babylon-box3d 0.2.0 → 0.4.0

package/README.md

@@ -69,6 +69,68 @@ export default defineConfig({
 });
 ```
 
+## Threads
+
+Box3D can run one world step on several threads. The package ships a second build of the wasm for that, because
+threads need `SharedArrayBuffer`, and a browser only hands that out to a [cross origin isolated](https://developer.mozilla.org/en-US/docs/Web/API/Window/crossOriginIsolated)
+page - one served with:
+
+```
+Cross-Origin-Opener-Policy: same-origin
+Cross-Origin-Embedder-Policy: require-corp
+```
+
+`LoadBox3D` picks the build and the plugin asks for the workers:
+
+```ts
+import { Vector3 } from "@babylonjs/core/Maths/math.vector";
+import { LoadBox3D, Box3DPlugin } from "babylon-box3d";
+
+// "auto" uses the threaded build where the page allows it and the single threaded one everywhere else
+const box3d = await LoadBox3D({ threads: "auto" });
+scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d, { workerCount: "auto" }));
+```
+
+`workerCount` counts the thread the step is called on, so 4 means this thread and 3 others. `"auto"` asks for half
+of `navigator.hardwareConcurrency`: box3d gains little from the second thread of a core, and the renderer still needs
+somewhere to run. The threaded module is imported dynamically, so a page that never asks for threads never downloads
+it. `CanUseBox3DThreads()` reports whether this page can run them.
+
+Everything degrades rather than breaking. On a page that is not isolated, `threads: "auto"` loads the single threaded
+build, `workerCount` is clamped to 1 and the plugin says so once in the console. `threads: true` throws instead, for
+an app that would rather find out than quietly run on one thread. Isolation is a hosting decision: a static host that
+cannot add response headers (GitHub Pages, for one) can never run them, and the headers also block cross origin
+resources that do not opt in with CORS or `Cross-Origin-Resource-Policy`, which is worth checking before turning them
+on for a whole site. `npm run demo` sets both headers, so the showcase runs threads with `?workers=4`.
+
+What the threads do and do not change:
+
+- **Results do not change.** The same scene stepped the same number of times lands on bit identical positions at any
+  worker count, which is what `test/threads.test.ts` checks against the single threaded build.
+- **The step still returns when it returns.** The calling thread does its share of the work and the step is over when
+  the last worker is done; nothing is deferred to the next frame, so there is no extra latency and no API change.
+- **Other engines run on one thread.** Havok's Babylon plugin is single threaded, so this is cores nothing else in
+  Babylon is using.
+- **Small scenes gain nothing.** Splitting a step costs something; under a few hundred awake bodies it is not worth
+  it. Ask for workers on the scenes that need them.
+- **There is no threaded script tag build.** A Playground or CDN page is not isolated, so it could not start one.
+
+The threads themselves belong to the module, not to a world: they are created once, shared by every world, and never
+joined. That is deliberate. Box3D's own scheduler creates threads with a world and joins them when it is destroyed,
+and joining is what deadlocks a browser - a worker that has not finished starting cannot finish while the main thread
+waits for it in `pthread_join`, and disposing a scene and building the next one in the same function is enough to
+reach that. The shim hands box3d its own task system instead (`wasm/box3d_shim.c`), so worlds come and go freely.
+
+### Tuning
+
+- `subStepCount` (default 4, box3d's own) is the solver's sub steps per step: `new Box3DPlugin(true, box3d, {
+  subStepCount: 2 })`, or `plugin.subStepCount` at any time. Tall stacks need the 4; 2 roughly halves solver time for
+  scenes that are mostly loose bodies, 8 buys stiffness in exchange for time.
+- `plugin.setSleepingEnabled(false)` measures raw throughput but costs a lot in a settled scene: sleeping is why a
+  standing pyramid is nearly free.
+- Contact events cross into JavaScript one record per contact per step. A body nothing listens to should not be
+  asking for them: `body.setCollisionCallbackEnabled(false)`, which is the default.
+
 ## What is covered
 
 | Babylon v2 | Box3D |
@@ -119,6 +181,18 @@ 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
@@ -169,10 +243,12 @@ and mesh winding is flipped, exactly like the Havok plugin.
 | path | what |
 | --- | --- |
 | `src/box3dPlugin.ts` | the plugin (`IPhysicsEnginePluginV2`) |
-| `src/index.ts` | package entry: `Box3DPlugin`, `Box3DWheelJoint`, `Box3D` (wasm factory) |
+| `src/index.ts` | package entry: `Box3DPlugin`, `Box3DWheelJoint`, `Box3D` (wasm factory), `LoadBox3D` |
+| `src/loadBox3D.ts` | picks the single threaded or threaded wasm build for the page |
 | `wasm/box3d_shim.c` | C shim: flat, handle based API over box3d (`bx_*` functions) |
-| `wasm/build.mjs` | emcc build for `lib/esm`, `lib/umd` (global `Box3D`) and `lib/node` |
+| `wasm/build.mjs` | emcc build for `lib/esm`, `lib/umd` (global `Box3D`), `lib/node` and the threaded pair |
 | `lib/` | committed wasm builds and typings, `UPSTREAM_COMMIT` is the box3d commit |
+| `lib/esm-threads`, `lib/node-threads` | the same module built with pthreads, see [Threads](#threads) |
 | `umd/` | plugin bundle for script tags (global `BABYLONBOX3D`), built by `npm run build:umd` |
 | `demo/` | vite showcase: `npm run demo`, then `http://localhost:5178/?demo=pyramid` |
 | `docs/` | the community extension page for the Babylon.js documentation |
@@ -188,22 +264,41 @@ wrecking ball), plus `stack`, `joints`, `terrain`, `compound` feature tests. Add
 Box3D, Havok and Oimo build the same scenes through Babylon's regular physics API (v2 for Box3D and Havok, v1 for
 Oimo), with engine defaults, a fixed 1/60 s step and nothing rendered. "Step" is Babylon's whole physics step,
 "engine" is only the engine's own world step. Median of 3 interleaved runs after a warm up, AMD Ryzen 9 5900X,
-Babylon.js 8.56.2, @babylonjs/havok 1.3.14, oimo 1.0.9. Mean milliseconds per step, sleep on:
+Babylon.js 9.26.1, @babylonjs/havok 1.3.14, oimo 1.0.9, node 24. Mean milliseconds per step, sleep on, every engine
+on one thread (2026-09-17):
 
 | Scene | Box3D | Havok | Oimo |
 | --- | ---: | ---: | ---: |
-| Pyramid, 20 rows (210 boxes) | 0.09 | 0.47 | 5.94 |
-| Pyramid, 50 rows (1275 boxes) | 0.89 | 7.05, collapses | 69.4, collapses |
-| Pyramid, 100 rows (5050 boxes) | 31.7 | 29.9, collapses | 219, collapses |
-| Pile, 1000 boxes and spheres | 3.45 | 4.26 | 33.3 |
-| Pile, 4000 boxes and spheres | 22.0 | 23.8 | 196 |
+| Pyramid, 20 rows (210 boxes) | 0.09 | 0.51 | 6.3 |
+| Pyramid, 50 rows (1275 boxes) | 0.98 | 7.45, collapses | 68.2, collapses |
+| Pyramid, 100 rows (5050 boxes) | 28.2 | 27.5, collapses | 174, collapses |
+| Pile, 1000 boxes and spheres | 3.44 | 4.48 | 31.3 |
+| Pile, 4000 boxes and spheres | 20.9 | 22.0 | 183 |
+
+The same Box3D scenes on the threaded build. Havok and Oimo have no equivalent, so this is time the other two cannot
+take back:
+
+| Scene | 1 thread | 4 workers | 8 workers |
+| --- | ---: | ---: | ---: |
+| Pyramid, 20 rows (210 boxes) | 0.09 | 0.05 | 0.11 |
+| Pyramid, 50 rows (1275 boxes) | 0.98 | 0.42 | 0.34 |
+| Pyramid, 100 rows (5050 boxes) | 28.2 | 7.55 | 5.72 |
+| Pile, 1000 boxes and spheres | 3.44 | 1.38 | 1.65 |
+| Pile, 4000 boxes and spheres | 20.9 | 7.21 | 6.31 |
 
 - Box3D keeps every pyramid standing for 30 s of simulated time, up to 100 rows. With Babylon's default Havok setup
   a 30 row pyramid is flat within 30 s and a 50 row one within 10 s (`bench/results/pyramid-stability-*.md`).
-- In the piles Havok's own world step is faster (17.7 ms vs 20.8 ms at 4000 bodies). Box3D's full Babylon step is
-  faster because the plugin only syncs bodies that Box3D reports as moved.
-- Chrome gives the same picture as node (`bench/results/chrome-*.md`). Full tables, including sleep off, p95 and
-  max step times, are in `bench/results`. Run `npm run bench` or open `bench.html` from `npm run demo` to reproduce.
+- In the piles Havok's own world step is faster on one thread (15.7 ms vs 19.5 ms at 4000 bodies). Box3D's full
+  Babylon step is faster because the plugin only syncs bodies that Box3D reports as moved.
+- The 210 box pyramid is slower with 8 workers than with none, and the 1000 body pile is better at 4 than at 8:
+  splitting a step is not free, and the scenes that pay for it are the big ones.
+- Every threaded run ends in the same state as the single threaded one. The result column in all three tables is
+  identical, drift and pile height included, which is the determinism claim holding at 5050 bodies.
+- Chrome tells the same story, threads included: 23.6 ms to 7.5 ms on the 100 row pyramid, 23.6 ms to 6.8 ms on the
+  4000 body pile at 8 workers. The one place it differs is that pile on one thread, where Chrome puts Havok's full
+  step ahead of Box3D's (20.6 ms against 23.6 ms) while node has them the other way round (`bench/results/chrome-*.md`).
+- Full tables, including sleep off, p95 and max step times, are in `bench/results`. Run `npm run bench`,
+  `npm run bench -- --workers 4`, or open `bench.html` from `npm run demo` and set the worker count there.
 
 ## Building
 
@@ -219,8 +314,10 @@ plugin through Babylon's own classes against the real wasm: constraints, events,
 activation and a zombie ragdoll (18 jointed boxes dropped and stepped for 10 s). Several of them build the same scene
 with Havok and compare, which is what pins the Havok compatible behaviour down.
 
-The wasm build is single threaded with wasm SIMD128. Box3D's task scheduler could run on wasm threads later, that
-needs `SharedArrayBuffer` and cross origin isolation.
+`npm run build:wasm` produces both builds: the single threaded one in `lib/esm`, `lib/umd` and `lib/node`, and the
+threaded one in `lib/esm-threads` and `lib/node-threads`. Add `--no-threads` to skip the second while iterating on the
+shim. Both are wasm SIMD128; the threaded one adds `-pthread` and a pool of 8 workers, which is the cap the shim
+clamps `workerCount` to. `npm run bench -- --workers 4` runs the benchmark on it.
 
 ## License
 

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>;
     }
 }
 /**
@@ -103,6 +114,26 @@ export declare class Box3DWheelJoint {
      */
     dispose(): void;
 }
+/**
+ * Options for the Box3D plugin, passed to the constructor after the module.
+ */
+export interface IBox3DPluginOptions {
+    /**
+     * Workers box3d may put on a world step, counting the thread the step is called on. 1 (the default) keeps
+     * everything on the calling thread. Anything above 1 needs the threaded build of the module
+     * (`LoadBox3D({ threads: true })` or `babylon-box3d/wasm/threads`), which in turn needs a cross origin isolated
+     * page; on the single threaded module the request is clamped to 1 and a warning explains why.
+     * "auto" asks for half of `navigator.hardwareConcurrency`, capped at what the build supports: box3d gains little
+     * from the second thread of a core, and leaving room for rendering matters more than the last worker.
+     * The world is created in the constructor and box3d builds its threads with it, so this cannot change later.
+     */
+    workerCount?: number | "auto";
+    /**
+     * Solver sub steps per world step. Box3D's default of 4 is what keeps tall stacks standing; 2 roughly halves
+     * solver time and is worth trying for scenes that are mostly loose bodies, 8 buys stiffness in exchange for time.
+     */
+    subStepCount?: number;
+}
 /**
  * Box3D physics plugin for Babylon.js physics v2.
  * Box3D is Erin Catto's 3D rigid body engine (https://github.com/erincatto/box3d). This plugin drives the
@@ -113,6 +144,12 @@ export declare class Box3DWheelJoint {
  * const box3d = await Box3D();
  * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));
  * ```
+ * On a cross origin isolated page the threaded module can spread a step over several workers:
+ * ```ts
+ * import { LoadBox3D, Box3DPlugin } from "babylon-box3d";
+ * const box3d = await LoadBox3D({ threads: "auto" });
+ * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d, { workerCount: "auto" }));
+ * ```
  */
 export declare class Box3DPlugin implements IPhysicsEnginePluginV2 {
     private _useDeltaForWorldStep;
@@ -122,6 +159,8 @@ export declare class Box3DPlugin implements IPhysicsEnginePluginV2 {
     name: string;
     /** Number of solver sub steps per world step. Box3D recommends 4. */
     subStepCount: number;
+    /** Workers box3d puts on a world step, counting the calling thread. 1 unless the threaded module asked for more. */
+    readonly workerCount: number;
     /** Wall clock time of the last world step in milliseconds (JavaScript side, includes the event sync). */
     lastStepTimeMs: number;
     private _b3;
@@ -151,8 +190,16 @@ export declare class Box3DPlugin implements IPhysicsEnginePluginV2 {
      * Creates a Box3D plugin.
      * @param _useDeltaForWorldStep step the world with the frame delta (true) or a fixed time step (false)
      * @param box3dModule the resolved Box3D WASM module (await Box3DModule())
+     * @param options worker count and sub steps, see IBox3DPluginOptions
+     */
+    constructor(_useDeltaForWorldStep: boolean | undefined, box3dModule: any, options?: IBox3DPluginOptions);
+    /**
+     * Turns the requested worker count into one this module can honour. Only the threaded build reports more than one,
+     * and asking a single threaded build for workers is quiet enough to look like it worked, so say so once.
+     * @param requested the constructor option
+     * @returns the count to create the world with
      */
-    constructor(_useDeltaForWorldStep: boolean | undefined, box3dModule: any);
+    private _resolveWorkerCount;
     private _scratch;
     private _warnOnce;
     private _getPluginReference;
@@ -283,6 +330,7 @@ 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

@@ -1 +1 @@
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package/dist/box3dPlugin.js

@@ -317,7 +317,8 @@ const RequiredNativeExports = [
     "_bx_Body_SetMassDataFull", "_bx_Body_SetMotionLocks", "_bx_Body_SetShape", "_bx_Body_SetTargetTransform", "_bx_Body_SetTransform",
     "_bx_Body_SetType", "_bx_Body_SyncShapeDesc", "_bx_ComputeAlignedFrameB", "_bx_ContactEventsPtr", "_bx_CreateBody", "_bx_CreateJoint",
     "_bx_CreateWorld", "_bx_DebugIndexCount", "_bx_DebugIndicesPtr", "_bx_DebugPositionsPtr", "_bx_DestroyBody", "_bx_DestroyJoint",
-    "_bx_DestroyWorld", "_bx_GetRejectedSlotCount", "_bx_Joint_EnableLimit", "_bx_Joint_EnableMotor", "_bx_Joint_EnableSpring", "_bx_Joint_IsValid",
+    "_bx_DestroyWorld", "_bx_GetMaxWorkers", "_bx_GetRejectedSlotCount", "_bx_Joint_EnableLimit", "_bx_Joint_EnableMotor",
+    "_bx_Joint_EnableSpring", "_bx_Joint_IsValid",
     "_bx_Joint_SetCollideConnected", "_bx_Joint_SetConstraintTuning", "_bx_Joint_SetLimits", "_bx_Joint_SetMaxMotorForce",
     "_bx_Joint_SetMotorSpeed", "_bx_Joint_SetSphericalMotor", "_bx_Joint_SetSphericalTarget", "_bx_Joint_SetSpring", "_bx_Joint_SetTarget",
     "_bx_Joint_SetTwistLimits", "_bx_Joint_UpdateMotorFrame", "_bx_Joint_WakeBodies", "_bx_MoveEventsPtr", "_bx_RayHitsPtr", "_bx_Scratch",
@@ -328,7 +329,8 @@ const RequiredNativeExports = [
     "_bx_ShapeDesc_GetRestitution", "_bx_ShapeDesc_RemoveChild", "_bx_ShapeDesc_SetDensity", "_bx_ShapeDesc_SetFilter", "_bx_ShapeDesc_SetGroup",
     "_bx_ShapeDesc_SetMaterial", "_bx_ShapeDesc_SetRollingResistance", "_bx_ShapeDesc_SetSensor", "_bx_World_CastRay", "_bx_World_EnableContinuous",
     "_bx_World_EnableSleeping", "_bx_World_Explode", "_bx_World_GetContactEvents", "_bx_World_GetMaximumLinearSpeed", "_bx_World_GetMoveEvents",
-    "_bx_World_GetSensorEvents", "_bx_World_GetStats", "_bx_World_SetGravity", "_bx_World_SetMaximumLinearSpeed", "_bx_World_Step"
+    "_bx_World_GetSensorEvents", "_bx_World_GetStats", "_bx_World_GetWorkerCount", "_bx_World_SetGravity", "_bx_World_SetMaximumLinearSpeed",
+    "_bx_World_Step"
 ];
 /**
  * Box3D physics plugin for Babylon.js physics v2.
@@ -340,19 +342,28 @@ const RequiredNativeExports = [
  * const box3d = await Box3D();
  * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));
  * ```
+ * On a cross origin isolated page the threaded module can spread a step over several workers:
+ * ```ts
+ * import { LoadBox3D, Box3DPlugin } from "babylon-box3d";
+ * const box3d = await LoadBox3D({ threads: "auto" });
+ * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d, { workerCount: "auto" }));
+ * ```
  */
 export class Box3DPlugin {
     /**
      * Creates a Box3D plugin.
      * @param _useDeltaForWorldStep step the world with the frame delta (true) or a fixed time step (false)
      * @param box3dModule the resolved Box3D WASM module (await Box3DModule())
+     * @param options worker count and sub steps, see IBox3DPluginOptions
      */
-    constructor(_useDeltaForWorldStep = true, box3dModule) {
+    constructor(_useDeltaForWorldStep = true, box3dModule, options) {
         this._useDeltaForWorldStep = _useDeltaForWorldStep;
         /** Name of the plugin */
         this.name = "Box3DPlugin";
         /** Number of solver sub steps per world step. Box3D recommends 4. */
         this.subStepCount = 4;
+        /** Workers box3d puts on a world step, counting the calling thread. 1 unless the threaded module asked for more. */
+        this.workerCount = 1;
         /** Wall clock time of the last world step in milliseconds (JavaScript side, includes the event sync). */
         this.lastStepTimeMs = 0;
         this._worldSlot = 0;
@@ -388,10 +399,43 @@ export class Box3DPlugin {
         }
         this._b3 = box3dModule;
         this.world = box3dModule;
-        this._worldSlot = this._b3._bx_CreateWorld(0, -9.81, 0);
+        if (options?.subStepCount !== undefined) {
+            this.subStepCount = Math.max(1, Math.round(options.subStepCount));
+        }
+        this._worldSlot = this._b3._bx_CreateWorld(0, -9.81, 0, this._resolveWorkerCount(options?.workerCount));
         if (!this._worldSlot) {
             throw new Error("Box3D: could not create a world (max worlds reached?)");
         }
+        // what box3d settled on, which is the request clamped to what this build of the module can run
+        this.workerCount = Math.max(1, this._b3._bx_World_GetWorkerCount(this._worldSlot));
+    }
+    /**
+     * Turns the requested worker count into one this module can honour. Only the threaded build reports more than one,
+     * and asking a single threaded build for workers is quiet enough to look like it worked, so say so once.
+     * @param requested the constructor option
+     * @returns the count to create the world with
+     */
+    _resolveWorkerCount(requested) {
+        const supported = Math.max(1, this._b3._bx_GetMaxWorkers());
+        if (requested === undefined) {
+            return 1;
+        }
+        let wanted;
+        if (requested === "auto") {
+            const cores = (typeof navigator !== "undefined" && navigator.hardwareConcurrency) || 4;
+            // half the reported cores: the other half is usually the second thread of each core, and box3d gains
+            // little from those, while the renderer still needs somewhere to run
+            wanted = Math.max(1, Math.floor(cores / 2));
+        }
+        else {
+            wanted = Math.max(1, Math.round(requested));
+        }
+        if (wanted > 1 && supported === 1) {
+            this._warnOnce("single-threaded-module", `${wanted} workers were requested, but this Box3D module was built without threads, so the step stays on the calling ` +
+                "thread. Load the threaded build (LoadBox3D({ threads: true }), or babylon-box3d/wasm/threads) from a cross origin " +
+                "isolated page: it needs SharedArrayBuffer, which browsers only allow with the COOP and COEP headers set.");
+        }
+        return Math.min(wanted, supported);
     }
     // ----------------------------------------------------------------------------------------
     // helpers
@@ -1181,7 +1225,6 @@ 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 +1233,16 @@ 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 +1306,26 @@ 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()) {