@zephyr3d/scene 0.9.27 → 0.10.0

package/dist/physics/collider.js

@@ -0,0 +1,209 @@
+import { Vector3 } from '@zephyr3d/base';
+import { PhysicsPart } from './part.js';
+
+/**
+ * A collision shape on its node.
+ *
+ * @remarks
+ * Belongs to the nearest {@link RigidBody} on its node or an ancestor. Without
+ * one it is a static obstacle - a floor, a wall - that never moves on its own
+ * but follows its node if the node is moved.
+ *
+ * Collision and trigger events are raised on the rigid body it belongs to, or
+ * on the collider itself when it has none; see {@link PhysicsEventMap}.
+ *
+ * Sizes are in the node's local units and scale with the node's world scale. A
+ * sphere scales by the largest axis, and capsules and cylinders by the larger
+ * of X and Z for their radius; `mesh` and `convex` scale exactly, along each
+ * axis.
+ *
+ * @public
+ */ class Collider extends PhysicsPart {
+    _shape;
+    _size;
+    _radius;
+    _height;
+    _offset;
+    _friction;
+    _restitution;
+    _isTrigger;
+    _layer;
+    _meshLod;
+    _terrainResolution;
+    _meshData;
+    /** The geometry last built from, for shapes that need it. */ _geometry;
+    _ready;
+    _error;
+    /** Warned that a mesh collider is on a dynamic body. */ _warnedDynamicMesh;
+    constructor(){
+        super();
+        this._shape = 'box';
+        this._size = new Vector3(1, 1, 1);
+        this._radius = 0.5;
+        this._height = 2;
+        this._offset = new Vector3();
+        this._friction = 0.5;
+        this._restitution = 0;
+        this._isTrigger = false;
+        this._layer = 0;
+        this._meshLod = 0;
+        this._terrainResolution = 1;
+        this._meshData = null;
+        this._geometry = null;
+        this._ready = false;
+        this._error = '';
+        this._warnedDynamicMesh = false;
+    }
+    /** The shape. Default `'box'`. */ get shape() {
+        return this._shape;
+    }
+    set shape(value) {
+        this._shape = value;
+        this._changed();
+    }
+    /** Full size of a box. Default (1, 1, 1). */ get size() {
+        return this._size;
+    }
+    set size(value) {
+        this._size.set(value);
+        this._changed();
+    }
+    /** Radius of a sphere, capsule or cylinder. Default 0.5. */ get radius() {
+        return this._radius;
+    }
+    set radius(value) {
+        this._radius = Math.max(0, value);
+        this._changed();
+    }
+    /** Total height of a capsule or cylinder. Default 2. */ get height() {
+        return this._height;
+    }
+    set height(value) {
+        this._height = Math.max(0, value);
+        this._changed();
+    }
+    /** Position of the shape's centre in the node's local space. Default (0, 0, 0). */ get offset() {
+        return this._offset;
+    }
+    set offset(value) {
+        this._offset.set(value);
+        this._changed();
+    }
+    /** How strongly surfaces resist sliding, usually 0 to 1. Default 0.5. */ get friction() {
+        return this._friction;
+    }
+    set friction(value) {
+        this._friction = Math.max(0, value);
+        this._changed();
+    }
+    /** Bounciness, from 0 (no bounce) to 1 (keeps all its speed). Default 0. */ get restitution() {
+        return this._restitution;
+    }
+    set restitution(value) {
+        this._restitution = Math.max(0, value);
+        this._changed();
+    }
+    /** A trigger detects overlaps but does not push anything. Default false. */ get isTrigger() {
+        return this._isTrigger;
+    }
+    set isTrigger(value) {
+        this._isTrigger = !!value;
+        this._changed();
+    }
+    /**
+   * Collision layer, 0 to 15. Which layers collide with each other is set on
+   * the world ({@link PhysicsWorld.setLayerCollision}); queries can be limited
+   * to some layers. Default 0.
+   */ get layer() {
+        return this._layer;
+    }
+    set layer(value) {
+        const layer = Math.min(15, Math.max(0, Math.floor(value)));
+        if (layer !== this._layer) {
+            this._layer = layer;
+            this.world?._updateColliderGroups(this);
+        }
+    }
+    /**
+   * Which level of detail of the mesh a `mesh` or `convex` collider is made
+   * from; 0 is full detail. A level past the mesh's lowest detail uses the
+   * lowest. Default 0.
+   */ get meshLod() {
+        return this._meshLod;
+    }
+    set meshLod(value) {
+        const lod = Math.max(0, Math.floor(value));
+        if (lod !== this._meshLod) {
+            this._meshLod = lod;
+            this._changed();
+        }
+    }
+    /**
+   * Spacing of a `terrain` collider's height samples, in height map texels: 1
+   * uses every texel, 2 every other one, and so on. Coarser is cheaper and
+   * smaller but follows the ground less closely. Default 1.
+   */ get terrainResolution() {
+        return this._terrainResolution;
+    }
+    set terrainResolution(value) {
+        const resolution = Math.max(1, Math.floor(value));
+        if (resolution !== this._terrainResolution) {
+            this._terrainResolution = resolution;
+            this._changed();
+        }
+    }
+    /**
+   * Gives a `mesh` or `convex` collider its triangles directly instead of
+   * reading them from the node's mesh, so it takes effect right away.
+   *
+   * @remarks
+   * For generated geometry, or collision geometry prepared in advance. Not
+   * saved with the scene.
+   *
+   * @param positions - Vertex positions in the node's local space, xyz each.
+   * @param indices - Three vertex indices per triangle. A `convex` collider
+   *   only uses the positions and may leave this out.
+   */ setMeshData(positions, indices) {
+        this._meshData = {
+            positions,
+            indices: indices ?? new Uint32Array(0)
+        };
+        this._changed();
+    }
+    /** Goes back to reading the triangles from the node's mesh. */ clearMeshData() {
+        if (this._meshData) {
+            this._meshData = null;
+            this._changed();
+        }
+    }
+    /**
+   * Whether the collider is in the simulation. Basic shapes are as soon as
+   * their node is in a scene that is simulating; `mesh`, `convex` and `terrain`
+   * may have to wait for their geometry. Raises `ready` when it becomes true.
+   */ get ready() {
+        return this._ready;
+    }
+    /** Why the collider could not be built, or an empty string. */ get error() {
+        return this._error;
+    }
+    _setStatus(ready, error = '') {
+        const becameReady = ready && !this._ready;
+        this._ready = ready;
+        this._error = error;
+        if (becameReady) {
+            this.dispatchEvent('ready');
+        }
+    }
+    _changed() {
+        this.world?._markColliderDirty(this);
+    }
+    _join(world) {
+        world._registerCollider(this);
+    }
+    _leave(world) {
+        world._unregisterCollider(this);
+    }
+}
+
+export { Collider };
+//# sourceMappingURL=collider.js.map

package/dist/physics/collider.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"collider.js","sources":["../../src/physics/collider.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport { PhysicsPart } from './part';\r\nimport type { PhysicsWorld } from './world';\r\n\r\n/**\r\n * Basic collision shapes, defined in the node's local space.\r\n *\r\n * - `box`: {@link Collider.size} is the full extent along each axis.\r\n * - `sphere`: {@link Collider.radius}.\r\n * - `capsule`: a cylinder with hemispherical ends, along the node's Y axis;\r\n *   {@link Collider.height} is the total height, ends included.\r\n * - `cylinder`: along the node's Y axis, {@link Collider.height} tall.\r\n * - `mesh`: the triangles of the node's mesh, exactly. For floors, buildings\r\n *   and other things that do not move on their own: on a dynamic rigid body it\r\n *   has no volume, so it gets pushed into things; use `convex` there.\r\n * - `convex`: the convex hull of the node's mesh - the shape of the mesh\r\n *   shrink-wrapped, hollows filled in. For dynamic objects: rocks, props.\r\n * - `terrain`: the heights of the node's terrain. Static only.\r\n *\r\n * `mesh` and `convex` read the mesh back from the GPU, so they come into effect\r\n * a few frames later (see {@link Collider.ready}), unless given their triangles\r\n * with {@link Collider.setMeshData}.\r\n *\r\n * @public\r\n */\r\nexport type ColliderShape = 'box' | 'sphere' | 'capsule' | 'cylinder' | 'mesh' | 'convex' | 'terrain';\r\n\r\n/**\r\n * A collision shape on its node.\r\n *\r\n * @remarks\r\n * Belongs to the nearest {@link RigidBody} on its node or an ancestor. Without\r\n * one it is a static obstacle - a floor, a wall - that never moves on its own\r\n * but follows its node if the node is moved.\r\n *\r\n * Collision and trigger events are raised on the rigid body it belongs to, or\r\n * on the collider itself when it has none; see {@link PhysicsEventMap}.\r\n *\r\n * Sizes are in the node's local units and scale with the node's world scale. A\r\n * sphere scales by the largest axis, and capsules and cylinders by the larger\r\n * of X and Z for their radius; `mesh` and `convex` scale exactly, along each\r\n * axis.\r\n *\r\n * @public\r\n */\r\nexport class Collider extends PhysicsPart {\r\n  private _shape: ColliderShape;\r\n  private readonly _size: Vector3;\r\n  private _radius: number;\r\n  private _height: number;\r\n  private readonly _offset: Vector3;\r\n  private _friction: number;\r\n  private _restitution: number;\r\n  private _isTrigger: boolean;\r\n  private _layer: number;\r\n  private _meshLod: number;\r\n  private _terrainResolution: number;\r\n  _meshData: { positions: Float32Array; indices: Uint32Array } | null;\r\n  /** The geometry last built from, for shapes that need it. */\r\n  _geometry: unknown;\r\n  private _ready: boolean;\r\n  private _error: string;\r\n  /** Warned that a mesh collider is on a dynamic body. */\r\n  _warnedDynamicMesh: boolean;\r\n\r\n  constructor() {\r\n    super();\r\n    this._shape = 'box';\r\n    this._size = new Vector3(1, 1, 1);\r\n    this._radius = 0.5;\r\n    this._height = 2;\r\n    this._offset = new Vector3();\r\n    this._friction = 0.5;\r\n    this._restitution = 0;\r\n    this._isTrigger = false;\r\n    this._layer = 0;\r\n    this._meshLod = 0;\r\n    this._terrainResolution = 1;\r\n    this._meshData = null;\r\n    this._geometry = null;\r\n    this._ready = false;\r\n    this._error = '';\r\n    this._warnedDynamicMesh = false;\r\n  }\r\n\r\n  /** The shape. Default `'box'`. */\r\n  get shape() {\r\n    return this._shape;\r\n  }\r\n  set shape(value: ColliderShape) {\r\n    this._shape = value;\r\n    this._changed();\r\n  }\r\n  /** Full size of a box. Default (1, 1, 1). */\r\n  get size(): Vector3 {\r\n    return this._size;\r\n  }\r\n  set size(value: Vector3) {\r\n    this._size.set(value);\r\n    this._changed();\r\n  }\r\n  /** Radius of a sphere, capsule or cylinder. Default 0.5. */\r\n  get radius() {\r\n    return this._radius;\r\n  }\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n    this._changed();\r\n  }\r\n  /** Total height of a capsule or cylinder. Default 2. */\r\n  get height() {\r\n    return this._height;\r\n  }\r\n  set height(value: number) {\r\n    this._height = Math.max(0, value);\r\n    this._changed();\r\n  }\r\n  /** Position of the shape's centre in the node's local space. Default (0, 0, 0). */\r\n  get offset(): Vector3 {\r\n    return this._offset;\r\n  }\r\n  set offset(value: Vector3) {\r\n    this._offset.set(value);\r\n    this._changed();\r\n  }\r\n  /** How strongly surfaces resist sliding, usually 0 to 1. Default 0.5. */\r\n  get friction() {\r\n    return this._friction;\r\n  }\r\n  set friction(value: number) {\r\n    this._friction = Math.max(0, value);\r\n    this._changed();\r\n  }\r\n  /** Bounciness, from 0 (no bounce) to 1 (keeps all its speed). Default 0. */\r\n  get restitution() {\r\n    return this._restitution;\r\n  }\r\n  set restitution(value: number) {\r\n    this._restitution = Math.max(0, value);\r\n    this._changed();\r\n  }\r\n  /** A trigger detects overlaps but does not push anything. Default false. */\r\n  get isTrigger() {\r\n    return this._isTrigger;\r\n  }\r\n  set isTrigger(value: boolean) {\r\n    this._isTrigger = !!value;\r\n    this._changed();\r\n  }\r\n\r\n  /**\r\n   * Collision layer, 0 to 15. Which layers collide with each other is set on\r\n   * the world ({@link PhysicsWorld.setLayerCollision}); queries can be limited\r\n   * to some layers. Default 0.\r\n   */\r\n  get layer() {\r\n    return this._layer;\r\n  }\r\n  set layer(value: number) {\r\n    const layer = Math.min(15, Math.max(0, Math.floor(value)));\r\n    if (layer !== this._layer) {\r\n      this._layer = layer;\r\n      this.world?._updateColliderGroups(this);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Which level of detail of the mesh a `mesh` or `convex` collider is made\r\n   * from; 0 is full detail. A level past the mesh's lowest detail uses the\r\n   * lowest. Default 0.\r\n   */\r\n  get meshLod() {\r\n    return this._meshLod;\r\n  }\r\n  set meshLod(value: number) {\r\n    const lod = Math.max(0, Math.floor(value));\r\n    if (lod !== this._meshLod) {\r\n      this._meshLod = lod;\r\n      this._changed();\r\n    }\r\n  }\r\n  /**\r\n   * Spacing of a `terrain` collider's height samples, in height map texels: 1\r\n   * uses every texel, 2 every other one, and so on. Coarser is cheaper and\r\n   * smaller but follows the ground less closely. Default 1.\r\n   */\r\n  get terrainResolution() {\r\n    return this._terrainResolution;\r\n  }\r\n  set terrainResolution(value: number) {\r\n    const resolution = Math.max(1, Math.floor(value));\r\n    if (resolution !== this._terrainResolution) {\r\n      this._terrainResolution = resolution;\r\n      this._changed();\r\n    }\r\n  }\r\n  /**\r\n   * Gives a `mesh` or `convex` collider its triangles directly instead of\r\n   * reading them from the node's mesh, so it takes effect right away.\r\n   *\r\n   * @remarks\r\n   * For generated geometry, or collision geometry prepared in advance. Not\r\n   * saved with the scene.\r\n   *\r\n   * @param positions - Vertex positions in the node's local space, xyz each.\r\n   * @param indices - Three vertex indices per triangle. A `convex` collider\r\n   *   only uses the positions and may leave this out.\r\n   */\r\n  setMeshData(positions: Float32Array, indices?: Uint32Array) {\r\n    this._meshData = { positions, indices: indices ?? new Uint32Array(0) };\r\n    this._changed();\r\n  }\r\n  /** Goes back to reading the triangles from the node's mesh. */\r\n  clearMeshData() {\r\n    if (this._meshData) {\r\n      this._meshData = null;\r\n      this._changed();\r\n    }\r\n  }\r\n  /**\r\n   * Whether the collider is in the simulation. Basic shapes are as soon as\r\n   * their node is in a scene that is simulating; `mesh`, `convex` and `terrain`\r\n   * may have to wait for their geometry. Raises `ready` when it becomes true.\r\n   */\r\n  get ready() {\r\n    return this._ready;\r\n  }\r\n  /** Why the collider could not be built, or an empty string. */\r\n  get error() {\r\n    return this._error;\r\n  }\r\n\r\n  _setStatus(ready: boolean, error = '') {\r\n    const becameReady = ready && !this._ready;\r\n    this._ready = ready;\r\n    this._error = error;\r\n    if (becameReady) {\r\n      this.dispatchEvent('ready');\r\n    }\r\n  }\r\n  private _changed() {\r\n    this.world?._markColliderDirty(this);\r\n  }\r\n  protected _join(world: PhysicsWorld) {\r\n    world._registerCollider(this);\r\n  }\r\n  protected _leave(world: PhysicsWorld) {\r\n    world._unregisterCollider(this);\r\n  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package/dist/physics/events.js

@@ -0,0 +1,79 @@
+import { Vector3 } from '@zephyr3d/base';
+
+/**
+ * Passed with `collisionenter`, `collisionstay` and `collisionexit`.
+ *
+ * @remarks
+ * Contact details are worked out only when read, and only while the handler
+ * runs; read them there rather than keeping the event. On `collisionexit` the
+ * objects no longer touch, so there are none.
+ *
+ * @public
+ */ class PhysicsContactEvent {
+    other;
+    collider;
+    otherCollider;
+    _resolve;
+    _info;
+    _flip;
+    constructor(/** The other physics object: the physics data of its node. */ other, /** One of this object's colliders that touches the other object. */ collider, /** The other object's collider it touches. */ otherCollider, resolve, flip){
+        this.other = other;
+        this.collider = collider;
+        this.otherCollider = otherCollider;
+        this._resolve = resolve;
+        this._info = null;
+        this._flip = flip;
+    }
+    /** The other object's node. */ get otherNode() {
+        return this.other.node;
+    }
+    /**
+   * Direction of the contact in world space, pointing from this object towards
+   * the other. Zero when there is no contact to report.
+   */ get normal() {
+        return this._get()?.normal ?? Vector3.zero();
+    }
+    /** Contact points in world space, between the two colliders. */ get contacts() {
+        return this._get()?.points ?? [];
+    }
+    /**
+   * How hard the two pressed against each other during the last simulation
+   * step, in N·s; large for an impact, small for resting contact.
+   */ get impulse() {
+        return this._get()?.impulse ?? 0;
+    }
+    /** Ends the time contact details can be read. */ _expire() {
+        this._resolve = null;
+    }
+    _get() {
+        if (!this._info && this._resolve) {
+            const info = this._resolve();
+            if (info && this._flip) {
+                info.normal.scaleBy(-1);
+            }
+            this._info = info;
+            this._resolve = null;
+        }
+        return this._info;
+    }
+}
+/**
+ * Passed with `triggerenter` and `triggerexit`.
+ *
+ * @public
+ */ class PhysicsTriggerEvent {
+    other;
+    collider;
+    otherCollider;
+    constructor(/** The other object: the trigger, or what entered it. */ other, /** This object's collider involved. */ collider, /** The other object's collider involved. */ otherCollider){
+        this.other = other;
+        this.collider = collider;
+        this.otherCollider = otherCollider;
+    }
+    /** The other object's node. */ get otherNode() {
+        return this.other.node;
+    }
+}
+
+export { PhysicsContactEvent, PhysicsTriggerEvent };
+//# sourceMappingURL=events.js.map

package/dist/physics/events.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"events.js","sources":["../../src/physics/events.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport type { PhysicsContactInfo } from './types';\r\nimport type { NodePhysics } from './node_physics';\r\nimport type { Collider } from './collider';\r\n\r\n/**\r\n * Passed with `collisionenter`, `collisionstay` and `collisionexit`.\r\n *\r\n * @remarks\r\n * Contact details are worked out only when read, and only while the handler\r\n * runs; read them there rather than keeping the event. On `collisionexit` the\r\n * objects no longer touch, so there are none.\r\n *\r\n * @public\r\n */\r\nexport class PhysicsContactEvent {\r\n  private _resolve: (() => PhysicsContactInfo | null) | null;\r\n  private _info: PhysicsContactInfo | null;\r\n  private readonly _flip: boolean;\r\n  constructor(\r\n    /** The other physics object: the physics data of its node. */\r\n    readonly other: NodePhysics,\r\n    /** One of this object's colliders that touches the other object. */\r\n    readonly collider: Collider,\r\n    /** The other object's collider it touches. */\r\n    readonly otherCollider: Collider,\r\n    resolve: (() => PhysicsContactInfo | null) | null,\r\n    flip: boolean\r\n  ) {\r\n    this._resolve = resolve;\r\n    this._info = null;\r\n    this._flip = flip;\r\n  }\r\n  /** The other object's node. */\r\n  get otherNode(): SceneNode | null {\r\n    return this.other.node;\r\n  }\r\n  /**\r\n   * Direction of the contact in world space, pointing from this object towards\r\n   * the other. Zero when there is no contact to report.\r\n   */\r\n  get normal(): Vector3 {\r\n    return this._get()?.normal ?? Vector3.zero();\r\n  }\r\n  /** Contact points in world space, between the two colliders. */\r\n  get contacts(): Vector3[] {\r\n    return this._get()?.points ?? [];\r\n  }\r\n  /**\r\n   * How hard the two pressed against each other during the last simulation\r\n   * step, in N·s; large for an impact, small for resting contact.\r\n   */\r\n  get impulse(): number {\r\n    return this._get()?.impulse ?? 0;\r\n  }\r\n  /** Ends the time contact details can be read. */\r\n  _expire() {\r\n    this._resolve = null;\r\n  }\r\n  private _get() {\r\n    if (!this._info && this._resolve) {\r\n      const info = this._resolve();\r\n      if (info && this._flip) {\r\n        info.normal.scaleBy(-1);\r\n      }\r\n      this._info = info;\r\n      this._resolve = null;\r\n    }\r\n    return this._info;\r\n  }\r\n}\r\n\r\n/**\r\n * Passed with `triggerenter` and `triggerexit`.\r\n *\r\n * @public\r\n */\r\nexport class PhysicsTriggerEvent {\r\n  constructor(\r\n    /** The other object: the trigger, or what entered it. */\r\n    readonly other: NodePhysics,\r\n    /** This object's collider involved. */\r\n    readonly collider: Collider,\r\n    /** The other object's collider involved. */\r\n    readonly otherCollider: Collider\r\n  ) {}\r\n  /** The other object's node. */\r\n  get otherNode(): SceneNode | null {\r\n    return this.other.node;\r\n  }\r\n}\r\n"],"names":["PhysicsContactEvent","_resolve","_info","_flip","other","resolve","flip","collider","otherCollider","otherNode","node","normal","_get","Vector3","zero","contacts","points","impulse","_expire","info","scaleBy","PhysicsTriggerEvent"],"mappings":";;AAMA;;;;;;;;;AASC,IACM,MAAMA,mBAAAA,CAAAA;;;;IACHC,QAAmD;IACnDC,KAAiC;IACxBC,KAAe;AAChC,IAAA,WAAA,gEAEWC,KAAkB,uEAE3B,QAA2B,iDAE3B,aAAgC,EAChCC,OAAiD,EACjDC,IAAa,CACb;aAPSF,KAAAA,GAAAA,KAAAA;aAEAG,QAAAA,GAAAA,QAAAA;aAEAC,aAAAA,GAAAA,aAAAA;QAIT,IAAI,CAACP,QAAQ,GAAGI,OAAAA;QAChB,IAAI,CAACH,KAAK,GAAG,IAAA;QACb,IAAI,CAACC,KAAK,GAAGG,IAAAA;AACf;oCAEA,IAAIG,SAA8B,GAAA;AAChC,QAAA,OAAO,IAAI,CAACL,KAAK,CAACM,IAAI;AACxB;AACA;;;AAGC,MACD,IAAIC,MAAkB,GAAA;AACpB,QAAA,OAAO,IAAI,CAACC,IAAI,EAAID,EAAAA,MAAAA,IAAUE,QAAQC,IAAI,EAAA;AAC5C;qEAEA,IAAIC,QAAsB,GAAA;AACxB,QAAA,OAAO,IAAI,CAACH,IAAI,EAAA,EAAII,UAAU,EAAE;AAClC;AACA;;;AAGC,MACD,IAAIC,OAAkB,GAAA;AACpB,QAAA,OAAO,IAAI,CAACL,IAAI,EAAA,EAAIK,OAAW,IAAA,CAAA;AACjC;AACA,sDACAC,OAAU,GAAA;QACR,IAAI,CAACjB,QAAQ,GAAG,IAAA;AAClB;IACQW,IAAO,GAAA;QACb,IAAI,CAAC,IAAI,CAACV,KAAK,IAAI,IAAI,CAACD,QAAQ,EAAE;YAChC,MAAMkB,IAAAA,GAAO,IAAI,CAAClB,QAAQ,EAAA;AAC1B,YAAA,IAAIkB,IAAQ,IAAA,IAAI,CAAChB,KAAK,EAAE;AACtBgB,gBAAAA,IAAAA,CAAKR,MAAM,CAACS,OAAO,CAAC,EAAC,CAAA;AACvB;YACA,IAAI,CAAClB,KAAK,GAAGiB,IAAAA;YACb,IAAI,CAAClB,QAAQ,GAAG,IAAA;AAClB;QACA,OAAO,IAAI,CAACC,KAAK;AACnB;AACF;AAEA;;;;AAIC,IACM,MAAMmB,mBAAAA,CAAAA;;;;AACX,IAAA,WAAA,2DAEE,KAA2B,0CAE3B,QAA2B,+CAElBb,aAAuB,CAChC;aALSJ,KAAAA,GAAAA,KAAAA;aAEAG,QAAAA,GAAAA,QAAAA;aAEAC,aAAAA,GAAAA,aAAAA;AACR;oCAEH,IAAIC,SAA8B,GAAA;AAChC,QAAA,OAAO,IAAI,CAACL,KAAK,CAACM,IAAI;AACxB;AACF;;;;"}

package/dist/physics/joint.js

@@ -0,0 +1,272 @@
+import { Vector3 } from '@zephyr3d/base';
+import { PhysicsPart } from './part.js';
+
+/**
+ * Connects two rigid bodies, or a rigid body and a fixed point in the world.
+ *
+ * @remarks
+ * The joint's own node is the joint's frame: the pivot is the node's origin
+ * (moved by {@link Joint.anchor}), and a hinge turns about, or a slider moves
+ * along, the node's local {@link Joint.axis}. To put a door's hinge at the edge
+ * of the door, put the joint on a child node placed there. A rope or spring
+ * runs from that pivot to {@link Joint.connectedAnchor} at the other end.
+ *
+ * Angles and positions measure how the joint's own body has turned or moved
+ * relative to the other end, about or along the axis: a hinge turning
+ * counter-clockwise seen from the tip of its axis has a growing angle.
+ *
+ * One side is the nearest {@link RigidBody} on the joint's node or above it; the
+ * other is the nearest rigid body on {@link Joint.connectedBody} or above it, or
+ * the world when that is empty.
+ *
+ * The joint holds the bodies in the pose they have when it is created: a
+ * hinge's angle is 0 there. Limits and motor targets are relative to it.
+ *
+ * Joints cannot break under load: physics implementations do not report the
+ * forces on them.
+ *
+ * @public
+ */ class Joint extends PhysicsPart {
+    _type;
+    _connectedBodyId;
+    _connectedBody;
+    _anchor;
+    _connectedAnchor;
+    _axis;
+    _collideConnected;
+    _limitsEnabled;
+    _lowerLimit;
+    _upperLimit;
+    _swingLimit;
+    _twistLimit;
+    _motorMode;
+    _motorTarget;
+    _motorStiffness;
+    _motorDamping;
+    _motorMaxForce;
+    _length;
+    _stiffness;
+    _damping;
+    _error;
+    constructor(){
+        super();
+        this._type = 'hinge';
+        this._connectedBodyId = '';
+        this._connectedBody = null;
+        this._anchor = new Vector3();
+        this._connectedAnchor = new Vector3();
+        this._axis = new Vector3(0, 1, 0);
+        this._collideConnected = false;
+        this._limitsEnabled = false;
+        this._lowerLimit = -45;
+        this._upperLimit = 45;
+        this._swingLimit = 45;
+        this._twistLimit = 45;
+        this._motorMode = 'off';
+        this._motorTarget = 0;
+        this._motorStiffness = 1000;
+        this._motorDamping = 100;
+        this._motorMaxForce = 0;
+        this._length = 1;
+        this._stiffness = 100;
+        this._damping = 5;
+        this._error = '';
+    }
+    /** What the joint allows. Default `'hinge'`. */ get type() {
+        return this._type;
+    }
+    set type(value) {
+        if (value !== this._type) {
+            this._type = value;
+            this._rebuild();
+        }
+    }
+    /**
+   * The node whose rigid body is the other side of the joint; null connects to
+   * a fixed point in the world. Stored by the node's persistent id, so it may
+   * be set before that node is loaded or added.
+   */ get connectedBody() {
+        const scene = this.node?.scene;
+        if (!this._connectedBodyId || !scene) {
+            return this._connectedBody;
+        }
+        // Looked up again if it left the scene: it may come back, or be replaced
+        // by a node loaded with the same id.
+        if (!this._connectedBody || this._connectedBody.scene !== scene || !this._connectedBody.attached) {
+            this._connectedBody = scene.findNodeById(this._connectedBodyId) ?? null;
+        }
+        return this._connectedBody?.attached ? this._connectedBody : null;
+    }
+    set connectedBody(node) {
+        this._connectedBody = node;
+        this._connectedBodyId = node?.persistentId ?? '';
+        this._rebuild();
+    }
+    /** Persistent id of {@link Joint.connectedBody}, or an empty string. */ get connectedBodyId() {
+        return this._connectedBodyId;
+    }
+    set connectedBodyId(id) {
+        if (id !== this._connectedBodyId) {
+            this._connectedBodyId = id;
+            this._connectedBody = null;
+            this._rebuild();
+        }
+    }
+    /** Pivot position in the joint node's local space. Default (0, 0, 0). */ get anchor() {
+        return this._anchor;
+    }
+    set anchor(value) {
+        this._anchor.set(value);
+        this._rebuild();
+    }
+    /**
+   * Where a rope or spring is tied at the other end: in the connected body's
+   * node space, or in world space when connected to the world. Default (0, 0, 0).
+   * Other joints pivot at the joint node only.
+   */ get connectedAnchor() {
+        return this._connectedAnchor;
+    }
+    set connectedAnchor(value) {
+        this._connectedAnchor.set(value);
+        this._rebuild();
+    }
+    /** Hinge or slider axis in the joint node's local space. Default (0, 1, 0). */ get axis() {
+        return this._axis;
+    }
+    set axis(value) {
+        this._axis.set(value);
+        this._rebuild();
+    }
+    /** Whether the two connected bodies still collide with each other. Default false. */ get collideConnected() {
+        return this._collideConnected;
+    }
+    set collideConnected(value) {
+        this._collideConnected = !!value;
+        this.world?._getJointHandle(this)?.setContactsEnabled(this._collideConnected);
+    }
+    /** Whether a hinge, slider or ball joint is limited. Default false. */ get limitsEnabled() {
+        return this._limitsEnabled;
+    }
+    set limitsEnabled(value) {
+        if (!!value !== this._limitsEnabled) {
+            this._limitsEnabled = !!value;
+            // Limits can only be turned off again by rebuilding the joint.
+            this._rebuild();
+        }
+    }
+    /** Lowest angle of a hinge in degrees, or position of a slider in metres. Default -45. */ get lowerLimit() {
+        return this._lowerLimit;
+    }
+    set lowerLimit(value) {
+        this._lowerLimit = value;
+        this.world?._applyJointLimits(this);
+    }
+    /** Highest angle of a hinge in degrees, or position of a slider in metres. Default 45. */ get upperLimit() {
+        return this._upperLimit;
+    }
+    set upperLimit(value) {
+        this._upperLimit = value;
+        this.world?._applyJointLimits(this);
+    }
+    /** How far a ball joint may swing away from its axis, in degrees each way. Default 45. */ get swingLimit() {
+        return this._swingLimit;
+    }
+    set swingLimit(value) {
+        this._swingLimit = Math.max(0, value);
+        this.world?._applyJointLimits(this);
+    }
+    /** How far a ball joint may twist about its axis, in degrees each way. Default 45. */ get twistLimit() {
+        return this._twistLimit;
+    }
+    set twistLimit(value) {
+        this._twistLimit = Math.max(0, value);
+        this.world?._applyJointLimits(this);
+    }
+    /** How a hinge or slider is driven. Default `'off'`. */ get motorMode() {
+        return this._motorMode;
+    }
+    set motorMode(value) {
+        this._motorMode = value;
+        this.world?._applyJointMotor(this);
+    }
+    /**
+   * In `velocity` mode the speed to reach: degrees per second for a hinge,
+   * metres per second for a slider. In `position` mode the angle (degrees) or
+   * position (metres) to reach. Default 0.
+   */ get motorTarget() {
+        return this._motorTarget;
+    }
+    set motorTarget(value) {
+        this._motorTarget = value;
+        this.world?._applyJointMotor(this);
+    }
+    /** How strongly a `position` motor pulls towards its target. Default 1000. */ get motorStiffness() {
+        return this._motorStiffness;
+    }
+    set motorStiffness(value) {
+        this._motorStiffness = Math.max(0, value);
+        this.world?._applyJointMotor(this);
+    }
+    /**
+   * How strongly a motor resists overshooting; in `velocity` mode, how quickly
+   * it gets up to speed. Default 100.
+   */ get motorDamping() {
+        return this._motorDamping;
+    }
+    set motorDamping(value) {
+        this._motorDamping = Math.max(0, value);
+        this.world?._applyJointMotor(this);
+    }
+    /** Most force (or torque) the motor applies; 0 for no limit. Default 0. */ get motorMaxForce() {
+        return this._motorMaxForce;
+    }
+    set motorMaxForce(value) {
+        this._motorMaxForce = Math.max(0, value);
+        this.world?._applyJointMotor(this);
+    }
+    /** A rope's longest distance, or a spring's rest length, in metres. Default 1. */ get length() {
+        return this._length;
+    }
+    set length(value) {
+        this._length = Math.max(0, value);
+        this._rebuild();
+    }
+    /** How hard a spring pulls, per metre stretched. Default 100. */ get stiffness() {
+        return this._stiffness;
+    }
+    set stiffness(value) {
+        this._stiffness = Math.max(0, value);
+        this._rebuild();
+    }
+    /** How quickly a spring stops bouncing. Default 5. */ get damping() {
+        return this._damping;
+    }
+    set damping(value) {
+        this._damping = Math.max(0, value);
+        this._rebuild();
+    }
+    /** A hinge's current angle in degrees, 0 where it was created; 0 for other joints. */ get angle() {
+        return this._type === 'hinge' ? this.world?._jointValue(this) ?? 0 : 0;
+    }
+    /** A slider's current position in metres, 0 where it was created; 0 for other joints. */ get position() {
+        return this._type === 'slider' ? this.world?._jointValue(this) ?? 0 : 0;
+    }
+    /** Why the joint could not be created, or an empty string. */ get error() {
+        return this._error;
+    }
+    _setError(error) {
+        this._error = error;
+    }
+    _rebuild() {
+        this.world?._markJointDirty(this);
+    }
+    _join(world) {
+        world._registerJoint(this);
+    }
+    _leave(world) {
+        world._unregisterJoint(this);
+    }
+}
+
+export { Joint };
+//# sourceMappingURL=joint.js.map

package/dist/physics/joint.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"joint.js","sources":["../../src/physics/joint.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport { PhysicsPart } from './part';\r\nimport type { PhysicsWorld } from './world';\r\n\r\n/**\r\n * What a {@link Joint} allows its two bodies to do.\r\n *\r\n * - `fixed`: nothing - they move as one.\r\n * - `hinge`: turn about the joint's axis, like a door.\r\n * - `slider`: slide along the joint's axis, like a drawer.\r\n * - `ball`: turn freely about the pivot, like a shoulder or a chain link.\r\n * - `rope`: move freely, but no further apart than {@link Joint.length}.\r\n * - `spring`: pulled back towards {@link Joint.length} apart.\r\n *\r\n * @public\r\n */\r\nexport type JointType = 'fixed' | 'hinge' | 'slider' | 'ball' | 'rope' | 'spring';\r\n\r\n/**\r\n * Drives a hinge or slider.\r\n *\r\n * - `off`: no drive.\r\n * - `velocity`: towards turning or sliding at {@link Joint.motorTarget}.\r\n * - `position`: towards the angle or position {@link Joint.motorTarget}.\r\n *\r\n * @public\r\n */\r\nexport type JointMotorMode = 'off' | 'velocity' | 'position';\r\n\r\n/**\r\n * Connects two rigid bodies, or a rigid body and a fixed point in the world.\r\n *\r\n * @remarks\r\n * The joint's own node is the joint's frame: the pivot is the node's origin\r\n * (moved by {@link Joint.anchor}), and a hinge turns about, or a slider moves\r\n * along, the node's local {@link Joint.axis}. To put a door's hinge at the edge\r\n * of the door, put the joint on a child node placed there. A rope or spring\r\n * runs from that pivot to {@link Joint.connectedAnchor} at the other end.\r\n *\r\n * Angles and positions measure how the joint's own body has turned or moved\r\n * relative to the other end, about or along the axis: a hinge turning\r\n * counter-clockwise seen from the tip of its axis has a growing angle.\r\n *\r\n * One side is the nearest {@link RigidBody} on the joint's node or above it; the\r\n * other is the nearest rigid body on {@link Joint.connectedBody} or above it, or\r\n * the world when that is empty.\r\n *\r\n * The joint holds the bodies in the pose they have when it is created: a\r\n * hinge's angle is 0 there. Limits and motor targets are relative to it.\r\n *\r\n * Joints cannot break under load: physics implementations do not report the\r\n * forces on them.\r\n *\r\n * @public\r\n */\r\nexport class Joint extends PhysicsPart {\r\n  private _type: JointType;\r\n  private _connectedBodyId: string;\r\n  private _connectedBody: SceneNode | null;\r\n  private readonly _anchor: Vector3;\r\n  private readonly _connectedAnchor: Vector3;\r\n  private readonly _axis: Vector3;\r\n  private _collideConnected: boolean;\r\n  private _limitsEnabled: boolean;\r\n  private _lowerLimit: number;\r\n  private _upperLimit: number;\r\n  private _swingLimit: number;\r\n  private _twistLimit: number;\r\n  private _motorMode: JointMotorMode;\r\n  private _motorTarget: number;\r\n  private _motorStiffness: number;\r\n  private _motorDamping: number;\r\n  private _motorMaxForce: number;\r\n  private _length: number;\r\n  private _stiffness: number;\r\n  private _damping: number;\r\n  private _error: string;\r\n\r\n  constructor() {\r\n    super();\r\n    this._type = 'hinge';\r\n    this._connectedBodyId = '';\r\n    this._connectedBody = null;\r\n    this._anchor = new Vector3();\r\n    this._connectedAnchor = new Vector3();\r\n    this._axis = new Vector3(0, 1, 0);\r\n    this._collideConnected = false;\r\n    this._limitsEnabled = false;\r\n    this._lowerLimit = -45;\r\n    this._upperLimit = 45;\r\n    this._swingLimit = 45;\r\n    this._twistLimit = 45;\r\n    this._motorMode = 'off';\r\n    this._motorTarget = 0;\r\n    this._motorStiffness = 1000;\r\n    this._motorDamping = 100;\r\n    this._motorMaxForce = 0;\r\n    this._length = 1;\r\n    this._stiffness = 100;\r\n    this._damping = 5;\r\n    this._error = '';\r\n  }\r\n\r\n  /** What the joint allows. Default `'hinge'`. */\r\n  get type() {\r\n    return this._type;\r\n  }\r\n  set type(value: JointType) {\r\n    if (value !== this._type) {\r\n      this._type = value;\r\n      this._rebuild();\r\n    }\r\n  }\r\n  /**\r\n   * The node whose rigid body is the other side of the joint; null connects to\r\n   * a fixed point in the world. Stored by the node's persistent id, so it may\r\n   * be set before that node is loaded or added.\r\n   */\r\n  get connectedBody(): SceneNode | null {\r\n    const scene = this.node?.scene;\r\n    if (!this._connectedBodyId || !scene) {\r\n      return this._connectedBody;\r\n    }\r\n    // Looked up again if it left the scene: it may come back, or be replaced\r\n    // by a node loaded with the same id.\r\n    if (!this._connectedBody || this._connectedBody.scene !== scene || !this._connectedBody.attached) {\r\n      this._connectedBody = scene.findNodeById(this._connectedBodyId) ?? null;\r\n    }\r\n    return this._connectedBody?.attached ? this._connectedBody : null;\r\n  }\r\n  set connectedBody(node: SceneNode | null) {\r\n    this._connectedBody = node;\r\n    this._connectedBodyId = node?.persistentId ?? '';\r\n    this._rebuild();\r\n  }\r\n  /** Persistent id of {@link Joint.connectedBody}, or an empty string. */\r\n  get connectedBodyId() {\r\n    return this._connectedBodyId;\r\n  }\r\n  set connectedBodyId(id: string) {\r\n    if (id !== this._connectedBodyId) {\r\n      this._connectedBodyId = id;\r\n      this._connectedBody = null;\r\n      this._rebuild();\r\n    }\r\n  }\r\n  /** Pivot position in the joint node's local space. Default (0, 0, 0). */\r\n  get anchor(): Vector3 {\r\n    return this._anchor;\r\n  }\r\n  set anchor(value: Vector3) {\r\n    this._anchor.set(value);\r\n    this._rebuild();\r\n  }\r\n  /**\r\n   * Where a rope or spring is tied at the other end: in the connected body's\r\n   * node space, or in world space when connected to the world. Default (0, 0, 0).\r\n   * Other joints pivot at the joint node only.\r\n   */\r\n  get connectedAnchor(): Vector3 {\r\n    return this._connectedAnchor;\r\n  }\r\n  set connectedAnchor(value: Vector3) {\r\n    this._connectedAnchor.set(value);\r\n    this._rebuild();\r\n  }\r\n  /** Hinge or slider axis in the joint node's local space. Default (0, 1, 0). */\r\n  get axis(): Vector3 {\r\n    return this._axis;\r\n  }\r\n  set axis(value: Vector3) {\r\n    this._axis.set(value);\r\n    this._rebuild();\r\n  }\r\n  /** Whether the two connected bodies still collide with each other. Default false. */\r\n  get collideConnected() {\r\n    return this._collideConnected;\r\n  }\r\n  set collideConnected(value: boolean) {\r\n    this._collideConnected = !!value;\r\n    this.world?._getJointHandle(this)?.setContactsEnabled(this._collideConnected);\r\n  }\r\n  /** Whether a hinge, slider or ball joint is limited. Default false. */\r\n  get limitsEnabled() {\r\n    return this._limitsEnabled;\r\n  }\r\n  set limitsEnabled(value: boolean) {\r\n    if (!!value !== this._limitsEnabled) {\r\n      this._limitsEnabled = !!value;\r\n      // Limits can only be turned off again by rebuilding the joint.\r\n      this._rebuild();\r\n    }\r\n  }\r\n  /** Lowest angle of a hinge in degrees, or position of a slider in metres. Default -45. */\r\n  get lowerLimit() {\r\n    return this._lowerLimit;\r\n  }\r\n  set lowerLimit(value: number) {\r\n    this._lowerLimit = value;\r\n    this.world?._applyJointLimits(this);\r\n  }\r\n  /** Highest angle of a hinge in degrees, or position of a slider in metres. Default 45. */\r\n  get upperLimit() {\r\n    return this._upperLimit;\r\n  }\r\n  set upperLimit(value: number) {\r\n    this._upperLimit = value;\r\n    this.world?._applyJointLimits(this);\r\n  }\r\n  /** How far a ball joint may swing away from its axis, in degrees each way. Default 45. */\r\n  get swingLimit() {\r\n    return this._swingLimit;\r\n  }\r\n  set swingLimit(value: number) {\r\n    this._swingLimit = Math.max(0, value);\r\n    this.world?._applyJointLimits(this);\r\n  }\r\n  /** How far a ball joint may twist about its axis, in degrees each way. Default 45. */\r\n  get twistLimit() {\r\n    return this._twistLimit;\r\n  }\r\n  set twistLimit(value: number) {\r\n    this._twistLimit = Math.max(0, value);\r\n    this.world?._applyJointLimits(this);\r\n  }\r\n  /** How a hinge or slider is driven. Default `'off'`. */\r\n  get motorMode() {\r\n    return this._motorMode;\r\n  }\r\n  set motorMode(value: JointMotorMode) {\r\n    this._motorMode = value;\r\n    this.world?._applyJointMotor(this);\r\n  }\r\n  /**\r\n   * In `velocity` mode the speed to reach: degrees per second for a hinge,\r\n   * metres per second for a slider. In `position` mode the angle (degrees) or\r\n   * position (metres) to reach. Default 0.\r\n   */\r\n  get motorTarget() {\r\n    return this._motorTarget;\r\n  }\r\n  set motorTarget(value: number) {\r\n    this._motorTarget = value;\r\n    this.world?._applyJointMotor(this);\r\n  }\r\n  /** How strongly a `position` motor pulls towards its target. Default 1000. */\r\n  get motorStiffness() {\r\n    return this._motorStiffness;\r\n  }\r\n  set motorStiffness(value: number) {\r\n    this._motorStiffness = Math.max(0, value);\r\n    this.world?._applyJointMotor(this);\r\n  }\r\n  /**\r\n   * How strongly a motor resists overshooting; in `velocity` mode, how quickly\r\n   * it gets up to speed. Default 100.\r\n   */\r\n  get motorDamping() {\r\n    return this._motorDamping;\r\n  }\r\n  set motorDamping(value: number) {\r\n    this._motorDamping = Math.max(0, value);\r\n    this.world?._applyJointMotor(this);\r\n  }\r\n  /** Most force (or torque) the motor applies; 0 for no limit. Default 0. */\r\n  get motorMaxForce() {\r\n    return this._motorMaxForce;\r\n  }\r\n  set motorMaxForce(value: number) {\r\n    this._motorMaxForce = Math.max(0, value);\r\n    this.world?._applyJointMotor(this);\r\n  }\r\n  /** A rope's longest distance, or a spring's rest length, in metres. Default 1. */\r\n  get length() {\r\n    return this._length;\r\n  }\r\n  set length(value: number) {\r\n    this._length = Math.max(0, value);\r\n    this._rebuild();\r\n  }\r\n  /** How hard a spring pulls, per metre stretched. Default 100. */\r\n  get stiffness() {\r\n    return this._stiffness;\r\n  }\r\n  set stiffness(value: number) {\r\n    this._stiffness = Math.max(0, value);\r\n    this._rebuild();\r\n  }\r\n  /** How quickly a spring stops bouncing. Default 5. */\r\n  get damping() {\r\n    return this._damping;\r\n  }\r\n  set damping(value: number) {\r\n    this._damping = Math.max(0, value);\r\n    this._rebuild();\r\n  }\r\n  /** A hinge's current angle in degrees, 0 where it was created; 0 for other joints. */\r\n  get angle() {\r\n    return this._type === 'hinge' ? (this.world?._jointValue(this) ?? 0) : 0;\r\n  }\r\n  /** A slider's current position in metres, 0 where it was created; 0 for other joints. */\r\n  get position() {\r\n    return this._type === 'slider' ? (this.world?._jointValue(this) ?? 0) : 0;\r\n  }\r\n  /** Why the joint could not be created, or an empty string. */\r\n  get error() {\r\n    return this._error;\r\n  }\r\n\r\n  _setError(error: string) {\r\n    this._error = error;\r\n  }\r\n  private _rebuild() {\r\n    this.world?._markJointDirty(this);\r\n  }\r\n  protected _join(world: PhysicsWorld) {\r\n    world._registerJoint(this);\r\n  }\r\n  protected _leave(world: PhysicsWorld) {\r\n    world._unregisterJoint(this);\r\n  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