@rapierphysicsplugin/client 1.0.0

package/dist/rapier-constraint-ops.js

@@ -0,0 +1,286 @@
+import { PhysicsConstraintType, PhysicsConstraintAxis, PhysicsConstraintMotorType, } from '@babylonjs/core';
+import { createJointData } from '@rapierphysicsplugin/shared';
+import { v3toVec } from './rapier-types.js';
+export function buildConstraintDescriptor(constraint) {
+    const opts = constraint._options ?? {};
+    const cType = constraint._type;
+    let type;
+    switch (cType) {
+        case PhysicsConstraintType.BALL_AND_SOCKET:
+            type = 'ball_and_socket';
+            break;
+        case PhysicsConstraintType.DISTANCE:
+            type = 'distance';
+            break;
+        case PhysicsConstraintType.HINGE:
+            type = 'hinge';
+            break;
+        case PhysicsConstraintType.SLIDER:
+            type = 'slider';
+            break;
+        case PhysicsConstraintType.LOCK:
+            type = 'lock';
+            break;
+        case PhysicsConstraintType.PRISMATIC:
+            type = 'prismatic';
+            break;
+        case PhysicsConstraintType.SIX_DOF:
+            type = 'six_dof';
+            break;
+        default: type = 'ball_and_socket';
+    }
+    const sixDofLimits = constraint.limits;
+    let isSpring = false;
+    if (type === 'six_dof' && sixDofLimits) {
+        isSpring = sixDofLimits.some(l => l.stiffness !== undefined && l.stiffness > 0);
+    }
+    const desc = {
+        id: '',
+        bodyIdA: '',
+        bodyIdB: '',
+        type: isSpring ? 'spring' : type,
+        pivotA: opts.pivotA ? v3toVec(opts.pivotA) : undefined,
+        pivotB: opts.pivotB ? v3toVec(opts.pivotB) : undefined,
+        axisA: opts.axisA ? v3toVec(opts.axisA) : undefined,
+        axisB: opts.axisB ? v3toVec(opts.axisB) : undefined,
+        perpAxisA: opts.perpAxisA ? v3toVec(opts.perpAxisA) : undefined,
+        perpAxisB: opts.perpAxisB ? v3toVec(opts.perpAxisB) : undefined,
+        maxDistance: opts.maxDistance,
+        collision: opts.collision,
+    };
+    if (isSpring && sixDofLimits) {
+        const springLimit = sixDofLimits.find(l => l.stiffness !== undefined);
+        if (springLimit) {
+            desc.stiffness = springLimit.stiffness;
+            desc.damping = springLimit.damping;
+        }
+    }
+    if (type === 'six_dof' && !isSpring && sixDofLimits) {
+        desc.limits = sixDofLimits.map(l => ({
+            axis: l.axis,
+            minLimit: l.minLimit,
+            maxLimit: l.maxLimit,
+        }));
+    }
+    return desc;
+}
+export function createJointFromConstraint(state, constraint, rbA, rbB) {
+    const desc = buildConstraintDescriptor(constraint);
+    const jointData = createJointData(state.rapier, desc);
+    return state.world.createImpulseJoint(jointData, rbA, rbB, true);
+}
+export function initConstraint(state, constraint, body, childBody) {
+    if (state.constraintToJoint.has(constraint))
+        return;
+    const rbA = state.bodyToRigidBody.get(body);
+    const rbB = state.bodyToRigidBody.get(childBody);
+    if (!rbA || !rbB)
+        return;
+    const joint = createJointFromConstraint(state, constraint, rbA, rbB);
+    state.constraintToJoint.set(constraint, joint);
+    state.constraintBodies.set(constraint, { body, childBody });
+    state.constraintEnabled.set(constraint, true);
+    const opts = constraint._options;
+    if (opts?.collision === false) {
+        joint.setContactsEnabled(false);
+    }
+    applyInitialLimits(constraint, joint);
+}
+function applyInitialLimits(constraint, joint) {
+    const sixDofLimits = constraint.limits;
+    if (!sixDofLimits)
+        return;
+    const cType = constraint._type;
+    if (cType === PhysicsConstraintType.HINGE) {
+        const angLim = sixDofLimits.find(l => l.axis === PhysicsConstraintAxis.ANGULAR_X);
+        if (angLim && angLim.minLimit !== undefined && angLim.maxLimit !== undefined) {
+            joint.setLimits?.(angLim.minLimit, angLim.maxLimit);
+        }
+    }
+    else if (cType === PhysicsConstraintType.SLIDER || cType === PhysicsConstraintType.PRISMATIC) {
+        const linLim = sixDofLimits.find(l => l.axis === PhysicsConstraintAxis.LINEAR_X);
+        if (linLim && linLim.minLimit !== undefined && linLim.maxLimit !== undefined) {
+            joint.setLimits?.(linLim.minLimit, linLim.maxLimit);
+        }
+    }
+}
+export function disposeConstraint(state, constraint) {
+    const joint = state.constraintToJoint.get(constraint);
+    if (joint) {
+        state.world.removeImpulseJoint(joint, true);
+        state.constraintToJoint.delete(constraint);
+    }
+    state.constraintBodies.delete(constraint);
+    state.constraintAxisState.delete(constraint);
+    state.constraintEnabled.delete(constraint);
+    state.constraintDescriptors.delete(constraint);
+}
+export function setEnabled(state, constraint, isEnabled) {
+    const currentlyEnabled = state.constraintEnabled.get(constraint) ?? true;
+    if (isEnabled === currentlyEnabled)
+        return;
+    if (!isEnabled) {
+        const joint = state.constraintToJoint.get(constraint);
+        if (joint) {
+            state.world.removeImpulseJoint(joint, true);
+            state.constraintToJoint.delete(constraint);
+        }
+        state.constraintEnabled.set(constraint, false);
+    }
+    else {
+        const pair = state.constraintBodies.get(constraint);
+        if (pair) {
+            const rbA = state.bodyToRigidBody.get(pair.body);
+            const rbB = state.bodyToRigidBody.get(pair.childBody);
+            if (rbA && rbB) {
+                const joint = createJointFromConstraint(state, constraint, rbA, rbB);
+                state.constraintToJoint.set(constraint, joint);
+                const opts = constraint._options;
+                if (opts?.collision === false) {
+                    joint.setContactsEnabled(false);
+                }
+            }
+        }
+        state.constraintEnabled.set(constraint, true);
+    }
+}
+export function getEnabled(state, constraint) {
+    return state.constraintEnabled.get(constraint) ?? true;
+}
+export function setCollisionsEnabled(state, constraint, isEnabled) {
+    const joint = state.constraintToJoint.get(constraint);
+    if (joint) {
+        joint.setContactsEnabled(isEnabled);
+    }
+}
+export function getCollisionsEnabled(state, constraint) {
+    const joint = state.constraintToJoint.get(constraint);
+    if (joint) {
+        return joint.contactsEnabled();
+    }
+    return true;
+}
+function ensureAxisConfig(state, constraint, axis) {
+    let axisMap = state.constraintAxisState.get(constraint);
+    if (!axisMap) {
+        axisMap = new Map();
+        state.constraintAxisState.set(constraint, axisMap);
+    }
+    let config = axisMap.get(axis);
+    if (!config) {
+        config = {};
+        axisMap.set(axis, config);
+    }
+    return config;
+}
+function getAxisConfig(state, constraint, axis) {
+    return state.constraintAxisState.get(constraint)?.get(axis);
+}
+export function setAxisFriction(state, constraint, axis, friction) {
+    ensureAxisConfig(state, constraint, axis).friction = friction;
+}
+export function getAxisFriction(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.friction ?? null;
+}
+export function setAxisMode(state, constraint, axis, limitMode) {
+    ensureAxisConfig(state, constraint, axis).mode = limitMode;
+    applyAxisLimitsToJoint(state, constraint);
+}
+export function getAxisMode(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.mode ?? null;
+}
+export function setAxisMinLimit(state, constraint, axis, minLimit) {
+    ensureAxisConfig(state, constraint, axis).minLimit = minLimit;
+    applyAxisLimitsToJoint(state, constraint);
+}
+export function getAxisMinLimit(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.minLimit ?? null;
+}
+export function setAxisMaxLimit(state, constraint, axis, limit) {
+    ensureAxisConfig(state, constraint, axis).maxLimit = limit;
+    applyAxisLimitsToJoint(state, constraint);
+}
+export function getAxisMaxLimit(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.maxLimit ?? null;
+}
+function applyAxisLimitsToJoint(state, constraint) {
+    const joint = state.constraintToJoint.get(constraint);
+    if (!joint)
+        return;
+    const cType = constraint._type;
+    if (cType === PhysicsConstraintType.HINGE) {
+        const angConfig = getAxisConfig(state, constraint, PhysicsConstraintAxis.ANGULAR_X);
+        if (angConfig?.minLimit !== undefined && angConfig?.maxLimit !== undefined) {
+            joint.setLimits?.(angConfig.minLimit, angConfig.maxLimit);
+        }
+    }
+    else if (cType === PhysicsConstraintType.SLIDER || cType === PhysicsConstraintType.PRISMATIC) {
+        const linConfig = getAxisConfig(state, constraint, PhysicsConstraintAxis.LINEAR_X);
+        if (linConfig?.minLimit !== undefined && linConfig?.maxLimit !== undefined) {
+            joint.setLimits?.(linConfig.minLimit, linConfig.maxLimit);
+        }
+    }
+}
+export function setAxisMotorType(state, constraint, axis, motorType) {
+    ensureAxisConfig(state, constraint, axis).motorType = motorType;
+    applyMotorToJoint(state, constraint);
+}
+export function getAxisMotorType(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.motorType ?? null;
+}
+export function setAxisMotorTarget(state, constraint, axis, target) {
+    ensureAxisConfig(state, constraint, axis).motorTarget = target;
+    applyMotorToJoint(state, constraint);
+}
+export function getAxisMotorTarget(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.motorTarget ?? null;
+}
+export function setAxisMotorMaxForce(state, constraint, axis, maxForce) {
+    ensureAxisConfig(state, constraint, axis).motorMaxForce = maxForce;
+    applyMotorToJoint(state, constraint);
+}
+export function getAxisMotorMaxForce(state, constraint, axis) {
+    return getAxisConfig(state, constraint, axis)?.motorMaxForce ?? null;
+}
+function applyMotorToJoint(state, constraint) {
+    const joint = state.constraintToJoint.get(constraint);
+    if (!joint)
+        return;
+    const cType = constraint._type;
+    if (cType === PhysicsConstraintType.HINGE) {
+        const config = getAxisConfig(state, constraint, PhysicsConstraintAxis.ANGULAR_X);
+        if (config?.motorTarget !== undefined) {
+            const maxForce = config.motorMaxForce ?? 1000;
+            if (config.motorType === PhysicsConstraintMotorType.VELOCITY) {
+                joint.configureMotorVelocity?.(config.motorTarget, maxForce);
+            }
+            else {
+                joint.configureMotorPosition?.(config.motorTarget, maxForce, 0);
+            }
+        }
+    }
+    else if (cType === PhysicsConstraintType.SLIDER || cType === PhysicsConstraintType.PRISMATIC) {
+        const config = getAxisConfig(state, constraint, PhysicsConstraintAxis.LINEAR_X);
+        if (config?.motorTarget !== undefined) {
+            const maxForce = config.motorMaxForce ?? 1000;
+            if (config.motorType === PhysicsConstraintMotorType.VELOCITY) {
+                joint.configureMotorVelocity?.(config.motorTarget, maxForce);
+            }
+            else {
+                joint.configureMotorPosition?.(config.motorTarget, maxForce, 0);
+            }
+        }
+    }
+}
+export function getBodiesUsingConstraint(state, constraint) {
+    const pair = state.constraintBodies.get(constraint);
+    if (!pair)
+        return [];
+    return [{
+            parentBody: pair.body,
+            parentBodyIndex: 0,
+            childBody: pair.childBody,
+            childBodyIndex: 0,
+        }];
+}
+//# sourceMappingURL=rapier-constraint-ops.js.map

package/dist/rapier-constraint-ops.js.map

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package/dist/rapier-plugin.d.ts

@@ -0,0 +1,145 @@
+import type RAPIER from '@dimforge/rapier3d-compat';
+import { Vector3, Quaternion, Observable } from '@babylonjs/core';
+import type { IPhysicsEnginePluginV2, PhysicsBody, PhysicsShape, PhysicsConstraint, PhysicsMassProperties, PhysicsMaterial, PhysicsShapeParameters, PhysicsRaycastResult, IRaycastQuery, IPhysicsCollisionEvent, IBasePhysicsCollisionEvent, ConstrainedBodyPair, BoundingBox } from '@babylonjs/core';
+import type { PhysicsMotionType, PhysicsShapeType, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, PhysicsConstraintAxis } from '@babylonjs/core';
+import type { Mesh, TransformNode, Nullable } from '@babylonjs/core';
+import type { CollisionEventData } from '@rapierphysicsplugin/shared';
+import type { AxisConfig } from './rapier-types.js';
+export declare class RapierPlugin implements IPhysicsEnginePluginV2 {
+    world: RAPIER.World;
+    name: string;
+    onCollisionObservable: Observable<IPhysicsCollisionEvent>;
+    onCollisionEndedObservable: Observable<IBasePhysicsCollisionEvent>;
+    onTriggerCollisionObservable: Observable<IBasePhysicsCollisionEvent>;
+    rapier: typeof RAPIER;
+    bodyToRigidBody: Map<PhysicsBody, RAPIER.RigidBody>;
+    bodyToColliders: Map<PhysicsBody, RAPIER.Collider[]>;
+    shapeToColliderDesc: Map<PhysicsShape, RAPIER.ColliderDesc>;
+    shapeTypeMap: Map<PhysicsShape, PhysicsShapeType>;
+    shapeMaterialMap: Map<PhysicsShape, PhysicsMaterial>;
+    shapeDensityMap: Map<PhysicsShape, number>;
+    shapeFilterMembership: Map<PhysicsShape, number>;
+    shapeFilterCollide: Map<PhysicsShape, number>;
+    bodyCollisionObservables: Map<PhysicsBody, Observable<IPhysicsCollisionEvent>>;
+    bodyCollisionEndedObservables: Map<PhysicsBody, Observable<IBasePhysicsCollisionEvent>>;
+    constraintToJoint: Map<PhysicsConstraint, RAPIER.ImpulseJoint>;
+    constraintBodies: Map<PhysicsConstraint, {
+        body: PhysicsBody;
+        childBody: PhysicsBody;
+    }>;
+    constraintAxisState: Map<PhysicsConstraint, Map<number, AxisConfig>>;
+    constraintEnabled: Map<PhysicsConstraint, boolean>;
+    constraintDescriptors: Map<PhysicsConstraint, {
+        body: PhysicsBody;
+        childBody: PhysicsBody;
+    }>;
+    collisionCallbackEnabled: Set<PhysicsBody>;
+    collisionEndedCallbackEnabled: Set<PhysicsBody>;
+    triggerShapes: Set<PhysicsShape>;
+    bodyIdToPhysicsBody: Map<string, PhysicsBody>;
+    private maxLinearVelocity;
+    private maxAngularVelocity;
+    bodyToShape: Map<PhysicsBody, PhysicsShape>;
+    shapeToBody: Map<PhysicsShape, PhysicsBody>;
+    compoundChildren: Map<PhysicsShape, {
+        child: PhysicsShape;
+        translation?: Vector3;
+        rotation?: Quaternion;
+        scale?: Vector3;
+    }[]>;
+    bodyEventMask: Map<PhysicsBody, number>;
+    eventQueue: RAPIER.EventQueue;
+    colliderHandleToBody: Map<number, PhysicsBody>;
+    constructor(rapier: typeof RAPIER, gravity?: Vector3);
+    getPluginVersion(): number;
+    setGravity(gravity: Vector3): void;
+    setTimeStep(timeStep: number): void;
+    getTimeStep(): number;
+    setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void;
+    getMaxLinearVelocity(): number;
+    getMaxAngularVelocity(): number;
+    executeStep(_delta: number, bodies: Array<PhysicsBody>): void;
+    initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void;
+    initBodyInstances(_body: PhysicsBody, _motionType: PhysicsMotionType, _mesh: Mesh): void;
+    updateBodyInstances(_body: PhysicsBody, _mesh: Mesh): void;
+    removeBody(body: PhysicsBody): void;
+    disposeBody(body: PhysicsBody): void;
+    sync(body: PhysicsBody): void;
+    syncTransform(body: PhysicsBody, transformNode: TransformNode): void;
+    initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;
+    setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void;
+    getShape(body: PhysicsBody): Nullable<PhysicsShape>;
+    getShapeType(shape: PhysicsShape): PhysicsShapeType;
+    disposeShape(shape: PhysicsShape): void;
+    setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void;
+    getShapeFilterMembershipMask(shape: PhysicsShape): number;
+    setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void;
+    getShapeFilterCollideMask(shape: PhysicsShape): number;
+    setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void;
+    getMaterial(shape: PhysicsShape): PhysicsMaterial;
+    setDensity(shape: PhysicsShape, density: number): void;
+    getDensity(shape: PhysicsShape): number;
+    addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;
+    removeChild(shape: PhysicsShape, childIndex: number): void;
+    getNumChildren(shape: PhysicsShape): number;
+    getBoundingBox(shape: PhysicsShape): BoundingBox;
+    getBodyBoundingBox(body: PhysicsBody): BoundingBox;
+    setTrigger(shape: PhysicsShape, isTrigger: boolean): void;
+    setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, _instanceIndex?: number): void;
+    setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean, _instanceIndex?: number): void;
+    setEventMask(body: PhysicsBody, eventMask: number, _instanceIndex?: number): void;
+    getEventMask(body: PhysicsBody, _instanceIndex?: number): number;
+    setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, _instanceIndex?: number): void;
+    getMotionType(body: PhysicsBody, _instanceIndex?: number): PhysicsMotionType;
+    computeMassProperties(body: PhysicsBody, _instanceIndex?: number): PhysicsMassProperties;
+    setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, _instanceIndex?: number): void;
+    getMassProperties(body: PhysicsBody, _instanceIndex?: number): PhysicsMassProperties;
+    setLinearDamping(body: PhysicsBody, damping: number, _instanceIndex?: number): void;
+    getLinearDamping(body: PhysicsBody, _instanceIndex?: number): number;
+    setAngularDamping(body: PhysicsBody, damping: number, _instanceIndex?: number): void;
+    getAngularDamping(body: PhysicsBody, _instanceIndex?: number): number;
+    setLinearVelocity(body: PhysicsBody, linVel: Vector3, _instanceIndex?: number): void;
+    getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, _instanceIndex?: number): void;
+    setAngularVelocity(body: PhysicsBody, angVel: Vector3, _instanceIndex?: number): void;
+    getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, _instanceIndex?: number): void;
+    applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, _instanceIndex?: number): void;
+    applyAngularImpulse(body: PhysicsBody, angularImpulse: Vector3, _instanceIndex?: number): void;
+    applyForce(body: PhysicsBody, force: Vector3, location: Vector3, _instanceIndex?: number): void;
+    setGravityFactor(body: PhysicsBody, factor: number, _instanceIndex?: number): void;
+    getGravityFactor(body: PhysicsBody, _instanceIndex?: number): number;
+    setTargetTransform(body: PhysicsBody, position: Vector3, rotation: Quaternion, _instanceIndex?: number): void;
+    getBodyGeometry(_body: PhysicsBody): {};
+    initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody): void;
+    addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, _instanceIndex?: number, _childInstanceIndex?: number): void;
+    disposeConstraint(constraint: PhysicsConstraint): void;
+    setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;
+    getEnabled(constraint: PhysicsConstraint): boolean;
+    setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void;
+    getCollisionsEnabled(constraint: PhysicsConstraint): boolean;
+    setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void;
+    getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
+    setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void;
+    getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode>;
+    setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void;
+    getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
+    setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void;
+    getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
+    setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void;
+    getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType>;
+    setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void;
+    getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
+    setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void;
+    getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number>;
+    getBodiesUsingConstraint(constraint: PhysicsConstraint): ConstrainedBodyPair[];
+    getCollisionObservable(body: PhysicsBody, _instanceIndex?: number): Observable<IPhysicsCollisionEvent>;
+    getCollisionEndedObservable(body: PhysicsBody, _instanceIndex?: number): Observable<IBasePhysicsCollisionEvent>;
+    raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult, _query?: IRaycastQuery): void;
+    dispose(): void;
+    getRigidBody(body: PhysicsBody): RAPIER.RigidBody | undefined;
+    setBodyTranslation(body: PhysicsBody, position: Vector3): void;
+    setBodyRotation(body: PhysicsBody, rotation: Quaternion): void;
+    registerBodyId(bodyId: string, body: PhysicsBody): void;
+    unregisterBodyId(bodyId: string): void;
+    injectCollisionEvents(events: CollisionEventData[]): void;
+}
+//# sourceMappingURL=rapier-plugin.d.ts.map

package/dist/rapier-plugin.d.ts.map

@@ -0,0 +1 @@
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