@onerjs/core 8.46.8 → 8.46.9
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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{"version":3,"file":"physicsConstraint.js","sourceRoot":"","sources":["../../../../../dev/core/src/Physics/v2/physicsConstraint.ts"],"names":[],"mappings":"AAaA;;;;GAIG;AACH,MAAM,OAAO,iBAAiB;IAiB1B;;;;;;;;OAQG;IACH,YAAY,IAA2B,EAAE,OAAoC,EAAE,KAAY;QAzB3F;;WAEG;QACI,gBAAW,GAAQ,SAAS,CAAC;QAuBhC,IAAI,CAAC,KAAK,EAAE,CAAC;YACT,MAAM,IAAI,KAAK,CAAC,qDAAqD,CAAC,CAAC;QAC3E,CAAC;QACD,MAAM,aAAa,GAAG,KAAK,CAAC,gBAAgB,EAAE,CAAC;QAC/C,IAAI,CAAC,aAAa,EAAE,CAAC;YACjB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;QACpD,CAAC;QACD,IAAI,aAAa,CAAC,gBAAgB,EAAE,IAAI,CAAC,EAAE,CAAC;YACxC,MAAM,IAAI,KAAK,CAAC,kDAAkD,CAAC,CAAC;QACxE,CAAC;QACD,MAAM,aAAa,GAAG,aAAa,CAAC,gBAAgB,EAAE,CAAC;QACvD,IAAI,CAAC,aAAa,EAAE,CAAC;YACjB,MAAM,IAAI,KAAK,CAAC,8BAA8B,CAAC,CAAC;QACpD,CAAC;QAED,IAAI,CAAC,cAAc,GAAG,aAAuC,CAAC;QAC9D,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;QACxB,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC;IACtB,CAAC;IAED;;;;;OAKG;IACH,IAAW,IAAI;QACX,OAAO,IAAI,CAAC,KAAK,CAAC;IACtB,CAAC;IAED;;;;;OAKG;IACH,IAAW,OAAO;QACd,OAAO,IAAI,CAAC,QAAQ,CAAC;IACzB,CAAC;IAED;;;OAGG;IACH,IAAW,SAAS,CAAC,SAAkB;QACnC,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,EAAE,SAAS,CAAC,CAAC;IACpD,CAAC;IAED;;;OAGG;IACH,IAAW,SAAS;QAChB,OAAO,IAAI,CAAC,cAAc,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;IAChD,CAAC;IAED;;;;;OAKG;IACH,IAAW,mBAAmB,CAAC,SAAkB;QAC7C,IAAI,CAAC,cAAc,CAAC,oBAAoB,CAAC,IAAI,EAAE,SAAS,CAAC,CAAC;IAC9D,CAAC;IAED;;;;;OAKG;IACH,IAAW,mBAAmB;QAC1B,OAAO,IAAI,CAAC,cAAc,CAAC,oBAAoB,CAAC,IAAI,CAAC,CAAC;IAC1D,CAAC;IAED;;;OAGG;IACI,wBAAwB;QAC3B,OAAO,IAAI,CAAC,cAAc,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC;IAC9D,CAAC;IAED;;;;OAIG;IACI,OAAO;QACV,IAAI,CAAC,cAAc,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IAChD,CAAC;CACJ;AAED;;GAEG;AACH,MAAM,OAAO,gBAAgB;CAuB5B;AAED;;;;;GAKG;AACH,MAAM,OAAO,qBAAsB,SAAQ,iBAAiB;IAMxD,YAAY,gBAA6C,EAAE,MAA0B,EAAE,KAAY;QAC/F,KAAK,wCAAgC,gBAAgB,EAAE,KAAK,CAAC,CAAC;QAC9D,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;IACzB,CAAC;IAED;;;;;OAKG;IACI,eAAe,CAAC,IAA2B,EAAE,QAAgB;QAChE,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,EAAE,QAAQ,CAAC,CAAC;IAC9D,CAAC;IAED;;;;;OAKG;IACI,eAAe,CAAC,IAA2B;QAC9C,OAAO,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAC3D,CAAC;IAED;;;;;;;;;OASG;IACI,WAAW,CAAC,IAA2B,EAAE,SAAyC;QACrF,IAAI,CAAC,cAAc,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,EAAE,SAAS,CAAC,CAAC;IAC3D,CAAC;IAED;;;;;;OAMG;IACI,WAAW,CAAC,IAA2B;QAC1C,OAAO,IAAI,CAAC,cAAc,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IACvD,CAAC;IAED;;;;;OAKG;IACI,eAAe,CAAC,IAA2B,EAAE,QAAgB;QAChE,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,EAAE,QAAQ,CAAC,CAAC;IAC9D,CAAC;IAED;;;;;OAKG;IACI,eAAe,CAAC,IAA2B;QAC9C,OAAO,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAC3D,CAAC;IAED;;;;;;;;OAQG;IACI,eAAe,CAAC,IAA2B,EAAE,KAAa;QAC7D,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC;IAC3D,CAAC;IAED;;;;;OAKG;IACI,eAAe,CAAC,IAA2B;QAC9C,OAAO,IAAI,CAAC,cAAc,CAAC,eAAe,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAC3D,CAAC;IAED;;;;OAIG;IACI,gBAAgB,CAAC,IAA2B,EAAE,SAAqC;QACtF,IAAI,CAAC,cAAc,CAAC,gBAAgB,CAAC,IAAI,EAAE,IAAI,EAAE,SAAS,CAAC,CAAC;IAChE,CAAC;IAED;;;;;;OAMG;IACI,gBAAgB,CAAC,IAA2B;QAC/C,OAAO,IAAI,CAAC,cAAc,CAAC,gBAAgB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAC5D,CAAC;IAED;;;;;;OAMG;IACI,kBAAkB,CAAC,IAA2B,EAAE,MAAc;QACjE,IAAI,CAAC,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC;IAC/D,CAAC;IAED;;;;;OAKG;IACI,kBAAkB,CAAC,IAA2B;QACjD,OAAO,IAAI,CAAC,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAC9D,CAAC;IAED;;;;;OAKG;IACI,oBAAoB,CAAC,IAA2B,EAAE,QAAgB;QACrE,IAAI,CAAC,cAAc,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,EAAE,QAAQ,CAAC,CAAC;IACnE,CAAC;IAED;;;;;OAKG;IACI,oBAAoB,CAAC,IAA2B;QACnD,OAAO,IAAI,CAAC,cAAc,CAAC,oBAAoB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAChE,CAAC;CACJ;AAED;;;;;;;;;;GAUG;AACH,MAAM,OAAO,uBAAwB,SAAQ,iBAAiB;IAC1D,YAAY,MAAe,EAAE,MAAe,EAAE,KAAc,EAAE,KAAc,EAAE,KAAY;QACtF,KAAK,gDAAwC,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,KAAK,CAAC,CAAC;IACxH,CAAC;CACJ;AAED;;;;;;;;;GASG;AACH,MAAM,OAAO,kBAAmB,SAAQ,iBAAiB;IACrD,YAAY,WAAmB,EAAE,KAAY;QACzC,KAAK,yCAAiC,EAAE,WAAW,EAAE,WAAW,EAAE,EAAE,KAAK,CAAC,CAAC;IAC/E,CAAC;CACJ;AAED;;;;;;;;;GASG;AACH,MAAM,OAAO,eAAgB,SAAQ,iBAAiB;IAClD,YAAY,MAAe,EAAE,MAAe,EAAE,KAAc,EAAE,KAAc,EAAE,KAAY;QACtF,KAAK,sCAA8B,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,KAAK,CAAC,CAAC;IAC9G,CAAC;CACJ;AAED;;;;;;;;;;;;GAYG;AACH,MAAM,OAAO,gBAAiB,SAAQ,iBAAiB;IACnD,YAAY,MAAe,EAAE,MAAe,EAAE,KAAc,EAAE,KAAc,EAAE,KAAY;QACtF,KAAK,uCAA+B,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,KAAK,CAAC,CAAC;IAC/G,CAAC;CACJ;AAED;;;;;;;;;;;GAWG;AACH,MAAM,OAAO,cAAe,SAAQ,iBAAiB;IACjD,YAAY,MAAe,EAAE,MAAe,EAAE,KAAc,EAAE,KAAc,EAAE,KAAY;QACtF,KAAK,qCAA6B,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,KAAK,CAAC,CAAC;IAC7G,CAAC;CACJ;AAED;;;;;;;;;;;GAWG;AACH,MAAM,OAAO,mBAAoB,SAAQ,iBAAiB;IACtD,YAAY,MAAe,EAAE,MAAe,EAAE,KAAc,EAAE,KAAc,EAAE,KAAY;QACtF,KAAK,0CAAkC,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,KAAK,CAAC,CAAC;IAClH,CAAC;CACJ;AAED;;;;;;;;;;;;;;GAcG;AACH,MAAM,OAAO,gBAAiB,SAAQ,qBAAqB;IACvD,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{ type Scene } from \"../../scene\";\r\nimport { type Vector3 } from \"../../Maths/math.vector\";\r\nimport { type Nullable } from \"../../types\";\r\nimport {\r\n type IPhysicsEnginePluginV2,\r\n type PhysicsConstraintParameters,\r\n type PhysicsConstraintAxisLimitMode,\r\n type PhysicsConstraintMotorType,\r\n type ConstrainedBodyPair,\r\n PhysicsConstraintAxis,\r\n PhysicsConstraintType,\r\n} 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"]}
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{ type Scene } from \"../../scene\";\r\nimport { type Vector3 } from \"../../Maths/math.vector\";\r\nimport { type Nullable } from \"../../types\";\r\nimport {\r\n type IPhysicsEnginePluginV2,\r\n type PhysicsConstraintParameters,\r\n type PhysicsConstraintAxisLimitMode,\r\n type PhysicsConstraintMotorType,\r\n type ConstrainedBodyPair,\r\n PhysicsConstraintAxis,\r\n PhysicsConstraintType,\r\n} 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 this._options = {};\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"]}
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