@onerjs/core 8.49.1 → 8.49.3

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Files changed (6) hide show
  1. package/Debug/physicsViewer.js +3 -12
  2. package/Debug/physicsViewer.js.map +1 -1
  3. package/Physics/v2/characterController.d.ts +0 -32
  4. package/Physics/v2/characterController.js +2 -126
  5. package/Physics/v2/characterController.js.map +1 -1
  6. package/package.json +1 -1
package/Debug/physicsViewer.js CHANGED
@@ -764,28 +764,19 @@ export class PhysicsViewer {
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  parent.getWorldMatrix().decomposeToTransformNode(root);
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  mesh.parent = root;
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  const parentScaling = parent.absoluteScaling;
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+ const sc = Math.max((Math.abs(parentScaling.x) + Math.abs(parentScaling.y) + Math.abs(parentScaling.z)) / 3, Epsilon);
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+ const inverseScale = 1 / sc;
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+ mesh.scaling.set(inverseScale, inverseScale, inverseScale);
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  switch (axisNumber) {
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  case 0:
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  mesh.rotation.z = Math.PI * 0.5;
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  mesh.rotation.x = -minLimit + Math.PI * 0.5;
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- // scaling on y,z
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- mesh.scaling.x = 1 / parentScaling.x;
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- mesh.scaling.y = 1 / parentScaling.z;
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- mesh.scaling.z = 1 / parentScaling.y;
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  break;
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  case 1:
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  mesh.rotation.y = Math.PI * 1.5 + minLimit;
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- // flip x,z
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- mesh.scaling.x = 1 / parentScaling.z;
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- mesh.scaling.y = 1 / parentScaling.y;
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- mesh.scaling.z = 1 / parentScaling.x;
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  break;
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  case 2:
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  mesh.rotation.x = Math.PI * 0.5;
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- // flip z,y
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- mesh.scaling.x = 1 / parentScaling.x;
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- mesh.scaling.y = 1 / parentScaling.z;
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- mesh.scaling.z = 1 / parentScaling.y;
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  break;
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  }
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  return root;
package/Debug/physicsViewer.js.map CHANGED
@@ -1 +1 @@
1
- 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{ type Nullable } from \"../types\";\r\nimport { type Scene } from \"../scene\";\r\nimport { type AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../Meshes/mesh\";\r\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder\";\r\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector\";\r\nimport { Color3, Color4 } from \"../Maths/math.color\";\r\nimport { type Material } from \"../Materials/material\";\r\nimport { EngineStore } from \"../Engines/engineStore\";\r\nimport { StandardMaterial } from \"../Materials/standardMaterial\";\r\nimport { type IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"../Physics/v1/IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode, type IPhysicsEnginePluginV2, type PhysicsMassProperties } from \"../Physics/v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor\";\r\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer\";\r\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder\";\r\nimport { type ICreateCapsuleOptions, CreateCapsule } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { type PhysicsBody } from \"../Physics/v2/physicsBody\";\r\nimport { VertexData } from \"../Meshes/mesh.vertexData\";\r\nimport { MeshBuilder } from \"../Meshes/meshBuilder\";\r\nimport { type PhysicsConstraint } from \"../Physics/v2/physicsConstraint\";\r\nimport { AxesViewer } from \"./axesViewer\";\r\nimport { TransformNode } from \"../Meshes/transformNode\";\r\nimport { Epsilon } from \"../Maths/math.constants\";\r\n\r\nimport \"../Physics/joinedPhysicsEngineComponent\";\r\n\r\n/**\r\n * Used to show the physics impostor around the specific mesh\r\n */\r\nexport class PhysicsViewer {\r\n /** @internal */\r\n protected _impostors: Array<Nullable<PhysicsImpostor>> = [];\r\n /** @internal */\r\n protected _meshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _bodies: Array<Nullable<PhysicsBody>> = [];\r\n /** @internal */\r\n protected _inertiaBodies: Array<Nullable<PhysicsBody>> = [];\r\n /** @internal */\r\n protected _constraints: Array<Nullable<PhysicsConstraint>> = [];\r\n /** @internal */\r\n protected _bodyMeshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _inertiaMeshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _constraintMeshes: Array<Nullable<Array<TransformNode>>> = [];\r\n /** @internal */\r\n protected _scene: Nullable<Scene>;\r\n /** @internal */\r\n protected _numMeshes = 0;\r\n /** @internal */\r\n protected _numBodies = 0;\r\n /** @internal */\r\n protected _numInertiaBodies = 0;\r\n /** @internal */\r\n protected _numConstraints = 0;\r\n /** @internal */\r\n protected _physicsEnginePlugin: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2 | null;\r\n protected _renderFunction: () => void;\r\n protected _inertiaRenderFunction: () => void;\r\n protected _constraintRenderFunction: () => void;\r\n protected _utilityLayer: Nullable<UtilityLayerRenderer>;\r\n protected _ownUtilityLayer = false;\r\n\r\n protected _debugBoxMesh: Mesh;\r\n protected _debugSphereMesh: Mesh;\r\n protected _debugCapsuleMesh: Mesh;\r\n protected _debugCylinderMesh: Mesh;\r\n protected _debugMaterial: StandardMaterial;\r\n protected _debugInertiaMaterial: StandardMaterial;\r\n protected _debugMeshMeshes = new Array<Mesh>();\r\n\r\n protected _constraintAxesSize = 0.4;\r\n protected _constraintAngularSize = 0.4;\r\n\r\n /**\r\n * Creates a new PhysicsViewer\r\n * @param scene defines the hosting scene\r\n * @param size Physics V2 size scalar\r\n * @param utilityLayer The utility layer the viewer will be added to\r\n */\r\n constructor(scene?: Scene, size?: number, utilityLayer: UtilityLayerRenderer = UtilityLayerRenderer.DefaultUtilityLayer) {\r\n this._scene = scene || EngineStore.LastCreatedScene;\r\n if (!this._scene) {\r\n return;\r\n }\r\n const physicEngine = this._scene.getPhysicsEngine();\r\n\r\n if (physicEngine) {\r\n this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\r\n }\r\n\r\n if (utilityLayer) {\r\n this._utilityLayer = utilityLayer;\r\n } else {\r\n this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\r\n this._utilityLayer.pickUtilitySceneFirst = false;\r\n this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\r\n this._ownUtilityLayer = true;\r\n }\r\n if (size) {\r\n this._constraintAxesSize = 0.4 * size;\r\n this._constraintAngularSize = 0.4 * size;\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine.\r\n *\r\n * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\r\n * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\r\n * This ensures that the debug meshes are up to date with the physics engine.\r\n */\r\n protected _updateDebugMeshes(): void {\r\n const plugin = this._physicsEnginePlugin;\r\n\r\n if (plugin?.getPluginVersion() === 1) {\r\n this._updateDebugMeshesV1();\r\n } else {\r\n this._updateDebugMeshesV2();\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine.\r\n *\r\n * This method is useful for synchronizing the debug meshes with the physics impostors.\r\n * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\r\n * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\r\n */\r\n protected _updateDebugMeshesV1(): void {\r\n const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV1;\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n const impostor = this._impostors[i];\r\n\r\n if (!impostor) {\r\n continue;\r\n }\r\n\r\n if (impostor.isDisposed) {\r\n this.hideImpostor(this._impostors[i--]);\r\n } else {\r\n if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n continue;\r\n }\r\n const mesh = this._meshes[i];\r\n\r\n if (mesh && plugin) {\r\n plugin.syncMeshWithImpostor(mesh, impostor);\r\n }\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine for V2 plugin.\r\n *\r\n * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\r\n * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\r\n * This ensures that the debug meshes accurately reflect the current state of the physics engine.\r\n */\r\n protected _updateDebugMeshesV2(): void {\r\n const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV2;\r\n for (let i = 0; i < this._numBodies; ) {\r\n const body = this._bodies[i];\r\n if (body && body.isDisposed && this.hideBody(body)) {\r\n continue;\r\n }\r\n const transform = this._bodyMeshes[i];\r\n if (body && transform) {\r\n plugin.syncTransform(body, transform);\r\n }\r\n i++;\r\n }\r\n }\r\n\r\n protected _updateInertiaMeshes(): void {\r\n for (let i = 0; i < this._numInertiaBodies; ) {\r\n const body = this._inertiaBodies[i];\r\n if (body && body.isDisposed && this.hideInertia(body)) {\r\n continue;\r\n }\r\n const mesh = this._inertiaMeshes[i];\r\n if (body && mesh) {\r\n this._updateDebugInertia(body, mesh);\r\n }\r\n i++;\r\n }\r\n }\r\n\r\n protected _updateDebugInertia(body: PhysicsBody, inertiaMesh: AbstractMesh): void {\r\n const inertiaMatrixRef = Matrix.Identity();\r\n const transformMatrixRef = Matrix.Identity();\r\n const finalMatrixRef = Matrix.Identity();\r\n if (body._pluginDataInstances.length) {\r\n const inertiaAsMesh = inertiaMesh as Mesh;\r\n const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData!;\r\n const bodyTransformMatrixData = (body.transformNode as Mesh)._thinInstanceDataStorage.matrixData!;\r\n for (let i = 0; i < body._pluginDataInstances.length; i++) {\r\n const props = body.getMassProperties(i);\r\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\r\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\r\n finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\r\n }\r\n inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\r\n } else {\r\n const props = body.getMassProperties();\r\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n body.transformNode.rotationQuaternion?.toRotationMatrix(transformMatrixRef);\r\n transformMatrixRef.setTranslation(body.transformNode.position);\r\n if (body.transformNode.parent) {\r\n const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\r\n transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\r\n }\r\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\r\n inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\r\n }\r\n }\r\n\r\n protected _updateDebugConstraints() {\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n const constraint = this._constraints[i];\r\n const mesh = this._constraintMeshes[i];\r\n if (constraint && mesh) {\r\n this._updateDebugConstraint(constraint, mesh[0]);\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * Given a scaling vector, make all of its components\r\n * 1, preserving the sign\r\n * @param scaling\r\n */\r\n protected _makeScalingUnitInPlace(scaling: Vector3) {\r\n if (Math.abs(scaling.x - 1) > Epsilon) {\r\n scaling.x = 1 * Math.sign(scaling.x);\r\n }\r\n if (Math.abs(scaling.y - 1) > Epsilon) {\r\n scaling.y = 1 * Math.sign(scaling.y);\r\n }\r\n if (Math.abs(scaling.z - 1) > Epsilon) {\r\n scaling.z = 1 * Math.sign(scaling.z);\r\n }\r\n }\r\n\r\n protected _updateDebugConstraint(constraint: PhysicsConstraint, parentingMesh: TransformNode) {\r\n if (!constraint._initOptions) {\r\n return;\r\n }\r\n\r\n // Get constraint pivot and axes\r\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n return;\r\n }\r\n\r\n const descendants = parentingMesh.getDescendants(true);\r\n for (const parentConstraintMesh of descendants) {\r\n // Get the parent transform\r\n const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0] as TransformNode;\r\n const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1] as TransformNode;\r\n\r\n const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;\r\n const { childBody, childBodyIndex } = childCoordSystemNode.metadata;\r\n\r\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\r\n\r\n childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\r\n\r\n // Create a transform node and set its matrix\r\n const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n parentTransformNode.position.copyFrom(pivotA);\r\n\r\n const childTransformNode = childCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n childTransformNode.position.copyFrom(pivotB);\r\n\r\n // Get the transform to align the XYZ axes to the constraint axes\r\n Quaternion.FromRotationMatrixToRef(\r\n Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]),\r\n parentTransformNode.rotationQuaternion!\r\n );\r\n Quaternion.FromRotationMatrixToRef(\r\n Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]),\r\n childTransformNode.rotationQuaternion!\r\n );\r\n }\r\n }\r\n\r\n /**\r\n * Renders a specified physic impostor\r\n * @param impostor defines the impostor to render\r\n * @param targetMesh defines the mesh represented by the impostor\r\n * @returns the new debug mesh used to render the impostor\r\n */\r\n public showImpostor(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n if (this._impostors[i] == impostor) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugMesh(impostor, targetMesh);\r\n\r\n if (debugMesh) {\r\n this._impostors[this._numMeshes] = impostor;\r\n this._meshes[this._numMeshes] = debugMesh;\r\n\r\n if (this._numMeshes === 0) {\r\n this._renderFunction = () => this._updateDebugMeshes();\r\n this._scene.registerBeforeRender(this._renderFunction);\r\n }\r\n\r\n this._numMeshes++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug mesh for a given physics body.\r\n * @param body The physics body to show.\r\n * @returns The debug mesh, or null if the body is already shown.\r\n *\r\n * This function is useful for visualizing the physics body in the scene.\r\n * It creates a debug mesh for the given body and adds it to the scene.\r\n * It also registers a before render function to update the debug mesh position and rotation.\r\n */\r\n public showBody(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numBodies; i++) {\r\n if (this._bodies[i] == body) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugBodyMesh(body);\r\n\r\n if (debugMesh) {\r\n this._bodies[this._numBodies] = body;\r\n this._bodyMeshes[this._numBodies] = debugMesh;\r\n\r\n if (this._numBodies === 0) {\r\n this._renderFunction = () => this._updateDebugMeshes();\r\n this._scene.registerBeforeRender(this._renderFunction);\r\n }\r\n\r\n this._numBodies++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug box corresponding to the inertia of a given body\r\n * @param body the physics body used to get the inertia\r\n * @returns the debug mesh used to show the inertia, or null if the body is already shown\r\n */\r\n public showInertia(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numInertiaBodies; i++) {\r\n if (this._inertiaBodies[i] == body) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugInertiaMesh(body);\r\n if (debugMesh) {\r\n this._inertiaBodies[this._numInertiaBodies] = body;\r\n this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\r\n\r\n if (this._numInertiaBodies === 0) {\r\n this._inertiaRenderFunction = () => this._updateInertiaMeshes();\r\n this._scene.registerBeforeRender(this._inertiaRenderFunction);\r\n }\r\n\r\n this._numInertiaBodies++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug mesh for a given physics constraint.\r\n * @param constraint the physics constraint to show\r\n * @returns the debug mesh, or null if the constraint is already shown\r\n */\r\n public showConstraint(constraint: PhysicsConstraint): Nullable<TransformNode> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n if (this._constraints[i] == constraint) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugConstraintMesh(constraint);\r\n if (debugMesh) {\r\n this._constraints[this._numConstraints] = constraint;\r\n this._constraintMeshes[this._numConstraints] = debugMesh;\r\n\r\n if (this._numConstraints === 0) {\r\n this._constraintRenderFunction = () => this._updateDebugConstraints();\r\n this._scene.registerBeforeRender(this._constraintRenderFunction);\r\n }\r\n\r\n this._numConstraints++;\r\n }\r\n\r\n return debugMesh ? debugMesh[0] : null;\r\n }\r\n\r\n /**\r\n * Hides an impostor from the scene.\r\n * @param impostor - The impostor to hide.\r\n *\r\n * This method is useful for hiding an impostor from the scene. It removes the\r\n * impostor from the utility layer scene, disposes the mesh, and removes the\r\n * impostor from the list of impostors. If the impostor is the last one in the\r\n * list, it also unregisters the render function.\r\n */\r\n public hideImpostor(impostor: Nullable<PhysicsImpostor>) {\r\n if (!impostor || !this._scene || !this._utilityLayer) {\r\n return;\r\n }\r\n\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n if (this._impostors[i] == impostor) {\r\n const mesh = this._meshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n const index = this._debugMeshMeshes.indexOf(mesh as Mesh);\r\n if (index > -1) {\r\n this._debugMeshMeshes.splice(index, 1);\r\n }\r\n\r\n this._numMeshes--;\r\n if (this._numMeshes > 0) {\r\n this._meshes[i] = this._meshes[this._numMeshes];\r\n this._impostors[i] = this._impostors[this._numMeshes];\r\n this._meshes[this._numMeshes] = null;\r\n this._impostors[this._numMeshes] = null;\r\n } else {\r\n this._meshes[0] = null;\r\n this._impostors[0] = null;\r\n }\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numMeshes === 0) {\r\n this._scene.unregisterBeforeRender(this._renderFunction);\r\n }\r\n }\r\n\r\n /**\r\n * Hides a body from the physics engine.\r\n * @param body - The body to hide.\r\n * @returns true if body actually removed\r\n *\r\n * This function is useful for hiding a body from the physics engine.\r\n * It removes the body from the utility layer scene and disposes the mesh associated with it.\r\n * It also unregisters the render function if the number of bodies is 0.\r\n * This is useful for hiding a body from the physics engine without deleting it.\r\n */\r\n public hideBody(body: Nullable<PhysicsBody>): boolean {\r\n if (!body || !this._scene || !this._utilityLayer) {\r\n return false;\r\n }\r\n\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numBodies; i++) {\r\n if (this._bodies[i] === body) {\r\n const mesh = this._bodyMeshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n this._numBodies--;\r\n if (this._numBodies > 0) {\r\n this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\r\n this._bodies[i] = this._bodies[this._numBodies];\r\n this._bodyMeshes[this._numBodies] = null;\r\n this._bodies[this._numBodies] = null;\r\n } else {\r\n this._bodyMeshes[0] = null;\r\n this._bodies[0] = null;\r\n }\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numBodies === 0) {\r\n this._scene.unregisterBeforeRender(this._renderFunction);\r\n }\r\n return removed;\r\n }\r\n\r\n /**\r\n * Hides a body's inertia from the viewer utility layer\r\n * @param body the body to hide\r\n * @returns true if inertia actually removed\r\n */\r\n public hideInertia(body: Nullable<PhysicsBody>): boolean {\r\n if (!body || !this._scene || !this._utilityLayer) {\r\n return false;\r\n }\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numInertiaBodies; i++) {\r\n if (this._inertiaBodies[i] === body) {\r\n const mesh = this._inertiaMeshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n this._inertiaBodies.splice(i, 1);\r\n this._inertiaMeshes.splice(i, 1);\r\n\r\n this._numInertiaBodies--;\r\n\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numInertiaBodies === 0) {\r\n this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\r\n }\r\n return removed;\r\n }\r\n\r\n /**\r\n * Hide a physics constraint from the viewer utility layer\r\n * @param constraint the constraint to hide\r\n */\r\n public hideConstraint(constraint: Nullable<PhysicsConstraint>) {\r\n if (!constraint || !this._scene || !this._utilityLayer) {\r\n return;\r\n }\r\n let removed = false;\r\n\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n if (this._constraints[i] === constraint) {\r\n const meshes = this._constraintMeshes[i];\r\n\r\n if (!meshes) {\r\n continue;\r\n }\r\n\r\n for (const mesh of meshes) {\r\n mesh.dispose();\r\n }\r\n\r\n this._constraints.splice(i, 1);\r\n this._constraintMeshes.splice(i, 1);\r\n\r\n this._numConstraints--;\r\n\r\n if (this._numConstraints > 0) {\r\n this._constraints[i] = this._constraints[this._numConstraints];\r\n this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\r\n this._constraints[this._numConstraints] = null;\r\n this._constraintMeshes[this._numConstraints] = null;\r\n } else {\r\n this._constraints[0] = null;\r\n this._constraintMeshes[0] = null;\r\n }\r\n\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numConstraints === 0) {\r\n this._scene.unregisterBeforeRender(this._constraintRenderFunction);\r\n }\r\n }\r\n\r\n protected _getDebugMaterial(scene: Scene): Material {\r\n if (!this._debugMaterial) {\r\n this._debugMaterial = new StandardMaterial(\"\", scene);\r\n this._debugMaterial.wireframe = true;\r\n this._debugMaterial.emissiveColor = Color3.White();\r\n this._debugMaterial.disableLighting = true;\r\n }\r\n\r\n return this._debugMaterial;\r\n }\r\n\r\n protected _getDebugInertiaMaterial(scene: Scene): Material {\r\n if (!this._debugInertiaMaterial) {\r\n this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\r\n this._debugInertiaMaterial.disableLighting = true;\r\n this._debugInertiaMaterial.alpha = 0.0;\r\n }\r\n\r\n return this._debugInertiaMaterial;\r\n }\r\n\r\n protected _getDebugAxisColoredMaterial(axisNumber: number, scene: Scene): Material {\r\n const material = new StandardMaterial(\"\", scene);\r\n material.emissiveColor = axisNumber == 0 ? Color3.Red() : axisNumber == 1 ? Color3.Green() : Color3.Blue();\r\n material.disableLighting = true;\r\n return material;\r\n }\r\n\r\n protected _getDebugBoxMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugBoxMesh) {\r\n this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", { size: 1 }, scene);\r\n this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugBoxMesh.material = this._getDebugMaterial(scene);\r\n this._debugBoxMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\r\n }\r\n\r\n protected _getDebugSphereMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugSphereMesh) {\r\n this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", { diameter: 1 }, scene);\r\n this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugSphereMesh.material = this._getDebugMaterial(scene);\r\n this._debugSphereMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\r\n }\r\n\r\n protected _getDebugCapsuleMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugCapsuleMesh) {\r\n this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", { height: 1 } as ICreateCapsuleOptions, scene);\r\n this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\r\n this._debugCapsuleMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\r\n }\r\n\r\n protected _getDebugCylinderMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugCylinderMesh) {\r\n this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", { diameterTop: 1, diameterBottom: 1, height: 1 }, scene);\r\n this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugCylinderMesh.material = this._getDebugMaterial(scene);\r\n this._debugCylinderMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\r\n }\r\n\r\n protected _getDebugMeshMesh(mesh: Mesh, scene: Scene): AbstractMesh {\r\n const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\r\n wireframeOver.setParent(mesh);\r\n wireframeOver.position = Vector3.Zero();\r\n wireframeOver.material = this._getDebugMaterial(scene);\r\n\r\n this._debugMeshMeshes.push(wireframeOver);\r\n\r\n return wireframeOver;\r\n }\r\n\r\n protected _getDebugMesh(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n\r\n // Only create child impostor debug meshes when evaluating the parent\r\n if (targetMesh && targetMesh.parent && (targetMesh.parent as Mesh).physicsImpostor) {\r\n return null;\r\n }\r\n\r\n let mesh: Nullable<AbstractMesh> = null;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n if (!impostor.physicsBody) {\r\n Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\r\n return null;\r\n }\r\n switch (impostor.type) {\r\n case PhysicsImpostor.BoxImpostor:\r\n mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n impostor.getBoxSizeToRef(mesh.scaling);\r\n break;\r\n case PhysicsImpostor.SphereImpostor: {\r\n mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n const radius = impostor.getRadius();\r\n mesh.scaling.x = radius * 2;\r\n mesh.scaling.y = radius * 2;\r\n mesh.scaling.z = radius * 2;\r\n break;\r\n }\r\n case PhysicsImpostor.CapsuleImpostor: {\r\n mesh = this._getDebugCapsuleMesh(utilityLayerScene);\r\n const bi = impostor.object.getBoundingInfo();\r\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\r\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\r\n break;\r\n }\r\n case PhysicsImpostor.MeshImpostor:\r\n if (targetMesh) {\r\n mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\r\n }\r\n break;\r\n case PhysicsImpostor.NoImpostor:\r\n if (targetMesh) {\r\n // Handle compound impostors\r\n const childMeshes = targetMesh.getChildMeshes().filter((c) => {\r\n return c.physicsImpostor ? 1 : 0;\r\n });\r\n for (const m of childMeshes) {\r\n if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\r\n const boundingInfo = m.getBoundingInfo();\r\n const min = boundingInfo.boundingBox.minimum;\r\n const max = boundingInfo.boundingBox.maximum;\r\n switch (m.physicsImpostor.type) {\r\n case PhysicsImpostor.BoxImpostor:\r\n mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n mesh.position.copyFrom(min);\r\n mesh.position.addInPlace(max);\r\n mesh.position.scaleInPlace(0.5);\r\n break;\r\n case PhysicsImpostor.SphereImpostor:\r\n mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n break;\r\n case PhysicsImpostor.CylinderImpostor:\r\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n break;\r\n default:\r\n mesh = null;\r\n break;\r\n }\r\n if (mesh) {\r\n mesh.scaling.x = max.x - min.x;\r\n mesh.scaling.y = max.y - min.y;\r\n mesh.scaling.z = max.z - min.z;\r\n mesh.parent = m;\r\n }\r\n }\r\n }\r\n } else {\r\n Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\r\n }\r\n mesh = null;\r\n break;\r\n case PhysicsImpostor.CylinderImpostor: {\r\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n const bi = impostor.object.getBoundingInfo();\r\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\r\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\r\n break;\r\n }\r\n }\r\n return mesh;\r\n }\r\n\r\n /**\r\n * Creates a debug mesh for a given physics body\r\n * @param body The physics body to create the debug mesh for\r\n * @returns The created debug mesh or null if the utility layer is not available\r\n *\r\n * This code is useful for creating a debug mesh for a given physics body.\r\n * It creates a Mesh object with a VertexData object containing the positions and indices\r\n * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\r\n * This allows for visualizing the physics body in the scene.\r\n */\r\n protected _getDebugBodyMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n const mesh = new Mesh(\"custom\", utilityLayerScene);\r\n const vertexData = new VertexData();\r\n const geometry = body.getGeometry() as any;\r\n vertexData.positions = geometry.positions;\r\n vertexData.indices = geometry.indices;\r\n vertexData.applyToMesh(mesh);\r\n if (body._pluginDataInstances) {\r\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n }\r\n mesh.material = this._getDebugMaterial(utilityLayerScene);\r\n return mesh;\r\n }\r\n\r\n protected _getMeshDebugInertiaMatrixToRef(massProps: PhysicsMassProperties, matrix: Matrix) {\r\n const orientation = massProps.inertiaOrientation ?? Quaternion.Identity();\r\n const inertiaLocal = massProps.inertia ?? Vector3.Zero();\r\n const center = massProps.centerOfMass ?? Vector3.Zero();\r\n\r\n const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\r\n const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\r\n const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\r\n const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const extents = TmpVectors.Vector3[0];\r\n extents.set(alpha, beta, gamma);\r\n\r\n const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\r\n const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\r\n const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\r\n\r\n scaling.multiplyToRef(rotation, matrix);\r\n matrix.multiplyToRef(translation, matrix);\r\n\r\n return matrix;\r\n }\r\n\r\n protected _getDebugInertiaMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\r\n const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", { size: 1 }, utilityLayerScene);\r\n const matrixRef = Matrix.Identity();\r\n if (body._pluginDataInstances.length) {\r\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n for (let i = 0; i < body._pluginDataInstances.length; ++i) {\r\n const props = body.getMassProperties(i);\r\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n matrixRef.copyToArray(instanceBuffer, i * 16);\r\n }\r\n inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n } else {\r\n const props = body.getMassProperties();\r\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n matrixRef.decomposeToTransformNode(inertiaBoxMesh);\r\n }\r\n inertiaBoxMesh.enableEdgesRendering();\r\n inertiaBoxMesh.edgesWidth = 2.0;\r\n inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\r\n inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\r\n\r\n return inertiaBoxMesh;\r\n }\r\n\r\n protected _getTransformFromBodyToRef(body: PhysicsBody, matrix: Matrix, instanceIndex?: number) {\r\n const tnode = body.transformNode;\r\n if (instanceIndex && instanceIndex >= 0) {\r\n return Matrix.FromArrayToRef((tnode as Mesh)._thinInstanceDataStorage.matrixData!, instanceIndex, matrix);\r\n } else {\r\n return matrix.copyFrom(tnode.getWorldMatrix());\r\n }\r\n }\r\n\r\n protected _createAngularConstraintMesh(minLimit: number, maxLimit: number, axisNumber: number, parent: TransformNode, scene: Scene): TransformNode {\r\n const arcAngle = (maxLimit - minLimit) / (Math.PI * 2);\r\n const mesh = MeshBuilder.CreateCylinder(\"ConstraintCylinder\", { height: 0.0001, diameter: 3 * this._constraintAngularSize, arc: arcAngle }, scene);\r\n const root = new TransformNode(\"angular_root\", scene);\r\n root.metadata = { bodyNode: parent };\r\n mesh.material = this._getDebugAxisColoredMaterial(axisNumber, scene);\r\n parent.getWorldMatrix().decomposeToTransformNode(root);\r\n mesh.parent = root;\r\n const parentScaling = parent.absoluteScaling;\r\n switch (axisNumber) {\r\n case 0:\r\n mesh.rotation.z = Math.PI * 0.5;\r\n mesh.rotation.x = -minLimit + Math.PI * 0.5;\r\n // scaling on y,z\r\n mesh.scaling.x = 1 / parentScaling.x;\r\n mesh.scaling.y = 1 / parentScaling.z;\r\n mesh.scaling.z = 1 / parentScaling.y;\r\n break;\r\n case 1:\r\n mesh.rotation.y = Math.PI * 1.5 + minLimit;\r\n // flip x,z\r\n mesh.scaling.x = 1 / parentScaling.z;\r\n mesh.scaling.y = 1 / parentScaling.y;\r\n mesh.scaling.z = 1 / parentScaling.x;\r\n break;\r\n case 2:\r\n mesh.rotation.x = Math.PI * 0.5;\r\n // flip z,y\r\n mesh.scaling.x = 1 / parentScaling.x;\r\n mesh.scaling.y = 1 / parentScaling.z;\r\n mesh.scaling.z = 1 / parentScaling.y;\r\n break;\r\n }\r\n return root;\r\n }\r\n\r\n protected _createCage(parent: TransformNode, scene: Scene): AbstractMesh {\r\n const cage = MeshBuilder.CreateBox(\"cage\", { size: 1 }, scene);\r\n cage.setPivotPoint(new Vector3(-0.5, -0.5, -0.5));\r\n const transparentMaterial = new StandardMaterial(\"cage_material\", scene);\r\n transparentMaterial.alpha = 0; // Fully transparent\r\n cage.material = transparentMaterial;\r\n\r\n cage.enableEdgesRendering();\r\n cage.edgesWidth = 4.0;\r\n cage.edgesColor = new Color4(1, 1, 1, 1);\r\n cage.parent = parent;\r\n return cage;\r\n }\r\n\r\n protected _getDebugConstraintMesh(constraint: PhysicsConstraint): Nullable<Array<TransformNode>> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n if (!constraint._initOptions) {\r\n return null;\r\n }\r\n\r\n // Get constraint pivot and axes\r\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n return null;\r\n }\r\n\r\n // Create a mesh to parent all the constraint debug meshes to\r\n const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\r\n\r\n // First, get a reference to all physic bodies that are using this constraint\r\n const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\r\n\r\n const parentedConstraintMeshes = [];\r\n parentedConstraintMeshes.push(parentingMesh);\r\n\r\n for (const bodyPairInfo of bodiesUsingConstraint) {\r\n // Create a mesh to keep the pair of constraint axes\r\n const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\r\n parentOfPair.parent = parentingMesh;\r\n\r\n const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;\r\n // Get the parent transform\r\n\r\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\r\n // parentCoordSystemNode.parent = parentingMesh;\r\n parentCoordSystemNode.parent = parentOfPair;\r\n // Save parent and index here to be able to get the transform on update\r\n parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };\r\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n\r\n const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\r\n // childCoordSystemNode.parent = parentingMesh;\r\n childCoordSystemNode.parent = parentOfPair;\r\n // Save child and index here to be able to get the transform on update\r\n childCoordSystemNode.metadata = { childBody, childBodyIndex };\r\n childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n\r\n // Get the transform to align the XYZ axes to the constraint axes\r\n const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\r\n const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\r\n\r\n const translateTransformParent = pivotA;\r\n const translateTransformChild = pivotB;\r\n\r\n // Create a transform node and set its matrix\r\n const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\r\n parentTransformNode.position.copyFrom(translateTransformParent);\r\n parentTransformNode.rotationQuaternion = rotTransformParent;\r\n parentTransformNode.parent = parentCoordSystemNode;\r\n\r\n const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\r\n childTransformNode.parent = childCoordSystemNode;\r\n childTransformNode.position.copyFrom(translateTransformChild);\r\n childTransformNode.rotationQuaternion = rotTransformChild;\r\n\r\n // Create axes for the constraint\r\n const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n parentAxes.xAxis.parent = parentTransformNode;\r\n // parentAxes.xAxis.isPi\r\n parentAxes.yAxis.parent = parentTransformNode;\r\n parentAxes.zAxis.parent = parentTransformNode;\r\n\r\n const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n childAxes.xAxis.parent = childTransformNode;\r\n childAxes.yAxis.parent = childTransformNode;\r\n childAxes.zAxis.parent = childTransformNode;\r\n\r\n // constrain vis\r\n const engine = this._physicsEnginePlugin! as IPhysicsEnginePluginV2;\r\n\r\n const constraintAxisAngular = [PhysicsConstraintAxis.ANGULAR_X, PhysicsConstraintAxis.ANGULAR_Y, PhysicsConstraintAxis.ANGULAR_Z];\r\n const constraintAxisLinear = [PhysicsConstraintAxis.LINEAR_X, PhysicsConstraintAxis.LINEAR_Y, PhysicsConstraintAxis.LINEAR_Z];\r\n const constraintAxis = [constraintAxisAngular, constraintAxisLinear];\r\n\r\n // count axis. Angular and Linear\r\n const lockCount = [0, 0];\r\n for (let angularLinear = 0; angularLinear < 2; angularLinear++) {\r\n for (let axis = 0; axis < 3; axis++) {\r\n const constraintAxisValue = constraintAxis[angularLinear][axis];\r\n const axisMode = engine.getAxisMode(constraint, constraintAxisValue);\r\n if (axisMode == PhysicsConstraintAxisLimitMode.LOCKED) {\r\n lockCount[angularLinear]++;\r\n }\r\n }\r\n }\r\n\r\n // Any free/limited Linear axis\r\n if (lockCount[1] != 3) {\r\n const cage = this._createCage(parentTransformNode, utilityLayerScene);\r\n\r\n const min = TmpVectors.Vector3[0];\r\n const max = TmpVectors.Vector3[1];\r\n const limited = [false, false, false];\r\n\r\n limited[0] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_X) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n limited[1] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Y) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n limited[2] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Z) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n\r\n min.x = limited[0] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n max.x = limited[0] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n min.y = limited[1] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n max.y = limited[1] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n min.z = limited[2] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n max.z = limited[2] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n\r\n cage.position.x = min.x + 0.5;\r\n cage.position.y = min.y + 0.5;\r\n cage.position.z = min.z + 0.5;\r\n\r\n cage.scaling.x = max.x - min.x + Epsilon;\r\n cage.scaling.y = max.y - min.y + Epsilon;\r\n cage.scaling.z = max.z - min.z + Epsilon;\r\n parentedConstraintMeshes.push(cage);\r\n }\r\n\r\n // Angular\r\n if (lockCount[0] != 3) {\r\n for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n const axis = constraintAxisAngular[axisIndex];\r\n const axisMode = engine.getAxisMode(constraint, axis);\r\n let minLimit = 0;\r\n let maxLimit = Math.PI * 2;\r\n if (axisMode == PhysicsConstraintAxisLimitMode.LIMITED) {\r\n minLimit = engine.getAxisMinLimit(constraint, axis)!;\r\n maxLimit = engine.getAxisMaxLimit(constraint, axis)!;\r\n }\r\n if (axisMode != PhysicsConstraintAxisLimitMode.LOCKED && constraint.options.pivotB) {\r\n const mesh = this._createAngularConstraintMesh(minLimit, maxLimit, axisIndex, childBody.transformNode, utilityLayerScene);\r\n mesh.position.copyFrom(constraint.options.pivotB);\r\n parentedConstraintMeshes.push(mesh);\r\n }\r\n }\r\n }\r\n }\r\n\r\n return parentedConstraintMeshes;\r\n }\r\n\r\n /**\r\n * Clean up physics debug display\r\n */\r\n public dispose() {\r\n // impostors\r\n for (let index = this._numMeshes - 1; index >= 0; index--) {\r\n this.hideImpostor(this._impostors[0]);\r\n }\r\n // bodies\r\n for (let index = this._numBodies - 1; index >= 0; index--) {\r\n this.hideBody(this._bodies[0]);\r\n }\r\n // inertia\r\n for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\r\n this.hideInertia(this._inertiaBodies[0]);\r\n }\r\n\r\n for (let index = this._numConstraints - 1; index >= 0; index--) {\r\n this.hideConstraint(this._constraints[0]);\r\n }\r\n\r\n if (this._debugBoxMesh) {\r\n this._debugBoxMesh.dispose();\r\n }\r\n if (this._debugSphereMesh) {\r\n this._debugSphereMesh.dispose();\r\n }\r\n if (this._debugCylinderMesh) {\r\n this._debugCylinderMesh.dispose();\r\n }\r\n if (this._debugMaterial) {\r\n this._debugMaterial.dispose();\r\n }\r\n\r\n this._impostors.length = 0;\r\n this._scene = null;\r\n this._physicsEnginePlugin = null;\r\n\r\n if (this._ownUtilityLayer && this._utilityLayer) {\r\n this._utilityLayer.dispose();\r\n this._utilityLayer = null;\r\n }\r\n }\r\n}\r\n"]}
1
+ 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{ type Nullable } from \"../types\";\r\nimport { type Scene } from \"../scene\";\r\nimport { type AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport { Mesh } from \"../Meshes/mesh\";\r\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder\";\r\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder\";\r\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector\";\r\nimport { Color3, Color4 } from \"../Maths/math.color\";\r\nimport { type Material } from \"../Materials/material\";\r\nimport { EngineStore } from \"../Engines/engineStore\";\r\nimport { StandardMaterial } from \"../Materials/standardMaterial\";\r\nimport { type IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"../Physics/v1/IPhysicsEnginePlugin\";\r\nimport { PhysicsConstraintAxis, PhysicsConstraintAxisLimitMode, type IPhysicsEnginePluginV2, type PhysicsMassProperties } from \"../Physics/v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor\";\r\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer\";\r\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder\";\r\nimport { type ICreateCapsuleOptions, CreateCapsule } from \"../Meshes/Builders/capsuleBuilder\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { type PhysicsBody } from \"../Physics/v2/physicsBody\";\r\nimport { VertexData } from \"../Meshes/mesh.vertexData\";\r\nimport { MeshBuilder } from \"../Meshes/meshBuilder\";\r\nimport { type PhysicsConstraint } from \"../Physics/v2/physicsConstraint\";\r\nimport { AxesViewer } from \"./axesViewer\";\r\nimport { TransformNode } from \"../Meshes/transformNode\";\r\nimport { Epsilon } from \"../Maths/math.constants\";\r\n\r\nimport \"../Physics/joinedPhysicsEngineComponent\";\r\n\r\n/**\r\n * Used to show the physics impostor around the specific mesh\r\n */\r\nexport class PhysicsViewer {\r\n /** @internal */\r\n protected _impostors: Array<Nullable<PhysicsImpostor>> = [];\r\n /** @internal */\r\n protected _meshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _bodies: Array<Nullable<PhysicsBody>> = [];\r\n /** @internal */\r\n protected _inertiaBodies: Array<Nullable<PhysicsBody>> = [];\r\n /** @internal */\r\n protected _constraints: Array<Nullable<PhysicsConstraint>> = [];\r\n /** @internal */\r\n protected _bodyMeshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _inertiaMeshes: Array<Nullable<AbstractMesh>> = [];\r\n /** @internal */\r\n protected _constraintMeshes: Array<Nullable<Array<TransformNode>>> = [];\r\n /** @internal */\r\n protected _scene: Nullable<Scene>;\r\n /** @internal */\r\n protected _numMeshes = 0;\r\n /** @internal */\r\n protected _numBodies = 0;\r\n /** @internal */\r\n protected _numInertiaBodies = 0;\r\n /** @internal */\r\n protected _numConstraints = 0;\r\n /** @internal */\r\n protected _physicsEnginePlugin: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2 | null;\r\n protected _renderFunction: () => void;\r\n protected _inertiaRenderFunction: () => void;\r\n protected _constraintRenderFunction: () => void;\r\n protected _utilityLayer: Nullable<UtilityLayerRenderer>;\r\n protected _ownUtilityLayer = false;\r\n\r\n protected _debugBoxMesh: Mesh;\r\n protected _debugSphereMesh: Mesh;\r\n protected _debugCapsuleMesh: Mesh;\r\n protected _debugCylinderMesh: Mesh;\r\n protected _debugMaterial: StandardMaterial;\r\n protected _debugInertiaMaterial: StandardMaterial;\r\n protected _debugMeshMeshes = new Array<Mesh>();\r\n\r\n protected _constraintAxesSize = 0.4;\r\n protected _constraintAngularSize = 0.4;\r\n\r\n /**\r\n * Creates a new PhysicsViewer\r\n * @param scene defines the hosting scene\r\n * @param size Physics V2 size scalar\r\n * @param utilityLayer The utility layer the viewer will be added to\r\n */\r\n constructor(scene?: Scene, size?: number, utilityLayer: UtilityLayerRenderer = UtilityLayerRenderer.DefaultUtilityLayer) {\r\n this._scene = scene || EngineStore.LastCreatedScene;\r\n if (!this._scene) {\r\n return;\r\n }\r\n const physicEngine = this._scene.getPhysicsEngine();\r\n\r\n if (physicEngine) {\r\n this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\r\n }\r\n\r\n if (utilityLayer) {\r\n this._utilityLayer = utilityLayer;\r\n } else {\r\n this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\r\n this._utilityLayer.pickUtilitySceneFirst = false;\r\n this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\r\n this._ownUtilityLayer = true;\r\n }\r\n if (size) {\r\n this._constraintAxesSize = 0.4 * size;\r\n this._constraintAngularSize = 0.4 * size;\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine.\r\n *\r\n * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\r\n * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\r\n * This ensures that the debug meshes are up to date with the physics engine.\r\n */\r\n protected _updateDebugMeshes(): void {\r\n const plugin = this._physicsEnginePlugin;\r\n\r\n if (plugin?.getPluginVersion() === 1) {\r\n this._updateDebugMeshesV1();\r\n } else {\r\n this._updateDebugMeshesV2();\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine.\r\n *\r\n * This method is useful for synchronizing the debug meshes with the physics impostors.\r\n * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\r\n * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\r\n */\r\n protected _updateDebugMeshesV1(): void {\r\n const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV1;\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n const impostor = this._impostors[i];\r\n\r\n if (!impostor) {\r\n continue;\r\n }\r\n\r\n if (impostor.isDisposed) {\r\n this.hideImpostor(this._impostors[i--]);\r\n } else {\r\n if (impostor.type === PhysicsImpostor.MeshImpostor) {\r\n continue;\r\n }\r\n const mesh = this._meshes[i];\r\n\r\n if (mesh && plugin) {\r\n plugin.syncMeshWithImpostor(mesh, impostor);\r\n }\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * Updates the debug meshes of the physics engine for V2 plugin.\r\n *\r\n * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\r\n * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\r\n * This ensures that the debug meshes accurately reflect the current state of the physics engine.\r\n */\r\n protected _updateDebugMeshesV2(): void {\r\n const plugin = this._physicsEnginePlugin as IPhysicsEnginePluginV2;\r\n for (let i = 0; i < this._numBodies; ) {\r\n const body = this._bodies[i];\r\n if (body && body.isDisposed && this.hideBody(body)) {\r\n continue;\r\n }\r\n const transform = this._bodyMeshes[i];\r\n if (body && transform) {\r\n plugin.syncTransform(body, transform);\r\n }\r\n i++;\r\n }\r\n }\r\n\r\n protected _updateInertiaMeshes(): void {\r\n for (let i = 0; i < this._numInertiaBodies; ) {\r\n const body = this._inertiaBodies[i];\r\n if (body && body.isDisposed && this.hideInertia(body)) {\r\n continue;\r\n }\r\n const mesh = this._inertiaMeshes[i];\r\n if (body && mesh) {\r\n this._updateDebugInertia(body, mesh);\r\n }\r\n i++;\r\n }\r\n }\r\n\r\n protected _updateDebugInertia(body: PhysicsBody, inertiaMesh: AbstractMesh): void {\r\n const inertiaMatrixRef = Matrix.Identity();\r\n const transformMatrixRef = Matrix.Identity();\r\n const finalMatrixRef = Matrix.Identity();\r\n if (body._pluginDataInstances.length) {\r\n const inertiaAsMesh = inertiaMesh as Mesh;\r\n const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData!;\r\n const bodyTransformMatrixData = (body.transformNode as Mesh)._thinInstanceDataStorage.matrixData!;\r\n for (let i = 0; i < body._pluginDataInstances.length; i++) {\r\n const props = body.getMassProperties(i);\r\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\r\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\r\n finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\r\n }\r\n inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\r\n } else {\r\n const props = body.getMassProperties();\r\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\r\n body.transformNode.rotationQuaternion?.toRotationMatrix(transformMatrixRef);\r\n transformMatrixRef.setTranslation(body.transformNode.position);\r\n if (body.transformNode.parent) {\r\n const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\r\n transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\r\n }\r\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\r\n inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\r\n }\r\n }\r\n\r\n protected _updateDebugConstraints() {\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n const constraint = this._constraints[i];\r\n const mesh = this._constraintMeshes[i];\r\n if (constraint && mesh) {\r\n this._updateDebugConstraint(constraint, mesh[0]);\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * Given a scaling vector, make all of its components\r\n * 1, preserving the sign\r\n * @param scaling\r\n */\r\n protected _makeScalingUnitInPlace(scaling: Vector3) {\r\n if (Math.abs(scaling.x - 1) > Epsilon) {\r\n scaling.x = 1 * Math.sign(scaling.x);\r\n }\r\n if (Math.abs(scaling.y - 1) > Epsilon) {\r\n scaling.y = 1 * Math.sign(scaling.y);\r\n }\r\n if (Math.abs(scaling.z - 1) > Epsilon) {\r\n scaling.z = 1 * Math.sign(scaling.z);\r\n }\r\n }\r\n\r\n protected _updateDebugConstraint(constraint: PhysicsConstraint, parentingMesh: TransformNode) {\r\n if (!constraint._initOptions) {\r\n return;\r\n }\r\n\r\n // Get constraint pivot and axes\r\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n return;\r\n }\r\n\r\n const descendants = parentingMesh.getDescendants(true);\r\n for (const parentConstraintMesh of descendants) {\r\n // Get the parent transform\r\n const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0] as TransformNode;\r\n const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1] as TransformNode;\r\n\r\n const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;\r\n const { childBody, childBodyIndex } = childCoordSystemNode.metadata;\r\n\r\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\r\n\r\n childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\r\n\r\n // Create a transform node and set its matrix\r\n const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n parentTransformNode.position.copyFrom(pivotA);\r\n\r\n const childTransformNode = childCoordSystemNode.getDescendants(true)[0] as TransformNode;\r\n childTransformNode.position.copyFrom(pivotB);\r\n\r\n // Get the transform to align the XYZ axes to the constraint axes\r\n Quaternion.FromRotationMatrixToRef(\r\n Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]),\r\n parentTransformNode.rotationQuaternion!\r\n );\r\n Quaternion.FromRotationMatrixToRef(\r\n Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]),\r\n childTransformNode.rotationQuaternion!\r\n );\r\n }\r\n }\r\n\r\n /**\r\n * Renders a specified physic impostor\r\n * @param impostor defines the impostor to render\r\n * @param targetMesh defines the mesh represented by the impostor\r\n * @returns the new debug mesh used to render the impostor\r\n */\r\n public showImpostor(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n if (this._impostors[i] == impostor) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugMesh(impostor, targetMesh);\r\n\r\n if (debugMesh) {\r\n this._impostors[this._numMeshes] = impostor;\r\n this._meshes[this._numMeshes] = debugMesh;\r\n\r\n if (this._numMeshes === 0) {\r\n this._renderFunction = () => this._updateDebugMeshes();\r\n this._scene.registerBeforeRender(this._renderFunction);\r\n }\r\n\r\n this._numMeshes++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug mesh for a given physics body.\r\n * @param body The physics body to show.\r\n * @returns The debug mesh, or null if the body is already shown.\r\n *\r\n * This function is useful for visualizing the physics body in the scene.\r\n * It creates a debug mesh for the given body and adds it to the scene.\r\n * It also registers a before render function to update the debug mesh position and rotation.\r\n */\r\n public showBody(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numBodies; i++) {\r\n if (this._bodies[i] == body) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugBodyMesh(body);\r\n\r\n if (debugMesh) {\r\n this._bodies[this._numBodies] = body;\r\n this._bodyMeshes[this._numBodies] = debugMesh;\r\n\r\n if (this._numBodies === 0) {\r\n this._renderFunction = () => this._updateDebugMeshes();\r\n this._scene.registerBeforeRender(this._renderFunction);\r\n }\r\n\r\n this._numBodies++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug box corresponding to the inertia of a given body\r\n * @param body the physics body used to get the inertia\r\n * @returns the debug mesh used to show the inertia, or null if the body is already shown\r\n */\r\n public showInertia(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numInertiaBodies; i++) {\r\n if (this._inertiaBodies[i] == body) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugInertiaMesh(body);\r\n if (debugMesh) {\r\n this._inertiaBodies[this._numInertiaBodies] = body;\r\n this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\r\n\r\n if (this._numInertiaBodies === 0) {\r\n this._inertiaRenderFunction = () => this._updateInertiaMeshes();\r\n this._scene.registerBeforeRender(this._inertiaRenderFunction);\r\n }\r\n\r\n this._numInertiaBodies++;\r\n }\r\n\r\n return debugMesh;\r\n }\r\n\r\n /**\r\n * Shows a debug mesh for a given physics constraint.\r\n * @param constraint the physics constraint to show\r\n * @returns the debug mesh, or null if the constraint is already shown\r\n */\r\n public showConstraint(constraint: PhysicsConstraint): Nullable<TransformNode> {\r\n if (!this._scene) {\r\n return null;\r\n }\r\n\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n if (this._constraints[i] == constraint) {\r\n return null;\r\n }\r\n }\r\n\r\n const debugMesh = this._getDebugConstraintMesh(constraint);\r\n if (debugMesh) {\r\n this._constraints[this._numConstraints] = constraint;\r\n this._constraintMeshes[this._numConstraints] = debugMesh;\r\n\r\n if (this._numConstraints === 0) {\r\n this._constraintRenderFunction = () => this._updateDebugConstraints();\r\n this._scene.registerBeforeRender(this._constraintRenderFunction);\r\n }\r\n\r\n this._numConstraints++;\r\n }\r\n\r\n return debugMesh ? debugMesh[0] : null;\r\n }\r\n\r\n /**\r\n * Hides an impostor from the scene.\r\n * @param impostor - The impostor to hide.\r\n *\r\n * This method is useful for hiding an impostor from the scene. It removes the\r\n * impostor from the utility layer scene, disposes the mesh, and removes the\r\n * impostor from the list of impostors. If the impostor is the last one in the\r\n * list, it also unregisters the render function.\r\n */\r\n public hideImpostor(impostor: Nullable<PhysicsImpostor>) {\r\n if (!impostor || !this._scene || !this._utilityLayer) {\r\n return;\r\n }\r\n\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numMeshes; i++) {\r\n if (this._impostors[i] == impostor) {\r\n const mesh = this._meshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n const index = this._debugMeshMeshes.indexOf(mesh as Mesh);\r\n if (index > -1) {\r\n this._debugMeshMeshes.splice(index, 1);\r\n }\r\n\r\n this._numMeshes--;\r\n if (this._numMeshes > 0) {\r\n this._meshes[i] = this._meshes[this._numMeshes];\r\n this._impostors[i] = this._impostors[this._numMeshes];\r\n this._meshes[this._numMeshes] = null;\r\n this._impostors[this._numMeshes] = null;\r\n } else {\r\n this._meshes[0] = null;\r\n this._impostors[0] = null;\r\n }\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numMeshes === 0) {\r\n this._scene.unregisterBeforeRender(this._renderFunction);\r\n }\r\n }\r\n\r\n /**\r\n * Hides a body from the physics engine.\r\n * @param body - The body to hide.\r\n * @returns true if body actually removed\r\n *\r\n * This function is useful for hiding a body from the physics engine.\r\n * It removes the body from the utility layer scene and disposes the mesh associated with it.\r\n * It also unregisters the render function if the number of bodies is 0.\r\n * This is useful for hiding a body from the physics engine without deleting it.\r\n */\r\n public hideBody(body: Nullable<PhysicsBody>): boolean {\r\n if (!body || !this._scene || !this._utilityLayer) {\r\n return false;\r\n }\r\n\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numBodies; i++) {\r\n if (this._bodies[i] === body) {\r\n const mesh = this._bodyMeshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n this._numBodies--;\r\n if (this._numBodies > 0) {\r\n this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\r\n this._bodies[i] = this._bodies[this._numBodies];\r\n this._bodyMeshes[this._numBodies] = null;\r\n this._bodies[this._numBodies] = null;\r\n } else {\r\n this._bodyMeshes[0] = null;\r\n this._bodies[0] = null;\r\n }\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numBodies === 0) {\r\n this._scene.unregisterBeforeRender(this._renderFunction);\r\n }\r\n return removed;\r\n }\r\n\r\n /**\r\n * Hides a body's inertia from the viewer utility layer\r\n * @param body the body to hide\r\n * @returns true if inertia actually removed\r\n */\r\n public hideInertia(body: Nullable<PhysicsBody>): boolean {\r\n if (!body || !this._scene || !this._utilityLayer) {\r\n return false;\r\n }\r\n let removed = false;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n for (let i = 0; i < this._numInertiaBodies; i++) {\r\n if (this._inertiaBodies[i] === body) {\r\n const mesh = this._inertiaMeshes[i];\r\n\r\n if (!mesh) {\r\n continue;\r\n }\r\n\r\n utilityLayerScene.removeMesh(mesh);\r\n mesh.dispose();\r\n\r\n this._inertiaBodies.splice(i, 1);\r\n this._inertiaMeshes.splice(i, 1);\r\n\r\n this._numInertiaBodies--;\r\n\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numInertiaBodies === 0) {\r\n this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\r\n }\r\n return removed;\r\n }\r\n\r\n /**\r\n * Hide a physics constraint from the viewer utility layer\r\n * @param constraint the constraint to hide\r\n */\r\n public hideConstraint(constraint: Nullable<PhysicsConstraint>) {\r\n if (!constraint || !this._scene || !this._utilityLayer) {\r\n return;\r\n }\r\n let removed = false;\r\n\r\n for (let i = 0; i < this._numConstraints; i++) {\r\n if (this._constraints[i] === constraint) {\r\n const meshes = this._constraintMeshes[i];\r\n\r\n if (!meshes) {\r\n continue;\r\n }\r\n\r\n for (const mesh of meshes) {\r\n mesh.dispose();\r\n }\r\n\r\n this._constraints.splice(i, 1);\r\n this._constraintMeshes.splice(i, 1);\r\n\r\n this._numConstraints--;\r\n\r\n if (this._numConstraints > 0) {\r\n this._constraints[i] = this._constraints[this._numConstraints];\r\n this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\r\n this._constraints[this._numConstraints] = null;\r\n this._constraintMeshes[this._numConstraints] = null;\r\n } else {\r\n this._constraints[0] = null;\r\n this._constraintMeshes[0] = null;\r\n }\r\n\r\n removed = true;\r\n break;\r\n }\r\n }\r\n\r\n if (removed && this._numConstraints === 0) {\r\n this._scene.unregisterBeforeRender(this._constraintRenderFunction);\r\n }\r\n }\r\n\r\n protected _getDebugMaterial(scene: Scene): Material {\r\n if (!this._debugMaterial) {\r\n this._debugMaterial = new StandardMaterial(\"\", scene);\r\n this._debugMaterial.wireframe = true;\r\n this._debugMaterial.emissiveColor = Color3.White();\r\n this._debugMaterial.disableLighting = true;\r\n }\r\n\r\n return this._debugMaterial;\r\n }\r\n\r\n protected _getDebugInertiaMaterial(scene: Scene): Material {\r\n if (!this._debugInertiaMaterial) {\r\n this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\r\n this._debugInertiaMaterial.disableLighting = true;\r\n this._debugInertiaMaterial.alpha = 0.0;\r\n }\r\n\r\n return this._debugInertiaMaterial;\r\n }\r\n\r\n protected _getDebugAxisColoredMaterial(axisNumber: number, scene: Scene): Material {\r\n const material = new StandardMaterial(\"\", scene);\r\n material.emissiveColor = axisNumber == 0 ? Color3.Red() : axisNumber == 1 ? Color3.Green() : Color3.Blue();\r\n material.disableLighting = true;\r\n return material;\r\n }\r\n\r\n protected _getDebugBoxMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugBoxMesh) {\r\n this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", { size: 1 }, scene);\r\n this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugBoxMesh.material = this._getDebugMaterial(scene);\r\n this._debugBoxMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\r\n }\r\n\r\n protected _getDebugSphereMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugSphereMesh) {\r\n this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", { diameter: 1 }, scene);\r\n this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugSphereMesh.material = this._getDebugMaterial(scene);\r\n this._debugSphereMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\r\n }\r\n\r\n protected _getDebugCapsuleMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugCapsuleMesh) {\r\n this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", { height: 1 } as ICreateCapsuleOptions, scene);\r\n this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\r\n this._debugCapsuleMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\r\n }\r\n\r\n protected _getDebugCylinderMesh(scene: Scene): AbstractMesh {\r\n if (!this._debugCylinderMesh) {\r\n this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", { diameterTop: 1, diameterBottom: 1, height: 1 }, scene);\r\n this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\r\n this._debugCylinderMesh.material = this._getDebugMaterial(scene);\r\n this._debugCylinderMesh.setEnabled(false);\r\n }\r\n\r\n return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\r\n }\r\n\r\n protected _getDebugMeshMesh(mesh: Mesh, scene: Scene): AbstractMesh {\r\n const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\r\n wireframeOver.setParent(mesh);\r\n wireframeOver.position = Vector3.Zero();\r\n wireframeOver.material = this._getDebugMaterial(scene);\r\n\r\n this._debugMeshMeshes.push(wireframeOver);\r\n\r\n return wireframeOver;\r\n }\r\n\r\n protected _getDebugMesh(impostor: PhysicsImpostor, targetMesh?: Mesh): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n\r\n // Only create child impostor debug meshes when evaluating the parent\r\n if (targetMesh && targetMesh.parent && (targetMesh.parent as Mesh).physicsImpostor) {\r\n return null;\r\n }\r\n\r\n let mesh: Nullable<AbstractMesh> = null;\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n if (!impostor.physicsBody) {\r\n Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\r\n return null;\r\n }\r\n switch (impostor.type) {\r\n case PhysicsImpostor.BoxImpostor:\r\n mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n impostor.getBoxSizeToRef(mesh.scaling);\r\n break;\r\n case PhysicsImpostor.SphereImpostor: {\r\n mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n const radius = impostor.getRadius();\r\n mesh.scaling.x = radius * 2;\r\n mesh.scaling.y = radius * 2;\r\n mesh.scaling.z = radius * 2;\r\n break;\r\n }\r\n case PhysicsImpostor.CapsuleImpostor: {\r\n mesh = this._getDebugCapsuleMesh(utilityLayerScene);\r\n const bi = impostor.object.getBoundingInfo();\r\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\r\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\r\n break;\r\n }\r\n case PhysicsImpostor.MeshImpostor:\r\n if (targetMesh) {\r\n mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\r\n }\r\n break;\r\n case PhysicsImpostor.NoImpostor:\r\n if (targetMesh) {\r\n // Handle compound impostors\r\n const childMeshes = targetMesh.getChildMeshes().filter((c) => {\r\n return c.physicsImpostor ? 1 : 0;\r\n });\r\n for (const m of childMeshes) {\r\n if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\r\n const boundingInfo = m.getBoundingInfo();\r\n const min = boundingInfo.boundingBox.minimum;\r\n const max = boundingInfo.boundingBox.maximum;\r\n switch (m.physicsImpostor.type) {\r\n case PhysicsImpostor.BoxImpostor:\r\n mesh = this._getDebugBoxMesh(utilityLayerScene);\r\n mesh.position.copyFrom(min);\r\n mesh.position.addInPlace(max);\r\n mesh.position.scaleInPlace(0.5);\r\n break;\r\n case PhysicsImpostor.SphereImpostor:\r\n mesh = this._getDebugSphereMesh(utilityLayerScene);\r\n break;\r\n case PhysicsImpostor.CylinderImpostor:\r\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n break;\r\n default:\r\n mesh = null;\r\n break;\r\n }\r\n if (mesh) {\r\n mesh.scaling.x = max.x - min.x;\r\n mesh.scaling.y = max.y - min.y;\r\n mesh.scaling.z = max.z - min.z;\r\n mesh.parent = m;\r\n }\r\n }\r\n }\r\n } else {\r\n Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\r\n }\r\n mesh = null;\r\n break;\r\n case PhysicsImpostor.CylinderImpostor: {\r\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\r\n const bi = impostor.object.getBoundingInfo();\r\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\r\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\r\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\r\n break;\r\n }\r\n }\r\n return mesh;\r\n }\r\n\r\n /**\r\n * Creates a debug mesh for a given physics body\r\n * @param body The physics body to create the debug mesh for\r\n * @returns The created debug mesh or null if the utility layer is not available\r\n *\r\n * This code is useful for creating a debug mesh for a given physics body.\r\n * It creates a Mesh object with a VertexData object containing the positions and indices\r\n * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\r\n * This allows for visualizing the physics body in the scene.\r\n */\r\n protected _getDebugBodyMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n const mesh = new Mesh(\"custom\", utilityLayerScene);\r\n const vertexData = new VertexData();\r\n const geometry = body.getGeometry() as any;\r\n vertexData.positions = geometry.positions;\r\n vertexData.indices = geometry.indices;\r\n vertexData.applyToMesh(mesh);\r\n if (body._pluginDataInstances) {\r\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n }\r\n mesh.material = this._getDebugMaterial(utilityLayerScene);\r\n return mesh;\r\n }\r\n\r\n protected _getMeshDebugInertiaMatrixToRef(massProps: PhysicsMassProperties, matrix: Matrix) {\r\n const orientation = massProps.inertiaOrientation ?? Quaternion.Identity();\r\n const inertiaLocal = massProps.inertia ?? Vector3.Zero();\r\n const center = massProps.centerOfMass ?? Vector3.Zero();\r\n\r\n const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\r\n const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\r\n const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\r\n const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\r\n\r\n const extents = TmpVectors.Vector3[0];\r\n extents.set(alpha, beta, gamma);\r\n\r\n const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\r\n const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\r\n const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\r\n\r\n scaling.multiplyToRef(rotation, matrix);\r\n matrix.multiplyToRef(translation, matrix);\r\n\r\n return matrix;\r\n }\r\n\r\n protected _getDebugInertiaMesh(body: PhysicsBody): Nullable<AbstractMesh> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\r\n const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", { size: 1 }, utilityLayerScene);\r\n const matrixRef = Matrix.Identity();\r\n if (body._pluginDataInstances.length) {\r\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\r\n for (let i = 0; i < body._pluginDataInstances.length; ++i) {\r\n const props = body.getMassProperties(i);\r\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n matrixRef.copyToArray(instanceBuffer, i * 16);\r\n }\r\n inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\r\n } else {\r\n const props = body.getMassProperties();\r\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\r\n matrixRef.decomposeToTransformNode(inertiaBoxMesh);\r\n }\r\n inertiaBoxMesh.enableEdgesRendering();\r\n inertiaBoxMesh.edgesWidth = 2.0;\r\n inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\r\n inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\r\n\r\n return inertiaBoxMesh;\r\n }\r\n\r\n protected _getTransformFromBodyToRef(body: PhysicsBody, matrix: Matrix, instanceIndex?: number) {\r\n const tnode = body.transformNode;\r\n if (instanceIndex && instanceIndex >= 0) {\r\n return Matrix.FromArrayToRef((tnode as Mesh)._thinInstanceDataStorage.matrixData!, instanceIndex, matrix);\r\n } else {\r\n return matrix.copyFrom(tnode.getWorldMatrix());\r\n }\r\n }\r\n\r\n protected _createAngularConstraintMesh(minLimit: number, maxLimit: number, axisNumber: number, parent: TransformNode, scene: Scene): TransformNode {\r\n const arcAngle = (maxLimit - minLimit) / (Math.PI * 2);\r\n const mesh = MeshBuilder.CreateCylinder(\"ConstraintCylinder\", { height: 0.0001, diameter: 3 * this._constraintAngularSize, arc: arcAngle }, scene);\r\n const root = new TransformNode(\"angular_root\", scene);\r\n root.metadata = { bodyNode: parent };\r\n mesh.material = this._getDebugAxisColoredMaterial(axisNumber, scene);\r\n parent.getWorldMatrix().decomposeToTransformNode(root);\r\n mesh.parent = root;\r\n const parentScaling = parent.absoluteScaling;\r\n const sc = Math.max((Math.abs(parentScaling.x) + Math.abs(parentScaling.y) + Math.abs(parentScaling.z)) / 3, Epsilon);\r\n const inverseScale = 1 / sc;\r\n mesh.scaling.set(inverseScale, inverseScale, inverseScale);\r\n switch (axisNumber) {\r\n case 0:\r\n mesh.rotation.z = Math.PI * 0.5;\r\n mesh.rotation.x = -minLimit + Math.PI * 0.5;\r\n break;\r\n case 1:\r\n mesh.rotation.y = Math.PI * 1.5 + minLimit;\r\n break;\r\n case 2:\r\n mesh.rotation.x = Math.PI * 0.5;\r\n break;\r\n }\r\n return root;\r\n }\r\n\r\n protected _createCage(parent: TransformNode, scene: Scene): AbstractMesh {\r\n const cage = MeshBuilder.CreateBox(\"cage\", { size: 1 }, scene);\r\n cage.setPivotPoint(new Vector3(-0.5, -0.5, -0.5));\r\n const transparentMaterial = new StandardMaterial(\"cage_material\", scene);\r\n transparentMaterial.alpha = 0; // Fully transparent\r\n cage.material = transparentMaterial;\r\n\r\n cage.enableEdgesRendering();\r\n cage.edgesWidth = 4.0;\r\n cage.edgesColor = new Color4(1, 1, 1, 1);\r\n cage.parent = parent;\r\n return cage;\r\n }\r\n\r\n protected _getDebugConstraintMesh(constraint: PhysicsConstraint): Nullable<Array<TransformNode>> {\r\n if (!this._utilityLayer) {\r\n return null;\r\n }\r\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\r\n\r\n if (!constraint._initOptions) {\r\n return null;\r\n }\r\n\r\n // Get constraint pivot and axes\r\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\r\n\r\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\r\n return null;\r\n }\r\n\r\n // Create a mesh to parent all the constraint debug meshes to\r\n const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\r\n\r\n // First, get a reference to all physic bodies that are using this constraint\r\n const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\r\n\r\n const parentedConstraintMeshes = [];\r\n parentedConstraintMeshes.push(parentingMesh);\r\n\r\n for (const bodyPairInfo of bodiesUsingConstraint) {\r\n // Create a mesh to keep the pair of constraint axes\r\n const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\r\n parentOfPair.parent = parentingMesh;\r\n\r\n const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;\r\n // Get the parent transform\r\n\r\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\r\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\r\n\r\n const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\r\n // parentCoordSystemNode.parent = parentingMesh;\r\n parentCoordSystemNode.parent = parentOfPair;\r\n // Save parent and index here to be able to get the transform on update\r\n parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };\r\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\r\n\r\n const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\r\n // childCoordSystemNode.parent = parentingMesh;\r\n childCoordSystemNode.parent = parentOfPair;\r\n // Save child and index here to be able to get the transform on update\r\n childCoordSystemNode.metadata = { childBody, childBodyIndex };\r\n childTransform.decomposeToTransformNode(childCoordSystemNode);\r\n\r\n // Get the transform to align the XYZ axes to the constraint axes\r\n const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\r\n const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\r\n\r\n const translateTransformParent = pivotA;\r\n const translateTransformChild = pivotB;\r\n\r\n // Create a transform node and set its matrix\r\n const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\r\n parentTransformNode.position.copyFrom(translateTransformParent);\r\n parentTransformNode.rotationQuaternion = rotTransformParent;\r\n parentTransformNode.parent = parentCoordSystemNode;\r\n\r\n const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\r\n childTransformNode.parent = childCoordSystemNode;\r\n childTransformNode.position.copyFrom(translateTransformChild);\r\n childTransformNode.rotationQuaternion = rotTransformChild;\r\n\r\n // Create axes for the constraint\r\n const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n parentAxes.xAxis.parent = parentTransformNode;\r\n // parentAxes.xAxis.isPi\r\n parentAxes.yAxis.parent = parentTransformNode;\r\n parentAxes.zAxis.parent = parentTransformNode;\r\n\r\n const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\r\n childAxes.xAxis.parent = childTransformNode;\r\n childAxes.yAxis.parent = childTransformNode;\r\n childAxes.zAxis.parent = childTransformNode;\r\n\r\n // constrain vis\r\n const engine = this._physicsEnginePlugin! as IPhysicsEnginePluginV2;\r\n\r\n const constraintAxisAngular = [PhysicsConstraintAxis.ANGULAR_X, PhysicsConstraintAxis.ANGULAR_Y, PhysicsConstraintAxis.ANGULAR_Z];\r\n const constraintAxisLinear = [PhysicsConstraintAxis.LINEAR_X, PhysicsConstraintAxis.LINEAR_Y, PhysicsConstraintAxis.LINEAR_Z];\r\n const constraintAxis = [constraintAxisAngular, constraintAxisLinear];\r\n\r\n // count axis. Angular and Linear\r\n const lockCount = [0, 0];\r\n for (let angularLinear = 0; angularLinear < 2; angularLinear++) {\r\n for (let axis = 0; axis < 3; axis++) {\r\n const constraintAxisValue = constraintAxis[angularLinear][axis];\r\n const axisMode = engine.getAxisMode(constraint, constraintAxisValue);\r\n if (axisMode == PhysicsConstraintAxisLimitMode.LOCKED) {\r\n lockCount[angularLinear]++;\r\n }\r\n }\r\n }\r\n\r\n // Any free/limited Linear axis\r\n if (lockCount[1] != 3) {\r\n const cage = this._createCage(parentTransformNode, utilityLayerScene);\r\n\r\n const min = TmpVectors.Vector3[0];\r\n const max = TmpVectors.Vector3[1];\r\n const limited = [false, false, false];\r\n\r\n limited[0] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_X) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n limited[1] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Y) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n limited[2] = engine.getAxisMode(constraint, PhysicsConstraintAxis.LINEAR_Z) == PhysicsConstraintAxisLimitMode.LIMITED;\r\n\r\n min.x = limited[0] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n max.x = limited[0] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_X)! : 0;\r\n min.y = limited[1] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n max.y = limited[1] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Y)! : 0;\r\n min.z = limited[2] ? engine.getAxisMinLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n max.z = limited[2] ? engine.getAxisMaxLimit(constraint, PhysicsConstraintAxis.LINEAR_Z)! : 0;\r\n\r\n cage.position.x = min.x + 0.5;\r\n cage.position.y = min.y + 0.5;\r\n cage.position.z = min.z + 0.5;\r\n\r\n cage.scaling.x = max.x - min.x + Epsilon;\r\n cage.scaling.y = max.y - min.y + Epsilon;\r\n cage.scaling.z = max.z - min.z + Epsilon;\r\n parentedConstraintMeshes.push(cage);\r\n }\r\n\r\n // Angular\r\n if (lockCount[0] != 3) {\r\n for (let axisIndex = 0; axisIndex < 3; axisIndex++) {\r\n const axis = constraintAxisAngular[axisIndex];\r\n const axisMode = engine.getAxisMode(constraint, axis);\r\n let minLimit = 0;\r\n let maxLimit = Math.PI * 2;\r\n if (axisMode == PhysicsConstraintAxisLimitMode.LIMITED) {\r\n minLimit = engine.getAxisMinLimit(constraint, axis)!;\r\n maxLimit = engine.getAxisMaxLimit(constraint, axis)!;\r\n }\r\n if (axisMode != PhysicsConstraintAxisLimitMode.LOCKED && constraint.options.pivotB) {\r\n const mesh = this._createAngularConstraintMesh(minLimit, maxLimit, axisIndex, childBody.transformNode, utilityLayerScene);\r\n mesh.position.copyFrom(constraint.options.pivotB);\r\n parentedConstraintMeshes.push(mesh);\r\n }\r\n }\r\n }\r\n }\r\n\r\n return parentedConstraintMeshes;\r\n }\r\n\r\n /**\r\n * Clean up physics debug display\r\n */\r\n public dispose() {\r\n // impostors\r\n for (let index = this._numMeshes - 1; index >= 0; index--) {\r\n this.hideImpostor(this._impostors[0]);\r\n }\r\n // bodies\r\n for (let index = this._numBodies - 1; index >= 0; index--) {\r\n this.hideBody(this._bodies[0]);\r\n }\r\n // inertia\r\n for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\r\n this.hideInertia(this._inertiaBodies[0]);\r\n }\r\n\r\n for (let index = this._numConstraints - 1; index >= 0; index--) {\r\n this.hideConstraint(this._constraints[0]);\r\n }\r\n\r\n if (this._debugBoxMesh) {\r\n this._debugBoxMesh.dispose();\r\n }\r\n if (this._debugSphereMesh) {\r\n this._debugSphereMesh.dispose();\r\n }\r\n if (this._debugCylinderMesh) {\r\n this._debugCylinderMesh.dispose();\r\n }\r\n if (this._debugMaterial) {\r\n this._debugMaterial.dispose();\r\n }\r\n\r\n this._impostors.length = 0;\r\n this._scene = null;\r\n this._physicsEnginePlugin = null;\r\n\r\n if (this._ownUtilityLayer && this._utilityLayer) {\r\n this._utilityLayer.dispose();\r\n this._utilityLayer = null;\r\n }\r\n }\r\n}\r\n"]}
package/Physics/v2/characterController.d.ts CHANGED
@@ -260,42 +260,12 @@ export declare class PhysicsCharacterController {
260
260
  * default 0.5
261
261
  */
262
262
  stepHeight: number;
263
- /**
264
- * The normal threshold for ground detection during step up.
265
- * Used to determine if a contact surface is ground-like (facing upward).
266
- * Value is the cosine of the maximum angle from vertical.
267
- * For example, 0.5 means surfaces with angle less than 60 degrees from vertical are considered ground.
268
- * default 0.5
269
- */
270
- stepGroundNormalThreshold: number;
271
- /**
272
- * The ratio of stepHeight used for checking height during step up.
273
- * Determines at what fraction of the step height to perform the obstruction check.
274
- * For example, 0.5 means check at half the step height.
275
- * default 0.5
276
- */
277
- stepUpCheckHeightRatio: number;
278
- /**
279
- * The minimum distance to check for step up obstruction.
280
- * This prevents the character from trying to step up when the obstruction is too close.
281
- * default 0.1
282
- */
283
- stepUpCheckDistance: number;
284
- /**
285
- * The ratio of horizontal displacement to check after stepping up.
286
- * Determines how far forward to check for clearance after stepping up.
287
- * For example, 0.5 means check half the step check distance forward.
288
- * default 0.5
289
- */
290
- stepUpCheckHorizontalRatio: number;
291
263
  /**
292
264
  * Observable for trigger entered and trigger exited events
293
265
  */
294
266
  onTriggerCollisionObservable: Observable<ICharacterControllerCollisionEvent>;
295
267
  private _startCollector;
296
268
  private _castCollector;
297
- private _stepCollector;
298
- private _stepUpCollector;
299
269
  private _displacementEps;
300
270
  /**
301
271
  * The transformNode of the controller
@@ -385,8 +355,6 @@ export declare class PhysicsCharacterController {
385
355
  body: PhysicsBody;
386
356
  index: number;
387
357
  }): number;
388
- protected _hasGroundContact(): boolean;
389
- protected _tryStepUp(deltaTime: number, displacement: Vector3, stepOffset: number): boolean;
390
358
  protected _integrateManifolds(deltaTime: number, gravity: Vector3): void;
391
359
  /**
392
360
  * Move the character with collisions