodyForController(controller: WebXRInputSource | string): Nullable<PhysicsBody> {\r\n        const id = typeof controller === \"string\" ? controller : controller.uniqueId;\r\n        if (this._controllers[id]) {\r\n            return this._controllers[id].physicsBody || null;\r\n        } else {\r\n            return null;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Get the headset physics aggregate (v2 only)\r\n     * @returns the physics aggregate or null\r\n     */\r\n    public getHeadsetPhysicsAggregate(): Nullable<PhysicsAggregate> {\r\n        return this._headsetAggregateV2 || null;\r\n    }\r\n\r\n    /**\r\n     * Update the physics properties provided in the constructor\r\n     * @param newProperties the new properties object\r\n     * @param newProperties.impostorType\r\n     * @param newProperties.impostorSize\r\n     * @param newProperties.friction\r\n     * @param newProperties.restitution\r\n     */\r\n    public setPhysicsProperties(newProperties: {\r\n        impostorType?: number;\r\n        impostorSize?: number | { width: number; height: number; depth: number };\r\n        friction?: number;\r\n        restitution?: number;\r\n    }) {\r\n        this._options.physicsProperties = {\r\n            ...this._options.physicsProperties,\r\n            ...newProperties,\r\n        };\r\n    }\r\n\r\n    protected _onXRFrame(_xrFrame: any): void {\r\n        this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\r\n        this._lastTimestamp = this._xrSessionManager.currentTimestamp;\r\n\r\n        if (this._physicsVersion === 2) {\r\n            this._onXRFrameV2();\r\n        } else {\r\n            this._onXRFrameV1();\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV1(): void {\r\n        if (this._headsetMesh && this._headsetImpostor) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetImpostor.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetImpostor.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.impostor!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.impostor!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _onXRFrameV2(): void {\r\n        if (this._headsetMesh && this._headsetAggregateV2) {\r\n            this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\r\n            this._headsetMesh.rotationQuaternion!.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\r\n                const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                this._headsetAggregateV2.body.setLinearVelocity(this._tmpVector);\r\n            }\r\n            if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\r\n                const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                this._headsetAggregateV2.body.setAngularVelocity(this._tmpVector);\r\n            }\r\n        }\r\n        const keys = Object.keys(this._controllers);\r\n        for (const controllerId of keys) {\r\n            const controllerData = this._controllers[controllerId];\r\n            if (!controllerData.isPhysicsV2) {\r\n                continue;\r\n            }\r\n\r\n            const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\r\n            const comparedPosition = controllerData.oldPos || controllerData.impostorMesh!.position;\r\n            if (controllerData.xrController._lastXRPose?.linearVelocity) {\r\n                const lv = controllerData.xrController._lastXRPose.linearVelocity;\r\n                this._tmpVector.set(lv.x, lv.y, lv.z);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            } else {\r\n                controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\r\n                this._tmpVector.scaleInPlace(1000 / this._delta);\r\n                controllerData.physicsBody!.setLinearVelocity(this._tmpVector);\r\n            }\r\n            comparedPosition.copyFrom(controllerMesh.position);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, \"linear\"]);\r\n            }\r\n\r\n            const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh!.rotationQuaternion!;\r\n            if (controllerData.xrController._lastXRPose?.angularVelocity) {\r\n                const av = controllerData.xrController._lastXRPose.angularVelocity;\r\n                this._tmpVector.set(av.x, av.y, av.z);\r\n                controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n            } else {\r\n                if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion!)) {\r\n                    // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\r\n                    comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion!, this._tmpQuaternion);\r\n                    const len = Math.sqrt(\r\n                        this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z\r\n                    );\r\n                    this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\r\n                    // define a better epsilon\r\n                    if (len < 0.001) {\r\n                        this._tmpVector.scaleInPlace(2);\r\n                    } else {\r\n                        const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\r\n                        this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\r\n                    }\r\n                    controllerData.physicsBody!.setAngularVelocity(this._tmpVector);\r\n                }\r\n            }\r\n            comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion!);\r\n            if (this._debugMode) {\r\n                Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\r\n            }\r\n        }\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV1(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n        this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\r\n    }\r\n\r\n    private _enableHeadsetPhysicsV2(): void {\r\n        const params = this._options.headsetImpostorParams || {\r\n            impostorType: PhysicsImpostor.SphereImpostor,\r\n            restitution: 0.8,\r\n            impostorSize: 0.3,\r\n        };\r\n        const impostorSize = params.impostorSize || 0.3;\r\n        this._headsetMesh = CreateSphere(\"headset-mesh\", {\r\n            diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\r\n            diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\r\n            diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\r\n        });\r\n        this._headsetMesh.rotationQuaternion = new Quaternion();\r\n        this._headsetMesh.isVisible = false;\r\n\r\n        const shapeType = this._mapImpostorTypeToShapeType(params.impostorType);\r\n        this._headsetAggregateV2 = new PhysicsAggregate(\r\n            this._headsetMesh,\r\n            shapeType,\r\n            {\r\n                mass: 0,\r\n                friction: params.friction ?? 0.2,\r\n                restitution: params.restitution ?? 0.8,\r\n            },\r\n            this._xrSessionManager.scene\r\n        );\r\n\r\n        this._headsetAggregateV2.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n        this._headsetAggregateV2.body.disableSync = true;\r\n    }\r\n\r\n    private _detachController(xrControllerUniqueId: string) {\r\n        const controllerData = this._controllers[xrControllerUniqueId];\r\n        if (!controllerData) {\r\n            return;\r\n        }\r\n        if (controllerData.impostorMesh) {\r\n            controllerData.impostorMesh.dispose();\r\n        }\r\n\r\n        // Dispose v2 aggregate if present\r\n        if (controllerData.physicsAggregate) {\r\n            controllerData.physicsAggregate.dispose();\r\n        }\r\n\r\n        // remove from the map\r\n        delete this._controllers[xrControllerUniqueId];\r\n    }\r\n}\r\n\r\n//register the plugin\r\nWebXRFeaturesManager.AddWebXRFeature(\r\n    WebXRControllerPhysics.Name,\r\n    (xrSessionManager, options) => {\r\n        return () => new WebXRControllerPhysics(xrSessionManager, options);\r\n    },\r\n    WebXRControllerPhysics.Version,\r\n    true\r\n);\r\n"]}

package/XR/features/WebXRHandTracking.d.ts

@@ -10,6 +10,7 @@ import { Observable } from "../../Misc/observable.js";
 import type { InstancedMesh } from "../../Meshes/instancedMesh.js";
 import { Color3 } from "../../Maths/math.color.js";
 import type { WebXRCamera } from "../webXRCamera.js";
+import "../../Physics/joinedPhysicsEngineComponent.js";
 /**
  * Configuration interface for the hand tracking feature
  */

package/XR/features/WebXRHandTracking.js

@@ -14,6 +14,7 @@ import { TransformNode } from "../../Meshes/transformNode.js";
 import { Axis } from "../../Maths/math.axis.js";
 
 import { Tools } from "../../Misc/tools.js";
+import "../../Physics/joinedPhysicsEngineComponent.js";
 /**
  * Parts of the hands divided to writs and finger names
  */