@zephyr3d/scene 0.9.27 → 0.10.0

package/dist/physics/rigid_body.js

@@ -0,0 +1,379 @@
+import { Vector3, Quaternion } from '@zephyr3d/base';
+import { PhysicsPart } from './part.js';
+
+const zero = Vector3.zero();
+const tmpForce = new Vector3();
+const tmpTorque = new Vector3();
+/**
+ * Makes its node a rigid body: moved by the simulation, by its node, or not at
+ * all, depending on {@link RigidBody.motionType}.
+ *
+ * @remarks
+ * The body's shape comes from the colliders ({@link NodePhysics.colliders}) of
+ * the same node and of descendant nodes that have no rigid body of their own; together they
+ * form one compound body. A body with no collider does not collide.
+ *
+ * The body turns about its node's origin, and the node's scale only affects the
+ * colliders' sizes, not the body.
+ *
+ * Collision and trigger events of all its colliders are raised on the body; see
+ * {@link PhysicsEventMap}.
+ *
+ * @public
+ */ class RigidBody extends PhysicsPart {
+    _motionType;
+    _mass;
+    _linearDamping;
+    _angularDamping;
+    _gravityScale;
+    _ccd;
+    _canSleep;
+    _lockTranslation;
+    _lockRotation;
+    /** Applied during every step of the frame, from outside the fixed update. */ _force;
+    _torque;
+    /** Applied during the current step only, from the fixed update. */ _stepForce;
+    _stepTorque;
+    _impulse;
+    _torqueImpulse;
+    /** Whether the backend body currently has a non-zero force set. */ _forceSet;
+    _pendingLinearVelocity;
+    _pendingAngularVelocity;
+    _initialLinearVelocity;
+    _initialAngularVelocity;
+    /** Whether the initial velocities were given to the body since it joined its world. */ _initialApplied;
+    constructor(){
+        super();
+        this._motionType = 'dynamic';
+        this._mass = 1;
+        this._linearDamping = 0;
+        this._angularDamping = 0.05;
+        this._gravityScale = 1;
+        this._ccd = false;
+        this._canSleep = true;
+        this._lockTranslation = [
+            false,
+            false,
+            false
+        ];
+        this._lockRotation = [
+            false,
+            false,
+            false
+        ];
+        this._force = new Vector3();
+        this._torque = new Vector3();
+        this._stepForce = new Vector3();
+        this._stepTorque = new Vector3();
+        this._impulse = new Vector3();
+        this._torqueImpulse = new Vector3();
+        this._forceSet = false;
+        this._pendingLinearVelocity = null;
+        this._pendingAngularVelocity = null;
+        this._initialLinearVelocity = new Vector3();
+        this._initialAngularVelocity = new Vector3();
+        this._initialApplied = false;
+    }
+    /** How the body moves. Default `'dynamic'`. */ get motionType() {
+        return this._motionType;
+    }
+    set motionType(value) {
+        if (value !== this._motionType) {
+            this._motionType = value;
+            this.world?._markBodyDirty(this);
+        }
+    }
+    /** Mass in kilograms, for dynamic bodies. Default 1. */ get mass() {
+        return this._mass;
+    }
+    set mass(value) {
+        this._mass = Math.max(1e-6, value);
+        this._backend()?.setMass(this._mass);
+    }
+    /** How quickly linear motion dies down without contact, per second. Default 0. */ get linearDamping() {
+        return this._linearDamping;
+    }
+    set linearDamping(value) {
+        this._linearDamping = Math.max(0, value);
+        this._backend()?.setDamping(this._linearDamping, this._angularDamping);
+    }
+    /** How quickly spinning dies down, per second. Default 0.05. */ get angularDamping() {
+        return this._angularDamping;
+    }
+    set angularDamping(value) {
+        this._angularDamping = Math.max(0, value);
+        this._backend()?.setDamping(this._linearDamping, this._angularDamping);
+    }
+    /** Multiplier on the world's gravity for this body. Default 1. */ get gravityScale() {
+        return this._gravityScale;
+    }
+    set gravityScale(value) {
+        this._gravityScale = value;
+        this._backend()?.setGravityScale(value);
+    }
+    /**
+   * Continuous collision detection: keeps fast, small bodies from passing
+   * through thin colliders between two steps, at some cost. Default false.
+   */ get ccd() {
+        return this._ccd;
+    }
+    set ccd(value) {
+        this._ccd = !!value;
+        this._backend()?.setCcd(this._ccd);
+    }
+    /** Whether the body may stop being simulated once it comes to rest. Default true. */ get canSleep() {
+        return this._canSleep;
+    }
+    set canSleep(value) {
+        if (!!value !== this._canSleep) {
+            this._canSleep = !!value;
+            this.world?._markBodyDirty(this);
+        }
+    }
+    /** Keeps the body from moving along the world X axis. Default false. */ get lockTranslationX() {
+        return this._lockTranslation[0];
+    }
+    set lockTranslationX(value) {
+        this._setLock(this._lockTranslation, 0, value);
+    }
+    /** Keeps the body from moving along the world Y axis. Default false. */ get lockTranslationY() {
+        return this._lockTranslation[1];
+    }
+    set lockTranslationY(value) {
+        this._setLock(this._lockTranslation, 1, value);
+    }
+    /** Keeps the body from moving along the world Z axis. Default false. */ get lockTranslationZ() {
+        return this._lockTranslation[2];
+    }
+    set lockTranslationZ(value) {
+        this._setLock(this._lockTranslation, 2, value);
+    }
+    /** Keeps the body from turning about the world X axis. Default false. */ get lockRotationX() {
+        return this._lockRotation[0];
+    }
+    set lockRotationX(value) {
+        this._setLock(this._lockRotation, 0, value);
+    }
+    /** Keeps the body from turning about the world Y axis. Default false. */ get lockRotationY() {
+        return this._lockRotation[1];
+    }
+    set lockRotationY(value) {
+        this._setLock(this._lockRotation, 1, value);
+    }
+    /** Keeps the body from turning about the world Z axis. Default false. */ get lockRotationZ() {
+        return this._lockRotation[2];
+    }
+    set lockRotationZ(value) {
+        this._setLock(this._lockRotation, 2, value);
+    }
+    /**
+   * Velocity in m/s, world space, a dynamic body starts with when its node
+   * enters a simulated scene. Rebuilding the body later (changing its settings)
+   * does not apply it again; leaving and re-entering the scene does. A velocity
+   * set from a script before the body starts wins. Default (0, 0, 0).
+   */ get initialLinearVelocity() {
+        return this._initialLinearVelocity;
+    }
+    set initialLinearVelocity(value) {
+        this._initialLinearVelocity.set(value);
+    }
+    /**
+   * Spin in rad/s a dynamic body starts with, as an axis scaled by speed in
+   * world space; see {@link RigidBody.initialLinearVelocity}. Default (0, 0, 0).
+   */ get initialAngularVelocity() {
+        return this._initialAngularVelocity;
+    }
+    set initialAngularVelocity(value) {
+        this._initialAngularVelocity.set(value);
+    }
+    /**
+   * World position of the body's origin after the latest simulation step.
+   *
+   * @remarks
+   * The node shows the body interpolated between the last two steps, and does
+   * not move between the steps of one frame. Forces that depend on where the
+   * body is (buoyancy, springs) should read this in a fixed update instead.
+   * Before the body is simulated, the node's world position.
+   */ getSimulatedPosition(out = new Vector3()) {
+        const body = this._backend();
+        if (body) {
+            return body.getPosition(out);
+        }
+        return this.node ? this.node.getWorldPosition(out) : out.setXYZ(0, 0, 0);
+    }
+    /**
+   * World orientation of the body after the latest simulation step; see
+   * {@link RigidBody.getSimulatedPosition}.
+   */ getSimulatedRotation(out = new Quaternion()) {
+        const body = this._backend();
+        if (body) {
+            return body.getRotation(out);
+        }
+        if (this.node) {
+            this.node.worldMatrix.decompose(null, out, null);
+            return out;
+        }
+        return out.identity();
+    }
+    /** Linear velocity in m/s. Returns zero before the body exists in a simulation. */ getLinearVelocity(out = new Vector3()) {
+        const body = this._backend();
+        if (body) {
+            return body.getLinearVelocity(out);
+        }
+        out.set(this._pendingLinearVelocity ?? zero);
+        return out;
+    }
+    /** Sets the linear velocity; components along locked axes are ignored. */ setLinearVelocity(value) {
+        const v = this._mask(value, this._lockTranslation);
+        const body = this._backend();
+        if (body) {
+            body.setLinearVelocity(v);
+        } else {
+            this._pendingLinearVelocity = v;
+        }
+    }
+    /** Angular velocity in rad/s, as an axis scaled by speed. */ getAngularVelocity(out = new Vector3()) {
+        const body = this._backend();
+        if (body) {
+            return body.getAngularVelocity(out);
+        }
+        out.set(this._pendingAngularVelocity ?? zero);
+        return out;
+    }
+    /** Sets the angular velocity; components about locked axes are ignored. */ setAngularVelocity(value) {
+        const v = this._mask(value, this._lockRotation);
+        const body = this._backend();
+        if (body) {
+            body.setAngularVelocity(v);
+        } else {
+            this._pendingAngularVelocity = v;
+        }
+    }
+    /**
+   * Adds a force (newtons, world space) acting on the centre of mass.
+   *
+   * @remarks
+   * Called during a fixed update (`RuntimeScript.onFixedUpdate` or the world's
+   * `fixedupdate` event), the force acts on that one simulation step; called at
+   * any other time, it acts on every step of the next frame. Forces add up and
+   * are cleared after use.
+   */ applyForce(force) {
+        (this.world?._inFixedUpdate ? this._stepForce : this._force).addBy(force);
+    }
+    /** Adds a torque (N·m, world space); acts like {@link RigidBody.applyForce}. */ applyTorque(torque) {
+        (this.world?._inFixedUpdate ? this._stepTorque : this._torque).addBy(torque);
+    }
+    /** Adds an instantaneous change of momentum (N·s, world space), applied at the next step. */ applyImpulse(impulse) {
+        this._impulse.addBy(impulse);
+    }
+    /** Adds an instantaneous change of angular momentum, applied at the next step. */ applyTorqueImpulse(impulse) {
+        this._torqueImpulse.addBy(impulse);
+    }
+    /** Whether the body is resting and not being simulated. */ get isSleeping() {
+        return this._backend()?.isSleeping() ?? false;
+    }
+    /** Brings a resting body back into the simulation. */ wakeUp() {
+        this._backend()?.wakeUp();
+    }
+    _translationAxes() {
+        return [
+            !this._lockTranslation[0],
+            !this._lockTranslation[1],
+            !this._lockTranslation[2]
+        ];
+    }
+    _rotationAxes() {
+        return [
+            !this._lockRotation[0],
+            !this._lockRotation[1],
+            !this._lockRotation[2]
+        ];
+    }
+    _applyPendingVelocities(body) {
+        if (!this._initialApplied) {
+            this._initialApplied = true;
+            if (this._motionType === 'dynamic') {
+                if (!this._initialLinearVelocity.equalsTo(zero)) {
+                    body.setLinearVelocity(this._mask(this._initialLinearVelocity, this._lockTranslation));
+                }
+                if (!this._initialAngularVelocity.equalsTo(zero)) {
+                    body.setAngularVelocity(this._mask(this._initialAngularVelocity, this._lockRotation));
+                }
+            }
+        }
+        if (this._pendingLinearVelocity) {
+            body.setLinearVelocity(this._pendingLinearVelocity);
+            this._pendingLinearVelocity = null;
+        }
+        if (this._pendingAngularVelocity) {
+            body.setAngularVelocity(this._pendingAngularVelocity);
+            this._pendingAngularVelocity = null;
+        }
+    }
+    /** Hands the accumulated inputs to the body before a step. */ _applyStepInputs(body) {
+        if (this._motionType !== 'dynamic') {
+            this._stepForce.setXYZ(0, 0, 0);
+            this._stepTorque.setXYZ(0, 0, 0);
+            this._impulse.setXYZ(0, 0, 0);
+            this._torqueImpulse.setXYZ(0, 0, 0);
+            return;
+        }
+        const force = Vector3.add(this._force, this._stepForce, tmpForce);
+        const torque = Vector3.add(this._torque, this._stepTorque, tmpTorque);
+        const nonZero = !force.equalsTo(zero) || !torque.equalsTo(zero);
+        if (nonZero || this._forceSet) {
+            body.setForce(force, torque);
+            this._forceSet = nonZero;
+        }
+        this._stepForce.setXYZ(0, 0, 0);
+        this._stepTorque.setXYZ(0, 0, 0);
+        if (!this._impulse.equalsTo(zero) || !this._torqueImpulse.equalsTo(zero)) {
+            body.applyImpulse(this._impulse, this._torqueImpulse);
+            this._impulse.setXYZ(0, 0, 0);
+            this._torqueImpulse.setXYZ(0, 0, 0);
+        }
+    }
+    /** Clears the frame's forces once all its steps are taken. */ _clearForces(body) {
+        this._force.setXYZ(0, 0, 0);
+        this._torque.setXYZ(0, 0, 0);
+        if (this._forceSet) {
+            body.setForce(zero, zero);
+            this._forceSet = false;
+        }
+    }
+    _setLock(axes, index, value) {
+        if (axes[index] === !!value) {
+            return;
+        }
+        axes[index] = !!value;
+        const body = this._backend();
+        if (body) {
+            body.setEnabledAxes(this._translationAxes(), this._rotationAxes());
+        }
+        // Axis locks stop forces and contacts moving the body along an axis,
+        // not velocity it already has; drop that too, so a lock means "still".
+        if (value) {
+            if (axes === this._lockTranslation) {
+                this.setLinearVelocity(this.getLinearVelocity());
+            } else {
+                this.setAngularVelocity(this.getAngularVelocity());
+            }
+        }
+    }
+    _mask(value, locks) {
+        return new Vector3(locks[0] ? 0 : value.x, locks[1] ? 0 : value.y, locks[2] ? 0 : value.z);
+    }
+    _backend() {
+        return this.world?._getBodyHandle(this) ?? null;
+    }
+    _join(world) {
+        this._initialApplied = false;
+        world._registerBody(this);
+    }
+    _leave(world) {
+        world._unregisterBody(this);
+    }
+}
+
+export { RigidBody };
+//# sourceMappingURL=rigid_body.js.map

package/dist/physics/rigid_body.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"rigid_body.js","sources":["../../src/physics/rigid_body.ts"],"sourcesContent":["import { Quaternion, Vector3 } from '@zephyr3d/base';\r\nimport type { MotionType } from './types';\r\nimport type { PhysicsBodyHandle } from './world';\r\nimport { PhysicsPart } from './part';\r\nimport type { PhysicsWorld } from './world';\r\n\r\nconst zero = Vector3.zero();\r\nconst tmpForce = new Vector3();\r\nconst tmpTorque = new Vector3();\r\n\r\ntype Axes = [boolean, boolean, boolean];\r\n\r\n/**\r\n * Makes its node a rigid body: moved by the simulation, by its node, or not at\r\n * all, depending on {@link RigidBody.motionType}.\r\n *\r\n * @remarks\r\n * The body's shape comes from the colliders ({@link NodePhysics.colliders}) of\r\n * the same node and of descendant nodes that have no rigid body of their own; together they\r\n * form one compound body. A body with no collider does not collide.\r\n *\r\n * The body turns about its node's origin, and the node's scale only affects the\r\n * colliders' sizes, not the body.\r\n *\r\n * Collision and trigger events of all its colliders are raised on the body; see\r\n * {@link PhysicsEventMap}.\r\n *\r\n * @public\r\n */\r\nexport class RigidBody extends PhysicsPart {\r\n  private _motionType: MotionType;\r\n  private _mass: number;\r\n  private _linearDamping: number;\r\n  private _angularDamping: number;\r\n  private _gravityScale: number;\r\n  private _ccd: boolean;\r\n  private _canSleep: boolean;\r\n  private readonly _lockTranslation: Axes;\r\n  private readonly _lockRotation: Axes;\r\n  /** Applied during every step of the frame, from outside the fixed update. */\r\n  private readonly _force: Vector3;\r\n  private readonly _torque: Vector3;\r\n  /** Applied during the current step only, from the fixed update. */\r\n  private readonly _stepForce: Vector3;\r\n  private readonly _stepTorque: Vector3;\r\n  private readonly _impulse: Vector3;\r\n  private readonly _torqueImpulse: Vector3;\r\n  /** Whether the backend body currently has a non-zero force set. */\r\n  private _forceSet: boolean;\r\n  private _pendingLinearVelocity: Vector3 | null;\r\n  private _pendingAngularVelocity: Vector3 | null;\r\n  private readonly _initialLinearVelocity: Vector3;\r\n  private readonly _initialAngularVelocity: Vector3;\r\n  /** Whether the initial velocities were given to the body since it joined its world. */\r\n  private _initialApplied: boolean;\r\n\r\n  constructor() {\r\n    super();\r\n    this._motionType = 'dynamic';\r\n    this._mass = 1;\r\n    this._linearDamping = 0;\r\n    this._angularDamping = 0.05;\r\n    this._gravityScale = 1;\r\n    this._ccd = false;\r\n    this._canSleep = true;\r\n    this._lockTranslation = [false, false, false];\r\n    this._lockRotation = [false, false, false];\r\n    this._force = new Vector3();\r\n    this._torque = new Vector3();\r\n    this._stepForce = new Vector3();\r\n    this._stepTorque = new Vector3();\r\n    this._impulse = new Vector3();\r\n    this._torqueImpulse = new Vector3();\r\n    this._forceSet = false;\r\n    this._pendingLinearVelocity = null;\r\n    this._pendingAngularVelocity = null;\r\n    this._initialLinearVelocity = new Vector3();\r\n    this._initialAngularVelocity = new Vector3();\r\n    this._initialApplied = false;\r\n  }\r\n\r\n  /** How the body moves. Default `'dynamic'`. */\r\n  get motionType() {\r\n    return this._motionType;\r\n  }\r\n  set motionType(value: MotionType) {\r\n    if (value !== this._motionType) {\r\n      this._motionType = value;\r\n      this.world?._markBodyDirty(this);\r\n    }\r\n  }\r\n  /** Mass in kilograms, for dynamic bodies. Default 1. */\r\n  get mass() {\r\n    return this._mass;\r\n  }\r\n  set mass(value: number) {\r\n    this._mass = Math.max(1e-6, value);\r\n    this._backend()?.setMass(this._mass);\r\n  }\r\n  /** How quickly linear motion dies down without contact, per second. Default 0. */\r\n  get linearDamping() {\r\n    return this._linearDamping;\r\n  }\r\n  set linearDamping(value: number) {\r\n    this._linearDamping = Math.max(0, value);\r\n    this._backend()?.setDamping(this._linearDamping, this._angularDamping);\r\n  }\r\n  /** How quickly spinning dies down, per second. Default 0.05. */\r\n  get angularDamping() {\r\n    return this._angularDamping;\r\n  }\r\n  set angularDamping(value: number) {\r\n    this._angularDamping = Math.max(0, value);\r\n    this._backend()?.setDamping(this._linearDamping, this._angularDamping);\r\n  }\r\n  /** Multiplier on the world's gravity for this body. Default 1. */\r\n  get gravityScale() {\r\n    return this._gravityScale;\r\n  }\r\n  set gravityScale(value: number) {\r\n    this._gravityScale = value;\r\n    this._backend()?.setGravityScale(value);\r\n  }\r\n  /**\r\n   * Continuous collision detection: keeps fast, small bodies from passing\r\n   * through thin colliders between two steps, at some cost. Default false.\r\n   */\r\n  get ccd() {\r\n    return this._ccd;\r\n  }\r\n  set ccd(value: boolean) {\r\n    this._ccd = !!value;\r\n    this._backend()?.setCcd(this._ccd);\r\n  }\r\n  /** Whether the body may stop being simulated once it comes to rest. Default true. */\r\n  get canSleep() {\r\n    return this._canSleep;\r\n  }\r\n  set canSleep(value: boolean) {\r\n    if (!!value !== this._canSleep) {\r\n      this._canSleep = !!value;\r\n      this.world?._markBodyDirty(this);\r\n    }\r\n  }\r\n  /** Keeps the body from moving along the world X axis. Default false. */\r\n  get lockTranslationX() {\r\n    return this._lockTranslation[0];\r\n  }\r\n  set lockTranslationX(value: boolean) {\r\n    this._setLock(this._lockTranslation, 0, value);\r\n  }\r\n  /** Keeps the body from moving along the world Y axis. Default false. */\r\n  get lockTranslationY() {\r\n    return this._lockTranslation[1];\r\n  }\r\n  set lockTranslationY(value: boolean) {\r\n    this._setLock(this._lockTranslation, 1, value);\r\n  }\r\n  /** Keeps the body from moving along the world Z axis. Default false. */\r\n  get lockTranslationZ() {\r\n    return this._lockTranslation[2];\r\n  }\r\n  set lockTranslationZ(value: boolean) {\r\n    this._setLock(this._lockTranslation, 2, value);\r\n  }\r\n  /** Keeps the body from turning about the world X axis. Default false. */\r\n  get lockRotationX() {\r\n    return this._lockRotation[0];\r\n  }\r\n  set lockRotationX(value: boolean) {\r\n    this._setLock(this._lockRotation, 0, value);\r\n  }\r\n  /** Keeps the body from turning about the world Y axis. Default false. */\r\n  get lockRotationY() {\r\n    return this._lockRotation[1];\r\n  }\r\n  set lockRotationY(value: boolean) {\r\n    this._setLock(this._lockRotation, 1, value);\r\n  }\r\n  /** Keeps the body from turning about the world Z axis. Default false. */\r\n  get lockRotationZ() {\r\n    return this._lockRotation[2];\r\n  }\r\n  set lockRotationZ(value: boolean) {\r\n    this._setLock(this._lockRotation, 2, value);\r\n  }\r\n\r\n  /**\r\n   * Velocity in m/s, world space, a dynamic body starts with when its node\r\n   * enters a simulated scene. Rebuilding the body later (changing its settings)\r\n   * does not apply it again; leaving and re-entering the scene does. A velocity\r\n   * set from a script before the body starts wins. Default (0, 0, 0).\r\n   */\r\n  get initialLinearVelocity(): Vector3 {\r\n    return this._initialLinearVelocity;\r\n  }\r\n  set initialLinearVelocity(value: Vector3) {\r\n    this._initialLinearVelocity.set(value);\r\n  }\r\n  /**\r\n   * Spin in rad/s a dynamic body starts with, as an axis scaled by speed in\r\n   * world space; see {@link RigidBody.initialLinearVelocity}. Default (0, 0, 0).\r\n   */\r\n  get initialAngularVelocity(): Vector3 {\r\n    return this._initialAngularVelocity;\r\n  }\r\n  set initialAngularVelocity(value: Vector3) {\r\n    this._initialAngularVelocity.set(value);\r\n  }\r\n\r\n  /**\r\n   * World position of the body's origin after the latest simulation step.\r\n   *\r\n   * @remarks\r\n   * The node shows the body interpolated between the last two steps, and does\r\n   * not move between the steps of one frame. Forces that depend on where the\r\n   * body is (buoyancy, springs) should read this in a fixed update instead.\r\n   * Before the body is simulated, the node's world position.\r\n   */\r\n  getSimulatedPosition(out = new Vector3()): Vector3 {\r\n    const body = this._backend();\r\n    if (body) {\r\n      return body.getPosition(out);\r\n    }\r\n    return this.node ? this.node.getWorldPosition(out) : out.setXYZ(0, 0, 0);\r\n  }\r\n  /**\r\n   * World orientation of the body after the latest simulation step; see\r\n   * {@link RigidBody.getSimulatedPosition}.\r\n   */\r\n  getSimulatedRotation(out = new Quaternion()): Quaternion {\r\n    const body = this._backend();\r\n    if (body) {\r\n      return body.getRotation(out);\r\n    }\r\n    if (this.node) {\r\n      this.node.worldMatrix.decompose(null, out, null);\r\n      return out;\r\n    }\r\n    return out.identity();\r\n  }\r\n  /** Linear velocity in m/s. Returns zero before the body exists in a simulation. */\r\n  getLinearVelocity(out = new Vector3()): Vector3 {\r\n    const body = this._backend();\r\n    if (body) {\r\n      return body.getLinearVelocity(out);\r\n    }\r\n    out.set(this._pendingLinearVelocity ?? zero);\r\n    return out;\r\n  }\r\n  /** Sets the linear velocity; components along locked axes are ignored. */\r\n  setLinearVelocity(value: Vector3) {\r\n    const v = this._mask(value, this._lockTranslation);\r\n    const body = this._backend();\r\n    if (body) {\r\n      body.setLinearVelocity(v);\r\n    } else {\r\n      this._pendingLinearVelocity = v;\r\n    }\r\n  }\r\n  /** Angular velocity in rad/s, as an axis scaled by speed. */\r\n  getAngularVelocity(out = new Vector3()): Vector3 {\r\n    const body = this._backend();\r\n    if (body) {\r\n      return body.getAngularVelocity(out);\r\n    }\r\n    out.set(this._pendingAngularVelocity ?? zero);\r\n    return out;\r\n  }\r\n  /** Sets the angular velocity; components about locked axes are ignored. */\r\n  setAngularVelocity(value: Vector3) {\r\n    const v = this._mask(value, this._lockRotation);\r\n    const body = this._backend();\r\n    if (body) {\r\n      body.setAngularVelocity(v);\r\n    } else {\r\n      this._pendingAngularVelocity = v;\r\n    }\r\n  }\r\n  /**\r\n   * Adds a force (newtons, world space) acting on the centre of mass.\r\n   *\r\n   * @remarks\r\n   * Called during a fixed update (`RuntimeScript.onFixedUpdate` or the world's\r\n   * `fixedupdate` event), the force acts on that one simulation step; called at\r\n   * any other time, it acts on every step of the next frame. Forces add up and\r\n   * are cleared after use.\r\n   */\r\n  applyForce(force: Vector3) {\r\n    (this.world?._inFixedUpdate ? this._stepForce : this._force).addBy(force);\r\n  }\r\n  /** Adds a torque (N·m, world space); acts like {@link RigidBody.applyForce}. */\r\n  applyTorque(torque: Vector3) {\r\n    (this.world?._inFixedUpdate ? this._stepTorque : this._torque).addBy(torque);\r\n  }\r\n  /** Adds an instantaneous change of momentum (N·s, world space), applied at the next step. */\r\n  applyImpulse(impulse: Vector3) {\r\n    this._impulse.addBy(impulse);\r\n  }\r\n  /** Adds an instantaneous change of angular momentum, applied at the next step. */\r\n  applyTorqueImpulse(impulse: Vector3) {\r\n    this._torqueImpulse.addBy(impulse);\r\n  }\r\n  /** Whether the body is resting and not being simulated. */\r\n  get isSleeping() {\r\n    return this._backend()?.isSleeping() ?? false;\r\n  }\r\n  /** Brings a resting body back into the simulation. */\r\n  wakeUp() {\r\n    this._backend()?.wakeUp();\r\n  }\r\n\r\n  _translationAxes(): Axes {\r\n    return [!this._lockTranslation[0], !this._lockTranslation[1], !this._lockTranslation[2]];\r\n  }\r\n  _rotationAxes(): Axes {\r\n    return [!this._lockRotation[0], !this._lockRotation[1], !this._lockRotation[2]];\r\n  }\r\n  _applyPendingVelocities(body: PhysicsBodyHandle) {\r\n    if (!this._initialApplied) {\r\n      this._initialApplied = true;\r\n      if (this._motionType === 'dynamic') {\r\n        if (!this._initialLinearVelocity.equalsTo(zero)) {\r\n          body.setLinearVelocity(this._mask(this._initialLinearVelocity, this._lockTranslation));\r\n        }\r\n        if (!this._initialAngularVelocity.equalsTo(zero)) {\r\n          body.setAngularVelocity(this._mask(this._initialAngularVelocity, this._lockRotation));\r\n        }\r\n      }\r\n    }\r\n    if (this._pendingLinearVelocity) {\r\n      body.setLinearVelocity(this._pendingLinearVelocity);\r\n      this._pendingLinearVelocity = null;\r\n    }\r\n    if (this._pendingAngularVelocity) {\r\n      body.setAngularVelocity(this._pendingAngularVelocity);\r\n      this._pendingAngularVelocity = null;\r\n    }\r\n  }\r\n  /** Hands the accumulated inputs to the body before a step. */\r\n  _applyStepInputs(body: PhysicsBodyHandle) {\r\n    if (this._motionType !== 'dynamic') {\r\n      this._stepForce.setXYZ(0, 0, 0);\r\n      this._stepTorque.setXYZ(0, 0, 0);\r\n      this._impulse.setXYZ(0, 0, 0);\r\n      this._torqueImpulse.setXYZ(0, 0, 0);\r\n      return;\r\n    }\r\n    const force = Vector3.add(this._force, this._stepForce, tmpForce);\r\n    const torque = Vector3.add(this._torque, this._stepTorque, tmpTorque);\r\n    const nonZero = !force.equalsTo(zero) || !torque.equalsTo(zero);\r\n    if (nonZero || this._forceSet) {\r\n      body.setForce(force, torque);\r\n      this._forceSet = nonZero;\r\n    }\r\n    this._stepForce.setXYZ(0, 0, 0);\r\n    this._stepTorque.setXYZ(0, 0, 0);\r\n    if (!this._impulse.equalsTo(zero) 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