@onerjs/core 8.42.6 → 8.42.8

package/Physics/v2/physicsBody.js.map

@@ -1 +1 @@
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type { IBasePhysicsCollisionEvent, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsMotionType, PhysicsPrestepType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Nullable } from \"core/types\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { Bone } from \"core/Bones/bone\";\r\nimport { Space } from \"core/Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\r\nimport type { Mesh } from \"core/Meshes/mesh\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { BoundingBox } from \"core/Culling/boundingBox\";\r\n\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\r\n    /**\r\n     * If the collision ended callback is enabled\r\n     */\r\n    private _collisionEndedCBEnabled: boolean = false;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    public get disablePreStep(): boolean {\r\n        return this._prestepType == PhysicsPrestepType.DISABLED;\r\n    }\r\n\r\n    public set disablePreStep(value: boolean) {\r\n        this._prestepType = value ? PhysicsPrestepType.DISABLED : PhysicsPrestepType.TELEPORT;\r\n    }\r\n\r\n    /**\r\n     * Disable sync from physics to transformNode. This value is set to true at body creation or at motionType setting when the body is not dynamic.\r\n     */\r\n    disableSync: boolean = false;\r\n\r\n    /**\r\n     * Physics engine will try to make this body sleeping and not active\r\n     */\r\n    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    private _shape: Nullable<PhysicsShape> = null;\r\n\r\n    private _prestepType: PhysicsPrestepType = PhysicsPrestepType.DISABLED;\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for. For better performance, it is advised that this node does not have a parent.\r\n     * @param motionType - The motion type of the physics body. The options are:\r\n     *  - PhysicsMotionType.STATIC - Static bodies are not moving and unaffected by forces or collisions. They are good for level boundaries or terrain.\r\n     *  - PhysicsMotionType.DYNAMIC - Dynamic bodies are fully simulated. They can move and collide with other objects.\r\n     *  - PhysicsMotionType.ANIMATED - They behave like dynamic bodies, but they won't be affected by other bodies, but still push other bodies out of the way.\r\n     * @param startsAsleep - Whether the physics body should start in a sleeping state (not a guarantee). Defaults to false.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, startsAsleep: boolean, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // only dynamic and animated body needs sync from physics to transformNode\r\n        this.disableSync = motionType == PhysicsMotionType.STATIC;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            if (transformNode.parent) {\r\n                // Force computation of world matrix so that the parent transforms are correctly reflected in absolutePosition/absoluteRotationQuaternion.\r\n                transformNode.computeWorldMatrix(true);\r\n            }\r\n            this._physicsPlugin.initBody(this, motionType, transformNode.absolutePosition, transformNode.absoluteRotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n\r\n        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        clonedBody.setMassProperties(this.getMassProperties());\r\n        clonedBody.setLinearDamping(this.getLinearDamping());\r\n        clonedBody.setAngularDamping(this.getAngularDamping());\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\r\n    }\r\n\r\n    /**\r\n     * Get the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public get motionType(): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public set shape(shape: Nullable<PhysicsShape>) {\r\n        this._shape = shape;\r\n        if (shape) {\r\n            this._physicsPlugin.setShape(this, shape);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public get shape(): Nullable<PhysicsShape> {\r\n        return this._shape;\r\n    }\r\n\r\n    /**\r\n     * Returns the bounding box of the physics body.\r\n     * @returns The bounding box of the physics body.\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBodyBoundingBox(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the event mask for.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the event mask for.\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     * @param motionType - The motion type to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the motion type for. If body is instanced but instanceIndex is undefined, the motion type will be set for all instances.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this.disableSync = instanceIndex === undefined && motionType == PhysicsMotionType.STATIC;\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the motion type for.\r\n     * @returns The motion type of the physics body.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the prestep type of the body\r\n     * @param prestepType prestep type provided by PhysicsPrestepType\r\n     */\r\n    public setPrestepType(prestepType: PhysicsPrestepType): void {\r\n        this._prestepType = prestepType;\r\n    }\r\n\r\n    /**\r\n     * Get the current prestep type of the body\r\n     * @returns the type of prestep associated with the body and its instance index\r\n     */\r\n    public getPrestepType(): PhysicsPrestepType {\r\n        return this._prestepType;\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * initial values, which you can then customize.\r\n     * @param instanceIndex - The index of the instance to compute the mass properties for.\r\n     * @returns The mass properties of the object.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     * @param instanceIndex - The index of the instance to set the mass properties for. If not defined, the mass properties will be set for all instances.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the mass properties for.\r\n     * @returns The mass properties of the object.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the linear damping for.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear damping for.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the angular damping for.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular damping for.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the linear velocity for.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear velocity for.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocityToRef(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body as a new vector3.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear velocity for.\r\n     * @returns The linear velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getLinearVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the angular velocity for.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular velocity for.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body as a new vector3.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular velocity for.\r\n     * @returns The angular velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getAngularVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Add torque to a physics body\r\n     * @param angularImpulse The angular impulse vector.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     */\r\n    public applyAngularImpulse(angularImpulse: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyAngularImpulse(this, angularImpulse, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a torque to the physics body.\r\n     *\r\n     * @param torque The torque vector.\r\n     * @param instanceIndex For a instanced body, the instance to where the torque should be applied. If not specified, the torque is applied to all instances.\r\n     *\r\n     * This method is useful for applying a torque to a physics body, which can be used to simulate rotational forces such as motors,\r\n     * angular momentum, and rotational dynamics. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyTorque(torque: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyTorque(this, torque, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @param instanceIndex For a instanced body, the instance to where the force should be applied. If not specified, the force is applied to all instances.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): object {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified for when a collision starts or continues for this PhysicsBody\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified when the body has finished colliding with another body\r\n     * @returns\r\n     */\r\n    public getCollisionEndedObservable(): Observable<IBasePhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionEndedObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision ended callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision ended will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionEndedCallbackEnabled(enabled: boolean): void {\r\n        this._collisionEndedCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionEndedCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /**\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Adds a constraint to the physics engine.\r\n     *\r\n     * @param childBody - The body to which the constraint will be applied.\r\n     * @param constraint - The constraint to be applied.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity factor of the physics body\r\n     * @param factor the gravity factor to set\r\n     * @param instanceIndex the instance of the body to set, if undefined all instances will be set\r\n     */\r\n    public setGravityFactor(factor: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setGravityFactor(this, factor, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the gravity factor of the physics body\r\n     * @param instanceIndex the instance of the body to get, if undefined the value of first instance will be returned\r\n     * @returns the gravity factor\r\n     */\r\n    public getGravityFactor(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getGravityFactor(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the target transformation (position and rotation) of the body, such that the body will set its velocity to reach that target\r\n     * @param position The target position\r\n     * @param rotation The target rotation\r\n     * @param instanceIndex The index of the instance in an instanced body\r\n     */\r\n    public setTargetTransform(position: Vector3, rotation: Quaternion, instanceIndex?: number) {\r\n        this._physicsPlugin.setTargetTransform(this, position, rotation, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Returns if the body has been disposed.\r\n     * @returns true if disposed, false otherwise.\r\n     */\r\n    public get isDisposed() {\r\n        return this._isDisposed;\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._collisionEndedCBEnabled) {\r\n            this.setCollisionEndedCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n        this.transformNode.physicsBody = null;\r\n        this._pluginData = null;\r\n        this._pluginDataInstances.length = 0;\r\n        this._isDisposed = true;\r\n        this.shape = null;\r\n    }\r\n}\r\n"]}
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type { IBasePhysicsCollisionEvent, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsMotionType, PhysicsPrestepType } from \"./IPhysicsEnginePlugin\";\r\nimport type { PhysicsShape } from \"./physicsShape\";\r\nimport { Vector3, Quaternion, TmpVectors } from \"../../Maths/math.vector\";\r\nimport type { Scene } from \"../../scene\";\r\nimport type { PhysicsEngine } from \"./physicsEngine\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport type { Bone } from \"../../Bones/bone\";\r\nimport { Space } from \"../../Maths/math.axis\";\r\nimport type { Observable, Observer } from \"../../Misc/observable\";\r\nimport type { Node } from \"../../node\";\r\nimport type { Mesh } from \"../../Meshes/mesh\";\r\nimport type { AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { BoundingBox } from \"../../Culling/boundingBox\";\r\n\r\n/**\r\n * PhysicsBody is useful for creating a physics body that can be used in a physics engine. It allows\r\n * the user to set the mass and velocity of the body, which can then be used to calculate the\r\n * motion of the body in the physics engine.\r\n */\r\nexport class PhysicsBody {\r\n    /**\r\n     * V2 Physics plugin private data for single Transform\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * V2 Physics plugin private data for instances\r\n     */\r\n    public _pluginDataInstances: Array<any> = [];\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    private _physicsPlugin: IPhysicsEnginePluginV2;\r\n    /**\r\n     * The engine used to create and manage this Physics Body\r\n     */\r\n    private _physicsEngine: PhysicsEngine;\r\n    /**\r\n     * If the collision callback is enabled\r\n     */\r\n    private _collisionCBEnabled: boolean = false;\r\n    /**\r\n     * If the collision ended callback is enabled\r\n     */\r\n    private _collisionEndedCBEnabled: boolean = false;\r\n    /**\r\n     * The transform node associated with this Physics Body\r\n     */\r\n    transformNode: TransformNode;\r\n\r\n    /**\r\n     * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.\r\n     * True by default for maximum performance.\r\n     */\r\n    public get disablePreStep(): boolean {\r\n        return this._prestepType == PhysicsPrestepType.DISABLED;\r\n    }\r\n\r\n    public set disablePreStep(value: boolean) {\r\n        this._prestepType = value ? PhysicsPrestepType.DISABLED : PhysicsPrestepType.TELEPORT;\r\n    }\r\n\r\n    /**\r\n     * Disable sync from physics to transformNode. This value is set to true at body creation or at motionType setting when the body is not dynamic.\r\n     */\r\n    disableSync: boolean = false;\r\n\r\n    /**\r\n     * Physics engine will try to make this body sleeping and not active\r\n     */\r\n    public startAsleep: boolean;\r\n\r\n    private _nodeDisposeObserver: Nullable<Observer<Node>>;\r\n\r\n    private _isDisposed = false;\r\n\r\n    private _shape: Nullable<PhysicsShape> = null;\r\n\r\n    private _prestepType: PhysicsPrestepType = PhysicsPrestepType.DISABLED;\r\n    /**\r\n     * Constructs a new physics body for the given node.\r\n     * @param transformNode - The Transform Node to construct the physics body for. For better performance, it is advised that this node does not have a parent.\r\n     * @param motionType - The motion type of the physics body. The options are:\r\n     *  - PhysicsMotionType.STATIC - Static bodies are not moving and unaffected by forces or collisions. They are good for level boundaries or terrain.\r\n     *  - PhysicsMotionType.DYNAMIC - Dynamic bodies are fully simulated. They can move and collide with other objects.\r\n     *  - PhysicsMotionType.ANIMATED - They behave like dynamic bodies, but they won't be affected by other bodies, but still push other bodies out of the way.\r\n     * @param startsAsleep - Whether the physics body should start in a sleeping state (not a guarantee). Defaults to false.\r\n     * @param scene - The scene containing the physics engine.\r\n     *\r\n     * This code is useful for creating a physics body for a given Transform Node in a scene.\r\n     * It checks the version of the physics engine and the physics plugin, and initializes the body accordingly.\r\n     * It also sets the node's rotation quaternion if it is not already set. Finally, it adds the body to the physics engine.\r\n     */\r\n    constructor(transformNode: TransformNode, motionType: PhysicsMotionType, startsAsleep: boolean, scene: Scene) {\r\n        if (!scene) {\r\n            return;\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine() as PhysicsEngine;\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        this._physicsEngine = physicsEngine;\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin;\r\n        if (!transformNode.rotationQuaternion) {\r\n            transformNode.rotationQuaternion = Quaternion.FromEulerAngles(transformNode.rotation.x, transformNode.rotation.y, transformNode.rotation.z);\r\n        }\r\n\r\n        this.startAsleep = startsAsleep;\r\n\r\n        // only dynamic and animated body needs sync from physics to transformNode\r\n        this.disableSync = motionType == PhysicsMotionType.STATIC;\r\n\r\n        // instances?\r\n        const m = transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.initBodyInstances(this, motionType, m);\r\n        } else {\r\n            // single instance\r\n            if (transformNode.parent) {\r\n                // Force computation of world matrix so that the parent transforms are correctly reflected in absolutePosition/absoluteRotationQuaternion.\r\n                transformNode.computeWorldMatrix(true);\r\n            }\r\n            this._physicsPlugin.initBody(this, motionType, transformNode.absolutePosition, transformNode.absoluteRotationQuaternion);\r\n        }\r\n        this.transformNode = transformNode;\r\n        transformNode.physicsBody = this;\r\n        physicsEngine.addBody(this);\r\n\r\n        this._nodeDisposeObserver = transformNode.onDisposeObservable.add(() => {\r\n            this.dispose();\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Returns the string \"PhysicsBody\".\r\n     * @returns \"PhysicsBody\"\r\n     */\r\n    public getClassName() {\r\n        return \"PhysicsBody\";\r\n    }\r\n\r\n    /**\r\n     * Clone the PhysicsBody to a new body and assign it to the transformNode parameter\r\n     * @param transformNode transformNode that will be used for the cloned PhysicsBody\r\n     * @returns the newly cloned PhysicsBody\r\n     */\r\n    public clone(transformNode: TransformNode): PhysicsBody {\r\n        const clonedBody = new PhysicsBody(transformNode, this.getMotionType(), this.startAsleep, this.transformNode.getScene());\r\n        clonedBody.shape = this.shape;\r\n        clonedBody.setMassProperties(this.getMassProperties());\r\n        clonedBody.setLinearDamping(this.getLinearDamping());\r\n        clonedBody.setAngularDamping(this.getAngularDamping());\r\n        return clonedBody;\r\n    }\r\n\r\n    /**\r\n     * If a physics body is connected to an instanced node, update the number physic instances to match the number of node instances.\r\n     */\r\n    public updateBodyInstances() {\r\n        const m = this.transformNode as Mesh;\r\n        if (m.hasThinInstances) {\r\n            this._physicsPlugin.updateBodyInstances(this, m);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * This returns the number of internal instances of the physics body\r\n     */\r\n    public get numInstances(): number {\r\n        return this._pluginDataInstances.length;\r\n    }\r\n\r\n    /**\r\n     * Get the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     */\r\n    public get motionType(): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the shape of the physics body.\r\n     * @param shape - The shape of the physics body.\r\n     *\r\n     * This method is useful for setting the shape of the physics body, which is necessary for the physics engine to accurately simulate the body's behavior.\r\n     * The shape is used to calculate the body's mass, inertia, and other properties.\r\n     */\r\n    public set shape(shape: Nullable<PhysicsShape>) {\r\n        this._shape = shape;\r\n        if (shape) {\r\n            this._physicsPlugin.setShape(this, shape);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Retrieves the physics shape associated with this object.\r\n     *\r\n     * @returns The physics shape associated with this object, or `undefined` if no\r\n     * shape is associated.\r\n     *\r\n     * This method is useful for retrieving the physics shape associated with this object,\r\n     * which can be used to apply physical forces to the object or to detect collisions.\r\n     */\r\n    public get shape(): Nullable<PhysicsShape> {\r\n        return this._shape;\r\n    }\r\n\r\n    /**\r\n     * Returns the bounding box of the physics body.\r\n     * @returns The bounding box of the physics body.\r\n     */\r\n    public getBoundingBox(): BoundingBox {\r\n        return this._physicsPlugin.getBodyBoundingBox(this);\r\n    }\r\n\r\n    /**\r\n     * Sets the event mask for the physics engine.\r\n     *\r\n     * @param eventMask - A bitmask that determines which events will be sent to the physics engine.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the event mask for.\r\n     *\r\n     * This method is useful for setting the event mask for the physics engine, which determines which events\r\n     * will be sent to the physics engine. This allows the user to control which events the physics engine will respond to.\r\n     */\r\n    public setEventMask(eventMask: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setEventMask(this, eventMask, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the event mask of the physics engine.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the event mask for.\r\n     * @returns The event mask of the physics engine.\r\n     *\r\n     * This method is useful for getting the event mask of the physics engine,\r\n     * which is used to determine which events the engine will respond to.\r\n     * This is important for ensuring that the engine is responding to the correct events and not\r\n     * wasting resources on unnecessary events.\r\n     */\r\n    public getEventMask(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getEventMask(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     * @param motionType - The motion type to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the motion type for. If body is instanced but instanceIndex is undefined, the motion type will be set for all instances.\r\n     */\r\n    public setMotionType(motionType: PhysicsMotionType, instanceIndex?: number) {\r\n        this.disableSync = instanceIndex === undefined && motionType == PhysicsMotionType.STATIC;\r\n        this._physicsPlugin.setMotionType(this, motionType, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the motion type of the physics body. Can be STATIC, DYNAMIC, or ANIMATED.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the motion type for.\r\n     * @returns The motion type of the physics body.\r\n     */\r\n    public getMotionType(instanceIndex?: number): PhysicsMotionType {\r\n        return this._physicsPlugin.getMotionType(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the prestep type of the body\r\n     * @param prestepType prestep type provided by PhysicsPrestepType\r\n     */\r\n    public setPrestepType(prestepType: PhysicsPrestepType): void {\r\n        this._prestepType = prestepType;\r\n    }\r\n\r\n    /**\r\n     * Get the current prestep type of the body\r\n     * @returns the type of prestep associated with the body and its instance index\r\n     */\r\n    public getPrestepType(): PhysicsPrestepType {\r\n        return this._prestepType;\r\n    }\r\n\r\n    /**\r\n     * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.\r\n     * This method is useful for computing the initial mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass; these values are important for accurately simulating the physics of the\r\n     * object in the physics engine, and computing values based on the shape will provide you with reasonable\r\n     * initial values, which you can then customize.\r\n     * @param instanceIndex - The index of the instance to compute the mass properties for.\r\n     * @returns The mass properties of the object.\r\n     */\r\n    public computeMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.computeMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the mass properties of the physics object.\r\n     *\r\n     * @param massProps - The mass properties to set.\r\n     * @param instanceIndex - The index of the instance to set the mass properties for. If not defined, the mass properties will be set for all instances.\r\n     *\r\n     * This method is useful for setting the mass properties of a physics object, such as its mass,\r\n     * inertia, and center of mass. This is important for accurately simulating the physics of the object in the physics engine.\r\n     */\r\n    public setMassProperties(massProps: PhysicsMassProperties, instanceIndex?: number): void {\r\n        this._physicsPlugin.setMassProperties(this, massProps, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the mass properties of the object.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the mass properties for.\r\n     * @returns The mass properties of the object.\r\n     *\r\n     * This method is useful for physics simulations, as it allows the user to\r\n     * retrieve the mass properties of the object, such as its mass, center of mass,\r\n     * and moment of inertia. This information is necessary for accurate physics\r\n     * simulations.\r\n     */\r\n    public getMassProperties(instanceIndex?: number): PhysicsMassProperties {\r\n        return this._physicsPlugin.getMassProperties(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear damping of the physics body.\r\n     *\r\n     * @param damping - The linear damping value.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the linear damping for.\r\n     *\r\n     * This method is useful for controlling the linear damping of the physics body,\r\n     * which is the rate at which the body's velocity decreases over time. This is useful for simulating\r\n     * the effects of air resistance or other forms of friction.\r\n     */\r\n    public setLinearDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setLinearDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear damping of the physics body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear damping for.\r\n     * @returns The linear damping of the physics body.\r\n     *\r\n     * This method is useful for retrieving the linear damping of the physics body, which is the amount of\r\n     * resistance the body has to linear motion. This is useful for simulating realistic physics behavior\r\n     * in a game.\r\n     */\r\n    public getLinearDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getLinearDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the angular damping of the physics body.\r\n     * @param damping The angular damping of the body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the angular damping for.\r\n     *\r\n     * This method is useful for controlling the angular velocity of a physics body.\r\n     * By setting the damping, the body's angular velocity will be reduced over time, simulating the effect of friction.\r\n     * This can be used to create realistic physical behavior in a physics engine.\r\n     */\r\n    public setAngularDamping(damping: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setAngularDamping(this, damping, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular damping of the physics body.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular damping for.\r\n     *\r\n     * @returns The angular damping of the physics body.\r\n     *\r\n     * This method is useful for getting the angular damping of the physics body,\r\n     * which is the rate of reduction of the angular velocity over time.\r\n     * This is important for simulating realistic physics behavior in a game.\r\n     */\r\n    public getAngularDamping(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getAngularDamping(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sets the linear velocity of the physics object.\r\n     * @param linVel - The linear velocity to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the linear velocity for.\r\n     *\r\n     * This method is useful for setting the linear velocity of a physics object,\r\n     * which is necessary for simulating realistic physics in a game engine.\r\n     * By setting the linear velocity, the physics object will move in the direction and speed specified by the vector.\r\n     * This allows for realistic physics simulations, such as simulating the motion of a ball rolling down a hill.\r\n     */\r\n    public setLinearVelocity(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setLinearVelocity(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body and stores it in the given vector3.\r\n     * @param linVel - The vector3 to store the linear velocity in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear velocity for.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocityToRef(linVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.getLinearVelocityToRef(this, linVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the linear velocity of the physics body as a new vector3.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the linear velocity for.\r\n     * @returns The linear velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the linear velocity of a physics body in a physics engine.\r\n     * This can be used to determine the speed and direction of the body, which can be used to calculate the motion of the body.\r\n     */\r\n    public getLinearVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getLinearVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Sets the angular velocity of the physics object.\r\n     * @param angVel - The angular velocity to set.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to set the angular velocity for.\r\n     *\r\n     * This method is useful for setting the angular velocity of a physics object, which is necessary for\r\n     * simulating realistic physics behavior. The angular velocity is used to determine the rate of rotation of the object,\r\n     * which is important for simulating realistic motion.\r\n     */\r\n    public setAngularVelocity(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.setAngularVelocity(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body and stores it in the given vector3.\r\n     * @param angVel - The vector3 to store the angular velocity in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular velocity for.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocityToRef(angVel: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.getAngularVelocityToRef(this, angVel, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the angular velocity of the physics body as a new vector3.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the angular velocity for.\r\n     * @returns The angular velocity of the physics body.\r\n     *\r\n     * This method is useful for getting the angular velocity of a physics body, which can be used to determine the body's\r\n     * rotational speed. This information can be used to create realistic physics simulations.\r\n     */\r\n    public getAngularVelocity(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        this.getAngularVelocityToRef(ref, instanceIndex);\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Applies an impulse to the physics object.\r\n     *\r\n     * @param impulse The impulse vector.\r\n     * @param location The location of the impulse.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     *\r\n     * This method is useful for applying an impulse to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyImpulse(impulse: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyImpulse(this, impulse, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Add torque to a physics body\r\n     * @param angularImpulse The angular impulse vector.\r\n     * @param instanceIndex For a instanced body, the instance to where the impulse should be applied. If not specified, the impulse is applied to all instances.\r\n     */\r\n    public applyAngularImpulse(angularImpulse: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyAngularImpulse(this, angularImpulse, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a torque to the physics body.\r\n     *\r\n     * @param torque The torque vector.\r\n     * @param instanceIndex For a instanced body, the instance to where the torque should be applied. If not specified, the torque is applied to all instances.\r\n     *\r\n     * This method is useful for applying a torque to a physics body, which can be used to simulate rotational forces such as motors,\r\n     * angular momentum, and rotational dynamics. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyTorque(torque: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyTorque(this, torque, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Applies a force to the physics object.\r\n     *\r\n     * @param force The force vector.\r\n     * @param location The location of the force.\r\n     * @param instanceIndex For a instanced body, the instance to where the force should be applied. If not specified, the force is applied to all instances.\r\n     *\r\n     * This method is useful for applying a force to a physics object, which can be used to simulate physical forces such as gravity,\r\n     * collisions, and explosions. This can be used to create realistic physics simulations in a game or other application.\r\n     */\r\n    public applyForce(force: Vector3, location: Vector3, instanceIndex?: number): void {\r\n        this._physicsPlugin.applyForce(this, force, location, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Retrieves the geometry of the body from the physics plugin.\r\n     *\r\n     * @returns The geometry of the body.\r\n     *\r\n     * This method is useful for retrieving the geometry of the body from the physics plugin, which can be used for various physics calculations.\r\n     */\r\n    public getGeometry(): object {\r\n        return this._physicsPlugin.getBodyGeometry(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified for when a collision starts or continues for this PhysicsBody\r\n     * @returns Observable\r\n     */\r\n    public getCollisionObservable(): Observable<IPhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Returns an observable that will be notified when the body has finished colliding with another body\r\n     * @returns\r\n     */\r\n    public getCollisionEndedObservable(): Observable<IBasePhysicsCollisionEvent> {\r\n        return this._physicsPlugin.getCollisionEndedObservable(this);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionCallbackEnabled(enabled: boolean): void {\r\n        this._collisionCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /**\r\n     * Enable or disable collision ended callback for this PhysicsBody.\r\n     * @param enabled true if PhysicsBody's collision ended will rise a collision event and notifies the observable\r\n     */\r\n    public setCollisionEndedCallbackEnabled(enabled: boolean): void {\r\n        this._collisionEndedCBEnabled = enabled;\r\n        this._physicsPlugin.setCollisionEndedCallbackEnabled(this, enabled);\r\n    }\r\n\r\n    /**\r\n     * Get the center of the object in world space.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorld(instanceIndex?: number): Vector3 {\r\n        const ref = new Vector3();\r\n        return this.getObjectCenterWorldToRef(ref, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Get the center of the object in world space.\r\n     * @param ref - The vector3 to store the result in.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to get the center for.\r\n     * @returns geometric center of the associated mesh\r\n     */\r\n    public getObjectCenterWorldToRef(ref: Vector3, instanceIndex?: number): Vector3 {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            const index = instanceIndex || 0;\r\n            const matrixData = (this.transformNode as Mesh)._thinInstanceDataStorage.matrixData;\r\n            if (matrixData) {\r\n                ref.set(matrixData[index * 16 + 12], matrixData[index * 16 + 13], matrixData[index * 16 + 14]);\r\n            }\r\n        } else {\r\n            ref.copyFrom(this.transformNode.position);\r\n        }\r\n        return ref;\r\n    }\r\n\r\n    /**\r\n     * Adds a constraint to the physics engine.\r\n     *\r\n     * @param childBody - The body to which the constraint will be applied.\r\n     * @param constraint - The constraint to be applied.\r\n     * @param instanceIndex - If this body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     * @param childInstanceIndex - If the child body is instanced, the index of the instance to which the constraint will be applied. If not specified, no constraint will be applied.\r\n     *\r\n     */\r\n    public addConstraint(childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\r\n        this._physicsPlugin.addConstraint(this, childBody, constraint, instanceIndex, childInstanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Sync with a bone\r\n     * @param bone The bone that the impostor will be synced to.\r\n     * @param boneMesh The mesh that the bone is influencing.\r\n     * @param jointPivot The pivot of the joint / bone in local space.\r\n     * @param distToJoint Optional distance from the impostor to the joint.\r\n     * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\r\n     * @param boneAxis Optional vector3 axis the bone is aligned with\r\n     */\r\n    public syncWithBone(bone: Bone, boneMesh: AbstractMesh, jointPivot: Vector3, distToJoint?: number, adjustRotation?: Quaternion, boneAxis?: Vector3) {\r\n        const mesh = this.transformNode;\r\n\r\n        if (mesh.rotationQuaternion) {\r\n            if (adjustRotation) {\r\n                const tempQuat = TmpVectors.Quaternion[0];\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, tempQuat);\r\n                tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\r\n            } else {\r\n                bone.getRotationQuaternionToRef(Space.WORLD, boneMesh, mesh.rotationQuaternion);\r\n            }\r\n        }\r\n\r\n        const pos = TmpVectors.Vector3[0];\r\n        const boneDir = TmpVectors.Vector3[1];\r\n\r\n        if (!boneAxis) {\r\n            boneAxis = TmpVectors.Vector3[2];\r\n            boneAxis.x = 0;\r\n            boneAxis.y = 1;\r\n            boneAxis.z = 0;\r\n        }\r\n\r\n        bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\r\n        bone.getAbsolutePositionToRef(boneMesh, pos);\r\n\r\n        if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\r\n            distToJoint = jointPivot.length();\r\n        }\r\n\r\n        if (distToJoint !== undefined && distToJoint !== null) {\r\n            pos.x += boneDir.x * distToJoint;\r\n            pos.y += boneDir.y * distToJoint;\r\n            pos.z += boneDir.z * distToJoint;\r\n        }\r\n\r\n        mesh.setAbsolutePosition(pos);\r\n    }\r\n\r\n    /**\r\n     * Executes a callback on the body or all of the instances of a body\r\n     * @param callback the callback to execute\r\n     */\r\n    public iterateOverAllInstances(callback: (body: PhysicsBody, instanceIndex?: number) => void) {\r\n        if (this._pluginDataInstances?.length > 0) {\r\n            for (let i = 0; i < this._pluginDataInstances.length; i++) {\r\n                callback(this, i);\r\n            }\r\n        } else {\r\n            callback(this, undefined);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity factor of the physics body\r\n     * @param factor the gravity factor to set\r\n     * @param instanceIndex the instance of the body to set, if undefined all instances will be set\r\n     */\r\n    public setGravityFactor(factor: number, instanceIndex?: number) {\r\n        this._physicsPlugin.setGravityFactor(this, factor, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Gets the gravity factor of the physics body\r\n     * @param instanceIndex the instance of the body to get, if undefined the value of first instance will be returned\r\n     * @returns the gravity factor\r\n     */\r\n    public getGravityFactor(instanceIndex?: number): number {\r\n        return this._physicsPlugin.getGravityFactor(this, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Set the target transformation (position and rotation) of the body, such that the body will set its velocity to reach that target\r\n     * @param position The target position\r\n     * @param rotation The target rotation\r\n     * @param instanceIndex The index of the instance in an instanced body\r\n     */\r\n    public setTargetTransform(position: Vector3, rotation: Quaternion, instanceIndex?: number) {\r\n        this._physicsPlugin.setTargetTransform(this, position, rotation, instanceIndex);\r\n    }\r\n\r\n    /**\r\n     * Returns if the body has been disposed.\r\n     * @returns true if disposed, false otherwise.\r\n     */\r\n    public get isDisposed() {\r\n        return this._isDisposed;\r\n    }\r\n\r\n    /**\r\n     * Disposes the body from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose() {\r\n        if (this._isDisposed) {\r\n            return;\r\n        }\r\n        // Disable collisions CB so it doesn't fire when the body is disposed\r\n        if (this._collisionCBEnabled) {\r\n            this.setCollisionCallbackEnabled(false);\r\n        }\r\n        if (this._collisionEndedCBEnabled) {\r\n            this.setCollisionEndedCallbackEnabled(false);\r\n        }\r\n        if (this._nodeDisposeObserver) {\r\n            this.transformNode.onDisposeObservable.remove(this._nodeDisposeObserver);\r\n            this._nodeDisposeObserver = null;\r\n        }\r\n        this._physicsEngine.removeBody(this);\r\n        this._physicsPlugin.removeBody(this);\r\n        this._physicsPlugin.disposeBody(this);\r\n        this.transformNode.physicsBody = null;\r\n        this._pluginData = null;\r\n        this._pluginDataInstances.length = 0;\r\n        this._isDisposed = true;\r\n        this.shape = null;\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsConstraint.d.ts

@@ -312,7 +312,7 @@ export declare class LockConstraint extends PhysicsConstraint {
  * @param axisA - The first axis of the constraint in local space.
  * @param axisB - The second axis of the constraint in local space.
  * @param scene - The scene the constraint belongs to.
- * @returns The created LockConstraint.
+ * @returns The created PrismaticConstraint.
  */
 export declare class PrismaticConstraint extends PhysicsConstraint {
     constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene);

package/Physics/v2/physicsConstraint.js

@@ -345,7 +345,7 @@ export class LockConstraint extends PhysicsConstraint {
  * @param axisA - The first axis of the constraint in local space.
  * @param axisB - The second axis of the constraint in local space.
  * @param scene - The scene the constraint belongs to.
- * @returns The created LockConstraint.
+ * @returns The created PrismaticConstraint.
  */
 export class PrismaticConstraint extends PhysicsConstraint {
     constructor(pivotA, pivotB, axisA, axisB, scene) {

package/Physics/v2/physicsConstraint.js.map

@@ -1 +1 @@
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsConstraintParameters, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, ConstrainedBodyPair } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n    /**\r\n     * @internal\r\n     * The internal options that were used to init the constraint\r\n     */\r\n    public _initOptions?: PhysicsConstraintParameters;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Gets all bodies that are using this constraint\r\n     * @returns\r\n     */\r\n    public getBodiesUsingConstraint(): ConstrainedBodyPair[] {\r\n        return this._physicsPlugin.getBodiesUsingConstraint(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/**\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /**\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /**\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /**\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n    /**\r\n     * The stiffness of the constraint.\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * A constraint parameter that specifies damping.\r\n     */\r\n    damping?: number;\r\n}\r\n\r\n/**\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /**\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint.\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SpringConstraint, which is a type of Physics6DoFConstraint. This constraint applies a force at the ends which is proportional\r\n * to the distance between ends, and a stiffness and damping factor. The force is calculated as (stiffness * positionError) - (damping * velocity)\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param minDistance - The minimum distance between the two pivots.\r\n * @param maxDistance - The maximum distance between the two pivots.\r\n * @param stiffness - The stiffness of the spring.\r\n * @param damping - The damping of the spring.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SpringConstraint.\r\n */\r\nexport class SpringConstraint extends Physics6DoFConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, minDistance: number, maxDistance: number, stiffness: number, damping: number, scene: Scene) {\r\n        super({ pivotA, pivotB, axisA, axisB }, [{ axis: PhysicsConstraintAxis.LINEAR_DISTANCE, minLimit: minDistance, maxLimit: maxDistance, stiffness, damping }], scene);\r\n    }\r\n}\r\n"]}
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type { Scene } from \"../../scene\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { Nullable } from \"../../types\";\r\nimport type { IPhysicsEnginePluginV2, PhysicsConstraintParameters, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, ConstrainedBodyPair } from \"./IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintType } from \"./IPhysicsEnginePlugin\";\r\n\r\n/**\r\n * This is a holder class for the physics constraint created by the physics plugin\r\n * It holds a set of functions to control the underlying constraint\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsConstraint {\r\n    /**\r\n     * V2 Physics plugin private data for a physics material\r\n     */\r\n    public _pluginData: any = undefined;\r\n    /**\r\n     * The V2 plugin used to create and manage this Physics Body\r\n     */\r\n    protected _physicsPlugin: IPhysicsEnginePluginV2;\r\n    protected _options: PhysicsConstraintParameters;\r\n    protected _type: PhysicsConstraintType;\r\n    /**\r\n     * @internal\r\n     * The internal options that were used to init the constraint\r\n     */\r\n    public _initOptions?: PhysicsConstraintParameters;\r\n\r\n    /**\r\n     * Constructs a new constraint for the physics constraint.\r\n     * @param type The type of constraint to create.\r\n     * @param options The options for the constraint.\r\n     * @param scene The scene the constraint belongs to.\r\n     *\r\n     * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct.\r\n     * If all checks pass, it initializes the constraint with the given type and options.\r\n     */\r\n    constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene) {\r\n        if (!scene) {\r\n            throw new Error(\"Missing scene parameter for constraint constructor.\");\r\n        }\r\n        const physicsEngine = scene.getPhysicsEngine();\r\n        if (!physicsEngine) {\r\n            throw new Error(\"No Physics Engine available.\");\r\n        }\r\n        if (physicsEngine.getPluginVersion() != 2) {\r\n            throw new Error(\"Plugin version is incorrect. Expected version 2.\");\r\n        }\r\n        const physicsPlugin = physicsEngine.getPhysicsPlugin();\r\n        if (!physicsPlugin) {\r\n            throw new Error(\"No Physics Plugin available.\");\r\n        }\r\n\r\n        this._physicsPlugin = physicsPlugin as IPhysicsEnginePluginV2;\r\n        this._options = options;\r\n        this._type = type;\r\n    }\r\n\r\n    /**\r\n     * Gets the type of the constraint.\r\n     *\r\n     * @returns The type of the constraint.\r\n     *\r\n     */\r\n    public get type(): PhysicsConstraintType {\r\n        return this._type;\r\n    }\r\n\r\n    /**\r\n     * Retrieves the options of the physics constraint.\r\n     *\r\n     * @returns The physics constraint parameters.\r\n     *\r\n     */\r\n    public get options(): PhysicsConstraintParameters {\r\n        return this._options;\r\n    }\r\n\r\n    /**\r\n     * Enable/disable the constraint\r\n     * @param isEnabled value for the constraint\r\n     */\r\n    public set isEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     *\r\n     * @returns true if constraint is enabled\r\n     */\r\n    public get isEnabled(): boolean {\r\n        return this._physicsPlugin.getEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Enables or disables collisions for the physics engine.\r\n     *\r\n     * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled.\r\n     *\r\n     */\r\n    public set isCollisionsEnabled(isEnabled: boolean) {\r\n        this._physicsPlugin.setCollisionsEnabled(this, isEnabled);\r\n    }\r\n\r\n    /**\r\n     * Gets whether collisions are enabled for this physics object.\r\n     *\r\n     * @returns `true` if collisions are enabled, `false` otherwise.\r\n     *\r\n     */\r\n    public get isCollisionsEnabled(): boolean {\r\n        return this._physicsPlugin.getCollisionsEnabled(this);\r\n    }\r\n\r\n    /**\r\n     * Gets all bodies that are using this constraint\r\n     * @returns\r\n     */\r\n    public getBodiesUsingConstraint(): ConstrainedBodyPair[] {\r\n        return this._physicsPlugin.getBodiesUsingConstraint(this);\r\n    }\r\n\r\n    /**\r\n     * Disposes the constraint from the physics engine.\r\n     *\r\n     * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks.\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.disposeConstraint(this);\r\n    }\r\n}\r\n\r\n/**\r\n * This describes a single limit used by Physics6DoFConstraint\r\n */\r\nexport class Physics6DoFLimit {\r\n    /**\r\n     * The axis ID to limit\r\n     */\r\n    axis: PhysicsConstraintAxis;\r\n    /**\r\n     * An optional minimum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    minLimit?: number;\r\n    /**\r\n     * An optional maximum limit for the axis.\r\n     * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes.\r\n     */\r\n    maxLimit?: number;\r\n    /**\r\n     * The stiffness of the constraint.\r\n     */\r\n    stiffness?: number;\r\n    /**\r\n     * A constraint parameter that specifies damping.\r\n     */\r\n    damping?: number;\r\n}\r\n\r\n/**\r\n * A generic constraint, which can be used to build more complex constraints than those specified\r\n * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space\r\n * the constraint operates in. This constraint contains a set of limits, which restrict the\r\n * relative movement of the bodies in that coordinate system\r\n */\r\nexport class Physics6DoFConstraint extends PhysicsConstraint {\r\n    /**\r\n     * The collection of limits which this constraint will apply\r\n     */\r\n    public limits: Physics6DoFLimit[];\r\n\r\n    constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene) {\r\n        super(PhysicsConstraintType.SIX_DOF, constraintParams, scene);\r\n        this.limits = limits;\r\n    }\r\n\r\n    /**\r\n     * Sets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine to set the friction for.\r\n     * @param friction - The friction to set for the given axis.\r\n     *\r\n     */\r\n    public setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void {\r\n        this._physicsPlugin.setAxisFriction(this, axis, friction);\r\n    }\r\n\r\n    /**\r\n     * Gets the friction of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The friction of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisFriction(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisFriction(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the limit mode for the given axis of the constraint.\r\n     * @param axis The axis to set the limit mode for.\r\n     * @param limitMode The limit mode to set.\r\n     *\r\n     * This method is useful for setting the limit mode for a given axis of the constraint. This is important for\r\n     * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode,\r\n     * the engine can be configured to either stop the motion of the objects, or to allow them to continue\r\n     * moving beyond the constraint.\r\n     */\r\n    public setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\r\n        this._physicsPlugin.setAxisMode(this, axis, limitMode);\r\n    }\r\n\r\n    /**\r\n     * Gets the limit mode of the given axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The limit mode of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMode(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\r\n        return this._physicsPlugin.getAxisMode(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the minimum limit of a given axis of a constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param minLimit - The minimum limit of the axis.\r\n     *\r\n     */\r\n    public setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void {\r\n        this._physicsPlugin.setAxisMinLimit(this, axis, minLimit);\r\n    }\r\n\r\n    /**\r\n     * Gets the minimum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The minimum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMinLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMinLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum limit of the given axis for the physics engine.\r\n     * @param axis - The axis to set the limit for.\r\n     * @param limit - The maximum limit of the axis.\r\n     *\r\n     * This method is useful for setting the maximum limit of the given axis for the physics engine,\r\n     * which can be used to control the movement of the physics object. This helps to ensure that the\r\n     * physics object does not move beyond the given limit.\r\n     */\r\n    public setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void {\r\n        this._physicsPlugin.setAxisMaxLimit(this, axis, limit);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum limit of the given axis of the physics engine.\r\n     * @param axis - The axis of the physics engine.\r\n     * @returns The maximum limit of the given axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMaxLimit(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMaxLimit(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the motor type of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param motorType - The type of motor to use.\r\n     */\r\n    public setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\r\n        this._physicsPlugin.setAxisMotorType(this, axis, motorType);\r\n    }\r\n\r\n    /**\r\n     * Gets the motor type of the specified axis of the constraint.\r\n     *\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The motor type of the specified axis, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorType(axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\r\n        return this._physicsPlugin.getAxisMotorType(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the target velocity of the motor associated with the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param target - The target velocity of the motor.\r\n     *\r\n     * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint.\r\n     */\r\n    public setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void {\r\n        this._physicsPlugin.setAxisMotorTarget(this, axis, target);\r\n    }\r\n\r\n    /**\r\n     * Gets the target velocity of the motor associated to the given constraint axis.\r\n     * @param axis - The constraint axis associated to the motor.\r\n     * @returns The target velocity of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorTarget(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorTarget(this, axis);\r\n    }\r\n\r\n    /**\r\n     * Sets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @param maxForce - The maximum force of the motor.\r\n     *\r\n     */\r\n    public setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void {\r\n        this._physicsPlugin.setAxisMotorMaxForce(this, axis, maxForce);\r\n    }\r\n\r\n    /**\r\n     * Gets the maximum force of the motor of the given axis of the constraint.\r\n     * @param axis - The axis of the constraint.\r\n     * @returns The maximum force of the motor, or null if the constraint hasn't been initialized yet.\r\n     *\r\n     */\r\n    public getAxisMotorMaxForce(axis: PhysicsConstraintAxis): Nullable<number> {\r\n        return this._physicsPlugin.getAxisMotorMaxForce(this, axis);\r\n    }\r\n}\r\n\r\n/**\r\n * Represents a Ball and Socket Constraint, used to simulate a joint\r\n * This class is useful for simulating a joint between two bodies in a physics engine.\r\n * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint.\r\n * @param pivotA - The first pivot, defined locally in the first body frame\r\n * @param pivotB - The second pivot, defined locally in the second body frame\r\n * @param axisA - The axis of the first body\r\n * @param axisB - The axis of the second body\r\n * @param scene - The scene the constraint is applied to\r\n * @returns The Ball and Socket Constraint\r\n */\r\nexport class BallAndSocketConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.BALL_AND_SOCKET, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a distance constraint.\r\n *\r\n * This code is useful for creating a distance constraint in a physics engine.\r\n * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other.\r\n * The scene is used to add the constraint to the physics engine.\r\n * @param maxDistance distance between bodies\r\n * @param scene The scene the constraint belongs to\r\n * @returns DistanceConstraint\r\n */\r\nexport class DistanceConstraint extends PhysicsConstraint {\r\n    constructor(maxDistance: number, scene: Scene) {\r\n        super(PhysicsConstraintType.DISTANCE, { maxDistance: maxDistance }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a HingeConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint.\r\n * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis.\r\n * @param pivotA - The first pivot point, in world space.\r\n * @param pivotB - The second pivot point, in world space.\r\n * @param scene - The scene the constraint is used in.\r\n * @returns The new HingeConstraint.\r\n */\r\nexport class HingeConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.HINGE, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SliderConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint.\r\n * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to.\r\n * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis.\r\n * @param pivotA - The first pivot of the constraint, in world space.\r\n * @param pivotB - The second pivot of the constraint, in world space.\r\n * @param axisA - The first axis of the constraint, in world space.\r\n * @param axisB - The second axis of the constraint, in world space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SliderConstraint.\r\n */\r\nexport class SliderConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.SLIDER, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a LockConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint.\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created LockConstraint.\r\n */\r\nexport class LockConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.LOCK, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n *\r\n * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint.\r\n * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint.\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created PrismaticConstraint.\r\n */\r\nexport class PrismaticConstraint extends PhysicsConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene) {\r\n        super(PhysicsConstraintType.PRISMATIC, { pivotA: pivotA, pivotB: pivotB, axisA: axisA, axisB: axisB }, scene);\r\n    }\r\n}\r\n\r\n/**\r\n * Creates a SpringConstraint, which is a type of Physics6DoFConstraint. This constraint applies a force at the ends which is proportional\r\n * to the distance between ends, and a stiffness and damping factor. The force is calculated as (stiffness * positionError) - (damping * velocity)\r\n *\r\n * @param pivotA - The first pivot of the constraint in local space.\r\n * @param pivotB - The second pivot of the constraint in local space.\r\n * @param axisA - The first axis of the constraint in local space.\r\n * @param axisB - The second axis of the constraint in local space.\r\n * @param minDistance - The minimum distance between the two pivots.\r\n * @param maxDistance - The maximum distance between the two pivots.\r\n * @param stiffness - The stiffness of the spring.\r\n * @param damping - The damping of the spring.\r\n * @param scene - The scene the constraint belongs to.\r\n * @returns The created SpringConstraint.\r\n */\r\nexport class SpringConstraint extends Physics6DoFConstraint {\r\n    constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, minDistance: number, maxDistance: number, stiffness: number, damping: number, scene: Scene) {\r\n        super({ pivotA, pivotB, axisA, axisB }, [{ axis: PhysicsConstraintAxis.LINEAR_DISTANCE, minLimit: minDistance, maxLimit: maxDistance, stiffness, damping }], scene);\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsEngine.d.ts

@@ -88,11 +88,6 @@ export declare class PhysicsEngine implements IPhysicsEngine {
      * @returns maximum allowed angular velocity
      */
     getMaxAngularVelocity(): number;
-    /**
-     * Adding a new impostor for the impostor tracking.
-     * This will be done by the impostor itself.
-     * @param impostor the impostor to add
-     */
     /**
      * Called by the scene. No need to call it.
      * @param delta defines the timespan between frames

package/Physics/v2/physicsEngine.js

@@ -110,11 +110,6 @@ export class PhysicsEngine {
     getMaxAngularVelocity() {
         return this._physicsPlugin.getMaxAngularVelocity();
     }
-    /**
-     * Adding a new impostor for the impostor tracking.
-     * This will be done by the impostor itself.
-     * @param impostor the impostor to add
-     */
     /**
      * Called by the scene. No need to call it.
      * @param delta defines the timespan between frames

package/Physics/v2/physicsEngine.js.map

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type { Nullable } from \"../../types\";\r\nimport { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { IPhysicsEngine } from \"../IPhysicsEngine\";\r\nimport type { IPhysicsEnginePluginV2 } from \"./IPhysicsEnginePlugin\";\r\nimport type { IRaycastQuery } from \"../physicsRaycastResult\";\r\nimport { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport { _WarnImport } from \"../../Misc/devTools\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\n\r\n/**\r\n * Class used to control physics engine\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsEngine implements IPhysicsEngine {\r\n    /** @internal */\r\n    private _physicsBodies: Array<PhysicsBody> = [];\r\n    private _subTimeStep: number = 0;\r\n\r\n    /**\r\n     * Gets the gravity vector used by the simulation\r\n     */\r\n    public gravity: Vector3;\r\n\r\n    /**\r\n     *\r\n     * @returns physics plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return this._physicsPlugin.getPluginVersion();\r\n    }\r\n    // eslint-disable-next-line jsdoc/require-returns-check\r\n    /**\r\n     * Factory used to create the default physics plugin.\r\n     * @returns The default physics plugin\r\n     */\r\n    public static DefaultPluginFactory(): IPhysicsEnginePluginV2 {\r\n        throw _WarnImport(\"\");\r\n    }\r\n\r\n    /**\r\n     * Creates a new Physics Engine\r\n     * @param gravity defines the gravity vector used by the simulation\r\n     * @param _physicsPlugin defines the plugin to use (CannonJS by default)\r\n     */\r\n    constructor(\r\n        gravity: Nullable<Vector3>,\r\n        private _physicsPlugin: IPhysicsEnginePluginV2 = PhysicsEngine.DefaultPluginFactory()\r\n    ) {\r\n        gravity = gravity || new Vector3(0, -9.807, 0);\r\n        this.setGravity(gravity);\r\n        this.setTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity vector used by the simulation\r\n     * @param gravity defines the gravity vector to use\r\n     */\r\n    public setGravity(gravity: Vector3): void {\r\n        this.gravity = gravity;\r\n        this._physicsPlugin.setGravity(this.gravity);\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the physics engine.\r\n     * Default is 1/60.\r\n     * To slow it down, enter 1/600 for example.\r\n     * To speed it up, 1/30\r\n     * Unit is seconds.\r\n     * @param newTimeStep defines the new timestep to apply to this world.\r\n     */\r\n    public setTimeStep(newTimeStep: number = 1 / 60) {\r\n        this._physicsPlugin.setTimeStep(newTimeStep);\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the physics engine.\r\n     * @returns the current time step\r\n     */\r\n    public getTimeStep(): number {\r\n        return this._physicsPlugin.getTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Set the sub time step of the physics engine.\r\n     * Default is 0 meaning there is no sub steps\r\n     * To increase physics resolution precision, set a small value (like 1 ms)\r\n     * @param subTimeStep defines the new sub timestep used for physics resolution.\r\n     */\r\n    public setSubTimeStep(subTimeStep: number = 0) {\r\n        this._subTimeStep = subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the sub time step of the physics engine.\r\n     * @returns the current sub time step\r\n     */\r\n    public getSubTimeStep() {\r\n        return this._subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.dispose();\r\n    }\r\n\r\n    /**\r\n     * Gets the name of the current physics plugin\r\n     * @returns the name of the plugin\r\n     */\r\n    public getPhysicsPluginName(): string {\r\n        return this._physicsPlugin.name;\r\n    }\r\n\r\n    /**\r\n     * Set the maximum allowed linear and angular velocities\r\n     * @param maxLinearVelocity maximum allowed linear velocity\r\n     * @param maxAngularVelocity maximum allowed angular velocity\r\n     */\r\n    setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void {\r\n        this._physicsPlugin.setVelocityLimits(maxLinearVelocity, maxAngularVelocity);\r\n    }\r\n\r\n    /**\r\n     * @returns maximum allowed linear velocity\r\n     */\r\n    getMaxLinearVelocity(): number {\r\n        return this._physicsPlugin.getMaxLinearVelocity();\r\n    }\r\n\r\n    /**\r\n     * @returns maximum allowed angular velocity\r\n     */\r\n    getMaxAngularVelocity(): number {\r\n        return this._physicsPlugin.getMaxAngularVelocity();\r\n    }\r\n\r\n    /**\r\n     * Adding a new impostor for the impostor tracking.\r\n     * This will be done by the impostor itself.\r\n     * @param impostor the impostor to add\r\n     */\r\n\r\n    /**\r\n     * Called by the scene. No need to call it.\r\n     * @param delta defines the timespan between frames\r\n     */\r\n    public _step(delta: number) {\r\n        if (delta > 0.1) {\r\n            delta = 0.1;\r\n        } else if (delta <= 0) {\r\n            delta = 1.0 / 60.0;\r\n        }\r\n\r\n        this._physicsPlugin.executeStep(delta, this._physicsBodies);\r\n    }\r\n\r\n    /**\r\n     * Add a body as an active component of this engine\r\n     * @param physicsBody The body to add\r\n     */\r\n    public addBody(physicsBody: PhysicsBody): void {\r\n        this._physicsBodies.push(physicsBody);\r\n    }\r\n    /**\r\n     * Removes a particular body from this engine\r\n     * @param physicsBody The body to remove from the simulation\r\n     */\r\n    public removeBody(physicsBody: PhysicsBody): void {\r\n        const index = this._physicsBodies.indexOf(physicsBody);\r\n        if (index > -1) {\r\n            /*const removed =*/ this._physicsBodies.splice(index, 1);\r\n        }\r\n    }\r\n    /**\r\n     * @returns an array of bodies added to this engine\r\n     */\r\n    public getBodies(): Array<PhysicsBody> {\r\n        return this._physicsBodies;\r\n    }\r\n\r\n    /**\r\n     * Gets the current plugin used to run the simulation\r\n     * @returns current plugin\r\n     */\r\n    public getPhysicsPlugin(): IPhysicsEnginePluginV2 {\r\n        return this._physicsPlugin;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult or array of PhysicsRaycastResults\r\n     * @param query raycast query object\r\n     * If result is an empty array, it will be populated with every detected raycast hit.\r\n     * If result is a populated array, it will only fill the PhysicsRaycastResults present in the array.\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult | Array<PhysicsRaycastResult>, query?: IRaycastQuery): void {\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param query raycast query object\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3, query?: IRaycastQuery): PhysicsRaycastResult {\r\n        const result = new PhysicsRaycastResult();\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n        return result;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast through multiple objects in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param query raycast query object\r\n     * @returns array of PhysicsRaycastResult\r\n     */\r\n    public raycastMulti(from: Vector3, to: Vector3, query?: IRaycastQuery): Array<PhysicsRaycastResult> {\r\n        const result: Array<PhysicsRaycastResult> = [];\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n        return result;\r\n    }\r\n}\r\n"]}
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type { Nullable } from \"../../types\";\r\nimport { Vector3 } from \"../../Maths/math.vector\";\r\nimport type { IPhysicsEngine } from \"../IPhysicsEngine\";\r\nimport type { IPhysicsEnginePluginV2 } from \"./IPhysicsEnginePlugin\";\r\nimport type { IRaycastQuery } from \"../physicsRaycastResult\";\r\nimport { PhysicsRaycastResult } from \"../physicsRaycastResult\";\r\nimport { _WarnImport } from \"../../Misc/devTools\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\n\r\n/**\r\n * Class used to control physics engine\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nexport class PhysicsEngine implements IPhysicsEngine {\r\n    /** @internal */\r\n    private _physicsBodies: Array<PhysicsBody> = [];\r\n    private _subTimeStep: number = 0;\r\n\r\n    /**\r\n     * Gets the gravity vector used by the simulation\r\n     */\r\n    public gravity: Vector3;\r\n\r\n    /**\r\n     *\r\n     * @returns physics plugin version\r\n     */\r\n    public getPluginVersion(): number {\r\n        return this._physicsPlugin.getPluginVersion();\r\n    }\r\n    // eslint-disable-next-line jsdoc/require-returns-check\r\n    /**\r\n     * Factory used to create the default physics plugin.\r\n     * @returns The default physics plugin\r\n     */\r\n    public static DefaultPluginFactory(): IPhysicsEnginePluginV2 {\r\n        throw _WarnImport(\"\");\r\n    }\r\n\r\n    /**\r\n     * Creates a new Physics Engine\r\n     * @param gravity defines the gravity vector used by the simulation\r\n     * @param _physicsPlugin defines the plugin to use (CannonJS by default)\r\n     */\r\n    constructor(\r\n        gravity: Nullable<Vector3>,\r\n        private _physicsPlugin: IPhysicsEnginePluginV2 = PhysicsEngine.DefaultPluginFactory()\r\n    ) {\r\n        gravity = gravity || new Vector3(0, -9.807, 0);\r\n        this.setGravity(gravity);\r\n        this.setTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Sets the gravity vector used by the simulation\r\n     * @param gravity defines the gravity vector to use\r\n     */\r\n    public setGravity(gravity: Vector3): void {\r\n        this.gravity = gravity;\r\n        this._physicsPlugin.setGravity(this.gravity);\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the physics engine.\r\n     * Default is 1/60.\r\n     * To slow it down, enter 1/600 for example.\r\n     * To speed it up, 1/30\r\n     * Unit is seconds.\r\n     * @param newTimeStep defines the new timestep to apply to this world.\r\n     */\r\n    public setTimeStep(newTimeStep: number = 1 / 60) {\r\n        this._physicsPlugin.setTimeStep(newTimeStep);\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the physics engine.\r\n     * @returns the current time step\r\n     */\r\n    public getTimeStep(): number {\r\n        return this._physicsPlugin.getTimeStep();\r\n    }\r\n\r\n    /**\r\n     * Set the sub time step of the physics engine.\r\n     * Default is 0 meaning there is no sub steps\r\n     * To increase physics resolution precision, set a small value (like 1 ms)\r\n     * @param subTimeStep defines the new sub timestep used for physics resolution.\r\n     */\r\n    public setSubTimeStep(subTimeStep: number = 0) {\r\n        this._subTimeStep = subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the sub time step of the physics engine.\r\n     * @returns the current sub time step\r\n     */\r\n    public getSubTimeStep() {\r\n        return this._subTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    public dispose(): void {\r\n        this._physicsPlugin.dispose();\r\n    }\r\n\r\n    /**\r\n     * Gets the name of the current physics plugin\r\n     * @returns the name of the plugin\r\n     */\r\n    public getPhysicsPluginName(): string {\r\n        return this._physicsPlugin.name;\r\n    }\r\n\r\n    /**\r\n     * Set the maximum allowed linear and angular velocities\r\n     * @param maxLinearVelocity maximum allowed linear velocity\r\n     * @param maxAngularVelocity maximum allowed angular velocity\r\n     */\r\n    setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void {\r\n        this._physicsPlugin.setVelocityLimits(maxLinearVelocity, maxAngularVelocity);\r\n    }\r\n\r\n    /**\r\n     * @returns maximum allowed linear velocity\r\n     */\r\n    getMaxLinearVelocity(): number {\r\n        return this._physicsPlugin.getMaxLinearVelocity();\r\n    }\r\n\r\n    /**\r\n     * @returns maximum allowed angular velocity\r\n     */\r\n    getMaxAngularVelocity(): number {\r\n        return this._physicsPlugin.getMaxAngularVelocity();\r\n    }\r\n\r\n    /**\r\n     * Called by the scene. No need to call it.\r\n     * @param delta defines the timespan between frames\r\n     */\r\n    public _step(delta: number) {\r\n        if (delta > 0.1) {\r\n            delta = 0.1;\r\n        } else if (delta <= 0) {\r\n            delta = 1.0 / 60.0;\r\n        }\r\n\r\n        this._physicsPlugin.executeStep(delta, this._physicsBodies);\r\n    }\r\n\r\n    /**\r\n     * Add a body as an active component of this engine\r\n     * @param physicsBody The body to add\r\n     */\r\n    public addBody(physicsBody: PhysicsBody): void {\r\n        this._physicsBodies.push(physicsBody);\r\n    }\r\n    /**\r\n     * Removes a particular body from this engine\r\n     * @param physicsBody The body to remove from the simulation\r\n     */\r\n    public removeBody(physicsBody: PhysicsBody): void {\r\n        const index = this._physicsBodies.indexOf(physicsBody);\r\n        if (index > -1) {\r\n            /*const removed =*/ this._physicsBodies.splice(index, 1);\r\n        }\r\n    }\r\n    /**\r\n     * @returns an array of bodies added to this engine\r\n     */\r\n    public getBodies(): Array<PhysicsBody> {\r\n        return this._physicsBodies;\r\n    }\r\n\r\n    /**\r\n     * Gets the current plugin used to run the simulation\r\n     * @returns current plugin\r\n     */\r\n    public getPhysicsPlugin(): IPhysicsEnginePluginV2 {\r\n        return this._physicsPlugin;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param result resulting PhysicsRaycastResult or array of PhysicsRaycastResults\r\n     * @param query raycast query object\r\n     * If result is an empty array, it will be populated with every detected raycast hit.\r\n     * If result is a populated array, it will only fill the PhysicsRaycastResults present in the array.\r\n     */\r\n    public raycastToRef(from: Vector3, to: Vector3, result: PhysicsRaycastResult | Array<PhysicsRaycastResult>, query?: IRaycastQuery): void {\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n    }\r\n\r\n    /**\r\n     * Does a raycast in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param query raycast query object\r\n     * @returns PhysicsRaycastResult\r\n     */\r\n    public raycast(from: Vector3, to: Vector3, query?: IRaycastQuery): PhysicsRaycastResult {\r\n        const result = new PhysicsRaycastResult();\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n        return result;\r\n    }\r\n\r\n    /**\r\n     * Does a raycast through multiple objects in the physics world\r\n     * @param from when should the ray start?\r\n     * @param to when should the ray end?\r\n     * @param query raycast query object\r\n     * @returns array of PhysicsRaycastResult\r\n     */\r\n    public raycastMulti(from: Vector3, to: Vector3, query?: IRaycastQuery): Array<PhysicsRaycastResult> {\r\n        const result: Array<PhysicsRaycastResult> = [];\r\n        this._physicsPlugin.raycast(from, to, result, query);\r\n        return result;\r\n    }\r\n}\r\n"]}

package/Physics/v2/physicsEngineComponent.d.ts

@@ -9,7 +9,7 @@ declare module "../../Meshes/transformNode.js" {
         /** @internal */
         _physicsBody: Nullable<PhysicsBody>;
         /**
-         * @see
+         * Gets or sets the physics body associated with this node.
          */
         physicsBody: Nullable<PhysicsBody>;
         /**

package/Physics/v2/physicsEngineComponent.js.map

@@ -1 +1 @@
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type { Nullable } from \"../../types\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { Node } from \"../../node\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\n\r\nimport \"../joinedPhysicsEngineComponent\";\r\n\r\ndeclare module \"../../Meshes/transformNode\" {\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    export interface TransformNode {\r\n        /** @internal */\r\n        _physicsBody: Nullable<PhysicsBody>;\r\n\r\n        /**\r\n         * @see\r\n         */\r\n        physicsBody: Nullable<PhysicsBody>;\r\n\r\n        /**\r\n         *\r\n         */\r\n        getPhysicsBody(): Nullable<PhysicsBody>;\r\n\r\n        /** Apply a physic impulse to the mesh\r\n         * @param force defines the force to apply\r\n         * @param contactPoint defines where to apply the force\r\n         * @returns the current mesh\r\n         */\r\n        applyImpulse(force: Vector3, contactPoint: Vector3): TransformNode;\r\n\r\n        /** Apply a physic angular impulse to the mesh\r\n         * @param angularImpulse defines the torque to apply\r\n         * @returns the current mesh\r\n         */\r\n        applyAngularImpulse(angularImpulse: Vector3): TransformNode;\r\n\r\n        /** Apply a physic torque to the mesh\r\n         * @param torque defines the torque to apply\r\n         * @returns the current mesh\r\n         */\r\n        applyTorque(torque: Vector3): TransformNode;\r\n\r\n        /** @internal */\r\n        _disposePhysicsObserver: Nullable<Observer<Node>>;\r\n    }\r\n}\r\n\r\nObject.defineProperty(TransformNode.prototype, \"physicsBody\", {\r\n    get: function (this: TransformNode) {\r\n        return this._physicsBody;\r\n    },\r\n    set: function (this: TransformNode, value: Nullable<PhysicsBody>) {\r\n        if (this._physicsBody === value) {\r\n            return;\r\n        }\r\n        if (this._disposePhysicsObserver) {\r\n            this.onDisposeObservable.remove(this._disposePhysicsObserver);\r\n        }\r\n\r\n        this._physicsBody = value;\r\n\r\n        if (value) {\r\n            this._disposePhysicsObserver = this.onDisposeObservable.add(() => {\r\n                // Physics\r\n                if (this.physicsBody) {\r\n                    this.physicsBody.dispose(/*!doNotRecurse*/);\r\n                    this.physicsBody = null;\r\n                }\r\n            });\r\n        }\r\n    },\r\n    enumerable: true,\r\n    configurable: true,\r\n});\r\n\r\n/**\r\n * Gets the current physics body\r\n * @returns a physics body or null\r\n */\r\nTransformNode.prototype.getPhysicsBody = function (): Nullable<PhysicsBody> {\r\n    return this.physicsBody;\r\n};\r\n\r\n/**\r\n * Apply a physic impulse to the mesh\r\n * @param force defines the force to apply\r\n * @param contactPoint defines where to apply the force\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyImpulse = function (force: Vector3, contactPoint: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyImpulse(force, contactPoint);\r\n    return this;\r\n};\r\n\r\n/**\r\n * Apply a physic angular impulse to the mesh\r\n * @param angularImpulse defines the torque to apply\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyAngularImpulse = function (angularImpulse: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyAngularImpulse(angularImpulse);\r\n    return this;\r\n};\r\n\r\n/**\r\n * Apply a physic torque to the mesh\r\n * @param torque defines the torque to apply\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyTorque = function (torque: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyTorque(torque);\r\n    return this;\r\n};\r\n"]}
+{"version":3,"file":"physicsEngineComponent.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsEngineComponent.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,aAAa,EAAE,MAAM,4BAA4B,CAAC;AAI3D,OAAO,iCAAiC,CAAC;AA0CzC,MAAM,CAAC,cAAc,CAAC,aAAa,CAAC,SAAS,EAAE,aAAa,EAAE;IAC1D,GAAG,EAAE;QACD,OAAO,IAAI,CAAC,YAAY,CAAC;IAC7B,CAAC;IACD,GAAG,EAAE,UAA+B,KAA4B;QAC5D,IAAI,IAAI,CAAC,YAAY,KAAK,KAAK,EAAE,CAAC;YAC9B,OAAO;QACX,CAAC;QACD,IAAI,IAAI,CAAC,uBAAuB,EAAE,CAAC;YAC/B,IAAI,CAAC,mBAAmB,CAAC,MAAM,CAAC,IAAI,CAAC,uBAAuB,CAAC,CAAC;QAClE,CAAC;QAED,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;QAE1B,IAAI,KAAK,EAAE,CAAC;YACR,IAAI,CAAC,uBAAuB,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,CAAC,GAAG,EAAE;gBAC7D,UAAU;gBACV,IAAI,IAAI,CAAC,WAAW,EAAE,CAAC;oBACnB,IAAI,CAAC,WAAW,CAAC,OAAO,EAAC,iBAAiB,CAAC,CAAC;oBAC5C,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;gBAC5B,CAAC;YACL,CAAC,CAAC,CAAC;QACP,CAAC;IACL,CAAC;IACD,UAAU,EAAE,IAAI;IAChB,YAAY,EAAE,IAAI;CACrB,CAAC,CAAC;AAEH;;;GAGG;AACH,aAAa,CAAC,SAAS,CAAC,cAAc,GAAG;IACrC,OAAO,IAAI,CAAC,WAAW,CAAC;AAC5B,CAAC,CAAC;AAEF;;;;;;GAMG;AACH,aAAa,CAAC,SAAS,CAAC,YAAY,GAAG,UAAU,KAAc,EAAE,YAAqB;IAClF,IAAI,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC;QACpB,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;IACzD,CAAC;IACD,IAAI,CAAC,WAAW,CAAC,YAAY,CAAC,KAAK,EAAE,YAAY,CAAC,CAAC;IACnD,OAAO,IAAI,CAAC;AAChB,CAAC,CAAC;AAEF;;;;;GAKG;AACH,aAAa,CAAC,SAAS,CAAC,mBAAmB,GAAG,UAAU,cAAuB;IAC3E,IAAI,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC;QACpB,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;IACzD,CAAC;IACD,IAAI,CAAC,WAAW,CAAC,mBAAmB,CAAC,cAAc,CAAC,CAAC;IACrD,OAAO,IAAI,CAAC;AAChB,CAAC,CAAC;AAEF;;;;;GAKG;AACH,aAAa,CAAC,SAAS,CAAC,WAAW,GAAG,UAAU,MAAe;IAC3D,IAAI,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC;QACpB,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;IACzD,CAAC;IACD,IAAI,CAAC,WAAW,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC;IACrC,OAAO,IAAI,CAAC;AAChB,CAAC,CAAC","sourcesContent":["import type { Nullable } from \"../../types\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport type { Vector3 } from \"../../Maths/math.vector\";\r\nimport { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { Node } from \"../../node\";\r\nimport type { PhysicsBody } from \"./physicsBody\";\r\n\r\nimport \"../joinedPhysicsEngineComponent\";\r\n\r\ndeclare module \"../../Meshes/transformNode\" {\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    export interface TransformNode {\r\n        /** @internal */\r\n        _physicsBody: Nullable<PhysicsBody>;\r\n\r\n        /**\r\n         * Gets or sets the physics body associated with this node.\r\n         */\r\n        physicsBody: Nullable<PhysicsBody>;\r\n\r\n        /**\r\n         *\r\n         */\r\n        getPhysicsBody(): Nullable<PhysicsBody>;\r\n\r\n        /** Apply a physic impulse to the mesh\r\n         * @param force defines the force to apply\r\n         * @param contactPoint defines where to apply the force\r\n         * @returns the current mesh\r\n         */\r\n        applyImpulse(force: Vector3, contactPoint: Vector3): TransformNode;\r\n\r\n        /** Apply a physic angular impulse to the mesh\r\n         * @param angularImpulse defines the torque to apply\r\n         * @returns the current mesh\r\n         */\r\n        applyAngularImpulse(angularImpulse: Vector3): TransformNode;\r\n\r\n        /** Apply a physic torque to the mesh\r\n         * @param torque defines the torque to apply\r\n         * @returns the current mesh\r\n         */\r\n        applyTorque(torque: Vector3): TransformNode;\r\n\r\n        /** @internal */\r\n        _disposePhysicsObserver: Nullable<Observer<Node>>;\r\n    }\r\n}\r\n\r\nObject.defineProperty(TransformNode.prototype, \"physicsBody\", {\r\n    get: function (this: TransformNode) {\r\n        return this._physicsBody;\r\n    },\r\n    set: function (this: TransformNode, value: Nullable<PhysicsBody>) {\r\n        if (this._physicsBody === value) {\r\n            return;\r\n        }\r\n        if (this._disposePhysicsObserver) {\r\n            this.onDisposeObservable.remove(this._disposePhysicsObserver);\r\n        }\r\n\r\n        this._physicsBody = value;\r\n\r\n        if (value) {\r\n            this._disposePhysicsObserver = this.onDisposeObservable.add(() => {\r\n                // Physics\r\n                if (this.physicsBody) {\r\n                    this.physicsBody.dispose(/*!doNotRecurse*/);\r\n                    this.physicsBody = null;\r\n                }\r\n            });\r\n        }\r\n    },\r\n    enumerable: true,\r\n    configurable: true,\r\n});\r\n\r\n/**\r\n * Gets the current physics body\r\n * @returns a physics body or null\r\n */\r\nTransformNode.prototype.getPhysicsBody = function (): Nullable<PhysicsBody> {\r\n    return this.physicsBody;\r\n};\r\n\r\n/**\r\n * Apply a physic impulse to the mesh\r\n * @param force defines the force to apply\r\n * @param contactPoint defines where to apply the force\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyImpulse = function (force: Vector3, contactPoint: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyImpulse(force, contactPoint);\r\n    return this;\r\n};\r\n\r\n/**\r\n * Apply a physic angular impulse to the mesh\r\n * @param angularImpulse defines the torque to apply\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyAngularImpulse = function (angularImpulse: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyAngularImpulse(angularImpulse);\r\n    return this;\r\n};\r\n\r\n/**\r\n * Apply a physic torque to the mesh\r\n * @param torque defines the torque to apply\r\n * @returns the current mesh\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\r\n */\r\nTransformNode.prototype.applyTorque = function (torque: Vector3): TransformNode {\r\n    if (!this.physicsBody) {\r\n        throw new Error(\"No Physics Body for TransformNode\");\r\n    }\r\n    this.physicsBody.applyTorque(torque);\r\n    return this;\r\n};\r\n"]}

package/Physics/v2/physicsMaterial.d.ts

@@ -16,7 +16,13 @@ export declare enum PhysicsMaterialCombineMode {
      * min( valueA , valueB )
      */
     MINIMUM = 1,
+    /** The final value will be the larger of the two:
+     * max( valueA , valueB )
+     */
     MAXIMUM = 2,
+    /** The final value will be the arithmetic mean of the two values:
+     * (valueA + valueB) / 2
+     */
     ARITHMETIC_MEAN = 3,
     /**
      * The final value will be the product of the two values:

package/Physics/v2/physicsMaterial.js

@@ -17,11 +17,11 @@ export var PhysicsMaterialCombineMode;
      * min( valueA , valueB )
      */
     PhysicsMaterialCombineMode[PhysicsMaterialCombineMode["MINIMUM"] = 1] = "MINIMUM";
-    /* The final value will be the larger of the two:
+    /** The final value will be the larger of the two:
      * max( valueA , valueB )
      */
     PhysicsMaterialCombineMode[PhysicsMaterialCombineMode["MAXIMUM"] = 2] = "MAXIMUM";
-    /* The final value will be the arithmetic mean of the two values:
+    /** The final value will be the arithmetic mean of the two values:
      * (valueA + valueB) / 2
      */
     PhysicsMaterialCombineMode[PhysicsMaterialCombineMode["ARITHMETIC_MEAN"] = 3] = "ARITHMETIC_MEAN";

package/Physics/v2/physicsMaterial.js.map

@@ -1 +1 @@
-{"version":3,"file":"physicsMaterial.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsMaterial.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,MAAM,CAAN,IAAkB,0BAwBjB;AAxBD,WAAkB,0BAA0B;IACxC;;;OAGG;IACH,+FAAc,CAAA;IACd;;;OAGG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iGAAe,CAAA;IACf;;;OAGG;IACH,mFAAQ,CAAA;AACZ,CAAC,EAxBiB,0BAA0B,KAA1B,0BAA0B,QAwB3C","sourcesContent":["/**\r\n * Determines how values from the PhysicsMaterial are combined when\r\n * two objects are in contact. When each PhysicsMaterial specifies\r\n * a different combine mode for some property, the combine mode which\r\n * is used will be selected based on their order in this enum - i.e.\r\n * a value later in this list will be preferentially used.\r\n */\r\nexport const enum PhysicsMaterialCombineMode {\r\n    /**\r\n     * The final value will be the geometric mean of the two values:\r\n     * sqrt( valueA *  valueB )\r\n     */\r\n    GEOMETRIC_MEAN,\r\n    /**\r\n     * The final value will be the smaller of the two:\r\n     * min( valueA , valueB )\r\n     */\r\n    MINIMUM,\r\n    /* The final value will be the larger of the two:\r\n     * max( valueA , valueB )\r\n     */\r\n    MAXIMUM,\r\n    /* The final value will be the arithmetic mean of the two values:\r\n     * (valueA + valueB) / 2\r\n     */\r\n    ARITHMETIC_MEAN,\r\n    /**\r\n     * The final value will be the product of the two values:\r\n     * valueA * valueB\r\n     */\r\n    MULTIPLY,\r\n}\r\n\r\n/**\r\n * Physics material class\r\n * Helps setting friction and restitution that are used to compute responding forces in collision response\r\n */\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\nexport interface PhysicsMaterial {\r\n    /**\r\n     * Sets the friction used by this material\r\n     *\r\n     * The friction determines how much an object will slow down when it is in contact with another object.\r\n     * This is important for simulating realistic physics, such as when an object slides across a surface.\r\n     *\r\n     * If not provided, a default value of 0.5 will be used.\r\n     */\r\n    friction?: number;\r\n\r\n    /**\r\n     * Sets the static friction used by this material.\r\n     *\r\n     * Static friction is the friction that must be overcome before a pair of objects can start sliding\r\n     * relative to each other; for physically-realistic behaviour, it should be at least as high as the\r\n     * normal friction value. If not provided, the friction value will be used\r\n     */\r\n    staticFriction?: number;\r\n\r\n    /**\r\n     * Sets the restitution of the physics material.\r\n     *\r\n     * The restitution is a factor which describes, the amount of energy that is retained after a collision,\r\n     * which should be a number between 0 and 1..\r\n     *\r\n     * A restitution of 0 means that no energy is retained and the objects will not bounce off each other,\r\n     * while a restitution of 1 means that all energy is retained and the objects will bounce.\r\n     *\r\n     * Note, though, due that due to the simulation implementation, an object with a restitution of 1 may\r\n     * still lose energy over time.\r\n     *\r\n     * If not provided, a default value of 0 will be used.\r\n     */\r\n    restitution?: number;\r\n\r\n    /**\r\n     * Describes how two different friction values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MINIMUM\r\n     */\r\n    frictionCombine?: PhysicsMaterialCombineMode;\r\n\r\n    /**\r\n     * Describes how two different restitution values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MAXIMUM\r\n     */\r\n    restitutionCombine?: PhysicsMaterialCombineMode;\r\n}\r\n"]}
+{"version":3,"file":"physicsMaterial.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsMaterial.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,MAAM,CAAN,IAAkB,0BAwBjB;AAxBD,WAAkB,0BAA0B;IACxC;;;OAGG;IACH,+FAAc,CAAA;IACd;;;OAGG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iFAAO,CAAA;IACP;;OAEG;IACH,iGAAe,CAAA;IACf;;;OAGG;IACH,mFAAQ,CAAA;AACZ,CAAC,EAxBiB,0BAA0B,KAA1B,0BAA0B,QAwB3C","sourcesContent":["/**\r\n * Determines how values from the PhysicsMaterial are combined when\r\n * two objects are in contact. When each PhysicsMaterial specifies\r\n * a different combine mode for some property, the combine mode which\r\n * is used will be selected based on their order in this enum - i.e.\r\n * a value later in this list will be preferentially used.\r\n */\r\nexport const enum PhysicsMaterialCombineMode {\r\n    /**\r\n     * The final value will be the geometric mean of the two values:\r\n     * sqrt( valueA *  valueB )\r\n     */\r\n    GEOMETRIC_MEAN,\r\n    /**\r\n     * The final value will be the smaller of the two:\r\n     * min( valueA , valueB )\r\n     */\r\n    MINIMUM,\r\n    /** The final value will be the larger of the two:\r\n     * max( valueA , valueB )\r\n     */\r\n    MAXIMUM,\r\n    /** The final value will be the arithmetic mean of the two values:\r\n     * (valueA + valueB) / 2\r\n     */\r\n    ARITHMETIC_MEAN,\r\n    /**\r\n     * The final value will be the product of the two values:\r\n     * valueA * valueB\r\n     */\r\n    MULTIPLY,\r\n}\r\n\r\n/**\r\n * Physics material class\r\n * Helps setting friction and restitution that are used to compute responding forces in collision response\r\n */\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\nexport interface PhysicsMaterial {\r\n    /**\r\n     * Sets the friction used by this material\r\n     *\r\n     * The friction determines how much an object will slow down when it is in contact with another object.\r\n     * This is important for simulating realistic physics, such as when an object slides across a surface.\r\n     *\r\n     * If not provided, a default value of 0.5 will be used.\r\n     */\r\n    friction?: number;\r\n\r\n    /**\r\n     * Sets the static friction used by this material.\r\n     *\r\n     * Static friction is the friction that must be overcome before a pair of objects can start sliding\r\n     * relative to each other; for physically-realistic behaviour, it should be at least as high as the\r\n     * normal friction value. If not provided, the friction value will be used\r\n     */\r\n    staticFriction?: number;\r\n\r\n    /**\r\n     * Sets the restitution of the physics material.\r\n     *\r\n     * The restitution is a factor which describes, the amount of energy that is retained after a collision,\r\n     * which should be a number between 0 and 1..\r\n     *\r\n     * A restitution of 0 means that no energy is retained and the objects will not bounce off each other,\r\n     * while a restitution of 1 means that all energy is retained and the objects will bounce.\r\n     *\r\n     * Note, though, due that due to the simulation implementation, an object with a restitution of 1 may\r\n     * still lose energy over time.\r\n     *\r\n     * If not provided, a default value of 0 will be used.\r\n     */\r\n    restitution?: number;\r\n\r\n    /**\r\n     * Describes how two different friction values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MINIMUM\r\n     */\r\n    frictionCombine?: PhysicsMaterialCombineMode;\r\n\r\n    /**\r\n     * Describes how two different restitution values should be combined. See PhysicsMaterialCombineMode for\r\n     * more details.\r\n     *\r\n     * If not provided, will use PhysicsMaterialCombineMode.MAXIMUM\r\n     */\r\n    restitutionCombine?: PhysicsMaterialCombineMode;\r\n}\r\n"]}

package/Physics/v2/ragdoll.js

@@ -150,11 +150,10 @@ export class Ragdoll {
                 return;
             }
             const boneParentIndex = this._boneNames.indexOf(nearestParent.name);
-            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._rootTransformNode).subtract(this._transforms[boneParentIndex].position);
             const wmat = this._transforms[boneParentIndex].computeWorldMatrix();
             const invertedWorldMat = Matrix.Invert(wmat);
-            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._rootTransformNode), invertedWorldMat);
             const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);
+            const distanceFromParentBoxToBone = Vector3.TransformCoordinates(boneAbsPos, invertedWorldMat);
             const boxAbsPos = this._transforms[i].position.clone();
             const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);
             const constraintType = this._boxConfigs[i].joint ?? this._defaultJoint;