@perplexdotgg/bounce 1.0.0 → 1.0.1

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Files changed (134) hide show
  1. package/build/bounce.d.ts +39501 -0
  2. package/build/bounce.js +17166 -0
  3. package/package.json +1 -1
  4. package/src/builders/ConvexHullBuilder.ts +0 -437
  5. package/src/builders/ConvexHullBuilder2d.ts +0 -344
  6. package/src/builders/ConvexHullBuilder3d.ts +0 -1689
  7. package/src/builders/HeightMapBuilder.ts +0 -414
  8. package/src/builders/TriangleMeshBuilder.ts +0 -92
  9. package/src/collision/CastShapesModule.ts +0 -184
  10. package/src/collision/CollideShapesModule.ts +0 -152
  11. package/src/collision/HeightMapCaster.ts +0 -38
  12. package/src/collision/HeightMapCollider.ts +0 -33
  13. package/src/collision/TriangleCaster.ts +0 -249
  14. package/src/collision/TriangleCollider.ts +0 -308
  15. package/src/collision/TriangleCollider2.ts +0 -379
  16. package/src/collision/activeEdge.ts +0 -146
  17. package/src/collision/cast/cast.ts +0 -139
  18. package/src/collision/cast/castCompoundVsCompound.ts +0 -59
  19. package/src/collision/cast/castCompoundVsConvex.ts +0 -116
  20. package/src/collision/cast/castConvexVsCompound.ts +0 -123
  21. package/src/collision/cast/castConvexVsConvex.ts +0 -213
  22. package/src/collision/cast/castConvexVsHeightMap.ts +0 -73
  23. package/src/collision/cast/castConvexVsTriangleMesh.ts +0 -56
  24. package/src/collision/cast/castRayVsCompound.ts +0 -44
  25. package/src/collision/cast/castRayVsConvex.ts +0 -45
  26. package/src/collision/cast/castRayVsHeightMap.ts +0 -58
  27. package/src/collision/cast/castRayVsTriangleMesh.ts +0 -58
  28. package/src/collision/closestPoints/closestPoints.ts +0 -23
  29. package/src/collision/closestPoints/computeBarycentricCoordinates2d.ts +0 -32
  30. package/src/collision/closestPoints/computeBarycentricCoordinates3d.ts +0 -81
  31. package/src/collision/closestPoints/computeClosestPointOnLine.ts +0 -30
  32. package/src/collision/closestPoints/computeClosestPointOnTetrahedron.ts +0 -96
  33. package/src/collision/closestPoints/computeClosestPointOnTriangle.ts +0 -195
  34. package/src/collision/closestPoints/isOriginOutsideOfPlane.ts +0 -25
  35. package/src/collision/closestPoints/isOriginOutsideOfTrianglePlanes.ts +0 -72
  36. package/src/collision/collide/collide.ts +0 -146
  37. package/src/collision/collide/collideCompoundVsCompound.ts +0 -60
  38. package/src/collision/collide/collideCompoundVsConvex.ts +0 -59
  39. package/src/collision/collide/collideCompoundVsHeightMap.ts +0 -73
  40. package/src/collision/collide/collideCompoundVsTriangleMesh.ts +0 -56
  41. package/src/collision/collide/collideConvexVsCompound.ts +0 -57
  42. package/src/collision/collide/collideConvexVsConvex.ts +0 -225
  43. package/src/collision/collide/collideConvexVsConvexImp.ts +0 -236
  44. package/src/collision/collide/collideConvexVsHeightMap.ts +0 -53
  45. package/src/collision/collide/collideConvexVsTriangleMesh.ts +0 -58
  46. package/src/collision/collide/collideHeightMapVsCompound.ts +0 -69
  47. package/src/collision/collide/collideHeightMapVsConvex.ts +0 -53
  48. package/src/collision/collide/collideSphereVsSphere.ts +0 -81
  49. package/src/collision/collide/collideTriangleMeshVsCompound.ts +0 -58
  50. package/src/collision/collide/collideTriangleMeshVsConvex.ts +0 -58
  51. package/src/collision/epa/EpaConvexHullBuilder.ts +0 -397
  52. package/src/collision/epa/StaticArray.ts +0 -154
  53. package/src/collision/epa/TriangleFactory.ts +0 -32
  54. package/src/collision/epa/arrays.ts +0 -99
  55. package/src/collision/epa/binaryHeap.ts +0 -82
  56. package/src/collision/epa/structs.ts +0 -227
  57. package/src/collision/gjk/GjkModule.ts +0 -864
  58. package/src/collision/gjk/PenetrationDepthModule.ts +0 -493
  59. package/src/collision/gjk/SupportPoints.ts +0 -50
  60. package/src/collision/imp/MinkowskiDifference.ts +0 -36
  61. package/src/collision/imp/computeExploredDistanceLowerUpperBound.ts +0 -40
  62. package/src/collision/imp/finalizeImpResult.ts +0 -69
  63. package/src/collision/imp/findContactImp.ts +0 -196
  64. package/src/collision/imp/imp.ts +0 -28
  65. package/src/collision/imp/incrementalMinimumDistanceExploreDirection.ts +0 -207
  66. package/src/collision/mpr/findPortal.ts +0 -152
  67. package/src/collision/mpr/mpr.ts +0 -29
  68. package/src/collision/mpr/updatePortal.ts +0 -52
  69. package/src/constraints/BaseConstraint.ts +0 -50
  70. package/src/constraints/ConstraintOptions.ts +0 -22
  71. package/src/constraints/ConstraintSolver.ts +0 -119
  72. package/src/constraints/DistanceConstraint.ts +0 -229
  73. package/src/constraints/FixedConstraint.ts +0 -203
  74. package/src/constraints/HingeConstraint.ts +0 -460
  75. package/src/constraints/PointConstraint.ts +0 -108
  76. package/src/constraints/components/AngleComponent.ts +0 -226
  77. package/src/constraints/components/AxisComponent.ts +0 -263
  78. package/src/constraints/components/HingeComponent.ts +0 -215
  79. package/src/constraints/components/Motor.ts +0 -36
  80. package/src/constraints/components/PointConstraintComponent.ts +0 -179
  81. package/src/constraints/components/RotationEulerComponent.ts +0 -139
  82. package/src/constraints/components/Spring.ts +0 -30
  83. package/src/constraints/components/SpringComponent.ts +0 -71
  84. package/src/constraints/types.ts +0 -6
  85. package/src/helpers.ts +0 -147
  86. package/src/index.ts +0 -50
  87. package/src/math/BasicTransform.ts +0 -19
  88. package/src/math/NumberValue.ts +0 -13
  89. package/src/math/isometry.ts +0 -64
  90. package/src/math/mat3.ts +0 -529
  91. package/src/math/mat4.ts +0 -588
  92. package/src/math/quat.ts +0 -193
  93. package/src/math/scalar.ts +0 -81
  94. package/src/math/tensor.ts +0 -17
  95. package/src/math/vec3.ts +0 -589
  96. package/src/math/vec4.ts +0 -10
  97. package/src/physics/Body.ts +0 -581
  98. package/src/physics/CollisionFilter.ts +0 -52
  99. package/src/physics/SleepModule.ts +0 -163
  100. package/src/physics/broadphase/BodyPairsModule.ts +0 -363
  101. package/src/physics/broadphase/BvhModule.ts +0 -237
  102. package/src/physics/broadphase/BvhTree.ts +0 -803
  103. package/src/physics/broadphase/ConstraintPairsModule.ts +0 -385
  104. package/src/physics/broadphase/TriangleMeshBvhTree.ts +0 -379
  105. package/src/physics/manifold/ContactManifold.ts +0 -227
  106. package/src/physics/manifold/ContactManifoldModule.ts +0 -623
  107. package/src/physics/manifold/Face.ts +0 -119
  108. package/src/physics/manifold/ManifoldCache.ts +0 -116
  109. package/src/physics/manifold/clipping/clipPolyVsEdge.ts +0 -131
  110. package/src/physics/manifold/clipping/clipPolyVsPlane.ts +0 -73
  111. package/src/physics/manifold/clipping/clipPolyVsPoly.ts +0 -72
  112. package/src/physics/narrowphase/CollideBodiesModule.ts +0 -755
  113. package/src/physics/solver/ContactConstraintModule.ts +0 -659
  114. package/src/physics/solver/ManifoldConstraint.ts +0 -420
  115. package/src/physics/solver/estimateCollisionResponse.ts +0 -146
  116. package/src/shape/Aabb.ts +0 -400
  117. package/src/shape/Box.ts +0 -231
  118. package/src/shape/Capsule.ts +0 -332
  119. package/src/shape/CompoundShape.ts +0 -288
  120. package/src/shape/Convex.ts +0 -130
  121. package/src/shape/ConvexHull.ts +0 -423
  122. package/src/shape/Cylinder.ts +0 -313
  123. package/src/shape/HeightMap.ts +0 -511
  124. package/src/shape/Line.ts +0 -14
  125. package/src/shape/Plane.ts +0 -116
  126. package/src/shape/Ray.ts +0 -81
  127. package/src/shape/Segment.ts +0 -25
  128. package/src/shape/Shape.ts +0 -77
  129. package/src/shape/Sphere.ts +0 -181
  130. package/src/shape/TransformedShape.ts +0 -51
  131. package/src/shape/Triangle.ts +0 -122
  132. package/src/shape/TriangleMesh.ts +0 -186
  133. package/src/types.ts +0 -1
  134. package/src/world.ts +0 -1335
package/src/physics/Body.ts DELETED
@@ -1,581 +0,0 @@
1
- import {
2
- BooleanType,
3
- createClass,
4
- LazyReferenceType,
5
- MonomorphType,
6
- NumberType,
7
- PropertyDefinition,
8
- PropertyDefinitionMap,
9
- PropertyDefinitionReference,
10
- ReferenceType,
11
- WithPool,
12
- } from "monomorph";
13
- import { CoefficientFunctionType } from "./solver/ContactConstraintModule";
14
- import { Vec3 } from "../math/vec3";
15
- import { Quat } from "../math/quat";
16
- import { Sphere } from "../shape/Sphere";
17
- import { Face } from "./manifold/Face";
18
- import { Mat4 } from "../math/mat4";
19
- import { transformTensor } from "../math/tensor";
20
- import { Mat3 } from "../math/mat3";
21
- import { Box } from "../shape/Box";
22
- import { Shape, ShapeType } from "../shape/Shape";
23
- import { Aabb } from "../shape/Aabb";
24
- import type { World } from "../world";
25
- import { BodyPairEdge } from "./broadphase/BodyPairsModule";
26
- import { BvhNode } from "./broadphase/BvhTree";
27
- import { CompoundShape } from "../shape/CompoundShape";
28
- import ConvexHull from "../shape/ConvexHull";
29
- import { Capsule } from "../shape/Capsule";
30
- import { HeightMap } from "../shape/HeightMap";
31
- import { Cylinder } from "../shape/Cylinder";
32
- import { TriangleMesh } from "../shape/TriangleMesh";
33
- import { Isometry } from "../math/isometry";
34
- import { AllFlag } from "./CollisionFilter";
35
- import { coerceQuatArgument, coerceVec3Argument } from "../helpers";
36
- import { ConstraintPairEdge } from "./broadphase/ConstraintPairsModule";
37
-
38
- const centerOfMassTransform = /*@__PURE__*/ Mat4.create();
39
- const shapeCenterOfMassInWorldSpace = /*@__PURE__*/ Vec3.create();
40
- const negatedBaseOffset = /*@__PURE__*/ Vec3.create();
41
- const localDirection = /*@__PURE__*/ Vec3.create();
42
-
43
- const rotationVector = /*@__PURE__*/ Vec3.create();
44
- const axis = /*@__PURE__*/ Vec3.create();
45
- const rotationQuaternion = /*@__PURE__*/ Quat.create();
46
-
47
- const quaternionDelta = /*@__PURE__*/ Quat.create();
48
-
49
- const accumulatedForce = /*@__PURE__*/ Vec3.create();
50
- const accelerationDueToForces = /*@__PURE__*/ Vec3.create();
51
- const accelerationDueToGravity = /*@__PURE__*/ Vec3.create();
52
- const linearAcceleration = /*@__PURE__*/ Vec3.create();
53
- const angularAcceleration = /*@__PURE__*/ Vec3.create();
54
-
55
- const worldToLocalTransform = /*@__PURE__*/ Isometry.create();
56
- const inLocalSurfacePosition = /*@__PURE__*/ Vec3.create();
57
-
58
- export const enum BodyType {
59
- dynamic,
60
- kinematic,
61
- static,
62
- }
63
-
64
- export const enum ColliderType {
65
- hasIntersectionOnly,
66
- findContactManifoldOnly,
67
- resolveContact,
68
- attractor,
69
- }
70
-
71
- const bodyProps = {
72
- type: NumberType(BodyType.dynamic) as PropertyDefinition<BodyType, true>,
73
- position: MonomorphType(Vec3),
74
- orientation: MonomorphType(Quat),
75
- linearVelocity: MonomorphType(Vec3),
76
- angularVelocity: MonomorphType(Vec3),
77
- computedCenterOfMassPosition: MonomorphType(Vec3, undefined, true),
78
- computedBounds: MonomorphType(Aabb, undefined, true),
79
- previousPosition: MonomorphType(Vec3, undefined, true),
80
- previousOrientation: MonomorphType(Quat, undefined, true),
81
- isSleeping: BooleanType(false, true),
82
- timeWithoutMoving: NumberType(0.0, true),
83
- friction: NumberType(0.0),
84
- restitution: NumberType(0.0),
85
- frictionFunction: NumberType(CoefficientFunctionType.average) as PropertyDefinition<CoefficientFunctionType, true>,
86
- restitutionFunction: NumberType(CoefficientFunctionType.average) as PropertyDefinition<CoefficientFunctionType, true>,
87
- mass: NumberType(0.0),
88
- density: NumberType(0.0),
89
- inverseMass: NumberType(0.0, true),
90
- computedLocalInverseInertia: MonomorphType(Mat3, undefined, true),
91
- computedWorldInverseInertia: MonomorphType(Mat3, undefined, true),
92
- colliderType: NumberType(ColliderType.resolveContact) as PropertyDefinition<ColliderType, true>,
93
- gravityScale: NumberType(1.0),
94
- linearForces: MonomorphType(Vec3, undefined, true),
95
- angularForces: MonomorphType(Vec3, undefined, true),
96
- copyForDiff: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
97
- firstPotentialPairEdge: LazyReferenceType((() => BodyPairEdge) as () => never) as PropertyDefinitionReference<
98
- BodyPairEdge | null,
99
- true
100
- >,
101
- belongsToGroups: NumberType(AllFlag),
102
- collidesWithGroups: NumberType(AllFlag),
103
- node: LazyReferenceType((() => BvhNode) as () => never) as PropertyDefinitionReference<BvhNode | null, true>,
104
- shapeType: NumberType(0) as PropertyDefinition<ShapeType, true>,
105
- // we need to do "as 'shape' ..." otherwise they are just 'string' and not the actual specific keys
106
- ['shape' + ShapeType.box as 'shape0']: ReferenceType(Box, undefined, true),
107
- ['shape' + ShapeType.capsule as 'shape1']: ReferenceType(Capsule, undefined, true),
108
- ['shape' + ShapeType.compoundShape as 'shape2']: ReferenceType(CompoundShape, undefined, true),
109
- ['shape' + ShapeType.convexHull as 'shape3']: ReferenceType(ConvexHull, undefined, true),
110
- ['shape' + ShapeType.cylinder as 'shape4']: ReferenceType(Cylinder, undefined, true),
111
- ['shape' + ShapeType.heightMap as 'shape5']: ReferenceType(HeightMap, undefined, true),
112
- ['shape' + ShapeType.sphere as 'shape6']: ReferenceType(Sphere, undefined, true),
113
- ['shape' + ShapeType.triangleMesh as 'shape7']: ReferenceType(TriangleMesh, undefined, true),
114
- isSleepingEnabled: BooleanType(true),
115
- linearDamping: NumberType(-1.0),
116
- angularDamping: NumberType(-1.0),
117
- firstPotentialConstraintPairEdge: LazyReferenceType(
118
- (() => ConstraintPairEdge) as () => never
119
- ) as PropertyDefinitionReference<ConstraintPairEdge | null, true>,
120
- visitGeneration: NumberType(0, true),
121
- } as const satisfies PropertyDefinitionMap;
122
-
123
- const afterConstructorCode = `
124
- this.world = null;
125
- `;
126
-
127
- export class Body extends createClass<Body, typeof bodyProps>(bodyProps, { afterConstructorCode }) {
128
- declare world: World | null;
129
-
130
- get shape(): Shape | null {
131
- return this['shape' + this.shapeType as keyof typeof this] as Shape | null;
132
- }
133
-
134
- set shape(value: Shape) {
135
- (this['shape' + this.shapeType as keyof typeof this] as (Shape | null)) = null;
136
- (this['shape' + value.type as keyof typeof this] as (Shape | null)) = value;
137
- this.shapeType = value.type;
138
- updateBody(this);
139
- }
140
-
141
- // physics integration functions
142
-
143
- /**
144
- * integrates the linear velocity of a body
145
- */
146
- applyLinearVelocityIntegration(timeStepSizeSeconds: number) {
147
- this.previousPosition.copy(this.computedCenterOfMassPosition);
148
- this.computedCenterOfMassPosition.addScaled(this.linearVelocity, timeStepSizeSeconds);
149
- }
150
-
151
- applyAngularVelocityIntegration(timeStepSizeSeconds: number) {
152
- rotationVector.scaleVector(this.angularVelocity, timeStepSizeSeconds);
153
-
154
- // if the rotation is very small, just skip it
155
- const angle = rotationVector.length();
156
- if (angle > 1e-6) {
157
- // create a quaternion using axis angle from the rotation vector
158
-
159
- axis.scaleVector(rotationVector, 1 / angle);
160
-
161
- rotationQuaternion.setAxisAngle(axis, angle);
162
-
163
- // multiply the orientation by the rotation quaternion
164
- this.previousOrientation.copy(this.orientation);
165
- this.orientation.multiplyQuats(rotationQuaternion, this.orientation);
166
-
167
- // normalize the orientation
168
- this.orientation.normalize();
169
- }
170
- }
171
-
172
- /**
173
- * applies gravity to a body
174
- */
175
- applyAccelerationIntegration(
176
- timeStepSizeSeconds: number,
177
- gravity: Vec3,
178
- isGravityEnabled: boolean,
179
- linearDamping: number,
180
- angularDamping: number,
181
- maxLinearSpeed: number,
182
- maxLinearSpeedSquared: number,
183
- maxAngularSpeed: number,
184
- maxAngularSpeedSquared: number
185
- ) {
186
- accelerationDueToForces.scaleVector(this.linearForces, this.inverseMass);
187
- accelerationDueToGravity.scaleVector(gravity, isGravityEnabled ? this.gravityScale : 0);
188
- linearAcceleration.addVectors(accelerationDueToForces, accelerationDueToGravity);
189
- this.linearVelocity.addScaled(linearAcceleration, timeStepSizeSeconds);
190
- this.dampLinearVelocity(timeStepSizeSeconds, this.linearDamping === -1 ? linearDamping : this.linearDamping);
191
- this.clampLinearVelocity(maxLinearSpeed, maxLinearSpeedSquared);
192
-
193
- this.computeEffectiveInverseInertiaVector(angularAcceleration, this.orientation, this.angularForces);
194
- this.angularVelocity.addScaled(angularAcceleration, timeStepSizeSeconds);
195
- this.dampAngularVelocity(timeStepSizeSeconds, this.angularDamping === -1 ? angularDamping : this.angularDamping);
196
- this.clampAngularVelocity(maxAngularSpeed, maxAngularSpeedSquared);
197
- }
198
-
199
- // physics solve functions
200
-
201
- subRotationDelta(rotationDelta: Vec3): void {
202
- const angle = rotationDelta.length();
203
- if (angle <= 1e-6) {
204
- return;
205
- }
206
-
207
- axis.scaleVector(rotationDelta, 1 / angle);
208
- quaternionDelta.setAxisAngle(axis, -angle);
209
- this.orientation.multiplyQuats(quaternionDelta, this.orientation);
210
- this.orientation.normalize();
211
- }
212
-
213
- addRotationDelta(rotationDelta: Vec3): void {
214
- const angle = rotationDelta.length();
215
- if (angle <= 1e-6) {
216
- return;
217
- }
218
-
219
- axis.scaleVector(rotationDelta, 1 / angle);
220
- quaternionDelta.setAxisAngle(axis, +angle);
221
- this.orientation.multiplyQuats(quaternionDelta, this.orientation);
222
- this.orientation.normalize();
223
- }
224
-
225
- addRotationPositionImpulse(impulse: Vec3, inverseEffectiveMass: Mat3) {
226
- rotationDelta.transformVectorFromMat3(impulse, inverseEffectiveMass);
227
- this.addRotationDelta(rotationDelta);
228
- }
229
-
230
- subRotationPositionImpulse(impulse: Vec3, inverseEffectiveMass: Mat3) {
231
- rotationDelta.transformVectorFromMat3(impulse, inverseEffectiveMass);
232
- this.subRotationDelta(rotationDelta);
233
- }
234
-
235
- computePointVelocity(out: Vec3, point: Vec3) {
236
- out.crossVectors(point, this.angularVelocity);
237
- out.subtractVectors(this.linearVelocity, out);
238
- }
239
-
240
- computeEffectiveInverseInertiaVector(out: Vec3, rotation: Quat, axis: Vec3): void {
241
- // mask out the degrees of freedom that are not allowed
242
-
243
- // TODO: this is a placeholder, we should mask out the degrees of freedom that are not allowed
244
- angularDofsMask.set({ x: 1, y: 1, z: 1 });
245
-
246
- maskedAxis.multiplyVectors(axis, angularDofsMask);
247
-
248
- // multiply the vector by the inverse inertia
249
-
250
- rotationMatrix.fromQuat(rotation); // TODO: add inertia rotation at some point
251
-
252
- inverseRotationMatrix.transposeMatrix(rotationMatrix); // TODO: is transpose okay here? or invert?
253
-
254
- rotatedMaskedAxis.transformVectorFromMat3(maskedAxis, inverseRotationMatrix);
255
- rotatedMaskedAxis.transformVectorFromMat3(rotatedMaskedAxis, this.computedLocalInverseInertia);
256
- rotatedMaskedAxis.transformVectorFromMat3(rotatedMaskedAxis, rotationMatrix);
257
-
258
- out.multiplyVectors(rotatedMaskedAxis, angularDofsMask);
259
- }
260
-
261
- // TODO: avoid transforms when not necessary (eg, no change in orientation, no change in computedLocalInverseInertia)
262
- computeInverseInertiaTensor(out: Mat3): void {
263
- transformTensor(this.computedWorldInverseInertia, this.computedLocalInverseInertia, this.orientation);
264
- out.copy(this.computedWorldInverseInertia);
265
- }
266
-
267
- computeVelocityOfPointRelativeToCenterOfMass(out: Vec3, point: Vec3): void {
268
- out.crossVectors(this.angularVelocity, point);
269
- out.addVector(this.linearVelocity);
270
- }
271
-
272
- computeInverseEffectiveMass(direction: Vec3) {
273
- angularInverseMass.transformVectorFromMat3(direction, this.computedWorldInverseInertia);
274
- return this.inverseMass + angularInverseMass.dot(direction);
275
- }
276
-
277
- // velocity transformation functions
278
-
279
- dampLinearVelocity(timeStepSizeSeconds: number, linearDamping: number) {
280
- this.linearVelocity.scale(Math.max(0, 1 - linearDamping * timeStepSizeSeconds));
281
- }
282
-
283
- dampAngularVelocity(timeStepSizeSeconds: number, angularDamping: number) {
284
- this.angularVelocity.scale(Math.max(0, 1 - angularDamping * timeStepSizeSeconds));
285
- }
286
-
287
- clampLinearVelocity(maxSpeed: number, maxSpeedSquared: number) {
288
- const squaredLinearSpeed = this.linearVelocity.squaredLength();
289
- if (squaredLinearSpeed > maxSpeedSquared) {
290
- this.linearVelocity.scale(maxSpeed / Math.sqrt(squaredLinearSpeed));
291
- }
292
- }
293
-
294
- clampAngularVelocity(maxSpeed: number, maxSpeedSquared: number) {
295
- const squaredAngularSpeed = this.angularVelocity.squaredLength();
296
- if (squaredAngularSpeed > maxSpeedSquared) {
297
- this.angularVelocity.scale(maxSpeed / Math.sqrt(squaredAngularSpeed));
298
- }
299
- }
300
-
301
- // physics collision functions
302
-
303
- /**
304
- * direction is in world space
305
- */
306
- computeSupportingFace(out: Face, subShapeId: number, direction: Vec3, baseOffset: Vec3): void {
307
- if (!this.shape) {
308
- throw new Error("Body does not have a shape");
309
- }
310
-
311
- centerOfMassTransform.fromRotationTranslation(this.orientation, this.computedCenterOfMassPosition);
312
- negatedBaseOffset.negateVector(baseOffset);
313
- centerOfMassTransform.postTranslated(negatedBaseOffset);
314
- centerOfMassTransform.multiply3x3Transposed(localDirection, direction);
315
- this.shape.computeSupportingFace(out, subShapeId, localDirection, 1, centerOfMassTransform);
316
- }
317
-
318
- computeWorldSpaceSurfaceNormal(outWorldSpaceNormal: Vec3, inWorldSpacePosition: Vec3, subShapeId?: number): void {
319
- // get world to local transform
320
- worldToLocalTransform.fromInverseRotationAndTranslation(this.orientation, this.computedCenterOfMassPosition);
321
-
322
- // transform position from world space to local space
323
- inLocalSurfacePosition.transformVectorFromMat4(inWorldSpacePosition, worldToLocalTransform.matrix); // local space position
324
-
325
- // get surface normal in local space
326
- this.shape!.computeSurfaceNormal(outWorldSpaceNormal, inLocalSurfacePosition, subShapeId);
327
-
328
- // transform surface normal from local space to world space
329
- worldToLocalTransform.inverseRotateVector(outWorldSpaceNormal, outWorldSpaceNormal);
330
-
331
- // normalize surface normal
332
- outWorldSpaceNormal.normalize();
333
- }
334
-
335
- // diff functions
336
-
337
- hasChanged() {
338
- return (
339
- this.copyForDiff !== null &&
340
- (this.position.notEquals(this.copyForDiff.position) ||
341
- this.orientation.notEquals(this.copyForDiff.orientation) ||
342
- this.mass !== this.copyForDiff.mass ||
343
- this.density !== this.copyForDiff.density ||
344
- this.shape !== this.copyForDiff.shape ||
345
- this.type !== this.copyForDiff.type)
346
- );
347
- }
348
-
349
- commitChanges() {
350
- if (this.hasChanged()) {
351
- updateBody(this);
352
- }
353
- }
354
-
355
- // impulse and force functions
356
-
357
- applyLinearForce(force: Vec3) {
358
- if (this.type !== BodyType.dynamic) {
359
- return;
360
- }
361
-
362
- this.linearForces.addVectors(this.linearForces, force);
363
-
364
- if (this.isSleeping) {
365
- this.isSleeping = false;
366
- this.timeWithoutMoving = 0;
367
- }
368
- }
369
-
370
- applyAngularForce(force: Vec3) {
371
- if (this.type !== BodyType.dynamic) {
372
- return;
373
- }
374
-
375
- this.angularForces.addVectors(this.angularForces, force);
376
-
377
- if (this.isSleeping) {
378
- this.isSleeping = false;
379
- this.timeWithoutMoving = 0;
380
- }
381
- }
382
-
383
- applyForce(force: Vec3, point: Vec3, useLocalFrame: boolean = false) {
384
- if (this.type !== BodyType.dynamic) {
385
- return;
386
- }
387
-
388
- if (useLocalFrame) {
389
- isometry.fromRotationAndTranslation(this.orientation, this.computedCenterOfMassPosition);
390
- forcePointInWorldSpace.transformVectorFromMat4(point, isometry.matrix);
391
- }
392
-
393
- momentArm.subtractVectors(forcePointInWorldSpace, this.computedCenterOfMassPosition);
394
- torque.crossVectors(momentArm, force);
395
- this.angularForces.addVectors(this.angularForces, torque);
396
-
397
- this.linearForces.addVectors(this.linearForces, force);
398
-
399
- if (this.isSleeping) {
400
- this.isSleeping = false;
401
- this.timeWithoutMoving = 0;
402
- }
403
- }
404
-
405
- applyLinearImpulse(impulse: Vec3) {
406
- if (this.type !== BodyType.dynamic) {
407
- return;
408
- }
409
-
410
- deltaVelocity.scaleVector(impulse, this.inverseMass);
411
- this.linearVelocity.addVectors(this.linearVelocity, deltaVelocity);
412
- this.clampLinearVelocity(this.world!.options.maxLinearSpeed, this.world!.maxLinearSpeedSquared);
413
-
414
- if (this.isSleeping) {
415
- this.isSleeping = false;
416
- this.timeWithoutMoving = 0;
417
- }
418
- }
419
-
420
- applyAngularImpulse(impulse: Vec3) {
421
- if (this.type !== BodyType.dynamic) {
422
- return;
423
- }
424
-
425
- deltaSpin.transformVectorFromMat3(impulse, this.computedWorldInverseInertia);
426
- this.angularVelocity.addVectors(this.angularVelocity, deltaSpin);
427
- this.clampAngularVelocity(this.world!.options.maxAngularSpeed, this.world!.maxAngularSpeedSquared);
428
-
429
- if (this.isSleeping) {
430
- this.isSleeping = false;
431
- this.timeWithoutMoving = 0;
432
- }
433
- }
434
-
435
- applyImpulse(impulse: Vec3, point: Vec3, useLocalFrame: boolean = false) {
436
- if (this.type !== BodyType.dynamic) {
437
- return;
438
- }
439
-
440
- if (useLocalFrame) {
441
- isometry.fromRotationAndTranslation(this.orientation, this.computedCenterOfMassPosition);
442
- impulsePointInWorldSpace.transformVectorFromMat4(point, isometry.matrix);
443
- }
444
-
445
- impulsePointInWorldSpace.copy(point);
446
- deltaVelocity.scaleVector(impulse, this.inverseMass);
447
- this.linearVelocity.addVectors(this.linearVelocity, deltaVelocity);
448
- this.clampLinearVelocity(this.world!.options.maxLinearSpeed, this.world!.maxLinearSpeedSquared);
449
-
450
- momentArm.subtractVectors(impulsePointInWorldSpace, this.computedCenterOfMassPosition);
451
- torque.crossVectors(momentArm, impulse);
452
- deltaSpin.transformVectorFromMat3(torque, this.computedWorldInverseInertia);
453
- this.angularVelocity.addVectors(this.angularVelocity, deltaSpin);
454
- this.clampAngularVelocity(this.world!.options.maxAngularSpeed, this.world!.maxAngularSpeedSquared);
455
-
456
- if (this.isSleeping) {
457
- this.isSleeping = false;
458
- this.timeWithoutMoving = 0;
459
- }
460
- }
461
-
462
- clearLinearForces() {
463
- this.linearForces.zero();
464
- }
465
-
466
- clearAngularForces() {
467
- this.angularForces.zero();
468
- }
469
-
470
- clearForces() {
471
- this.linearForces.zero();
472
- this.angularForces.zero();
473
- }
474
-
475
- // sleep functions
476
-
477
- isReadyToSleep(sleepTimeThreshold: number) {
478
- return this.type !== BodyType.dynamic || this.timeWithoutMoving >= sleepTimeThreshold;
479
- }
480
-
481
- sleep() {
482
- if (this.type === BodyType.static) {
483
- return;
484
- }
485
- this.isSleeping = true;
486
- }
487
-
488
- wakeUp() {
489
- this.world!.sleepModule.wakeBodyUp(this);
490
- }
491
-
492
- markBodyAsDirty() {
493
- this.world!.broadphase.markDynamicBodyAsDirty(this as WithPool<this>);
494
- }
495
- }
496
- const forcePointInWorldSpace = /*@__PURE__*/ Vec3.create();
497
- const impulsePointInWorldSpace = /*@__PURE__*/ Vec3.create();
498
- const angularDofsMask = /*@__PURE__*/ Vec3.create();
499
- const maskedAxis = /*@__PURE__*/ Vec3.create();
500
- const rotationMatrix = /*@__PURE__*/ Mat3.create();
501
- const inverseRotationMatrix = /*@__PURE__*/ Mat3.create();
502
- const rotatedMaskedAxis = /*@__PURE__*/ Vec3.create();
503
-
504
- const deltaSpin = /*@__PURE__*/ Vec3.create();
505
- const torque = /*@__PURE__*/ Vec3.create();
506
- const momentArm = /*@__PURE__*/ Vec3.create();
507
- const deltaVelocity = /*@__PURE__*/ Vec3.create();
508
- const angularInverseMass = /*@__PURE__*/ Vec3.create();
509
- const rotationDelta = /*@__PURE__*/ Vec3.create();
510
- const isometry = /*@__PURE__*/ Isometry.create();
511
-
512
- const oldCreate = Body.create;
513
- Body.create = function () {
514
- const data = arguments[0];
515
- coerceVec3Argument(data, "position");
516
- coerceQuatArgument(data, "orientation");
517
- const body = oldCreate.apply(this, arguments as any);
518
- body.orientation.normalize();
519
- body.previousPosition.copy(body.position);
520
- body.previousOrientation.copy(body.orientation);
521
-
522
- if (data.shape) {
523
- body.shape = data.shape;
524
- }
525
- return body;
526
- };
527
-
528
- function updateCenterOfMassPosition(body: Body) {
529
- shapeCenterOfMassInWorldSpace.copy(body.shape!.computedCenterOfMass);
530
- shapeCenterOfMassInWorldSpace.transformByQuat(body.orientation);
531
- body.computedCenterOfMassPosition.addVectors(body.position, shapeCenterOfMassInWorldSpace);
532
- }
533
-
534
- export function updateWorldBounds(body: Body) {
535
- body.shape!.computeWorldBounds(body.computedBounds, body.computedCenterOfMassPosition, body.orientation);
536
- }
537
-
538
- function updateMassProperties(body: Body) {
539
- if (body.type === BodyType.static) {
540
- body.density = Infinity;
541
- body.mass = Infinity;
542
- body.inverseMass = 0;
543
- body.computedLocalInverseInertia.zero();
544
- body.computedWorldInverseInertia.zero();
545
- return;
546
- }
547
-
548
- if (!body.shape) {
549
- throw new Error("DynamicBody.computeMassProperties: shape must be set");
550
- }
551
-
552
- const volume = body.shape.computedVolume;
553
-
554
- // use default density if neither is specified
555
- if (body.mass === 0 && body.density === 0) {
556
- body.density = 1000;
557
- body.mass = volume * body.density;
558
- }
559
- // derive mass if density is specified
560
- else if (body.mass === 0) {
561
- body.mass = volume * body.density;
562
- }
563
- // derive density if mass is specified
564
- else if (body.density === 0) {
565
- body.density = body.mass / volume;
566
- }
567
- // derive mass if both are specified
568
- else {
569
- body.mass = volume * body.density;
570
- }
571
-
572
- body.inverseMass = 1 / body.mass;
573
- body.shape.computeInverseInertiaTensor(body.computedLocalInverseInertia, body.mass);
574
- transformTensor(body.computedWorldInverseInertia, body.computedLocalInverseInertia, body.orientation);
575
- }
576
-
577
- export function updateBody(body: Body) {
578
- updateMassProperties(body);
579
- updateCenterOfMassPosition(body);
580
- updateWorldBounds(body);
581
- }
package/src/physics/CollisionFilter.ts DELETED
@@ -1,52 +0,0 @@
1
- export const NoneFlag = 0;
2
- export const AllFlag = ~(~0 << 31);
3
-
4
- export function createBitFlags<T extends readonly string[]>(
5
- keys: T
6
- ): {
7
- [K in T[number] | "None" | "All"]: number;
8
- } {
9
- const result: any = {};
10
-
11
- result["None"] = 0;
12
- result["All"] = ~0;
13
-
14
- let index = 0;
15
- for (const key of keys) {
16
- result[key] = 1 << index++;
17
- }
18
-
19
- return result;
20
- }
21
-
22
- export function shouldPairCollide(groupA: number, maskA: number, groupB: number, maskB: number): boolean {
23
- return (groupA & maskB) !== 0 && (groupB & maskA) !== 0;
24
- }
25
-
26
- export function shouldCollide(maskA: number, groupB: number): boolean {
27
- return (groupB & maskA) !== 0;
28
- }
29
-
30
- export function addFlag(flag: number, value: number): number {
31
- return flag | value;
32
- }
33
-
34
- export function removeFlag(flag: number, value: number): number {
35
- return flag & ~value;
36
- }
37
-
38
- export function toggleFlag(flag: number, value: number): number {
39
- return flag ^ value;
40
- }
41
-
42
- export function hasFlag(flag: number, value: number): boolean {
43
- return (flag & value) !== 0;
44
- }
45
-
46
- export function doesNotHaveFlag(flag: number, value: number): boolean {
47
- return (flag & value) === 0;
48
- }
49
-
50
- export function setFlags(...values: number[]): number {
51
- return values.reduce((acc, value) => acc | value, 0);
52
- }