@onerjs/core 9.0.0 → 9.0.1

package/Physics/v2/ragdoll.d.ts

@@ -35,11 +35,11 @@ export declare class RagdollBoneProperties {
      */
     rotationAxis?: Vector3;
     /**
-     * Minimum rotation angle value
+     * Minimum rotation angle around `rotationAxis`, in radians. Used by hinge and ball and socket joints.
      */
     min?: number;
     /**
-     * Maximum rotation angle value
+     * Maximum rotation angle around `rotationAxis`, in radians. Used by hinge and ball and socket joints.
      */
     max?: number;
     /**
@@ -80,8 +80,6 @@ export declare class Ragdoll {
     pauseSync: boolean;
     private _putBoxesInBoneCenter;
     private _defaultJoint;
-    private _defaultJointMin;
-    private _defaultJointMax;
     /**
      * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method
      * @param skeleton The skeleton containing bones to be physicalized

package/Physics/v2/ragdoll.js

@@ -42,8 +42,6 @@ export class Ragdoll {
          */
         this.pauseSync = false;
         this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;
-        this._defaultJointMin = -90;
-        this._defaultJointMax = 90;
         this._skeleton = skeleton;
         this._scene = skeleton.getScene();
         this._rootTransformNode = rootTransformNode;
@@ -97,8 +95,8 @@ export class Ragdoll {
                 // Define the rest of the box properties.
                 currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;
                 currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;
-                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;
-                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;
+                currentRagdollBoneProperties.min = config[i].min;
+                currentRagdollBoneProperties.max = config[i].max;
                 // Offset value.
                 let boxOffset = 0;
                 if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {
@@ -165,6 +163,15 @@ export class Ragdoll {
                 collision: false,
             }, this._scene);
             this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, constraint);
+            // min and max limit the rotation around rotationAxis, which is the constraint X axis.
+            const { min, max } = this._boxConfigs[i];
+            const isLimitable = constraintType === 3 /* PhysicsConstraintType.HINGE */ || constraintType === 1 /* PhysicsConstraintType.BALL_AND_SOCKET */;
+            if (isLimitable && (min !== undefined || max !== undefined)) {
+                const plugin = this._scene.getPhysicsEngine().getPhysicsPlugin();
+                plugin.setAxisMode(constraint, 3 /* PhysicsConstraintAxis.ANGULAR_X */, 1 /* PhysicsConstraintAxisLimitMode.LIMITED */);
+                plugin.setAxisMinLimit(constraint, 3 /* PhysicsConstraintAxis.ANGULAR_X */, min ?? -Math.PI);
+                plugin.setAxisMaxLimit(constraint, 3 /* PhysicsConstraintAxis.ANGULAR_X */, max ?? Math.PI);
+            }
             constraint.isEnabled = false;
             this._constraints.push(constraint);
         }

package/Physics/v2/ragdoll.js.map

@@ -1 +1 @@
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{ type Skeleton } from \"../../Bones/skeleton\";\r\nimport { Vector3, Matrix, TmpVectors, Quaternion } from \"../../Maths/math.vector.pure\";\r\nimport { type Scene } from \"../../scene\";\r\nimport { PhysicsAggregate } from \"./physicsAggregate\";\r\nimport { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport { type Mesh } from \"../../Meshes/mesh\";\r\nimport { Axis, Space } from \"../../Maths/math.axis\";\r\nimport { PhysicsShapeType, PhysicsConstraintType, PhysicsMotionType } from \"./IPhysicsEnginePlugin\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { type Bone } from \"../../Bones/bone\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { TransformNode } from \"../../Meshes/transformNode.pure\";\r\nimport { type Observer } from \"../../Misc/observable\";\r\n\r\n/**\r\n * Ragdoll bone properties\r\n * @experimental\r\n */\r\nexport class RagdollBoneProperties {\r\n    /**\r\n     * Width of the box shape\r\n     */\r\n    width?: number;\r\n    /**\r\n     * depth of the box shape\r\n     */\r\n    depth?: number;\r\n    /**\r\n     * height of the box shape\r\n     */\r\n    height?: number;\r\n    /**\r\n     * size that will be used of width, depth and height of the shape box\r\n     */\r\n    size?: number;\r\n    /**\r\n     * Type of Physics Constraint used between bones\r\n     */\r\n    joint?: number | undefined | PhysicsConstraintType;\r\n    /**\r\n     * Main rotation axis used by the constraint, in local space\r\n     */\r\n    rotationAxis?: Vector3;\r\n    /**\r\n     * Minimum rotation angle value\r\n     */\r\n    min?: number;\r\n    /**\r\n     * Maximum rotation angle value\r\n     */\r\n    max?: number;\r\n    /**\r\n     * Offset along local axis\r\n     */\r\n    boxOffset?: number;\r\n    /**\r\n     * Axis that need an offset\r\n     */\r\n    boneOffsetAxis?: Vector3;\r\n}\r\n\r\n/**\r\n * Ragdoll for Physics V2\r\n * @experimental\r\n */\r\nexport class Ragdoll {\r\n    private _skeleton: Skeleton;\r\n    private _scene: Scene;\r\n    private _rootTransformNode: Mesh | TransformNode;\r\n    private _config: any;\r\n    private _boxConfigs: Array<RagdollBoneProperties> = new Array<RagdollBoneProperties>();\r\n    private _constraints: Array<PhysicsConstraint> = new Array<PhysicsConstraint>();\r\n    private _bones: Array<Bone> = new Array<Bone>();\r\n    private _initialRotation: Array<Quaternion> = new Array<Quaternion>();\r\n    // without mesh transform, to figure out later\r\n    private _initialRotation2: Array<Quaternion> = new Array<Quaternion>();\r\n    private _boneNames: string[] = [];\r\n    private _transforms: Array<TransformNode> = new Array<TransformNode>();\r\n    private _aggregates: Array<PhysicsAggregate> = new Array<PhysicsAggregate>();\r\n    private _ragdollMode: boolean = false;\r\n    private _rootBoneName: string = \"\";\r\n    private _rootBoneIndex: number = -1;\r\n    private _mass: number = 10;\r\n    private _restitution: number = 0;\r\n    private _beforeRenderObserver: Nullable<Observer<Scene>> = null;\r\n\r\n    /**\r\n     * Pause synchronization between physics and bone position/orientation\r\n     */\r\n    public pauseSync: boolean = false;\r\n\r\n    private _putBoxesInBoneCenter: boolean;\r\n    private _defaultJoint: number = PhysicsConstraintType.HINGE;\r\n    private _defaultJointMin: number = -90;\r\n    private _defaultJointMax: number = 90;\r\n\r\n    /**\r\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\r\n     * @param skeleton The skeleton containing bones to be physicalized\r\n     * @param rootTransformNode The mesh or its transform used by the skeleton\r\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\r\n     */\r\n    constructor(skeleton: Skeleton, rootTransformNode: Mesh | TransformNode, config: RagdollBoneProperties[]) {\r\n        this._skeleton = skeleton;\r\n        this._scene = skeleton.getScene();\r\n        this._rootTransformNode = rootTransformNode;\r\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\r\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\r\n        this._putBoxesInBoneCenter = false;\r\n        this._defaultJoint = PhysicsConstraintType.HINGE;\r\n\r\n        this._init();\r\n    }\r\n\r\n    /**\r\n     * returns an array of created constraints\r\n     * @returns array of created constraints\r\n     */\r\n    public getConstraints(): Array<PhysicsConstraint> {\r\n        return this._constraints;\r\n    }\r\n\r\n    /**\r\n     * Returns the aggregate corresponding to the ragdoll bone index\r\n     * @param index ragdoll bone aggregate index\r\n     * @returns the aggregate for the bone index for the root aggregate if index is invalid\r\n     */\r\n    public getAggregate(index: number): PhysicsAggregate {\r\n        if (index < 0 || index >= this._aggregates.length) {\r\n            return this._aggregates[this._rootBoneIndex];\r\n        }\r\n        return this._aggregates[index];\r\n    }\r\n\r\n    private _createColliders(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        this._skeleton.computeAbsoluteMatrices(true);\r\n        this._skeleton.prepare(true);\r\n\r\n        const config = this._config;\r\n        for (let i = 0; i < config.length; i++) {\r\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\r\n\r\n            for (let ii = 0; ii < boneNames.length; ii++) {\r\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\r\n                if (currentBone == undefined) {\r\n                    return;\r\n                }\r\n\r\n                // First define the box dimensions, so we can then use them when calling CreateBox().\r\n                const currentRagdollBoneProperties: RagdollBoneProperties = {\r\n                    width: this._config[i].width,\r\n                    depth: this._config[i].depth,\r\n                    height: this._config[i].height,\r\n                    size: this._config[i].size,\r\n                };\r\n\r\n                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\r\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\r\n\r\n                // Define the rest of the box properties.\r\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\r\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\r\n                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\r\n                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\r\n\r\n                // Offset value.\r\n                let boxOffset = 0;\r\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\r\n                    if (currentBone.length === undefined) {\r\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\r\n                    }\r\n                    boxOffset = currentBone.length / 2;\r\n                } else if (config[i].boxOffset !== undefined) {\r\n                    boxOffset = config[i].boxOffset;\r\n                }\r\n                currentRagdollBoneProperties.boxOffset = boxOffset;\r\n\r\n                // Offset axis.\r\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;\r\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);\r\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\r\n\r\n                transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));\r\n\r\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\r\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\r\n                const aggregate = new PhysicsAggregate(\r\n                    transform,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                        extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\r\n                    },\r\n                    this._scene\r\n                );\r\n                aggregate.body.setCollisionCallbackEnabled(true);\r\n                aggregate.body.disablePreStep = false;\r\n                aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                this._aggregates.push(aggregate);\r\n                this._bones.push(currentBone);\r\n                this._boneNames.push(currentBone.name);\r\n                this._transforms.push(transform);\r\n                this._boxConfigs.push(currentRagdollBoneProperties);\r\n                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._rootTransformNode));\r\n                this._initialRotation2.push(currentBone.getRotationQuaternion(Space.WORLD));\r\n            }\r\n        }\r\n    }\r\n\r\n    private _initJoints(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // The root bone has no joints.\r\n            if (i == this._rootBoneIndex) {\r\n                continue;\r\n            }\r\n\r\n            const nearestParent = this._findNearestParent(i);\r\n\r\n            if (nearestParent == null) {\r\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\r\n                return;\r\n            }\r\n\r\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\r\n\r\n            const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\r\n            const invertedWorldMat = Matrix.Invert(wmat);\r\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);\r\n            const distanceFromParentBoxToBone = Vector3.TransformCoordinates(boneAbsPos, invertedWorldMat);\r\n            const boxAbsPos = this._transforms[i].position.clone();\r\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\r\n\r\n            const constraintType = this._boxConfigs[i].joint ?? this._defaultJoint;\r\n            const constraint = new PhysicsConstraint(\r\n                constraintType,\r\n                {\r\n                    pivotA: distanceFromParentBoxToBone,\r\n                    pivotB: myConnectedPivot,\r\n                    axisA: this._boxConfigs[i].rotationAxis!,\r\n                    axisB: this._boxConfigs[i].rotationAxis!,\r\n                    collision: false,\r\n                },\r\n                this._scene\r\n            );\r\n\r\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, constraint);\r\n            constraint.isEnabled = false;\r\n            this._constraints.push(constraint);\r\n        }\r\n    }\r\n\r\n    // set physics body orientation/position from bones\r\n    private _syncBonesToPhysics(): void {\r\n        const rootMatrix = this._rootTransformNode.getWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // position\r\n            const transform = this._aggregates[i].transformNode;\r\n            const rootPos = this._bones[i].getAbsolutePosition();\r\n            Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);\r\n\r\n            // added offset\r\n            this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis!, this._rootTransformNode, TmpVectors.Vector3[0]);\r\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[i].boxOffset ?? 0);\r\n            transform.position.addInPlace(TmpVectors.Vector3[0]);\r\n\r\n            this._setBoneOrientationToBody(i);\r\n        }\r\n    }\r\n\r\n    private _setBoneOrientationToBody(boneIndex: number): void {\r\n        const transform = this._aggregates[boneIndex].transformNode;\r\n        const bone = this._bones[boneIndex];\r\n        this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);\r\n        bone.getRotationQuaternionToRef(Space.WORLD, this._rootTransformNode, TmpVectors.Quaternion[1]);\r\n        TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion!);\r\n        transform.rotationQuaternion!.normalize();\r\n    }\r\n\r\n    private _syncBonesAndBoxes(): void {\r\n        if (this.pauseSync) {\r\n            return;\r\n        }\r\n\r\n        if (this._ragdollMode) {\r\n            this._setBodyOrientationToBone(this._rootBoneIndex);\r\n\r\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\r\n            this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);\r\n\r\n            Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);\r\n\r\n            for (let i = 0; i < this._bones.length; i++) {\r\n                if (i == this._rootBoneIndex) {\r\n                    continue;\r\n                }\r\n                this._setBodyOrientationToBone(i);\r\n            }\r\n        } else {\r\n            this._syncBonesToPhysics();\r\n        }\r\n    }\r\n\r\n    private _setBodyOrientationToBone(boneIndex: number): void {\r\n        const qmesh =\r\n            this._rootTransformNode.rotationQuaternion ??\r\n            Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);\r\n        const qbind = this._initialRotation2[boneIndex];\r\n        const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion;\r\n\r\n        qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\r\n        qphys?.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\r\n\r\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._rootTransformNode);\r\n    }\r\n\r\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\r\n    private _defineRootBone(): boolean {\r\n        const skeletonRoots = this._skeleton.getChildren();\r\n        if (skeletonRoots.length != 1) {\r\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\r\n            return false;\r\n        }\r\n\r\n        this._rootBoneName = skeletonRoots[0].name;\r\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\r\n        if (this._rootBoneIndex == -1) {\r\n            // eslint-disable-next-line @typescript-eslint/restrict-plus-operands, @typescript-eslint/no-base-to-string\r\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private _findNearestParent(boneIndex: number): any {\r\n        let nearestParent: Nullable<Bone> | undefined = this._bones[boneIndex].getParent();\r\n        do {\r\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\r\n                break;\r\n            }\r\n\r\n            nearestParent = nearestParent?.getParent();\r\n        } while (nearestParent != null);\r\n\r\n        return nearestParent;\r\n    }\r\n\r\n    private _init() {\r\n        this._createColliders();\r\n\r\n        // If this.defineRootBone() returns ... there is not root bone.\r\n        if (!this._defineRootBone()) {\r\n            return;\r\n        }\r\n\r\n        this._initJoints();\r\n        this._beforeRenderObserver = this._scene.onBeforeRenderObservable.add(() => {\r\n            this._syncBonesAndBoxes();\r\n        });\r\n        this._syncBonesToPhysics();\r\n    }\r\n\r\n    /**\r\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\r\n     */\r\n    public ragdoll(): void {\r\n        this._ragdollMode = true;\r\n        // detach bones with link transform to let physics have control\r\n        for (const bone of this._skeleton.bones) {\r\n            bone.linkTransformNode(null);\r\n        }\r\n        for (let i = 0; i < this._constraints.length; i++) {\r\n            this._constraints[i].isEnabled = true;\r\n        }\r\n        for (let i = 0; i < this._aggregates.length; i++) {\r\n            this._aggregates[i].body.setMotionType(PhysicsMotionType.DYNAMIC);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Dispose resources and remove physics objects\r\n     */\r\n    dispose(): void {\r\n        for (const aggregate of this._aggregates) {\r\n            aggregate.dispose();\r\n        }\r\n        this._aggregates.length = 0;\r\n        for (const transform of this._transforms) {\r\n            transform.dispose();\r\n        }\r\n        this._transforms.length = 0;\r\n        for (const constraint of this._constraints) {\r\n            constraint.dispose();\r\n        }\r\n        this._constraints.length = 0;\r\n\r\n        if (this._beforeRenderObserver) {\r\n            this._scene.onBeforeRenderObservable.remove(this._beforeRenderObserver);\r\n            this._beforeRenderObserver = null;\r\n        }\r\n    }\r\n}\r\n"]}
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{ type Skeleton } from \"../../Bones/skeleton\";\r\nimport { Vector3, Matrix, TmpVectors, Quaternion } from \"../../Maths/math.vector.pure\";\r\nimport { type Scene } from \"../../scene\";\r\nimport { PhysicsAggregate } from \"./physicsAggregate\";\r\nimport { PhysicsConstraint } from \"./physicsConstraint\";\r\nimport { type Mesh } from \"../../Meshes/mesh\";\r\nimport { Axis, Space } from \"../../Maths/math.axis\";\r\nimport {\r\n    PhysicsShapeType,\r\n    PhysicsConstraintType,\r\n    PhysicsMotionType,\r\n    PhysicsConstraintAxis,\r\n    PhysicsConstraintAxisLimitMode,\r\n    type IPhysicsEnginePluginV2,\r\n} from \"./IPhysicsEnginePlugin\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { type Bone } from \"../../Bones/bone\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { TransformNode } from \"../../Meshes/transformNode.pure\";\r\nimport { type Observer } from \"../../Misc/observable\";\r\n\r\n/**\r\n * Ragdoll bone properties\r\n * @experimental\r\n */\r\nexport class RagdollBoneProperties {\r\n    /**\r\n     * Width of the box shape\r\n     */\r\n    width?: number;\r\n    /**\r\n     * depth of the box shape\r\n     */\r\n    depth?: number;\r\n    /**\r\n     * height of the box shape\r\n     */\r\n    height?: number;\r\n    /**\r\n     * size that will be used of width, depth and height of the shape box\r\n     */\r\n    size?: number;\r\n    /**\r\n     * Type of Physics Constraint used between bones\r\n     */\r\n    joint?: number | undefined | PhysicsConstraintType;\r\n    /**\r\n     * Main rotation axis used by the constraint, in local space\r\n     */\r\n    rotationAxis?: Vector3;\r\n    /**\r\n     * Minimum rotation angle around `rotationAxis`, in radians. Used by hinge and ball and socket joints.\r\n     */\r\n    min?: number;\r\n    /**\r\n     * Maximum rotation angle around `rotationAxis`, in radians. Used by hinge and ball and socket joints.\r\n     */\r\n    max?: number;\r\n    /**\r\n     * Offset along local axis\r\n     */\r\n    boxOffset?: number;\r\n    /**\r\n     * Axis that need an offset\r\n     */\r\n    boneOffsetAxis?: Vector3;\r\n}\r\n\r\n/**\r\n * Ragdoll for Physics V2\r\n * @experimental\r\n */\r\nexport class Ragdoll {\r\n    private _skeleton: Skeleton;\r\n    private _scene: Scene;\r\n    private _rootTransformNode: Mesh | TransformNode;\r\n    private _config: any;\r\n    private _boxConfigs: Array<RagdollBoneProperties> = new Array<RagdollBoneProperties>();\r\n    private _constraints: Array<PhysicsConstraint> = new Array<PhysicsConstraint>();\r\n    private _bones: Array<Bone> = new Array<Bone>();\r\n    private _initialRotation: Array<Quaternion> = new Array<Quaternion>();\r\n    // without mesh transform, to figure out later\r\n    private _initialRotation2: Array<Quaternion> = new Array<Quaternion>();\r\n    private _boneNames: string[] = [];\r\n    private _transforms: Array<TransformNode> = new Array<TransformNode>();\r\n    private _aggregates: Array<PhysicsAggregate> = new Array<PhysicsAggregate>();\r\n    private _ragdollMode: boolean = false;\r\n    private _rootBoneName: string = \"\";\r\n    private _rootBoneIndex: number = -1;\r\n    private _mass: number = 10;\r\n    private _restitution: number = 0;\r\n    private _beforeRenderObserver: Nullable<Observer<Scene>> = null;\r\n\r\n    /**\r\n     * Pause synchronization between physics and bone position/orientation\r\n     */\r\n    public pauseSync: boolean = false;\r\n\r\n    private _putBoxesInBoneCenter: boolean;\r\n    private _defaultJoint: number = PhysicsConstraintType.HINGE;\r\n\r\n    /**\r\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\r\n     * @param skeleton The skeleton containing bones to be physicalized\r\n     * @param rootTransformNode The mesh or its transform used by the skeleton\r\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\r\n     */\r\n    constructor(skeleton: Skeleton, rootTransformNode: Mesh | TransformNode, config: RagdollBoneProperties[]) {\r\n        this._skeleton = skeleton;\r\n        this._scene = skeleton.getScene();\r\n        this._rootTransformNode = rootTransformNode;\r\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\r\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\r\n        this._putBoxesInBoneCenter = false;\r\n        this._defaultJoint = PhysicsConstraintType.HINGE;\r\n\r\n        this._init();\r\n    }\r\n\r\n    /**\r\n     * returns an array of created constraints\r\n     * @returns array of created constraints\r\n     */\r\n    public getConstraints(): Array<PhysicsConstraint> {\r\n        return this._constraints;\r\n    }\r\n\r\n    /**\r\n     * Returns the aggregate corresponding to the ragdoll bone index\r\n     * @param index ragdoll bone aggregate index\r\n     * @returns the aggregate for the bone index for the root aggregate if index is invalid\r\n     */\r\n    public getAggregate(index: number): PhysicsAggregate {\r\n        if (index < 0 || index >= this._aggregates.length) {\r\n            return this._aggregates[this._rootBoneIndex];\r\n        }\r\n        return this._aggregates[index];\r\n    }\r\n\r\n    private _createColliders(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        this._skeleton.computeAbsoluteMatrices(true);\r\n        this._skeleton.prepare(true);\r\n\r\n        const config = this._config;\r\n        for (let i = 0; i < config.length; i++) {\r\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\r\n\r\n            for (let ii = 0; ii < boneNames.length; ii++) {\r\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\r\n                if (currentBone == undefined) {\r\n                    return;\r\n                }\r\n\r\n                // First define the box dimensions, so we can then use them when calling CreateBox().\r\n                const currentRagdollBoneProperties: RagdollBoneProperties = {\r\n                    width: this._config[i].width,\r\n                    depth: this._config[i].depth,\r\n                    height: this._config[i].height,\r\n                    size: this._config[i].size,\r\n                };\r\n\r\n                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\r\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\r\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\r\n\r\n                // Define the rest of the box properties.\r\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\r\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\r\n                currentRagdollBoneProperties.min = config[i].min;\r\n                currentRagdollBoneProperties.max = config[i].max;\r\n\r\n                // Offset value.\r\n                let boxOffset = 0;\r\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\r\n                    if (currentBone.length === undefined) {\r\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\r\n                    }\r\n                    boxOffset = currentBone.length / 2;\r\n                } else if (config[i].boxOffset !== undefined) {\r\n                    boxOffset = config[i].boxOffset;\r\n                }\r\n                currentRagdollBoneProperties.boxOffset = boxOffset;\r\n\r\n                // Offset axis.\r\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;\r\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);\r\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\r\n\r\n                transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));\r\n\r\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\r\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\r\n                const aggregate = new PhysicsAggregate(\r\n                    transform,\r\n                    PhysicsShapeType.BOX,\r\n                    {\r\n                        mass: mass,\r\n                        restitution: restitution,\r\n                        friction: 0.6,\r\n                        extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\r\n                    },\r\n                    this._scene\r\n                );\r\n                aggregate.body.setCollisionCallbackEnabled(true);\r\n                aggregate.body.disablePreStep = false;\r\n                aggregate.body.setMotionType(PhysicsMotionType.ANIMATED);\r\n                this._aggregates.push(aggregate);\r\n                this._bones.push(currentBone);\r\n                this._boneNames.push(currentBone.name);\r\n                this._transforms.push(transform);\r\n                this._boxConfigs.push(currentRagdollBoneProperties);\r\n                this._initialRotation.push(currentBone.getRotationQuaternion(Space.WORLD, this._rootTransformNode));\r\n                this._initialRotation2.push(currentBone.getRotationQuaternion(Space.WORLD));\r\n            }\r\n        }\r\n    }\r\n\r\n    private _initJoints(): void {\r\n        this._rootTransformNode.computeWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // The root bone has no joints.\r\n            if (i == this._rootBoneIndex) {\r\n                continue;\r\n            }\r\n\r\n            const nearestParent = this._findNearestParent(i);\r\n\r\n            if (nearestParent == null) {\r\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\r\n                return;\r\n            }\r\n\r\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\r\n\r\n            const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\r\n            const invertedWorldMat = Matrix.Invert(wmat);\r\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);\r\n            const distanceFromParentBoxToBone = Vector3.TransformCoordinates(boneAbsPos, invertedWorldMat);\r\n            const boxAbsPos = this._transforms[i].position.clone();\r\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\r\n\r\n            const constraintType = this._boxConfigs[i].joint ?? this._defaultJoint;\r\n            const constraint = new PhysicsConstraint(\r\n                constraintType,\r\n                {\r\n                    pivotA: distanceFromParentBoxToBone,\r\n                    pivotB: myConnectedPivot,\r\n                    axisA: this._boxConfigs[i].rotationAxis!,\r\n                    axisB: this._boxConfigs[i].rotationAxis!,\r\n                    collision: false,\r\n                },\r\n                this._scene\r\n            );\r\n\r\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, constraint);\r\n\r\n            // min and max limit the rotation around rotationAxis, which is the constraint X axis.\r\n            const { min, max } = this._boxConfigs[i];\r\n            const isLimitable = constraintType === PhysicsConstraintType.HINGE || constraintType === PhysicsConstraintType.BALL_AND_SOCKET;\r\n            if (isLimitable && (min !== undefined || max !== undefined)) {\r\n                const plugin = this._scene.getPhysicsEngine()!.getPhysicsPlugin() as IPhysicsEnginePluginV2;\r\n                plugin.setAxisMode(constraint, PhysicsConstraintAxis.ANGULAR_X, PhysicsConstraintAxisLimitMode.LIMITED);\r\n                plugin.setAxisMinLimit(constraint, PhysicsConstraintAxis.ANGULAR_X, min ?? -Math.PI);\r\n                plugin.setAxisMaxLimit(constraint, PhysicsConstraintAxis.ANGULAR_X, max ?? Math.PI);\r\n            }\r\n            constraint.isEnabled = false;\r\n            this._constraints.push(constraint);\r\n        }\r\n    }\r\n\r\n    // set physics body orientation/position from bones\r\n    private _syncBonesToPhysics(): void {\r\n        const rootMatrix = this._rootTransformNode.getWorldMatrix();\r\n        for (let i = 0; i < this._bones.length; i++) {\r\n            // position\r\n            const transform = this._aggregates[i].transformNode;\r\n            const rootPos = this._bones[i].getAbsolutePosition();\r\n            Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);\r\n\r\n            // added offset\r\n            this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis!, this._rootTransformNode, TmpVectors.Vector3[0]);\r\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[i].boxOffset ?? 0);\r\n            transform.position.addInPlace(TmpVectors.Vector3[0]);\r\n\r\n            this._setBoneOrientationToBody(i);\r\n        }\r\n    }\r\n\r\n    private _setBoneOrientationToBody(boneIndex: number): void {\r\n        const transform = this._aggregates[boneIndex].transformNode;\r\n        const bone = this._bones[boneIndex];\r\n        this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);\r\n        bone.getRotationQuaternionToRef(Space.WORLD, this._rootTransformNode, TmpVectors.Quaternion[1]);\r\n        TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion!);\r\n        transform.rotationQuaternion!.normalize();\r\n    }\r\n\r\n    private _syncBonesAndBoxes(): void {\r\n        if (this.pauseSync) {\r\n            return;\r\n        }\r\n\r\n        if (this._ragdollMode) {\r\n            this._setBodyOrientationToBone(this._rootBoneIndex);\r\n\r\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\r\n            this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);\r\n\r\n            Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);\r\n            this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);\r\n\r\n            for (let i = 0; i < this._bones.length; i++) {\r\n                if (i == this._rootBoneIndex) {\r\n                    continue;\r\n                }\r\n                this._setBodyOrientationToBone(i);\r\n            }\r\n        } else {\r\n            this._syncBonesToPhysics();\r\n        }\r\n    }\r\n\r\n    private _setBodyOrientationToBone(boneIndex: number): void {\r\n        const qmesh =\r\n            this._rootTransformNode.rotationQuaternion ??\r\n            Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);\r\n        const qbind = this._initialRotation2[boneIndex];\r\n        const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion;\r\n\r\n        qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\r\n        qphys?.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\r\n\r\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], Space.WORLD, this._rootTransformNode);\r\n    }\r\n\r\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\r\n    private _defineRootBone(): boolean {\r\n        const skeletonRoots = this._skeleton.getChildren();\r\n        if (skeletonRoots.length != 1) {\r\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\r\n            return false;\r\n        }\r\n\r\n        this._rootBoneName = skeletonRoots[0].name;\r\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\r\n        if (this._rootBoneIndex == -1) {\r\n            // eslint-disable-next-line @typescript-eslint/restrict-plus-operands, @typescript-eslint/no-base-to-string\r\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\r\n            return false;\r\n        }\r\n\r\n        return true;\r\n    }\r\n\r\n    private _findNearestParent(boneIndex: number): any {\r\n        let nearestParent: Nullable<Bone> | undefined = this._bones[boneIndex].getParent();\r\n        do {\r\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\r\n                break;\r\n            }\r\n\r\n            nearestParent = nearestParent?.getParent();\r\n        } while (nearestParent != null);\r\n\r\n        return nearestParent;\r\n    }\r\n\r\n    private _init() {\r\n        this._createColliders();\r\n\r\n        // If this.defineRootBone() returns ... there is not root bone.\r\n        if (!this._defineRootBone()) {\r\n            return;\r\n        }\r\n\r\n        this._initJoints();\r\n        this._beforeRenderObserver = this._scene.onBeforeRenderObservable.add(() => {\r\n            this._syncBonesAndBoxes();\r\n        });\r\n        this._syncBonesToPhysics();\r\n    }\r\n\r\n    /**\r\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\r\n     */\r\n    public ragdoll(): void {\r\n        this._ragdollMode = true;\r\n        // detach bones with link transform to let physics have control\r\n        for (const bone of this._skeleton.bones) {\r\n            bone.linkTransformNode(null);\r\n        }\r\n        for (let i = 0; i < this._constraints.length; i++) {\r\n            this._constraints[i].isEnabled = true;\r\n        }\r\n        for (let i = 0; i < this._aggregates.length; i++) {\r\n            this._aggregates[i].body.setMotionType(PhysicsMotionType.DYNAMIC);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Dispose resources and remove physics objects\r\n     */\r\n    dispose(): void {\r\n        for (const aggregate of this._aggregates) {\r\n            aggregate.dispose();\r\n        }\r\n        this._aggregates.length = 0;\r\n        for (const transform of this._transforms) {\r\n            transform.dispose();\r\n        }\r\n        this._transforms.length = 0;\r\n        for (const constraint of this._constraints) {\r\n            constraint.dispose();\r\n        }\r\n        this._constraints.length = 0;\r\n\r\n        if (this._beforeRenderObserver) {\r\n            this._scene.onBeforeRenderObservable.remove(this._beforeRenderObserver);\r\n            this._beforeRenderObserver = null;\r\n        }\r\n    }\r\n}\r\n"]}

package/Rendering/IBLShadows/iblShadowsVoxelRenderer.pure.d.ts

@@ -1,4 +1,5 @@
 /** This file must only contain pure code and pure imports */
+import { type IMultiRenderTargetOptions } from "../../Materials/Textures/multiRenderTarget.pure.js";
 import { RenderTargetTexture } from "../../Materials/Textures/renderTargetTexture.pure.js";
 import { Matrix } from "../../Maths/math.vector.pure.js";
 import { type Mesh } from "../../Meshes/mesh.pure.js";
@@ -110,6 +111,17 @@ export declare class _IblShadowsVoxelRenderer {
      * into the r8 voxel grid (mip 0). Runs after all voxelization passes and before mip generation.
      */
     private _copyVoxelOpacityBufferToGrid;
+    /**
+     * Builds the options of one voxelization slab MRT. Every attachment renders into a Z-slice of the shared voxel
+     * grid, which is attached afterwards through setInternalTexture, so the attachment slots are deferred
+     * (target type -1) instead of allocating a throw-away volume per draw buffer.
+     * @param maxDrawBuffers number of draw buffers (attachments) of the MRT
+     * @param voxelResolution resolution of the voxel grid
+     * @param mrtIndex index of the slab
+     * @returns the MRT creation options
+     * @internal
+     */
+    static _CreateVoxelSlabMRTOptions(maxDrawBuffers: number, voxelResolution: number, mrtIndex: number): IMultiRenderTargetOptions;
     private _createVoxelMRTs;
     private _disposeVoxelTextures;
     private _createVoxelMaterials;

package/Rendering/IBLShadows/iblShadowsVoxelRenderer.pure.js

@@ -420,6 +420,30 @@ export class _IblShadowsVoxelRenderer {
         const groups = Math.ceil(this._voxelResolution / 4);
         compute.dispatch(groups, groups, groups);
     }
+    /**
+     * Builds the options of one voxelization slab MRT. Every attachment renders into a Z-slice of the shared voxel
+     * grid, which is attached afterwards through setInternalTexture, so the attachment slots are deferred
+     * (target type -1) instead of allocating a throw-away volume per draw buffer.
+     * @param maxDrawBuffers number of draw buffers (attachments) of the MRT
+     * @param voxelResolution resolution of the voxel grid
+     * @param mrtIndex index of the slab
+     * @returns the MRT creation options
+     * @internal
+     */
+    static _CreateVoxelSlabMRTOptions(maxDrawBuffers, voxelResolution, mrtIndex) {
+        return {
+            types: new Array(maxDrawBuffers).fill(0),
+            samplingModes: new Array(maxDrawBuffers).fill(3),
+            generateMipMaps: false,
+            targetTypes: new Array(maxDrawBuffers).fill(-1),
+            formats: new Array(maxDrawBuffers).fill(6),
+            faceIndex: new Array(maxDrawBuffers).fill(0),
+            layerIndex: Array.from({ length: maxDrawBuffers }, (_, index) => mrtIndex * maxDrawBuffers + index),
+            layerCounts: new Array(maxDrawBuffers).fill(voxelResolution),
+            generateDepthBuffer: false,
+            generateStencilBuffer: false,
+        };
+    }
     _createVoxelMRTs(name, voxelRT, numSlabs) {
         voxelRT.wrapU = Texture.CLAMP_ADDRESSMODE;
         voxelRT.wrapV = Texture.CLAMP_ADDRESSMODE;
@@ -428,25 +452,11 @@ export class _IblShadowsVoxelRenderer {
         voxelRT.wrapR = Texture.CLAMP_ADDRESSMODE;
         voxelRT.noPrePassRenderer = true;
         const mrtArray = [];
-        const targetTypes = new Array(this._maxDrawBuffers).fill(32879);
         for (let mrtIndex = 0; mrtIndex < numSlabs; mrtIndex++) {
-            let layerIndices = new Array(this._maxDrawBuffers).fill(0);
-            layerIndices = layerIndices.map((value, index) => mrtIndex * this._maxDrawBuffers + index);
             let textureNames = new Array(this._maxDrawBuffers).fill("");
             textureNames = textureNames.map((value, index) => "voxel_grid_" + name + (mrtIndex * this._maxDrawBuffers + index));
             const mrt = new MultiRenderTarget("mrt_" + name + mrtIndex, { width: this._voxelResolution, height: this._voxelResolution, depth: this._voxelResolution }, this._maxDrawBuffers, // number of draw buffers
-            this._scene, {
-                types: new Array(this._maxDrawBuffers).fill(0),
-                samplingModes: new Array(this._maxDrawBuffers).fill(3),
-                generateMipMaps: false,
-                targetTypes,
-                formats: new Array(this._maxDrawBuffers).fill(6),
-                faceIndex: new Array(this._maxDrawBuffers).fill(0),
-                layerIndex: layerIndices,
-                layerCounts: new Array(this._maxDrawBuffers).fill(this._voxelResolution),
-                generateDepthBuffer: false,
-                generateStencilBuffer: false,
-            }, textureNames);
+            this._scene, _IblShadowsVoxelRenderer._CreateVoxelSlabMRTOptions(this._maxDrawBuffers, this._voxelResolution, mrtIndex), textureNames);
             mrt.clearColor = new Color4(0, 0, 0, 1);
             mrt.noPrePassRenderer = true;
             for (let i = 0; i < this._maxDrawBuffers; i++) {
@@ -622,9 +632,24 @@ export class _IblShadowsVoxelRenderer {
                     continue;
                 }
                 for (const mesh of renderList) {
-                    if (_IsGaussianSplattingMesh(mesh) && !mesh._isDepthSortSettled) {
-                        gsSortPending = true;
-                        break;
+                    if (_IsGaussianSplattingMesh(mesh)) {
+                        const splatMesh = mesh;
+                        if (!splatMesh._isDepthSortSettled) {
+                            // Point color passes defer classic sorts. Request the voxel pass's index
+                            // preparation before waiting, otherwise no classic consumer can release the wait.
+                            const renderPassId = this._engine.currentRenderPassId;
+                            this._engine.currentRenderPassId = this._renderTargets[i].renderPassId;
+                            try {
+                                splatMesh._postToWorker();
+                            }
+                            finally {
+                                this._engine.currentRenderPassId = renderPassId;
+                            }
+                            if (!splatMesh._isDepthSortSettled) {
+                                gsSortPending = true;
+                                break;
+                            }
+                        }
                     }
                 }
             }