babylon-box3d 0.4.0 → 0.6.0

package/umd/babylon.box3d.min.js

@@ -1,3 +1,3 @@
-/* babylon-box3d 0.4.0 | MIT | https://github.com/Pryme8/babylon-box3d */
-"use strict";var BABYLONBOX3D=(()=>{var Re=Object.create;var z=Object.defineProperty;var Ne=Object.getOwnPropertyDescriptor;var Fe=Object.getOwnPropertyNames;var ke=Object.getPrototypeOf,ze=Object.prototype.hasOwnProperty;var ie=(x,e)=>()=>(x&&(e=x(x=0)),e);var B=(x,e)=>()=>(e||x((e={exports:{}}).exports,e),e.exports),W=(x,e)=>{for(var t in e)z(x,t,{get:e[t],enumerable:!0})},oe=(x,e,t,s)=>{if(e&&typeof e=="object"||typeof e=="function")for(let i of Fe(e))!ze.call(x,i)&&i!==t&&z(x,i,{get:()=>e[i],enumerable:!(s=Ne(e,i))||s.enumerable});return x};var A=(x,e,t)=>(t=x!=null?Re(ke(x)):{},oe(e||!x||!x.__esModule?z(t,"default",{value:x,enumerable:!0}):t,x)),Ge=x=>oe(z({},"__esModule",{value:!0}),x);var ae=B((Qe,ne)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ne.exports=BABYLON});var le=B((Xe,re)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");re.exports=BABYLON});var _e=B((qe,ce)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ce.exports=BABYLON});var pe=B((Ze,he)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");he.exports=BABYLON});var be=B(($e,de)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");de.exports=BABYLON});var ye=B((Ke,ue)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ue.exports=BABYLON});var me=B((et,xe)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");xe.exports=BABYLON});var ge=B((tt,fe)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");fe.exports=BABYLON});var Se=B((st,De)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");De.exports=BABYLON});var ve={};W(ve,{default:()=>K});var K,ee=ie(()=>{if(typeof Box3D>"u")throw new Error("babylon.box3d.js needs lib/umd/box3d.umd.js loaded first");K=Box3D});var Te={};W(Te,{default:()=>He});function He(){throw new Error('babylon.box3d.js is the script tag build and has no threaded module. Install the package and import it, or use LoadBox3D({ threads: "auto" }).')}var Ie=ie(()=>{});var Ye={};W(Ye,{BOX3D_HEIGHT_FIELD_HOLE:()=>Pe,Box3D:()=>K,Box3DPlugin:()=>J,Box3DWheelJoint:()=>w,CanUseBox3DThreads:()=>V,LoadBox3D:()=>Me});var p=A(ae(),1),_=A(le(),1),Ce=A(_e(),1),I=A(pe(),1),H=A(be(),1),Y=A(ye(),1),j=A(me(),1),$=A(ge(),1),M=A(Se(),1),Pe=255,Q=class{constructor(e){this.slot=e;this.userMassProps={};this.angularLocks=0;this.eventMask=0;this.motionType=_.PhysicsMotionType.STATIC;this.activation=_.PhysicsActivationControl.SIMULATION_CONTROLLED}},X=class{constructor(e,t){this.slot=e;this.type=t;this.material={};this.users=new Set;this.children=[];this.parents=new Set}},q=class{constructor(){this.joints=[];this.pairs=[];this.type=_.PhysicsConstraintType.LOCK;this.jointType=0;this.enabled=!0;this.collisions=!1;this.frames=new Float32Array(14);this.length=0;this.axes=new Map;this.plan=null}};var w=class{constructor(e,t){this._plugin=e;this._slot=t}setSpinSpeed(e){this._plugin._wheelCall("_bx_WheelJoint_SetSpinMotorSpeed",this._slot,e)}setMaxSpinTorque(e){this._plugin._wheelCall("_bx_WheelJoint_SetMaxSpinTorque",this._slot,e)}enableSpinMotor(e){this._plugin._wheelCall("_bx_WheelJoint_EnableSpinMotor",this._slot,e?1:0)}setSteeringAngle(e){this._plugin._wheelCall("_bx_WheelJoint_SetTargetSteeringAngle",this._slot,e)}setSuspension(e,t){this._plugin._wheelCall("_bx_WheelJoint_SetSuspension",this._slot,e,t)}dispose(){this._plugin._destroyExtraJoint(this._slot),this._slot=0}};var Je=1e5;function Ve(x,e,t){let s=[[x[0],x[3],x[4]],[x[3],x[1],x[5]],[x[4],x[5],x[2]]];t.set(0,0,0,1),e.set(x[0],x[1],x[2]);let i=[0,0,0,1];for(let n=0;n<24;n++){let[a,o,r,l]=i,h=[[1-2*(o*o+r*r),2*(a*o-r*l),2*(a*r+o*l)],[2*(a*o+r*l),1-2*(a*a+r*r),2*(o*r-a*l)],[2*(a*r-o*l),2*(o*r+a*l),1-2*(a*a+o*o)]],c=[0,1,2].map(E=>[0,1,2].map(we=>[0,1,2].reduce((Le,te)=>Le+h[te][E]*[0,1,2].reduce((Oe,se)=>Oe+s[te][se]*h[se][we],0),0)));e.set(c[0][0],c[1][1],c[2][2]),t.set(i[0],i[1],i[2],i[3]);let u=[Math.abs(c[1][2]),Math.abs(c[0][2]),Math.abs(c[0][1])],m=u.indexOf(Math.max(...u)),b=(m+1)%3,d=(m+2)%3,D=c[b][d],g=Math.abs(c[0][0])+Math.abs(c[1][1])+Math.abs(c[2][2])+1e-30;if(Math.abs(D)<=1e-9*g)return;let y=(c[d][d]-c[b][b])/(2*D),f=y>0?1:-1;y*=f;let S=f/(y+(y<1e6?Math.sqrt(y*y+1):y)),C=1/Math.sqrt(S*S+1);if(C===1)return;let P=[0,0,0,0];P[m]=-f*Math.sqrt((1-C)/2),P[3]=Math.sqrt(1-P[m]*P[m]);let[v,T,L,O]=i,[R,N,F,k]=P;i[0]=O*R+v*k+T*F-L*N,i[1]=O*N-v*F+T*k+L*R,i[2]=O*F+v*N-T*R+L*k,i[3]=O*k-v*R-T*N-L*F;let Ee=Math.hypot(i[0],i[1],i[2],i[3])||1;for(let E=0;E<4;E++)i[E]/=Ee}}function We(x,e){let{x:t,y:s,z:i,w:n}=e,a=[[1-2*(s*s+i*i),2*(t*s-i*n),2*(t*i+s*n)],[2*(t*s+i*n),1-2*(t*t+i*i),2*(s*i-t*n)],[2*(t*i-s*n),2*(s*i+t*n),1-2*(t*t+s*s)]],o=(r,l)=>a[r][0]*x[0]*a[l][0]+a[r][1]*x[1]*a[l][1]+a[r][2]*x[2]*a[l][2];return[o(0,0),o(1,1),o(2,2),o(0,1),o(0,2),o(1,2)]}var U=9,Be=12,Ae=5,G=11,Z=class{constructor(e,t){this._collectIndices=e;this._flipWinding=t;this._vertices=[];this._indices=[]}addNodeMeshes(e,t){e.computeWorldMatrix(!0);let s=p.TmpVectors.Matrix[0];if(p.Matrix.ScalingToRef(e.absoluteScaling.x,e.absoluteScaling.y,e.absoluteScaling.z,s),e instanceof Y.Mesh?this._addMesh(e,s):e instanceof j.InstancedMesh&&this._addMesh(e.sourceMesh,s),t){let i=p.TmpVectors.Matrix[1];e.computeWorldMatrix().invertToRef(i);let n=p.TmpVectors.Matrix[2];i.multiplyToRef(s,n);let a=e.getChildMeshes(!1).filter(o=>!o.physicsBody);for(let o of a){let r=o.computeWorldMatrix(),l=p.TmpVectors.Matrix[3];r.multiplyToRef(n,l),o instanceof Y.Mesh?this._addMesh(o,l):o instanceof j.InstancedMesh&&this._addMesh(o.sourceMesh,l)}}}_addMesh(e,t){let s=e.getVerticesData($.VertexBuffer.PositionKind)||[],i=s.length/3,n=this._vertices.length/3,a=p.TmpVectors.Vector3[0];for(let o=0;o<i;o++)a.set(s[o*3+0],s[o*3+1],s[o*3+2]),p.Vector3.TransformCoordinatesToRef(a,t,a),this._vertices.push(a.x,a.y,a.z);if(this._collectIndices){let o=e.getIndices();if(o)for(let r=0;r<o.length;r+=3)this._flipWinding?this._indices.push(o[r+2]+n,o[r+1]+n,o[r+0]+n):this._indices.push(o[r+0]+n,o[r+1]+n,o[r+2]+n)}}get vertexCount(){return this._vertices.length/3}get triangleCount(){return this._indices.length/3}get vertices(){return this._vertices}get indices(){return this._indices}},Ue=["_bx_Body_AllowFastRotation","_bx_Body_ApplyAngularImpulse","_bx_Body_ApplyForce","_bx_Body_ApplyLinearImpulse","_bx_Body_ApplyMassFromShapes","_bx_Body_ApplyTorque","_bx_Body_ComputeShapeMassData","_bx_Body_EnableSleep","_bx_Body_GetAABB","_bx_Body_GetAngularDamping","_bx_Body_GetAngularVelocity","_bx_Body_GetGravityScale","_bx_Body_GetLinearDamping","_bx_Body_GetLinearVelocity","_bx_Body_GetMassData","_bx_Body_GetTransform","_bx_Body_SetAngularDamping","_bx_Body_SetAngularVelocity","_bx_Body_SetAwake","_bx_Body_SetEventFlags","_bx_Body_SetGravityScale","_bx_Body_SetLinearDamping","_bx_Body_SetLinearVelocity","_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_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","_bx_SensorEventsPtr","_bx_ShapeDesc_AddChild","_bx_ShapeDesc_BuildDebugGeometry","_bx_ShapeDesc_CreateBox","_bx_ShapeDesc_CreateCapsule","_bx_ShapeDesc_CreateContainer","_bx_ShapeDesc_CreateCylinder","_bx_ShapeDesc_CreateHeightField","_bx_ShapeDesc_CreateHull","_bx_ShapeDesc_CreateMesh","_bx_ShapeDesc_CreateSphere","_bx_ShapeDesc_Destroy","_bx_ShapeDesc_GetAABB","_bx_ShapeDesc_GetCategoryBits","_bx_ShapeDesc_GetChildCount","_bx_ShapeDesc_GetDensity","_bx_ShapeDesc_GetFriction","_bx_ShapeDesc_GetMaskBits","_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_GetWorkerCount","_bx_World_SetGravity","_bx_World_SetMaximumLinearSpeed","_bx_World_Step"],J=class{constructor(e=!0,t,s){this._useDeltaForWorldStep=e;this.name="Box3DPlugin";this.subStepCount=4;this.workerCount=1;this.lastStepTimeMs=0;this._worldSlot=0;this._fixedTimeStep=1/60;this._timeStep=1/60;this._maxAngularVelocity=4*Math.PI*10;this._bodies=[];this._shapes=[];this._bodyCollisionObservable=new Map;this._bodyCollisionEndedObservable=new Map;this._touchedInstanceMeshes=new Set;this._motorJoints=new Set;this._tmpVec3=[new p.Vector3,new p.Vector3,new p.Vector3,new p.Vector3];this._tmpQuat=[new p.Quaternion,new p.Quaternion,new p.Quaternion];this._warned=new Set;this._rejectedSlots=0;this.onCollisionObservable=new M.Observable;this.onCollisionEndedObservable=new M.Observable;this.onTriggerCollisionObservable=new M.Observable;if(!t)throw new Error("Box3D module is required: pass the awaited result of the Box3D module factory.");let i=Ue.filter(n=>typeof t[n]!="function");if(i.length>0)throw new Error(`Box3DPlugin: the Box3D module is missing ${i.length} entry point${i.length===1?"":"s"} this build needs (${i.slice(0,3).join(", ")}${i.length>3?", ...":""}). box3d.js and box3d.wasm have to come from the same build of this package: check what locateFile points at and clear any copied or cached box3d.wasm.`);if(this._b3=t,this.world=t,s?.subStepCount!==void 0&&(this.subStepCount=Math.max(1,Math.round(s.subStepCount))),this._worldSlot=this._b3._bx_CreateWorld(0,-9.81,0,this._resolveWorkerCount(s?.workerCount)),!this._worldSlot)throw new Error("Box3D: could not create a world (max worlds reached?)");this.workerCount=Math.max(1,this._b3._bx_World_GetWorkerCount(this._worldSlot))}_resolveWorkerCount(e){let t=Math.max(1,this._b3._bx_GetMaxWorkers());if(e===void 0)return 1;let s;if(e==="auto"){let i=typeof navigator<"u"&&navigator.hardwareConcurrency||4;s=Math.max(1,Math.floor(i/2))}else s=Math.max(1,Math.round(e));return s>1&&t===1&&this._warnOnce("single-threaded-module",`${s} 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.`),Math.min(s,t)}_scratch(){return new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_Scratch(),64)}_warnOnce(e,t){this._warned.has(e)||(this._warned.add(e),I.Logger.Warn(`Box3DPlugin: ${t}`))}_getPluginReference(e,t){return e._pluginDataInstances?.length?e._pluginDataInstances[t??0]:e._pluginData}_applyToBodyOrInstances(e,t,s){if(e._pluginDataInstances?.length>0&&s===void 0)for(let i of e._pluginDataInstances)t(i);else t(this._getPluginReference(e,s))}_motionTypeToNative(e){switch(e){case _.PhysicsMotionType.STATIC:return 0;case _.PhysicsMotionType.ANIMATED:return 1;default:return 2}}_nodeTransformToRef(e,t,s){if(e.parent){e.computeWorldMatrix(!0),t.copyFrom(e.absolutePosition),s.copyFrom(e.absoluteRotationQuaternion);return}t.copyFrom(e.position),e.rotationQuaternion?s.copyFrom(e.rotationQuaternion):p.Quaternion.FromEulerAnglesToRef(e.rotation.x,e.rotation.y,e.rotation.z,s)}setGravity(e){this._b3._bx_World_SetGravity(this._worldSlot,e.x,e.y,e.z)}setTimeStep(e){this._fixedTimeStep=e}getTimeStep(){return this._fixedTimeStep}executeStep(e,t){for(let o of t)o.disablePreStep||this.setPhysicsBodyTransformation(o,o.transformNode);for(let o of this._motorJoints)this._b3._bx_Joint_IsValid(o)?this._b3._bx_Joint_UpdateMotorFrame(o):this._motorJoints.delete(o);let s=this._useDeltaForWorldStep?e:this._fixedTimeStep;this._timeStep=s;let i=performance.now();this._b3._bx_World_Step(this._worldSlot,s,this.subStepCount);let n=this._b3._bx_World_GetMoveEvents(this._worldSlot);if(n>0){let o=this._b3._bx_MoveEventsPtr(),r=new Float32Array(this._b3.HEAPF32.buffer,o,n*U);for(let l=0;l<n;l++){r.buffer!==this._b3.HEAPF32.buffer&&(r=new Float32Array(this._b3.HEAPF32.buffer,o,n*U));let h=l*U,c=this._bodies[r[h]];!c||c.body.disableSync||this._syncBodyFromBuffer(c.body,c.index,r,h+1)}for(let l of this._touchedInstanceMeshes)l.thinInstanceBufferUpdated("matrix");this._touchedInstanceMeshes.clear()}this._notifyCollisions(),this._notifyTriggers(),this.lastStepTimeMs=performance.now()-i;let a=this._b3._bx_GetRejectedSlotCount();a>this._rejectedSlots&&(this._rejectedSlots=a,this._warnOnce("rejected-slots",`the native module did not recognize ${a} of the handles it was given, and those calls did nothing. Something is using a body, shape or joint after it was destroyed, or box3d.js and box3d.wasm are from different builds.`))}getPluginVersion(){return 2}setVelocityLimits(e,t){this._b3._bx_World_SetMaximumLinearSpeed(this._worldSlot,e),this._maxAngularVelocity=t}getMaxLinearVelocity(){return this._b3._bx_World_GetMaximumLinearSpeed(this._worldSlot)}getMaxAngularVelocity(){return this._maxAngularVelocity}getStats(){this._b3._bx_World_GetStats(this._worldSlot);let e=this._scratch();return{bodies:e[0],shapes:e[1],contacts:e[2],joints:e[3],islands:e[4],stepMs:e[5],collideMs:e[6],solveMs:e[7]}}setSleepingEnabled(e){this._b3._bx_World_EnableSleeping(this._worldSlot,e?1:0)}setContinuousEnabled(e){this._b3._bx_World_EnableContinuous(this._worldSlot,e?1:0)}_createNativeBody(e,t,s,i){let n=this._b3._bx_CreateBody(this._worldSlot,this._motionTypeToNative(e),t.x,t.y,t.z,s.x,s.y,s.z,s.w,i?0:1),a=new Q(n);return a.motionType=e,a}initBody(e,t,s,i){let n=this._createNativeBody(t,s,i,e.startAsleep);e._pluginData=n,this._bodies[n.slot]={body:e,index:0,data:n}}initBodyInstances(e,t,s){let i=s._thinInstanceDataStorage?.instancesCount??0,n=s._thinInstanceDataStorage?.matrixData;if(!n)return;let a=e.shape?._pluginData;i>8&&a&&this._bakesMeshCopies(a)&&this._warnOnce("instanced-mesh-child","a mesh inside a container has no local transform in Box3D, so every instance gets its own baked copy of the mesh data; put the mesh on the body directly, or bake the offset into the mesh, to share it."),this._createOrUpdateBodyInstances(e,t,n,0,i,!1)}_createOrUpdateBodyInstances(e,t,s,i,n,a){let o=p.TmpVectors.Quaternion[0],r=p.TmpVectors.Matrix[0],l=p.TmpVectors.Vector3[0];for(let h=i;h<n;h++)if(l.set(s[h*16+12],s[h*16+13],s[h*16+14]),p.Matrix.FromArrayToRef(s,h*16,r),r.decompose(void 0,o,void 0),a){let c=e._pluginDataInstances[h];this._b3._bx_Body_SetTransform(c.slot,l.x,l.y,l.z,o.x,o.y,o.z,o.w)}else{let c=this._createNativeBody(t,l,o,e.startAsleep),u=e._pluginDataInstances[0];u&&(c.userMassProps=u.userMassProps,c.eventMask=u.eventMask,this._applyEventFlags(c),u.activation!==_.PhysicsActivationControl.SIMULATION_CONTROLLED&&(c.activation=u.activation,this._applyNativeMotionType(c),this._b3._bx_Body_EnableSleep(c.slot,u.activation===_.PhysicsActivationControl.ALWAYS_ACTIVE?0:1))),e._pluginDataInstances.push(c),this._bodies[c.slot]={body:e,index:h,data:c}}}updateBodyInstances(e,t){let s=t._thinInstanceDataStorage?.instancesCount??0,i=t._thinInstanceDataStorage?.matrixData;if(!i)return;let n=e._pluginDataInstances.length,a=this.getMotionType(e);if(s>n){this._createOrUpdateBodyInstances(e,a,i,n,s,!1);let o=e.shape;if(o&&o._pluginData)for(let r=n;r<s;r++)this._setBodyShape(e._pluginDataInstances[r],o._pluginData)}else if(s<n){let o=n-s;for(let r=0;r<o;r++){let l=e._pluginDataInstances.pop();this._destroyBodyData(l)}this._createOrUpdateBodyInstances(e,a,i,0,s,!0)}}_destroyBodyData(e){if(e){for(let t of this._shapes)t?.users.delete(e);this._bodyCollisionObservable.delete(e.slot),this._bodyCollisionEndedObservable.delete(e.slot),this._bodies[e.slot]=void 0,this._b3._bx_DestroyBody(e.slot),e.slot=0}}removeBody(e){if(e._pluginDataInstances?.length)for(let t of e._pluginDataInstances)this._destroyBodyData(t);e._pluginData&&this._destroyBodyData(e._pluginData)}sync(e){this.syncTransform(e,e.transformNode)}_syncBodyFromBuffer(e,t,s,i){let n=e.transformNode;if(e._pluginDataInstances.length){let a=n,o=a._thinInstanceDataStorage?.matrixData;if(!o)return;let r=this._tmpVec3[0],l=t*16;r.set(Math.hypot(o[l],o[l+1],o[l+2]),Math.hypot(o[l+4],o[l+5],o[l+6]),Math.hypot(o[l+8],o[l+9],o[l+10]));let h=this._tmpQuat[0];h.set(s[i+3],s[i+4],s[i+5],s[i+6]);let c=this._tmpVec3[1];c.set(s[i],s[i+1],s[i+2]);let u=p.TmpVectors.Matrix[0];p.Matrix.ComposeToRef(r,h,c,u),u.copyToArray(o,l),this._touchedInstanceMeshes.add(a);return}this._applyTransformToNode(n,s[i],s[i+1],s[i+2],s[i+3],s[i+4],s[i+5],s[i+6])}_applyTransformToNode(e,t,s,i,n,a,o,r){let l=this._tmpQuat[0];l.set(n,a,o,r);let h=e.parent;if(h&&!h.getWorldMatrix().isIdentity()){h.computeWorldMatrix(!0);let c=this._tmpVec3[2];c.copyFrom(e.scaling);let u=p.TmpVectors.Matrix[0],m=this._tmpVec3[3];m.set(t,s,i),p.Matrix.ComposeToRef(e.absoluteScaling,l,m,u);let b=p.TmpVectors.Matrix[1];h.getWorldMatrix().invertToRef(b);let d=p.TmpVectors.Matrix[2];u.multiplyToRef(b,d),d.decomposeToTransformNode(e),e.rotationQuaternion?.normalize(),e.scaling.copyFrom(c)}else e.position.set(t,s,i),e.rotationQuaternion?e.rotationQuaternion.copyFrom(l):l.toEulerAnglesToRef(e.rotation)}syncTransform(e,t){if(e._pluginDataInstances.length){let n=t;if(!n._thinInstanceDataStorage?.matrixData)return;for(let o=0;o<e._pluginDataInstances.length;o++){let r=e._pluginDataInstances[o];this._b3._bx_Body_GetTransform(r.slot),this._syncBodyFromBuffer(e,o,this._scratch(),0)}n.thinInstanceBufferUpdated("matrix"),this._touchedInstanceMeshes.delete(n);return}let s=e._pluginData;if(!s||!s.slot)return;this._b3._bx_Body_GetTransform(s.slot);let i=this._scratch();this._applyTransformToNode(t,i[0],i[1],i[2],i[3],i[4],i[5],i[6])}setPhysicsBodyTransformation(e,t){let s=e.getPrestepType();if(s==_.PhysicsPrestepType.TELEPORT){if(e._pluginDataInstances.length>0){let r=t._thinInstanceDataStorage?.matrixData;if(!r)return;this._createOrUpdateBodyInstances(e,e.getMotionType(),r,0,e._pluginDataInstances.length,!0);return}let i=e._pluginData,n=this._tmpVec3[0],a=this._tmpQuat[0];this._nodeTransformToRef(t,n,a),this._b3._bx_Body_SetTransform(i.slot,n.x,n.y,n.z,a.x,a.y,a.z,a.w)}else s==_.PhysicsPrestepType.ACTION?this.setTargetTransform(e,t.absolutePosition,t.absoluteRotationQuaternion):s==_.PhysicsPrestepType.DISABLED&&I.Logger.Warn("Prestep type is set to DISABLED. Unable to set physics body transformation.")}setTargetTransform(e,t,s,i){this._applyToBodyOrInstances(e,n=>{this._b3._bx_Body_SetTargetTransform(n.slot,t.x,t.y,t.z,s.x,s.y,s.z,s.w,this._timeStep)},i)}_bakesMeshCopies(e,t=new Set){return t.has(e)?!1:(t.add(e),e.children.some(s=>s.type===_.PhysicsShapeType.MESH||this._bakesMeshCopies(s,t)))}_setBodyShape(e,t){for(let s of this._shapes)s?.users.delete(e);this._b3._bx_Body_SetShape(e.slot,t?t.slot:0),t&&t.users.add(e),this._applyEventFlags(e),this._internalUpdateMassProperties(e)}setShape(e,t){let s=t&&t._pluginData?t._pluginData:null;this._applyToBodyOrInstances(e,i=>this._setBodyShape(i,s))}getShape(e){return e.shape??null}getShapeType(e){return e.type??e._pluginData?.type??_.PhysicsShapeType.CONTAINER}_applyEventFlags(e){let t=e.eventMask&5?1:0,s=e.eventMask&2?1:0;this._b3._bx_Body_SetEventFlags(e.slot,t,s)}setEventMask(e,t,s){this._applyToBodyOrInstances(e,i=>{i.eventMask=t,this._applyEventFlags(i)},s)}getEventMask(e,t){return this._getPluginReference(e,t).eventMask}setMotionType(e,t,s){this._applyToBodyOrInstances(e,i=>{i.motionType=t,this._applyNativeMotionType(i),this._internalUpdateMassProperties(i)},s)}_applyNativeMotionType(e){let t=e.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE?0:this._motionTypeToNative(e.motionType);this._b3._bx_Body_SetType(e.slot,t)}setActivationControl(e,t,s){this._applyToBodyOrInstances(e,i=>{if(i.activation===t)return;let n=i.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE;if(i.activation=t,t===_.PhysicsActivationControl.ALWAYS_INACTIVE){this._b3._bx_Body_SetLinearVelocity(i.slot,0,0,0),this._b3._bx_Body_SetAngularVelocity(i.slot,0,0,0),this._applyNativeMotionType(i);return}this._applyNativeMotionType(i),this._internalUpdateMassProperties(i),this._b3._bx_Body_EnableSleep(i.slot,t===_.PhysicsActivationControl.ALWAYS_ACTIVE?0:1),n&&t===_.PhysicsActivationControl.SIMULATION_CONTROLLED&&this._b3._bx_Body_SetAwake(i.slot,0)},s)}getMotionType(e,t){return this._getPluginReference(e,t).motionType}_readMassData(e){e.motionType===_.PhysicsMotionType.DYNAMIC&&e.activation!==_.PhysicsActivationControl.ALWAYS_INACTIVE?this._b3._bx_Body_GetMassData(e.slot):this._b3._bx_Body_ComputeShapeMassData(e.slot);let t=this._scratch(),s=t[0],i=new p.Vector3,n=new p.Quaternion;return Ve([t[4],t[5],t[6],t[7],t[8],t[9]],i,n),s>0&&i.scaleInPlace(1/s),{mass:s,centerOfMass:new p.Vector3(t[1],t[2],t[3]),inertia:i,inertiaOrientation:n}}_resolveMassProperties(e){let t=this._readMassData(e),s=e.userMassProps??{};return{mass:s.mass!==void 0&&s.mass>0?s.mass:t.mass,centerOfMass:s.centerOfMass??t.centerOfMass,inertia:s.inertia??t.inertia,inertiaOrientation:s.inertiaOrientation??(s.inertia?p.Quaternion.Identity():t.inertiaOrientation)}}_internalUpdateMassProperties(e){if(e.motionType!==_.PhysicsMotionType.DYNAMIC||e.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE){this._applyMotionLocks(e,!1,!1,!1);return}this._b3._bx_Body_ApplyMassFromShapes(e.slot);let t=e.userMassProps;if(!(!!t&&(t.mass!==void 0||!!t.centerOfMass||!!t.inertia||!!t.inertiaOrientation))){this._applyMotionLocks(e,!1,!1,!1);return}let i=this._resolveMassProperties(e),n=i.mass>0?i.mass:1,a=i.inertia,o=i.inertiaOrientation,r=[a.x<=0,a.y<=0,a.z<=0],l=Math.max(a.x,a.y,a.z,1e-4)*Je,h=[r[0]?l:a.x,r[1]?l:a.y,r[2]?l:a.z].map(u=>u*n),c=We(h,o);this._b3._bx_Body_SetMassDataFull(e.slot,n,i.centerOfMass.x,i.centerOfMass.y,i.centerOfMass.z,c[0],c[1],c[2],c[3],c[4],c[5]),this._applyLockedAxes(e,r,o)}_applyLockedAxes(e,t,s){let i=t.filter(Boolean).length;if(i===3){this._applyMotionLocks(e,!0,!0,!0);return}if(i!==2){this._applyMotionLocks(e,!1,!1,!1);return}this._b3._bx_Body_GetTransform(e.slot);let n=this._scratch(),a=this._tmpQuat[0].set(n[3],n[4],n[5],n[6]),o=t.indexOf(!1),r=this._tmpVec3[0].set(o===0?1:0,o===1?1:0,o===2?1:0);r.applyRotationQuaternionInPlace(s).applyRotationQuaternionInPlace(a);let l=[Math.abs(r.x),Math.abs(r.y),Math.abs(r.z)],h=l.indexOf(Math.max(...l));l[h]>.9999?this._applyMotionLocks(e,h!==0,h!==1,h!==2):this._applyMotionLocks(e,!1,!1,!1)}_applyMotionLocks(e,t,s,i){let n=(t?1:0)|(s?2:0)|(i?4:0);n!==e.angularLocks&&(e.angularLocks=n,this._b3._bx_Body_SetMotionLocks(e.slot,0,0,0,t?1:0,s?1:0,i?1:0))}computeMassProperties(e,t){let s=this._getPluginReference(e,t);this._b3._bx_Body_ApplyMassFromShapes(s.slot);let i=this._readMassData(s);return this._internalUpdateMassProperties(s),i}setMassProperties(e,t,s){this._applyToBodyOrInstances(e,i=>{i.userMassProps=t,this._internalUpdateMassProperties(i)},s)}getMassProperties(e,t){return this._resolveMassProperties(this._getPluginReference(e,t))}setLinearDamping(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetLinearDamping(i.slot,t),s)}getLinearDamping(e,t){return this._b3._bx_Body_GetLinearDamping(this._getPluginReference(e,t).slot)}setAngularDamping(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetAngularDamping(i.slot,t),s)}getAngularDamping(e,t){return this._b3._bx_Body_GetAngularDamping(this._getPluginReference(e,t).slot)}setLinearVelocity(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetLinearVelocity(i.slot,t.x,t.y,t.z),s)}getLinearVelocityToRef(e,t,s){this._b3._bx_Body_GetLinearVelocity(this._getPluginReference(e,s).slot);let i=this._scratch();t.set(i[0],i[1],i[2])}applyImpulse(e,t,s,i){this._applyToBodyOrInstances(e,n=>this._b3._bx_Body_ApplyLinearImpulse(n.slot,t.x,t.y,t.z,s.x,s.y,s.z),i)}applyAngularImpulse(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_ApplyAngularImpulse(i.slot,t.x,t.y,t.z),s)}applyForce(e,t,s,i){this._applyToBodyOrInstances(e,n=>this._b3._bx_Body_ApplyForce(n.slot,t.x,t.y,t.z,s.x,s.y,s.z),i)}applyTorque(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_ApplyTorque(i.slot,t.x,t.y,t.z),s)}setAngularVelocity(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetAngularVelocity(i.slot,t.x,t.y,t.z),s)}getAngularVelocityToRef(e,t,s){this._b3._bx_Body_GetAngularVelocity(this._getPluginReference(e,s).slot);let i=this._scratch();t.set(i[0],i[1],i[2])}getBodyGeometry(e){let t=e.shape?._pluginData;if(!t)return{positions:[],indices:[]};let s=this._b3._bx_ShapeDesc_BuildDebugGeometry(t.slot),i=this._b3._bx_DebugIndexCount();if(!s||!i)return{positions:[],indices:[]};let n=new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_DebugPositionsPtr(),s*3).slice(),a=new Uint32Array(this._b3.HEAPU32.buffer,this._b3._bx_DebugIndicesPtr(),i).slice();return{positions:n,indices:a}}disposeBody(e){this.removeBody(e),e._pluginData=void 0,e._pluginDataInstances.length=0}setCollisionCallbackEnabled(e,t,s){this.setEventMask(e,t?7:0,s)}setCollisionEndedCallbackEnabled(e,t,s){this._applyToBodyOrInstances(e,i=>{i.eventMask=t?i.eventMask|4:i.eventMask&-5,this._applyEventFlags(i)},s)}getCollisionObservable(e,t){let s=this._getPluginReference(e,t).slot,i=this._bodyCollisionObservable.get(s);return i||(i=new M.Observable,this._bodyCollisionObservable.set(s,i)),i}getCollisionEndedObservable(e,t){let s=this._getPluginReference(e,t).slot,i=this._bodyCollisionEndedObservable.get(s);return i||(i=new M.Observable,this._bodyCollisionEndedObservable.set(s,i)),i}setGravityFactor(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetGravityScale(i.slot,t),s)}getGravityFactor(e,t){return this._b3._bx_Body_GetGravityScale(this._getPluginReference(e,t).slot)}_registerShape(e,t,s){if(!t)throw new Error("Box3DPlugin: shape creation failed (degenerate geometry?)");let i=new X(t,s);return e._pluginData=i,this._shapes[t]=i,i}_withFloatBuffer(e,t){let s=this._b3._malloc(e.length*4);new Float32Array(this._b3.HEAPF32.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_withByteBuffer(e,t){if(!e||e.length===0)return t(0);let s=this._b3._malloc(e.length);new Uint8Array(this._b3.HEAPU8.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_withIntBuffer(e,t){let s=this._b3._malloc(e.length*4);new Int32Array(this._b3.HEAP32.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_createOptionsFromGroundMesh(e){let t=e.groundMesh;if(!t)return;let s=t.getVerticesData($.VertexBuffer.PositionKind),i=t.computeWorldMatrix(!0),n=[],a=p.TmpVectors.Vector3[0];for(let d=0;d<s.length;d+=3)p.Vector3.FromArrayToRef(s,d,a),p.Vector3.TransformCoordinatesToRef(a,i,a),a.toArray(n,d);let o=~~(Math.sqrt(n.length/3)-1),r=t.getBoundingInfo(),l=Math.min(r.boundingBox.extendSizeWorld.x,r.boundingBox.extendSizeWorld.z),h=r.boundingBox.minimumWorld.x,c=r.boundingBox.minimumWorld.y,u=r.boundingBox.minimumWorld.z,m=new Float32Array((o+1)*(o+1)),b=l*2/o;m.fill(c);for(let d=0;d<n.length;d+=3){let D=Math.round((n[d+0]-h)/b),g=o-Math.round((n[d+2]-u)/b);m[g*(o+1)+D]=n[d+1]-c}e.numHeightFieldSamplesX=o+1,e.numHeightFieldSamplesZ=o+1,e.heightFieldSizeX=r.boundingBox.extendSizeWorld.x*2,e.heightFieldSizeZ=r.boundingBox.extendSizeWorld.z*2,e.heightFieldData=m}initShape(e,t,s){let i=this._b3,n=s.center??p.Vector3.ZeroReadOnly,a=s.rotation??p.Quaternion.Identity();switch(t){case _.PhysicsShapeType.SPHERE:{let o=s.radius??1;this._registerShape(e,i._bx_ShapeDesc_CreateSphere(n.x,n.y,n.z,o),t);break}case _.PhysicsShapeType.CAPSULE:{let o=s.pointA??p.Vector3.ZeroReadOnly,r=s.pointB??p.Vector3.UpReadOnly;this._registerShape(e,i._bx_ShapeDesc_CreateCapsule(o.x,o.y,o.z,r.x,r.y,r.z,s.radius??0),t);break}case _.PhysicsShapeType.BOX:{let o=s.extents??p.Vector3.OneReadOnly;this._registerShape(e,i._bx_ShapeDesc_CreateBox(o.x*.5,o.y*.5,o.z*.5,n.x,n.y,n.z,a.x,a.y,a.z,a.w),t);break}case _.PhysicsShapeType.CYLINDER:{let o=s.pointA??p.Vector3.ZeroReadOnly,l=(s.pointB??p.Vector3.UpReadOnly).subtract(o),h=l.length(),c=this._tmpQuat[0];h>1e-6?(l.scaleInPlace(1/h),p.Quaternion.FromUnitVectorsToRef(p.Vector3.UpReadOnly,l,c)):c.set(0,0,0,1),this._registerShape(e,i._bx_ShapeDesc_CreateCylinder(h,s.radius??0,16,o.x,o.y,o.z,c.x,c.y,c.z,c.w),t);break}case _.PhysicsShapeType.CONVEX_HULL:case _.PhysicsShapeType.MESH:{if(!s.mesh&&s.positions){this._initShapeFromPositions(e,t,s.positions,s.positionIndices);break}let o=s.mesh;if(!o)throw new Error("No mesh provided to create physics shape.");let r=t===_.PhysicsShapeType.MESH,l=!o.getScene().useRightHandedSystem,h=new Z(r,l);if(h.addNodeMeshes(o,!!s.includeChildMeshes),t===_.PhysicsShapeType.CONVEX_HULL){let c=this._withFloatBuffer(h.vertices,u=>i._bx_ShapeDesc_CreateHull(u,h.vertexCount));this._registerShape(e,c,t)}else{let c=this._withFloatBuffer(h.vertices,u=>this._withIntBuffer(h.indices,m=>i._bx_ShapeDesc_CreateMesh(u,h.vertexCount,m,h.triangleCount,1,1,1,0,0)));this._registerShape(e,c,t)}break}case _.PhysicsShapeType.HEIGHTFIELD:{s.groundMesh&&this._createOptionsFromGroundMesh(s);let o=s.numHeightFieldSamplesX,r=s.numHeightFieldSamplesZ;if(!o||!r||!s.heightFieldSizeX||!s.heightFieldSizeZ||!s.heightFieldData)throw new Error("Missing required heightfield parameters");let l=new Float32Array(o*r);for(let g=0;g<o;g++)for(let y=0;y<r;y++)l[y*o+g]=s.heightFieldData[(r-1-y)*o+g];let h=s.heightFieldSizeX/(o-1),c=s.heightFieldSizeZ/(r-1),u=o-1,m=r-1,b=s.heightFieldMaterials;if(b&&b.length!==u*m)throw new Error(`heightFieldMaterials needs ${u*m} cells (${u} \xD7 ${m}), got ${b.length}`);let d=b?new Uint8Array(u*m):null;if(b&&d)for(let g=0;g<u;g++)for(let y=0;y<m;y++)d[y*u+g]=b[(m-1-y)*u+g];let D=this._withFloatBuffer(l,g=>this._withByteBuffer(d,y=>i._bx_ShapeDesc_CreateHeightField(g,y,o,r,h,1,c,0,-s.heightFieldSizeX*.5,0,-s.heightFieldSizeZ*.5)));this._registerShape(e,D,t);break}case _.PhysicsShapeType.CONTAINER:{this._registerShape(e,i._bx_ShapeDesc_CreateContainer(),t);break}default:throw new Error("Unsupported Shape Type.")}}_initShapeFromPositions(e,t,s,i){let n=this._b3;if(s.length%3!==0)throw new Error(`positions needs x, y, z triplets, got ${s.length} numbers`);let a=s.length/3;if(t===_.PhysicsShapeType.CONVEX_HULL){this._registerShape(e,this._withFloatBuffer(s,o=>n._bx_ShapeDesc_CreateHull(o,a)),t);return}if(!i||i.length%3!==0)throw new Error("a MESH shape from positions needs positionIndices, three per triangle");for(let o=0;o<i.length;o++)if(i[o]<0||i[o]>=a||!Number.isInteger(i[o]))throw new Error(`positionIndices[${o}] is ${i[o]}, but there are ${a} points`);this._registerShape(e,this._withFloatBuffer(s,o=>this._withIntBuffer(i,r=>n._bx_ShapeDesc_CreateMesh(o,a,r,i.length/3,1,1,1,0,0))),t)}_refreshShapeUsers(e,t=new Set){if(!t.has(e)){t.add(e);for(let s of e.users)this._b3._bx_Body_SetShape(s.slot,e.slot),this._applyEventFlags(s),this._internalUpdateMassProperties(s);for(let s of e.parents)this._refreshShapeUsers(s,t)}}_syncShapeUsers(e,t,s=new Set,i=e){if(!s.has(e)){s.add(e);for(let n of e.users)this._b3._bx_Body_SyncShapeDesc(n.slot,i.slot,t),t&4&&this._internalUpdateMassProperties(n);for(let n of e.parents)this._syncShapeUsers(n,t,s,i)}}setShapeFilterMembershipMask(e,t){let s=e._pluginData,i=this._b3._bx_ShapeDesc_GetMaskBits(s.slot);this._b3._bx_ShapeDesc_SetFilter(s.slot,t>>>0,i>>>0),this._syncShapeUsers(s,1)}getShapeFilterMembershipMask(e){return this._b3._bx_ShapeDesc_GetCategoryBits(e._pluginData.slot)}setShapeFilterCollideMask(e,t){let s=e._pluginData,i=this._b3._bx_ShapeDesc_GetCategoryBits(s.slot);this._b3._bx_ShapeDesc_SetFilter(s.slot,i>>>0,t>>>0),this._syncShapeUsers(s,1)}getShapeFilterCollideMask(e){return this._b3._bx_ShapeDesc_GetMaskBits(e._pluginData.slot)}setMaterial(e,t){let s=e._pluginData;s.material=t,this._b3._bx_ShapeDesc_SetMaterial(s.slot,t.friction??.5,t.restitution??0),this._syncShapeUsers(s,2)}getMaterial(e){let t=e._pluginData;return{friction:this._b3._bx_ShapeDesc_GetFriction(t.slot),staticFriction:t.material.staticFriction,restitution:this._b3._bx_ShapeDesc_GetRestitution(t.slot),frictionCombine:t.material.frictionCombine,restitutionCombine:t.material.restitutionCombine}}setDensity(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetDensity(s.slot,t),this._syncShapeUsers(s,4)}getDensity(e){return this._b3._bx_ShapeDesc_GetDensity(e._pluginData.slot)}addChild(e,t,s,i,n){let a=e._pluginData,o=t._pluginData,r=s??p.Vector3.ZeroReadOnly,l=i??p.Quaternion.Identity(),h=n??p.Vector3.OneReadOnly;this._b3._bx_ShapeDesc_AddChild(a.slot,o.slot,r.x,r.y,r.z,l.x,l.y,l.z,l.w,h.x,h.y,h.z),a.children.push(o),o.parents.add(a),this._refreshShapeUsers(a)}removeChild(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_RemoveChild(s.slot,t);let[i]=s.children.splice(t,1);i&&!s.children.includes(i)&&i.parents.delete(s),this._refreshShapeUsers(s)}getNumChildren(e){return this._b3._bx_ShapeDesc_GetChildCount(e._pluginData.slot)}getBoundingBox(e){this._b3._bx_ShapeDesc_GetAABB(e._pluginData.slot);let t=this._scratch();return p.TmpVectors.Vector3[0].set(t[0],t[1],t[2]),p.TmpVectors.Vector3[1].set(t[3],t[4],t[5]),new H.BoundingBox(p.TmpVectors.Vector3[0],p.TmpVectors.Vector3[1],p.Matrix.IdentityReadOnly)}getBodyBoundingBox(e){let t=this._getPluginReference(e);this._b3._bx_Body_GetAABB(t.slot);let s=this._scratch();return p.TmpVectors.Vector3[0].set(s[0],s[1],s[2]),p.TmpVectors.Vector3[1].set(s[3],s[4],s[5]),new H.BoundingBox(p.TmpVectors.Vector3[0],p.TmpVectors.Vector3[1],p.Matrix.IdentityReadOnly)}disposeShape(e){let t=e._pluginData;if(t){for(let s of t.parents){let i=s.children.indexOf(t);i>=0&&(s.children.splice(i,1),this._b3._bx_ShapeDesc_RemoveChild(s.slot,i))}for(let s of t.children)s.parents.delete(t);this._shapes[t.slot]=void 0,this._b3._bx_ShapeDesc_Destroy(t.slot),e._pluginData=void 0}}setTrigger(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetSensor(s.slot,t?1:0),this._refreshShapeUsers(s)}_frameToBuffer(e,t,s,i,n,a){let o=p.TmpVectors.Matrix[0];p.Matrix.FromValuesToRef(i.x,i.y,i.z,0,n.x,n.y,n.z,0,a.x,a.y,a.z,0,0,0,0,1,o);let r=this._tmpQuat[2];p.Quaternion.FromRotationMatrixToRef(o,r),r.normalize(),e[t]=s.x,e[t+1]=s.y,e[t+2]=s.z,e[t+3]=r.x,e[t+4]=r.y,e[t+5]=r.z,e[t+6]=r.w}_buildFrames(e,t,s,i){let n=t.options,a=n.pivotA??p.Vector3.ZeroReadOnly,o=n.pivotB??p.Vector3.ZeroReadOnly,r=(n.axisA??p.Vector3.RightReadOnly).normalizeToNew(),l=(n.axisB??p.Vector3.RightReadOnly).normalizeToNew(),h=n.perpAxisA?n.perpAxisA.normalizeToNew():r.getNormalToRef(new p.Vector3),c=n.perpAxisB?n.perpAxisB.normalizeToNew():l.getNormalToRef(new p.Vector3);h.subtractInPlace(r.scale(p.Vector3.Dot(r,h))).normalize(),c.subtractInPlace(l.scale(p.Vector3.Dot(l,c))).normalize();let u=p.Vector3.Cross(r,h),m=p.Vector3.Cross(l,c);t._initOptions||(t._initOptions={axisA:r.clone(),axisB:l.clone(),perpAxisA:h.clone(),perpAxisB:c.clone(),pivotA:a.clone(),pivotB:o.clone()});let b=e.frames;if(e.plan){let d=e.plan.basis;if(d){let D=[r,h,u],g=[l,c,m];this._frameToBuffer(b,0,a,D[d[0]],D[d[1]],D[d[2]]),this._frameToBuffer(b,7,o,g[d[0]],g[d[1]],g[d[2]])}else b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,0,0,0,1]);return}switch(e.type){case _.PhysicsConstraintType.HINGE:case _.PhysicsConstraintType.BALL_AND_SOCKET:this._frameToBuffer(b,0,a,h,p.Vector3.Cross(r,h),r),this._frameToBuffer(b,7,o,c,p.Vector3.Cross(l,c),l);break;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:this._frameToBuffer(b,0,a,r,h,u),this._frameToBuffer(b,7,o,l,c,m);break;case _.PhysicsConstraintType.LOCK:{this._b3._bx_Body_GetTransform(s.slot);let d=this._scratch(),D=this._tmpQuat[0];D.set(d[3],d[4],d[5],d[6]),this._b3._bx_Body_GetTransform(i.slot),d=this._scratch();let g=this._tmpQuat[1];g.set(d[3],d[4],d[5],d[6]);let y=g.invert().multiply(D).normalize();b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,y.x,y.y,y.z,y.w]);break}default:b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,0,0,0,1]);break}}_createJoint(e,t,s){this._scratch().set(e.frames);let i=this._b3._bx_CreateJoint(this._worldSlot,e.jointType,t.slot,s.slot,e.collisions?1:0,e.length);return i?(this._applyAxisState(e,i,t,s),i):(I.Logger.Warn("Box3DPlugin: joint creation failed."),0)}_readSixDofLimits(e,t){for(let s of t??[]){let i=this._axisState(e,s.axis);s.minLimit===0&&s.maxLimit===0?(i.mode=_.PhysicsConstraintAxisLimitMode.LOCKED,i.min=0,i.max=0):(s.minLimit!==void 0||s.maxLimit!==void 0)&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED,i.min=s.minLimit??-1/0,i.max=s.maxLimit??1/0),i.stiffness=s.stiffness??0,i.damping=s.damping??0}}_planSixDof(e){let t=_.PhysicsConstraintAxis,s=_.PhysicsConstraintAxisLimitMode,i=y=>e.axes.get(y)?.mode??s.FREE,n=y=>{let f=e.axes.get(y);return f.mode===s.LOCKED?[0,0]:[Math.min(f.min,f.max),Math.max(f.min,f.max)]},a=(y,f)=>Math.max(-f,Math.min(f,y)),o=.99*Math.PI,r=1e5,l={jointType:0,basis:[0,1,2],primaryAxis:null,coneAngle:-1,twist:null,limit:null,spring:!1,stiffness:0,damping:0,angularStiffness:!1};for(let[y,f]of e.axes)(f.stiffness>0||f.damping>0)&&f.stiffness>=l.stiffness&&(l.stiffness=f.stiffness,l.damping=f.damping,l.angularStiffness=y===t.ANGULAR_X||y===t.ANGULAR_Y||y===t.ANGULAR_Z);let h=[t.LINEAR_X,t.LINEAR_Y,t.LINEAR_Z],c=[t.ANGULAR_X,t.ANGULAR_Y,t.ANGULAR_Z],u=h.filter(y=>i(y)===s.LOCKED).length,m=h.filter(y=>i(y)===s.FREE).length,b=c.filter(y=>i(y)!==s.LOCKED),d=c.filter(y=>i(y)===s.FREE).length;if(i(t.LINEAR_DISTANCE)!==s.FREE){if(m===3&&d===3){let[y,f]=n(t.LINEAR_DISTANCE);return l.jointType=4,l.basis=null,l.primaryAxis=t.LINEAR_DISTANCE,l.limit=[Math.min(Math.max(0,y),r),Math.min(Math.max(0,f),r)],l.spring=l.stiffness>0&&Math.abs(f-y)<1e-6&&isFinite(y),l}this._warnOnce("sixdof-distance","SIX_DOF: LINEAR_DISTANCE combined with other constrained axes is not supported with Box3D, the distance limit is ignored.")}let g=u===3;if(!g&&u!==2&&m===0&&(this._warnOnce("sixdof-linear-limited","SIX_DOF: two or more limited linear axes are treated as locked with Box3D."),g=!0),g){if(b.length===0)return l;if(b.length===1){let f=b[0];if(l.jointType=2,l.basis=[[1,2,0],[2,0,1],[0,1,2]][c.indexOf(f)],l.primaryAxis=f,i(f)===s.LIMITED){let[S,C]=n(f);l.limit=[a(S,o),a(C,o)]}return l}if(l.jointType=1,l.basis=[1,2,0],i(t.ANGULAR_X)!==s.FREE){let[f,S]=n(t.ANGULAR_X);l.twist=[a(f,o),a(S,o)]}let y=[i(t.ANGULAR_Y),i(t.ANGULAR_Z)];if(y.some(f=>f!==s.FREE)){let f=[],S=!1;for(let P of[t.ANGULAR_Y,t.ANGULAR_Z]){if(i(P)===s.FREE)continue;let[v,T]=n(P);f.push(Math.max(Math.abs(v),Math.abs(T))),S||(S=Math.abs(v+T)>1e-4)}let C=Math.max(...f);isFinite(C)&&((y.includes(s.FREE)||Math.abs(f[0]-f[1])>1e-4||S)&&this._warnOnce("sixdof-cone","SIX_DOF: Box3D has one symmetric swing cone, ANGULAR_Y and ANGULAR_Z use the larger of their ranges."),C>Math.PI/2&&this._warnOnce("sixdof-cone-90","SIX_DOF: Box3D cone limits are at most 90 degrees, larger swing ranges are clamped."),l.coneAngle=Math.min(C,Math.PI/2))}return l}if(u===2){let y=h.find(f=>i(f)!==s.LOCKED);if(l.jointType=3,l.basis=[[0,1,2],[1,2,0],[2,0,1]][h.indexOf(y)],l.primaryAxis=y,i(y)===s.LIMITED){let[f,S]=n(y);l.limit=[a(f,r),a(S,r)]}return b.length&&this._warnOnce("sixdof-prismatic","SIX_DOF: a sliding axis with rotation is not supported with Box3D, rotation is locked."),l}return l.jointType=5,l.basis=null,(m!==3||d!==3)&&this._warnOnce("sixdof-unsupported","SIX_DOF: this combination of free and limited axes is not supported with Box3D, the bodies are left unconstrained."),l}_springToHertz(e,t,s,i,n){let a=h=>{if(h.motionType!==_.PhysicsMotionType.DYNAMIC)return 0;this._b3._bx_Body_GetMassData(h.slot);let c=this._scratch(),u=s?(c[4]+c[5]+c[6])/3:c[0];return u>0?1/u:0},o=a(i)+a(n),r=o>0?1/o:1,l=Math.max(e,0);return{hertz:Math.sqrt(l/r)/(2*Math.PI),dampingRatio:l>0?t/(2*Math.sqrt(l*r)):1}}initConstraint(e,t,s,i,n){let a=e.type,o=e.options;if(!a||!o){I.Logger.Warn("No constraint type or options. Constraint is invalid.");return}if(t._pluginDataInstances.length>0&&i===void 0||s._pluginDataInstances.length>0&&n===void 0){I.Logger.Warn("Body is instanced but no instance index was specified. Constraint will not be applied.");return}let r=!e._pluginData,l=e._pluginData??new q;switch(e._pluginData=l,l.type=a,r&&(l.collisions=!!o.collision),a){case _.PhysicsConstraintType.BALL_AND_SOCKET:l.jointType=1;break;case _.PhysicsConstraintType.HINGE:l.jointType=2;break;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:l.jointType=3;break;case _.PhysicsConstraintType.LOCK:l.jointType=0;break;case _.PhysicsConstraintType.DISTANCE:l.jointType=4;break;case _.PhysicsConstraintType.SIX_DOF:r&&this._readSixDofLimits(l,e.limits),l.plan=this._planSixDof(l),l.jointType=l.plan.jointType;break;default:I.Logger.Warn("Box3DPlugin: unknown constraint type "+a);return}let h=this._getPluginReference(t,i),c=this._getPluginReference(s,n);this._buildFrames(l,e,h,c),this._updateJointLength(l,o.maxDistance,h,c);let u=l.enabled?this._createJoint(l,h,c):0;l.joints.push(u),l.pairs.push({parent:t,parentIndex:i??0,child:s,childIndex:n??0,parentData:h,childData:c})}_updateJointLength(e,t,s,i){if(e.type===_.PhysicsConstraintType.DISTANCE)e.length=t??0;else if(e.plan?.jointType===4&&e.plan.limit)e.length=e.plan.limit[0];else return;e.length<=0&&(e.length=Math.max(.01,this._currentPivotDistance(e,s,i)))}_currentPivotDistance(e,t,s){let i=e.frames,n=this._tmpVec3[0],a=this._tmpVec3[1];this._b3._bx_Body_GetTransform(t.slot);let o=this._scratch();return this._tmpQuat[0].set(o[3],o[4],o[5],o[6]),n.set(i[0],i[1],i[2]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(o[0],o[1],o[2]),this._b3._bx_Body_GetTransform(s.slot),o=this._scratch(),this._tmpQuat[0].set(o[3],o[4],o[5],o[6]),a.set(i[7],i[8],i[9]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(o[0],o[1],o[2]),p.Vector3.Distance(n,a)}setEnabled(e,t){let s=e._pluginData;!s||s.enabled===t||(s.enabled=t,this._recreateJoints(s))}_destroyJoint(e){this._motorJoints.delete(e),this._b3._bx_DestroyJoint(e)}_recreateJoints(e){for(let t=0;t<e.pairs.length;t++){e.joints[t]&&this._destroyJoint(e.joints[t]);let s=e.pairs[t];e.joints[t]=e.enabled&&s.parentData.slot&&s.childData.slot?this._createJoint(e,s.parentData,s.childData):0}}getEnabled(e){return e._pluginData?.enabled??!1}setCollisionsEnabled(e,t){let s=e._pluginData;s.collisions=t;for(let i of s.joints)i&&this._b3._bx_Joint_SetCollideConnected(i,t?1:0)}getCollisionsEnabled(e){return e._pluginData?.collisions??!1}_primaryAxis(e){switch(e.type){case _.PhysicsConstraintType.HINGE:return _.PhysicsConstraintAxis.ANGULAR_X;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:return _.PhysicsConstraintAxis.LINEAR_X;case _.PhysicsConstraintType.DISTANCE:return _.PhysicsConstraintAxis.LINEAR_DISTANCE;case _.PhysicsConstraintType.BALL_AND_SOCKET:return _.PhysicsConstraintAxis.ANGULAR_Y;case _.PhysicsConstraintType.SIX_DOF:return e.plan?.primaryAxis??null;default:return null}}_isAngularAxis(e){return e===_.PhysicsConstraintAxis.ANGULAR_X||e===_.PhysicsConstraintAxis.ANGULAR_Y||e===_.PhysicsConstraintAxis.ANGULAR_Z}_isPrimaryAxis(e,t){return e.type===_.PhysicsConstraintType.BALL_AND_SOCKET||e.plan?.jointType===1?this._isAngularAxis(t):t===this._primaryAxis(e)}_axisState(e,t){let s=e.axes.get(t);return s||(s={mode:_.PhysicsConstraintAxisLimitMode.FREE,min:0,max:0,motor:_.PhysicsConstraintMotorType.NONE,target:0,maxForce:0,friction:0,stiffness:0,damping:0},e.axes.set(t,s)),s}_applyAxisState(e,t,s,i){let n=this._b3;if(e.plan){this._applySixDofPlan(e,t,s,i),n._bx_Joint_WakeBodies(t);return}if(this._primaryAxis(e)!==null){for(let[o,r]of e.axes){if(!this._isPrimaryAxis(e,o))continue;if(e.type===_.PhysicsConstraintType.BALL_AND_SOCKET&&o===_.PhysicsConstraintAxis.ANGULAR_X){n._bx_Joint_SetTwistLimits(t,r.mode===_.PhysicsConstraintAxisLimitMode.FREE?0:1,r.min,r.max);continue}let l=r.mode!==_.PhysicsConstraintAxisLimitMode.FREE;if(l){let h=r.mode===_.PhysicsConstraintAxisLimitMode.LOCKED?0:r.min,c=r.mode===_.PhysicsConstraintAxisLimitMode.LOCKED?0:r.max;n._bx_Joint_SetLimits(t,h,c)}n._bx_Joint_EnableLimit(t,l?1:0),e.type!==_.PhysicsConstraintType.BALL_AND_SOCKET&&this._applyMotor(t,r)}e.type===_.PhysicsConstraintType.BALL_AND_SOCKET&&this._applySphericalMotor(e,t),n._bx_Joint_WakeBodies(t)}}_applySphericalMotor(e,t){let s=this._b3,i=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_X),n=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_Y),a=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_Z),o=[i,n,a],r=m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY?m.target:0,l=o.some(m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY),h=o.some(m=>m?.motor===_.PhysicsConstraintMotorType.POSITION),c=Math.max(...o.map(m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY?m.maxForce:0));s._bx_Joint_SetSphericalMotor(t,l?1:0,r(n),r(a),r(i),c);let u=r(n)!==0||r(a)!==0||r(i)!==0;if(l&&u?this._motorJoints.add(t):this._motorJoints.delete(t),s._bx_Joint_EnableSpring(t,h?1:0),h){let m=D=>D?.motor===_.PhysicsConstraintMotorType.POSITION?D.target:0,b=this._tmpQuat[0];p.Quaternion.RotationYawPitchRollToRef(0,0,m(i),b);let d=this._tmpQuat[1];p.Quaternion.RotationYawPitchRollToRef(m(a),m(n),0,d),b.multiplyInPlace(d),s._bx_Joint_SetSpring(t,5,1),s._bx_Joint_SetSphericalTarget(t,b.x,b.y,b.z,b.w)}}_applyMotor(e,t){let s=this._b3;switch(t.motor){case _.PhysicsConstraintMotorType.VELOCITY:s._bx_Joint_EnableSpring(e,0),s._bx_Joint_EnableMotor(e,1),s._bx_Joint_SetMotorSpeed(e,t.target),s._bx_Joint_SetMaxMotorForce(e,t.maxForce);break;case _.PhysicsConstraintMotorType.POSITION:s._bx_Joint_EnableMotor(e,0),s._bx_Joint_EnableSpring(e,1),s._bx_Joint_SetSpring(e,5,1),s._bx_Joint_SetTarget(e,t.target);break;default:s._bx_Joint_EnableMotor(e,0),s._bx_Joint_EnableSpring(e,0);break}}_applySixDofPlan(e,t,s,i){let n=this._b3,a=e.plan;switch(a.jointType){case 1:a.coneAngle>=0&&n._bx_Joint_SetLimits(t,-a.coneAngle,a.coneAngle),n._bx_Joint_EnableLimit(t,a.coneAngle>=0?1:0),n._bx_Joint_SetTwistLimits(t,a.twist?1:0,a.twist?a.twist[0]:0,a.twist?a.twist[1]:0);break;case 2:case 3:a.limit&&n._bx_Joint_SetLimits(t,a.limit[0],a.limit[1]),n._bx_Joint_EnableLimit(t,a.limit?1:0);break;case 4:if(a.spring){let o=this._springToHertz(a.stiffness,a.damping,!1,s,i);n._bx_Joint_EnableLimit(t,0),n._bx_Joint_EnableSpring(t,1),n._bx_Joint_SetSpring(t,o.hertz,o.dampingRatio),n._bx_Joint_SetTarget(t,e.length)}else n._bx_Joint_SetLimits(t,a.limit[0],a.limit[1]),n._bx_Joint_EnableLimit(t,1),n._bx_Joint_EnableSpring(t,1),n._bx_Joint_SetSpring(t,0,0);break;default:break}if(a.stiffness>0&&!a.spring){this._warnOnce("sixdof-softness","SIX_DOF: limit stiffness and damping are approximated with Box3D's per joint constraint softness, which applies to every axis of the joint.");let o=this._springToHertz(a.stiffness,a.damping,a.angularStiffness,s,i);n._bx_Joint_SetConstraintTuning(t,o.hertz,o.dampingRatio)}if(a.jointType===1)this._applySphericalMotor(e,t);else if(a.primaryAxis!==null&&a.jointType!==4){let o=e.axes.get(a.primaryAxis);o&&this._applyMotor(t,o)}}_setAxis(e,t,s){let i=e._pluginData;if(!i)return;let n=this._axisState(i,t),a={motor:n.motor,target:n.target,maxForce:n.maxForce};if(s(n),i.plan){let o=this._planSixDof(i),r=o.jointType!==i.plan.jointType||String(o.basis)!==String(i.plan.basis);i.plan=o,i.jointType=o.jointType,(a.motor!==n.motor||a.target!==n.target||a.maxForce!==n.maxForce)&&n.motor!==_.PhysicsConstraintMotorType.NONE&&!this._isPrimaryAxis(i,t)&&this._warnOnce(`axis-motor-${t}`,`SIX_DOF: a motor on axis ${t} has no effect with the Box3D joint this constraint maps to.`);let h=i.pairs[0];if(h&&this._updateJointLength(i,e.options.maxDistance,h.parentData,h.childData),r){h&&this._buildFrames(i,e,h.parentData,h.childData),this._recreateJoints(i);return}}else if(!this._isPrimaryAxis(i,t)){this._warnOnce(`axis-${i.type}-${t}`,`axis ${t} is not configurable on constraint type ${i.type} with Box3D; the value is stored but has no effect.`);return}for(let o=0;o<i.joints.length;o++)i.joints[o]&&this._applyAxisState(i,i.joints[o],i.pairs[o].parentData,i.pairs[o].childData)}setAxisFriction(e,t,s){let i=e._pluginData;i&&(this._axisState(i,t).friction=s)}getAxisFriction(e,t){return e._pluginData?.axes.get(t)?.friction??null}setAxisMode(e,t,s){this._setAxis(e,t,i=>i.mode=s)}getAxisMode(e,t){return e._pluginData?.axes.get(t)?.mode??null}setAxisMinLimit(e,t,s){this._setAxis(e,t,i=>{i.min=s,i.mode===_.PhysicsConstraintAxisLimitMode.FREE&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED)})}getAxisMinLimit(e,t){return e._pluginData?.axes.get(t)?.min??null}setAxisMaxLimit(e,t,s){this._setAxis(e,t,i=>{i.max=s,i.mode===_.PhysicsConstraintAxisLimitMode.FREE&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED)})}getAxisMaxLimit(e,t){return e._pluginData?.axes.get(t)?.max??null}setAxisMotorType(e,t,s){this._setAxis(e,t,i=>i.motor=s)}getAxisMotorType(e,t){return e._pluginData?.axes.get(t)?.motor??null}setAxisMotorTarget(e,t,s){this._setAxis(e,t,i=>i.target=s)}getAxisMotorTarget(e,t){return e._pluginData?.axes.get(t)?.target??null}setAxisMotorMaxForce(e,t,s){this._setAxis(e,t,i=>i.maxForce=s)}getAxisMotorMaxForce(e,t){return e._pluginData?.axes.get(t)?.maxForce??null}disposeConstraint(e){let t=e._pluginData;if(t){for(let s of t.joints)s&&this._destroyJoint(s);t.joints.length=0,t.pairs.length=0}}getBodiesUsingConstraint(e){let t=e._pluginData;return t?t.pairs.map(s=>({parentBody:s.parent,parentBodyIndex:s.parentIndex,childBody:s.child,childBodyIndex:s.childIndex})):[]}addConstraint(e,t,s,i,n){this.initConstraint(s,e,t,i,n)}explode(e,t,s,i=0){this._b3._bx_World_Explode(this._worldSlot,e.x,e.y,e.z,t,i,s)}setShapeFilterGroup(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetGroup(s.slot,t|0),this._syncShapeUsers(s,1)}setShapeRollingResistance(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetRollingResistance(s.slot,t),this._syncShapeUsers(s,2)}setAllowFastRotation(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_AllowFastRotation(i.slot,t?1:0),s)}createWheelJoint(e,t,s){let i=this._scratch(),n=(s.axisA??p.Vector3.UpReadOnly).normalizeToNew(),a=(s.axleA??p.Vector3.Forward()).normalizeToNew();a.subtractInPlace(n.scale(p.Vector3.Dot(n,a))).normalize(),this._frameToBuffer(i,0,s.pivotA,n,p.Vector3.Cross(a,n),a);let o=s.pivotB??p.Vector3.ZeroReadOnly;i[7]=o.x,i[8]=o.y,i[9]=o.z;let r=this._getPluginReference(e),l=this._getPluginReference(t);this._b3._bx_ComputeAlignedFrameB(r.slot,l.slot);let h=s.suspensionLimits??[-.2,.2],c=s.steeringLimits??[-Math.PI/4,Math.PI/4];i.set([1,s.suspensionHertz??4,s.suspensionDampingRatio??.7,1,h[0],h[1],s.enableSpinMotor?1:0,s.maxSpinTorque??5,0,s.enableSteering?1:0,s.steeringHertz??10,s.steeringDampingRatio??.7,0,s.maxSteeringTorque??5,1,c[0],c[1]],14);let u=this._b3._bx_CreateJoint(this._worldSlot,6,r.slot,l.slot,0,0);if(!u)throw new Error("Box3DPlugin: wheel joint creation failed");return new w(this,u)}createParallelJoint(e,t,s,i,n=1,a=1,o=34e37){let r=this._scratch(),l=s.normalizeToNew(),h=l.getNormalToRef(new p.Vector3);this._frameToBuffer(r,0,p.Vector3.ZeroReadOnly,h,p.Vector3.Cross(l,h),l);let c=i.normalizeToNew(),u=c.getNormalToRef(new p.Vector3);return this._frameToBuffer(r,7,p.Vector3.ZeroReadOnly,u,p.Vector3.Cross(c,u),c),r.set([n,a,o],14),this._b3._bx_CreateJoint(this._worldSlot,7,this._getPluginReference(e).slot,this._getPluginReference(t).slot,1,0)}disposeExtraJoint(e){this._destroyExtraJoint(e)}_destroyExtraJoint(e){e&&this._destroyJoint(e)}_wheelCall(e,t,...s){t&&this._b3[e](t,...s)}raycast(e,t,s,i){let n=Array.isArray(s)?s:[s];for(let b of n)b.reset(e,t);let a=(i?.membership??-1)>>>0,o=(i?.collideWith??-1)>>>0,r=i?.ignoreBody?i.ignoreBody._pluginData?.slot??0:0,l=n.length===1,h=this._b3._bx_World_CastRay(this._worldSlot,e.x,e.y,e.z,t.x-e.x,t.y-e.y,t.z-e.z,a,o,r,i?.shouldHitTriggers?1:0,l?1:0);if(h<=0)return;let c=new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_RayHitsPtr(),h*G),u=[];for(let b=0;b<h;b++)u.push(b);if(u.sort((b,d)=>c[b*G+6]-c[d*G+6]),!n.length)for(let b=0;b<h;b++){let d=new Ce.PhysicsRaycastResult;d.reset(e,t),n.push(d)}let m=Math.min(h,n.length);for(let b=0;b<m;b++){let d=u[b]*G,D=n[b],g=this._bodies[c[d+7]];D.body=g?.body,D.bodyIndex=g?.index,D.shape=g?.body.shape??void 0,D.setHitData({x:c[d+3],y:c[d+4],z:c[d+5]},{x:c[d],y:c[d+1],z:c[d+2]},c[d+9]),D.calculateHitDistance()}}_readEvents(e,t,s,i){let n=new Float32Array(this._b3.HEAPF32.buffer,e,t*s).slice(),a=new Array(t*2);for(let o=0;o<t;o++)a[o*2]=this._bodies[n[o*s+i]],a[o*2+1]=this._bodies[n[o*s+i+1]];return{records:n,refs:a}}_notifyCollisions(){let e=this._b3._bx_World_GetContactEvents(this._worldSlot);if(!e)return;let{records:t,refs:s}=this._readEvents(this._b3._bx_ContactEventsPtr(),e,Be,3);for(let i=0;i<e;i++){let n=i*Be,a=t[n],o=s[i*2],r=s[i*2+1];if(!o||!r||!o.data.slot||!r.data.slot)continue;let l=a===0?1:a===1?4:2;if(((o.data.eventMask|r.data.eventMask)&l)===0)continue;if(a===1){let b={collider:o.body,colliderIndex:o.index,collidedAgainst:r.body,collidedAgainstIndex:r.index,type:_.PhysicsEventType.COLLISION_FINISHED};this.onCollisionEndedObservable.notifyObservers(b),this._bodyCollisionEndedObservable.get(o.data.slot)?.notifyObservers(b);let d=this._bodyCollisionEndedObservable.get(r.data.slot);d&&d.notifyObservers({...b,collider:r.body,colliderIndex:r.index,collidedAgainst:o.body,collidedAgainstIndex:o.index});continue}let h=a===0?_.PhysicsEventType.COLLISION_STARTED:_.PhysicsEventType.COLLISION_CONTINUED,c=new p.Vector3(t[n+5],t[n+6],t[n+7]),u=new p.Vector3(t[n+8],t[n+9],t[n+10]),m={collider:o.body,colliderIndex:o.index,collidedAgainst:r.body,collidedAgainstIndex:r.index,type:h,point:c,normal:u,distance:0,impulse:t[n+11]};if(this.onCollisionObservable.notifyObservers(m),this._bodyCollisionObservable.size){this._bodyCollisionObservable.get(o.data.slot)?.notifyObservers(m);let b=this._bodyCollisionObservable.get(r.data.slot);b&&b.notifyObservers({...m,collider:r.body,colliderIndex:r.index,collidedAgainst:o.body,collidedAgainstIndex:o.index,normal:u?u.negate():null})}}}_notifyTriggers(){let e=this._b3._bx_World_GetSensorEvents(this._worldSlot);if(!e||!this.onTriggerCollisionObservable.hasObservers())return;let{records:t,refs:s}=this._readEvents(this._b3._bx_SensorEventsPtr(),e,Ae,3);for(let i=0;i<e;i++){let n=i*Ae,a=s[i*2],o=s[i*2+1];!a||!o||!a.data.slot||!o.data.slot||this.onTriggerCollisionObservable.notifyObservers({collider:a.body,colliderIndex:a.index,collidedAgainst:o.body,collidedAgainstIndex:o.index,type:t[n]===0?_.PhysicsEventType.TRIGGER_ENTERED:_.PhysicsEventType.TRIGGER_EXITED})}}dispose(){this._motorJoints.clear(),this.onCollisionObservable.clear(),this.onCollisionEndedObservable.clear(),this.onTriggerCollisionObservable.clear(),this._bodyCollisionObservable.clear(),this._bodyCollisionEndedObservable.clear();for(let e of this._shapes)e&&this._b3._bx_ShapeDesc_Destroy(e.slot);this._shapes.length=0,this._bodies.length=0,this._worldSlot&&(this._b3._bx_DestroyWorld(this._worldSlot),this._worldSlot=0)}};ee();function V(){if(typeof SharedArrayBuffer>"u")return!1;let x=globalThis.crossOriginIsolated;return x===void 0||x}async function Me(x={}){let{threads:e=!1,...t}=x;if(e==="auto"?V():e){if(e===!0&&!V())throw new Error('babylon-box3d: the threaded build needs SharedArrayBuffer, 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+/* babylon-box3d 0.6.0 | MIT | https://github.com/Pryme8/babylon-box3d */
+"use strict";var BABYLONBOX3D=(()=>{var Re=Object.create;var z=Object.defineProperty;var Ne=Object.getOwnPropertyDescriptor;var Fe=Object.getOwnPropertyNames;var ke=Object.getPrototypeOf,ze=Object.prototype.hasOwnProperty;var ie=(x,e)=>()=>(x&&(e=x(x=0)),e);var B=(x,e)=>()=>(e||x((e={exports:{}}).exports,e),e.exports),W=(x,e)=>{for(var t in e)z(x,t,{get:e[t],enumerable:!0})},oe=(x,e,t,s)=>{if(e&&typeof e=="object"||typeof e=="function")for(let i of Fe(e))!ze.call(x,i)&&i!==t&&z(x,i,{get:()=>e[i],enumerable:!(s=Ne(e,i))||s.enumerable});return x};var A=(x,e,t)=>(t=x!=null?Re(ke(x)):{},oe(e||!x||!x.__esModule?z(t,"default",{value:x,enumerable:!0}):t,x)),Ge=x=>oe(z({},"__esModule",{value:!0}),x);var ae=B((Qe,ne)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ne.exports=BABYLON});var le=B((Xe,re)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");re.exports=BABYLON});var _e=B((qe,ce)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ce.exports=BABYLON});var pe=B((Ze,he)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");he.exports=BABYLON});var be=B(($e,de)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");de.exports=BABYLON});var ye=B((Ke,ue)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");ue.exports=BABYLON});var me=B((et,xe)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");xe.exports=BABYLON});var ge=B((tt,fe)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");fe.exports=BABYLON});var Se=B((st,De)=>{if(typeof BABYLON>"u")throw new Error("babylon.box3d.js needs babylon.js loaded first");De.exports=BABYLON});var ve={};W(ve,{default:()=>K});var K,ee=ie(()=>{if(typeof Box3D>"u")throw new Error("babylon.box3d.js needs lib/umd/box3d.umd.js loaded first");K=Box3D});var Te={};W(Te,{default:()=>He});function He(){throw new Error('babylon.box3d.js is the script tag build and has no threaded module. Install the package and import it, or use LoadBox3D({ threads: "auto" }).')}var Ie=ie(()=>{});var Ye={};W(Ye,{BOX3D_HEIGHT_FIELD_HOLE:()=>Pe,Box3D:()=>K,Box3DPlugin:()=>J,Box3DWheelJoint:()=>w,CanUseBox3DThreads:()=>V,LoadBox3D:()=>Me});var p=A(ae(),1),_=A(le(),1),Ce=A(_e(),1),I=A(pe(),1),H=A(be(),1),Y=A(ye(),1),j=A(me(),1),$=A(ge(),1),M=A(Se(),1),Pe=255,Q=class{constructor(e){this.slot=e;this.userMassProps={};this.angularLocks=0;this.eventMask=0;this.motionType=_.PhysicsMotionType.STATIC;this.activation=_.PhysicsActivationControl.SIMULATION_CONTROLLED}},X=class{constructor(e,t){this.slot=e;this.type=t;this.material={};this.users=new Set;this.children=[];this.parents=new Set}},q=class{constructor(){this.joints=[];this.pairs=[];this.type=_.PhysicsConstraintType.LOCK;this.jointType=0;this.enabled=!0;this.collisions=!1;this.frames=new Float32Array(14);this.length=0;this.axes=new Map;this.plan=null}};var w=class{constructor(e,t){this._plugin=e;this._slot=t}setSpinSpeed(e){this._plugin._wheelCall("_bx_WheelJoint_SetSpinMotorSpeed",this._slot,e)}setMaxSpinTorque(e){this._plugin._wheelCall("_bx_WheelJoint_SetMaxSpinTorque",this._slot,e)}enableSpinMotor(e){this._plugin._wheelCall("_bx_WheelJoint_EnableSpinMotor",this._slot,e?1:0)}setSteeringAngle(e){this._plugin._wheelCall("_bx_WheelJoint_SetTargetSteeringAngle",this._slot,e)}setSuspension(e,t){this._plugin._wheelCall("_bx_WheelJoint_SetSuspension",this._slot,e,t)}dispose(){this._plugin._destroyExtraJoint(this._slot),this._slot=0}};var Je=1e5;function Ve(x,e,t){let s=[[x[0],x[3],x[4]],[x[3],x[1],x[5]],[x[4],x[5],x[2]]];t.set(0,0,0,1),e.set(x[0],x[1],x[2]);let i=[0,0,0,1];for(let n=0;n<24;n++){let[a,o,r,l]=i,h=[[1-2*(o*o+r*r),2*(a*o-r*l),2*(a*r+o*l)],[2*(a*o+r*l),1-2*(a*a+r*r),2*(o*r-a*l)],[2*(a*r-o*l),2*(o*r+a*l),1-2*(a*a+o*o)]],c=[0,1,2].map(E=>[0,1,2].map(we=>[0,1,2].reduce((Le,te)=>Le+h[te][E]*[0,1,2].reduce((Oe,se)=>Oe+s[te][se]*h[se][we],0),0)));e.set(c[0][0],c[1][1],c[2][2]),t.set(i[0],i[1],i[2],i[3]);let u=[Math.abs(c[1][2]),Math.abs(c[0][2]),Math.abs(c[0][1])],m=u.indexOf(Math.max(...u)),b=(m+1)%3,d=(m+2)%3,D=c[b][d],g=Math.abs(c[0][0])+Math.abs(c[1][1])+Math.abs(c[2][2])+1e-30;if(Math.abs(D)<=1e-9*g)return;let y=(c[d][d]-c[b][b])/(2*D),f=y>0?1:-1;y*=f;let S=f/(y+(y<1e6?Math.sqrt(y*y+1):y)),C=1/Math.sqrt(S*S+1);if(C===1)return;let P=[0,0,0,0];P[m]=-f*Math.sqrt((1-C)/2),P[3]=Math.sqrt(1-P[m]*P[m]);let[v,T,L,O]=i,[R,N,F,k]=P;i[0]=O*R+v*k+T*F-L*N,i[1]=O*N-v*F+T*k+L*R,i[2]=O*F+v*N-T*R+L*k,i[3]=O*k-v*R-T*N-L*F;let Ee=Math.hypot(i[0],i[1],i[2],i[3])||1;for(let E=0;E<4;E++)i[E]/=Ee}}function We(x,e){let{x:t,y:s,z:i,w:n}=e,a=[[1-2*(s*s+i*i),2*(t*s-i*n),2*(t*i+s*n)],[2*(t*s+i*n),1-2*(t*t+i*i),2*(s*i-t*n)],[2*(t*i-s*n),2*(s*i+t*n),1-2*(t*t+s*s)]],o=(r,l)=>a[r][0]*x[0]*a[l][0]+a[r][1]*x[1]*a[l][1]+a[r][2]*x[2]*a[l][2];return[o(0,0),o(1,1),o(2,2),o(0,1),o(0,2),o(1,2)]}var U=9,Be=14,Ae=5,G=11,Z=class{constructor(e,t){this._collectIndices=e;this._flipWinding=t;this._vertices=[];this._indices=[]}addNodeMeshes(e,t){e.computeWorldMatrix(!0);let s=p.TmpVectors.Matrix[0];if(p.Matrix.ScalingToRef(e.absoluteScaling.x,e.absoluteScaling.y,e.absoluteScaling.z,s),e instanceof Y.Mesh?this._addMesh(e,s):e instanceof j.InstancedMesh&&this._addMesh(e.sourceMesh,s),t){let i=p.TmpVectors.Matrix[1];e.computeWorldMatrix().invertToRef(i);let n=p.TmpVectors.Matrix[2];i.multiplyToRef(s,n);let a=e.getChildMeshes(!1).filter(o=>!o.physicsBody);for(let o of a){let r=o.computeWorldMatrix(),l=p.TmpVectors.Matrix[3];r.multiplyToRef(n,l),o instanceof Y.Mesh?this._addMesh(o,l):o instanceof j.InstancedMesh&&this._addMesh(o.sourceMesh,l)}}}_addMesh(e,t){let s=e.getVerticesData($.VertexBuffer.PositionKind)||[],i=s.length/3,n=this._vertices.length/3,a=p.TmpVectors.Vector3[0];for(let o=0;o<i;o++)a.set(s[o*3+0],s[o*3+1],s[o*3+2]),p.Vector3.TransformCoordinatesToRef(a,t,a),this._vertices.push(a.x,a.y,a.z);if(this._collectIndices){let o=e.getIndices();if(o)for(let r=0;r<o.length;r+=3)this._flipWinding?this._indices.push(o[r+2]+n,o[r+1]+n,o[r+0]+n):this._indices.push(o[r+0]+n,o[r+1]+n,o[r+2]+n)}}get vertexCount(){return this._vertices.length/3}get triangleCount(){return this._indices.length/3}get vertices(){return this._vertices}get indices(){return this._indices}},Ue=["_bx_Body_AllowFastRotation","_bx_Body_ApplyAngularImpulse","_bx_Body_ApplyForce","_bx_Body_ApplyLinearImpulse","_bx_Body_ApplyMassFromShapes","_bx_Body_ApplyTorque","_bx_Body_ComputeShapeMassData","_bx_Body_EnableSleep","_bx_Body_GetAABB","_bx_Body_GetAngularDamping","_bx_Body_GetAngularVelocity","_bx_Body_GetGravityScale","_bx_Body_GetLinearDamping","_bx_Body_GetLinearVelocity","_bx_Body_GetMassData","_bx_Body_GetTransform","_bx_Body_SetAngularDamping","_bx_Body_SetAngularVelocity","_bx_Body_SetAwake","_bx_Body_SetEventFlags","_bx_Body_SetGravityScale","_bx_Body_SetLinearDamping","_bx_Body_SetLinearVelocity","_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_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","_bx_SensorEventsPtr","_bx_ShapeDesc_AddChild","_bx_ShapeDesc_BuildDebugGeometry","_bx_ShapeDesc_CreateBox","_bx_ShapeDesc_CreateCapsule","_bx_ShapeDesc_CreateContainer","_bx_ShapeDesc_CreateCylinder","_bx_ShapeDesc_CreateHeightField","_bx_ShapeDesc_CreateHull","_bx_ShapeDesc_CreateMesh","_bx_ShapeDesc_CreateSphere","_bx_ShapeDesc_Destroy","_bx_ShapeDesc_GetAABB","_bx_ShapeDesc_GetCategoryBits","_bx_ShapeDesc_GetChildCount","_bx_ShapeDesc_GetDensity","_bx_ShapeDesc_GetFriction","_bx_ShapeDesc_GetMaskBits","_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_GetWorkerCount","_bx_World_SetGravity","_bx_World_SetMaximumLinearSpeed","_bx_World_Step"],J=class{constructor(e=!0,t,s){this._useDeltaForWorldStep=e;this.name="Box3DPlugin";this.subStepCount=4;this.workerCount=1;this.lastStepTimeMs=0;this._worldSlot=0;this._fixedTimeStep=1/60;this._timeStep=1/60;this._maxAngularVelocity=4*Math.PI*10;this._bodies=[];this._shapes=[];this._bodyCollisionObservable=new Map;this._bodyCollisionEndedObservable=new Map;this._touchedInstanceMeshes=new Set;this._motorJoints=new Set;this._tmpVec3=[new p.Vector3,new p.Vector3,new p.Vector3,new p.Vector3];this._tmpQuat=[new p.Quaternion,new p.Quaternion,new p.Quaternion];this._warned=new Set;this._rejectedSlots=0;this.onCollisionObservable=new M.Observable;this.onCollisionEndedObservable=new M.Observable;this.onTriggerCollisionObservable=new M.Observable;if(!t)throw new Error("Box3D module is required: pass the awaited result of the Box3D module factory.");let i=Ue.filter(n=>typeof t[n]!="function");if(i.length>0)throw new Error(`Box3DPlugin: the Box3D module is missing ${i.length} entry point${i.length===1?"":"s"} this build needs (${i.slice(0,3).join(", ")}${i.length>3?", ...":""}). box3d.js and box3d.wasm have to come from the same build of this package: check what locateFile points at and clear any copied or cached box3d.wasm.`);if(this._b3=t,this.world=t,s?.subStepCount!==void 0&&(this.subStepCount=Math.max(1,Math.round(s.subStepCount))),this._worldSlot=this._b3._bx_CreateWorld(0,-9.81,0,this._resolveWorkerCount(s?.workerCount)),!this._worldSlot)throw new Error("Box3D: could not create a world (max worlds reached?)");this.workerCount=Math.max(1,this._b3._bx_World_GetWorkerCount(this._worldSlot))}_resolveWorkerCount(e){let t=Math.max(1,this._b3._bx_GetMaxWorkers());if(e===void 0)return 1;let s;if(e==="auto"){let i=typeof navigator<"u"&&navigator.hardwareConcurrency||4;s=Math.max(1,Math.floor(i/2))}else s=Math.max(1,Math.round(e));return s>1&&t===1&&this._warnOnce("single-threaded-module",`${s} 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.`),Math.min(s,t)}_scratch(){return new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_Scratch(),64)}_warnOnce(e,t){this._warned.has(e)||(this._warned.add(e),I.Logger.Warn(`Box3DPlugin: ${t}`))}_getPluginReference(e,t){return e._pluginDataInstances?.length?e._pluginDataInstances[t??0]:e._pluginData}_applyToBodyOrInstances(e,t,s){if(e._pluginDataInstances?.length>0&&s===void 0)for(let i of e._pluginDataInstances)t(i);else t(this._getPluginReference(e,s))}_motionTypeToNative(e){switch(e){case _.PhysicsMotionType.STATIC:return 0;case _.PhysicsMotionType.ANIMATED:return 1;default:return 2}}_nodeTransformToRef(e,t,s){if(e.parent){e.computeWorldMatrix(!0),t.copyFrom(e.absolutePosition),s.copyFrom(e.absoluteRotationQuaternion);return}t.copyFrom(e.position),e.rotationQuaternion?s.copyFrom(e.rotationQuaternion):p.Quaternion.FromEulerAnglesToRef(e.rotation.x,e.rotation.y,e.rotation.z,s)}setGravity(e){this._b3._bx_World_SetGravity(this._worldSlot,e.x,e.y,e.z)}setTimeStep(e){this._fixedTimeStep=e}getTimeStep(){return this._fixedTimeStep}executeStep(e,t){for(let o of t)o.disablePreStep||this.setPhysicsBodyTransformation(o,o.transformNode);for(let o of this._motorJoints)this._b3._bx_Joint_IsValid(o)?this._b3._bx_Joint_UpdateMotorFrame(o):this._motorJoints.delete(o);let s=this._useDeltaForWorldStep?e:this._fixedTimeStep;this._timeStep=s;let i=performance.now();this._b3._bx_World_Step(this._worldSlot,s,this.subStepCount);let n=this._b3._bx_World_GetMoveEvents(this._worldSlot);if(n>0){let o=this._b3._bx_MoveEventsPtr(),r=new Float32Array(this._b3.HEAPF32.buffer,o,n*U);for(let l=0;l<n;l++){r.buffer!==this._b3.HEAPF32.buffer&&(r=new Float32Array(this._b3.HEAPF32.buffer,o,n*U));let h=l*U,c=this._bodies[r[h]];!c||c.body.disableSync||this._syncBodyFromBuffer(c.body,c.index,r,h+1)}for(let l of this._touchedInstanceMeshes)l.thinInstanceBufferUpdated("matrix");this._touchedInstanceMeshes.clear()}this._notifyCollisions(),this._notifyTriggers(),this.lastStepTimeMs=performance.now()-i;let a=this._b3._bx_GetRejectedSlotCount();a>this._rejectedSlots&&(this._rejectedSlots=a,this._warnOnce("rejected-slots",`the native module did not recognize ${a} of the handles it was given, and those calls did nothing. Something is using a body, shape or joint after it was destroyed, or box3d.js and box3d.wasm are from different builds.`))}getPluginVersion(){return 2}setVelocityLimits(e,t){this._b3._bx_World_SetMaximumLinearSpeed(this._worldSlot,e),this._maxAngularVelocity=t}getMaxLinearVelocity(){return this._b3._bx_World_GetMaximumLinearSpeed(this._worldSlot)}getMaxAngularVelocity(){return this._maxAngularVelocity}getStats(){this._b3._bx_World_GetStats(this._worldSlot);let e=this._scratch();return{bodies:e[0],shapes:e[1],contacts:e[2],joints:e[3],islands:e[4],stepMs:e[5],collideMs:e[6],solveMs:e[7]}}setSleepingEnabled(e){this._b3._bx_World_EnableSleeping(this._worldSlot,e?1:0)}setContinuousEnabled(e){this._b3._bx_World_EnableContinuous(this._worldSlot,e?1:0)}_createNativeBody(e,t,s,i){let n=this._b3._bx_CreateBody(this._worldSlot,this._motionTypeToNative(e),t.x,t.y,t.z,s.x,s.y,s.z,s.w,i?0:1),a=new Q(n);return a.motionType=e,a}initBody(e,t,s,i){let n=this._createNativeBody(t,s,i,e.startAsleep);e._pluginData=n,this._bodies[n.slot]={body:e,index:0,data:n}}initBodyInstances(e,t,s){let i=s._thinInstanceDataStorage?.instancesCount??0,n=s._thinInstanceDataStorage?.matrixData;if(!n)return;let a=e.shape?._pluginData;i>8&&a&&this._bakesMeshCopies(a)&&this._warnOnce("instanced-mesh-child","a mesh inside a container has no local transform in Box3D, so every instance gets its own baked copy of the mesh data; put the mesh on the body directly, or bake the offset into the mesh, to share it."),this._createOrUpdateBodyInstances(e,t,n,0,i,!1)}_createOrUpdateBodyInstances(e,t,s,i,n,a){let o=p.TmpVectors.Quaternion[0],r=p.TmpVectors.Matrix[0],l=p.TmpVectors.Vector3[0];for(let h=i;h<n;h++)if(l.set(s[h*16+12],s[h*16+13],s[h*16+14]),p.Matrix.FromArrayToRef(s,h*16,r),r.decompose(void 0,o,void 0),a){let c=e._pluginDataInstances[h];this._b3._bx_Body_SetTransform(c.slot,l.x,l.y,l.z,o.x,o.y,o.z,o.w)}else{let c=this._createNativeBody(t,l,o,e.startAsleep),u=e._pluginDataInstances[0];u&&(c.userMassProps=u.userMassProps,c.eventMask=u.eventMask,this._applyEventFlags(c),u.activation!==_.PhysicsActivationControl.SIMULATION_CONTROLLED&&(c.activation=u.activation,this._applyNativeMotionType(c),this._b3._bx_Body_EnableSleep(c.slot,u.activation===_.PhysicsActivationControl.ALWAYS_ACTIVE?0:1))),e._pluginDataInstances.push(c),this._bodies[c.slot]={body:e,index:h,data:c}}}updateBodyInstances(e,t){let s=t._thinInstanceDataStorage?.instancesCount??0,i=t._thinInstanceDataStorage?.matrixData;if(!i)return;let n=e._pluginDataInstances.length,a=this.getMotionType(e);if(s>n){this._createOrUpdateBodyInstances(e,a,i,n,s,!1);let o=e.shape;if(o&&o._pluginData)for(let r=n;r<s;r++)this._setBodyShape(e._pluginDataInstances[r],o._pluginData)}else if(s<n){let o=n-s;for(let r=0;r<o;r++){let l=e._pluginDataInstances.pop();this._destroyBodyData(l)}this._createOrUpdateBodyInstances(e,a,i,0,s,!0)}}_destroyBodyData(e){if(e){for(let t of this._shapes)t?.users.delete(e);this._bodyCollisionObservable.delete(e.slot),this._bodyCollisionEndedObservable.delete(e.slot),this._bodies[e.slot]=void 0,this._b3._bx_DestroyBody(e.slot),e.slot=0}}removeBody(e){if(e._pluginDataInstances?.length)for(let t of e._pluginDataInstances)this._destroyBodyData(t);e._pluginData&&this._destroyBodyData(e._pluginData)}sync(e){this.syncTransform(e,e.transformNode)}_syncBodyFromBuffer(e,t,s,i){let n=e.transformNode;if(e._pluginDataInstances.length){let a=n,o=a._thinInstanceDataStorage?.matrixData;if(!o)return;let r=this._tmpVec3[0],l=t*16;r.set(Math.hypot(o[l],o[l+1],o[l+2]),Math.hypot(o[l+4],o[l+5],o[l+6]),Math.hypot(o[l+8],o[l+9],o[l+10]));let h=this._tmpQuat[0];h.set(s[i+3],s[i+4],s[i+5],s[i+6]);let c=this._tmpVec3[1];c.set(s[i],s[i+1],s[i+2]);let u=p.TmpVectors.Matrix[0];p.Matrix.ComposeToRef(r,h,c,u),u.copyToArray(o,l),this._touchedInstanceMeshes.add(a);return}this._applyTransformToNode(n,s[i],s[i+1],s[i+2],s[i+3],s[i+4],s[i+5],s[i+6])}_applyTransformToNode(e,t,s,i,n,a,o,r){let l=this._tmpQuat[0];l.set(n,a,o,r);let h=e.parent;if(h&&!h.getWorldMatrix().isIdentity()){h.computeWorldMatrix(!0);let c=this._tmpVec3[2];c.copyFrom(e.scaling);let u=p.TmpVectors.Matrix[0],m=this._tmpVec3[3];m.set(t,s,i),p.Matrix.ComposeToRef(e.absoluteScaling,l,m,u);let b=p.TmpVectors.Matrix[1];h.getWorldMatrix().invertToRef(b);let d=p.TmpVectors.Matrix[2];u.multiplyToRef(b,d),d.decomposeToTransformNode(e),e.rotationQuaternion?.normalize(),e.scaling.copyFrom(c)}else e.position.set(t,s,i),e.rotationQuaternion?e.rotationQuaternion.copyFrom(l):l.toEulerAnglesToRef(e.rotation)}syncTransform(e,t){if(e._pluginDataInstances.length){let n=t;if(!n._thinInstanceDataStorage?.matrixData)return;for(let o=0;o<e._pluginDataInstances.length;o++){let r=e._pluginDataInstances[o];this._b3._bx_Body_GetTransform(r.slot),this._syncBodyFromBuffer(e,o,this._scratch(),0)}n.thinInstanceBufferUpdated("matrix"),this._touchedInstanceMeshes.delete(n);return}let s=e._pluginData;if(!s||!s.slot)return;this._b3._bx_Body_GetTransform(s.slot);let i=this._scratch();this._applyTransformToNode(t,i[0],i[1],i[2],i[3],i[4],i[5],i[6])}setPhysicsBodyTransformation(e,t){let s=e.getPrestepType();if(s==_.PhysicsPrestepType.TELEPORT){if(e._pluginDataInstances.length>0){let r=t._thinInstanceDataStorage?.matrixData;if(!r)return;this._createOrUpdateBodyInstances(e,e.getMotionType(),r,0,e._pluginDataInstances.length,!0);return}let i=e._pluginData,n=this._tmpVec3[0],a=this._tmpQuat[0];this._nodeTransformToRef(t,n,a),this._b3._bx_Body_SetTransform(i.slot,n.x,n.y,n.z,a.x,a.y,a.z,a.w)}else s==_.PhysicsPrestepType.ACTION?this.setTargetTransform(e,t.absolutePosition,t.absoluteRotationQuaternion):s==_.PhysicsPrestepType.DISABLED&&I.Logger.Warn("Prestep type is set to DISABLED. Unable to set physics body transformation.")}setTargetTransform(e,t,s,i){this._applyToBodyOrInstances(e,n=>{this._b3._bx_Body_SetTargetTransform(n.slot,t.x,t.y,t.z,s.x,s.y,s.z,s.w,this._timeStep)},i)}_bakesMeshCopies(e,t=new Set){return t.has(e)?!1:(t.add(e),e.children.some(s=>s.type===_.PhysicsShapeType.MESH||this._bakesMeshCopies(s,t)))}_setBodyShape(e,t){for(let s of this._shapes)s?.users.delete(e);this._b3._bx_Body_SetShape(e.slot,t?t.slot:0),t&&t.users.add(e),this._applyEventFlags(e),this._internalUpdateMassProperties(e)}setShape(e,t){let s=t&&t._pluginData?t._pluginData:null;this._applyToBodyOrInstances(e,i=>this._setBodyShape(i,s))}getShape(e){return e.shape??null}getShapeType(e){return e.type??e._pluginData?.type??_.PhysicsShapeType.CONTAINER}_applyEventFlags(e){let t=e.eventMask&5?1:0,s=e.eventMask&2?1:0;this._b3._bx_Body_SetEventFlags(e.slot,t,s)}setEventMask(e,t,s){this._applyToBodyOrInstances(e,i=>{i.eventMask=t,this._applyEventFlags(i)},s)}getEventMask(e,t){return this._getPluginReference(e,t).eventMask}setMotionType(e,t,s){this._applyToBodyOrInstances(e,i=>{i.motionType=t,this._applyNativeMotionType(i),this._internalUpdateMassProperties(i)},s)}_applyNativeMotionType(e){let t=e.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE?0:this._motionTypeToNative(e.motionType);this._b3._bx_Body_SetType(e.slot,t)}setActivationControl(e,t,s){this._applyToBodyOrInstances(e,i=>{if(i.activation===t)return;let n=i.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE;if(i.activation=t,t===_.PhysicsActivationControl.ALWAYS_INACTIVE){this._b3._bx_Body_SetLinearVelocity(i.slot,0,0,0),this._b3._bx_Body_SetAngularVelocity(i.slot,0,0,0),this._applyNativeMotionType(i);return}this._applyNativeMotionType(i),this._internalUpdateMassProperties(i),this._b3._bx_Body_EnableSleep(i.slot,t===_.PhysicsActivationControl.ALWAYS_ACTIVE?0:1),n&&t===_.PhysicsActivationControl.SIMULATION_CONTROLLED&&this._b3._bx_Body_SetAwake(i.slot,0)},s)}getMotionType(e,t){return this._getPluginReference(e,t).motionType}_readMassData(e){e.motionType===_.PhysicsMotionType.DYNAMIC&&e.activation!==_.PhysicsActivationControl.ALWAYS_INACTIVE?this._b3._bx_Body_GetMassData(e.slot):this._b3._bx_Body_ComputeShapeMassData(e.slot);let t=this._scratch(),s=t[0],i=new p.Vector3,n=new p.Quaternion;return Ve([t[4],t[5],t[6],t[7],t[8],t[9]],i,n),s>0&&i.scaleInPlace(1/s),{mass:s,centerOfMass:new p.Vector3(t[1],t[2],t[3]),inertia:i,inertiaOrientation:n}}_resolveMassProperties(e){let t=this._readMassData(e),s=e.userMassProps??{};return{mass:s.mass!==void 0&&s.mass>0?s.mass:t.mass,centerOfMass:s.centerOfMass??t.centerOfMass,inertia:s.inertia??t.inertia,inertiaOrientation:s.inertiaOrientation??(s.inertia?p.Quaternion.Identity():t.inertiaOrientation)}}_internalUpdateMassProperties(e){if(e.motionType!==_.PhysicsMotionType.DYNAMIC||e.activation===_.PhysicsActivationControl.ALWAYS_INACTIVE){this._applyMotionLocks(e,!1,!1,!1);return}this._b3._bx_Body_ApplyMassFromShapes(e.slot);let t=e.userMassProps;if(!(!!t&&(t.mass!==void 0||!!t.centerOfMass||!!t.inertia||!!t.inertiaOrientation))){this._applyMotionLocks(e,!1,!1,!1);return}let i=this._resolveMassProperties(e),n=i.mass>0?i.mass:1,a=i.inertia,o=i.inertiaOrientation,r=[a.x<=0,a.y<=0,a.z<=0],l=Math.max(a.x,a.y,a.z,1e-4)*Je,h=[r[0]?l:a.x,r[1]?l:a.y,r[2]?l:a.z].map(u=>u*n),c=We(h,o);this._b3._bx_Body_SetMassDataFull(e.slot,n,i.centerOfMass.x,i.centerOfMass.y,i.centerOfMass.z,c[0],c[1],c[2],c[3],c[4],c[5]),this._applyLockedAxes(e,r,o)}_applyLockedAxes(e,t,s){let i=t.filter(Boolean).length;if(i===3){this._applyMotionLocks(e,!0,!0,!0);return}if(i!==2){this._applyMotionLocks(e,!1,!1,!1);return}this._b3._bx_Body_GetTransform(e.slot);let n=this._scratch(),a=this._tmpQuat[0].set(n[3],n[4],n[5],n[6]),o=t.indexOf(!1),r=this._tmpVec3[0].set(o===0?1:0,o===1?1:0,o===2?1:0);r.applyRotationQuaternionInPlace(s).applyRotationQuaternionInPlace(a);let l=[Math.abs(r.x),Math.abs(r.y),Math.abs(r.z)],h=l.indexOf(Math.max(...l));l[h]>.9999?this._applyMotionLocks(e,h!==0,h!==1,h!==2):this._applyMotionLocks(e,!1,!1,!1)}_applyMotionLocks(e,t,s,i){let n=(t?1:0)|(s?2:0)|(i?4:0);n!==e.angularLocks&&(e.angularLocks=n,this._b3._bx_Body_SetMotionLocks(e.slot,0,0,0,t?1:0,s?1:0,i?1:0))}computeMassProperties(e,t){let s=this._getPluginReference(e,t);this._b3._bx_Body_ApplyMassFromShapes(s.slot);let i=this._readMassData(s);return this._internalUpdateMassProperties(s),i}setMassProperties(e,t,s){this._applyToBodyOrInstances(e,i=>{i.userMassProps=t,this._internalUpdateMassProperties(i)},s)}getMassProperties(e,t){return this._resolveMassProperties(this._getPluginReference(e,t))}setLinearDamping(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetLinearDamping(i.slot,t),s)}getLinearDamping(e,t){return this._b3._bx_Body_GetLinearDamping(this._getPluginReference(e,t).slot)}setAngularDamping(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetAngularDamping(i.slot,t),s)}getAngularDamping(e,t){return this._b3._bx_Body_GetAngularDamping(this._getPluginReference(e,t).slot)}setLinearVelocity(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetLinearVelocity(i.slot,t.x,t.y,t.z),s)}getLinearVelocityToRef(e,t,s){this._b3._bx_Body_GetLinearVelocity(this._getPluginReference(e,s).slot);let i=this._scratch();t.set(i[0],i[1],i[2])}applyImpulse(e,t,s,i){this._applyToBodyOrInstances(e,n=>this._b3._bx_Body_ApplyLinearImpulse(n.slot,t.x,t.y,t.z,s.x,s.y,s.z),i)}applyAngularImpulse(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_ApplyAngularImpulse(i.slot,t.x,t.y,t.z),s)}applyForce(e,t,s,i){this._applyToBodyOrInstances(e,n=>this._b3._bx_Body_ApplyForce(n.slot,t.x,t.y,t.z,s.x,s.y,s.z),i)}applyTorque(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_ApplyTorque(i.slot,t.x,t.y,t.z),s)}setAngularVelocity(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetAngularVelocity(i.slot,t.x,t.y,t.z),s)}getAngularVelocityToRef(e,t,s){this._b3._bx_Body_GetAngularVelocity(this._getPluginReference(e,s).slot);let i=this._scratch();t.set(i[0],i[1],i[2])}getBodyGeometry(e){let t=e.shape?._pluginData;if(!t)return{positions:[],indices:[]};let s=this._b3._bx_ShapeDesc_BuildDebugGeometry(t.slot),i=this._b3._bx_DebugIndexCount();if(!s||!i)return{positions:[],indices:[]};let n=new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_DebugPositionsPtr(),s*3).slice(),a=new Uint32Array(this._b3.HEAPU32.buffer,this._b3._bx_DebugIndicesPtr(),i).slice();return{positions:n,indices:a}}disposeBody(e){this.removeBody(e),e._pluginData=void 0,e._pluginDataInstances.length=0}setCollisionCallbackEnabled(e,t,s){this.setEventMask(e,t?7:0,s)}setCollisionEndedCallbackEnabled(e,t,s){this._applyToBodyOrInstances(e,i=>{i.eventMask=t?i.eventMask|4:i.eventMask&-5,this._applyEventFlags(i)},s)}getCollisionObservable(e,t){let s=this._getPluginReference(e,t).slot,i=this._bodyCollisionObservable.get(s);return i||(i=new M.Observable,this._bodyCollisionObservable.set(s,i)),i}getCollisionEndedObservable(e,t){let s=this._getPluginReference(e,t).slot,i=this._bodyCollisionEndedObservable.get(s);return i||(i=new M.Observable,this._bodyCollisionEndedObservable.set(s,i)),i}setGravityFactor(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_SetGravityScale(i.slot,t),s)}getGravityFactor(e,t){return this._b3._bx_Body_GetGravityScale(this._getPluginReference(e,t).slot)}_registerShape(e,t,s){if(!t)throw new Error("Box3DPlugin: shape creation failed (degenerate geometry?)");let i=new X(t,s);return e._pluginData=i,this._shapes[t]=i,i}_withFloatBuffer(e,t){let s=this._b3._malloc(e.length*4);new Float32Array(this._b3.HEAPF32.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_withByteBuffer(e,t){if(!e||e.length===0)return t(0);let s=this._b3._malloc(e.length);new Uint8Array(this._b3.HEAPU8.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_withIntBuffer(e,t){let s=this._b3._malloc(e.length*4);new Int32Array(this._b3.HEAP32.buffer,s,e.length).set(e);try{return t(s)}finally{this._b3._free(s)}}_createOptionsFromGroundMesh(e){let t=e.groundMesh;if(!t)return;let s=t.getVerticesData($.VertexBuffer.PositionKind),i=t.computeWorldMatrix(!0),n=[],a=p.TmpVectors.Vector3[0];for(let d=0;d<s.length;d+=3)p.Vector3.FromArrayToRef(s,d,a),p.Vector3.TransformCoordinatesToRef(a,i,a),a.toArray(n,d);let o=~~(Math.sqrt(n.length/3)-1),r=t.getBoundingInfo(),l=Math.min(r.boundingBox.extendSizeWorld.x,r.boundingBox.extendSizeWorld.z),h=r.boundingBox.minimumWorld.x,c=r.boundingBox.minimumWorld.y,u=r.boundingBox.minimumWorld.z,m=new Float32Array((o+1)*(o+1)),b=l*2/o;m.fill(c);for(let d=0;d<n.length;d+=3){let D=Math.round((n[d+0]-h)/b),g=o-Math.round((n[d+2]-u)/b);m[g*(o+1)+D]=n[d+1]-c}e.numHeightFieldSamplesX=o+1,e.numHeightFieldSamplesZ=o+1,e.heightFieldSizeX=r.boundingBox.extendSizeWorld.x*2,e.heightFieldSizeZ=r.boundingBox.extendSizeWorld.z*2,e.heightFieldData=m}initShape(e,t,s){let i=this._b3,n=s.center??p.Vector3.ZeroReadOnly,a=s.rotation??p.Quaternion.Identity();switch(t){case _.PhysicsShapeType.SPHERE:{let o=s.radius??1;this._registerShape(e,i._bx_ShapeDesc_CreateSphere(n.x,n.y,n.z,o),t);break}case _.PhysicsShapeType.CAPSULE:{let o=s.pointA??p.Vector3.ZeroReadOnly,r=s.pointB??p.Vector3.UpReadOnly;this._registerShape(e,i._bx_ShapeDesc_CreateCapsule(o.x,o.y,o.z,r.x,r.y,r.z,s.radius??0),t);break}case _.PhysicsShapeType.BOX:{let o=s.extents??p.Vector3.OneReadOnly;this._registerShape(e,i._bx_ShapeDesc_CreateBox(o.x*.5,o.y*.5,o.z*.5,n.x,n.y,n.z,a.x,a.y,a.z,a.w),t);break}case _.PhysicsShapeType.CYLINDER:{let o=s.pointA??p.Vector3.ZeroReadOnly,l=(s.pointB??p.Vector3.UpReadOnly).subtract(o),h=l.length(),c=this._tmpQuat[0];h>1e-6?(l.scaleInPlace(1/h),p.Quaternion.FromUnitVectorsToRef(p.Vector3.UpReadOnly,l,c)):c.set(0,0,0,1),this._registerShape(e,i._bx_ShapeDesc_CreateCylinder(h,s.radius??0,16,o.x,o.y,o.z,c.x,c.y,c.z,c.w),t);break}case _.PhysicsShapeType.CONVEX_HULL:case _.PhysicsShapeType.MESH:{if(!s.mesh&&s.positions){this._initShapeFromPositions(e,t,s.positions,s.positionIndices);break}let o=s.mesh;if(!o)throw new Error("No mesh provided to create physics shape.");let r=t===_.PhysicsShapeType.MESH,l=!o.getScene().useRightHandedSystem,h=new Z(r,l);if(h.addNodeMeshes(o,!!s.includeChildMeshes),t===_.PhysicsShapeType.CONVEX_HULL){let c=this._withFloatBuffer(h.vertices,u=>i._bx_ShapeDesc_CreateHull(u,h.vertexCount));this._registerShape(e,c,t)}else{let c=this._withFloatBuffer(h.vertices,u=>this._withIntBuffer(h.indices,m=>i._bx_ShapeDesc_CreateMesh(u,h.vertexCount,m,h.triangleCount,1,1,1,0,0)));this._registerShape(e,c,t)}break}case _.PhysicsShapeType.HEIGHTFIELD:{s.groundMesh&&this._createOptionsFromGroundMesh(s);let o=s.numHeightFieldSamplesX,r=s.numHeightFieldSamplesZ;if(!o||!r||!s.heightFieldSizeX||!s.heightFieldSizeZ||!s.heightFieldData)throw new Error("Missing required heightfield parameters");let l=new Float32Array(o*r);for(let g=0;g<o;g++)for(let y=0;y<r;y++)l[y*o+g]=s.heightFieldData[(r-1-y)*o+g];let h=s.heightFieldSizeX/(o-1),c=s.heightFieldSizeZ/(r-1),u=o-1,m=r-1,b=s.heightFieldMaterials;if(b&&b.length!==u*m)throw new Error(`heightFieldMaterials needs ${u*m} cells (${u} \xD7 ${m}), got ${b.length}`);let d=b?new Uint8Array(u*m):null;if(b&&d)for(let g=0;g<u;g++)for(let y=0;y<m;y++)d[y*u+g]=b[(m-1-y)*u+g];let D=this._withFloatBuffer(l,g=>this._withByteBuffer(d,y=>i._bx_ShapeDesc_CreateHeightField(g,y,o,r,h,1,c,0,-s.heightFieldSizeX*.5,0,-s.heightFieldSizeZ*.5)));this._registerShape(e,D,t);break}case _.PhysicsShapeType.CONTAINER:{this._registerShape(e,i._bx_ShapeDesc_CreateContainer(),t);break}default:throw new Error("Unsupported Shape Type.")}}_initShapeFromPositions(e,t,s,i){let n=this._b3;if(s.length%3!==0)throw new Error(`positions needs x, y, z triplets, got ${s.length} numbers`);let a=s.length/3;if(t===_.PhysicsShapeType.CONVEX_HULL){this._registerShape(e,this._withFloatBuffer(s,o=>n._bx_ShapeDesc_CreateHull(o,a)),t);return}if(!i||i.length%3!==0)throw new Error("a MESH shape from positions needs positionIndices, three per triangle");for(let o=0;o<i.length;o++)if(i[o]<0||i[o]>=a||!Number.isInteger(i[o]))throw new Error(`positionIndices[${o}] is ${i[o]}, but there are ${a} points`);this._registerShape(e,this._withFloatBuffer(s,o=>this._withIntBuffer(i,r=>n._bx_ShapeDesc_CreateMesh(o,a,r,i.length/3,1,1,1,0,0))),t)}_refreshShapeUsers(e,t=new Set){if(!t.has(e)){t.add(e);for(let s of e.users)this._b3._bx_Body_SetShape(s.slot,e.slot),this._applyEventFlags(s),this._internalUpdateMassProperties(s);for(let s of e.parents)this._refreshShapeUsers(s,t)}}_syncShapeUsers(e,t,s=new Set,i=e){if(!s.has(e)){s.add(e);for(let n of e.users)this._b3._bx_Body_SyncShapeDesc(n.slot,i.slot,t),t&4&&this._internalUpdateMassProperties(n);for(let n of e.parents)this._syncShapeUsers(n,t,s,i)}}setShapeFilterMembershipMask(e,t){let s=e._pluginData,i=this._b3._bx_ShapeDesc_GetMaskBits(s.slot);this._b3._bx_ShapeDesc_SetFilter(s.slot,t>>>0,i>>>0),this._syncShapeUsers(s,1)}getShapeFilterMembershipMask(e){return this._b3._bx_ShapeDesc_GetCategoryBits(e._pluginData.slot)}setShapeFilterCollideMask(e,t){let s=e._pluginData,i=this._b3._bx_ShapeDesc_GetCategoryBits(s.slot);this._b3._bx_ShapeDesc_SetFilter(s.slot,i>>>0,t>>>0),this._syncShapeUsers(s,1)}getShapeFilterCollideMask(e){return this._b3._bx_ShapeDesc_GetMaskBits(e._pluginData.slot)}setMaterial(e,t){let s=e._pluginData;s.material=t,this._b3._bx_ShapeDesc_SetMaterial(s.slot,t.friction??.5,t.restitution??0),this._syncShapeUsers(s,2)}getMaterial(e){let t=e._pluginData;return{friction:this._b3._bx_ShapeDesc_GetFriction(t.slot),staticFriction:t.material.staticFriction,restitution:this._b3._bx_ShapeDesc_GetRestitution(t.slot),frictionCombine:t.material.frictionCombine,restitutionCombine:t.material.restitutionCombine}}setDensity(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetDensity(s.slot,t),this._syncShapeUsers(s,4)}getDensity(e){return this._b3._bx_ShapeDesc_GetDensity(e._pluginData.slot)}addChild(e,t,s,i,n){let a=e._pluginData,o=t._pluginData,r=s??p.Vector3.ZeroReadOnly,l=i??p.Quaternion.Identity(),h=n??p.Vector3.OneReadOnly;this._b3._bx_ShapeDesc_AddChild(a.slot,o.slot,r.x,r.y,r.z,l.x,l.y,l.z,l.w,h.x,h.y,h.z),a.children.push(o),o.parents.add(a),this._refreshShapeUsers(a)}removeChild(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_RemoveChild(s.slot,t);let[i]=s.children.splice(t,1);i&&!s.children.includes(i)&&i.parents.delete(s),this._refreshShapeUsers(s)}getNumChildren(e){return this._b3._bx_ShapeDesc_GetChildCount(e._pluginData.slot)}getBoundingBox(e){this._b3._bx_ShapeDesc_GetAABB(e._pluginData.slot);let t=this._scratch();return p.TmpVectors.Vector3[0].set(t[0],t[1],t[2]),p.TmpVectors.Vector3[1].set(t[3],t[4],t[5]),new H.BoundingBox(p.TmpVectors.Vector3[0],p.TmpVectors.Vector3[1],p.Matrix.IdentityReadOnly)}getBodyBoundingBox(e){let t=this._getPluginReference(e);this._b3._bx_Body_GetAABB(t.slot);let s=this._scratch();return p.TmpVectors.Vector3[0].set(s[0],s[1],s[2]),p.TmpVectors.Vector3[1].set(s[3],s[4],s[5]),new H.BoundingBox(p.TmpVectors.Vector3[0],p.TmpVectors.Vector3[1],p.Matrix.IdentityReadOnly)}disposeShape(e){let t=e._pluginData;if(t){for(let s of t.parents){let i=s.children.indexOf(t);i>=0&&(s.children.splice(i,1),this._b3._bx_ShapeDesc_RemoveChild(s.slot,i))}for(let s of t.children)s.parents.delete(t);this._shapes[t.slot]=void 0,this._b3._bx_ShapeDesc_Destroy(t.slot),e._pluginData=void 0}}setTrigger(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetSensor(s.slot,t?1:0),this._refreshShapeUsers(s)}_frameToBuffer(e,t,s,i,n,a){let o=p.TmpVectors.Matrix[0];p.Matrix.FromValuesToRef(i.x,i.y,i.z,0,n.x,n.y,n.z,0,a.x,a.y,a.z,0,0,0,0,1,o);let r=this._tmpQuat[2];p.Quaternion.FromRotationMatrixToRef(o,r),r.normalize(),e[t]=s.x,e[t+1]=s.y,e[t+2]=s.z,e[t+3]=r.x,e[t+4]=r.y,e[t+5]=r.z,e[t+6]=r.w}_buildFrames(e,t,s,i){let n=t.options,a=n.pivotA??p.Vector3.ZeroReadOnly,o=n.pivotB??p.Vector3.ZeroReadOnly,r=(n.axisA??p.Vector3.RightReadOnly).normalizeToNew(),l=(n.axisB??p.Vector3.RightReadOnly).normalizeToNew(),h=n.perpAxisA?n.perpAxisA.normalizeToNew():r.getNormalToRef(new p.Vector3),c=n.perpAxisB?n.perpAxisB.normalizeToNew():l.getNormalToRef(new p.Vector3);h.subtractInPlace(r.scale(p.Vector3.Dot(r,h))).normalize(),c.subtractInPlace(l.scale(p.Vector3.Dot(l,c))).normalize();let u=p.Vector3.Cross(r,h),m=p.Vector3.Cross(l,c);t._initOptions||(t._initOptions={axisA:r.clone(),axisB:l.clone(),perpAxisA:h.clone(),perpAxisB:c.clone(),pivotA:a.clone(),pivotB:o.clone()});let b=e.frames;if(e.plan){let d=e.plan.basis;if(d){let D=[r,h,u],g=[l,c,m];this._frameToBuffer(b,0,a,D[d[0]],D[d[1]],D[d[2]]),this._frameToBuffer(b,7,o,g[d[0]],g[d[1]],g[d[2]])}else b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,0,0,0,1]);return}switch(e.type){case _.PhysicsConstraintType.HINGE:case _.PhysicsConstraintType.BALL_AND_SOCKET:this._frameToBuffer(b,0,a,h,p.Vector3.Cross(r,h),r),this._frameToBuffer(b,7,o,c,p.Vector3.Cross(l,c),l);break;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:this._frameToBuffer(b,0,a,r,h,u),this._frameToBuffer(b,7,o,l,c,m);break;case _.PhysicsConstraintType.LOCK:{this._b3._bx_Body_GetTransform(s.slot);let d=this._scratch(),D=this._tmpQuat[0];D.set(d[3],d[4],d[5],d[6]),this._b3._bx_Body_GetTransform(i.slot),d=this._scratch();let g=this._tmpQuat[1];g.set(d[3],d[4],d[5],d[6]);let y=g.invert().multiply(D).normalize();b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,y.x,y.y,y.z,y.w]);break}default:b.set([a.x,a.y,a.z,0,0,0,1,o.x,o.y,o.z,0,0,0,1]);break}}_createJoint(e,t,s){this._scratch().set(e.frames);let i=this._b3._bx_CreateJoint(this._worldSlot,e.jointType,t.slot,s.slot,e.collisions?1:0,e.length);return i?(this._applyAxisState(e,i,t,s),i):(I.Logger.Warn("Box3DPlugin: joint creation failed."),0)}_readSixDofLimits(e,t){for(let s of t??[]){let i=this._axisState(e,s.axis);s.minLimit===0&&s.maxLimit===0?(i.mode=_.PhysicsConstraintAxisLimitMode.LOCKED,i.min=0,i.max=0):(s.minLimit!==void 0||s.maxLimit!==void 0)&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED,i.min=s.minLimit??-1/0,i.max=s.maxLimit??1/0),i.stiffness=s.stiffness??0,i.damping=s.damping??0}}_planSixDof(e){let t=_.PhysicsConstraintAxis,s=_.PhysicsConstraintAxisLimitMode,i=y=>e.axes.get(y)?.mode??s.FREE,n=y=>{let f=e.axes.get(y);return f.mode===s.LOCKED?[0,0]:[Math.min(f.min,f.max),Math.max(f.min,f.max)]},a=(y,f)=>Math.max(-f,Math.min(f,y)),o=.99*Math.PI,r=1e5,l={jointType:0,basis:[0,1,2],primaryAxis:null,coneAngle:-1,twist:null,limit:null,spring:!1,stiffness:0,damping:0,angularStiffness:!1};for(let[y,f]of e.axes)(f.stiffness>0||f.damping>0)&&f.stiffness>=l.stiffness&&(l.stiffness=f.stiffness,l.damping=f.damping,l.angularStiffness=y===t.ANGULAR_X||y===t.ANGULAR_Y||y===t.ANGULAR_Z);let h=[t.LINEAR_X,t.LINEAR_Y,t.LINEAR_Z],c=[t.ANGULAR_X,t.ANGULAR_Y,t.ANGULAR_Z],u=h.filter(y=>i(y)===s.LOCKED).length,m=h.filter(y=>i(y)===s.FREE).length,b=c.filter(y=>i(y)!==s.LOCKED),d=c.filter(y=>i(y)===s.FREE).length;if(i(t.LINEAR_DISTANCE)!==s.FREE){if(m===3&&d===3){let[y,f]=n(t.LINEAR_DISTANCE);return l.jointType=4,l.basis=null,l.primaryAxis=t.LINEAR_DISTANCE,l.limit=[Math.min(Math.max(0,y),r),Math.min(Math.max(0,f),r)],l.spring=l.stiffness>0&&Math.abs(f-y)<1e-6&&isFinite(y),l}this._warnOnce("sixdof-distance","SIX_DOF: LINEAR_DISTANCE combined with other constrained axes is not supported with Box3D, the distance limit is ignored.")}let g=u===3;if(!g&&u!==2&&m===0&&(this._warnOnce("sixdof-linear-limited","SIX_DOF: two or more limited linear axes are treated as locked with Box3D."),g=!0),g){if(b.length===0)return l;if(b.length===1){let f=b[0];if(l.jointType=2,l.basis=[[1,2,0],[2,0,1],[0,1,2]][c.indexOf(f)],l.primaryAxis=f,i(f)===s.LIMITED){let[S,C]=n(f);l.limit=[a(S,o),a(C,o)]}return l}if(l.jointType=1,l.basis=[1,2,0],i(t.ANGULAR_X)!==s.FREE){let[f,S]=n(t.ANGULAR_X);l.twist=[a(f,o),a(S,o)]}let y=[i(t.ANGULAR_Y),i(t.ANGULAR_Z)];if(y.some(f=>f!==s.FREE)){let f=[],S=!1;for(let P of[t.ANGULAR_Y,t.ANGULAR_Z]){if(i(P)===s.FREE)continue;let[v,T]=n(P);f.push(Math.max(Math.abs(v),Math.abs(T))),S||(S=Math.abs(v+T)>1e-4)}let C=Math.max(...f);isFinite(C)&&((y.includes(s.FREE)||Math.abs(f[0]-f[1])>1e-4||S)&&this._warnOnce("sixdof-cone","SIX_DOF: Box3D has one symmetric swing cone, ANGULAR_Y and ANGULAR_Z use the larger of their ranges."),C>Math.PI/2&&this._warnOnce("sixdof-cone-90","SIX_DOF: Box3D cone limits are at most 90 degrees, larger swing ranges are clamped."),l.coneAngle=Math.min(C,Math.PI/2))}return l}if(u===2){let y=h.find(f=>i(f)!==s.LOCKED);if(l.jointType=3,l.basis=[[0,1,2],[1,2,0],[2,0,1]][h.indexOf(y)],l.primaryAxis=y,i(y)===s.LIMITED){let[f,S]=n(y);l.limit=[a(f,r),a(S,r)]}return b.length&&this._warnOnce("sixdof-prismatic","SIX_DOF: a sliding axis with rotation is not supported with Box3D, rotation is locked."),l}return l.jointType=5,l.basis=null,(m!==3||d!==3)&&this._warnOnce("sixdof-unsupported","SIX_DOF: this combination of free and limited axes is not supported with Box3D, the bodies are left unconstrained."),l}_springToHertz(e,t,s,i,n){let a=h=>{if(h.motionType!==_.PhysicsMotionType.DYNAMIC)return 0;this._b3._bx_Body_GetMassData(h.slot);let c=this._scratch(),u=s?(c[4]+c[5]+c[6])/3:c[0];return u>0?1/u:0},o=a(i)+a(n),r=o>0?1/o:1,l=Math.max(e,0);return{hertz:Math.sqrt(l/r)/(2*Math.PI),dampingRatio:l>0?t/(2*Math.sqrt(l*r)):1}}initConstraint(e,t,s,i,n){let a=e.type,o=e.options;if(!a||!o){I.Logger.Warn("No constraint type or options. Constraint is invalid.");return}if(t._pluginDataInstances.length>0&&i===void 0||s._pluginDataInstances.length>0&&n===void 0){I.Logger.Warn("Body is instanced but no instance index was specified. Constraint will not be applied.");return}let r=!e._pluginData,l=e._pluginData??new q;switch(e._pluginData=l,l.type=a,r&&(l.collisions=!!o.collision),a){case _.PhysicsConstraintType.BALL_AND_SOCKET:l.jointType=1;break;case _.PhysicsConstraintType.HINGE:l.jointType=2;break;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:l.jointType=3;break;case _.PhysicsConstraintType.LOCK:l.jointType=0;break;case _.PhysicsConstraintType.DISTANCE:l.jointType=4;break;case _.PhysicsConstraintType.SIX_DOF:r&&this._readSixDofLimits(l,e.limits),l.plan=this._planSixDof(l),l.jointType=l.plan.jointType;break;default:I.Logger.Warn("Box3DPlugin: unknown constraint type "+a);return}let h=this._getPluginReference(t,i),c=this._getPluginReference(s,n);this._buildFrames(l,e,h,c),this._updateJointLength(l,o.maxDistance,h,c);let u=l.enabled?this._createJoint(l,h,c):0;l.joints.push(u),l.pairs.push({parent:t,parentIndex:i??0,child:s,childIndex:n??0,parentData:h,childData:c})}_updateJointLength(e,t,s,i){if(e.type===_.PhysicsConstraintType.DISTANCE)e.length=t??0;else if(e.plan?.jointType===4&&e.plan.limit)e.length=e.plan.limit[0];else return;e.length<=0&&(e.length=Math.max(.01,this._currentPivotDistance(e,s,i)))}_currentPivotDistance(e,t,s){let i=e.frames,n=this._tmpVec3[0],a=this._tmpVec3[1];this._b3._bx_Body_GetTransform(t.slot);let o=this._scratch();return this._tmpQuat[0].set(o[3],o[4],o[5],o[6]),n.set(i[0],i[1],i[2]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(o[0],o[1],o[2]),this._b3._bx_Body_GetTransform(s.slot),o=this._scratch(),this._tmpQuat[0].set(o[3],o[4],o[5],o[6]),a.set(i[7],i[8],i[9]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(o[0],o[1],o[2]),p.Vector3.Distance(n,a)}setEnabled(e,t){let s=e._pluginData;!s||s.enabled===t||(s.enabled=t,this._recreateJoints(s))}_destroyJoint(e){this._motorJoints.delete(e),this._b3._bx_DestroyJoint(e)}_recreateJoints(e){for(let t=0;t<e.pairs.length;t++){e.joints[t]&&this._destroyJoint(e.joints[t]);let s=e.pairs[t];e.joints[t]=e.enabled&&s.parentData.slot&&s.childData.slot?this._createJoint(e,s.parentData,s.childData):0}}getEnabled(e){return e._pluginData?.enabled??!1}setCollisionsEnabled(e,t){let s=e._pluginData;s.collisions=t;for(let i of s.joints)i&&this._b3._bx_Joint_SetCollideConnected(i,t?1:0)}getCollisionsEnabled(e){return e._pluginData?.collisions??!1}_primaryAxis(e){switch(e.type){case _.PhysicsConstraintType.HINGE:return _.PhysicsConstraintAxis.ANGULAR_X;case _.PhysicsConstraintType.PRISMATIC:case _.PhysicsConstraintType.SLIDER:return _.PhysicsConstraintAxis.LINEAR_X;case _.PhysicsConstraintType.DISTANCE:return _.PhysicsConstraintAxis.LINEAR_DISTANCE;case _.PhysicsConstraintType.BALL_AND_SOCKET:return _.PhysicsConstraintAxis.ANGULAR_Y;case _.PhysicsConstraintType.SIX_DOF:return e.plan?.primaryAxis??null;default:return null}}_isAngularAxis(e){return e===_.PhysicsConstraintAxis.ANGULAR_X||e===_.PhysicsConstraintAxis.ANGULAR_Y||e===_.PhysicsConstraintAxis.ANGULAR_Z}_isPrimaryAxis(e,t){return e.type===_.PhysicsConstraintType.BALL_AND_SOCKET||e.plan?.jointType===1?this._isAngularAxis(t):t===this._primaryAxis(e)}_axisState(e,t){let s=e.axes.get(t);return s||(s={mode:_.PhysicsConstraintAxisLimitMode.FREE,min:0,max:0,motor:_.PhysicsConstraintMotorType.NONE,target:0,maxForce:0,friction:0,stiffness:0,damping:0},e.axes.set(t,s)),s}_applyAxisState(e,t,s,i){let n=this._b3;if(e.plan){this._applySixDofPlan(e,t,s,i),n._bx_Joint_WakeBodies(t);return}if(this._primaryAxis(e)!==null){for(let[o,r]of e.axes){if(!this._isPrimaryAxis(e,o))continue;if(e.type===_.PhysicsConstraintType.BALL_AND_SOCKET&&o===_.PhysicsConstraintAxis.ANGULAR_X){n._bx_Joint_SetTwistLimits(t,r.mode===_.PhysicsConstraintAxisLimitMode.FREE?0:1,r.min,r.max);continue}let l=r.mode!==_.PhysicsConstraintAxisLimitMode.FREE;if(l){let h=r.mode===_.PhysicsConstraintAxisLimitMode.LOCKED?0:r.min,c=r.mode===_.PhysicsConstraintAxisLimitMode.LOCKED?0:r.max;n._bx_Joint_SetLimits(t,h,c)}n._bx_Joint_EnableLimit(t,l?1:0),e.type!==_.PhysicsConstraintType.BALL_AND_SOCKET&&this._applyMotor(t,r)}e.type===_.PhysicsConstraintType.BALL_AND_SOCKET&&this._applySphericalMotor(e,t),n._bx_Joint_WakeBodies(t)}}_applySphericalMotor(e,t){let s=this._b3,i=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_X),n=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_Y),a=e.axes.get(_.PhysicsConstraintAxis.ANGULAR_Z),o=[i,n,a],r=m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY?m.target:0,l=o.some(m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY),h=o.some(m=>m?.motor===_.PhysicsConstraintMotorType.POSITION),c=Math.max(...o.map(m=>m?.motor===_.PhysicsConstraintMotorType.VELOCITY?m.maxForce:0));s._bx_Joint_SetSphericalMotor(t,l?1:0,r(n),r(a),r(i),c);let u=r(n)!==0||r(a)!==0||r(i)!==0;if(l&&u?this._motorJoints.add(t):this._motorJoints.delete(t),s._bx_Joint_EnableSpring(t,h?1:0),h){let m=D=>D?.motor===_.PhysicsConstraintMotorType.POSITION?D.target:0,b=this._tmpQuat[0];p.Quaternion.RotationYawPitchRollToRef(0,0,m(i),b);let d=this._tmpQuat[1];p.Quaternion.RotationYawPitchRollToRef(m(a),m(n),0,d),b.multiplyInPlace(d),s._bx_Joint_SetSpring(t,5,1),s._bx_Joint_SetSphericalTarget(t,b.x,b.y,b.z,b.w)}}_applyMotor(e,t){let s=this._b3;switch(t.motor){case _.PhysicsConstraintMotorType.VELOCITY:s._bx_Joint_EnableSpring(e,0),s._bx_Joint_EnableMotor(e,1),s._bx_Joint_SetMotorSpeed(e,t.target),s._bx_Joint_SetMaxMotorForce(e,t.maxForce);break;case _.PhysicsConstraintMotorType.POSITION:s._bx_Joint_EnableMotor(e,0),s._bx_Joint_EnableSpring(e,1),s._bx_Joint_SetSpring(e,5,1),s._bx_Joint_SetTarget(e,t.target);break;default:s._bx_Joint_EnableMotor(e,0),s._bx_Joint_EnableSpring(e,0);break}}_applySixDofPlan(e,t,s,i){let n=this._b3,a=e.plan;switch(a.jointType){case 1:a.coneAngle>=0&&n._bx_Joint_SetLimits(t,-a.coneAngle,a.coneAngle),n._bx_Joint_EnableLimit(t,a.coneAngle>=0?1:0),n._bx_Joint_SetTwistLimits(t,a.twist?1:0,a.twist?a.twist[0]:0,a.twist?a.twist[1]:0);break;case 2:case 3:a.limit&&n._bx_Joint_SetLimits(t,a.limit[0],a.limit[1]),n._bx_Joint_EnableLimit(t,a.limit?1:0);break;case 4:if(a.spring){let o=this._springToHertz(a.stiffness,a.damping,!1,s,i);n._bx_Joint_EnableLimit(t,0),n._bx_Joint_EnableSpring(t,1),n._bx_Joint_SetSpring(t,o.hertz,o.dampingRatio),n._bx_Joint_SetTarget(t,e.length)}else n._bx_Joint_SetLimits(t,a.limit[0],a.limit[1]),n._bx_Joint_EnableLimit(t,1),n._bx_Joint_EnableSpring(t,1),n._bx_Joint_SetSpring(t,0,0);break;default:break}if(a.stiffness>0&&!a.spring){this._warnOnce("sixdof-softness","SIX_DOF: limit stiffness and damping are approximated with Box3D's per joint constraint softness, which applies to every axis of the joint.");let o=this._springToHertz(a.stiffness,a.damping,a.angularStiffness,s,i);n._bx_Joint_SetConstraintTuning(t,o.hertz,o.dampingRatio)}if(a.jointType===1)this._applySphericalMotor(e,t);else if(a.primaryAxis!==null&&a.jointType!==4){let o=e.axes.get(a.primaryAxis);o&&this._applyMotor(t,o)}}_setAxis(e,t,s){let i=e._pluginData;if(!i)return;let n=this._axisState(i,t),a={motor:n.motor,target:n.target,maxForce:n.maxForce};if(s(n),i.plan){let o=this._planSixDof(i),r=o.jointType!==i.plan.jointType||String(o.basis)!==String(i.plan.basis);i.plan=o,i.jointType=o.jointType,(a.motor!==n.motor||a.target!==n.target||a.maxForce!==n.maxForce)&&n.motor!==_.PhysicsConstraintMotorType.NONE&&!this._isPrimaryAxis(i,t)&&this._warnOnce(`axis-motor-${t}`,`SIX_DOF: a motor on axis ${t} has no effect with the Box3D joint this constraint maps to.`);let h=i.pairs[0];if(h&&this._updateJointLength(i,e.options.maxDistance,h.parentData,h.childData),r){h&&this._buildFrames(i,e,h.parentData,h.childData),this._recreateJoints(i);return}}else if(!this._isPrimaryAxis(i,t)){this._warnOnce(`axis-${i.type}-${t}`,`axis ${t} is not configurable on constraint type ${i.type} with Box3D; the value is stored but has no effect.`);return}for(let o=0;o<i.joints.length;o++)i.joints[o]&&this._applyAxisState(i,i.joints[o],i.pairs[o].parentData,i.pairs[o].childData)}setAxisFriction(e,t,s){let i=e._pluginData;i&&(this._axisState(i,t).friction=s)}getAxisFriction(e,t){return e._pluginData?.axes.get(t)?.friction??null}setAxisMode(e,t,s){this._setAxis(e,t,i=>i.mode=s)}getAxisMode(e,t){return e._pluginData?.axes.get(t)?.mode??null}setAxisMinLimit(e,t,s){this._setAxis(e,t,i=>{i.min=s,i.mode===_.PhysicsConstraintAxisLimitMode.FREE&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED)})}getAxisMinLimit(e,t){return e._pluginData?.axes.get(t)?.min??null}setAxisMaxLimit(e,t,s){this._setAxis(e,t,i=>{i.max=s,i.mode===_.PhysicsConstraintAxisLimitMode.FREE&&(i.mode=_.PhysicsConstraintAxisLimitMode.LIMITED)})}getAxisMaxLimit(e,t){return e._pluginData?.axes.get(t)?.max??null}setAxisMotorType(e,t,s){this._setAxis(e,t,i=>i.motor=s)}getAxisMotorType(e,t){return e._pluginData?.axes.get(t)?.motor??null}setAxisMotorTarget(e,t,s){this._setAxis(e,t,i=>i.target=s)}getAxisMotorTarget(e,t){return e._pluginData?.axes.get(t)?.target??null}setAxisMotorMaxForce(e,t,s){this._setAxis(e,t,i=>i.maxForce=s)}getAxisMotorMaxForce(e,t){return e._pluginData?.axes.get(t)?.maxForce??null}disposeConstraint(e){let t=e._pluginData;if(t){for(let s of t.joints)s&&this._destroyJoint(s);t.joints.length=0,t.pairs.length=0}}getBodiesUsingConstraint(e){let t=e._pluginData;return t?t.pairs.map(s=>({parentBody:s.parent,parentBodyIndex:s.parentIndex,childBody:s.child,childBodyIndex:s.childIndex})):[]}addConstraint(e,t,s,i,n){this.initConstraint(s,e,t,i,n)}explode(e,t,s,i=0){this._b3._bx_World_Explode(this._worldSlot,e.x,e.y,e.z,t,i,s)}setShapeFilterGroup(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetGroup(s.slot,t|0),this._syncShapeUsers(s,1)}setShapeRollingResistance(e,t){let s=e._pluginData;this._b3._bx_ShapeDesc_SetRollingResistance(s.slot,t),this._syncShapeUsers(s,2)}setAllowFastRotation(e,t,s){this._applyToBodyOrInstances(e,i=>this._b3._bx_Body_AllowFastRotation(i.slot,t?1:0),s)}createWheelJoint(e,t,s){let i=this._scratch(),n=(s.axisA??p.Vector3.UpReadOnly).normalizeToNew(),a=(s.axleA??p.Vector3.Forward()).normalizeToNew();a.subtractInPlace(n.scale(p.Vector3.Dot(n,a))).normalize(),this._frameToBuffer(i,0,s.pivotA,n,p.Vector3.Cross(a,n),a);let o=s.pivotB??p.Vector3.ZeroReadOnly;i[7]=o.x,i[8]=o.y,i[9]=o.z;let r=this._getPluginReference(e),l=this._getPluginReference(t);this._b3._bx_ComputeAlignedFrameB(r.slot,l.slot);let h=s.suspensionLimits??[-.2,.2],c=s.steeringLimits??[-Math.PI/4,Math.PI/4];i.set([1,s.suspensionHertz??4,s.suspensionDampingRatio??.7,1,h[0],h[1],s.enableSpinMotor?1:0,s.maxSpinTorque??5,0,s.enableSteering?1:0,s.steeringHertz??10,s.steeringDampingRatio??.7,0,s.maxSteeringTorque??5,1,c[0],c[1]],14);let u=this._b3._bx_CreateJoint(this._worldSlot,6,r.slot,l.slot,0,0);if(!u)throw new Error("Box3DPlugin: wheel joint creation failed");return new w(this,u)}createParallelJoint(e,t,s,i,n=1,a=1,o=34e37){let r=this._scratch(),l=s.normalizeToNew(),h=l.getNormalToRef(new p.Vector3);this._frameToBuffer(r,0,p.Vector3.ZeroReadOnly,h,p.Vector3.Cross(l,h),l);let c=i.normalizeToNew(),u=c.getNormalToRef(new p.Vector3);return this._frameToBuffer(r,7,p.Vector3.ZeroReadOnly,u,p.Vector3.Cross(c,u),c),r.set([n,a,o],14),this._b3._bx_CreateJoint(this._worldSlot,7,this._getPluginReference(e).slot,this._getPluginReference(t).slot,1,0)}disposeExtraJoint(e){this._destroyExtraJoint(e)}_destroyExtraJoint(e){e&&this._destroyJoint(e)}_wheelCall(e,t,...s){t&&this._b3[e](t,...s)}raycast(e,t,s,i){let n=Array.isArray(s)?s:[s];for(let b of n)b.reset(e,t);let a=(i?.membership??-1)>>>0,o=(i?.collideWith??-1)>>>0,r=i?.ignoreBody?i.ignoreBody._pluginData?.slot??0:0,l=n.length===1,h=this._b3._bx_World_CastRay(this._worldSlot,e.x,e.y,e.z,t.x-e.x,t.y-e.y,t.z-e.z,a,o,r,i?.shouldHitTriggers?1:0,l?1:0);if(h<=0)return;let c=new Float32Array(this._b3.HEAPF32.buffer,this._b3._bx_RayHitsPtr(),h*G),u=[];for(let b=0;b<h;b++)u.push(b);if(u.sort((b,d)=>c[b*G+6]-c[d*G+6]),!n.length)for(let b=0;b<h;b++){let d=new Ce.PhysicsRaycastResult;d.reset(e,t),n.push(d)}let m=Math.min(h,n.length);for(let b=0;b<m;b++){let d=u[b]*G,D=n[b],g=this._bodies[c[d+7]];D.body=g?.body,D.bodyIndex=g?.index,D.shape=g?.body.shape??void 0,D.setHitData({x:c[d+3],y:c[d+4],z:c[d+5]},{x:c[d],y:c[d+1],z:c[d+2]},c[d+9]),D.calculateHitDistance()}}_readEvents(e,t,s,i){let n=new Float32Array(this._b3.HEAPF32.buffer,e,t*s).slice(),a=new Array(t*2);for(let o=0;o<t;o++)a[o*2]=this._bodies[n[o*s+i]],a[o*2+1]=this._bodies[n[o*s+i+1]];return{records:n,refs:a}}_notifyCollisions(){let e=this._b3._bx_World_GetContactEvents(this._worldSlot);if(!e)return;let{records:t,refs:s}=this._readEvents(this._b3._bx_ContactEventsPtr(),e,Be,3);for(let i=0;i<e;i++){let n=i*Be,a=t[n],o=s[i*2],r=s[i*2+1];if(!o||!r||!o.data.slot||!r.data.slot)continue;let l=a===0?1:a===1?4:2;if(((o.data.eventMask|r.data.eventMask)&l)===0)continue;if(a===1){let b={collider:o.body,colliderIndex:o.index,collidedAgainst:r.body,collidedAgainstIndex:r.index,type:_.PhysicsEventType.COLLISION_FINISHED};this.onCollisionEndedObservable.notifyObservers(b),this._bodyCollisionEndedObservable.get(o.data.slot)?.notifyObservers(b);let d=this._bodyCollisionEndedObservable.get(r.data.slot);d&&d.notifyObservers({...b,collider:r.body,colliderIndex:r.index,collidedAgainst:o.body,collidedAgainstIndex:o.index});continue}let h=a===0?_.PhysicsEventType.COLLISION_STARTED:_.PhysicsEventType.COLLISION_CONTINUED,c=new p.Vector3(t[n+5],t[n+6],t[n+7]),u=new p.Vector3(t[n+8],t[n+9],t[n+10]),m={collider:o.body,colliderIndex:o.index,collidedAgainst:r.body,collidedAgainstIndex:r.index,type:h,point:c,normal:u,distance:0,impulse:t[n+11]};if(this.onCollisionObservable.notifyObservers(m),this._bodyCollisionObservable.size){this._bodyCollisionObservable.get(o.data.slot)?.notifyObservers(m);let b=this._bodyCollisionObservable.get(r.data.slot);b&&b.notifyObservers({...m,collider:r.body,colliderIndex:r.index,collidedAgainst:o.body,collidedAgainstIndex:o.index,normal:u?u.negate():null})}}}_notifyTriggers(){let e=this._b3._bx_World_GetSensorEvents(this._worldSlot);if(!e||!this.onTriggerCollisionObservable.hasObservers())return;let{records:t,refs:s}=this._readEvents(this._b3._bx_SensorEventsPtr(),e,Ae,3);for(let i=0;i<e;i++){let n=i*Ae,a=s[i*2],o=s[i*2+1];!a||!o||!a.data.slot||!o.data.slot||this.onTriggerCollisionObservable.notifyObservers({collider:a.body,colliderIndex:a.index,collidedAgainst:o.body,collidedAgainstIndex:o.index,type:t[n]===0?_.PhysicsEventType.TRIGGER_ENTERED:_.PhysicsEventType.TRIGGER_EXITED})}}dispose(){this._motorJoints.clear(),this.onCollisionObservable.clear(),this.onCollisionEndedObservable.clear(),this.onTriggerCollisionObservable.clear(),this._bodyCollisionObservable.clear(),this._bodyCollisionEndedObservable.clear();for(let e of this._shapes)e&&this._b3._bx_ShapeDesc_Destroy(e.slot);this._shapes.length=0,this._bodies.length=0,this._worldSlot&&(this._b3._bx_DestroyWorld(this._worldSlot),this._worldSlot=0)}};ee();function V(){if(typeof SharedArrayBuffer>"u")return!1;let x=globalThis.crossOriginIsolated;return x===void 0||x}async function Me(x={}){let{threads:e=!1,...t}=x;if(e==="auto"?V():e){if(e===!0&&!V())throw new Error('babylon-box3d: the threaded build needs SharedArrayBuffer, which this page does not have. Serve it with the Cross-Origin-Opener-Policy: same-origin and Cross-Origin-Embedder-Policy: require-corp headers, or use LoadBox3D({ threads: "auto" }) to fall back to the single threaded build.');return(await Promise.resolve().then(()=>(Ie(),Te))).default(t)}return(await Promise.resolve().then(()=>(ee(),ve))).default(t)}return Ge(Ye);})();
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