babylon-box3d 0.2.0 → 0.3.0

package/README.md

@@ -119,6 +119,18 @@ const terrain = new PhysicsShape(
 
 A ray's `triangleIndex` is the height field triangle it hit, as it is for a mesh.
 
+**Shapes from points.** `CONVEX_HULL` and `MESH` take their points straight from `positions`, as x, y, z triplets in the
+body's space, when no `mesh` is given, so code with no meshes to read them from, like a headless simulation, can still
+build them. A mesh also takes `positionIndices`, three per triangle, wound so the plain cross product of (b - a) and
+(c - a) points out of the surface. That is Box3D's own winding, so nothing is flipped for a left handed scene:
+
+```ts
+const hull = new PhysicsShape({ type: PhysicsShapeType.CONVEX_HULL, parameters: { positions } }, scene);
+const road = new PhysicsShape({ type: PhysicsShapeType.MESH, parameters: { positions, positionIndices } }, scene);
+```
+
+A `CYLINDER` runs from `pointA` to `pointB`. Before 0.3.0 it was built half its height further along its axis.
+
 `PhysicsMassProperties` follows Havok: `inertia` is the principal moments **per unit mass** (so setting only `mass`
 scales the shape's inertia with it), `inertiaOrientation` rotates those principal axes into body space, and a zero
 component means infinite inertia about that axis. Box3D needs an invertible tensor, so a locked axis gets a moment

package/dist/box3dPlugin.d.ts

@@ -22,6 +22,17 @@ declare module "@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js" {
          * keep it below 255 for solid ground.
          */
         heightFieldMaterials?: ArrayLike<number>;
+        /**
+         * `CONVEX_HULL` and `MESH` without a `mesh`: the points as x, y, z triplets in the body's space, for code that
+         * builds shapes with no meshes to read them from, like a headless simulation.
+         */
+        positions?: ArrayLike<number>;
+        /**
+         * `MESH` with `positions`: three indices into the points per triangle, wound so the plain cross product of
+         * (b - a) and (c - a) points out of the surface. That is Box3D's own winding, and it is used as given: no
+         * flip for a left handed scene, which only applies to winding read from a Babylon mesh.
+         */
+        positionIndices?: ArrayLike<number>;
     }
 }
 /**
@@ -283,6 +294,7 @@ export declare class Box3DPlugin implements IPhysicsEnginePluginV2 {
     private _withIntBuffer;
     private _createOptionsFromGroundMesh;
     initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void;
+    private _initShapeFromPositions;
     private _refreshShapeUsers;
     /**
      * Pushes changed description properties into the Box3D shapes that are already on the bodies using this shape,

package/dist/box3dPlugin.d.ts.map

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package/dist/box3dPlugin.js

@@ -1181,7 +1181,6 @@ export class Box3DPlugin {
                 const b = options.pointB ?? Vector3.UpReadOnly;
                 const axis = b.subtract(a);
                 const height = axis.length();
-                const mid = a.add(b).scaleInPlace(0.5);
                 const q = this._tmpQuat[0];
                 if (height > 1e-6) {
                     axis.scaleInPlace(1 / height);
@@ -1190,11 +1189,16 @@ export class Box3DPlugin {
                 else {
                     q.set(0, 0, 0, 1);
                 }
-                this._registerShape(shape, b3._bx_ShapeDesc_CreateCylinder(height, options.radius ?? 0, 16, mid.x, mid.y, mid.z, q.x, q.y, q.z, q.w), type);
+                // Box3D's cylinder runs from 0 to height along its local Y, so it goes at pointA, not at the middle.
+                this._registerShape(shape, b3._bx_ShapeDesc_CreateCylinder(height, options.radius ?? 0, 16, a.x, a.y, a.z, q.x, q.y, q.z, q.w), type);
                 break;
             }
             case PhysicsShapeType.CONVEX_HULL:
             case PhysicsShapeType.MESH: {
+                if (!options.mesh && options.positions) {
+                    this._initShapeFromPositions(shape, type, options.positions, options.positionIndices);
+                    break;
+                }
                 const mesh = options.mesh;
                 if (!mesh) {
                     throw new Error("No mesh provided to create physics shape.");
@@ -1258,6 +1262,26 @@ export class Box3DPlugin {
                 throw new Error("Unsupported Shape Type.");
         }
     }
+    _initShapeFromPositions(shape, type, positions, indices) {
+        const b3 = this._b3;
+        if (positions.length % 3 !== 0) {
+            throw new Error(`positions needs x, y, z triplets, got ${positions.length} numbers`);
+        }
+        const vertexCount = positions.length / 3;
+        if (type === PhysicsShapeType.CONVEX_HULL) {
+            this._registerShape(shape, this._withFloatBuffer(positions, (ptr) => b3._bx_ShapeDesc_CreateHull(ptr, vertexCount)), type);
+            return;
+        }
+        if (!indices || indices.length % 3 !== 0) {
+            throw new Error("a MESH shape from positions needs positionIndices, three per triangle");
+        }
+        for (let i = 0; i < indices.length; i++) {
+            if (indices[i] < 0 || indices[i] >= vertexCount || !Number.isInteger(indices[i])) {
+                throw new Error(`positionIndices[${i}] is ${indices[i]}, but there are ${vertexCount} points`);
+            }
+        }
+        this._registerShape(shape, this._withFloatBuffer(positions, (vptr) => this._withIntBuffer(indices, (iptr) => b3._bx_ShapeDesc_CreateMesh(vptr, vertexCount, iptr, indices.length / 3, 1, 1, 1, 0, 0))), type);
+    }
     // Re-instantiates the shape on every body that uses it (or uses a container holding it). Only needed for geometry
     // and child changes; filters, materials and density are applied in place, see _syncShapeUsers.
     _refreshShapeUsers(data, visited = new Set()) {