@rapierphysicsplugin/client 1.0.0

package/dist/rapier-plugin.js

@@ -0,0 +1,263 @@
+import { Vector3, Observable, } from '@babylonjs/core';
+import { processCollisionEvents, injectCollisionEvents } from './rapier-collision-ops.js';
+import * as bodyOps from './rapier-body-ops.js';
+import * as shapeOps from './rapier-shape-ops.js';
+import * as constraintOps from './rapier-constraint-ops.js';
+export class RapierPlugin {
+    constructor(rapier, gravity) {
+        this.name = 'RapierPlugin';
+        this.onCollisionObservable = new Observable();
+        this.onCollisionEndedObservable = new Observable();
+        this.onTriggerCollisionObservable = new Observable();
+        this.bodyToRigidBody = new Map();
+        this.bodyToColliders = new Map();
+        this.shapeToColliderDesc = new Map();
+        this.shapeTypeMap = new Map();
+        this.shapeMaterialMap = new Map();
+        this.shapeDensityMap = new Map();
+        this.shapeFilterMembership = new Map();
+        this.shapeFilterCollide = new Map();
+        this.bodyCollisionObservables = new Map();
+        this.bodyCollisionEndedObservables = new Map();
+        this.constraintToJoint = new Map();
+        this.constraintBodies = new Map();
+        this.constraintAxisState = new Map();
+        this.constraintEnabled = new Map();
+        this.constraintDescriptors = new Map();
+        this.collisionCallbackEnabled = new Set();
+        this.collisionEndedCallbackEnabled = new Set();
+        this.triggerShapes = new Set();
+        this.bodyIdToPhysicsBody = new Map();
+        this.maxLinearVelocity = 200;
+        this.maxAngularVelocity = 200;
+        this.bodyToShape = new Map();
+        this.shapeToBody = new Map();
+        this.compoundChildren = new Map();
+        this.bodyEventMask = new Map();
+        this.colliderHandleToBody = new Map();
+        this.rapier = rapier;
+        const g = gravity ?? new Vector3(0, -9.81, 0);
+        this.world = new rapier.World(new rapier.Vector3(g.x, g.y, g.z));
+        this.eventQueue = new rapier.EventQueue(false);
+    }
+    // --- Core ---
+    getPluginVersion() { return 2; }
+    setGravity(gravity) {
+        this.world.gravity = new this.rapier.Vector3(gravity.x, gravity.y, gravity.z);
+    }
+    setTimeStep(timeStep) { this.world.timestep = timeStep; }
+    getTimeStep() { return this.world.timestep; }
+    setVelocityLimits(maxLinearVelocity, maxAngularVelocity) {
+        this.maxLinearVelocity = maxLinearVelocity;
+        this.maxAngularVelocity = maxAngularVelocity;
+    }
+    getMaxLinearVelocity() { return this.maxLinearVelocity; }
+    getMaxAngularVelocity() { return this.maxAngularVelocity; }
+    executeStep(_delta, bodies) {
+        this.world.step(this.eventQueue);
+        processCollisionEvents(this, this.eventQueue);
+        for (const body of bodies) {
+            this.sync(body);
+        }
+    }
+    // --- Body lifecycle ---
+    initBody(body, motionType, position, orientation) {
+        bodyOps.initBody(this, body, motionType, position, orientation);
+    }
+    initBodyInstances(_body, _motionType, _mesh) { }
+    updateBodyInstances(_body, _mesh) { }
+    removeBody(body) { this.disposeBody(body); }
+    disposeBody(body) { bodyOps.disposeBody(this, body); }
+    sync(body) { bodyOps.syncBody(this, body); }
+    syncTransform(body, transformNode) { bodyOps.syncTransform(this, body, transformNode); }
+    // --- Shape management ---
+    initShape(shape, type, options) {
+        shapeOps.initShape(this, shape, type, options);
+    }
+    setShape(body, shape) { shapeOps.setShape(this, body, shape); }
+    getShape(body) { return this.bodyToShape.get(body) ?? null; }
+    getShapeType(shape) { return this.shapeTypeMap.get(shape); }
+    disposeShape(shape) { shapeOps.disposeShape(this, shape); }
+    // --- Shape filtering ---
+    setShapeFilterMembershipMask(shape, membershipMask) { shapeOps.setShapeFilterMembershipMask(this, shape, membershipMask); }
+    getShapeFilterMembershipMask(shape) { return shapeOps.getShapeFilterMembershipMask(this, shape); }
+    setShapeFilterCollideMask(shape, collideMask) { shapeOps.setShapeFilterCollideMask(this, shape, collideMask); }
+    getShapeFilterCollideMask(shape) { return shapeOps.getShapeFilterCollideMask(this, shape); }
+    // --- Shape material ---
+    setMaterial(shape, material) { shapeOps.setMaterial(this, shape, material); }
+    getMaterial(shape) { return shapeOps.getMaterial(this, shape); }
+    setDensity(shape, density) { shapeOps.setDensity(this, shape, density); }
+    getDensity(shape) { return shapeOps.getDensity(this, shape); }
+    // --- Compound shapes ---
+    addChild(shape, newChild, translation, rotation, scale) {
+        shapeOps.addChild(this, shape, newChild, translation, rotation, scale);
+    }
+    removeChild(shape, childIndex) { shapeOps.removeChild(this, shape, childIndex); }
+    getNumChildren(shape) { return shapeOps.getNumChildren(this, shape); }
+    // --- Bounding box ---
+    getBoundingBox(shape) { return shapeOps.getBoundingBox(this, shape); }
+    getBodyBoundingBox(body) { return shapeOps.getBodyBoundingBox(this, body); }
+    // --- Triggers & collision callbacks ---
+    setTrigger(shape, isTrigger) { shapeOps.setTrigger(this, shape, isTrigger); }
+    setCollisionCallbackEnabled(body, enabled, _instanceIndex) {
+        if (enabled) {
+            this.collisionCallbackEnabled.add(body);
+        }
+        else {
+            this.collisionCallbackEnabled.delete(body);
+        }
+    }
+    setCollisionEndedCallbackEnabled(body, enabled, _instanceIndex) {
+        if (enabled) {
+            this.collisionEndedCallbackEnabled.add(body);
+        }
+        else {
+            this.collisionEndedCallbackEnabled.delete(body);
+        }
+    }
+    // --- Event mask ---
+    setEventMask(body, eventMask, _instanceIndex) { this.bodyEventMask.set(body, eventMask); }
+    getEventMask(body, _instanceIndex) { return this.bodyEventMask.get(body) ?? 0; }
+    // --- Motion type ---
+    setMotionType(body, motionType, _instanceIndex) { bodyOps.setMotionType(this, body, motionType); }
+    getMotionType(body, _instanceIndex) { return bodyOps.getMotionType(this, body); }
+    // --- Mass properties ---
+    computeMassProperties(body, _instanceIndex) { return bodyOps.computeMassProperties(this, body); }
+    setMassProperties(body, massProps, _instanceIndex) { bodyOps.setMassProperties(this, body, massProps); }
+    getMassProperties(body, _instanceIndex) { return bodyOps.getMassProperties(this, body); }
+    // --- Damping ---
+    setLinearDamping(body, damping, _instanceIndex) { bodyOps.setLinearDamping(this, body, damping); }
+    getLinearDamping(body, _instanceIndex) { return bodyOps.getLinearDamping(this, body); }
+    setAngularDamping(body, damping, _instanceIndex) { bodyOps.setAngularDamping(this, body, damping); }
+    getAngularDamping(body, _instanceIndex) { return bodyOps.getAngularDamping(this, body); }
+    // --- Velocity ---
+    setLinearVelocity(body, linVel, _instanceIndex) { bodyOps.setLinearVelocity(this, body, linVel); }
+    getLinearVelocityToRef(body, linVel, _instanceIndex) { bodyOps.getLinearVelocityToRef(this, body, linVel); }
+    setAngularVelocity(body, angVel, _instanceIndex) { bodyOps.setAngularVelocity(this, body, angVel); }
+    getAngularVelocityToRef(body, angVel, _instanceIndex) { bodyOps.getAngularVelocityToRef(this, body, angVel); }
+    // --- Forces & impulses ---
+    applyImpulse(body, impulse, location, _instanceIndex) { bodyOps.applyImpulse(this, body, impulse, location); }
+    applyAngularImpulse(body, angularImpulse, _instanceIndex) { bodyOps.applyAngularImpulse(this, body, angularImpulse); }
+    applyForce(body, force, location, _instanceIndex) { bodyOps.applyForce(this, body, force, location); }
+    // --- Gravity factor ---
+    setGravityFactor(body, factor, _instanceIndex) { bodyOps.setGravityFactor(this, body, factor); }
+    getGravityFactor(body, _instanceIndex) { return bodyOps.getGravityFactor(this, body); }
+    // --- Target transform (kinematic) ---
+    setTargetTransform(body, position, rotation, _instanceIndex) {
+        bodyOps.setTargetTransform(this, body, position, rotation);
+    }
+    // --- Body geometry ---
+    getBodyGeometry(_body) { return {}; }
+    // --- Constraints ---
+    initConstraint(constraint, body, childBody) {
+        constraintOps.initConstraint(this, constraint, body, childBody);
+    }
+    addConstraint(body, childBody, constraint, _instanceIndex, _childInstanceIndex) {
+        if (!this.constraintToJoint.has(constraint)) {
+            this.initConstraint(constraint, body, childBody);
+        }
+    }
+    disposeConstraint(constraint) { constraintOps.disposeConstraint(this, constraint); }
+    setEnabled(constraint, isEnabled) { constraintOps.setEnabled(this, constraint, isEnabled); }
+    getEnabled(constraint) { return constraintOps.getEnabled(this, constraint); }
+    setCollisionsEnabled(constraint, isEnabled) { constraintOps.setCollisionsEnabled(this, constraint, isEnabled); }
+    getCollisionsEnabled(constraint) { return constraintOps.getCollisionsEnabled(this, constraint); }
+    setAxisFriction(constraint, axis, friction) { constraintOps.setAxisFriction(this, constraint, axis, friction); }
+    getAxisFriction(constraint, axis) { return constraintOps.getAxisFriction(this, constraint, axis); }
+    setAxisMode(constraint, axis, limitMode) { constraintOps.setAxisMode(this, constraint, axis, limitMode); }
+    getAxisMode(constraint, axis) { return constraintOps.getAxisMode(this, constraint, axis); }
+    setAxisMinLimit(constraint, axis, minLimit) { constraintOps.setAxisMinLimit(this, constraint, axis, minLimit); }
+    getAxisMinLimit(constraint, axis) { return constraintOps.getAxisMinLimit(this, constraint, axis); }
+    setAxisMaxLimit(constraint, axis, limit) { constraintOps.setAxisMaxLimit(this, constraint, axis, limit); }
+    getAxisMaxLimit(constraint, axis) { return constraintOps.getAxisMaxLimit(this, constraint, axis); }
+    setAxisMotorType(constraint, axis, motorType) { constraintOps.setAxisMotorType(this, constraint, axis, motorType); }
+    getAxisMotorType(constraint, axis) { return constraintOps.getAxisMotorType(this, constraint, axis); }
+    setAxisMotorTarget(constraint, axis, target) { constraintOps.setAxisMotorTarget(this, constraint, axis, target); }
+    getAxisMotorTarget(constraint, axis) { return constraintOps.getAxisMotorTarget(this, constraint, axis); }
+    setAxisMotorMaxForce(constraint, axis, maxForce) { constraintOps.setAxisMotorMaxForce(this, constraint, axis, maxForce); }
+    getAxisMotorMaxForce(constraint, axis) { return constraintOps.getAxisMotorMaxForce(this, constraint, axis); }
+    getBodiesUsingConstraint(constraint) { return constraintOps.getBodiesUsingConstraint(this, constraint); }
+    // --- Collision observables ---
+    getCollisionObservable(body, _instanceIndex) {
+        let obs = this.bodyCollisionObservables.get(body);
+        if (!obs) {
+            obs = new Observable();
+            this.bodyCollisionObservables.set(body, obs);
+        }
+        return obs;
+    }
+    getCollisionEndedObservable(body, _instanceIndex) {
+        let obs = this.bodyCollisionEndedObservables.get(body);
+        if (!obs) {
+            obs = new Observable();
+            this.bodyCollisionEndedObservables.set(body, obs);
+        }
+        return obs;
+    }
+    // --- Raycast ---
+    raycast(from, to, result, _query) {
+        const dir = to.subtract(from);
+        const maxToi = dir.length();
+        const normalizedDir = dir.normalize();
+        const ray = new this.rapier.Ray(new this.rapier.Vector3(from.x, from.y, from.z), new this.rapier.Vector3(normalizedDir.x, normalizedDir.y, normalizedDir.z));
+        const hit = this.world.castRayAndGetNormal(ray, maxToi, true);
+        if (hit) {
+            const hitPoint = ray.pointAt(hit.timeOfImpact);
+            const hitNormal = hit.normal;
+            result.setHitData(new Vector3(hitNormal.x, hitNormal.y, hitNormal.z), new Vector3(hitPoint.x, hitPoint.y, hitPoint.z));
+            result.calculateHitDistance();
+        }
+    }
+    // --- Dispose ---
+    dispose() {
+        this.eventQueue.free();
+        this.world.free();
+        this.bodyToRigidBody.clear();
+        this.bodyToColliders.clear();
+        this.shapeToColliderDesc.clear();
+        this.shapeTypeMap.clear();
+        this.constraintToJoint.clear();
+        this.constraintBodies.clear();
+        this.constraintAxisState.clear();
+        this.constraintEnabled.clear();
+        this.constraintDescriptors.clear();
+        this.collisionCallbackEnabled.clear();
+        this.collisionEndedCallbackEnabled.clear();
+        this.triggerShapes.clear();
+        this.bodyIdToPhysicsBody.clear();
+        this.bodyToShape.clear();
+        this.shapeToBody.clear();
+        this.compoundChildren.clear();
+        this.bodyEventMask.clear();
+        this.colliderHandleToBody.clear();
+        this.shapeFilterMembership.clear();
+        this.shapeFilterCollide.clear();
+    }
+    // --- Rapier-specific helpers for sync module ---
+    getRigidBody(body) {
+        return this.bodyToRigidBody.get(body);
+    }
+    setBodyTranslation(body, position) {
+        const rb = this.bodyToRigidBody.get(body);
+        if (rb) {
+            rb.setTranslation(new this.rapier.Vector3(position.x, position.y, position.z), true);
+        }
+    }
+    setBodyRotation(body, rotation) {
+        const rb = this.bodyToRigidBody.get(body);
+        if (rb) {
+            rb.setRotation(new this.rapier.Quaternion(rotation.x, rotation.y, rotation.z, rotation.w), true);
+        }
+    }
+    // --- Server collision event injection ---
+    registerBodyId(bodyId, body) {
+        this.bodyIdToPhysicsBody.set(bodyId, body);
+    }
+    unregisterBodyId(bodyId) {
+        this.bodyIdToPhysicsBody.delete(bodyId);
+    }
+    injectCollisionEvents(events) {
+        injectCollisionEvents(this, events);
+    }
+}
+//# sourceMappingURL=rapier-plugin.js.map

package/dist/rapier-plugin.js.map

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package/dist/rapier-shape-ops.d.ts

@@ -0,0 +1,21 @@
+import { Vector3, BoundingBox, PhysicsShapeType } from '@babylonjs/core';
+import type { PhysicsBody, PhysicsShape, PhysicsShapeParameters, PhysicsMaterial, Nullable, Quaternion } from '@babylonjs/core';
+import type { RapierPluginState } from './rapier-types.js';
+export declare function initShape(state: RapierPluginState, shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;
+export declare function setShape(state: RapierPluginState, body: PhysicsBody, shape: Nullable<PhysicsShape>): void;
+export declare function disposeShape(state: RapierPluginState, shape: PhysicsShape): void;
+export declare function setMaterial(state: RapierPluginState, shape: PhysicsShape, material: PhysicsMaterial): void;
+export declare function getMaterial(state: RapierPluginState, shape: PhysicsShape): PhysicsMaterial;
+export declare function setDensity(state: RapierPluginState, shape: PhysicsShape, density: number): void;
+export declare function getDensity(state: RapierPluginState, shape: PhysicsShape): number;
+export declare function setTrigger(state: RapierPluginState, shape: PhysicsShape, isTrigger: boolean): void;
+export declare function setShapeFilterMembershipMask(state: RapierPluginState, shape: PhysicsShape, membershipMask: number): void;
+export declare function getShapeFilterMembershipMask(state: RapierPluginState, shape: PhysicsShape): number;
+export declare function setShapeFilterCollideMask(state: RapierPluginState, shape: PhysicsShape, collideMask: number): void;
+export declare function getShapeFilterCollideMask(state: RapierPluginState, shape: PhysicsShape): number;
+export declare function addChild(state: RapierPluginState, shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void;
+export declare function removeChild(state: RapierPluginState, shape: PhysicsShape, childIndex: number): void;
+export declare function getNumChildren(state: RapierPluginState, shape: PhysicsShape): number;
+export declare function getBoundingBox(state: RapierPluginState, shape: PhysicsShape): BoundingBox;
+export declare function getBodyBoundingBox(state: RapierPluginState, body: PhysicsBody): BoundingBox;
+//# sourceMappingURL=rapier-shape-ops.d.ts.map

package/dist/rapier-shape-ops.d.ts.map

@@ -0,0 +1 @@
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package/dist/rapier-shape-ops.js

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+import { Vector3, BoundingBox, PhysicsShapeType } from '@babylonjs/core';
+export function initShape(state, shape, type, options) {
+    let colliderDesc;
+    switch (type) {
+        case PhysicsShapeType.BOX: {
+            const ext = options.extents ?? new Vector3(1, 1, 1);
+            colliderDesc = state.rapier.ColliderDesc.cuboid(ext.x / 2, ext.y / 2, ext.z / 2);
+            break;
+        }
+        case PhysicsShapeType.SPHERE: {
+            const r = options.radius ?? 0.5;
+            colliderDesc = state.rapier.ColliderDesc.ball(r);
+            break;
+        }
+        case PhysicsShapeType.CAPSULE: {
+            const pointA = options.pointA ?? new Vector3(0, 0, 0);
+            const pointB = options.pointB ?? new Vector3(0, 1, 0);
+            const halfHeight = Vector3.Distance(pointA, pointB) / 2;
+            const radius = options.radius ?? 0.5;
+            colliderDesc = state.rapier.ColliderDesc.capsule(halfHeight, radius);
+            break;
+        }
+        case PhysicsShapeType.CYLINDER: {
+            const pointA = options.pointA ?? new Vector3(0, 0, 0);
+            const pointB = options.pointB ?? new Vector3(0, 1, 0);
+            const halfHeight = Vector3.Distance(pointA, pointB) / 2;
+            const radius = options.radius ?? 0.5;
+            colliderDesc = state.rapier.ColliderDesc.cylinder(halfHeight, radius);
+            break;
+        }
+        case PhysicsShapeType.MESH: {
+            const mesh = options.mesh;
+            if (mesh) {
+                const positions = mesh.getVerticesData('position');
+                const indices = mesh.getIndices();
+                if (positions && indices) {
+                    colliderDesc = state.rapier.ColliderDesc.trimesh(new Float32Array(positions), new Uint32Array(indices));
+                }
+                else {
+                    colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+                }
+            }
+            else {
+                colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+            }
+            break;
+        }
+        case PhysicsShapeType.CONVEX_HULL: {
+            const mesh = options.mesh;
+            if (mesh) {
+                const positions = mesh.getVerticesData('position');
+                if (positions) {
+                    const desc = state.rapier.ColliderDesc.convexHull(new Float32Array(positions));
+                    colliderDesc = desc ?? state.rapier.ColliderDesc.ball(0.5);
+                }
+                else {
+                    colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+                }
+            }
+            else {
+                colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+            }
+            break;
+        }
+        case PhysicsShapeType.CONTAINER: {
+            colliderDesc = state.rapier.ColliderDesc.ball(0.001);
+            break;
+        }
+        case PhysicsShapeType.HEIGHTFIELD: {
+            const heights = options.heightFieldData;
+            const nrows = (options.numHeightFieldSamplesX ?? 2) - 1;
+            const ncols = (options.numHeightFieldSamplesZ ?? 2) - 1;
+            const sizeX = options.heightFieldSizeX ?? 1;
+            const sizeZ = options.heightFieldSizeZ ?? 1;
+            if (heights) {
+                colliderDesc = state.rapier.ColliderDesc.heightfield(nrows, ncols, heights, new state.rapier.Vector3(sizeX, 1, sizeZ));
+            }
+            else {
+                colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+            }
+            break;
+        }
+        default:
+            colliderDesc = state.rapier.ColliderDesc.ball(0.5);
+    }
+    state.shapeToColliderDesc.set(shape, colliderDesc);
+    state.shapeTypeMap.set(shape, type);
+}
+export function setShape(state, body, shape) {
+    const rb = state.bodyToRigidBody.get(body);
+    if (!rb)
+        return;
+    const oldShape = state.bodyToShape.get(body);
+    if (oldShape) {
+        state.shapeToBody.delete(oldShape);
+        state.bodyToShape.delete(body);
+    }
+    const existing = state.bodyToColliders.get(body) ?? [];
+    for (const col of existing) {
+        state.colliderHandleToBody.delete(col.handle);
+        state.world.removeCollider(col, false);
+    }
+    if (!shape) {
+        state.bodyToColliders.set(body, []);
+        return;
+    }
+    state.bodyToShape.set(body, shape);
+    state.shapeToBody.set(shape, body);
+    const shapeType = state.shapeTypeMap.get(shape);
+    if (shapeType === PhysicsShapeType.CONTAINER) {
+        rebuildCompoundColliders(state, body, shape);
+        return;
+    }
+    const desc = state.shapeToColliderDesc.get(shape);
+    if (!desc)
+        return;
+    const collider = state.world.createCollider(desc, rb);
+    applyShapePropertiesToCollider(state, collider, shape);
+    state.colliderHandleToBody.set(collider.handle, body);
+    state.bodyToColliders.set(body, [collider]);
+}
+export function disposeShape(state, shape) {
+    state.shapeToColliderDesc.delete(shape);
+    state.shapeTypeMap.delete(shape);
+    state.shapeMaterialMap.delete(shape);
+    state.shapeDensityMap.delete(shape);
+    state.shapeFilterMembership.delete(shape);
+    state.shapeFilterCollide.delete(shape);
+    state.triggerShapes.delete(shape);
+    state.compoundChildren.delete(shape);
+    state.shapeToBody.delete(shape);
+}
+export function setMaterial(state, shape, material) {
+    state.shapeMaterialMap.set(shape, material);
+    for (const collider of getCollidersForShape(state, shape)) {
+        if (material.friction !== undefined)
+            collider.setFriction(material.friction);
+        if (material.restitution !== undefined)
+            collider.setRestitution(material.restitution);
+    }
+}
+export function getMaterial(state, shape) {
+    return state.shapeMaterialMap.get(shape) ?? { friction: 0.5, restitution: 0 };
+}
+export function setDensity(state, shape, density) {
+    state.shapeDensityMap.set(shape, density);
+    for (const collider of getCollidersForShape(state, shape)) {
+        collider.setDensity(density);
+    }
+}
+export function getDensity(state, shape) {
+    return state.shapeDensityMap.get(shape) ?? 1.0;
+}
+export function setTrigger(state, shape, isTrigger) {
+    if (isTrigger) {
+        state.triggerShapes.add(shape);
+    }
+    else {
+        state.triggerShapes.delete(shape);
+    }
+    for (const collider of getCollidersForShape(state, shape)) {
+        collider.setSensor(isTrigger);
+    }
+}
+export function setShapeFilterMembershipMask(state, shape, membershipMask) {
+    state.shapeFilterMembership.set(shape, membershipMask);
+    applyCollisionGroups(state, shape);
+}
+export function getShapeFilterMembershipMask(state, shape) {
+    return state.shapeFilterMembership.get(shape) ?? 0xFFFFFFFF;
+}
+export function setShapeFilterCollideMask(state, shape, collideMask) {
+    state.shapeFilterCollide.set(shape, collideMask);
+    applyCollisionGroups(state, shape);
+}
+export function getShapeFilterCollideMask(state, shape) {
+    return state.shapeFilterCollide.get(shape) ?? 0xFFFFFFFF;
+}
+export function addChild(state, shape, newChild, translation, rotation, scale) {
+    let children = state.compoundChildren.get(shape);
+    if (!children) {
+        children = [];
+        state.compoundChildren.set(shape, children);
+    }
+    children.push({ child: newChild, translation, rotation, scale });
+    const body = state.shapeToBody.get(shape);
+    if (body) {
+        rebuildCompoundColliders(state, body, shape);
+    }
+}
+export function removeChild(state, shape, childIndex) {
+    const children = state.compoundChildren.get(shape);
+    if (!children || childIndex < 0 || childIndex >= children.length)
+        return;
+    children.splice(childIndex, 1);
+    const body = state.shapeToBody.get(shape);
+    if (body) {
+        rebuildCompoundColliders(state, body, shape);
+    }
+}
+export function getNumChildren(state, shape) {
+    return state.compoundChildren.get(shape)?.length ?? 0;
+}
+export function getBoundingBox(state, shape) {
+    const colliders = getCollidersForShape(state, shape);
+    if (colliders.length === 0) {
+        return new BoundingBox(new Vector3(-0.5, -0.5, -0.5), new Vector3(0.5, 0.5, 0.5));
+    }
+    return computeColliderBoundingBox(state, colliders[0]);
+}
+export function getBodyBoundingBox(state, body) {
+    const colliders = state.bodyToColliders.get(body) ?? [];
+    if (colliders.length === 0) {
+        return new BoundingBox(new Vector3(-0.5, -0.5, -0.5), new Vector3(0.5, 0.5, 0.5));
+    }
+    let minX = Infinity, minY = Infinity, minZ = Infinity;
+    let maxX = -Infinity, maxY = -Infinity, maxZ = -Infinity;
+    for (const collider of colliders) {
+        const bb = computeColliderBoundingBox(state, collider);
+        minX = Math.min(minX, bb.minimum.x);
+        minY = Math.min(minY, bb.minimum.y);
+        minZ = Math.min(minZ, bb.minimum.z);
+        maxX = Math.max(maxX, bb.maximum.x);
+        maxY = Math.max(maxY, bb.maximum.y);
+        maxZ = Math.max(maxZ, bb.maximum.z);
+    }
+    return new BoundingBox(new Vector3(minX, minY, minZ), new Vector3(maxX, maxY, maxZ));
+}
+function getCollidersForShape(state, shape) {
+    const body = state.shapeToBody.get(shape);
+    if (!body)
+        return [];
+    return state.bodyToColliders.get(body) ?? [];
+}
+function applyCollisionGroups(state, shape) {
+    const membership = state.shapeFilterMembership.get(shape) ?? 0xFFFF;
+    const collide = state.shapeFilterCollide.get(shape) ?? 0xFFFF;
+    const groups = ((membership & 0xFFFF) << 16) | (collide & 0xFFFF);
+    for (const collider of getCollidersForShape(state, shape)) {
+        collider.setCollisionGroups(groups);
+    }
+}
+function applyShapePropertiesToCollider(state, collider, shape) {
+    const material = state.shapeMaterialMap.get(shape);
+    if (material) {
+        if (material.friction !== undefined)
+            collider.setFriction(material.friction);
+        if (material.restitution !== undefined)
+            collider.setRestitution(material.restitution);
+    }
+    const density = state.shapeDensityMap.get(shape);
+    if (density !== undefined)
+        collider.setDensity(density);
+    if (state.triggerShapes.has(shape))
+        collider.setSensor(true);
+    const membership = state.shapeFilterMembership.get(shape) ?? 0xFFFF;
+    const collide = state.shapeFilterCollide.get(shape) ?? 0xFFFF;
+    const groups = ((membership & 0xFFFF) << 16) | (collide & 0xFFFF);
+    collider.setCollisionGroups(groups);
+    collider.setActiveEvents(state.rapier.ActiveEvents.COLLISION_EVENTS);
+}
+function computeColliderBoundingBox(state, collider) {
+    const shapeType = collider.shapeType();
+    const RAPIER = state.rapier;
+    const t = collider.translation();
+    if (shapeType === RAPIER.ShapeType.Cuboid) {
+        const he = collider.halfExtents();
+        return new BoundingBox(new Vector3(t.x - he.x, t.y - he.y, t.z - he.z), new Vector3(t.x + he.x, t.y + he.y, t.z + he.z));
+    }
+    else if (shapeType === RAPIER.ShapeType.Ball) {
+        const r = collider.radius();
+        return new BoundingBox(new Vector3(t.x - r, t.y - r, t.z - r), new Vector3(t.x + r, t.y + r, t.z + r));
+    }
+    else if (shapeType === RAPIER.ShapeType.Capsule) {
+        const r = collider.radius();
+        const hh = collider.halfHeight();
+        return new BoundingBox(new Vector3(t.x - r, t.y - hh - r, t.z - r), new Vector3(t.x + r, t.y + hh + r, t.z + r));
+    }
+    else if (shapeType === RAPIER.ShapeType.Cylinder) {
+        const r = collider.radius();
+        const hh = collider.halfHeight();
+        return new BoundingBox(new Vector3(t.x - r, t.y - hh, t.z - r), new Vector3(t.x + r, t.y + hh, t.z + r));
+    }
+    return new BoundingBox(new Vector3(t.x - 0.5, t.y - 0.5, t.z - 0.5), new Vector3(t.x + 0.5, t.y + 0.5, t.z + 0.5));
+}
+function rebuildCompoundColliders(state, body, shape) {
+    const rb = state.bodyToRigidBody.get(body);
+    if (!rb)
+        return;
+    const existing = state.bodyToColliders.get(body) ?? [];
+    for (const col of existing) {
+        state.colliderHandleToBody.delete(col.handle);
+        state.world.removeCollider(col, false);
+    }
+    const children = state.compoundChildren.get(shape) ?? [];
+    const newColliders = [];
+    for (const entry of children) {
+        const childDesc = state.shapeToColliderDesc.get(entry.child);
+        if (!childDesc)
+            continue;
+        if (entry.translation) {
+            childDesc.setTranslation(entry.translation.x, entry.translation.y, entry.translation.z);
+        }
+        if (entry.rotation) {
+            childDesc.setRotation(new state.rapier.Quaternion(entry.rotation.x, entry.rotation.y, entry.rotation.z, entry.rotation.w));
+        }
+        const collider = state.world.createCollider(childDesc, rb);
+        applyShapePropertiesToCollider(state, collider, shape);
+        state.colliderHandleToBody.set(collider.handle, body);
+        newColliders.push(collider);
+    }
+    state.bodyToColliders.set(body, newColliders);
+}
+//# sourceMappingURL=rapier-shape-ops.js.map