babylon-box3d 0.4.0 → 0.6.0

package/README.md

@@ -3,28 +3,48 @@
 [Box3D](https://github.com/erincatto/box3d) physics for Babylon.js. Box3D is Erin Catto's 3D successor to Box2D v3:
 an MIT licensed rigid body engine with a soft step solver, continuous collision, cross platform determinism and
 SIMD. This extension ships the engine compiled to WebAssembly plus `Box3DPlugin`, an implementation of Babylon's
-physics v2 plugin interface, so it drops in wherever the Havok plugin is used.
+physics v2 plugin interface. It supports most of the Physics V2 API, so scenes written for the Havok plugin generally
+run on it unchanged; [What is covered](#what-is-covered) lists where it differs.
 
 ```ts
 import { Vector3 } from "@babylonjs/core/Maths/math.vector";
+import "@babylonjs/core/Physics/joinedPhysicsEngineComponent"; // adds scene.enablePhysics
 import { Box3D, Box3DPlugin } from "babylon-box3d";
 
 const box3d = await Box3D();
 scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));
 ```
 
-Script tags (Playground, plain HTML):
+Script tags (Playground, plain HTML). A complete Playground scene is in
+[the documentation page](docs/communityExtensions/box3dPhysics.md#playground):
 
 ```html
 <script src="https://cdn.babylonjs.com/babylon.js"></script>
 <script src="https://unpkg.com/babylon-box3d/lib/umd/box3d.umd.js"></script>
 <script src="https://unpkg.com/babylon-box3d/umd/babylon.box3d.min.js"></script>
 <script>
-    const box3d = await Box3D();
-    scene.enablePhysics(new BABYLON.Vector3(0, -9.81, 0), new BABYLONBOX3D.Box3DPlugin(true, box3d));
+    // a classic script cannot use await at the top level, so the setup runs in an async function
+    (async () => {
+        const box3d = await Box3D();
+        scene.enablePhysics(new BABYLON.Vector3(0, -9.81, 0), new BABYLONBOX3D.Box3DPlugin(true, box3d));
+        // create physics bodies from here on
+    })();
 </script>
 ```
 
+### Without npm or a build step
+
+Like Havok's UMD build, this runs from plain files in a folder. Download these three and put them next to your page:
+
+- [box3d.umd.js](https://unpkg.com/babylon-box3d@0.4.0/lib/umd/box3d.umd.js), the WebAssembly loader (global `Box3D`)
+- [box3d.umd.wasm](https://unpkg.com/babylon-box3d@0.4.0/lib/umd/box3d.umd.wasm), the engine, found next to the loader
+- [babylon.box3d.min.js](https://unpkg.com/babylon-box3d@0.4.0/umd/babylon.box3d.min.js), the plugin (global `BABYLONBOX3D`)
+
+Then load them after `babylon.js` with the same three script tags as above, pointing at the local files. The folder
+has to be opened through a web server rather than by double clicking the page: browsers refuse to load a `.wasm` from
+`file://`, and Havok's wasm has the same limit. Any static server works, VS Code's Live Server or
+`python -m http.server` in that folder among them; nothing runs on Node.
+
 The wasm is fetched next to the loader script. With a bundler pass `locateFile`, for example with vite:
 
 ```ts
@@ -84,6 +104,7 @@ Cross-Origin-Embedder-Policy: require-corp
 
 ```ts
 import { Vector3 } from "@babylonjs/core/Maths/math.vector";
+import "@babylonjs/core/Physics/joinedPhysicsEngineComponent";
 import { LoadBox3D, Box3DPlugin } from "babylon-box3d";
 
 // "auto" uses the threaded build where the page allows it and the single threaded one everywhere else
@@ -99,7 +120,8 @@ 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
+cannot add response headers (GitHub Pages, for one) needs a service worker to add them, the way the hosted demo does
+(`demo/public/coi-serviceworker.js`), 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`.
 
@@ -231,6 +253,17 @@ Box3D extras on the plugin: `explode`, `createWheelJoint` (suspension, steering,
 `setShapeFilterGroup`, `setShapeRollingResistance`, `setAllowFastRotation`, `getStats`. `PhysicsCharacterController`
 is not supported yet, it depends on Havok internals.
 
+**Beyond Babylon's API.** A simulation that drives the module directly, without Babylon, also has these raw exports
+(typed in `lib/*/box3d.d.ts`, tested in `test/wasm.*.test.ts`):
+
+| exports | what they do |
+| --- | --- |
+| `bx_Body_GetContacts`, `bx_BodyContactsPtr` | every touching manifold on a body as the body feels it: the shapes on both sides by index, the normal it is pushed along, friction and twist, and per point the position, separation, impulses, approach speed, and the triangle and material met on a mesh or height field |
+| `bx_Body_SetShapeHull`, `bx_Body_TranslateShape`, `bx_Body_SetShapeFilter`, `bx_Body_RemoveShape`, `bx_Body_HasShape`, `bx_Body_GetShapeInfo` | per-shape handles: change one of a body's shapes and reset only its contacts, where `bx_Body_SetShape` rebuilds them all. A shape keeps its index for the body's lifetime, removed or not, and contact events (two floats appended) and ray hits (the last float) carry it |
+| `bx_Body_SetShapeCrush`, `bx_Body_GetShapeCrush` | crushable contacts, see [Patches to Box3D](#patches-to-box3d) |
+| `bx_World_CastShape`, `bx_World_OverlapShape`, `bx_OverlapsPtr` | a convex point cloud with a radius, from an origin given in doubles, cast along a translation or tested for overlap. The cast's fraction is where the surfaces touch: Box3D stops its own casts a linear slop short of that, and the shim moves the fraction on |
+| `bx_Body_GetShapeGeometry`, `bx_GeometryPtr` | a shape's sphere, capsule or hull points, in the body's frame |
+
 Box3D creates shapes on bodies while Babylon creates shapes standalone, so a `PhysicsShape` is a description that
 is instantiated on every body it is set on. Changing its filter masks, material or density is applied to the live
 Box3D shapes in place; only geometry, children and the trigger flag rebuild them. Hull data is copied into Box3D's world database, mesh and height field
@@ -248,6 +281,7 @@ and mesh winding is flipped, exactly like the Havok plugin.
 | `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`), `lib/node` and the threaded pair |
 | `lib/` | committed wasm builds and typings, `UPSTREAM_COMMIT` is the box3d commit |
+| `wasm/patches/` | changes to Box3D itself, applied in name order to a copy of the box3d checkout at build time, see [Patches to Box3D](#patches-to-box3d) |
 | `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` |
@@ -255,6 +289,10 @@ and mesh winding is flipped, exactly like the Havok plugin.
 | `test/` | vitest unit tests with a mocked wasm module, tests against the real wasm, node smoke test, and `packaged.test.ts` over the built `dist` and every loader in `lib` |
 | `bench/` | Box3D vs Havok vs Oimo benchmark: `npm run bench` (node) or `demo/bench.html` (browser), results in `bench/results` |
 
+The demo is published to GitHub Pages at https://pryme8.github.io/babylon-box3d/ by `.github/workflows/pages.yml`.
+Pages cannot send the isolation headers threads need, so `demo/public/coi-serviceworker.js` adds them from a service
+worker; that is only needed because of the host, and an app that controls its own headers does not want it.
+
 Demos: `pyramid` (Box3D's Large Pyramid benchmark, thin instances, `&rows=100` for 5050 boxes, click to explode),
 `ragdolls` (Erin's human ragdoll sliding down a chute), `car` (wheel joints, WASD), `destruction` (brick tower and
 wrecking ball), plus `stack`, `joints`, `terrain`, `compound` feature tests. Add `&ui=0` to hide the overlay.
@@ -319,6 +357,26 @@ threaded one in `lib/esm-threads` and `lib/node-threads`. Add `--no-threads` to
 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.
 
+## Patches to Box3D
+
+The wasm is built from the box3d commit in `UPSTREAM_COMMIT` plus the patches in `wasm/patches`. `npm run build:wasm`
+copies the checkout's `src` and `include` into `build/box3d-src` and applies the patches there, so the checkout itself
+stays exactly upstream's commit, and a change to the patch set rebuilds every object.
+
+| patch | what it changes |
+| --- | --- |
+| `0001-broad-phase-prunes-by-mask.patch` | A shape that moved queries the broad phase with its own mask bits instead of every category (unless it is in a positive group, which overrides masks). A body whose shapes are filtered against each other then skips its own subtree instead of visiting every sibling shape before rejecting it. Which pairs collide does not change. |
+| `0002-continuous-per-body.patch` | `b3Body_EnableContinuous` and `b3Body_IsContinuousEnabled` (shim: `bx_Body_EnableContinuous`, `bx_Body_IsContinuousEnabled`): continuous collision switched for one body. The world's switch still applies. A body made of many small shapes is swept shape by shape whenever its smallest shape moves fast enough, which can cost more than the rest of the step. |
+| `0003-crushable-contacts.patch` | `b3Shape_SetCrushLimit(shape, maxForce, plastic)`, `b3Shape_GetCrushLimit` and `b3Shape_IsCrushPlastic` (shim: `bx_Body_SetShapeCrush(body, i, maxForce, plastic)`, `bx_Body_GetShapeCrush`): each contact of a crushable shape pushes with at most `maxForce` newtons, the smaller of its two shapes' limits, shared between its points, so a body meeting something rigid decelerates over a distance instead of stopping within a step. A plastic contact gets no push-out and no restitution, so it keeps the overlap it reaches. Crushable contacts are routed to the scalar solver path, where each point's accumulated impulse is clamped; a point still apart pushes only for the part of the substep after the surfaces meet. Rigid contacts are untouched, bit for bit. The limit may change every step, and a shape turning crushable or rigid keeps its contacts. |
+
+`test/wasm.patches.test.ts` covers 0001 and 0002, and `test/wasm.crush.test.ts` covers 0003. None has been offered upstream.
+
+**Crush accuracy.** Against a constant limit the crush depth lands within 1.5% of the continuous answer at 480 Hz
+with two substeps, and within 2% on a height field. What remains is Box3D's, not the patch's: its semi-implicit
+integrator travels v·h/2 less under any constant force, and it makes contact points only within its 2 cm
+speculative distance, so a body that covers more than that in a step (above 9.6 m/s at 480 Hz) can start up to
+v·dt − 2 cm inside. Mesh and height field contacts also carry a 5 mm skin.
+
 ## License
 
 MIT. Box3D is MIT licensed by Erin Catto, see `LICENSE-box3d.txt`. The ragdoll data in the demo is ported from

package/dist/box3dPlugin.js

@@ -224,7 +224,7 @@ var Box3DShapeSync;
     Box3DShapeSync[Box3DShapeSync["DENSITY"] = 4] = "DENSITY";
 })(Box3DShapeSync || (Box3DShapeSync = {}));
 const MOVE_STRIDE = 9;
-const CONTACT_STRIDE = 12;
+const CONTACT_STRIDE = 14;
 const SENSOR_STRIDE = 5;
 const RAY_STRIDE = 11;
 /**

package/lib/esm/box3d.d.ts

@@ -94,6 +94,36 @@ export interface Box3DExports {
     _bx_Body_IsAwake(body: number): number;
     _bx_Body_EnableSleep(body: number, flag: number): void;
     _bx_Body_SetBullet(body: number, flag: number): void;
+    /** Continuous collision for this body alone, on by default; the world's switch still applies. */
+    _bx_Body_EnableContinuous(body: number, flag: number): void;
+    _bx_Body_IsContinuousEnabled(body: number): number;
+    /**
+     * Crushable contacts for the body's shape `index`: each of its contacts pushes with at most `maxForce` newtons,
+     * and a plastic one (1) keeps its overlap instead of pushing out. A `maxForce` of zero or less makes it rigid.
+     */
+    _bx_Body_SetShapeCrush(body: number, index: number, maxForce: number, plastic: number): void;
+    /** scratch: [maxForce, plastic] for the body's shape `index`, zeros when it is rigid or there is no such shape. */
+    _bx_Body_GetShapeCrush(body: number, index: number): void;
+    /**
+     * Every touching contact manifold on the body, as the body feels it, written from `_bx_BodyContactsPtr`: 48 floats
+     * each, [shapeIndex, otherBody, otherShapeIndex, otherShapeDesc, normal xyz (the push on this body), friction impulse
+     * xyz on this body, twist impulse, pointCount], then 4 points of 9: [x, y, z, separation, normalImpulse (last
+     * substep), totalNormalImpulse (Box3D's, summed over every solver pass: nonzero means it carried load),
+     * normalVelocity, triangleIndex, material]. Returns the record count.
+     */
+    _bx_Body_GetContacts(body: number): number;
+    _bx_BodyContactsPtr(): number;
+    /** Per-shape handles: each changes one shape, resets only its contacts, and keeps every shape's index. */
+    /** Replaces shape `index` with the hull of `pointCount` points (xyz floats at `points`) in the body's frame; 1 if done. */
+    _bx_Body_SetShapeHull(body: number, index: number, points: number, pointCount: number): number;
+    /** Moves shape `index` (a hull, sphere or capsule) by (dx, dy, dz) in the body's frame; 1 if done. */
+    _bx_Body_TranslateShape(body: number, index: number, dx: number, dy: number, dz: number): number;
+    _bx_Body_SetShapeFilter(body: number, index: number, categoryBits: number, maskBits: number, groupIndex: number): void;
+    /** Removes shape `index`; the other shapes keep their indices. */
+    _bx_Body_RemoveShape(body: number, index: number): void;
+    _bx_Body_HasShape(body: number, index: number): number;
+    /** scratch: [kind (0 sphere, 1 capsule, 2 hull, -1 none), vertexCount, aabb min xyz, aabb max xyz] in the body's frame */
+    _bx_Body_GetShapeInfo(body: number, index: number): void;
     _bx_Body_AllowFastRotation(body: number, flag: number): void;
     _bx_Body_SetMotionLocks(body: number, lx: number, ly: number, lz: number, ax: number, ay: number, az: number): void;
     /** scratch: [minx, miny, minz, maxx, maxy, maxz] */
@@ -148,8 +178,9 @@ export interface Box3DExports {
     _bx_ShapeDesc_CreateHull(points: number, pointCount: number): number;
     /** vertices: vertexCount * 3 floats, indices: triangleCount * 3 int32 */
     _bx_ShapeDesc_CreateMesh(vertices: number, vertexCount: number, indices: number, triangleCount: number, sx: number, sy: number, sz: number, clockwise: number, weld: number): number;
-    /** heights: countX * countZ floats indexed [z * countX + x], local offset (ox, oy, oz) */
-    _bx_ShapeDesc_CreateHeightField(heights: number, countX: number, countZ: number, sx: number, sy: number, sz: number, clockwise: number, ox: number, oy: number, oz: number): number;
+    /** heights: countX * countZ floats indexed [z * countX + x]; materials: one byte a cell, (countX - 1) * (countZ - 1),
+     * or 0 for none; local offset (ox, oy, oz) */
+    _bx_ShapeDesc_CreateHeightField(heights: number, materials: number, countX: number, countZ: number, sx: number, sy: number, sz: number, clockwise: number, ox: number, oy: number, oz: number): number;
     _bx_ShapeDesc_CreateContainer(): number;
     _bx_ShapeDesc_AddChild(parent: number, child: number, px: number, py: number, pz: number, qx: number, qy: number, qz: number, qw: number, sx: number, sy: number, sz: number): void;
     _bx_ShapeDesc_RemoveChild(parent: number, index: number): void;
@@ -209,8 +240,19 @@ export interface Box3DExports {
 
     // queries
     _bx_RayHitsPtr(): number;
-    /** Returns the hit count; hits are 11 floats each: [px, py, pz, nx, ny, nz, fraction, bodySlot, shapeDesc, triangleIndex, reserved] */
+    /** Returns the hit count; hits are 11 floats each: [px, py, pz, nx, ny, nz, fraction, bodySlot, shapeDesc, triangleIndex, shapeIndex] */
     _bx_World_CastRay(world: number, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, categoryBits: number, maskBits: number, ignoreBody: number, hitSensors: number, closestOnly: number): number;
+    /**
+     * Casts the hull of `count` points (xyz floats at `points`, relative to the origin) grown by `radius` along
+     * (dx, dy, dz). Hits are written as `_bx_World_CastRay` writes them, the fraction being where the surfaces touch.
+     */
+    _bx_World_CastShape(world: number, ox: number, oy: number, oz: number, points: number, count: number, radius: number, dx: number, dy: number, dz: number, categoryBits: number, maskBits: number, ignoreBody: number, closestOnly: number): number;
+    /** Every shape the hull of the points grown by `radius` overlaps, written from `_bx_OverlapsPtr` as [bodySlot, shapeIndex, shapeDesc]. */
+    _bx_World_OverlapShape(world: number, ox: number, oy: number, oz: number, points: number, count: number, radius: number, categoryBits: number, maskBits: number, ignoreBody: number): number;
+    _bx_OverlapsPtr(): number;
+    /** Shape `index`'s geometry in the body's frame, from `_bx_GeometryPtr`: sphere [c, r], capsule [c1, c2, r], or hull points. Returns the float count. */
+    _bx_Body_GetShapeGeometry(body: number, index: number): number;
+    _bx_GeometryPtr(): number;
 }
 
 export type Box3DModule = Box3DExports & Box3DHeap;

package/lib/esm/box3d.js

@@ -1,2 +1,2 @@
-async function Box3D(moduleArg={}){var Module=moduleArg;var ENVIRONMENT_IS_WEB=!!globalThis.window;var ENVIRONMENT_IS_WORKER=!!globalThis.WorkerGlobalScope;var ENVIRONMENT_IS_NODE=globalThis.process?.versions?.node&&globalThis.process?.type!="renderer";var programArgs=[];var thisProgram="./this.program";var _scriptName=import.meta.url;var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var readAsync,readBinary;if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){try{scriptDirectory=new URL(".",_scriptName).href}catch{}{if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new Uint8Array(xhr.response)}}readAsync=async url=>{var response=await fetch(url,{credentials:"same-origin"});if(response.ok){return response.arrayBuffer()}throw new Error(response.status+" : "+response.url)}}}else{}var out=console.log.bind(console);var err=console.error.bind(console);var wasmBinary;var ABORT=false;class EmscriptenEH{}class EmscriptenSjLj extends EmscriptenEH{}var runtimeInitialized=false;function getMemoryBuffer(){return wasmMemory.buffer}function updateMemoryViews(){if(HEAP8?.buffer?.resizable)return;var b=getMemoryBuffer();HEAP8=new Int8Array(b);Module["HEAPU8"]=HEAPU8=new Uint8Array(b);Module["HEAP32"]=HEAP32=new Int32Array(b);Module["HEAPU32"]=HEAPU32=new Uint32Array(b);Module["HEAPF32"]=HEAPF32=new Float32Array(b);HEAP64=new BigInt64Array(b)}function preRun(){var preRun=Module["preRun"];if(preRun){if(typeof preRun=="function")preRun=[preRun];onPreRuns.push(...preRun)}callRuntimeCallbacks(onPreRuns)}function initRuntime(){runtimeInitialized=true;wasmExports["__wasm_call_ctors"]()}function postRun(){var postRun=Module["postRun"];if(postRun){if(typeof postRun=="function")postRun=[postRun];onPostRuns.push(...postRun)}callRuntimeCallbacks(onPostRuns)}function abort(what){Module["onAbort"]?.(what);what=`Aborted(${what})`;err(what);ABORT=true;what+=". Build with -sASSERTIONS for more info.";var e=new WebAssembly.RuntimeError(what);throw e}var wasmBinaryFile;function findWasmBinary(){if(Module["locateFile"]){return locateFile("box3d.wasm")}return new URL("box3d.wasm",import.meta.url).href}function getBinarySync(file){if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}async function getWasmBinary(binaryFile){if(!wasmBinary){try{var response=await readAsync(binaryFile);return new Uint8Array(response)}catch{}}return getBinarySync(binaryFile)}async function instantiateArrayBuffer(binaryFile,imports){try{var binary=await getWasmBinary(binaryFile);var instance=await WebAssembly.instantiate(binary,imports);return instance}catch(reason){err(`failed to asynchronously prepare wasm: ${reason}`);abort(reason)}}async function instantiateAsync(binary,binaryFile,imports){if(!binary){try{var response=fetch(binaryFile,{credentials:"same-origin"});var instantiationResult=await WebAssembly.instantiateStreaming(response,imports);return instantiationResult}catch(reason){err(`wasm streaming compile failed: ${reason}`);err("falling back to ArrayBuffer instantiation")}}return instantiateArrayBuffer(binaryFile,imports)}function getWasmImports(){var imports={env:wasmImports,wasi_snapshot_preview1:wasmImports};return imports}async function createWasm(){function receiveInstance(instance){wasmExports=instance.exports;assignWasmExports(wasmExports);updateMemoryViews();return wasmExports}function receiveInstantiationResult(result){return receiveInstance(result["instance"])}var info=getWasmImports();var instantiateWasm=Module["instantiateWasm"];if(instantiateWasm){return new Promise(resolve=>{instantiateWasm(info,inst=>resolve(receiveInstance(inst)))})}wasmBinaryFile??=findWasmBinary();var result=await instantiateAsync(wasmBinary,wasmBinaryFile,info);var exports=receiveInstantiationResult(result);return exports}class ExitStatus{name="ExitStatus";constructor(status){this.message=`Program terminated with exit(${status})`;this.status=status}}var HEAP8;var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};var onPostRuns=[];var onPreRuns=[];var noExitRuntime=true;var _emscripten_get_now=()=>performance.now();var _emscripten_date_now=()=>Date.now();var nowIsMonotonic=1;var checkWasiClock=clock_id=>clock_id>=0&&clock_id<=3;var INT53_MAX=9007199254740992;var INT53_MIN=-9007199254740992;var bigintToI53Checked=num=>num<INT53_MIN||num>INT53_MAX?NaN:Number(num);var HEAP64;function _clock_time_get(clk_id,ignored_precision,ptime){ignored_precision=bigintToI53Checked(ignored_precision);if(!checkWasiClock(clk_id)){return 28}var now;if(clk_id===0){now=_emscripten_date_now()}else if(nowIsMonotonic){now=_emscripten_get_now()}else{return 52}var nsec=Math.round(now*1e3*1e3);HEAP64[ptime>>3]=BigInt(nsec);return 0}var getHeapMax=()=>2147483648;var alignMemory=(size,alignment)=>Math.ceil(size/alignment)*alignment;var growMemory=size=>{var oldHeapSize=wasmMemory.buffer.byteLength;var pages=(size-oldHeapSize+65535)/65536|0;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){}};var HEAPU8;var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){return false}for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignMemory(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}return false};var printCharBuffers=[null,[],[]];var UTF8Decoder=globalThis.TextDecoder&&new TextDecoder;var findStringEnd=(heapOrArray,idx,maxBytesToRead,ignoreNul)=>{var maxIdx=idx+maxBytesToRead;if(ignoreNul)return maxIdx;while(heapOrArray[idx]&&!(idx>=maxIdx))++idx;return idx};var UTF8ArrayToString=(heapOrArray,idx=0,maxBytesToRead,ignoreNul)=>{var endPtr=findStringEnd(heapOrArray,idx,maxBytesToRead,ignoreNul);if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx<endPtr){var u0=heapOrArray[idx++];if(!(u0&128)){str+=String.fromCharCode(u0);continue}var u1=heapOrArray[idx++]&63;if((u0&224)==192){str+=String.fromCharCode((u0&31)<<6|u1);continue}var u2=heapOrArray[idx++]&63;if((u0&240)==224){u0=(u0&15)<<12|u1<<6|u2}else{u0=(u0&7)<<18|u1<<12|u2<<6|heapOrArray[idx++]&63}if(u0<65536){str+=String.fromCharCode(u0)}else{var ch=u0-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}}return str};var printChar=(stream,curr)=>{var buffer=printCharBuffers[stream];if(!curr||curr===10){(stream===1?out:err)(UTF8ArrayToString(buffer));buffer.length=0}else{buffer.push(curr)}};var HEAPU32;var _fd_write=(fd,iov,iovcnt,pnum)=>{var num=0;for(var i=0;i<iovcnt;i++){var ptr=HEAPU32[iov>>2];var len=HEAPU32[iov+4>>2];iov+=8;for(var j=0;j<len;j++){printChar(fd,HEAPU8[ptr+j])}num+=len}HEAPU32[pnum>>2]=num;return 0};var HEAPF32;var HEAP32;{if(Module["noExitRuntime"])noExitRuntime=Module["noExitRuntime"];if(Module["print"])out=Module["print"];if(Module["printErr"])err=Module["printErr"];if(Module["arguments"])programArgs=Module["arguments"];if(Module["thisProgram"])thisProgram=Module["thisProgram"];var preInit=Module["preInit"];if(preInit){if(typeof preInit=="function")Module["preInit"]=preInit=[preInit];while(preInit.length>0){preInit.shift()()}}}var _free,_bx_Scratch,_bx_Alloc,_malloc,_bx_Free,_bx_GetVersion,_bx_GetRejectedSlotCount,_bx_GetMaxWorkers,_bx_CreateWorld,_bx_World_GetWorkerCount,_bx_DestroyWorld,_bx_ShapeDesc_Destroy,_bx_World_Step,_bx_World_SetGravity,_bx_World_SetMaximumLinearSpeed,_bx_World_GetMaximumLinearSpeed,_bx_World_EnableSleeping,_bx_World_EnableContinuous,_bx_World_SetContactTuning,_bx_World_Explode,_bx_World_GetAwakeBodyCount,_bx_World_GetJointEventCount,_bx_World_GetStats,_bx_MoveEventsPtr,_bx_ContactEventsPtr,_bx_SensorEventsPtr,_bx_World_GetMoveEvents,_bx_World_GetContactEvents,_bx_World_GetSensorEvents,_bx_CreateBody,_bx_DestroyBody,_bx_Body_SetType,_bx_Body_GetType,_bx_Body_SetTransform,_bx_Body_GetTransform,_bx_Body_SetTargetTransform,_bx_Body_SetLinearVelocity,_bx_Body_GetLinearVelocity,_bx_Body_SetAngularVelocity,_bx_Body_GetAngularVelocity,_bx_Body_SetLinearDamping,_bx_Body_GetLinearDamping,_bx_Body_SetAngularDamping,_bx_Body_GetAngularDamping,_bx_Body_SetGravityScale,_bx_Body_GetGravityScale,_bx_Body_ApplyForce,_bx_Body_ApplyForceToCenter,_bx_Body_ApplyTorque,_bx_Body_ApplyLinearImpulse,_bx_Body_ApplyLinearImpulseToCenter,_bx_Body_ApplyAngularImpulse,_bx_Body_SetAwake,_bx_Body_IsAwake,_bx_Body_EnableSleep,_bx_Body_SetBullet,_bx_Body_AllowFastRotation,_bx_Body_SetMotionLocks,_bx_Body_GetAABB,_bx_Body_ComputeShapeMassData,_bx_Body_GetMassData,_bx_Body_SetMassDataFull,_bx_Body_SetMassData,_bx_Body_GetMotionLocks,_bx_Body_ApplyMassFromShapes,_bx_Body_GetShapeCount,_bx_Body_SetEventFlags,_bx_Body_GetEventFlags,_bx_Body_EnableContactEvents,_bx_ShapeDesc_CreateSphere,_bx_ShapeDesc_CreateCapsule,_bx_ShapeDesc_CreateBox,_bx_ShapeDesc_CreateCylinder,_bx_ShapeDesc_CreateHull,_bx_ShapeDesc_CreateMesh,_bx_ShapeDesc_CreateHeightField,_bx_ShapeDesc_CreateContainer,_bx_ShapeDesc_AddChild,_bx_ShapeDesc_RemoveChild,_bx_ShapeDesc_GetChildCount,_bx_ShapeDesc_GetKind,_bx_ShapeDesc_SetMaterial,_bx_ShapeDesc_GetFriction,_bx_ShapeDesc_GetRestitution,_bx_ShapeDesc_SetDensity,_bx_ShapeDesc_GetDensity,_bx_ShapeDesc_SetFilter,_bx_ShapeDesc_GetCategoryBits,_bx_ShapeDesc_GetMaskBits,_bx_ShapeDesc_SetGroup,_bx_ShapeDesc_SetRollingResistance,_bx_ShapeDesc_SetSensor,_bx_ShapeDesc_IsSensor,_bx_ShapeDesc_GetAABB,_bx_GetShapeBuildCount,_bx_GetShapeDescCount,_bx_Body_SetShape,_bx_Body_SyncShapeDesc,_bx_Body_GetShapeDesc,_bx_ShapeDesc_BuildDebugGeometry,_bx_DebugPositionsPtr,_bx_DebugIndicesPtr,_bx_DebugIndexCount,_bx_CreateJoint,_bx_DestroyJoint,_bx_Joint_IsValid,_bx_Joint_SetCollideConnected,_bx_Joint_SetConstraintTuning,_bx_Joint_WakeBodies,_bx_Joint_EnableLimit,_bx_Joint_SetLimits,_bx_Joint_SetTwistLimits,_bx_Joint_EnableMotor,_bx_Joint_UpdateMotorFrame,_bx_Joint_SetSphericalMotor,_bx_Joint_SetSphericalTarget,_bx_Joint_SetMotorSpeed,_bx_Joint_SetMaxMotorForce,_bx_Joint_EnableSpring,_bx_Joint_SetSpring,_bx_Joint_SetTarget,_bx_Joint_GetPosition,_bx_ComputeAlignedFrameB,_bx_WheelJoint_SetSpinMotorSpeed,_bx_WheelJoint_SetMaxSpinTorque,_bx_WheelJoint_EnableSpinMotor,_bx_WheelJoint_SetTargetSteeringAngle,_bx_WheelJoint_SetSuspension,_bx_RayHitsPtr,_bx_World_CastRay,memory,__indirect_function_table,wasmMemory;function assignWasmExports(wasmExports){_free=Module["_free"]=wasmExports["free"];_bx_Scratch=Module["_bx_Scratch"]=wasmExports["bx_Scratch"];_bx_Alloc=Module["_bx_Alloc"]=wasmExports["bx_Alloc"];_malloc=Module["_malloc"]=wasmExports["malloc"];_bx_Free=Module["_bx_Free"]=wasmExports["bx_Free"];_bx_GetVersion=Module["_bx_GetVersion"]=wasmExports["bx_GetVersion"];_bx_GetRejectedSlotCount=Module["_bx_GetRejectedSlotCount"]=wasmExports["bx_GetRejectedSlotCount"];_bx_GetMaxWorkers=Module["_bx_GetMaxWorkers"]=wasmExports["bx_GetMaxWorkers"];_bx_CreateWorld=Module["_bx_CreateWorld"]=wasmExports["bx_CreateWorld"];_bx_World_GetWorkerCount=Module["_bx_World_GetWorkerCount"]=wasmExports["bx_World_GetWorkerCount"];_bx_DestroyWorld=Module["_bx_DestroyWorld"]=wasmExports["bx_DestroyWorld"];_bx_ShapeDesc_Destroy=Module["_bx_ShapeDesc_Destroy"]=wasmExports["bx_ShapeDesc_Destroy"];_bx_World_Step=Module["_bx_World_Step"]=wasmExports["bx_World_Step"];_bx_World_SetGravity=Module["_bx_World_SetGravity"]=wasmExports["bx_World_SetGravity"];_bx_World_SetMaximumLinearSpeed=Module["_bx_World_SetMaximumLinearSpeed"]=wasmExports["bx_World_SetMaximumLinearSpeed"];_bx_World_GetMaximumLinearSpeed=Module["_bx_World_GetMaximumLinearSpeed"]=wasmExports["bx_World_GetMaximumLinearSpeed"];_bx_World_EnableSleeping=Module["_bx_World_EnableSleeping"]=wasmExports["bx_World_EnableSleeping"];_bx_World_EnableContinuous=Module["_bx_World_EnableContinuous"]=wasmExports["bx_World_EnableContinuous"];_bx_World_SetContactTuning=Module["_bx_World_SetContactTuning"]=wasmExports["bx_World_SetContactTuning"];_bx_World_Explode=Module["_bx_World_Explode"]=wasmExports["bx_World_Explode"];_bx_World_GetAwakeBodyCount=Module["_bx_World_GetAwakeBodyCount"]=wasmExports["bx_World_GetAwakeBodyCount"];_bx_World_GetJointEventCount=Module["_bx_World_GetJointEventCount"]=wasmExports["bx_World_GetJointEventCount"];_bx_World_GetStats=Module["_bx_World_GetStats"]=wasmExports["bx_World_GetStats"];_bx_MoveEventsPtr=Module["_bx_MoveEventsPtr"]=wasmExports["bx_MoveEventsPtr"];_bx_ContactEventsPtr=Module["_bx_ContactEventsPtr"]=wasmExports["bx_ContactEventsPtr"];_bx_SensorEventsPtr=Module["_bx_SensorEventsPtr"]=wasmExports["bx_SensorEventsPtr"];_bx_World_GetMoveEvents=Module["_bx_World_GetMoveEvents"]=wasmExports["bx_World_GetMoveEvents"];_bx_World_GetContactEvents=Module["_bx_World_GetContactEvents"]=wasmExports["bx_World_GetContactEvents"];_bx_World_GetSensorEvents=Module["_bx_World_GetSensorEvents"]=wasmExports["bx_World_GetSensorEvents"];_bx_CreateBody=Module["_bx_CreateBody"]=wasmExports["bx_CreateBody"];_bx_DestroyBody=Module["_bx_DestroyBody"]=wasmExports["bx_DestroyBody"];_bx_Body_SetType=Module["_bx_Body_SetType"]=wasmExports["bx_Body_SetType"];_bx_Body_GetType=Module["_bx_Body_GetType"]=wasmExports["bx_Body_GetType"];_bx_Body_SetTransform=Module["_bx_Body_SetTransform"]=wasmExports["bx_Body_SetTransform"];_bx_Body_GetTransform=Module["_bx_Body_GetTransform"]=wasmExports["bx_Body_GetTransform"];_bx_Body_SetTargetTransform=Module["_bx_Body_SetTargetTransform"]=wasmExports["bx_Body_SetTargetTransform"];_bx_Body_SetLinearVelocity=Module["_bx_Body_SetLinearVelocity"]=wasmExports["bx_Body_SetLinearVelocity"];_bx_Body_GetLinearVelocity=Module["_bx_Body_GetLinearVelocity"]=wasmExports["bx_Body_GetLinearVelocity"];_bx_Body_SetAngularVelocity=Module["_bx_Body_SetAngularVelocity"]=wasmExports["bx_Body_SetAngularVelocity"];_bx_Body_GetAngularVelocity=Module["_bx_Body_GetAngularVelocity"]=wasmExports["bx_Body_GetAngularVelocity"];_bx_Body_SetLinearDamping=Module["_bx_Body_SetLinearDamping"]=wasmExports["bx_Body_SetLinearDamping"];_bx_Body_GetLinearDamping=Module["_bx_Body_GetLinearDamping"]=wasmExports["bx_Body_GetLinearDamping"];_bx_Body_SetAngularDamping=Module["_bx_Body_SetAngularDamping"]=wasmExports["bx_Body_SetAngularDamping"];_bx_Body_GetAngularDamping=Module["_bx_Body_GetAngularDamping"]=wasmExports["bx_Body_GetAngularDamping"];_bx_Body_SetGravityScale=Module["_bx_Body_SetGravityScale"]=wasmExports["bx_Body_SetGravityScale"];_bx_Body_GetGravityScale=Module["_bx_Body_GetGravityScale"]=wasmExports["bx_Body_GetGravityScale"];_bx_Body_ApplyForce=Module["_bx_Body_ApplyForce"]=wasmExports["bx_Body_ApplyForce"];_bx_Body_ApplyForceToCenter=Module["_bx_Body_ApplyForceToCenter"]=wasmExports["bx_Body_ApplyForceToCenter"];_bx_Body_ApplyTorque=Module["_bx_Body_ApplyTorque"]=wasmExports["bx_Body_ApplyTorque"];_bx_Body_ApplyLinearImpulse=Module["_bx_Body_ApplyLinearImpulse"]=wasmExports["bx_Body_ApplyLinearImpulse"];_bx_Body_ApplyLinearImpulseToCenter=Module["_bx_Body_ApplyLinearImpulseToCenter"]=wasmExports["bx_Body_ApplyLinearImpulseToCenter"];_bx_Body_ApplyAngularImpulse=Module["_bx_Body_ApplyAngularImpulse"]=wasmExports["bx_Body_ApplyAngularImpulse"];_bx_Body_SetAwake=Module["_bx_Body_SetAwake"]=wasmExports["bx_Body_SetAwake"];_bx_Body_IsAwake=Module["_bx_Body_IsAwake"]=wasmExports["bx_Body_IsAwake"];_bx_Body_EnableSleep=Module["_bx_Body_EnableSleep"]=wasmExports["bx_Body_EnableSleep"];_bx_Body_SetBullet=Module["_bx_Body_SetBullet"]=wasmExports["bx_Body_SetBullet"];_bx_Body_AllowFastRotation=Module["_bx_Body_AllowFastRotation"]=wasmExports["bx_Body_AllowFastRotation"];_bx_Body_SetMotionLocks=Module["_bx_Body_SetMotionLocks"]=wasmExports["bx_Body_SetMotionLocks"];_bx_Body_GetAABB=Module["_bx_Body_GetAABB"]=wasmExports["bx_Body_GetAABB"];_bx_Body_ComputeShapeMassData=Module["_bx_Body_ComputeShapeMassData"]=wasmExports["bx_Body_ComputeShapeMassData"];_bx_Body_GetMassData=Module["_bx_Body_GetMassData"]=wasmExports["bx_Body_GetMassData"];_bx_Body_SetMassDataFull=Module["_bx_Body_SetMassDataFull"]=wasmExports["bx_Body_SetMassDataFull"];_bx_Body_SetMassData=Module["_bx_Body_SetMassData"]=wasmExports["bx_Body_SetMassData"];_bx_Body_GetMotionLocks=Module["_bx_Body_GetMotionLocks"]=wasmExports["bx_Body_GetMotionLocks"];_bx_Body_ApplyMassFromShapes=Module["_bx_Body_ApplyMassFromShapes"]=wasmExports["bx_Body_ApplyMassFromShapes"];_bx_Body_GetShapeCount=Module["_bx_Body_GetShapeCount"]=wasmExports["bx_Body_GetShapeCount"];_bx_Body_SetEventFlags=Module["_bx_Body_SetEventFlags"]=wasmExports["bx_Body_SetEventFlags"];_bx_Body_GetEventFlags=Module["_bx_Body_GetEventFlags"]=wasmExports["bx_Body_GetEventFlags"];_bx_Body_EnableContactEvents=Module["_bx_Body_EnableContactEvents"]=wasmExports["bx_Body_EnableContactEvents"];_bx_ShapeDesc_CreateSphere=Module["_bx_ShapeDesc_CreateSphere"]=wasmExports["bx_ShapeDesc_CreateSphere"];_bx_ShapeDesc_CreateCapsule=Module["_bx_ShapeDesc_CreateCapsule"]=wasmExports["bx_ShapeDesc_CreateCapsule"];_bx_ShapeDesc_CreateBox=Module["_bx_ShapeDesc_CreateBox"]=wasmExports["bx_ShapeDesc_CreateBox"];_bx_ShapeDesc_CreateCylinder=Module["_bx_ShapeDesc_CreateCylinder"]=wasmExports["bx_ShapeDesc_CreateCylinder"];_bx_ShapeDesc_CreateHull=Module["_bx_ShapeDesc_CreateHull"]=wasmExports["bx_ShapeDesc_CreateHull"];_bx_ShapeDesc_CreateMesh=Module["_bx_ShapeDesc_CreateMesh"]=wasmExports["bx_ShapeDesc_CreateMesh"];_bx_ShapeDesc_CreateHeightField=Module["_bx_ShapeDesc_CreateHeightField"]=wasmExports["bx_ShapeDesc_CreateHeightField"];_bx_ShapeDesc_CreateContainer=Module["_bx_ShapeDesc_CreateContainer"]=wasmExports["bx_ShapeDesc_CreateContainer"];_bx_ShapeDesc_AddChild=Module["_bx_ShapeDesc_AddChild"]=wasmExports["bx_ShapeDesc_AddChild"];_bx_ShapeDesc_RemoveChild=Module["_bx_ShapeDesc_RemoveChild"]=wasmExports["bx_ShapeDesc_RemoveChild"];_bx_ShapeDesc_GetChildCount=Module["_bx_ShapeDesc_GetChildCount"]=wasmExports["bx_ShapeDesc_GetChildCount"];_bx_ShapeDesc_GetKind=Module["_bx_ShapeDesc_GetKind"]=wasmExports["bx_ShapeDesc_GetKind"];_bx_ShapeDesc_SetMaterial=Module["_bx_ShapeDesc_SetMaterial"]=wasmExports["bx_ShapeDesc_SetMaterial"];_bx_ShapeDesc_GetFriction=Module["_bx_ShapeDesc_GetFriction"]=wasmExports["bx_ShapeDesc_GetFriction"];_bx_ShapeDesc_GetRestitution=Module["_bx_ShapeDesc_GetRestitution"]=wasmExports["bx_ShapeDesc_GetRestitution"];_bx_ShapeDesc_SetDensity=Module["_bx_ShapeDesc_SetDensity"]=wasmExports["bx_ShapeDesc_SetDensity"];_bx_ShapeDesc_GetDensity=Module["_bx_ShapeDesc_GetDensity"]=wasmExports["bx_ShapeDesc_GetDensity"];_bx_ShapeDesc_SetFilter=Module["_bx_ShapeDesc_SetFilter"]=wasmExports["bx_ShapeDesc_SetFilter"];_bx_ShapeDesc_GetCategoryBits=Module["_bx_ShapeDesc_GetCategoryBits"]=wasmExports["bx_ShapeDesc_GetCategoryBits"];_bx_ShapeDesc_GetMaskBits=Module["_bx_ShapeDesc_GetMaskBits"]=wasmExports["bx_ShapeDesc_GetMaskBits"];_bx_ShapeDesc_SetGroup=Module["_bx_ShapeDesc_SetGroup"]=wasmExports["bx_ShapeDesc_SetGroup"];_bx_ShapeDesc_SetRollingResistance=Module["_bx_ShapeDesc_SetRollingResistance"]=wasmExports["bx_ShapeDesc_SetRollingResistance"];_bx_ShapeDesc_SetSensor=Module["_bx_ShapeDesc_SetSensor"]=wasmExports["bx_ShapeDesc_SetSensor"];_bx_ShapeDesc_IsSensor=Module["_bx_ShapeDesc_IsSensor"]=wasmExports["bx_ShapeDesc_IsSensor"];_bx_ShapeDesc_GetAABB=Module["_bx_ShapeDesc_GetAABB"]=wasmExports["bx_ShapeDesc_GetAABB"];_bx_GetShapeBuildCount=Module["_bx_GetShapeBuildCount"]=wasmExports["bx_GetShapeBuildCount"];_bx_GetShapeDescCount=Module["_bx_GetShapeDescCount"]=wasmExports["bx_GetShapeDescCount"];_bx_Body_SetShape=Module["_bx_Body_SetShape"]=wasmExports["bx_Body_SetShape"];_bx_Body_SyncShapeDesc=Module["_bx_Body_SyncShapeDesc"]=wasmExports["bx_Body_SyncShapeDesc"];_bx_Body_GetShapeDesc=Module["_bx_Body_GetShapeDesc"]=wasmExports["bx_Body_GetShapeDesc"];_bx_ShapeDesc_BuildDebugGeometry=Module["_bx_ShapeDesc_BuildDebugGeometry"]=wasmExports["bx_ShapeDesc_BuildDebugGeometry"];_bx_DebugPositionsPtr=Module["_bx_DebugPositionsPtr"]=wasmExports["bx_DebugPositionsPtr"];_bx_DebugIndicesPtr=Module["_bx_DebugIndicesPtr"]=wasmExports["bx_DebugIndicesPtr"];_bx_DebugIndexCount=Module["_bx_DebugIndexCount"]=wasmExports["bx_DebugIndexCount"];_bx_CreateJoint=Module["_bx_CreateJoint"]=wasmExports["bx_CreateJoint"];_bx_DestroyJoint=Module["_bx_DestroyJoint"]=wasmExports["bx_DestroyJoint"];_bx_Joint_IsValid=Module["_bx_Joint_IsValid"]=wasmExports["bx_Joint_IsValid"];_bx_Joint_SetCollideConnected=Module["_bx_Joint_SetCollideConnected"]=wasmExports["bx_Joint_SetCollideConnected"];_bx_Joint_SetConstraintTuning=Module["_bx_Joint_SetConstraintTuning"]=wasmExports["bx_Joint_SetConstraintTuning"];_bx_Joint_WakeBodies=Module["_bx_Joint_WakeBodies"]=wasmExports["bx_Joint_WakeBodies"];_bx_Joint_EnableLimit=Module["_bx_Joint_EnableLimit"]=wasmExports["bx_Joint_EnableLimit"];_bx_Joint_SetLimits=Module["_bx_Joint_SetLimits"]=wasmExports["bx_Joint_SetLimits"];_bx_Joint_SetTwistLimits=Module["_bx_Joint_SetTwistLimits"]=wasmExports["bx_Joint_SetTwistLimits"];_bx_Joint_EnableMotor=Module["_bx_Joint_EnableMotor"]=wasmExports["bx_Joint_EnableMotor"];_bx_Joint_UpdateMotorFrame=Module["_bx_Joint_UpdateMotorFrame"]=wasmExports["bx_Joint_UpdateMotorFrame"];_bx_Joint_SetSphericalMotor=Module["_bx_Joint_SetSphericalMotor"]=wasmExports["bx_Joint_SetSphericalMotor"];_bx_Joint_SetSphericalTarget=Module["_bx_Joint_SetSphericalTarget"]=wasmExports["bx_Joint_SetSphericalTarget"];_bx_Joint_SetMotorSpeed=Module["_bx_Joint_SetMotorSpeed"]=wasmExports["bx_Joint_SetMotorSpeed"];_bx_Joint_SetMaxMotorForce=Module["_bx_Joint_SetMaxMotorForce"]=wasmExports["bx_Joint_SetMaxMotorForce"];_bx_Joint_EnableSpring=Module["_bx_Joint_EnableSpring"]=wasmExports["bx_Joint_EnableSpring"];_bx_Joint_SetSpring=Module["_bx_Joint_SetSpring"]=wasmExports["bx_Joint_SetSpring"];_bx_Joint_SetTarget=Module["_bx_Joint_SetTarget"]=wasmExports["bx_Joint_SetTarget"];_bx_Joint_GetPosition=Module["_bx_Joint_GetPosition"]=wasmExports["bx_Joint_GetPosition"];_bx_ComputeAlignedFrameB=Module["_bx_ComputeAlignedFrameB"]=wasmExports["bx_ComputeAlignedFrameB"];_bx_WheelJoint_SetSpinMotorSpeed=Module["_bx_WheelJoint_SetSpinMotorSpeed"]=wasmExports["bx_WheelJoint_SetSpinMotorSpeed"];_bx_WheelJoint_SetMaxSpinTorque=Module["_bx_WheelJoint_SetMaxSpinTorque"]=wasmExports["bx_WheelJoint_SetMaxSpinTorque"];_bx_WheelJoint_EnableSpinMotor=Module["_bx_WheelJoint_EnableSpinMotor"]=wasmExports["bx_WheelJoint_EnableSpinMotor"];_bx_WheelJoint_SetTargetSteeringAngle=Module["_bx_WheelJoint_SetTargetSteeringAngle"]=wasmExports["bx_WheelJoint_SetTargetSteeringAngle"];_bx_WheelJoint_SetSuspension=Module["_bx_WheelJoint_SetSuspension"]=wasmExports["bx_WheelJoint_SetSuspension"];_bx_RayHitsPtr=Module["_bx_RayHitsPtr"]=wasmExports["bx_RayHitsPtr"];_bx_World_CastRay=Module["_bx_World_CastRay"]=wasmExports["bx_World_CastRay"];memory=wasmMemory=wasmExports["memory"];__indirect_function_table=wasmExports["__indirect_function_table"]}var wasmImports={clock_time_get:_clock_time_get,emscripten_get_now:_emscripten_get_now,emscripten_resize_heap:_emscripten_resize_heap,fd_write:_fd_write};async function run(){preRun();var setStatus=Module["setStatus"];if(setStatus){setStatus("Running...");await new Promise(resolve=>setTimeout(resolve,1));setTimeout(setStatus,1,"")}if(ABORT)return;initRuntime();Module["onRuntimeInitialized"]?.();postRun()}var wasmExports;wasmExports=await createWasm();await run();
+async function Box3D(moduleArg={}){var Module=moduleArg;var ENVIRONMENT_IS_WEB=!!globalThis.window;var ENVIRONMENT_IS_WORKER=!!globalThis.WorkerGlobalScope;var ENVIRONMENT_IS_NODE=globalThis.process?.versions?.node&&globalThis.process?.type!="renderer";var programArgs=[];var thisProgram="./this.program";var _scriptName=import.meta.url;var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var readAsync,readBinary;if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){try{scriptDirectory=new URL(".",_scriptName).href}catch{}{if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new Uint8Array(xhr.response)}}readAsync=async url=>{var response=await fetch(url,{credentials:"same-origin"});if(response.ok){return response.arrayBuffer()}throw new Error(response.status+" : "+response.url)}}}else{}var out=console.log.bind(console);var err=console.error.bind(console);var wasmBinary;var ABORT=false;class EmscriptenEH{}class EmscriptenSjLj extends EmscriptenEH{}var runtimeInitialized=false;function getMemoryBuffer(){return wasmMemory.buffer}function updateMemoryViews(){if(HEAP8?.buffer?.resizable)return;var b=getMemoryBuffer();HEAP8=new Int8Array(b);Module["HEAPU8"]=HEAPU8=new Uint8Array(b);Module["HEAP32"]=HEAP32=new Int32Array(b);Module["HEAPU32"]=HEAPU32=new Uint32Array(b);Module["HEAPF32"]=HEAPF32=new Float32Array(b);HEAP64=new BigInt64Array(b)}function preRun(){var preRun=Module["preRun"];if(preRun){if(typeof preRun=="function")preRun=[preRun];onPreRuns.push(...preRun)}callRuntimeCallbacks(onPreRuns)}function initRuntime(){runtimeInitialized=true;wasmExports["__wasm_call_ctors"]()}function postRun(){var postRun=Module["postRun"];if(postRun){if(typeof postRun=="function")postRun=[postRun];onPostRuns.push(...postRun)}callRuntimeCallbacks(onPostRuns)}function abort(what){Module["onAbort"]?.(what);what=`Aborted(${what})`;err(what);ABORT=true;what+=". Build with -sASSERTIONS for more info.";var e=new WebAssembly.RuntimeError(what);throw e}var wasmBinaryFile;function findWasmBinary(){if(Module["locateFile"]){return locateFile("box3d.wasm")}return new URL("box3d.wasm",import.meta.url).href}function getBinarySync(file){if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}async function getWasmBinary(binaryFile){if(!wasmBinary){try{var response=await readAsync(binaryFile);return new Uint8Array(response)}catch{}}return getBinarySync(binaryFile)}async function instantiateArrayBuffer(binaryFile,imports){try{var binary=await getWasmBinary(binaryFile);var instance=await WebAssembly.instantiate(binary,imports);return instance}catch(reason){err(`failed to asynchronously prepare wasm: ${reason}`);abort(reason)}}async function instantiateAsync(binary,binaryFile,imports){if(!binary){try{var response=fetch(binaryFile,{credentials:"same-origin"});var instantiationResult=await WebAssembly.instantiateStreaming(response,imports);return instantiationResult}catch(reason){err(`wasm streaming compile failed: ${reason}`);err("falling back to ArrayBuffer instantiation")}}return instantiateArrayBuffer(binaryFile,imports)}function getWasmImports(){var imports={env:wasmImports,wasi_snapshot_preview1:wasmImports};return imports}async function createWasm(){function receiveInstance(instance){wasmExports=instance.exports;assignWasmExports(wasmExports);updateMemoryViews();return wasmExports}function receiveInstantiationResult(result){return receiveInstance(result["instance"])}var info=getWasmImports();var instantiateWasm=Module["instantiateWasm"];if(instantiateWasm){return new Promise(resolve=>{instantiateWasm(info,inst=>resolve(receiveInstance(inst)))})}wasmBinaryFile??=findWasmBinary();var result=await instantiateAsync(wasmBinary,wasmBinaryFile,info);var exports=receiveInstantiationResult(result);return exports}class ExitStatus{name="ExitStatus";constructor(status){this.message=`Program terminated with exit(${status})`;this.status=status}}var HEAP8;var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};var onPostRuns=[];var onPreRuns=[];var noExitRuntime=true;var _emscripten_get_now=()=>performance.now();var _emscripten_date_now=()=>Date.now();var nowIsMonotonic=1;var checkWasiClock=clock_id=>clock_id>=0&&clock_id<=3;var INT53_MAX=9007199254740992;var INT53_MIN=-9007199254740992;var bigintToI53Checked=num=>num<INT53_MIN||num>INT53_MAX?NaN:Number(num);var HEAP64;function _clock_time_get(clk_id,ignored_precision,ptime){ignored_precision=bigintToI53Checked(ignored_precision);if(!checkWasiClock(clk_id)){return 28}var now;if(clk_id===0){now=_emscripten_date_now()}else if(nowIsMonotonic){now=_emscripten_get_now()}else{return 52}var nsec=Math.round(now*1e3*1e3);HEAP64[ptime>>3]=BigInt(nsec);return 0}var getHeapMax=()=>2147483648;var alignMemory=(size,alignment)=>Math.ceil(size/alignment)*alignment;var growMemory=size=>{var oldHeapSize=wasmMemory.buffer.byteLength;var pages=(size-oldHeapSize+65535)/65536|0;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){}};var HEAPU8;var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){return false}for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignMemory(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}return false};var printCharBuffers=[null,[],[]];var UTF8Decoder=globalThis.TextDecoder&&new TextDecoder;var findStringEnd=(heapOrArray,idx,maxBytesToRead,ignoreNul)=>{var maxIdx=idx+maxBytesToRead;if(ignoreNul)return maxIdx;while(heapOrArray[idx]&&!(idx>=maxIdx))++idx;return idx};var UTF8ArrayToString=(heapOrArray,idx=0,maxBytesToRead,ignoreNul)=>{var endPtr=findStringEnd(heapOrArray,idx,maxBytesToRead,ignoreNul);if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx<endPtr){var u0=heapOrArray[idx++];if(!(u0&128)){str+=String.fromCharCode(u0);continue}var u1=heapOrArray[idx++]&63;if((u0&224)==192){str+=String.fromCharCode((u0&31)<<6|u1);continue}var u2=heapOrArray[idx++]&63;if((u0&240)==224){u0=(u0&15)<<12|u1<<6|u2}else{u0=(u0&7)<<18|u1<<12|u2<<6|heapOrArray[idx++]&63}if(u0<65536){str+=String.fromCharCode(u0)}else{var ch=u0-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}}return str};var printChar=(stream,curr)=>{var buffer=printCharBuffers[stream];if(!curr||curr===10){(stream===1?out:err)(UTF8ArrayToString(buffer));buffer.length=0}else{buffer.push(curr)}};var HEAPU32;var _fd_write=(fd,iov,iovcnt,pnum)=>{var num=0;for(var i=0;i<iovcnt;i++){var ptr=HEAPU32[iov>>2];var len=HEAPU32[iov+4>>2];iov+=8;for(var j=0;j<len;j++){printChar(fd,HEAPU8[ptr+j])}num+=len}HEAPU32[pnum>>2]=num;return 0};var HEAPF32;var HEAP32;{if(Module["noExitRuntime"])noExitRuntime=Module["noExitRuntime"];if(Module["print"])out=Module["print"];if(Module["printErr"])err=Module["printErr"];if(Module["arguments"])programArgs=Module["arguments"];if(Module["thisProgram"])thisProgram=Module["thisProgram"];var preInit=Module["preInit"];if(preInit){if(typeof preInit=="function")Module["preInit"]=preInit=[preInit];while(preInit.length>0){preInit.shift()()}}}var _free,_bx_Scratch,_bx_Alloc,_malloc,_bx_Free,_bx_GetVersion,_bx_GetRejectedSlotCount,_bx_GetMaxWorkers,_bx_CreateWorld,_bx_World_GetWorkerCount,_bx_DestroyWorld,_bx_ShapeDesc_Destroy,_bx_World_Step,_bx_World_SetGravity,_bx_World_SetMaximumLinearSpeed,_bx_World_GetMaximumLinearSpeed,_bx_World_EnableSleeping,_bx_World_EnableContinuous,_bx_World_SetContactTuning,_bx_World_Explode,_bx_World_GetAwakeBodyCount,_bx_World_GetJointEventCount,_bx_World_GetStats,_bx_MoveEventsPtr,_bx_ContactEventsPtr,_bx_SensorEventsPtr,_bx_World_GetMoveEvents,_bx_World_GetContactEvents,_bx_World_GetSensorEvents,_bx_CreateBody,_bx_DestroyBody,_bx_Body_SetType,_bx_Body_GetType,_bx_Body_SetTransform,_bx_Body_GetTransform,_bx_Body_SetTargetTransform,_bx_Body_SetLinearVelocity,_bx_Body_GetLinearVelocity,_bx_Body_SetAngularVelocity,_bx_Body_GetAngularVelocity,_bx_Body_SetLinearDamping,_bx_Body_GetLinearDamping,_bx_Body_SetAngularDamping,_bx_Body_GetAngularDamping,_bx_Body_SetGravityScale,_bx_Body_GetGravityScale,_bx_Body_ApplyForce,_bx_Body_ApplyForceToCenter,_bx_Body_ApplyTorque,_bx_Body_ApplyLinearImpulse,_bx_Body_ApplyLinearImpulseToCenter,_bx_Body_ApplyAngularImpulse,_bx_Body_SetAwake,_bx_Body_IsAwake,_bx_Body_EnableSleep,_bx_Body_SetBullet,_bx_Body_EnableContinuous,_bx_Body_IsContinuousEnabled,_bx_Body_SetShapeCrush,_bx_Body_GetShapeCrush,_bx_BodyContactsPtr,_bx_Body_GetContacts,_bx_Body_AllowFastRotation,_bx_Body_SetMotionLocks,_bx_Body_GetAABB,_bx_Body_ComputeShapeMassData,_bx_Body_GetMassData,_bx_Body_SetMassDataFull,_bx_Body_SetMassData,_bx_Body_GetMotionLocks,_bx_Body_ApplyMassFromShapes,_bx_Body_GetShapeCount,_bx_Body_SetEventFlags,_bx_Body_GetEventFlags,_bx_Body_EnableContactEvents,_bx_ShapeDesc_CreateSphere,_bx_ShapeDesc_CreateCapsule,_bx_ShapeDesc_CreateBox,_bx_ShapeDesc_CreateCylinder,_bx_ShapeDesc_CreateHull,_bx_ShapeDesc_CreateMesh,_bx_ShapeDesc_CreateHeightField,_bx_ShapeDesc_CreateContainer,_bx_ShapeDesc_AddChild,_bx_ShapeDesc_RemoveChild,_bx_ShapeDesc_GetChildCount,_bx_ShapeDesc_GetKind,_bx_ShapeDesc_SetMaterial,_bx_ShapeDesc_GetFriction,_bx_ShapeDesc_GetRestitution,_bx_ShapeDesc_SetDensity,_bx_ShapeDesc_GetDensity,_bx_ShapeDesc_SetFilter,_bx_ShapeDesc_GetCategoryBits,_bx_ShapeDesc_GetMaskBits,_bx_ShapeDesc_SetGroup,_bx_ShapeDesc_SetRollingResistance,_bx_ShapeDesc_SetSensor,_bx_ShapeDesc_IsSensor,_bx_ShapeDesc_GetAABB,_bx_GetShapeBuildCount,_bx_GetShapeDescCount,_bx_Body_SetShape,_bx_Body_SetShapeHull,_bx_Body_TranslateShape,_bx_Body_SetShapeFilter,_bx_Body_RemoveShape,_bx_Body_HasShape,_bx_Body_GetShapeInfo,_bx_Body_SyncShapeDesc,_bx_Body_GetShapeDesc,_bx_ShapeDesc_BuildDebugGeometry,_bx_DebugPositionsPtr,_bx_DebugIndicesPtr,_bx_DebugIndexCount,_bx_CreateJoint,_bx_DestroyJoint,_bx_Joint_IsValid,_bx_Joint_SetCollideConnected,_bx_Joint_SetConstraintTuning,_bx_Joint_WakeBodies,_bx_Joint_EnableLimit,_bx_Joint_SetLimits,_bx_Joint_SetTwistLimits,_bx_Joint_EnableMotor,_bx_Joint_UpdateMotorFrame,_bx_Joint_SetSphericalMotor,_bx_Joint_SetSphericalTarget,_bx_Joint_SetMotorSpeed,_bx_Joint_SetMaxMotorForce,_bx_Joint_EnableSpring,_bx_Joint_SetSpring,_bx_Joint_SetTarget,_bx_Joint_GetPosition,_bx_ComputeAlignedFrameB,_bx_WheelJoint_SetSpinMotorSpeed,_bx_WheelJoint_SetMaxSpinTorque,_bx_WheelJoint_EnableSpinMotor,_bx_WheelJoint_SetTargetSteeringAngle,_bx_WheelJoint_SetSuspension,_bx_RayHitsPtr,_bx_World_CastRay,_bx_World_CastShape,_bx_OverlapsPtr,_bx_World_OverlapShape,_bx_GeometryPtr,_bx_Body_GetShapeGeometry,memory,__indirect_function_table,wasmMemory;function assignWasmExports(wasmExports){_free=Module["_free"]=wasmExports["free"];_bx_Scratch=Module["_bx_Scratch"]=wasmExports["bx_Scratch"];_bx_Alloc=Module["_bx_Alloc"]=wasmExports["bx_Alloc"];_malloc=Module["_malloc"]=wasmExports["malloc"];_bx_Free=Module["_bx_Free"]=wasmExports["bx_Free"];_bx_GetVersion=Module["_bx_GetVersion"]=wasmExports["bx_GetVersion"];_bx_GetRejectedSlotCount=Module["_bx_GetRejectedSlotCount"]=wasmExports["bx_GetRejectedSlotCount"];_bx_GetMaxWorkers=Module["_bx_GetMaxWorkers"]=wasmExports["bx_GetMaxWorkers"];_bx_CreateWorld=Module["_bx_CreateWorld"]=wasmExports["bx_CreateWorld"];_bx_World_GetWorkerCount=Module["_bx_World_GetWorkerCount"]=wasmExports["bx_World_GetWorkerCount"];_bx_DestroyWorld=Module["_bx_DestroyWorld"]=wasmExports["bx_DestroyWorld"];_bx_ShapeDesc_Destroy=Module["_bx_ShapeDesc_Destroy"]=wasmExports["bx_ShapeDesc_Destroy"];_bx_World_Step=Module["_bx_World_Step"]=wasmExports["bx_World_Step"];_bx_World_SetGravity=Module["_bx_World_SetGravity"]=wasmExports["bx_World_SetGravity"];_bx_World_SetMaximumLinearSpeed=Module["_bx_World_SetMaximumLinearSpeed"]=wasmExports["bx_World_SetMaximumLinearSpeed"];_bx_World_GetMaximumLinearSpeed=Module["_bx_World_GetMaximumLinearSpeed"]=wasmExports["bx_World_GetMaximumLinearSpeed"];_bx_World_EnableSleeping=Module["_bx_World_EnableSleeping"]=wasmExports["bx_World_EnableSleeping"];_bx_World_EnableContinuous=Module["_bx_World_EnableContinuous"]=wasmExports["bx_World_EnableContinuous"];_bx_World_SetContactTuning=Module["_bx_World_SetContactTuning"]=wasmExports["bx_World_SetContactTuning"];_bx_World_Explode=Module["_bx_World_Explode"]=wasmExports["bx_World_Explode"];_bx_World_GetAwakeBodyCount=Module["_bx_World_GetAwakeBodyCount"]=wasmExports["bx_World_GetAwakeBodyCount"];_bx_World_GetJointEventCount=Module["_bx_World_GetJointEventCount"]=wasmExports["bx_World_GetJointEventCount"];_bx_World_GetStats=Module["_bx_World_GetStats"]=wasmExports["bx_World_GetStats"];_bx_MoveEventsPtr=Module["_bx_MoveEventsPtr"]=wasmExports["bx_MoveEventsPtr"];_bx_ContactEventsPtr=Module["_bx_ContactEventsPtr"]=wasmExports["bx_ContactEventsPtr"];_bx_SensorEventsPtr=Module["_bx_SensorEventsPtr"]=wasmExports["bx_SensorEventsPtr"];_bx_World_GetMoveEvents=Module["_bx_World_GetMoveEvents"]=wasmExports["bx_World_GetMoveEvents"];_bx_World_GetContactEvents=Module["_bx_World_GetContactEvents"]=wasmExports["bx_World_GetContactEvents"];_bx_World_GetSensorEvents=Module["_bx_World_GetSensorEvents"]=wasmExports["bx_World_GetSensorEvents"];_bx_CreateBody=Module["_bx_CreateBody"]=wasmExports["bx_CreateBody"];_bx_DestroyBody=Module["_bx_DestroyBody"]=wasmExports["bx_DestroyBody"];_bx_Body_SetType=Module["_bx_Body_SetType"]=wasmExports["bx_Body_SetType"];_bx_Body_GetType=Module["_bx_Body_GetType"]=wasmExports["bx_Body_GetType"];_bx_Body_SetTransform=Module["_bx_Body_SetTransform"]=wasmExports["bx_Body_SetTransform"];_bx_Body_GetTransform=Module["_bx_Body_GetTransform"]=wasmExports["bx_Body_GetTransform"];_bx_Body_SetTargetTransform=Module["_bx_Body_SetTargetTransform"]=wasmExports["bx_Body_SetTargetTransform"];_bx_Body_SetLinearVelocity=Module["_bx_Body_SetLinearVelocity"]=wasmExports["bx_Body_SetLinearVelocity"];_bx_Body_GetLinearVelocity=Module["_bx_Body_GetLinearVelocity"]=wasmExports["bx_Body_GetLinearVelocity"];_bx_Body_SetAngularVelocity=Module["_bx_Body_SetAngularVelocity"]=wasmExports["bx_Body_SetAngularVelocity"];_bx_Body_GetAngularVelocity=Module["_bx_Body_GetAngularVelocity"]=wasmExports["bx_Body_GetAngularVelocity"];_bx_Body_SetLinearDamping=Module["_bx_Body_SetLinearDamping"]=wasmExports["bx_Body_SetLinearDamping"];_bx_Body_GetLinearDamping=Module["_bx_Body_GetLinearDamping"]=wasmExports["bx_Body_GetLinearDamping"];_bx_Body_SetAngularDamping=Module["_bx_Body_SetAngularDamping"]=wasmExports["bx_Body_SetAngularDamping"];_bx_Body_GetAngularDamping=Module["_bx_Body_GetAngularDamping"]=wasmExports["bx_Body_GetAngularDamping"];_bx_Body_SetGravityScale=Module["_bx_Body_SetGravityScale"]=wasmExports["bx_Body_SetGravityScale"];_bx_Body_GetGravityScale=Module["_bx_Body_GetGravityScale"]=wasmExports["bx_Body_GetGravityScale"];_bx_Body_ApplyForce=Module["_bx_Body_ApplyForce"]=wasmExports["bx_Body_ApplyForce"];_bx_Body_ApplyForceToCenter=Module["_bx_Body_ApplyForceToCenter"]=wasmExports["bx_Body_ApplyForceToCenter"];_bx_Body_ApplyTorque=Module["_bx_Body_ApplyTorque"]=wasmExports["bx_Body_ApplyTorque"];_bx_Body_ApplyLinearImpulse=Module["_bx_Body_ApplyLinearImpulse"]=wasmExports["bx_Body_ApplyLinearImpulse"];_bx_Body_ApplyLinearImpulseToCenter=Module["_bx_Body_ApplyLinearImpulseToCenter"]=wasmExports["bx_Body_ApplyLinearImpulseToCenter"];_bx_Body_ApplyAngularImpulse=Module["_bx_Body_ApplyAngularImpulse"]=wasmExports["bx_Body_ApplyAngularImpulse"];_bx_Body_SetAwake=Module["_bx_Body_SetAwake"]=wasmExports["bx_Body_SetAwake"];_bx_Body_IsAwake=Module["_bx_Body_IsAwake"]=wasmExports["bx_Body_IsAwake"];_bx_Body_EnableSleep=Module["_bx_Body_EnableSleep"]=wasmExports["bx_Body_EnableSleep"];_bx_Body_SetBullet=Module["_bx_Body_SetBullet"]=wasmExports["bx_Body_SetBullet"];_bx_Body_EnableContinuous=Module["_bx_Body_EnableContinuous"]=wasmExports["bx_Body_EnableContinuous"];_bx_Body_IsContinuousEnabled=Module["_bx_Body_IsContinuousEnabled"]=wasmExports["bx_Body_IsContinuousEnabled"];_bx_Body_SetShapeCrush=Module["_bx_Body_SetShapeCrush"]=wasmExports["bx_Body_SetShapeCrush"];_bx_Body_GetShapeCrush=Module["_bx_Body_GetShapeCrush"]=wasmExports["bx_Body_GetShapeCrush"];_bx_BodyContactsPtr=Module["_bx_BodyContactsPtr"]=wasmExports["bx_BodyContactsPtr"];_bx_Body_GetContacts=Module["_bx_Body_GetContacts"]=wasmExports["bx_Body_GetContacts"];_bx_Body_AllowFastRotation=Module["_bx_Body_AllowFastRotation"]=wasmExports["bx_Body_AllowFastRotation"];_bx_Body_SetMotionLocks=Module["_bx_Body_SetMotionLocks"]=wasmExports["bx_Body_SetMotionLocks"];_bx_Body_GetAABB=Module["_bx_Body_GetAABB"]=wasmExports["bx_Body_GetAABB"];_bx_Body_ComputeShapeMassData=Module["_bx_Body_ComputeShapeMassData"]=wasmExports["bx_Body_ComputeShapeMassData"];_bx_Body_GetMassData=Module["_bx_Body_GetMassData"]=wasmExports["bx_Body_GetMassData"];_bx_Body_SetMassDataFull=Module["_bx_Body_SetMassDataFull"]=wasmExports["bx_Body_SetMassDataFull"];_bx_Body_SetMassData=Module["_bx_Body_SetMassData"]=wasmExports["bx_Body_SetMassData"];_bx_Body_GetMotionLocks=Module["_bx_Body_GetMotionLocks"]=wasmExports["bx_Body_GetMotionLocks"];_bx_Body_ApplyMassFromShapes=Module["_bx_Body_ApplyMassFromShapes"]=wasmExports["bx_Body_ApplyMassFromShapes"];_bx_Body_GetShapeCount=Module["_bx_Body_GetShapeCount"]=wasmExports["bx_Body_GetShapeCount"];_bx_Body_SetEventFlags=Module["_bx_Body_SetEventFlags"]=wasmExports["bx_Body_SetEventFlags"];_bx_Body_GetEventFlags=Module["_bx_Body_GetEventFlags"]=wasmExports["bx_Body_GetEventFlags"];_bx_Body_EnableContactEvents=Module["_bx_Body_EnableContactEvents"]=wasmExports["bx_Body_EnableContactEvents"];_bx_ShapeDesc_CreateSphere=Module["_bx_ShapeDesc_CreateSphere"]=wasmExports["bx_ShapeDesc_CreateSphere"];_bx_ShapeDesc_CreateCapsule=Module["_bx_ShapeDesc_CreateCapsule"]=wasmExports["bx_ShapeDesc_CreateCapsule"];_bx_ShapeDesc_CreateBox=Module["_bx_ShapeDesc_CreateBox"]=wasmExports["bx_ShapeDesc_CreateBox"];_bx_ShapeDesc_CreateCylinder=Module["_bx_ShapeDesc_CreateCylinder"]=wasmExports["bx_ShapeDesc_CreateCylinder"];_bx_ShapeDesc_CreateHull=Module["_bx_ShapeDesc_CreateHull"]=wasmExports["bx_ShapeDesc_CreateHull"];_bx_ShapeDesc_CreateMesh=Module["_bx_ShapeDesc_CreateMesh"]=wasmExports["bx_ShapeDesc_CreateMesh"];_bx_ShapeDesc_CreateHeightField=Module["_bx_ShapeDesc_CreateHeightField"]=wasmExports["bx_ShapeDesc_CreateHeightField"];_bx_ShapeDesc_CreateContainer=Module["_bx_ShapeDesc_CreateContainer"]=wasmExports["bx_ShapeDesc_CreateContainer"];_bx_ShapeDesc_AddChild=Module["_bx_ShapeDesc_AddChild"]=wasmExports["bx_ShapeDesc_AddChild"];_bx_ShapeDesc_RemoveChild=Module["_bx_ShapeDesc_RemoveChild"]=wasmExports["bx_ShapeDesc_RemoveChild"];_bx_ShapeDesc_GetChildCount=Module["_bx_ShapeDesc_GetChildCount"]=wasmExports["bx_ShapeDesc_GetChildCount"];_bx_ShapeDesc_GetKind=Module["_bx_ShapeDesc_GetKind"]=wasmExports["bx_ShapeDesc_GetKind"];_bx_ShapeDesc_SetMaterial=Module["_bx_ShapeDesc_SetMaterial"]=wasmExports["bx_ShapeDesc_SetMaterial"];_bx_ShapeDesc_GetFriction=Module["_bx_ShapeDesc_GetFriction"]=wasmExports["bx_ShapeDesc_GetFriction"];_bx_ShapeDesc_GetRestitution=Module["_bx_ShapeDesc_GetRestitution"]=wasmExports["bx_ShapeDesc_GetRestitution"];_bx_ShapeDesc_SetDensity=Module["_bx_ShapeDesc_SetDensity"]=wasmExports["bx_ShapeDesc_SetDensity"];_bx_ShapeDesc_GetDensity=Module["_bx_ShapeDesc_GetDensity"]=wasmExports["bx_ShapeDesc_GetDensity"];_bx_ShapeDesc_SetFilter=Module["_bx_ShapeDesc_SetFilter"]=wasmExports["bx_ShapeDesc_SetFilter"];_bx_ShapeDesc_GetCategoryBits=Module["_bx_ShapeDesc_GetCategoryBits"]=wasmExports["bx_ShapeDesc_GetCategoryBits"];_bx_ShapeDesc_GetMaskBits=Module["_bx_ShapeDesc_GetMaskBits"]=wasmExports["bx_ShapeDesc_GetMaskBits"];_bx_ShapeDesc_SetGroup=Module["_bx_ShapeDesc_SetGroup"]=wasmExports["bx_ShapeDesc_SetGroup"];_bx_ShapeDesc_SetRollingResistance=Module["_bx_ShapeDesc_SetRollingResistance"]=wasmExports["bx_ShapeDesc_SetRollingResistance"];_bx_ShapeDesc_SetSensor=Module["_bx_ShapeDesc_SetSensor"]=wasmExports["bx_ShapeDesc_SetSensor"];_bx_ShapeDesc_IsSensor=Module["_bx_ShapeDesc_IsSensor"]=wasmExports["bx_ShapeDesc_IsSensor"];_bx_ShapeDesc_GetAABB=Module["_bx_ShapeDesc_GetAABB"]=wasmExports["bx_ShapeDesc_GetAABB"];_bx_GetShapeBuildCount=Module["_bx_GetShapeBuildCount"]=wasmExports["bx_GetShapeBuildCount"];_bx_GetShapeDescCount=Module["_bx_GetShapeDescCount"]=wasmExports["bx_GetShapeDescCount"];_bx_Body_SetShape=Module["_bx_Body_SetShape"]=wasmExports["bx_Body_SetShape"];_bx_Body_SetShapeHull=Module["_bx_Body_SetShapeHull"]=wasmExports["bx_Body_SetShapeHull"];_bx_Body_TranslateShape=Module["_bx_Body_TranslateShape"]=wasmExports["bx_Body_TranslateShape"];_bx_Body_SetShapeFilter=Module["_bx_Body_SetShapeFilter"]=wasmExports["bx_Body_SetShapeFilter"];_bx_Body_RemoveShape=Module["_bx_Body_RemoveShape"]=wasmExports["bx_Body_RemoveShape"];_bx_Body_HasShape=Module["_bx_Body_HasShape"]=wasmExports["bx_Body_HasShape"];_bx_Body_GetShapeInfo=Module["_bx_Body_GetShapeInfo"]=wasmExports["bx_Body_GetShapeInfo"];_bx_Body_SyncShapeDesc=Module["_bx_Body_SyncShapeDesc"]=wasmExports["bx_Body_SyncShapeDesc"];_bx_Body_GetShapeDesc=Module["_bx_Body_GetShapeDesc"]=wasmExports["bx_Body_GetShapeDesc"];_bx_ShapeDesc_BuildDebugGeometry=Module["_bx_ShapeDesc_BuildDebugGeometry"]=wasmExports["bx_ShapeDesc_BuildDebugGeometry"];_bx_DebugPositionsPtr=Module["_bx_DebugPositionsPtr"]=wasmExports["bx_DebugPositionsPtr"];_bx_DebugIndicesPtr=Module["_bx_DebugIndicesPtr"]=wasmExports["bx_DebugIndicesPtr"];_bx_DebugIndexCount=Module["_bx_DebugIndexCount"]=wasmExports["bx_DebugIndexCount"];_bx_CreateJoint=Module["_bx_CreateJoint"]=wasmExports["bx_CreateJoint"];_bx_DestroyJoint=Module["_bx_DestroyJoint"]=wasmExports["bx_DestroyJoint"];_bx_Joint_IsValid=Module["_bx_Joint_IsValid"]=wasmExports["bx_Joint_IsValid"];_bx_Joint_SetCollideConnected=Module["_bx_Joint_SetCollideConnected"]=wasmExports["bx_Joint_SetCollideConnected"];_bx_Joint_SetConstraintTuning=Module["_bx_Joint_SetConstraintTuning"]=wasmExports["bx_Joint_SetConstraintTuning"];_bx_Joint_WakeBodies=Module["_bx_Joint_WakeBodies"]=wasmExports["bx_Joint_WakeBodies"];_bx_Joint_EnableLimit=Module["_bx_Joint_EnableLimit"]=wasmExports["bx_Joint_EnableLimit"];_bx_Joint_SetLimits=Module["_bx_Joint_SetLimits"]=wasmExports["bx_Joint_SetLimits"];_bx_Joint_SetTwistLimits=Module["_bx_Joint_SetTwistLimits"]=wasmExports["bx_Joint_SetTwistLimits"];_bx_Joint_EnableMotor=Module["_bx_Joint_EnableMotor"]=wasmExports["bx_Joint_EnableMotor"];_bx_Joint_UpdateMotorFrame=Module["_bx_Joint_UpdateMotorFrame"]=wasmExports["bx_Joint_UpdateMotorFrame"];_bx_Joint_SetSphericalMotor=Module["_bx_Joint_SetSphericalMotor"]=wasmExports["bx_Joint_SetSphericalMotor"];_bx_Joint_SetSphericalTarget=Module["_bx_Joint_SetSphericalTarget"]=wasmExports["bx_Joint_SetSphericalTarget"];_bx_Joint_SetMotorSpeed=Module["_bx_Joint_SetMotorSpeed"]=wasmExports["bx_Joint_SetMotorSpeed"];_bx_Joint_SetMaxMotorForce=Module["_bx_Joint_SetMaxMotorForce"]=wasmExports["bx_Joint_SetMaxMotorForce"];_bx_Joint_EnableSpring=Module["_bx_Joint_EnableSpring"]=wasmExports["bx_Joint_EnableSpring"];_bx_Joint_SetSpring=Module["_bx_Joint_SetSpring"]=wasmExports["bx_Joint_SetSpring"];_bx_Joint_SetTarget=Module["_bx_Joint_SetTarget"]=wasmExports["bx_Joint_SetTarget"];_bx_Joint_GetPosition=Module["_bx_Joint_GetPosition"]=wasmExports["bx_Joint_GetPosition"];_bx_ComputeAlignedFrameB=Module["_bx_ComputeAlignedFrameB"]=wasmExports["bx_ComputeAlignedFrameB"];_bx_WheelJoint_SetSpinMotorSpeed=Module["_bx_WheelJoint_SetSpinMotorSpeed"]=wasmExports["bx_WheelJoint_SetSpinMotorSpeed"];_bx_WheelJoint_SetMaxSpinTorque=Module["_bx_WheelJoint_SetMaxSpinTorque"]=wasmExports["bx_WheelJoint_SetMaxSpinTorque"];_bx_WheelJoint_EnableSpinMotor=Module["_bx_WheelJoint_EnableSpinMotor"]=wasmExports["bx_WheelJoint_EnableSpinMotor"];_bx_WheelJoint_SetTargetSteeringAngle=Module["_bx_WheelJoint_SetTargetSteeringAngle"]=wasmExports["bx_WheelJoint_SetTargetSteeringAngle"];_bx_WheelJoint_SetSuspension=Module["_bx_WheelJoint_SetSuspension"]=wasmExports["bx_WheelJoint_SetSuspension"];_bx_RayHitsPtr=Module["_bx_RayHitsPtr"]=wasmExports["bx_RayHitsPtr"];_bx_World_CastRay=Module["_bx_World_CastRay"]=wasmExports["bx_World_CastRay"];_bx_World_CastShape=Module["_bx_World_CastShape"]=wasmExports["bx_World_CastShape"];_bx_OverlapsPtr=Module["_bx_OverlapsPtr"]=wasmExports["bx_OverlapsPtr"];_bx_World_OverlapShape=Module["_bx_World_OverlapShape"]=wasmExports["bx_World_OverlapShape"];_bx_GeometryPtr=Module["_bx_GeometryPtr"]=wasmExports["bx_GeometryPtr"];_bx_Body_GetShapeGeometry=Module["_bx_Body_GetShapeGeometry"]=wasmExports["bx_Body_GetShapeGeometry"];memory=wasmMemory=wasmExports["memory"];__indirect_function_table=wasmExports["__indirect_function_table"]}var wasmImports={clock_time_get:_clock_time_get,emscripten_get_now:_emscripten_get_now,emscripten_resize_heap:_emscripten_resize_heap,fd_write:_fd_write};async function run(){preRun();var setStatus=Module["setStatus"];if(setStatus){setStatus("Running...");await new Promise(resolve=>setTimeout(resolve,1));setTimeout(setStatus,1,"")}if(ABORT)return;initRuntime();Module["onRuntimeInitialized"]?.();postRun()}var wasmExports;wasmExports=await createWasm();await run();
 ;return Module}export default Box3D;

package/lib/esm-threads/box3d.d.ts

@@ -94,6 +94,36 @@ export interface Box3DExports {
     _bx_Body_IsAwake(body: number): number;
     _bx_Body_EnableSleep(body: number, flag: number): void;
     _bx_Body_SetBullet(body: number, flag: number): void;
+    /** Continuous collision for this body alone, on by default; the world's switch still applies. */
+    _bx_Body_EnableContinuous(body: number, flag: number): void;
+    _bx_Body_IsContinuousEnabled(body: number): number;
+    /**
+     * Crushable contacts for the body's shape `index`: each of its contacts pushes with at most `maxForce` newtons,
+     * and a plastic one (1) keeps its overlap instead of pushing out. A `maxForce` of zero or less makes it rigid.
+     */
+    _bx_Body_SetShapeCrush(body: number, index: number, maxForce: number, plastic: number): void;
+    /** scratch: [maxForce, plastic] for the body's shape `index`, zeros when it is rigid or there is no such shape. */
+    _bx_Body_GetShapeCrush(body: number, index: number): void;
+    /**
+     * Every touching contact manifold on the body, as the body feels it, written from `_bx_BodyContactsPtr`: 48 floats
+     * each, [shapeIndex, otherBody, otherShapeIndex, otherShapeDesc, normal xyz (the push on this body), friction impulse
+     * xyz on this body, twist impulse, pointCount], then 4 points of 9: [x, y, z, separation, normalImpulse (last
+     * substep), totalNormalImpulse (Box3D's, summed over every solver pass: nonzero means it carried load),
+     * normalVelocity, triangleIndex, material]. Returns the record count.
+     */
+    _bx_Body_GetContacts(body: number): number;
+    _bx_BodyContactsPtr(): number;
+    /** Per-shape handles: each changes one shape, resets only its contacts, and keeps every shape's index. */
+    /** Replaces shape `index` with the hull of `pointCount` points (xyz floats at `points`) in the body's frame; 1 if done. */
+    _bx_Body_SetShapeHull(body: number, index: number, points: number, pointCount: number): number;
+    /** Moves shape `index` (a hull, sphere or capsule) by (dx, dy, dz) in the body's frame; 1 if done. */
+    _bx_Body_TranslateShape(body: number, index: number, dx: number, dy: number, dz: number): number;
+    _bx_Body_SetShapeFilter(body: number, index: number, categoryBits: number, maskBits: number, groupIndex: number): void;
+    /** Removes shape `index`; the other shapes keep their indices. */
+    _bx_Body_RemoveShape(body: number, index: number): void;
+    _bx_Body_HasShape(body: number, index: number): number;
+    /** scratch: [kind (0 sphere, 1 capsule, 2 hull, -1 none), vertexCount, aabb min xyz, aabb max xyz] in the body's frame */
+    _bx_Body_GetShapeInfo(body: number, index: number): void;
     _bx_Body_AllowFastRotation(body: number, flag: number): void;
     _bx_Body_SetMotionLocks(body: number, lx: number, ly: number, lz: number, ax: number, ay: number, az: number): void;
     /** scratch: [minx, miny, minz, maxx, maxy, maxz] */
@@ -148,8 +178,9 @@ export interface Box3DExports {
     _bx_ShapeDesc_CreateHull(points: number, pointCount: number): number;
     /** vertices: vertexCount * 3 floats, indices: triangleCount * 3 int32 */
     _bx_ShapeDesc_CreateMesh(vertices: number, vertexCount: number, indices: number, triangleCount: number, sx: number, sy: number, sz: number, clockwise: number, weld: number): number;
-    /** heights: countX * countZ floats indexed [z * countX + x], local offset (ox, oy, oz) */
-    _bx_ShapeDesc_CreateHeightField(heights: number, countX: number, countZ: number, sx: number, sy: number, sz: number, clockwise: number, ox: number, oy: number, oz: number): number;
+    /** heights: countX * countZ floats indexed [z * countX + x]; materials: one byte a cell, (countX - 1) * (countZ - 1),
+     * or 0 for none; local offset (ox, oy, oz) */
+    _bx_ShapeDesc_CreateHeightField(heights: number, materials: number, countX: number, countZ: number, sx: number, sy: number, sz: number, clockwise: number, ox: number, oy: number, oz: number): number;
     _bx_ShapeDesc_CreateContainer(): number;
     _bx_ShapeDesc_AddChild(parent: number, child: number, px: number, py: number, pz: number, qx: number, qy: number, qz: number, qw: number, sx: number, sy: number, sz: number): void;
     _bx_ShapeDesc_RemoveChild(parent: number, index: number): void;
@@ -209,8 +240,19 @@ export interface Box3DExports {
 
     // queries
     _bx_RayHitsPtr(): number;
-    /** Returns the hit count; hits are 11 floats each: [px, py, pz, nx, ny, nz, fraction, bodySlot, shapeDesc, triangleIndex, reserved] */
+    /** Returns the hit count; hits are 11 floats each: [px, py, pz, nx, ny, nz, fraction, bodySlot, shapeDesc, triangleIndex, shapeIndex] */
     _bx_World_CastRay(world: number, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, categoryBits: number, maskBits: number, ignoreBody: number, hitSensors: number, closestOnly: number): number;
+    /**
+     * Casts the hull of `count` points (xyz floats at `points`, relative to the origin) grown by `radius` along
+     * (dx, dy, dz). Hits are written as `_bx_World_CastRay` writes them, the fraction being where the surfaces touch.
+     */
+    _bx_World_CastShape(world: number, ox: number, oy: number, oz: number, points: number, count: number, radius: number, dx: number, dy: number, dz: number, categoryBits: number, maskBits: number, ignoreBody: number, closestOnly: number): number;
+    /** Every shape the hull of the points grown by `radius` overlaps, written from `_bx_OverlapsPtr` as [bodySlot, shapeIndex, shapeDesc]. */
+    _bx_World_OverlapShape(world: number, ox: number, oy: number, oz: number, points: number, count: number, radius: number, categoryBits: number, maskBits: number, ignoreBody: number): number;
+    _bx_OverlapsPtr(): number;
+    /** Shape `index`'s geometry in the body's frame, from `_bx_GeometryPtr`: sphere [c, r], capsule [c1, c2, r], or hull points. Returns the float count. */
+    _bx_Body_GetShapeGeometry(body: number, index: number): number;
+    _bx_GeometryPtr(): number;
 }
 
 export type Box3DModule = Box3DExports & Box3DHeap;