babylon-box3d 0.5.0 → 0.6.1

package/umd/babylon.box3d.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["babylon-global:@babylonjs/core/Maths/math.vector.js", "babylon-global:@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js", "babylon-global:@babylonjs/core/Physics/physicsRaycastResult.js", "babylon-global:@babylonjs/core/Misc/logger.js", "babylon-global:@babylonjs/core/Culling/boundingBox.js", "babylon-global:@babylonjs/core/Meshes/mesh.js", "babylon-global:@babylonjs/core/Meshes/instancedMesh.js", "babylon-global:@babylonjs/core/Buffers/buffer.js", "babylon-global:@babylonjs/core/Misc/observable.js", "box3d-global:babylon-box3d/wasm", "box3d-threads-stub:babylon-box3d/wasm/threads", "../src/index.ts", "../src/box3dPlugin.ts", "../src/loadBox3D.ts"],
-  "sourcesContent": ["if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof Box3D === \"undefined\") { throw new Error(\"babylon.box3d.js needs lib/umd/box3d.umd.js loaded first\"); } export default Box3D;", "export default function () { 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\\\" }).\"); }", "// babylon-box3d: Box3D physics for Babylon.js.\n//\n//   import { Box3D, Box3DPlugin } from \"babylon-box3d\";\n//   const box3d = await Box3D();\n//   scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));\n\n// the .js extension keeps the emitted dist/index.js importable by plain node ESM, not just by bundlers\nexport { BOX3D_HEIGHT_FIELD_HOLE, Box3DPlugin, Box3DWheelJoint, type IBox3DPluginOptions, type IBox3DWheelJointOptions } from \"./box3dPlugin.js\";\nexport { default as Box3D } from \"babylon-box3d/wasm\";\nexport type { Box3DModule, Box3DModuleOptions, Box3DExports, Box3DHeap } from \"babylon-box3d/wasm\";\nexport { CanUseBox3DThreads, LoadBox3D, type ILoadBox3DOptions } from \"./loadBox3D.js\";\n", "import { Matrix, Quaternion, TmpVectors, Vector3 } from \"@babylonjs/core/Maths/math.vector.js\";\nimport {\n    type IPhysicsEnginePluginV2,\n    type PhysicsMassProperties,\n    type PhysicsShapeParameters,\n    type ConstrainedBodyPair,\n    type IPhysicsCollisionEvent,\n    type IBasePhysicsCollisionEvent,\n    PhysicsShapeType,\n    PhysicsConstraintType,\n    PhysicsMotionType,\n    PhysicsConstraintAxis,\n    PhysicsConstraintAxisLimitMode,\n    PhysicsConstraintMotorType,\n    PhysicsEventType,\n    PhysicsPrestepType,\n    PhysicsActivationControl,\n} from \"@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js\";\nimport { PhysicsRaycastResult } from \"@babylonjs/core/Physics/physicsRaycastResult.js\";\nimport { type IRaycastQuery } from \"@babylonjs/core/Physics/physicsRaycastResult.js\";\nimport { Logger } from \"@babylonjs/core/Misc/logger.js\";\nimport { type PhysicsBody } from \"@babylonjs/core/Physics/v2/physicsBody.js\";\nimport { type PhysicsConstraint, type Physics6DoFConstraint, type Physics6DoFLimit } from \"@babylonjs/core/Physics/v2/physicsConstraint.js\";\nimport { type PhysicsMaterial } from \"@babylonjs/core/Physics/v2/physicsMaterial.js\";\nimport { type PhysicsShape } from \"@babylonjs/core/Physics/v2/physicsShape.js\";\nimport { BoundingBox } from \"@babylonjs/core/Culling/boundingBox.js\";\nimport { type TransformNode } from \"@babylonjs/core/Meshes/transformNode.js\";\nimport { Mesh } from \"@babylonjs/core/Meshes/mesh.js\";\nimport { InstancedMesh } from \"@babylonjs/core/Meshes/instancedMesh.js\";\nimport { VertexBuffer } from \"@babylonjs/core/Buffers/buffer.js\";\nimport { Observable } from \"@babylonjs/core/Misc/observable.js\";\nimport { type Nullable, type FloatArray } from \"@babylonjs/core/types.js\";\n\n/** The cell material that cuts a hole in a height field: nothing collides with the cell and rays pass through it. */\nexport const BOX3D_HEIGHT_FIELD_HOLE = 255;\n\ndeclare module \"@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js\" {\n    interface PhysicsShapeParameters {\n        /**\n         * Box3D height fields only: a material index for every cell, `(numHeightFieldSamplesX - 1) *\n         * (numHeightFieldSamplesZ - 1)` of them, rows in the same order as `heightFieldData`. A cell of\n         * `BOX3D_HEIGHT_FIELD_HOLE` (255) is a hole. The index is also what `userMaterialId` would carry in Box3D, so\n         * keep it below 255 for solid ground.\n         */\n        heightFieldMaterials?: ArrayLike<number>;\n        /**\n         * `CONVEX_HULL` and `MESH` without a `mesh`: the points as x, y, z triplets in the body's space, for code that\n         * builds shapes with no meshes to read them from, like a headless simulation.\n         */\n        positions?: ArrayLike<number>;\n        /**\n         * `MESH` with `positions`: three indices into the points per triangle, wound so the plain cross product of\n         * (b - a) and (c - a) points out of the surface. That is Box3D's own winding, and it is used as given: no\n         * flip for a left handed scene, which only applies to winding read from a Babylon mesh.\n         */\n        positionIndices?: ArrayLike<number>;\n    }\n}\n\n/**\n * Per body plugin data. One instance per Box3D body (thin instances get one each).\n */\nclass Box3DBodyData {\n    public constructor(\n        /** slot handle inside the WASM shim */\n        public slot: number\n    ) {}\n    public userMassProps: PhysicsMassProperties = {};\n    /** Box3D angular motion locks currently set on the body, bits x, y, z */\n    public angularLocks = 0;\n    /** Havok's EventType bits: 1 collision started, 2 collision continued, 4 collision finished */\n    public eventMask = 0;\n    public motionType = PhysicsMotionType.STATIC;\n    /** Babylon activation control; ALWAYS_INACTIVE parks the body as a static Box3D body, see setActivationControl */\n    public activation = PhysicsActivationControl.SIMULATION_CONTROLLED;\n}\n\n/**\n * Per shape plugin data. A Babylon shape is a description that gets instantiated on each body it is set on.\n */\nclass Box3DShapeData {\n    public constructor(\n        public slot: number,\n        public type: PhysicsShapeType\n    ) {}\n    public material: PhysicsMaterial = {};\n    /** bodies currently instantiating this shape, refreshed when the description changes */\n    public users = new Set<Box3DBodyData>();\n    /** for containers: child shapes, so changes propagate to users */\n    public children: Box3DShapeData[] = [];\n    public parents = new Set<Box3DShapeData>();\n}\n\n/** Axis state kept on the JS side because box3d has no generic axis API. */\ninterface IAxisState {\n    mode: PhysicsConstraintAxisLimitMode;\n    min: number;\n    max: number;\n    motor: PhysicsConstraintMotorType;\n    target: number;\n    maxForce: number;\n    friction: number;\n    /** Physics6DoFLimit.stiffness: spring constant of a soft limit (N/m, or N*m/rad for angular axes) */\n    stiffness: number;\n    /** Physics6DoFLimit.damping */\n    damping: number;\n}\n\n/**\n * How a SIX_DOF constraint is realised with Box3D's fixed joint types. Recomputed from the axis table whenever an axis\n * changes, and reused as is when a disabled constraint is enabled again.\n */\ninterface ISixDofPlan {\n    jointType: Box3DJointType;\n    /** Box3D frame x, y, z as indices into the constraint basis [axis, perpAxis, axis x perpAxis], null for identity frames */\n    basis: Nullable<[number, number, number]>;\n    /** the Babylon axis that follows the single degree of freedom of a revolute, prismatic or distance joint */\n    primaryAxis: Nullable<PhysicsConstraintAxis>;\n    /** spherical cone angle, negative when the swing is free */\n    coneAngle: number;\n    /** spherical twist limits (about axis), null when free */\n    twist: Nullable<[number, number]>;\n    /** revolute angle, prismatic translation or distance length limits, null when free */\n    limit: Nullable<[number, number]>;\n    /** distance joints: a real spring at rest length limit[0] instead of a rope between the limits */\n    spring: boolean;\n    /** stiffest soft limit, mapped to Box3D spring or constraint softness per body pair */\n    stiffness: number;\n    damping: number;\n    angularStiffness: boolean;\n}\n\nclass Box3DConstraintData {\n    public joints: number[] = [];\n    public pairs: Array<{ parent: PhysicsBody; parentIndex: number; child: PhysicsBody; childIndex: number; parentData: Box3DBodyData; childData: Box3DBodyData }> = [];\n    public type: PhysicsConstraintType = PhysicsConstraintType.LOCK;\n    public jointType = 0;\n    public enabled = true;\n    public collisions = false;\n    public frames = new Float32Array(14);\n    public length = 0;\n    public axes = new Map<PhysicsConstraintAxis, IAxisState>();\n    /** SIX_DOF only */\n    public plan: Nullable<ISixDofPlan> = null;\n}\n\n// shim joint types\nconst enum Box3DJointType {\n    WELD = 0,\n    SPHERICAL = 1,\n    REVOLUTE = 2,\n    PRISMATIC = 3,\n    DISTANCE = 4,\n    FILTER = 5,\n    WHEEL = 6,\n    PARALLEL = 7,\n}\n\n/**\n * Options for a Box3D wheel joint (Box3D specific, no Babylon equivalent).\n * The suspension travels along axisA (chassis space), the wheel spins about spinAxisB (wheel space)\n * and steers about the suspension axis.\n */\nexport interface IBox3DWheelJointOptions {\n    /** anchor on the chassis, chassis local space */\n    pivotA: Vector3;\n    /** suspension axis in chassis local space (usually up) */\n    axisA?: Vector3;\n    /** axle direction in chassis local space, the wheel spins about it (default +z) */\n    axleA?: Vector3;\n    /** anchor on the wheel, wheel local space */\n    pivotB?: Vector3;\n    /** suspension spring stiffness in hertz */\n    suspensionHertz?: number;\n    /** suspension spring damping ratio */\n    suspensionDampingRatio?: number;\n    /** suspension travel limits along axisA */\n    suspensionLimits?: [number, number];\n    /** whether the wheel is driven */\n    enableSpinMotor?: boolean;\n    /** maximum drive torque */\n    maxSpinTorque?: number;\n    /** whether the wheel steers */\n    enableSteering?: boolean;\n    /** steering spring stiffness in hertz */\n    steeringHertz?: number;\n    /** steering spring damping ratio */\n    steeringDampingRatio?: number;\n    /** maximum steering torque */\n    maxSteeringTorque?: number;\n    /** steering angle limits in radians */\n    steeringLimits?: [number, number];\n}\n\n/**\n * Handle to a Box3D wheel joint created with Box3DPlugin.createWheelJoint.\n */\nexport class Box3DWheelJoint {\n    /**\n     * @internal\n     */\n    public constructor(\n        private _plugin: Box3DPlugin,\n        /** @internal */\n        public _slot: number\n    ) {}\n\n    /**\n     * Sets the target angular speed of the spin motor.\n     * @param speed radians per second\n     */\n    public setSpinSpeed(speed: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetSpinMotorSpeed\", this._slot, speed);\n    }\n\n    /**\n     * Sets the maximum torque the spin motor can apply.\n     * @param torque newton meters\n     */\n    public setMaxSpinTorque(torque: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetMaxSpinTorque\", this._slot, torque);\n    }\n\n    /**\n     * Enables or disables the spin motor (disabled wheels roll freely).\n     * @param enabled true to enable\n     */\n    public enableSpinMotor(enabled: boolean): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_EnableSpinMotor\", this._slot, enabled ? 1 : 0);\n    }\n\n    /**\n     * Sets the target steering angle.\n     * @param radians steering angle\n     */\n    public setSteeringAngle(radians: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetTargetSteeringAngle\", this._slot, radians);\n    }\n\n    /**\n     * Tunes the suspension spring.\n     * @param hertz stiffness\n     * @param dampingRatio damping ratio\n     */\n    public setSuspension(hertz: number, dampingRatio: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetSuspension\", this._slot, hertz, dampingRatio);\n    }\n\n    /**\n     * Removes the joint.\n     */\n    public dispose(): void {\n        this._plugin._destroyExtraJoint(this._slot);\n        this._slot = 0;\n    }\n}\n\n/**\n * Body event mask bits, the same values Havok's plugin uses so masks can be copied over from Havok code.\n * Box3D reports begin and end touch events together (they are one shape flag) and hit events separately.\n */\nconst enum Box3DEventBits {\n    COLLISION_STARTED = 1,\n    COLLISION_CONTINUED = 2,\n    COLLISION_FINISHED = 4,\n    ALL = 7,\n}\n\n/**\n * How much heavier a locked rotation axis is made than the heaviest free one. Babylon locks an axis with a zero inertia\n * component, Box3D needs an invertible tensor; 1e5 leaves a body a hundred thousand times harder to turn about that axis\n * while the tensor stays well conditioned in float32.\n */\nconst LockedInertiaRatio = 1e5;\n\n/**\n * Diagonalizes a symmetric inertia tensor [ixx, iyy, izz, ixy, ixz, iyz] into its principal moments and the rotation\n * that turns principal axes into body axes (Babylon's inertiaOrientation). Jacobi rotations, a few sweeps are plenty for\n * a 3x3, and the common diagonal case exits immediately.\n */\nfunction DiagonalizeInertia(tensor: ArrayLike<number>, moments: Vector3, orientation: Quaternion): void {\n    const a = [\n        [tensor[0], tensor[3], tensor[4]],\n        [tensor[3], tensor[1], tensor[5]],\n        [tensor[4], tensor[5], tensor[2]],\n    ];\n    orientation.set(0, 0, 0, 1);\n    moments.set(tensor[0], tensor[1], tensor[2]);\n    const q = [0, 0, 0, 1];\n    for (let sweep = 0; sweep < 24; sweep++) {\n        // rotation matrix of q, columns are the current principal axes\n        const [x, y, z, w] = q;\n        const r = [\n            [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],\n            [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],\n            [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)],\n        ];\n        // d = transpose(r) * a * r\n        const d = [0, 1, 2].map((i) => [0, 1, 2].map((j) => [0, 1, 2].reduce((sum, k) => sum + r[k][i] * [0, 1, 2].reduce((s2, l) => s2 + a[k][l] * r[l][j], 0), 0)));\n        moments.set(d[0][0], d[1][1], d[2][2]);\n        orientation.set(q[0], q[1], q[2], q[3]);\n        const offDiagonal = [Math.abs(d[1][2]), Math.abs(d[0][2]), Math.abs(d[0][1])];\n        const k = offDiagonal.indexOf(Math.max(...offDiagonal));\n        const k1 = (k + 1) % 3;\n        const k2 = (k + 2) % 3;\n        const off = d[k1][k2];\n        const scale = Math.abs(d[0][0]) + Math.abs(d[1][1]) + Math.abs(d[2][2]) + 1e-30;\n        if (Math.abs(off) <= 1e-9 * scale) {\n            return;\n        }\n        let theta = (d[k2][k2] - d[k1][k1]) / (2 * off);\n        const sign = theta > 0 ? 1 : -1;\n        theta *= sign;\n        const t = sign / (theta + (theta < 1e6 ? Math.sqrt(theta * theta + 1) : theta));\n        const c = 1 / Math.sqrt(t * t + 1);\n        if (c === 1) {\n            return;\n        }\n        const jacobi = [0, 0, 0, 0];\n        // d is transpose(r) * a * r and the step right multiplies q, so d becomes transpose(jacobi) * d * jacobi: the\n        // quaternion has to turn by -theta where the matrix form of the Jacobi rotation turns by +theta. With the other\n        // sign every sweep puts the off diagonal term straight back and the loop never converges.\n        jacobi[k] = -sign * Math.sqrt((1 - c) / 2);\n        jacobi[3] = Math.sqrt(1 - jacobi[k] * jacobi[k]);\n        // q = q * jacobi\n        const [qx, qy, qz, qw] = q;\n        const [jx, jy, jz, jw] = jacobi;\n        q[0] = qw * jx + qx * jw + qy * jz - qz * jy;\n        q[1] = qw * jy - qx * jz + qy * jw + qz * jx;\n        q[2] = qw * jz + qx * jy - qy * jx + qz * jw;\n        q[3] = qw * jw - qx * jx - qy * jy - qz * jz;\n        const length = Math.hypot(q[0], q[1], q[2], q[3]) || 1;\n        for (let i = 0; i < 4; i++) {\n            q[i] /= length;\n        }\n    }\n}\n\n/** Builds the symmetric tensor [ixx, iyy, izz, ixy, ixz, iyz] of principal moments rotated into body space. */\nfunction ComposeInertia(moments: ArrayLike<number>, orientation: Quaternion): number[] {\n    const { x, y, z, w } = orientation;\n    const r = [\n        [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],\n        [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],\n        [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)],\n    ];\n    const at = (i: number, j: number) => r[i][0] * moments[0] * r[j][0] + r[i][1] * moments[1] * r[j][1] + r[i][2] * moments[2] * r[j][2];\n    return [at(0, 0), at(1, 1), at(2, 2), at(0, 1), at(0, 2), at(1, 2)];\n}\n\n/** Shape description properties that Box3D can change on live shapes, see bx_Body_SyncShapeDesc. */\nconst enum Box3DShapeSync {\n    FILTER = 1,\n    MATERIAL = 2,\n    DENSITY = 4,\n}\n\nconst MOVE_STRIDE = 9;\nconst CONTACT_STRIDE = 12;\nconst SENSOR_STRIDE = 5;\nconst RAY_STRIDE = 11;\n\n/**\n * Collects mesh geometry in the physics body's local space (scaling baked in).\n */\nclass MeshGeometryAccumulator {\n    private _vertices: number[] = [];\n    private _indices: number[] = [];\n\n    public constructor(\n        private _collectIndices: boolean,\n        private _flipWinding: boolean\n    ) {}\n\n    public addNodeMeshes(mesh: TransformNode, includeChildren: boolean): void {\n        mesh.computeWorldMatrix(true);\n        const rootScaled = TmpVectors.Matrix[0];\n        Matrix.ScalingToRef(mesh.absoluteScaling.x, mesh.absoluteScaling.y, mesh.absoluteScaling.z, rootScaled);\n        if (mesh instanceof Mesh) {\n            this._addMesh(mesh, rootScaled);\n        } else if (mesh instanceof InstancedMesh) {\n            this._addMesh(mesh.sourceMesh, rootScaled);\n        }\n        if (includeChildren) {\n            const worldToRoot = TmpVectors.Matrix[1];\n            mesh.computeWorldMatrix().invertToRef(worldToRoot);\n            const worldToRootScaled = TmpVectors.Matrix[2];\n            worldToRoot.multiplyToRef(rootScaled, worldToRootScaled);\n            const children = mesh.getChildMeshes(false).filter((m: any) => !m.physicsBody);\n            for (const m of children) {\n                const childToWorld = m.computeWorldMatrix();\n                const childToRootScaled = TmpVectors.Matrix[3];\n                childToWorld.multiplyToRef(worldToRootScaled, childToRootScaled);\n                if (m instanceof Mesh) {\n                    this._addMesh(m, childToRootScaled);\n                } else if (m instanceof InstancedMesh) {\n                    this._addMesh(m.sourceMesh, childToRootScaled);\n                }\n            }\n        }\n    }\n\n    private _addMesh(mesh: Mesh, meshToRoot: Matrix): void {\n        const vertexData = mesh.getVerticesData(VertexBuffer.PositionKind) || [];\n        const numVerts = vertexData.length / 3;\n        const indexOffset = this._vertices.length / 3;\n        const p = TmpVectors.Vector3[0];\n        for (let v = 0; v < numVerts; v++) {\n            p.set(vertexData[v * 3 + 0], vertexData[v * 3 + 1], vertexData[v * 3 + 2]);\n            Vector3.TransformCoordinatesToRef(p, meshToRoot, p);\n            this._vertices.push(p.x, p.y, p.z);\n        }\n        if (this._collectIndices) {\n            const meshIndices = mesh.getIndices();\n            if (meshIndices) {\n                for (let i = 0; i < meshIndices.length; i += 3) {\n                    if (this._flipWinding) {\n                        this._indices.push(meshIndices[i + 2] + indexOffset, meshIndices[i + 1] + indexOffset, meshIndices[i + 0] + indexOffset);\n                    } else {\n                        this._indices.push(meshIndices[i + 0] + indexOffset, meshIndices[i + 1] + indexOffset, meshIndices[i + 2] + indexOffset);\n                    }\n                }\n            }\n        }\n    }\n\n    public get vertexCount(): number {\n        return this._vertices.length / 3;\n    }\n\n    public get triangleCount(): number {\n        return this._indices.length / 3;\n    }\n\n    public get vertices(): number[] {\n        return this._vertices;\n    }\n\n    public get indices(): number[] {\n        return this._indices;\n    }\n}\n\n/**\n * Every native entry point the plugin calls. The constructor checks that the module has all of them, because the two ways this goes wrong\n * in practice - a box3d.js loader left behind by an older install, or a box3d.wasm served from a stale copy - otherwise turn into a physics\n * world where nothing ever happens. A test keeps the list in step with the code.\n */\nconst RequiredNativeExports = [\n    \"_bx_Body_AllowFastRotation\", \"_bx_Body_ApplyAngularImpulse\", \"_bx_Body_ApplyForce\", \"_bx_Body_ApplyLinearImpulse\",\n    \"_bx_Body_ApplyMassFromShapes\", \"_bx_Body_ApplyTorque\", \"_bx_Body_ComputeShapeMassData\", \"_bx_Body_EnableSleep\", \"_bx_Body_GetAABB\",\n    \"_bx_Body_GetAngularDamping\", \"_bx_Body_GetAngularVelocity\", \"_bx_Body_GetGravityScale\", \"_bx_Body_GetLinearDamping\",\n    \"_bx_Body_GetLinearVelocity\", \"_bx_Body_GetMassData\", \"_bx_Body_GetTransform\", \"_bx_Body_SetAngularDamping\", \"_bx_Body_SetAngularVelocity\",\n    \"_bx_Body_SetAwake\", \"_bx_Body_SetEventFlags\", \"_bx_Body_SetGravityScale\", \"_bx_Body_SetLinearDamping\", \"_bx_Body_SetLinearVelocity\",\n    \"_bx_Body_SetMassDataFull\", \"_bx_Body_SetMotionLocks\", \"_bx_Body_SetShape\", \"_bx_Body_SetTargetTransform\", \"_bx_Body_SetTransform\",\n    \"_bx_Body_SetType\", \"_bx_Body_SyncShapeDesc\", \"_bx_ComputeAlignedFrameB\", \"_bx_ContactEventsPtr\", \"_bx_CreateBody\", \"_bx_CreateJoint\",\n    \"_bx_CreateWorld\", \"_bx_DebugIndexCount\", \"_bx_DebugIndicesPtr\", \"_bx_DebugPositionsPtr\", \"_bx_DestroyBody\", \"_bx_DestroyJoint\",\n    \"_bx_DestroyWorld\", \"_bx_GetMaxWorkers\", \"_bx_GetRejectedSlotCount\", \"_bx_Joint_EnableLimit\", \"_bx_Joint_EnableMotor\",\n    \"_bx_Joint_EnableSpring\", \"_bx_Joint_IsValid\",\n    \"_bx_Joint_SetCollideConnected\", \"_bx_Joint_SetConstraintTuning\", \"_bx_Joint_SetLimits\", \"_bx_Joint_SetMaxMotorForce\",\n    \"_bx_Joint_SetMotorSpeed\", \"_bx_Joint_SetSphericalMotor\", \"_bx_Joint_SetSphericalTarget\", \"_bx_Joint_SetSpring\", \"_bx_Joint_SetTarget\",\n    \"_bx_Joint_SetTwistLimits\", \"_bx_Joint_UpdateMotorFrame\", \"_bx_Joint_WakeBodies\", \"_bx_MoveEventsPtr\", \"_bx_RayHitsPtr\", \"_bx_Scratch\",\n    \"_bx_SensorEventsPtr\", \"_bx_ShapeDesc_AddChild\", \"_bx_ShapeDesc_BuildDebugGeometry\", \"_bx_ShapeDesc_CreateBox\", \"_bx_ShapeDesc_CreateCapsule\",\n    \"_bx_ShapeDesc_CreateContainer\", \"_bx_ShapeDesc_CreateCylinder\", \"_bx_ShapeDesc_CreateHeightField\", \"_bx_ShapeDesc_CreateHull\",\n    \"_bx_ShapeDesc_CreateMesh\", \"_bx_ShapeDesc_CreateSphere\", \"_bx_ShapeDesc_Destroy\", \"_bx_ShapeDesc_GetAABB\", \"_bx_ShapeDesc_GetCategoryBits\",\n    \"_bx_ShapeDesc_GetChildCount\", \"_bx_ShapeDesc_GetDensity\", \"_bx_ShapeDesc_GetFriction\", \"_bx_ShapeDesc_GetMaskBits\",\n    \"_bx_ShapeDesc_GetRestitution\", \"_bx_ShapeDesc_RemoveChild\", \"_bx_ShapeDesc_SetDensity\", \"_bx_ShapeDesc_SetFilter\", \"_bx_ShapeDesc_SetGroup\",\n    \"_bx_ShapeDesc_SetMaterial\", \"_bx_ShapeDesc_SetRollingResistance\", \"_bx_ShapeDesc_SetSensor\", \"_bx_World_CastRay\", \"_bx_World_EnableContinuous\",\n    \"_bx_World_EnableSleeping\", \"_bx_World_Explode\", \"_bx_World_GetContactEvents\", \"_bx_World_GetMaximumLinearSpeed\", \"_bx_World_GetMoveEvents\",\n    \"_bx_World_GetSensorEvents\", \"_bx_World_GetStats\", \"_bx_World_GetWorkerCount\", \"_bx_World_SetGravity\", \"_bx_World_SetMaximumLinearSpeed\",\n    \"_bx_World_Step\"\n];\n\n/**\n * Options for the Box3D plugin, passed to the constructor after the module.\n */\nexport interface IBox3DPluginOptions {\n    /**\n     * Workers box3d may put on a world step, counting the thread the step is called on. 1 (the default) keeps\n     * everything on the calling thread. Anything above 1 needs the threaded build of the module\n     * (`LoadBox3D({ threads: true })` or `babylon-box3d/wasm/threads`), which in turn needs a cross origin isolated\n     * page; on the single threaded module the request is clamped to 1 and a warning explains why.\n     * \"auto\" asks for half of `navigator.hardwareConcurrency`, capped at what the build supports: box3d gains little\n     * from the second thread of a core, and leaving room for rendering matters more than the last worker.\n     * The world is created in the constructor and box3d builds its threads with it, so this cannot change later.\n     */\n    workerCount?: number | \"auto\";\n    /**\n     * Solver sub steps per world step. Box3D's default of 4 is what keeps tall stacks standing; 2 roughly halves\n     * solver time and is worth trying for scenes that are mostly loose bodies, 8 buys stiffness in exchange for time.\n     */\n    subStepCount?: number;\n}\n\n/**\n * Box3D physics plugin for Babylon.js physics v2.\n * Box3D is Erin Catto's 3D rigid body engine (https://github.com/erincatto/box3d). This plugin drives the\n * WebAssembly build that ships in this package (a flat, handle based C shim over box3d).\n * Usage mirrors the Havok plugin:\n * ```ts\n * import { Box3D, Box3DPlugin } from \"babylon-box3d\";\n * const box3d = await Box3D();\n * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));\n * ```\n * On a cross origin isolated page the threaded module can spread a step over several workers:\n * ```ts\n * import { LoadBox3D, Box3DPlugin } from \"babylon-box3d\";\n * const box3d = await LoadBox3D({ threads: \"auto\" });\n * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d, { workerCount: \"auto\" }));\n * ```\n */\nexport class Box3DPlugin implements IPhysicsEnginePluginV2 {\n    /** Reference to the WASM module (the value resolved by the module factory). */\n    public world: any;\n    /** Name of the plugin */\n    public name = \"Box3DPlugin\";\n    /** Number of solver sub steps per world step. Box3D recommends 4. */\n    public subStepCount = 4;\n    /** Workers box3d puts on a world step, counting the calling thread. 1 unless the threaded module asked for more. */\n    public readonly workerCount: number = 1;\n    /** Wall clock time of the last world step in milliseconds (JavaScript side, includes the event sync). */\n    public lastStepTimeMs = 0;\n\n    private _b3: any;\n    private _worldSlot = 0;\n    private _fixedTimeStep = 1 / 60;\n    private _timeStep = 1 / 60;\n    private _maxAngularVelocity = 4 * Math.PI * 10;\n    private _bodies: Array<{ body: PhysicsBody; index: number; data: Box3DBodyData } | undefined> = [];\n    private _shapes: Array<Box3DShapeData | undefined> = [];\n    private _bodyCollisionObservable = new Map<number, Observable<IPhysicsCollisionEvent>>();\n    private _bodyCollisionEndedObservable = new Map<number, Observable<IBasePhysicsCollisionEvent>>();\n    private _touchedInstanceMeshes = new Set<Mesh>();\n    /** spherical joints whose velocity motor target has to be re-expressed in world space every step */\n    private _motorJoints = new Set<number>();\n    private _tmpVec3 = [new Vector3(), new Vector3(), new Vector3(), new Vector3()];\n    private _tmpQuat = [new Quaternion(), new Quaternion(), new Quaternion()];\n    private _warned = new Set<string>();\n    /** the shim's rejected slot counter as of the last step, see executeStep */\n    private _rejectedSlots = 0;\n\n    /** Observable for collision started and continued events */\n    public onCollisionObservable = new Observable<IPhysicsCollisionEvent>();\n    /** Observable for collision ended events */\n    public onCollisionEndedObservable = new Observable<IBasePhysicsCollisionEvent>();\n    /** Observable for trigger entered and exited events */\n    public onTriggerCollisionObservable = new Observable<IBasePhysicsCollisionEvent>();\n\n    /**\n     * Creates a Box3D plugin.\n     * @param _useDeltaForWorldStep step the world with the frame delta (true) or a fixed time step (false)\n     * @param box3dModule the resolved Box3D WASM module (await Box3DModule())\n     * @param options worker count and sub steps, see IBox3DPluginOptions\n     */\n    public constructor(\n        private _useDeltaForWorldStep = true,\n        box3dModule: any,\n        options?: IBox3DPluginOptions\n    ) {\n        if (!box3dModule) {\n            throw new Error(\"Box3D module is required: pass the awaited result of the Box3D module factory.\");\n        }\n        const missing = RequiredNativeExports.filter((name) => typeof box3dModule[name] !== \"function\");\n        if (missing.length > 0) {\n            throw new Error(\n                `Box3DPlugin: the Box3D module is missing ${missing.length} entry point${missing.length === 1 ? \"\" : \"s\"} this build needs` +\n                    ` (${missing.slice(0, 3).join(\", \")}${missing.length > 3 ? \", ...\" : \"\"}). box3d.js and box3d.wasm have to come from the` +\n                    \" same build of this package: check what locateFile points at and clear any copied or cached box3d.wasm.\"\n            );\n        }\n        this._b3 = box3dModule;\n        this.world = box3dModule;\n        if (options?.subStepCount !== undefined) {\n            this.subStepCount = Math.max(1, Math.round(options.subStepCount));\n        }\n        this._worldSlot = this._b3._bx_CreateWorld(0, -9.81, 0, this._resolveWorkerCount(options?.workerCount));\n        if (!this._worldSlot) {\n            throw new Error(\"Box3D: could not create a world (max worlds reached?)\");\n        }\n        // what box3d settled on, which is the request clamped to what this build of the module can run\n        this.workerCount = Math.max(1, this._b3._bx_World_GetWorkerCount(this._worldSlot));\n    }\n\n    /**\n     * Turns the requested worker count into one this module can honour. Only the threaded build reports more than one,\n     * and asking a single threaded build for workers is quiet enough to look like it worked, so say so once.\n     * @param requested the constructor option\n     * @returns the count to create the world with\n     */\n    private _resolveWorkerCount(requested: number | \"auto\" | undefined): number {\n        const supported = Math.max(1, this._b3._bx_GetMaxWorkers());\n        if (requested === undefined) {\n            return 1;\n        }\n        let wanted: number;\n        if (requested === \"auto\") {\n            const cores = (typeof navigator !== \"undefined\" && navigator.hardwareConcurrency) || 4;\n            // half the reported cores: the other half is usually the second thread of each core, and box3d gains\n            // little from those, while the renderer still needs somewhere to run\n            wanted = Math.max(1, Math.floor(cores / 2));\n        } else {\n            wanted = Math.max(1, Math.round(requested));\n        }\n        if (wanted > 1 && supported === 1) {\n            this._warnOnce(\n                \"single-threaded-module\",\n                `${wanted} workers were requested, but this Box3D module was built without threads, so the step stays on the calling ` +\n                    \"thread. Load the threaded build (LoadBox3D({ threads: true }), or babylon-box3d/wasm/threads) from a cross origin \" +\n                    \"isolated page: it needs SharedArrayBuffer, which browsers only allow with the COOP and COEP headers set.\"\n            );\n        }\n        return Math.min(wanted, supported);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // helpers\n    // ----------------------------------------------------------------------------------------\n\n    private _scratch(): Float32Array {\n        return new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_Scratch(), 64);\n    }\n\n    private _warnOnce(key: string, message: string): void {\n        if (!this._warned.has(key)) {\n            this._warned.add(key);\n            Logger.Warn(`Box3DPlugin: ${message}`);\n        }\n    }\n\n    private _getPluginReference(body: PhysicsBody, instanceIndex?: number): Box3DBodyData {\n        return body._pluginDataInstances?.length ? body._pluginDataInstances[instanceIndex ?? 0] : body._pluginData;\n    }\n\n    private _applyToBodyOrInstances(body: PhysicsBody, fn: (data: Box3DBodyData) => void, instanceIndex?: number): void {\n        if (body._pluginDataInstances?.length > 0 && instanceIndex === undefined) {\n            for (const data of body._pluginDataInstances) {\n                fn(data);\n            }\n        } else {\n            fn(this._getPluginReference(body, instanceIndex));\n        }\n    }\n\n    private _motionTypeToNative(motionType: PhysicsMotionType): number {\n        switch (motionType) {\n            case PhysicsMotionType.STATIC:\n                return 0;\n            case PhysicsMotionType.ANIMATED:\n                return 1;\n            default:\n                return 2;\n        }\n    }\n\n    private _nodeTransformToRef(node: TransformNode, position: Vector3, orientation: Quaternion): void {\n        if (node.parent) {\n            node.computeWorldMatrix(true);\n            position.copyFrom(node.absolutePosition);\n            orientation.copyFrom(node.absoluteRotationQuaternion);\n            return;\n        }\n        position.copyFrom(node.position);\n        if (node.rotationQuaternion) {\n            orientation.copyFrom(node.rotationQuaternion);\n        } else {\n            Quaternion.FromEulerAnglesToRef(node.rotation.x, node.rotation.y, node.rotation.z, orientation);\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // world\n    // ----------------------------------------------------------------------------------------\n\n    public setGravity(gravity: Vector3): void {\n        this._b3._bx_World_SetGravity(this._worldSlot, gravity.x, gravity.y, gravity.z);\n    }\n\n    public setTimeStep(timeStep: number): void {\n        this._fixedTimeStep = timeStep;\n    }\n\n    public getTimeStep(): number {\n        return this._fixedTimeStep;\n    }\n\n    public executeStep(delta: number, physicsBodies: Array<PhysicsBody>): void {\n        for (const physicsBody of physicsBodies) {\n            if (physicsBody.disablePreStep) {\n                continue;\n            }\n            this.setPhysicsBodyTransformation(physicsBody, physicsBody.transformNode);\n        }\n\n        for (const joint of this._motorJoints) {\n            // a joint whose bodies were destroyed is gone with them, drop it instead of holding the slot forever\n            if (this._b3._bx_Joint_IsValid(joint)) {\n                this._b3._bx_Joint_UpdateMotorFrame(joint);\n            } else {\n                this._motorJoints.delete(joint);\n            }\n        }\n\n        const deltaTime = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\n        this._timeStep = deltaTime;\n        const start = performance.now();\n        this._b3._bx_World_Step(this._worldSlot, deltaTime, this.subStepCount);\n\n        // Only bodies that moved report an event, so sync those instead of iterating every body.\n        const moveCount = this._b3._bx_World_GetMoveEvents(this._worldSlot);\n        if (moveCount > 0) {\n            const movePointer = this._b3._bx_MoveEventsPtr();\n            let buffer = new Float32Array(this._b3.HEAPF32.buffer, movePointer, moveCount * MOVE_STRIDE);\n            for (let i = 0; i < moveCount; i++) {\n                if (buffer.buffer !== this._b3.HEAPF32.buffer) {\n                    // a world matrix observer grew the wasm memory; the records are still in place\n                    buffer = new Float32Array(this._b3.HEAPF32.buffer, movePointer, moveCount * MOVE_STRIDE);\n                }\n                const offset = i * MOVE_STRIDE;\n                const ref = this._bodies[buffer[offset]];\n                if (!ref || ref.body.disableSync) {\n                    continue;\n                }\n                this._syncBodyFromBuffer(ref.body, ref.index, buffer, offset + 1);\n            }\n            for (const mesh of this._touchedInstanceMeshes) {\n                mesh.thinInstanceBufferUpdated(\"matrix\");\n            }\n            this._touchedInstanceMeshes.clear();\n        }\n\n        this._notifyCollisions();\n        this._notifyTriggers();\n        this.lastStepTimeMs = performance.now() - start;\n\n        // Every native entry point returns quietly when it does not recognize a handle. That is what teardown needs and\n        // it hides everything else, so say it once instead of simulating a world where half the calls do nothing.\n        const rejected = this._b3._bx_GetRejectedSlotCount();\n        if (rejected > this._rejectedSlots) {\n            this._rejectedSlots = rejected;\n            this._warnOnce(\n                \"rejected-slots\",\n                `the native module did not recognize ${rejected} of the handles it was given, and those calls did nothing. Something is using a ` +\n                    \"body, shape or joint after it was destroyed, or box3d.js and box3d.wasm are from different builds.\"\n            );\n        }\n    }\n\n    public getPluginVersion(): number {\n        return 2;\n    }\n\n    public setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void {\n        this._b3._bx_World_SetMaximumLinearSpeed(this._worldSlot, maxLinearVelocity);\n        this._maxAngularVelocity = maxAngularVelocity;\n    }\n\n    public getMaxLinearVelocity(): number {\n        return this._b3._bx_World_GetMaximumLinearSpeed(this._worldSlot);\n    }\n\n    public getMaxAngularVelocity(): number {\n        return this._maxAngularVelocity;\n    }\n\n    /**\n     * Box3D counters and timings for the current world.\n     * @returns body, shape, contact, joint and island counts plus the last step time in milliseconds\n     */\n    public getStats(): { bodies: number; shapes: number; contacts: number; joints: number; islands: number; stepMs: number; collideMs: number; solveMs: number } {\n        this._b3._bx_World_GetStats(this._worldSlot);\n        const s = this._scratch();\n        return { bodies: s[0], shapes: s[1], contacts: s[2], joints: s[3], islands: s[4], stepMs: s[5], collideMs: s[6], solveMs: s[7] };\n    }\n\n    /**\n     * Enables or disables island sleeping.\n     * @param enabled true to let resting bodies sleep\n     */\n    public setSleepingEnabled(enabled: boolean): void {\n        this._b3._bx_World_EnableSleeping(this._worldSlot, enabled ? 1 : 0);\n    }\n\n    /**\n     * Enables or disables continuous collision against static geometry.\n     * @param enabled true to enable continuous collision\n     */\n    public setContinuousEnabled(enabled: boolean): void {\n        this._b3._bx_World_EnableContinuous(this._worldSlot, enabled ? 1 : 0);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // bodies\n    // ----------------------------------------------------------------------------------------\n\n    private _createNativeBody(motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion, startAsleep: boolean): Box3DBodyData {\n        const slot = this._b3._bx_CreateBody(\n            this._worldSlot,\n            this._motionTypeToNative(motionType),\n            position.x,\n            position.y,\n            position.z,\n            orientation.x,\n            orientation.y,\n            orientation.z,\n            orientation.w,\n            startAsleep ? 0 : 1\n        );\n        const data = new Box3DBodyData(slot);\n        data.motionType = motionType;\n        return data;\n    }\n\n    public initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void {\n        const data = this._createNativeBody(motionType, position, orientation, body.startAsleep);\n        body._pluginData = data;\n        this._bodies[data.slot] = { body, index: 0, data };\n    }\n\n    public initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void {\n        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;\n        const matrixData = mesh._thinInstanceDataStorage?.matrixData;\n        if (!matrixData) {\n            return;\n        }\n        const shape = body.shape?._pluginData as Box3DShapeData | undefined;\n        if (instancesCount > 8 && shape && this._bakesMeshCopies(shape)) {\n            this._warnOnce(\n                \"instanced-mesh-child\",\n                \"a mesh inside a container has no local transform in Box3D, so every instance gets its own baked copy of the mesh data; \" +\n                    \"put the mesh on the body directly, or bake the offset into the mesh, to share it.\"\n            );\n        }\n        this._createOrUpdateBodyInstances(body, motionType, matrixData, 0, instancesCount, false);\n    }\n\n    private _createOrUpdateBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, matrixData: Float32Array, startIndex: number, endIndex: number, update: boolean): void {\n        const rotation = TmpVectors.Quaternion[0];\n        const rotationMatrix = TmpVectors.Matrix[0];\n        const position = TmpVectors.Vector3[0];\n        for (let i = startIndex; i < endIndex; i++) {\n            position.set(matrixData[i * 16 + 12], matrixData[i * 16 + 13], matrixData[i * 16 + 14]);\n            Matrix.FromArrayToRef(matrixData, i * 16, rotationMatrix);\n            rotationMatrix.decompose(undefined, rotation, undefined);\n            if (update) {\n                const data = body._pluginDataInstances[i];\n                this._b3._bx_Body_SetTransform(data.slot, position.x, position.y, position.z, rotation.x, rotation.y, rotation.z, rotation.w);\n            } else {\n                const data = this._createNativeBody(motionType, position, rotation, body.startAsleep);\n                const sibling = body._pluginDataInstances[0] as Box3DBodyData | undefined;\n                if (sibling) {\n                    // a new instance behaves like the ones already there: same mass properties, events and activation\n                    data.userMassProps = sibling.userMassProps;\n                    data.eventMask = sibling.eventMask;\n                    this._applyEventFlags(data);\n                    if (sibling.activation !== PhysicsActivationControl.SIMULATION_CONTROLLED) {\n                        data.activation = sibling.activation;\n                        this._applyNativeMotionType(data);\n                        this._b3._bx_Body_EnableSleep(data.slot, sibling.activation === PhysicsActivationControl.ALWAYS_ACTIVE ? 0 : 1);\n                    }\n                }\n                body._pluginDataInstances.push(data);\n                this._bodies[data.slot] = { body, index: i, data };\n            }\n        }\n    }\n\n    public updateBodyInstances(body: PhysicsBody, mesh: Mesh): void {\n        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;\n        const matrixData = mesh._thinInstanceDataStorage?.matrixData;\n        if (!matrixData) {\n            return;\n        }\n        const pluginInstancesCount = body._pluginDataInstances.length;\n        const motionType = this.getMotionType(body);\n        if (instancesCount > pluginInstancesCount) {\n            this._createOrUpdateBodyInstances(body, motionType, matrixData, pluginInstancesCount, instancesCount, false);\n            const shape = body.shape;\n            if (shape && shape._pluginData) {\n                for (let i = pluginInstancesCount; i < instancesCount; i++) {\n                    this._setBodyShape(body._pluginDataInstances[i], shape._pluginData as Box3DShapeData);\n                }\n            }\n        } else if (instancesCount < pluginInstancesCount) {\n            const instancesToRemove = pluginInstancesCount - instancesCount;\n            for (let i = 0; i < instancesToRemove; i++) {\n                const data = body._pluginDataInstances.pop() as Box3DBodyData;\n                this._destroyBodyData(data);\n            }\n            this._createOrUpdateBodyInstances(body, motionType, matrixData, 0, instancesCount, true);\n        }\n    }\n\n    private _destroyBodyData(data: Box3DBodyData): void {\n        if (!data) {\n            return;\n        }\n        for (const shape of this._shapes) {\n            shape?.users.delete(data);\n        }\n        this._bodyCollisionObservable.delete(data.slot);\n        this._bodyCollisionEndedObservable.delete(data.slot);\n        this._bodies[data.slot] = undefined;\n        this._b3._bx_DestroyBody(data.slot);\n        data.slot = 0;\n    }\n\n    public removeBody(body: PhysicsBody): void {\n        // Box3D has no add/remove without destroying. The body is destroyed and re-created by initBody if needed.\n        if (body._pluginDataInstances?.length) {\n            for (const data of body._pluginDataInstances) {\n                this._destroyBodyData(data);\n            }\n        }\n        if (body._pluginData) {\n            this._destroyBodyData(body._pluginData);\n        }\n    }\n\n    public sync(body: PhysicsBody): void {\n        this.syncTransform(body, body.transformNode);\n    }\n\n    private _syncBodyFromBuffer(body: PhysicsBody, index: number, buffer: Float32Array, offset: number): void {\n        const node = body.transformNode;\n        if (body._pluginDataInstances.length) {\n            const m = node as Mesh;\n            const matrixData = m._thinInstanceDataStorage?.matrixData;\n            if (!matrixData) {\n                return;\n            }\n            const scale = this._tmpVec3[0];\n            const base = index * 16;\n            scale.set(\n                Math.hypot(matrixData[base], matrixData[base + 1], matrixData[base + 2]),\n                Math.hypot(matrixData[base + 4], matrixData[base + 5], matrixData[base + 6]),\n                Math.hypot(matrixData[base + 8], matrixData[base + 9], matrixData[base + 10])\n            );\n            const quat = this._tmpQuat[0];\n            quat.set(buffer[offset + 3], buffer[offset + 4], buffer[offset + 5], buffer[offset + 6]);\n            const position = this._tmpVec3[1];\n            position.set(buffer[offset], buffer[offset + 1], buffer[offset + 2]);\n            const matrix = TmpVectors.Matrix[0];\n            Matrix.ComposeToRef(scale, quat, position, matrix);\n            matrix.copyToArray(matrixData, base);\n            this._touchedInstanceMeshes.add(m);\n            return;\n        }\n        this._applyTransformToNode(node, buffer[offset], buffer[offset + 1], buffer[offset + 2], buffer[offset + 3], buffer[offset + 4], buffer[offset + 5], buffer[offset + 6]);\n    }\n\n    private _applyTransformToNode(node: TransformNode, px: number, py: number, pz: number, qx: number, qy: number, qz: number, qw: number): void {\n        const quat = this._tmpQuat[0];\n        quat.set(qx, qy, qz, qw);\n        const parent = node.parent as TransformNode;\n        if (parent && !parent.getWorldMatrix().isIdentity()) {\n            parent.computeWorldMatrix(true);\n            const savedScaling = this._tmpVec3[2];\n            savedScaling.copyFrom(node.scaling);\n            const finalTransform = TmpVectors.Matrix[0];\n            const finalTranslation = this._tmpVec3[3];\n            finalTranslation.set(px, py, pz);\n            Matrix.ComposeToRef(node.absoluteScaling, quat, finalTranslation, finalTransform);\n            const parentInverse = TmpVectors.Matrix[1];\n            parent.getWorldMatrix().invertToRef(parentInverse);\n            const localTransform = TmpVectors.Matrix[2];\n            finalTransform.multiplyToRef(parentInverse, localTransform);\n            localTransform.decomposeToTransformNode(node);\n            node.rotationQuaternion?.normalize();\n            node.scaling.copyFrom(savedScaling);\n        } else {\n            node.position.set(px, py, pz);\n            if (node.rotationQuaternion) {\n                node.rotationQuaternion.copyFrom(quat);\n            } else {\n                quat.toEulerAnglesToRef(node.rotation);\n            }\n        }\n    }\n\n    public syncTransform(body: PhysicsBody, transformNode: TransformNode): void {\n        if (body._pluginDataInstances.length) {\n            const m = transformNode as Mesh;\n            const matrixData = m._thinInstanceDataStorage?.matrixData;\n            if (!matrixData) {\n                return;\n            }\n            for (let i = 0; i < body._pluginDataInstances.length; i++) {\n                const data = body._pluginDataInstances[i] as Box3DBodyData;\n                this._b3._bx_Body_GetTransform(data.slot);\n                this._syncBodyFromBuffer(body, i, this._scratch(), 0);\n            }\n            m.thinInstanceBufferUpdated(\"matrix\");\n            this._touchedInstanceMeshes.delete(m);\n            return;\n        }\n        const data = body._pluginData as Box3DBodyData;\n        if (!data || !data.slot) {\n            return;\n        }\n        this._b3._bx_Body_GetTransform(data.slot);\n        const s = this._scratch();\n        this._applyTransformToNode(transformNode, s[0], s[1], s[2], s[3], s[4], s[5], s[6]);\n    }\n\n    /**\n     * Pushes the transform node's pose into the physics body (called during the pre step).\n     * @param body the physics body\n     * @param node the transform node to read from\n     */\n    public setPhysicsBodyTransformation(body: PhysicsBody, node: TransformNode): void {\n        const prestep = body.getPrestepType();\n        if (prestep == PhysicsPrestepType.TELEPORT) {\n            if (body._pluginDataInstances.length > 0) {\n                const m = node as Mesh;\n                const matrixData = m._thinInstanceDataStorage?.matrixData;\n                if (!matrixData) {\n                    return;\n                }\n                this._createOrUpdateBodyInstances(body, body.getMotionType(), matrixData, 0, body._pluginDataInstances.length, true);\n                return;\n            }\n            const data = body._pluginData as Box3DBodyData;\n            const position = this._tmpVec3[0];\n            const orientation = this._tmpQuat[0];\n            this._nodeTransformToRef(node, position, orientation);\n            this._b3._bx_Body_SetTransform(data.slot, position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w);\n        } else if (prestep == PhysicsPrestepType.ACTION) {\n            this.setTargetTransform(body, node.absolutePosition, node.absoluteRotationQuaternion);\n        } else if (prestep == PhysicsPrestepType.DISABLED) {\n            Logger.Warn(\"Prestep type is set to DISABLED. Unable to set physics body transformation.\");\n        }\n    }\n\n    public setTargetTransform(body: PhysicsBody, position: Vector3, rotation: Quaternion, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                this._b3._bx_Body_SetTargetTransform(data.slot, position.x, position.y, position.z, rotation.x, rotation.y, rotation.z, rotation.w, this._timeStep);\n            },\n            instanceIndex\n        );\n    }\n\n    /** True when the shape puts a mesh inside a container, which Box3D can only do by baking a copy per body. */\n    private _bakesMeshCopies(data: Box3DShapeData, visited = new Set<Box3DShapeData>()): boolean {\n        if (visited.has(data)) {\n            return false;\n        }\n        visited.add(data);\n        return data.children.some((child) => child.type === PhysicsShapeType.MESH || this._bakesMeshCopies(child, visited));\n    }\n\n    private _setBodyShape(data: Box3DBodyData, shape: Nullable<Box3DShapeData>): void {\n        for (const existing of this._shapes) {\n            existing?.users.delete(data);\n        }\n        this._b3._bx_Body_SetShape(data.slot, shape ? shape.slot : 0);\n        if (shape) {\n            shape.users.add(data);\n        }\n        this._applyEventFlags(data);\n        this._internalUpdateMassProperties(data);\n    }\n\n    public setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void {\n        const shapeData = shape && shape._pluginData ? (shape._pluginData as Box3DShapeData) : null;\n        this._applyToBodyOrInstances(body, (data) => this._setBodyShape(data, shapeData));\n    }\n\n    public getShape(body: PhysicsBody): Nullable<PhysicsShape> {\n        return body.shape ?? null;\n    }\n\n    public getShapeType(shape: PhysicsShape): PhysicsShapeType {\n        return shape.type ?? (shape._pluginData as Box3DShapeData)?.type ?? PhysicsShapeType.CONTAINER;\n    }\n\n    /** Turns the body's event mask into Box3D's two shape flags, so a body only pays for the events it asked for. */\n    private _applyEventFlags(data: Box3DBodyData): void {\n        const touch = data.eventMask & (Box3DEventBits.COLLISION_STARTED | Box3DEventBits.COLLISION_FINISHED) ? 1 : 0;\n        const hit = data.eventMask & Box3DEventBits.COLLISION_CONTINUED ? 1 : 0;\n        this._b3._bx_Body_SetEventFlags(data.slot, touch, hit);\n    }\n\n    public setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.eventMask = eventMask;\n                this._applyEventFlags(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getEventMask(body: PhysicsBody, instanceIndex?: number): number {\n        return this._getPluginReference(body, instanceIndex).eventMask;\n    }\n\n    public setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.motionType = motionType;\n                this._applyNativeMotionType(data);\n                this._internalUpdateMassProperties(data);\n            },\n            instanceIndex\n        );\n    }\n\n    /** The Box3D body type: the Babylon motion type, unless the body is parked by ALWAYS_INACTIVE. */\n    private _applyNativeMotionType(data: Box3DBodyData): void {\n        const native = data.activation === PhysicsActivationControl.ALWAYS_INACTIVE ? 0 : this._motionTypeToNative(data.motionType);\n        this._b3._bx_Body_SetType(data.slot, native);\n    }\n\n    /**\n     * Babylon's activation control, matched to Havok's behaviour with Box3D sleeping.\n     * ALWAYS_ACTIVE turns sleeping off for the body, SIMULATION_CONTROLLED turns it back on. ALWAYS_INACTIVE parks the\n     * body: in Havok such a body ignores impulses and velocity changes, is not woken by anything that touches it and\n     * still blocks other bodies, which Box3D sleeping alone cannot do, so it becomes a static Box3D body until the\n     * control changes. Coming back it is left asleep, like Havok, until something wakes it.\n     * @param body the physics body\n     * @param controlMode how the body may be activated and deactivated\n     * @param instanceIndex optional thin instance index\n     */\n    public setActivationControl(body: PhysicsBody, controlMode: PhysicsActivationControl, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                if (data.activation === controlMode) {\n                    return;\n                }\n                const wasInactive = data.activation === PhysicsActivationControl.ALWAYS_INACTIVE;\n                data.activation = controlMode;\n                if (controlMode === PhysicsActivationControl.ALWAYS_INACTIVE) {\n                    this._b3._bx_Body_SetLinearVelocity(data.slot, 0, 0, 0);\n                    this._b3._bx_Body_SetAngularVelocity(data.slot, 0, 0, 0);\n                    this._applyNativeMotionType(data);\n                    return;\n                }\n                this._applyNativeMotionType(data);\n                this._internalUpdateMassProperties(data);\n                this._b3._bx_Body_EnableSleep(data.slot, controlMode === PhysicsActivationControl.ALWAYS_ACTIVE ? 0 : 1);\n                if (wasInactive && controlMode === PhysicsActivationControl.SIMULATION_CONTROLLED) {\n                    this._b3._bx_Body_SetAwake(data.slot, 0);\n                }\n            },\n            instanceIndex\n        );\n    }\n\n    public getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType {\n        return this._getPluginReference(body, instanceIndex).motionType;\n    }\n\n    /**\n     * Reads Box3D's mass data and converts it to Babylon's form: the inertia is the principal moments of the tensor\n     * divided by the mass (Babylon's inertia is per unit mass) and the orientation rotates the principal axes into\n     * body space.\n     */\n    private _readMassData(data: Box3DBodyData): PhysicsMassProperties {\n        // Box3D keeps mass 0 on static and kinematic bodies; Havok reports what the shapes weigh whatever the type\n        if (data.motionType === PhysicsMotionType.DYNAMIC && data.activation !== PhysicsActivationControl.ALWAYS_INACTIVE) {\n            this._b3._bx_Body_GetMassData(data.slot);\n        } else {\n            this._b3._bx_Body_ComputeShapeMassData(data.slot);\n        }\n        const s = this._scratch();\n        const mass = s[0];\n        const principal = new Vector3();\n        const orientation = new Quaternion();\n        DiagonalizeInertia([s[4], s[5], s[6], s[7], s[8], s[9]], principal, orientation);\n        if (mass > 0) {\n            principal.scaleInPlace(1 / mass);\n        }\n        return {\n            mass,\n            centerOfMass: new Vector3(s[1], s[2], s[3]),\n            inertia: principal,\n            inertiaOrientation: orientation,\n        };\n    }\n\n    /** The mass properties of the body: what the user asked for, filled in from the shapes where they said nothing. */\n    private _resolveMassProperties(data: Box3DBodyData): Required<PhysicsMassProperties> {\n        const computed = this._readMassData(data);\n        const user = data.userMassProps ?? {};\n        // no invented mass here: a body with no shapes really does weigh nothing, only the tensor written to Box3D\n        // needs a positive mass (see _internalUpdateMassProperties)\n        const mass = user.mass !== undefined && user.mass > 0 ? user.mass : computed.mass!;\n        return {\n            mass,\n            centerOfMass: user.centerOfMass ?? computed.centerOfMass!,\n            inertia: user.inertia ?? computed.inertia!,\n            inertiaOrientation: user.inertiaOrientation ?? (user.inertia ? Quaternion.Identity() : computed.inertiaOrientation!),\n        };\n    }\n\n    private _internalUpdateMassProperties(data: Box3DBodyData): void {\n        if (data.motionType !== PhysicsMotionType.DYNAMIC || data.activation === PhysicsActivationControl.ALWAYS_INACTIVE) {\n            // motion locks are world space velocity locks, they would fight a kinematic body's target transform\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        this._b3._bx_Body_ApplyMassFromShapes(data.slot);\n        const user = data.userMassProps;\n        const hasUser = !!user && (user.mass !== undefined || !!user.centerOfMass || !!user.inertia || !!user.inertiaOrientation);\n        if (!hasUser) {\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        const props = this._resolveMassProperties(data);\n        // a dynamic body with no mass at all would ignore gravity and every impulse\n        const mass = props.mass > 0 ? props.mass : 1;\n        const inertia = props.inertia;\n        const orientation = props.inertiaOrientation;\n        // Babylon's inertia is per unit mass and a zero component means infinite inertia about that principal axis.\n        // Box3D needs an invertible tensor, so a locked axis gets a very large moment; where the free axes stay aligned\n        // with the world, Box3D's motion locks are added on top and make it exact.\n        const locked = [inertia.x <= 0, inertia.y <= 0, inertia.z <= 0];\n        const largest = Math.max(inertia.x, inertia.y, inertia.z, 1e-4) * LockedInertiaRatio;\n        const moments = [locked[0] ? largest : inertia.x, locked[1] ? largest : inertia.y, locked[2] ? largest : inertia.z].map((value) => value * mass);\n        const tensor = ComposeInertia(moments, orientation);\n        this._b3._bx_Body_SetMassDataFull(\n            data.slot,\n            mass,\n            props.centerOfMass.x,\n            props.centerOfMass.y,\n            props.centerOfMass.z,\n            tensor[0],\n            tensor[1],\n            tensor[2],\n            tensor[3],\n            tensor[4],\n            tensor[5]\n        );\n        this._applyLockedAxes(data, locked, orientation);\n    }\n\n    /**\n     * Box3D locks are world space, Babylon's zero inertia components are body local. Locking two of them leaves a single\n     * free axis, and if that axis is world aligned the body can only ever spin about it, so the world locks are exact\n     * and stay exact. Everything else relies on the large moment above.\n     */\n    private _applyLockedAxes(data: Box3DBodyData, locked: boolean[], orientation: Quaternion): void {\n        const count = locked.filter(Boolean).length;\n        if (count === 3) {\n            this._applyMotionLocks(data, true, true, true);\n            return;\n        }\n        if (count !== 2) {\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        this._b3._bx_Body_GetTransform(data.slot);\n        const s = this._scratch();\n        const bodyRotation = this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        const free = locked.indexOf(false);\n        const axis = this._tmpVec3[0].set(free === 0 ? 1 : 0, free === 1 ? 1 : 0, free === 2 ? 1 : 0);\n        axis.applyRotationQuaternionInPlace(orientation).applyRotationQuaternionInPlace(bodyRotation);\n        const components = [Math.abs(axis.x), Math.abs(axis.y), Math.abs(axis.z)];\n        const dominant = components.indexOf(Math.max(...components));\n        if (components[dominant] > 0.9999) {\n            this._applyMotionLocks(data, dominant !== 0, dominant !== 1, dominant !== 2);\n        } else {\n            this._applyMotionLocks(data, false, false, false);\n        }\n    }\n\n    private _applyMotionLocks(data: Box3DBodyData, x: boolean, y: boolean, z: boolean): void {\n        const locks = (x ? 1 : 0) | (y ? 2 : 0) | (z ? 4 : 0);\n        if (locks === data.angularLocks) {\n            return;\n        }\n        data.angularLocks = locks;\n        this._b3._bx_Body_SetMotionLocks(data.slot, 0, 0, 0, x ? 1 : 0, y ? 1 : 0, z ? 1 : 0);\n    }\n\n    public computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties {\n        const data = this._getPluginReference(body, instanceIndex);\n        this._b3._bx_Body_ApplyMassFromShapes(data.slot);\n        const computed = this._readMassData(data);\n        this._internalUpdateMassProperties(data);\n        return computed;\n    }\n\n    public setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.userMassProps = massProps;\n                this._internalUpdateMassProperties(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties {\n        return this._resolveMassProperties(this._getPluginReference(body, instanceIndex));\n    }\n\n    public setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetLinearDamping(data.slot, damping), instanceIndex);\n    }\n\n    public getLinearDamping(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetLinearDamping(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    public setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetAngularDamping(data.slot, damping), instanceIndex);\n    }\n\n    public getAngularDamping(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetAngularDamping(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    public setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetLinearVelocity(data.slot, linVel.x, linVel.y, linVel.z), instanceIndex);\n    }\n\n    public getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void {\n        this._b3._bx_Body_GetLinearVelocity(this._getPluginReference(body, instanceIndex).slot);\n        const s = this._scratch();\n        linVel.set(s[0], s[1], s[2]);\n    }\n\n    public applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => this._b3._bx_Body_ApplyLinearImpulse(data.slot, impulse.x, impulse.y, impulse.z, location.x, location.y, location.z),\n            instanceIndex\n        );\n    }\n\n    public applyAngularImpulse(body: PhysicsBody, angularImpulse: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyAngularImpulse(data.slot, angularImpulse.x, angularImpulse.y, angularImpulse.z), instanceIndex);\n    }\n\n    public applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyForce(data.slot, force.x, force.y, force.z, location.x, location.y, location.z), instanceIndex);\n    }\n\n    public applyTorque(body: PhysicsBody, torque: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyTorque(data.slot, torque.x, torque.y, torque.z), instanceIndex);\n    }\n\n    public setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetAngularVelocity(data.slot, angVel.x, angVel.y, angVel.z), instanceIndex);\n    }\n\n    public getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void {\n        this._b3._bx_Body_GetAngularVelocity(this._getPluginReference(body, instanceIndex).slot);\n        const s = this._scratch();\n        angVel.set(s[0], s[1], s[2]);\n    }\n\n    public getBodyGeometry(body: PhysicsBody): { positions: Float32Array | number[]; indices: Uint32Array | number[] } {\n        const shape = body.shape?._pluginData as Box3DShapeData | undefined;\n        if (!shape) {\n            return { positions: [], indices: [] };\n        }\n        const vertexCount = this._b3._bx_ShapeDesc_BuildDebugGeometry(shape.slot);\n        const indexCount = this._b3._bx_DebugIndexCount();\n        if (!vertexCount || !indexCount) {\n            return { positions: [], indices: [] };\n        }\n        const positions = new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_DebugPositionsPtr(), vertexCount * 3).slice();\n        const indices = new Uint32Array(this._b3.HEAPU32.buffer, this._b3._bx_DebugIndicesPtr(), indexCount).slice();\n        return { positions, indices };\n    }\n\n    public disposeBody(body: PhysicsBody): void {\n        this.removeBody(body);\n        body._pluginData = undefined;\n        body._pluginDataInstances.length = 0;\n    }\n\n    public setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void {\n        // Havok replaces the mask with all three collision events, or clears it\n        this.setEventMask(body, enabled ? Box3DEventBits.ALL : 0, instanceIndex);\n    }\n\n    public setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.eventMask = enabled ? data.eventMask | Box3DEventBits.COLLISION_FINISHED : data.eventMask & ~Box3DEventBits.COLLISION_FINISHED;\n                this._applyEventFlags(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent> {\n        const slot = this._getPluginReference(body, instanceIndex).slot;\n        let observable = this._bodyCollisionObservable.get(slot);\n        if (!observable) {\n            observable = new Observable<IPhysicsCollisionEvent>();\n            this._bodyCollisionObservable.set(slot, observable);\n        }\n        return observable;\n    }\n\n    public getCollisionEndedObservable(body: PhysicsBody, instanceIndex?: number): Observable<IBasePhysicsCollisionEvent> {\n        const slot = this._getPluginReference(body, instanceIndex).slot;\n        let observable = this._bodyCollisionEndedObservable.get(slot);\n        if (!observable) {\n            observable = new Observable<IBasePhysicsCollisionEvent>();\n            this._bodyCollisionEndedObservable.set(slot, observable);\n        }\n        return observable;\n    }\n\n    public setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetGravityScale(data.slot, factor), instanceIndex);\n    }\n\n    public getGravityFactor(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetGravityScale(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // shapes\n    // ----------------------------------------------------------------------------------------\n\n    private _registerShape(shape: PhysicsShape, slot: number, type: PhysicsShapeType): Box3DShapeData {\n        if (!slot) {\n            throw new Error(\"Box3DPlugin: shape creation failed (degenerate geometry?)\");\n        }\n        const data = new Box3DShapeData(slot, type);\n        shape._pluginData = data;\n        this._shapes[slot] = data;\n        return data;\n    }\n\n    private _withFloatBuffer<T>(values: ArrayLike<number>, fn: (ptr: number) => T): T {\n        const ptr = this._b3._malloc(values.length * 4);\n        new Float32Array(this._b3.HEAPF32.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    /** Copies bytes into the module for the length of `fn`; with no bytes, `fn` gets a null pointer. */\n    private _withByteBuffer<T>(values: Nullable<Uint8Array>, fn: (ptr: number) => T): T {\n        if (!values || values.length === 0) {\n            return fn(0);\n        }\n        const ptr = this._b3._malloc(values.length);\n        new Uint8Array(this._b3.HEAPU8.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    private _withIntBuffer<T>(values: ArrayLike<number>, fn: (ptr: number) => T): T {\n        const ptr = this._b3._malloc(values.length * 4);\n        new Int32Array(this._b3.HEAP32.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    private _createOptionsFromGroundMesh(options: PhysicsShapeParameters): void {\n        const mesh = options.groundMesh;\n        if (!mesh) {\n            return;\n        }\n        const pos = mesh.getVerticesData(VertexBuffer.PositionKind) as FloatArray;\n        const transform = mesh.computeWorldMatrix(true);\n        const transformed: number[] = [];\n        const p = TmpVectors.Vector3[0];\n        for (let i = 0; i < pos.length; i += 3) {\n            Vector3.FromArrayToRef(pos, i, p);\n            Vector3.TransformCoordinatesToRef(p, transform, p);\n            p.toArray(transformed, i);\n        }\n        const arraySize = ~~(Math.sqrt(transformed.length / 3) - 1);\n        const boundingInfo = mesh.getBoundingInfo();\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.z);\n        const minX = boundingInfo.boundingBox.minimumWorld.x;\n        const minY = boundingInfo.boundingBox.minimumWorld.y;\n        const minZ = boundingInfo.boundingBox.minimumWorld.z;\n        const matrix = new Float32Array((arraySize + 1) * (arraySize + 1));\n        const elementSize = (dim * 2) / arraySize;\n        matrix.fill(minY);\n        for (let i = 0; i < transformed.length; i += 3) {\n            const x = Math.round((transformed[i + 0] - minX) / elementSize);\n            const z = arraySize - Math.round((transformed[i + 2] - minZ) / elementSize);\n            matrix[z * (arraySize + 1) + x] = transformed[i + 1] - minY;\n        }\n        options.numHeightFieldSamplesX = arraySize + 1;\n        options.numHeightFieldSamplesZ = arraySize + 1;\n        options.heightFieldSizeX = boundingInfo.boundingBox.extendSizeWorld.x * 2;\n        options.heightFieldSizeZ = boundingInfo.boundingBox.extendSizeWorld.z * 2;\n        options.heightFieldData = matrix;\n    }\n\n    public initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void {\n        const b3 = this._b3;\n        const center = options.center ?? Vector3.ZeroReadOnly;\n        const rotation = options.rotation ?? Quaternion.Identity();\n        switch (type) {\n            case PhysicsShapeType.SPHERE: {\n                const radius = options.radius ?? 1;\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateSphere(center.x, center.y, center.z, radius), type);\n                break;\n            }\n            case PhysicsShapeType.CAPSULE: {\n                const a = options.pointA ?? Vector3.ZeroReadOnly;\n                const b = options.pointB ?? Vector3.UpReadOnly;\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateCapsule(a.x, a.y, a.z, b.x, b.y, b.z, options.radius ?? 0), type);\n                break;\n            }\n            case PhysicsShapeType.BOX: {\n                const extents = options.extents ?? Vector3.OneReadOnly;\n                this._registerShape(\n                    shape,\n                    b3._bx_ShapeDesc_CreateBox(extents.x * 0.5, extents.y * 0.5, extents.z * 0.5, center.x, center.y, center.z, rotation.x, rotation.y, rotation.z, rotation.w),\n                    type\n                );\n                break;\n            }\n            case PhysicsShapeType.CYLINDER: {\n                const a = options.pointA ?? Vector3.ZeroReadOnly;\n                const b = options.pointB ?? Vector3.UpReadOnly;\n                const axis = b.subtract(a);\n                const height = axis.length();\n                const q = this._tmpQuat[0];\n                if (height > 1e-6) {\n                    axis.scaleInPlace(1 / height);\n                    Quaternion.FromUnitVectorsToRef(Vector3.UpReadOnly, axis, q);\n                } else {\n                    q.set(0, 0, 0, 1);\n                }\n                // Box3D's cylinder runs from 0 to height along its local Y, so it goes at pointA, not at the middle.\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateCylinder(height, options.radius ?? 0, 16, a.x, a.y, a.z, q.x, q.y, q.z, q.w), type);\n                break;\n            }\n            case PhysicsShapeType.CONVEX_HULL:\n            case PhysicsShapeType.MESH: {\n                if (!options.mesh && options.positions) {\n                    this._initShapeFromPositions(shape, type, options.positions, options.positionIndices);\n                    break;\n                }\n                const mesh = options.mesh;\n                if (!mesh) {\n                    throw new Error(\"No mesh provided to create physics shape.\");\n                }\n                const needIndices = type === PhysicsShapeType.MESH;\n                const flipWinding = !mesh.getScene().useRightHandedSystem;\n                const accum = new MeshGeometryAccumulator(needIndices, flipWinding);\n                accum.addNodeMeshes(mesh, !!options.includeChildMeshes);\n                if (type === PhysicsShapeType.CONVEX_HULL) {\n                    const slot = this._withFloatBuffer(accum.vertices, (ptr) => b3._bx_ShapeDesc_CreateHull(ptr, accum.vertexCount));\n                    this._registerShape(shape, slot, type);\n                } else {\n                    const slot = this._withFloatBuffer(accum.vertices, (vptr) =>\n                        this._withIntBuffer(accum.indices, (iptr) => b3._bx_ShapeDesc_CreateMesh(vptr, accum.vertexCount, iptr, accum.triangleCount, 1, 1, 1, 0, 0))\n                    );\n                    this._registerShape(shape, slot, type);\n                }\n                break;\n            }\n            case PhysicsShapeType.HEIGHTFIELD: {\n                if (options.groundMesh) {\n                    this._createOptionsFromGroundMesh(options);\n                }\n                const nx = options.numHeightFieldSamplesX;\n                const nz = options.numHeightFieldSamplesZ;\n                if (!nx || !nz || !options.heightFieldSizeX || !options.heightFieldSizeZ || !options.heightFieldData) {\n                    throw new Error(\"Missing required heightfield parameters\");\n                }\n                const heights = new Float32Array(nx * nz);\n                for (let x = 0; x < nx; x++) {\n                    for (let z = 0; z < nz; z++) {\n                        // box3d rows run along z (index z * countX + x); Babylon data rows are flipped along z\n                        heights[z * nx + x] = options.heightFieldData[(nz - 1 - z) * nx + x];\n                    }\n                }\n                const scaleX = options.heightFieldSizeX / (nx - 1);\n                const scaleZ = options.heightFieldSizeZ / (nz - 1);\n                const cellsX = nx - 1;\n                const cellsZ = nz - 1;\n                const source = options.heightFieldMaterials;\n                if (source && source.length !== cellsX * cellsZ) {\n                    throw new Error(`heightFieldMaterials needs ${cellsX * cellsZ} cells (${cellsX} \u00D7 ${cellsZ}), got ${source.length}`);\n                }\n                // Cells flip along z the same way the heights do.\n                const materials = source ? new Uint8Array(cellsX * cellsZ) : null;\n                if (source && materials) {\n                    for (let x = 0; x < cellsX; x++) {\n                        for (let z = 0; z < cellsZ; z++) {\n                            materials[z * cellsX + x] = source[(cellsZ - 1 - z) * cellsX + x];\n                        }\n                    }\n                }\n                const slot = this._withFloatBuffer(heights, (heightsPtr) =>\n                    this._withByteBuffer(materials, (materialsPtr) =>\n                        b3._bx_ShapeDesc_CreateHeightField(\n                            heightsPtr,\n                            materialsPtr,\n                            nx,\n                            nz,\n                            scaleX,\n                            1,\n                            scaleZ,\n                            0,\n                            -options.heightFieldSizeX! * 0.5,\n                            0,\n                            -options.heightFieldSizeZ! * 0.5\n                        )\n                    )\n                );\n                this._registerShape(shape, slot, type);\n                break;\n            }\n            case PhysicsShapeType.CONTAINER: {\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateContainer(), type);\n                break;\n            }\n            default:\n                throw new Error(\"Unsupported Shape Type.\");\n        }\n    }\n\n    private _initShapeFromPositions(shape: PhysicsShape, type: PhysicsShapeType, positions: ArrayLike<number>, indices: ArrayLike<number> | undefined): void {\n        const b3 = this._b3;\n        if (positions.length % 3 !== 0) {\n            throw new Error(`positions needs x, y, z triplets, got ${positions.length} numbers`);\n        }\n        const vertexCount = positions.length / 3;\n        if (type === PhysicsShapeType.CONVEX_HULL) {\n            this._registerShape(\n                shape,\n                this._withFloatBuffer(positions, (ptr) => b3._bx_ShapeDesc_CreateHull(ptr, vertexCount)),\n                type\n            );\n            return;\n        }\n        if (!indices || indices.length % 3 !== 0) {\n            throw new Error(\"a MESH shape from positions needs positionIndices, three per triangle\");\n        }\n        for (let i = 0; i < indices.length; i++) {\n            if (indices[i] < 0 || indices[i] >= vertexCount || !Number.isInteger(indices[i])) {\n                throw new Error(`positionIndices[${i}] is ${indices[i]}, but there are ${vertexCount} points`);\n            }\n        }\n        this._registerShape(\n            shape,\n            this._withFloatBuffer(positions, (vptr) =>\n                this._withIntBuffer(indices, (iptr) => b3._bx_ShapeDesc_CreateMesh(vptr, vertexCount, iptr, indices.length / 3, 1, 1, 1, 0, 0))\n            ),\n            type\n        );\n    }\n\n    // Re-instantiates the shape on every body that uses it (or uses a container holding it). Only needed for geometry\n    // and child changes; filters, materials and density are applied in place, see _syncShapeUsers.\n    private _refreshShapeUsers(data: Box3DShapeData, visited = new Set<Box3DShapeData>()): void {\n        if (visited.has(data)) {\n            return;\n        }\n        visited.add(data);\n        for (const body of data.users) {\n            this._b3._bx_Body_SetShape(body.slot, data.slot);\n            this._applyEventFlags(body);\n            this._internalUpdateMassProperties(body);\n        }\n        for (const parent of data.parents) {\n            this._refreshShapeUsers(parent, visited);\n        }\n    }\n\n    /**\n     * Pushes changed description properties into the Box3D shapes that are already on the bodies using this shape,\n     * directly or through a container. Rebuilding them instead would drop their contacts and re-apply the body mass.\n     */\n    private _syncShapeUsers(data: Box3DShapeData, what: Box3DShapeSync, visited = new Set<Box3DShapeData>(), changed = data): void {\n        if (visited.has(data)) {\n            return;\n        }\n        visited.add(data);\n        for (const body of data.users) {\n            this._b3._bx_Body_SyncShapeDesc(body.slot, changed.slot, what);\n            if (what & Box3DShapeSync.DENSITY) {\n                this._internalUpdateMassProperties(body);\n            }\n        }\n        for (const parent of data.parents) {\n            this._syncShapeUsers(parent, what, visited, changed);\n        }\n    }\n\n    public setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        const collide = this._b3._bx_ShapeDesc_GetMaskBits(data.slot);\n        this._b3._bx_ShapeDesc_SetFilter(data.slot, membershipMask >>> 0, collide >>> 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    public getShapeFilterMembershipMask(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetCategoryBits((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        const membership = this._b3._bx_ShapeDesc_GetCategoryBits(data.slot);\n        this._b3._bx_ShapeDesc_SetFilter(data.slot, membership >>> 0, collideMask >>> 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    public getShapeFilterCollideMask(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetMaskBits((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void {\n        const data = shape._pluginData as Box3DShapeData;\n        data.material = material;\n        this._b3._bx_ShapeDesc_SetMaterial(data.slot, material.friction ?? 0.5, material.restitution ?? 0);\n        this._syncShapeUsers(data, Box3DShapeSync.MATERIAL);\n    }\n\n    public getMaterial(shape: PhysicsShape): PhysicsMaterial {\n        const data = shape._pluginData as Box3DShapeData;\n        return {\n            friction: this._b3._bx_ShapeDesc_GetFriction(data.slot),\n            staticFriction: data.material.staticFriction,\n            restitution: this._b3._bx_ShapeDesc_GetRestitution(data.slot),\n            frictionCombine: data.material.frictionCombine,\n            restitutionCombine: data.material.restitutionCombine,\n        };\n    }\n\n    public setDensity(shape: PhysicsShape, density: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetDensity(data.slot, density);\n        this._syncShapeUsers(data, Box3DShapeSync.DENSITY);\n    }\n\n    public getDensity(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetDensity((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void {\n        const parent = shape._pluginData as Box3DShapeData;\n        const child = newChild._pluginData as Box3DShapeData;\n        const t = translation ?? Vector3.ZeroReadOnly;\n        const r = rotation ?? Quaternion.Identity();\n        const s = scale ?? Vector3.OneReadOnly;\n        this._b3._bx_ShapeDesc_AddChild(parent.slot, child.slot, t.x, t.y, t.z, r.x, r.y, r.z, r.w, s.x, s.y, s.z);\n        parent.children.push(child);\n        child.parents.add(parent);\n        this._refreshShapeUsers(parent);\n    }\n\n    public removeChild(shape: PhysicsShape, childIndex: number): void {\n        const parent = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_RemoveChild(parent.slot, childIndex);\n        const [child] = parent.children.splice(childIndex, 1);\n        if (child && !parent.children.includes(child)) {\n            child.parents.delete(parent);\n        }\n        this._refreshShapeUsers(parent);\n    }\n\n    public getNumChildren(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetChildCount((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public getBoundingBox(shape: PhysicsShape): BoundingBox {\n        this._b3._bx_ShapeDesc_GetAABB((shape._pluginData as Box3DShapeData).slot);\n        const s = this._scratch();\n        TmpVectors.Vector3[0].set(s[0], s[1], s[2]);\n        TmpVectors.Vector3[1].set(s[3], s[4], s[5]);\n        return new BoundingBox(TmpVectors.Vector3[0], TmpVectors.Vector3[1], Matrix.IdentityReadOnly);\n    }\n\n    public getBodyBoundingBox(body: PhysicsBody): BoundingBox {\n        const data = this._getPluginReference(body);\n        this._b3._bx_Body_GetAABB(data.slot);\n        const s = this._scratch();\n        TmpVectors.Vector3[0].set(s[0], s[1], s[2]);\n        TmpVectors.Vector3[1].set(s[3], s[4], s[5]);\n        return new BoundingBox(TmpVectors.Vector3[0], TmpVectors.Vector3[1], Matrix.IdentityReadOnly);\n    }\n\n    public disposeShape(shape: PhysicsShape): void {\n        const data = shape._pluginData as Box3DShapeData;\n        if (!data) {\n            return;\n        }\n        for (const parent of data.parents) {\n            const index = parent.children.indexOf(data);\n            if (index >= 0) {\n                parent.children.splice(index, 1);\n                this._b3._bx_ShapeDesc_RemoveChild(parent.slot, index);\n            }\n        }\n        for (const child of data.children) {\n            child.parents.delete(data);\n        }\n        this._shapes[data.slot] = undefined;\n        this._b3._bx_ShapeDesc_Destroy(data.slot);\n        shape._pluginData = undefined;\n    }\n\n    public setTrigger(shape: PhysicsShape, isTrigger: boolean): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetSensor(data.slot, isTrigger ? 1 : 0);\n        // Box3D decides at creation whether a shape is a sensor, so this one does need a rebuild\n        this._refreshShapeUsers(data);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // constraints\n    // ----------------------------------------------------------------------------------------\n\n    private _frameToBuffer(buffer: Float32Array, offset: number, pivot: Vector3, xAxis: Vector3, yAxis: Vector3, zAxis: Vector3): void {\n        const m = TmpVectors.Matrix[0];\n        Matrix.FromValuesToRef(xAxis.x, xAxis.y, xAxis.z, 0, yAxis.x, yAxis.y, yAxis.z, 0, zAxis.x, zAxis.y, zAxis.z, 0, 0, 0, 0, 1, m);\n        const q = this._tmpQuat[2];\n        Quaternion.FromRotationMatrixToRef(m, q);\n        q.normalize();\n        buffer[offset] = pivot.x;\n        buffer[offset + 1] = pivot.y;\n        buffer[offset + 2] = pivot.z;\n        buffer[offset + 3] = q.x;\n        buffer[offset + 4] = q.y;\n        buffer[offset + 5] = q.z;\n        buffer[offset + 6] = q.w;\n    }\n\n    private _buildFrames(cdata: Box3DConstraintData, constraint: PhysicsConstraint, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const options = constraint.options;\n        const pivotA = options.pivotA ?? Vector3.ZeroReadOnly;\n        const pivotB = options.pivotB ?? Vector3.ZeroReadOnly;\n        const axisA = (options.axisA ?? Vector3.RightReadOnly).normalizeToNew();\n        const axisB = (options.axisB ?? Vector3.RightReadOnly).normalizeToNew();\n        const perpA = options.perpAxisA ? options.perpAxisA.normalizeToNew() : axisA.getNormalToRef(new Vector3());\n        const perpB = options.perpAxisB ? options.perpAxisB.normalizeToNew() : axisB.getNormalToRef(new Vector3());\n        // Gram-Schmidt in case the user's perp axis is not exactly perpendicular\n        perpA.subtractInPlace(axisA.scale(Vector3.Dot(axisA, perpA))).normalize();\n        perpB.subtractInPlace(axisB.scale(Vector3.Dot(axisB, perpB))).normalize();\n        const thirdA = Vector3.Cross(axisA, perpA);\n        const thirdB = Vector3.Cross(axisB, perpB);\n\n        if (!constraint._initOptions) {\n            constraint._initOptions = {\n                axisA: axisA.clone(),\n                axisB: axisB.clone(),\n                perpAxisA: perpA.clone(),\n                perpAxisB: perpB.clone(),\n                pivotA: pivotA.clone(),\n                pivotB: pivotB.clone(),\n            };\n        }\n\n        const frames = cdata.frames;\n        if (cdata.plan) {\n            // SIX_DOF: the constraint basis is Havok's [axis, perpAxis, axis x perpAxis]; the plan picks which of them\n            // becomes Box3D's frame x, y and z (cyclic permutations, so the frames stay right handed)\n            const basis = cdata.plan.basis;\n            if (basis) {\n                const basisA = [axisA, perpA, thirdA];\n                const basisB = [axisB, perpB, thirdB];\n                this._frameToBuffer(frames, 0, pivotA, basisA[basis[0]], basisA[basis[1]], basisA[basis[2]]);\n                this._frameToBuffer(frames, 7, pivotB, basisB[basis[0]], basisB[basis[1]], basisB[basis[2]]);\n            } else {\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, 0, 0, 0, 1]);\n            }\n            return;\n        }\n        switch (cdata.type) {\n            case PhysicsConstraintType.HINGE:\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                // box3d: revolute rotates about the frame z axis, spherical cone is centered on frame A z\n                this._frameToBuffer(frames, 0, pivotA, perpA, Vector3.Cross(axisA, perpA), axisA);\n                this._frameToBuffer(frames, 7, pivotB, perpB, Vector3.Cross(axisB, perpB), axisB);\n                break;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                // box3d: prismatic slides along the frame A x axis\n                this._frameToBuffer(frames, 0, pivotA, axisA, perpA, thirdA);\n                this._frameToBuffer(frames, 7, pivotB, axisB, perpB, thirdB);\n                break;\n            case PhysicsConstraintType.LOCK: {\n                // weld the bodies in their current relative pose\n                this._b3._bx_Body_GetTransform(bodyA.slot);\n                let s = this._scratch();\n                const qA = this._tmpQuat[0];\n                qA.set(s[3], s[4], s[5], s[6]);\n                this._b3._bx_Body_GetTransform(bodyB.slot);\n                s = this._scratch();\n                const qB = this._tmpQuat[1];\n                qB.set(s[3], s[4], s[5], s[6]);\n                // frameB rotation = inv(qB) * qA so both frames coincide in world space now\n                const rel = qB.invert().multiply(qA).normalize();\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, rel.x, rel.y, rel.z, rel.w]);\n                break;\n            }\n            default:\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, 0, 0, 0, 1]);\n                break;\n        }\n    }\n\n    private _createJoint(cdata: Box3DConstraintData, bodyA: Box3DBodyData, bodyB: Box3DBodyData): number {\n        this._scratch().set(cdata.frames);\n        const joint = this._b3._bx_CreateJoint(this._worldSlot, cdata.jointType, bodyA.slot, bodyB.slot, cdata.collisions ? 1 : 0, cdata.length);\n        if (!joint) {\n            Logger.Warn(\"Box3DPlugin: joint creation failed.\");\n            return 0;\n        }\n        // A slider allows rotation about the axis in Havok. Box3D's prismatic locks it.\n        this._applyAxisState(cdata, joint, bodyA, bodyB);\n        return joint;\n    }\n\n    /** Reads Physics6DoFConstraint.limits into the axis table with Havok's rules. */\n    private _readSixDofLimits(cdata: Box3DConstraintData, limits: ReadonlyArray<Physics6DoFLimit> | undefined): void {\n        for (const limit of limits ?? []) {\n            const state = this._axisState(cdata, limit.axis);\n            if (limit.minLimit === 0 && limit.maxLimit === 0) {\n                state.mode = PhysicsConstraintAxisLimitMode.LOCKED;\n                state.min = 0;\n                state.max = 0;\n            } else if (limit.minLimit !== undefined || limit.maxLimit !== undefined) {\n                // a missing side is unbounded\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n                state.min = limit.minLimit ?? -Infinity;\n                state.max = limit.maxLimit ?? Infinity;\n            }\n            state.stiffness = limit.stiffness ?? 0;\n            state.damping = limit.damping ?? 0;\n        }\n    }\n\n    /**\n     * Maps the six axes of a SIX_DOF constraint onto one Box3D joint, following Havok's semantics: an axis that is not\n     * listed is free, 0/0 is locked, anything else is limited. The constraint frame is [axis, perpAxis, axis x perpAxis];\n     * ANGULAR_X rotates about axis, ANGULAR_Y about perpAxis and ANGULAR_Z about axis x perpAxis, all measured as the\n     * rotation of the child frame relative to the parent frame (right handed, like Havok).\n     *  - all linear locked, all angular locked: weld\n     *  - all linear locked, one angular axis open: revolute about it, with its limits (one sided ranges work)\n     *  - all linear locked, two or three angular axes open: spherical, twist limits from ANGULAR_X and one symmetric\n     *    cone from ANGULAR_Y/Z (Box3D has no elliptical cone, the larger swing range is used)\n     *  - two linear locked, angular locked: prismatic along the open linear axis\n     *  - only LINEAR_DISTANCE constrained: distance joint (a spring when min == max and a stiffness is set)\n     *  - nothing constrained: filter joint (collision filtering only)\n     * Anything else warns once and uses the closest of these.\n     */\n    private _planSixDof(cdata: Box3DConstraintData): ISixDofPlan {\n        const Axis = PhysicsConstraintAxis;\n        const Mode = PhysicsConstraintAxisLimitMode;\n        const mode = (axis: PhysicsConstraintAxis) => cdata.axes.get(axis)?.mode ?? Mode.FREE;\n        const range = (axis: PhysicsConstraintAxis): [number, number] => {\n            const state = cdata.axes.get(axis)!;\n            return state.mode === Mode.LOCKED ? [0, 0] : [Math.min(state.min, state.max), Math.max(state.min, state.max)];\n        };\n        const clamp = (value: number, limit: number) => Math.max(-limit, Math.min(limit, value));\n        const maxAngle = 0.99 * Math.PI;\n        // Box3D's B3_HUGE, keeps an unbounded side of a linear range out of the solver as a real number\n        const maxLength = 100000;\n        const plan: ISixDofPlan = {\n            jointType: Box3DJointType.WELD,\n            basis: [0, 1, 2],\n            primaryAxis: null,\n            coneAngle: -1,\n            twist: null,\n            limit: null,\n            spring: false,\n            stiffness: 0,\n            damping: 0,\n            angularStiffness: false,\n        };\n        for (const [axis, state] of cdata.axes) {\n            if ((state.stiffness > 0 || state.damping > 0) && state.stiffness >= plan.stiffness) {\n                plan.stiffness = state.stiffness;\n                plan.damping = state.damping;\n                plan.angularStiffness = axis === Axis.ANGULAR_X || axis === Axis.ANGULAR_Y || axis === Axis.ANGULAR_Z;\n            }\n        }\n        const linear = [Axis.LINEAR_X, Axis.LINEAR_Y, Axis.LINEAR_Z];\n        const angular = [Axis.ANGULAR_X, Axis.ANGULAR_Y, Axis.ANGULAR_Z];\n        const linearLocked = linear.filter((a) => mode(a) === Mode.LOCKED).length;\n        const linearFree = linear.filter((a) => mode(a) === Mode.FREE).length;\n        const angularOpen = angular.filter((a) => mode(a) !== Mode.LOCKED);\n        const angularFree = angular.filter((a) => mode(a) === Mode.FREE).length;\n        const distanceMode = mode(Axis.LINEAR_DISTANCE);\n\n        if (distanceMode !== Mode.FREE) {\n            if (linearFree === 3 && angularFree === 3) {\n                const [lower, upper] = range(Axis.LINEAR_DISTANCE);\n                plan.jointType = Box3DJointType.DISTANCE;\n                plan.basis = null;\n                plan.primaryAxis = Axis.LINEAR_DISTANCE;\n                plan.limit = [Math.min(Math.max(0, lower), maxLength), Math.min(Math.max(0, upper), maxLength)];\n                plan.spring = plan.stiffness > 0 && Math.abs(upper - lower) < 1e-6 && isFinite(lower);\n                return plan;\n            }\n            this._warnOnce(\"sixdof-distance\", \"SIX_DOF: LINEAR_DISTANCE combined with other constrained axes is not supported with Box3D, the distance limit is ignored.\");\n        }\n\n        // one open linear axis (free or limited) with the other two locked slides; see the prismatic case below\n        let pointJoint = linearLocked === 3;\n        if (!pointJoint && linearLocked !== 2 && linearFree === 0) {\n            this._warnOnce(\"sixdof-linear-limited\", \"SIX_DOF: two or more limited linear axes are treated as locked with Box3D.\");\n            pointJoint = true;\n        }\n        if (pointJoint) {\n            if (angularOpen.length === 0) {\n                return plan;\n            }\n            if (angularOpen.length === 1) {\n                // Box3D revolutes rotate about frame z\n                const axis = angularOpen[0];\n                plan.jointType = Box3DJointType.REVOLUTE;\n                plan.basis = [\n                    [1, 2, 0],\n                    [2, 0, 1],\n                    [0, 1, 2],\n                ][angular.indexOf(axis)] as [number, number, number];\n                plan.primaryAxis = axis;\n                if (mode(axis) === Mode.LIMITED) {\n                    const [lower, upper] = range(axis);\n                    plan.limit = [clamp(lower, maxAngle), clamp(upper, maxAngle)];\n                }\n                return plan;\n            }\n            // spherical: cone centered on frame z (axis), twist about frame z\n            plan.jointType = Box3DJointType.SPHERICAL;\n            plan.basis = [1, 2, 0];\n            if (mode(Axis.ANGULAR_X) !== Mode.FREE) {\n                const [lower, upper] = range(Axis.ANGULAR_X);\n                plan.twist = [clamp(lower, maxAngle), clamp(upper, maxAngle)];\n            }\n            const swingModes = [mode(Axis.ANGULAR_Y), mode(Axis.ANGULAR_Z)];\n            if (swingModes.some((m) => m !== Mode.FREE)) {\n                const extents: number[] = [];\n                let asymmetric = false;\n                for (const axis of [Axis.ANGULAR_Y, Axis.ANGULAR_Z]) {\n                    if (mode(axis) === Mode.FREE) {\n                        continue;\n                    }\n                    const [lower, upper] = range(axis);\n                    extents.push(Math.max(Math.abs(lower), Math.abs(upper)));\n                    asymmetric ||= Math.abs(lower + upper) > 1e-4;\n                }\n                const cone = Math.max(...extents);\n                if (isFinite(cone)) {\n                    if (swingModes.includes(Mode.FREE) || Math.abs(extents[0] - extents[1]) > 1e-4 || asymmetric) {\n                        this._warnOnce(\n                            \"sixdof-cone\",\n                            \"SIX_DOF: Box3D has one symmetric swing cone, ANGULAR_Y and ANGULAR_Z use the larger of their ranges.\"\n                        );\n                    }\n                    if (cone > Math.PI / 2) {\n                        this._warnOnce(\"sixdof-cone-90\", \"SIX_DOF: Box3D cone limits are at most 90 degrees, larger swing ranges are clamped.\");\n                    }\n                    plan.coneAngle = Math.min(cone, Math.PI / 2);\n                }\n            }\n            return plan;\n        }\n\n        if (linearLocked === 2) {\n            // Box3D prismatics slide along frame x\n            const slide = linear.find((a) => mode(a) !== Mode.LOCKED)!;\n            plan.jointType = Box3DJointType.PRISMATIC;\n            plan.basis = [\n                [0, 1, 2],\n                [1, 2, 0],\n                [2, 0, 1],\n            ][linear.indexOf(slide)] as [number, number, number];\n            plan.primaryAxis = slide;\n            if (mode(slide) === Mode.LIMITED) {\n                const [lower, upper] = range(slide);\n                plan.limit = [clamp(lower, maxLength), clamp(upper, maxLength)];\n            }\n            if (angularOpen.length) {\n                this._warnOnce(\"sixdof-prismatic\", \"SIX_DOF: a sliding axis with rotation is not supported with Box3D, rotation is locked.\");\n            }\n            return plan;\n        }\n\n        plan.jointType = Box3DJointType.FILTER;\n        plan.basis = null;\n        if (linearFree !== 3 || angularFree !== 3) {\n            this._warnOnce(\"sixdof-unsupported\", \"SIX_DOF: this combination of free and limited axes is not supported with Box3D, the bodies are left unconstrained.\");\n        }\n        return plan;\n    }\n\n    /** Box3D spring settings for a Havok spring constant and damping on a body pair. */\n    private _springToHertz(stiffness: number, damping: number, angular: boolean, bodyA: Box3DBodyData, bodyB: Box3DBodyData): { hertz: number; dampingRatio: number } {\n        // effective mass (or rotational inertia) of the pair, a static or animated body counts as infinitely heavy\n        const inverse = (data: Box3DBodyData) => {\n            if (data.motionType !== PhysicsMotionType.DYNAMIC) {\n                return 0;\n            }\n            this._b3._bx_Body_GetMassData(data.slot);\n            const s = this._scratch();\n            const value = angular ? (s[4] + s[5] + s[6]) / 3 : s[0];\n            return value > 0 ? 1 / value : 0;\n        };\n        const inverseSum = inverse(bodyA) + inverse(bodyB);\n        const mass = inverseSum > 0 ? 1 / inverseSum : 1;\n        const k = Math.max(stiffness, 0);\n        return {\n            hertz: Math.sqrt(k / mass) / (2 * Math.PI),\n            dampingRatio: k > 0 ? damping / (2 * Math.sqrt(k * mass)) : 1,\n        };\n    }\n\n    public initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody, instanceIndex?: number, childInstanceIndex?: number): void {\n        const type = constraint.type;\n        const options = constraint.options;\n        if (!type || !options) {\n            Logger.Warn(\"No constraint type or options. Constraint is invalid.\");\n            return;\n        }\n        if ((body._pluginDataInstances.length > 0 && instanceIndex === undefined) || (childBody._pluginDataInstances.length > 0 && childInstanceIndex === undefined)) {\n            Logger.Warn(\"Body is instanced but no instance index was specified. Constraint will not be applied.\");\n            return;\n        }\n        const firstPair = !constraint._pluginData;\n        const cdata: Box3DConstraintData = constraint._pluginData ?? new Box3DConstraintData();\n        constraint._pluginData = cdata;\n        cdata.type = type;\n        if (firstPair) {\n            cdata.collisions = !!options.collision;\n        }\n        switch (type) {\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                cdata.jointType = Box3DJointType.SPHERICAL;\n                break;\n            case PhysicsConstraintType.HINGE:\n                cdata.jointType = Box3DJointType.REVOLUTE;\n                break;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                cdata.jointType = Box3DJointType.PRISMATIC;\n                break;\n            case PhysicsConstraintType.LOCK:\n                cdata.jointType = Box3DJointType.WELD;\n                break;\n            case PhysicsConstraintType.DISTANCE:\n                cdata.jointType = Box3DJointType.DISTANCE;\n                break;\n            case PhysicsConstraintType.SIX_DOF:\n                // later pairs of the same constraint share the axis table, including changes made since the first pair\n                if (firstPair) {\n                    this._readSixDofLimits(cdata, (constraint as Physics6DoFConstraint).limits);\n                }\n                cdata.plan = this._planSixDof(cdata);\n                cdata.jointType = cdata.plan.jointType;\n                break;\n            default:\n                Logger.Warn(\"Box3DPlugin: unknown constraint type \" + type);\n                return;\n        }\n\n        const bodyA = this._getPluginReference(body, instanceIndex);\n        const bodyB = this._getPluginReference(childBody, childInstanceIndex);\n        this._buildFrames(cdata, constraint, bodyA, bodyB);\n        this._updateJointLength(cdata, options.maxDistance, bodyA, bodyB);\n        // joints[i] belongs to pairs[i], 0 while the constraint is disabled or when creation failed\n        const joint = cdata.enabled ? this._createJoint(cdata, bodyA, bodyB) : 0;\n        cdata.joints.push(joint);\n        cdata.pairs.push({ parent: body, parentIndex: instanceIndex ?? 0, child: childBody, childIndex: childInstanceIndex ?? 0, parentData: bodyA, childData: bodyB });\n    }\n\n    /** Length parameter passed to Box3D's distance joint at creation (the rest length of its spring). */\n    private _updateJointLength(cdata: Box3DConstraintData, maxDistance: number | undefined, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        if (cdata.type === PhysicsConstraintType.DISTANCE) {\n            cdata.length = maxDistance ?? 0;\n        } else if (cdata.plan?.jointType === Box3DJointType.DISTANCE && cdata.plan.limit) {\n            // a spring rests at its (single) limit; for a rope the rest length is unused, its limits do the work\n            cdata.length = cdata.plan.limit[0];\n        } else {\n            return;\n        }\n        if (cdata.length <= 0) {\n            // use the current distance between the world space pivots\n            cdata.length = Math.max(0.01, this._currentPivotDistance(cdata, bodyA, bodyB));\n        }\n    }\n\n    private _currentPivotDistance(cdata: Box3DConstraintData, bodyA: Box3DBodyData, bodyB: Box3DBodyData): number {\n        const f = cdata.frames;\n        const worldA = this._tmpVec3[0];\n        const worldB = this._tmpVec3[1];\n        this._b3._bx_Body_GetTransform(bodyA.slot);\n        let s = this._scratch();\n        this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        worldA.set(f[0], f[1], f[2]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(s[0], s[1], s[2]);\n        this._b3._bx_Body_GetTransform(bodyB.slot);\n        s = this._scratch();\n        this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        worldB.set(f[7], f[8], f[9]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(s[0], s[1], s[2]);\n        return Vector3.Distance(worldA, worldB);\n    }\n\n    public setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata || cdata.enabled === isEnabled) {\n            return;\n        }\n        cdata.enabled = isEnabled;\n        // Box3D has no enable flag on joints: destroy them, or re-create them from the saved frames, plan and axis state.\n        this._recreateJoints(cdata);\n    }\n\n    private _destroyJoint(joint: number): void {\n        this._motorJoints.delete(joint);\n        this._b3._bx_DestroyJoint(joint);\n    }\n\n    private _recreateJoints(cdata: Box3DConstraintData): void {\n        for (let i = 0; i < cdata.pairs.length; i++) {\n            if (cdata.joints[i]) {\n                this._destroyJoint(cdata.joints[i]);\n            }\n            const pair = cdata.pairs[i];\n            cdata.joints[i] = cdata.enabled && pair.parentData.slot && pair.childData.slot ? this._createJoint(cdata, pair.parentData, pair.childData) : 0;\n        }\n    }\n\n    public getEnabled(constraint: PhysicsConstraint): boolean {\n        return (constraint._pluginData as Box3DConstraintData)?.enabled ?? false;\n    }\n\n    public setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        cdata.collisions = isEnabled;\n        for (const joint of cdata.joints) {\n            if (joint) {\n                this._b3._bx_Joint_SetCollideConnected(joint, isEnabled ? 1 : 0);\n            }\n        }\n    }\n\n    public getCollisionsEnabled(constraint: PhysicsConstraint): boolean {\n        return (constraint._pluginData as Box3DConstraintData)?.collisions ?? false;\n    }\n\n    // The one axis box3d exposes for this constraint type.\n    private _primaryAxis(cdata: Box3DConstraintData): Nullable<PhysicsConstraintAxis> {\n        switch (cdata.type) {\n            case PhysicsConstraintType.HINGE:\n                return PhysicsConstraintAxis.ANGULAR_X;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                return PhysicsConstraintAxis.LINEAR_X;\n            case PhysicsConstraintType.DISTANCE:\n                return PhysicsConstraintAxis.LINEAR_DISTANCE;\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                return PhysicsConstraintAxis.ANGULAR_Y;\n            case PhysicsConstraintType.SIX_DOF:\n                return cdata.plan?.primaryAxis ?? null;\n            default:\n                return null;\n        }\n    }\n\n    private _isAngularAxis(axis: PhysicsConstraintAxis): boolean {\n        return axis === PhysicsConstraintAxis.ANGULAR_X || axis === PhysicsConstraintAxis.ANGULAR_Y || axis === PhysicsConstraintAxis.ANGULAR_Z;\n    }\n\n    private _isPrimaryAxis(cdata: Box3DConstraintData, axis: PhysicsConstraintAxis): boolean {\n        if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET || cdata.plan?.jointType === Box3DJointType.SPHERICAL) {\n            return this._isAngularAxis(axis);\n        }\n        return axis === this._primaryAxis(cdata);\n    }\n\n    private _axisState(cdata: Box3DConstraintData, axis: PhysicsConstraintAxis): IAxisState {\n        let state = cdata.axes.get(axis);\n        if (!state) {\n            state = {\n                mode: PhysicsConstraintAxisLimitMode.FREE,\n                min: 0,\n                max: 0,\n                motor: PhysicsConstraintMotorType.NONE,\n                target: 0,\n                maxForce: 0,\n                friction: 0,\n                stiffness: 0,\n                damping: 0,\n            };\n            cdata.axes.set(axis, state);\n        }\n        return state;\n    }\n\n    private _applyAxisState(cdata: Box3DConstraintData, joint: number, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const b3 = this._b3;\n        if (cdata.plan) {\n            this._applySixDofPlan(cdata, joint, bodyA, bodyB);\n            b3._bx_Joint_WakeBodies(joint);\n            return;\n        }\n        const primary = this._primaryAxis(cdata);\n        if (primary === null) {\n            return;\n        }\n        for (const [axis, state] of cdata.axes) {\n            if (!this._isPrimaryAxis(cdata, axis)) {\n                continue;\n            }\n            if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET) {\n                if (axis === PhysicsConstraintAxis.ANGULAR_X) {\n                    // twist about the primary axis (frame z in box3d)\n                    b3._bx_Joint_SetTwistLimits(joint, state.mode === PhysicsConstraintAxisLimitMode.FREE ? 0 : 1, state.min, state.max);\n                    continue;\n                }\n            }\n            const limited = state.mode !== PhysicsConstraintAxisLimitMode.FREE;\n            if (limited) {\n                const min = state.mode === PhysicsConstraintAxisLimitMode.LOCKED ? 0 : state.min;\n                const max = state.mode === PhysicsConstraintAxisLimitMode.LOCKED ? 0 : state.max;\n                b3._bx_Joint_SetLimits(joint, min, max);\n            }\n            b3._bx_Joint_EnableLimit(joint, limited ? 1 : 0);\n            if (cdata.type !== PhysicsConstraintType.BALL_AND_SOCKET) {\n                this._applyMotor(joint, state);\n            }\n        }\n        if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET) {\n            this._applySphericalMotor(cdata, joint);\n        }\n        b3._bx_Joint_WakeBodies(joint);\n    }\n\n    /**\n     * Box3D's spherical joint has one motor for the whole joint: a relative angular velocity, and one spring towards a\n     * target rotation. Babylon has a motor per axis, so the three angular axes are combined into one target in the\n     * joint frame (ANGULAR_X about frame z, ANGULAR_Y about frame x, ANGULAR_Z about frame y).\n     */\n    private _applySphericalMotor(cdata: Box3DConstraintData, joint: number): void {\n        const b3 = this._b3;\n        const twist = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_X);\n        const swing1 = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_Y);\n        const swing2 = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_Z);\n        const states = [twist, swing1, swing2];\n        const velocity = (state?: IAxisState) => (state?.motor === PhysicsConstraintMotorType.VELOCITY ? state.target : 0);\n        const hasVelocity = states.some((state) => state?.motor === PhysicsConstraintMotorType.VELOCITY);\n        const hasPosition = states.some((state) => state?.motor === PhysicsConstraintMotorType.POSITION);\n        const maxTorque = Math.max(...states.map((state) => (state?.motor === PhysicsConstraintMotorType.VELOCITY ? state.maxForce : 0)));\n        b3._bx_Joint_SetSphericalMotor(joint, hasVelocity ? 1 : 0, velocity(swing1), velocity(swing2), velocity(twist), maxTorque);\n        const target = velocity(swing1) !== 0 || velocity(swing2) !== 0 || velocity(twist) !== 0;\n        if (hasVelocity && target) {\n            // the world space target has to follow body A as it turns\n            this._motorJoints.add(joint);\n        } else {\n            this._motorJoints.delete(joint);\n        }\n        b3._bx_Joint_EnableSpring(joint, hasPosition ? 1 : 0);\n        if (hasPosition) {\n            const position = (state?: IAxisState) => (state?.motor === PhysicsConstraintMotorType.POSITION ? state.target : 0);\n            const rotation = this._tmpQuat[0];\n            Quaternion.RotationYawPitchRollToRef(0, 0, position(twist), rotation);\n            const swing = this._tmpQuat[1];\n            Quaternion.RotationYawPitchRollToRef(position(swing2), position(swing1), 0, swing);\n            rotation.multiplyInPlace(swing);\n            b3._bx_Joint_SetSpring(joint, 5, 1);\n            b3._bx_Joint_SetSphericalTarget(joint, rotation.x, rotation.y, rotation.z, rotation.w);\n        }\n    }\n\n    private _applyMotor(joint: number, state: IAxisState): void {\n        const b3 = this._b3;\n        switch (state.motor) {\n            case PhysicsConstraintMotorType.VELOCITY:\n                b3._bx_Joint_EnableSpring(joint, 0);\n                b3._bx_Joint_EnableMotor(joint, 1);\n                b3._bx_Joint_SetMotorSpeed(joint, state.target);\n                b3._bx_Joint_SetMaxMotorForce(joint, state.maxForce);\n                break;\n            case PhysicsConstraintMotorType.POSITION:\n                b3._bx_Joint_EnableMotor(joint, 0);\n                b3._bx_Joint_EnableSpring(joint, 1);\n                b3._bx_Joint_SetSpring(joint, 5, 1);\n                b3._bx_Joint_SetTarget(joint, state.target);\n                break;\n            default:\n                b3._bx_Joint_EnableMotor(joint, 0);\n                b3._bx_Joint_EnableSpring(joint, 0);\n                break;\n        }\n    }\n\n    /** Applies a SIX_DOF plan's limits, springs and motors to one of its Box3D joints. */\n    private _applySixDofPlan(cdata: Box3DConstraintData, joint: number, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const b3 = this._b3;\n        const plan = cdata.plan!;\n        switch (plan.jointType) {\n            case Box3DJointType.SPHERICAL:\n                if (plan.coneAngle >= 0) {\n                    b3._bx_Joint_SetLimits(joint, -plan.coneAngle, plan.coneAngle);\n                }\n                b3._bx_Joint_EnableLimit(joint, plan.coneAngle >= 0 ? 1 : 0);\n                b3._bx_Joint_SetTwistLimits(joint, plan.twist ? 1 : 0, plan.twist ? plan.twist[0] : 0, plan.twist ? plan.twist[1] : 0);\n                break;\n            case Box3DJointType.REVOLUTE:\n            case Box3DJointType.PRISMATIC:\n                if (plan.limit) {\n                    b3._bx_Joint_SetLimits(joint, plan.limit[0], plan.limit[1]);\n                }\n                b3._bx_Joint_EnableLimit(joint, plan.limit ? 1 : 0);\n                break;\n            case Box3DJointType.DISTANCE:\n                if (plan.spring) {\n                    const spring = this._springToHertz(plan.stiffness, plan.damping, false, bodyA, bodyB);\n                    b3._bx_Joint_EnableLimit(joint, 0);\n                    b3._bx_Joint_EnableSpring(joint, 1);\n                    b3._bx_Joint_SetSpring(joint, spring.hertz, spring.dampingRatio);\n                    b3._bx_Joint_SetTarget(joint, cdata.length);\n                } else {\n                    // an enabled spring with 0 hertz leaves the length free between the limits (a rope); Box3D keeps\n                    // equal limits rigid\n                    b3._bx_Joint_SetLimits(joint, plan.limit![0], plan.limit![1]);\n                    b3._bx_Joint_EnableLimit(joint, 1);\n                    b3._bx_Joint_EnableSpring(joint, 1);\n                    b3._bx_Joint_SetSpring(joint, 0, 0);\n                }\n                break;\n            default:\n                break;\n        }\n        if (plan.stiffness > 0 && !plan.spring) {\n            this._warnOnce(\n                \"sixdof-softness\",\n                \"SIX_DOF: limit stiffness and damping are approximated with Box3D's per joint constraint softness, which applies to every axis of the joint.\"\n            );\n            const soft = this._springToHertz(plan.stiffness, plan.damping, plan.angularStiffness, bodyA, bodyB);\n            b3._bx_Joint_SetConstraintTuning(joint, soft.hertz, soft.dampingRatio);\n        }\n        if (plan.jointType === Box3DJointType.SPHERICAL) {\n            this._applySphericalMotor(cdata, joint);\n        } else if (plan.primaryAxis !== null && plan.jointType !== Box3DJointType.DISTANCE) {\n            const state = cdata.axes.get(plan.primaryAxis);\n            if (state) {\n                this._applyMotor(joint, state);\n            }\n        }\n    }\n\n    private _setAxis(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, apply: (state: IAxisState) => void): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return;\n        }\n        const state = this._axisState(cdata, axis);\n        const previousMotor = { motor: state.motor, target: state.target, maxForce: state.maxForce };\n        apply(state);\n        if (cdata.plan) {\n            // SIX_DOF: every axis shapes the plan. A different Box3D joint type or frame needs new joints.\n            const plan = this._planSixDof(cdata);\n            const rebuild = plan.jointType !== cdata.plan.jointType || String(plan.basis) !== String(cdata.plan.basis);\n            cdata.plan = plan;\n            cdata.jointType = plan.jointType;\n            const motorChanged = previousMotor.motor !== state.motor || previousMotor.target !== state.target || previousMotor.maxForce !== state.maxForce;\n            if (motorChanged && state.motor !== PhysicsConstraintMotorType.NONE && !this._isPrimaryAxis(cdata, axis)) {\n                this._warnOnce(`axis-motor-${axis}`, `SIX_DOF: a motor on axis ${axis} has no effect with the Box3D joint this constraint maps to.`);\n            }\n            const first = cdata.pairs[0];\n            if (first) {\n                // the rest length of a distance joint follows its limits, whether or not the joint is rebuilt\n                this._updateJointLength(cdata, constraint.options.maxDistance, first.parentData, first.childData);\n            }\n            if (rebuild) {\n                if (first) {\n                    this._buildFrames(cdata, constraint, first.parentData, first.childData);\n                }\n                this._recreateJoints(cdata);\n                return;\n            }\n        } else if (!this._isPrimaryAxis(cdata, axis)) {\n            this._warnOnce(`axis-${cdata.type}-${axis}`, `axis ${axis} is not configurable on constraint type ${cdata.type} with Box3D; the value is stored but has no effect.`);\n            return;\n        }\n        for (let i = 0; i < cdata.joints.length; i++) {\n            if (cdata.joints[i]) {\n                this._applyAxisState(cdata, cdata.joints[i], cdata.pairs[i].parentData, cdata.pairs[i].childData);\n            }\n        }\n    }\n\n    public setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (cdata) {\n            this._axisState(cdata, axis).friction = friction;\n        }\n    }\n\n    public getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.friction ?? null;\n    }\n\n    public setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\n        this._setAxis(constraint, axis, (state) => (state.mode = limitMode));\n    }\n\n    public getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.mode ?? null;\n    }\n\n    public setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void {\n        this._setAxis(constraint, axis, (state) => {\n            state.min = minLimit;\n            if (state.mode === PhysicsConstraintAxisLimitMode.FREE) {\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n            }\n        });\n    }\n\n    public getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.min ?? null;\n    }\n\n    public setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void {\n        this._setAxis(constraint, axis, (state) => {\n            state.max = limit;\n            if (state.mode === PhysicsConstraintAxisLimitMode.FREE) {\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n            }\n        });\n    }\n\n    public getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.max ?? null;\n    }\n\n    public setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\n        this._setAxis(constraint, axis, (state) => (state.motor = motorType));\n    }\n\n    public getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.motor ?? null;\n    }\n\n    public setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void {\n        this._setAxis(constraint, axis, (state) => (state.target = target));\n    }\n\n    public getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.target ?? null;\n    }\n\n    public setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void {\n        this._setAxis(constraint, axis, (state) => (state.maxForce = maxForce));\n    }\n\n    public getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.maxForce ?? null;\n    }\n\n    public disposeConstraint(constraint: PhysicsConstraint): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return;\n        }\n        for (const joint of cdata.joints) {\n            if (joint) {\n                this._destroyJoint(joint);\n            }\n        }\n        cdata.joints.length = 0;\n        cdata.pairs.length = 0;\n    }\n\n    public getBodiesUsingConstraint(constraint: PhysicsConstraint): ConstrainedBodyPair[] {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return [];\n        }\n        return cdata.pairs.map((p) => ({ parentBody: p.parent, parentBodyIndex: p.parentIndex, childBody: p.child, childBodyIndex: p.childIndex }));\n    }\n\n    public addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\n        this.initConstraint(constraint, body, childBody, instanceIndex, childInstanceIndex);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // Box3D specific extras\n    // ----------------------------------------------------------------------------------------\n\n    /**\n     * Applies a radial impulse to every shape within the radius, like a grenade.\n     * @param position world position of the explosion\n     * @param radius radius of the explosion\n     * @param impulsePerArea impulse per surface area of the affected shapes\n     * @param falloff distance beyond the radius over which the impulse fades to zero\n     */\n    public explode(position: Vector3, radius: number, impulsePerArea: number, falloff = 0): void {\n        this._b3._bx_World_Explode(this._worldSlot, position.x, position.y, position.z, radius, falloff, impulsePerArea);\n    }\n\n    /**\n     * Box2D style collision group. Shapes sharing a negative group never collide with each other,\n     * shapes sharing a positive group always collide. Zero means no group.\n     * @param shape the shape\n     * @param groupIndex the group index\n     */\n    public setShapeFilterGroup(shape: PhysicsShape, groupIndex: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetGroup(data.slot, groupIndex | 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    /**\n     * Rolling resistance for spheres and capsules (Babylon materials have no equivalent).\n     * @param shape the shape\n     * @param value resistance, typically in [0, 1]\n     */\n    public setShapeRollingResistance(shape: PhysicsShape, value: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetRollingResistance(data.slot, value);\n        this._syncShapeUsers(data, Box3DShapeSync.MATERIAL);\n    }\n\n    /**\n     * Lets a body spin faster than the default angular speed cap (wheels).\n     * @param body the body\n     * @param allow true to allow fast rotation\n     * @param instanceIndex optional thin instance index\n     */\n    public setAllowFastRotation(body: PhysicsBody, allow: boolean, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_AllowFastRotation(data.slot, allow ? 1 : 0), instanceIndex);\n    }\n\n    /**\n     * Creates a Box3D wheel joint between a chassis and a wheel body.\n     * @param chassis the chassis body\n     * @param wheel the wheel body\n     * @param options wheel joint options\n     * @returns a handle used to drive and steer the wheel\n     */\n    public createWheelJoint(chassis: PhysicsBody, wheel: PhysicsBody, options: IBox3DWheelJointOptions): Box3DWheelJoint {\n        const s = this._scratch();\n        const axisA = (options.axisA ?? Vector3.UpReadOnly).normalizeToNew();\n        const axleA = (options.axleA ?? Vector3.Forward()).normalizeToNew();\n        // suspension travels along frame A x, the wheel spins about frame z\n        axleA.subtractInPlace(axisA.scale(Vector3.Dot(axisA, axleA))).normalize();\n        this._frameToBuffer(s, 0, options.pivotA, axisA, Vector3.Cross(axleA, axisA), axleA);\n        // frame B must coincide with frame A in world space at creation, compute it from the current poses\n        const pivotB = options.pivotB ?? Vector3.ZeroReadOnly;\n        s[7] = pivotB.x;\n        s[8] = pivotB.y;\n        s[9] = pivotB.z;\n        const chassisData = this._getPluginReference(chassis);\n        const wheelData = this._getPluginReference(wheel);\n        this._b3._bx_ComputeAlignedFrameB(chassisData.slot, wheelData.slot);\n        const susp = options.suspensionLimits ?? [-0.2, 0.2];\n        const steer = options.steeringLimits ?? [-Math.PI / 4, Math.PI / 4];\n        s.set(\n            [\n                1,\n                options.suspensionHertz ?? 4,\n                options.suspensionDampingRatio ?? 0.7,\n                1,\n                susp[0],\n                susp[1],\n                options.enableSpinMotor ? 1 : 0,\n                options.maxSpinTorque ?? 5,\n                0,\n                options.enableSteering ? 1 : 0,\n                options.steeringHertz ?? 10,\n                options.steeringDampingRatio ?? 0.7,\n                0,\n                options.maxSteeringTorque ?? 5,\n                1,\n                steer[0],\n                steer[1],\n            ],\n            14\n        );\n        const slot = this._b3._bx_CreateJoint(this._worldSlot, Box3DJointType.WHEEL, chassisData.slot, wheelData.slot, 0, 0);\n        if (!slot) {\n            throw new Error(\"Box3DPlugin: wheel joint creation failed\");\n        }\n        return new Box3DWheelJoint(this, slot);\n    }\n\n    /**\n     * Creates a Box3D parallel joint: a spring that keeps a local axis of bodyB parallel to an axis\n     * of bodyA, for example to keep a vehicle upright without locking its motion.\n     * @param bodyA first body (often a static body)\n     * @param bodyB body to align\n     * @param axisA axis in bodyA local space\n     * @param axisB axis in bodyB local space\n     * @param hertz spring stiffness\n     * @param dampingRatio spring damping\n     * @param maxTorque maximum spring torque\n     * @returns a joint slot that can be passed to disposeExtraJoint\n     */\n    public createParallelJoint(bodyA: PhysicsBody, bodyB: PhysicsBody, axisA: Vector3, axisB: Vector3, hertz = 1, dampingRatio = 1, maxTorque = 3.4e38): number {\n        const s = this._scratch();\n        const a = axisA.normalizeToNew();\n        const pa = a.getNormalToRef(new Vector3());\n        this._frameToBuffer(s, 0, Vector3.ZeroReadOnly, pa, Vector3.Cross(a, pa), a);\n        const b = axisB.normalizeToNew();\n        const pb = b.getNormalToRef(new Vector3());\n        this._frameToBuffer(s, 7, Vector3.ZeroReadOnly, pb, Vector3.Cross(b, pb), b);\n        s.set([hertz, dampingRatio, maxTorque], 14);\n        return this._b3._bx_CreateJoint(this._worldSlot, Box3DJointType.PARALLEL, this._getPluginReference(bodyA).slot, this._getPluginReference(bodyB).slot, 1, 0);\n    }\n\n    /**\n     * Destroys a joint created by createParallelJoint.\n     * @param slot the joint slot\n     */\n    public disposeExtraJoint(slot: number): void {\n        this._destroyExtraJoint(slot);\n    }\n\n    /**\n     * @internal\n     */\n    public _destroyExtraJoint(slot: number): void {\n        if (slot) {\n            this._destroyJoint(slot);\n        }\n    }\n\n    /**\n     * @internal\n     */\n    public _wheelCall(fn: string, slot: number, ...args: number[]): void {\n        if (slot) {\n            this._b3[fn](slot, ...args);\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // queries\n    // ----------------------------------------------------------------------------------------\n\n    public raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult | Array<PhysicsRaycastResult>, query?: IRaycastQuery): void {\n        const results = Array.isArray(result) ? result : [result];\n        for (const r of results) {\n            r.reset(from, to);\n        }\n        const membership = (query?.membership ?? ~0) >>> 0;\n        const collideWith = (query?.collideWith ?? ~0) >>> 0;\n        const ignore = query?.ignoreBody ? ((query.ignoreBody._pluginData as Box3DBodyData)?.slot ?? 0) : 0;\n        const closestOnly = results.length === 1;\n        const count = this._b3._bx_World_CastRay(\n            this._worldSlot,\n            from.x,\n            from.y,\n            from.z,\n            to.x - from.x,\n            to.y - from.y,\n            to.z - from.z,\n            membership,\n            collideWith,\n            ignore,\n            query?.shouldHitTriggers ? 1 : 0,\n            closestOnly ? 1 : 0\n        );\n        if (count <= 0) {\n            return;\n        }\n        const buffer = new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_RayHitsPtr(), count * RAY_STRIDE);\n        const hits: number[] = [];\n        for (let i = 0; i < count; i++) {\n            hits.push(i);\n        }\n        hits.sort((a, b) => buffer[a * RAY_STRIDE + 6] - buffer[b * RAY_STRIDE + 6]);\n        if (!results.length) {\n            for (let i = 0; i < count; i++) {\n                const r = new PhysicsRaycastResult();\n                r.reset(from, to);\n                results.push(r);\n            }\n        }\n        const n = Math.min(count, results.length);\n        for (let i = 0; i < n; i++) {\n            const o = hits[i] * RAY_STRIDE;\n            const r = results[i];\n            const bodyRef = this._bodies[buffer[o + 7]];\n            r.body = bodyRef?.body;\n            r.bodyIndex = bodyRef?.index;\n            r.shape = bodyRef?.body.shape ?? undefined;\n            r.setHitData({ x: buffer[o + 3], y: buffer[o + 4], z: buffer[o + 5] }, { x: buffer[o], y: buffer[o + 1], z: buffer[o + 2] }, buffer[o + 9]);\n            r.calculateHitDistance();\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // events\n    // ----------------------------------------------------------------------------------------\n\n    /**\n     * Copies `count` event records out of wasm memory and resolves their two body slots (at `slotOffset`) to the plugin's\n     * body references. Observers run user code that can grow the wasm memory, which detaches every HEAPF32 view (creating\n     * bodies or shapes, casting rays), or dispose bodies and hand their slots to new ones, so nothing is read from wasm\n     * memory or the slot table once the first observer has been called.\n     */\n    private _readEvents(pointer: number, count: number, stride: number, slotOffset: number) {\n        const records = new Float32Array(this._b3.HEAPF32.buffer, pointer, count * stride).slice();\n        const refs: Array<{ body: PhysicsBody; index: number; data: Box3DBodyData } | undefined> = new Array(count * 2);\n        for (let i = 0; i < count; i++) {\n            refs[i * 2] = this._bodies[records[i * stride + slotOffset]];\n            refs[i * 2 + 1] = this._bodies[records[i * stride + slotOffset + 1]];\n        }\n        return { records, refs };\n    }\n\n    private _notifyCollisions(): void {\n        const count = this._b3._bx_World_GetContactEvents(this._worldSlot);\n        if (!count) {\n            return;\n        }\n        const { records: buffer, refs } = this._readEvents(this._b3._bx_ContactEventsPtr(), count, CONTACT_STRIDE, 3);\n        for (let i = 0; i < count; i++) {\n            const o = i * CONTACT_STRIDE;\n            const kind = buffer[o];\n            const refA = refs[i * 2];\n            const refB = refs[i * 2 + 1];\n            // a body disposed by an earlier observer has slot 0, its remaining events are dropped\n            if (!refA || !refB || !refA.data.slot || !refB.data.slot) {\n                continue;\n            }\n            // like Havok, an event is reported when either body asked for that event type\n            const bit = kind === 0 ? Box3DEventBits.COLLISION_STARTED : kind === 1 ? Box3DEventBits.COLLISION_FINISHED : Box3DEventBits.COLLISION_CONTINUED;\n            if (((refA.data.eventMask | refB.data.eventMask) & bit) === 0) {\n                continue;\n            }\n            if (kind === 1) {\n                const ended: IBasePhysicsCollisionEvent = {\n                    collider: refA.body,\n                    colliderIndex: refA.index,\n                    collidedAgainst: refB.body,\n                    collidedAgainstIndex: refB.index,\n                    type: PhysicsEventType.COLLISION_FINISHED,\n                };\n                this.onCollisionEndedObservable.notifyObservers(ended);\n                this._bodyCollisionEndedObservable.get(refA.data.slot)?.notifyObservers(ended);\n                const endedB = this._bodyCollisionEndedObservable.get(refB.data.slot);\n                if (endedB) {\n                    endedB.notifyObservers({ ...ended, collider: refB.body, colliderIndex: refB.index, collidedAgainst: refA.body, collidedAgainstIndex: refA.index });\n                }\n                continue;\n            }\n            // begin events carry the manifold point, normal and normal impulse, hit events the approach speed\n            const type = kind === 0 ? PhysicsEventType.COLLISION_STARTED : PhysicsEventType.COLLISION_CONTINUED;\n            const point = new Vector3(buffer[o + 5], buffer[o + 6], buffer[o + 7]);\n            const normal = new Vector3(buffer[o + 8], buffer[o + 9], buffer[o + 10]);\n            const info: IPhysicsCollisionEvent = {\n                collider: refA.body,\n                colliderIndex: refA.index,\n                collidedAgainst: refB.body,\n                collidedAgainstIndex: refB.index,\n                type,\n                point,\n                normal,\n                distance: 0,\n                impulse: buffer[o + 11],\n            };\n            this.onCollisionObservable.notifyObservers(info);\n            if (this._bodyCollisionObservable.size) {\n                this._bodyCollisionObservable.get(refA.data.slot)?.notifyObservers(info);\n                const obsB = this._bodyCollisionObservable.get(refB.data.slot);\n                if (obsB) {\n                    obsB.notifyObservers({\n                        ...info,\n                        collider: refB.body,\n                        colliderIndex: refB.index,\n                        collidedAgainst: refA.body,\n                        collidedAgainstIndex: refA.index,\n                        normal: normal ? normal.negate() : null,\n                    });\n                }\n            }\n        }\n    }\n\n    private _notifyTriggers(): void {\n        const count = this._b3._bx_World_GetSensorEvents(this._worldSlot);\n        if (!count || !this.onTriggerCollisionObservable.hasObservers()) {\n            return;\n        }\n        const { records: buffer, refs } = this._readEvents(this._b3._bx_SensorEventsPtr(), count, SENSOR_STRIDE, 3);\n        for (let i = 0; i < count; i++) {\n            const o = i * SENSOR_STRIDE;\n            const refA = refs[i * 2];\n            const refB = refs[i * 2 + 1];\n            if (!refA || !refB || !refA.data.slot || !refB.data.slot) {\n                continue;\n            }\n            this.onTriggerCollisionObservable.notifyObservers({\n                collider: refA.body,\n                colliderIndex: refA.index,\n                collidedAgainst: refB.body,\n                collidedAgainstIndex: refB.index,\n                type: buffer[o] === 0 ? PhysicsEventType.TRIGGER_ENTERED : PhysicsEventType.TRIGGER_EXITED,\n            });\n        }\n    }\n\n    public dispose(): void {\n        this._motorJoints.clear();\n        this.onCollisionObservable.clear();\n        this.onCollisionEndedObservable.clear();\n        this.onTriggerCollisionObservable.clear();\n        this._bodyCollisionObservable.clear();\n        this._bodyCollisionEndedObservable.clear();\n        for (const shape of this._shapes) {\n            if (shape) {\n                this._b3._bx_ShapeDesc_Destroy(shape.slot);\n            }\n        }\n        this._shapes.length = 0;\n        this._bodies.length = 0;\n        if (this._worldSlot) {\n            this._b3._bx_DestroyWorld(this._worldSlot);\n            this._worldSlot = 0;\n        }\n    }\n}\n", "// Picks a Box3D module: the plain one, or the threaded one when the page can run it.\n//\n// The package ships two builds of the same wasm. The default is single threaded and runs anywhere. The threaded build\n// lets box3d spread a world step over its own worker threads, which is several times faster on a heavy scene, but it\n// needs SharedArrayBuffer, and browsers only hand that out on a cross origin isolated page:\n//\n//   Cross-Origin-Opener-Policy: same-origin\n//   Cross-Origin-Embedder-Policy: require-corp\n//\n// The threaded module is imported dynamically, so a page that never asks for threads never downloads it.\n\nimport type { Box3DModule, Box3DModuleOptions } from \"babylon-box3d/wasm\";\n\n/** Options for LoadBox3D: the emscripten module options plus which build to load. */\nexport interface ILoadBox3DOptions extends Box3DModuleOptions {\n    /**\n     * Which build to load. false (the default) is the single threaded one. true is the threaded one, and fails\n     * loudly if the page is not cross origin isolated. \"auto\" uses the threaded build where it can and falls back\n     * to the single threaded one everywhere else.\n     */\n    threads?: boolean | \"auto\";\n}\n\n/**\n * Whether the threaded Box3D build can run here: the page has to be cross origin isolated, which is what gives it\n * SharedArrayBuffer. Node and bundler test environments have SharedArrayBuffer without the flag.\n * @returns true when LoadBox3D({ threads: true }) will work\n */\nexport function CanUseBox3DThreads(): boolean {\n    if (typeof SharedArrayBuffer === \"undefined\") {\n        return false;\n    }\n    const isolated = (globalThis as { crossOriginIsolated?: boolean }).crossOriginIsolated;\n    return isolated === undefined || isolated;\n}\n\n/**\n * Loads the Box3D WebAssembly module, optionally the threaded build.\n * The result goes to the plugin as it always does; ask the plugin for workers to put them to use:\n * ```ts\n * const box3d = await LoadBox3D({ threads: \"auto\" });\n * scene.enablePhysics(gravity, new Box3DPlugin(true, box3d, { workerCount: \"auto\" }));\n * ```\n * @param options which build to load, plus the emscripten options (locateFile and friends)\n * @returns the resolved module\n */\nexport async function LoadBox3D(options: ILoadBox3DOptions = {}): Promise<Box3DModule> {\n    const { threads = false, ...moduleOptions } = options;\n    const wantsThreads = threads === \"auto\" ? CanUseBox3DThreads() : threads;\n    if (wantsThreads) {\n        if (threads === true && !CanUseBox3DThreads()) {\n            throw new Error(\n                \"babylon-box3d: the threaded build needs SharedArrayBuffer, which this page does not have. Serve it with the \" +\n                    \"Cross-Origin-Opener-Policy: same-origin and Cross-Origin-Embedder-Policy: require-corp headers, or use \" +\n                    'LoadBox3D({ threads: \"auto\" }) to fall back to the single threaded build.'\n            );\n        }\n        const threaded = await import(\"babylon-box3d/wasm/threads\");\n        return threaded.default(moduleOptions);\n    }\n    const plain = await import(\"babylon-box3d/wasm\");\n    return plain.default(moduleOptions);\n}\n"],
+  "sourcesContent": ["if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof BABYLON === \"undefined\") { throw new Error(\"babylon.box3d.js needs babylon.js loaded first\"); } module.exports = BABYLON;", "if (typeof Box3D === \"undefined\") { throw new Error(\"babylon.box3d.js needs lib/umd/box3d.umd.js loaded first\"); } export default Box3D;", "export default function () { 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\\\" }).\"); }", "// babylon-box3d: Box3D physics for Babylon.js.\n//\n//   import { Box3D, Box3DPlugin } from \"babylon-box3d\";\n//   const box3d = await Box3D();\n//   scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));\n\n// the .js extension keeps the emitted dist/index.js importable by plain node ESM, not just by bundlers\nexport { BOX3D_HEIGHT_FIELD_HOLE, Box3DPlugin, Box3DWheelJoint, type IBox3DPluginOptions, type IBox3DWheelJointOptions } from \"./box3dPlugin.js\";\nexport { default as Box3D } from \"babylon-box3d/wasm\";\nexport type { Box3DModule, Box3DModuleOptions, Box3DExports, Box3DHeap } from \"babylon-box3d/wasm\";\nexport { CanUseBox3DThreads, LoadBox3D, type ILoadBox3DOptions } from \"./loadBox3D.js\";\n", "import { Matrix, Quaternion, TmpVectors, Vector3 } from \"@babylonjs/core/Maths/math.vector.js\";\nimport {\n    type IPhysicsEnginePluginV2,\n    type PhysicsMassProperties,\n    type PhysicsShapeParameters,\n    type ConstrainedBodyPair,\n    type IPhysicsCollisionEvent,\n    type IBasePhysicsCollisionEvent,\n    PhysicsShapeType,\n    PhysicsConstraintType,\n    PhysicsMotionType,\n    PhysicsConstraintAxis,\n    PhysicsConstraintAxisLimitMode,\n    PhysicsConstraintMotorType,\n    PhysicsEventType,\n    PhysicsPrestepType,\n    PhysicsActivationControl,\n} from \"@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js\";\nimport { PhysicsRaycastResult } from \"@babylonjs/core/Physics/physicsRaycastResult.js\";\nimport { type IRaycastQuery } from \"@babylonjs/core/Physics/physicsRaycastResult.js\";\nimport { Logger } from \"@babylonjs/core/Misc/logger.js\";\nimport { type PhysicsBody } from \"@babylonjs/core/Physics/v2/physicsBody.js\";\nimport { type PhysicsConstraint, type Physics6DoFConstraint, type Physics6DoFLimit } from \"@babylonjs/core/Physics/v2/physicsConstraint.js\";\nimport { type PhysicsMaterial } from \"@babylonjs/core/Physics/v2/physicsMaterial.js\";\nimport { type PhysicsShape } from \"@babylonjs/core/Physics/v2/physicsShape.js\";\nimport { BoundingBox } from \"@babylonjs/core/Culling/boundingBox.js\";\nimport { type TransformNode } from \"@babylonjs/core/Meshes/transformNode.js\";\nimport { Mesh } from \"@babylonjs/core/Meshes/mesh.js\";\nimport { InstancedMesh } from \"@babylonjs/core/Meshes/instancedMesh.js\";\nimport { VertexBuffer } from \"@babylonjs/core/Buffers/buffer.js\";\nimport { Observable } from \"@babylonjs/core/Misc/observable.js\";\nimport { type Nullable, type FloatArray } from \"@babylonjs/core/types.js\";\n\n/** The cell material that cuts a hole in a height field: nothing collides with the cell and rays pass through it. */\nexport const BOX3D_HEIGHT_FIELD_HOLE = 255;\n\ndeclare module \"@babylonjs/core/Physics/v2/IPhysicsEnginePlugin.js\" {\n    interface PhysicsShapeParameters {\n        /**\n         * Box3D height fields only: a material index for every cell, `(numHeightFieldSamplesX - 1) *\n         * (numHeightFieldSamplesZ - 1)` of them, rows in the same order as `heightFieldData`. A cell of\n         * `BOX3D_HEIGHT_FIELD_HOLE` (255) is a hole. The index is also what `userMaterialId` would carry in Box3D, so\n         * keep it below 255 for solid ground.\n         */\n        heightFieldMaterials?: ArrayLike<number>;\n        /**\n         * `CONVEX_HULL` and `MESH` without a `mesh`: the points as x, y, z triplets in the body's space, for code that\n         * builds shapes with no meshes to read them from, like a headless simulation.\n         */\n        positions?: ArrayLike<number>;\n        /**\n         * `MESH` with `positions`: three indices into the points per triangle, wound so the plain cross product of\n         * (b - a) and (c - a) points out of the surface. That is Box3D's own winding, and it is used as given: no\n         * flip for a left handed scene, which only applies to winding read from a Babylon mesh.\n         */\n        positionIndices?: ArrayLike<number>;\n    }\n}\n\n/**\n * Per body plugin data. One instance per Box3D body (thin instances get one each).\n */\nclass Box3DBodyData {\n    public constructor(\n        /** slot handle inside the WASM shim */\n        public slot: number\n    ) {}\n    public userMassProps: PhysicsMassProperties = {};\n    /** Box3D angular motion locks currently set on the body, bits x, y, z */\n    public angularLocks = 0;\n    /** Havok's EventType bits: 1 collision started, 2 collision continued, 4 collision finished */\n    public eventMask = 0;\n    public motionType = PhysicsMotionType.STATIC;\n    /** Babylon activation control; ALWAYS_INACTIVE parks the body as a static Box3D body, see setActivationControl */\n    public activation = PhysicsActivationControl.SIMULATION_CONTROLLED;\n}\n\n/**\n * Per shape plugin data. A Babylon shape is a description that gets instantiated on each body it is set on.\n */\nclass Box3DShapeData {\n    public constructor(\n        public slot: number,\n        public type: PhysicsShapeType\n    ) {}\n    public material: PhysicsMaterial = {};\n    /** bodies currently instantiating this shape, refreshed when the description changes */\n    public users = new Set<Box3DBodyData>();\n    /** for containers: child shapes, so changes propagate to users */\n    public children: Box3DShapeData[] = [];\n    public parents = new Set<Box3DShapeData>();\n}\n\n/** Axis state kept on the JS side because box3d has no generic axis API. */\ninterface IAxisState {\n    mode: PhysicsConstraintAxisLimitMode;\n    min: number;\n    max: number;\n    motor: PhysicsConstraintMotorType;\n    target: number;\n    maxForce: number;\n    friction: number;\n    /** Physics6DoFLimit.stiffness: spring constant of a soft limit (N/m, or N*m/rad for angular axes) */\n    stiffness: number;\n    /** Physics6DoFLimit.damping */\n    damping: number;\n}\n\n/**\n * How a SIX_DOF constraint is realised with Box3D's fixed joint types. Recomputed from the axis table whenever an axis\n * changes, and reused as is when a disabled constraint is enabled again.\n */\ninterface ISixDofPlan {\n    jointType: Box3DJointType;\n    /** Box3D frame x, y, z as indices into the constraint basis [axis, perpAxis, axis x perpAxis], null for identity frames */\n    basis: Nullable<[number, number, number]>;\n    /** the Babylon axis that follows the single degree of freedom of a revolute, prismatic or distance joint */\n    primaryAxis: Nullable<PhysicsConstraintAxis>;\n    /** spherical cone angle, negative when the swing is free */\n    coneAngle: number;\n    /** spherical twist limits (about axis), null when free */\n    twist: Nullable<[number, number]>;\n    /** revolute angle, prismatic translation or distance length limits, null when free */\n    limit: Nullable<[number, number]>;\n    /** distance joints: a real spring at rest length limit[0] instead of a rope between the limits */\n    spring: boolean;\n    /** stiffest soft limit, mapped to Box3D spring or constraint softness per body pair */\n    stiffness: number;\n    damping: number;\n    angularStiffness: boolean;\n}\n\nclass Box3DConstraintData {\n    public joints: number[] = [];\n    public pairs: Array<{ parent: PhysicsBody; parentIndex: number; child: PhysicsBody; childIndex: number; parentData: Box3DBodyData; childData: Box3DBodyData }> = [];\n    public type: PhysicsConstraintType = PhysicsConstraintType.LOCK;\n    public jointType = 0;\n    public enabled = true;\n    public collisions = false;\n    public frames = new Float32Array(14);\n    public length = 0;\n    public axes = new Map<PhysicsConstraintAxis, IAxisState>();\n    /** SIX_DOF only */\n    public plan: Nullable<ISixDofPlan> = null;\n}\n\n// shim joint types\nconst enum Box3DJointType {\n    WELD = 0,\n    SPHERICAL = 1,\n    REVOLUTE = 2,\n    PRISMATIC = 3,\n    DISTANCE = 4,\n    FILTER = 5,\n    WHEEL = 6,\n    PARALLEL = 7,\n}\n\n/**\n * Options for a Box3D wheel joint (Box3D specific, no Babylon equivalent).\n * The suspension travels along axisA (chassis space), the wheel spins about spinAxisB (wheel space)\n * and steers about the suspension axis.\n */\nexport interface IBox3DWheelJointOptions {\n    /** anchor on the chassis, chassis local space */\n    pivotA: Vector3;\n    /** suspension axis in chassis local space (usually up) */\n    axisA?: Vector3;\n    /** axle direction in chassis local space, the wheel spins about it (default +z) */\n    axleA?: Vector3;\n    /** anchor on the wheel, wheel local space */\n    pivotB?: Vector3;\n    /** suspension spring stiffness in hertz */\n    suspensionHertz?: number;\n    /** suspension spring damping ratio */\n    suspensionDampingRatio?: number;\n    /** suspension travel limits along axisA */\n    suspensionLimits?: [number, number];\n    /** whether the wheel is driven */\n    enableSpinMotor?: boolean;\n    /** maximum drive torque */\n    maxSpinTorque?: number;\n    /** whether the wheel steers */\n    enableSteering?: boolean;\n    /** steering spring stiffness in hertz */\n    steeringHertz?: number;\n    /** steering spring damping ratio */\n    steeringDampingRatio?: number;\n    /** maximum steering torque */\n    maxSteeringTorque?: number;\n    /** steering angle limits in radians */\n    steeringLimits?: [number, number];\n}\n\n/**\n * Handle to a Box3D wheel joint created with Box3DPlugin.createWheelJoint.\n */\nexport class Box3DWheelJoint {\n    /**\n     * @internal\n     */\n    public constructor(\n        private _plugin: Box3DPlugin,\n        /** @internal */\n        public _slot: number\n    ) {}\n\n    /**\n     * Sets the target angular speed of the spin motor.\n     * @param speed radians per second\n     */\n    public setSpinSpeed(speed: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetSpinMotorSpeed\", this._slot, speed);\n    }\n\n    /**\n     * Sets the maximum torque the spin motor can apply.\n     * @param torque newton meters\n     */\n    public setMaxSpinTorque(torque: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetMaxSpinTorque\", this._slot, torque);\n    }\n\n    /**\n     * Enables or disables the spin motor (disabled wheels roll freely).\n     * @param enabled true to enable\n     */\n    public enableSpinMotor(enabled: boolean): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_EnableSpinMotor\", this._slot, enabled ? 1 : 0);\n    }\n\n    /**\n     * Sets the target steering angle.\n     * @param radians steering angle\n     */\n    public setSteeringAngle(radians: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetTargetSteeringAngle\", this._slot, radians);\n    }\n\n    /**\n     * Tunes the suspension spring.\n     * @param hertz stiffness\n     * @param dampingRatio damping ratio\n     */\n    public setSuspension(hertz: number, dampingRatio: number): void {\n        this._plugin._wheelCall(\"_bx_WheelJoint_SetSuspension\", this._slot, hertz, dampingRatio);\n    }\n\n    /**\n     * Removes the joint.\n     */\n    public dispose(): void {\n        this._plugin._destroyExtraJoint(this._slot);\n        this._slot = 0;\n    }\n}\n\n/**\n * Body event mask bits, the same values Havok's plugin uses so masks can be copied over from Havok code.\n * Box3D reports begin and end touch events together (they are one shape flag) and hit events separately.\n */\nconst enum Box3DEventBits {\n    COLLISION_STARTED = 1,\n    COLLISION_CONTINUED = 2,\n    COLLISION_FINISHED = 4,\n    ALL = 7,\n}\n\n/**\n * How much heavier a locked rotation axis is made than the heaviest free one. Babylon locks an axis with a zero inertia\n * component, Box3D needs an invertible tensor; 1e5 leaves a body a hundred thousand times harder to turn about that axis\n * while the tensor stays well conditioned in float32.\n */\nconst LockedInertiaRatio = 1e5;\n\n/**\n * Diagonalizes a symmetric inertia tensor [ixx, iyy, izz, ixy, ixz, iyz] into its principal moments and the rotation\n * that turns principal axes into body axes (Babylon's inertiaOrientation). Jacobi rotations, a few sweeps are plenty for\n * a 3x3, and the common diagonal case exits immediately.\n */\nfunction DiagonalizeInertia(tensor: ArrayLike<number>, moments: Vector3, orientation: Quaternion): void {\n    const a = [\n        [tensor[0], tensor[3], tensor[4]],\n        [tensor[3], tensor[1], tensor[5]],\n        [tensor[4], tensor[5], tensor[2]],\n    ];\n    orientation.set(0, 0, 0, 1);\n    moments.set(tensor[0], tensor[1], tensor[2]);\n    const q = [0, 0, 0, 1];\n    for (let sweep = 0; sweep < 24; sweep++) {\n        // rotation matrix of q, columns are the current principal axes\n        const [x, y, z, w] = q;\n        const r = [\n            [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],\n            [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],\n            [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)],\n        ];\n        // d = transpose(r) * a * r\n        const d = [0, 1, 2].map((i) => [0, 1, 2].map((j) => [0, 1, 2].reduce((sum, k) => sum + r[k][i] * [0, 1, 2].reduce((s2, l) => s2 + a[k][l] * r[l][j], 0), 0)));\n        moments.set(d[0][0], d[1][1], d[2][2]);\n        orientation.set(q[0], q[1], q[2], q[3]);\n        const offDiagonal = [Math.abs(d[1][2]), Math.abs(d[0][2]), Math.abs(d[0][1])];\n        const k = offDiagonal.indexOf(Math.max(...offDiagonal));\n        const k1 = (k + 1) % 3;\n        const k2 = (k + 2) % 3;\n        const off = d[k1][k2];\n        const scale = Math.abs(d[0][0]) + Math.abs(d[1][1]) + Math.abs(d[2][2]) + 1e-30;\n        if (Math.abs(off) <= 1e-9 * scale) {\n            return;\n        }\n        let theta = (d[k2][k2] - d[k1][k1]) / (2 * off);\n        const sign = theta > 0 ? 1 : -1;\n        theta *= sign;\n        const t = sign / (theta + (theta < 1e6 ? Math.sqrt(theta * theta + 1) : theta));\n        const c = 1 / Math.sqrt(t * t + 1);\n        if (c === 1) {\n            return;\n        }\n        const jacobi = [0, 0, 0, 0];\n        // d is transpose(r) * a * r and the step right multiplies q, so d becomes transpose(jacobi) * d * jacobi: the\n        // quaternion has to turn by -theta where the matrix form of the Jacobi rotation turns by +theta. With the other\n        // sign every sweep puts the off diagonal term straight back and the loop never converges.\n        jacobi[k] = -sign * Math.sqrt((1 - c) / 2);\n        jacobi[3] = Math.sqrt(1 - jacobi[k] * jacobi[k]);\n        // q = q * jacobi\n        const [qx, qy, qz, qw] = q;\n        const [jx, jy, jz, jw] = jacobi;\n        q[0] = qw * jx + qx * jw + qy * jz - qz * jy;\n        q[1] = qw * jy - qx * jz + qy * jw + qz * jx;\n        q[2] = qw * jz + qx * jy - qy * jx + qz * jw;\n        q[3] = qw * jw - qx * jx - qy * jy - qz * jz;\n        const length = Math.hypot(q[0], q[1], q[2], q[3]) || 1;\n        for (let i = 0; i < 4; i++) {\n            q[i] /= length;\n        }\n    }\n}\n\n/** Builds the symmetric tensor [ixx, iyy, izz, ixy, ixz, iyz] of principal moments rotated into body space. */\nfunction ComposeInertia(moments: ArrayLike<number>, orientation: Quaternion): number[] {\n    const { x, y, z, w } = orientation;\n    const r = [\n        [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],\n        [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],\n        [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)],\n    ];\n    const at = (i: number, j: number) => r[i][0] * moments[0] * r[j][0] + r[i][1] * moments[1] * r[j][1] + r[i][2] * moments[2] * r[j][2];\n    return [at(0, 0), at(1, 1), at(2, 2), at(0, 1), at(0, 2), at(1, 2)];\n}\n\n/** Shape description properties that Box3D can change on live shapes, see bx_Body_SyncShapeDesc. */\nconst enum Box3DShapeSync {\n    FILTER = 1,\n    MATERIAL = 2,\n    DENSITY = 4,\n}\n\nconst MOVE_STRIDE = 9;\nconst CONTACT_STRIDE = 14;\nconst SENSOR_STRIDE = 5;\nconst RAY_STRIDE = 11;\n\n/**\n * Collects mesh geometry in the physics body's local space (scaling baked in).\n */\nclass MeshGeometryAccumulator {\n    private _vertices: number[] = [];\n    private _indices: number[] = [];\n\n    public constructor(\n        private _collectIndices: boolean,\n        private _flipWinding: boolean\n    ) {}\n\n    public addNodeMeshes(mesh: TransformNode, includeChildren: boolean): void {\n        mesh.computeWorldMatrix(true);\n        const rootScaled = TmpVectors.Matrix[0];\n        Matrix.ScalingToRef(mesh.absoluteScaling.x, mesh.absoluteScaling.y, mesh.absoluteScaling.z, rootScaled);\n        if (mesh instanceof Mesh) {\n            this._addMesh(mesh, rootScaled);\n        } else if (mesh instanceof InstancedMesh) {\n            this._addMesh(mesh.sourceMesh, rootScaled);\n        }\n        if (includeChildren) {\n            const worldToRoot = TmpVectors.Matrix[1];\n            mesh.computeWorldMatrix().invertToRef(worldToRoot);\n            const worldToRootScaled = TmpVectors.Matrix[2];\n            worldToRoot.multiplyToRef(rootScaled, worldToRootScaled);\n            const children = mesh.getChildMeshes(false).filter((m: any) => !m.physicsBody);\n            for (const m of children) {\n                const childToWorld = m.computeWorldMatrix();\n                const childToRootScaled = TmpVectors.Matrix[3];\n                childToWorld.multiplyToRef(worldToRootScaled, childToRootScaled);\n                if (m instanceof Mesh) {\n                    this._addMesh(m, childToRootScaled);\n                } else if (m instanceof InstancedMesh) {\n                    this._addMesh(m.sourceMesh, childToRootScaled);\n                }\n            }\n        }\n    }\n\n    private _addMesh(mesh: Mesh, meshToRoot: Matrix): void {\n        const vertexData = mesh.getVerticesData(VertexBuffer.PositionKind) || [];\n        const numVerts = vertexData.length / 3;\n        const indexOffset = this._vertices.length / 3;\n        const p = TmpVectors.Vector3[0];\n        for (let v = 0; v < numVerts; v++) {\n            p.set(vertexData[v * 3 + 0], vertexData[v * 3 + 1], vertexData[v * 3 + 2]);\n            Vector3.TransformCoordinatesToRef(p, meshToRoot, p);\n            this._vertices.push(p.x, p.y, p.z);\n        }\n        if (this._collectIndices) {\n            const meshIndices = mesh.getIndices();\n            if (meshIndices) {\n                for (let i = 0; i < meshIndices.length; i += 3) {\n                    if (this._flipWinding) {\n                        this._indices.push(meshIndices[i + 2] + indexOffset, meshIndices[i + 1] + indexOffset, meshIndices[i + 0] + indexOffset);\n                    } else {\n                        this._indices.push(meshIndices[i + 0] + indexOffset, meshIndices[i + 1] + indexOffset, meshIndices[i + 2] + indexOffset);\n                    }\n                }\n            }\n        }\n    }\n\n    public get vertexCount(): number {\n        return this._vertices.length / 3;\n    }\n\n    public get triangleCount(): number {\n        return this._indices.length / 3;\n    }\n\n    public get vertices(): number[] {\n        return this._vertices;\n    }\n\n    public get indices(): number[] {\n        return this._indices;\n    }\n}\n\n/**\n * Every native entry point the plugin calls. The constructor checks that the module has all of them, because the two ways this goes wrong\n * in practice - a box3d.js loader left behind by an older install, or a box3d.wasm served from a stale copy - otherwise turn into a physics\n * world where nothing ever happens. A test keeps the list in step with the code.\n */\nconst RequiredNativeExports = [\n    \"_bx_Body_AllowFastRotation\", \"_bx_Body_ApplyAngularImpulse\", \"_bx_Body_ApplyForce\", \"_bx_Body_ApplyLinearImpulse\",\n    \"_bx_Body_ApplyMassFromShapes\", \"_bx_Body_ApplyTorque\", \"_bx_Body_ComputeShapeMassData\", \"_bx_Body_EnableSleep\", \"_bx_Body_GetAABB\",\n    \"_bx_Body_GetAngularDamping\", \"_bx_Body_GetAngularVelocity\", \"_bx_Body_GetGravityScale\", \"_bx_Body_GetLinearDamping\",\n    \"_bx_Body_GetLinearVelocity\", \"_bx_Body_GetMassData\", \"_bx_Body_GetTransform\", \"_bx_Body_SetAngularDamping\", \"_bx_Body_SetAngularVelocity\",\n    \"_bx_Body_SetAwake\", \"_bx_Body_SetEventFlags\", \"_bx_Body_SetGravityScale\", \"_bx_Body_SetLinearDamping\", \"_bx_Body_SetLinearVelocity\",\n    \"_bx_Body_SetMassDataFull\", \"_bx_Body_SetMotionLocks\", \"_bx_Body_SetShape\", \"_bx_Body_SetTargetTransform\", \"_bx_Body_SetTransform\",\n    \"_bx_Body_SetType\", \"_bx_Body_SyncShapeDesc\", \"_bx_ComputeAlignedFrameB\", \"_bx_ContactEventsPtr\", \"_bx_CreateBody\", \"_bx_CreateJoint\",\n    \"_bx_CreateWorld\", \"_bx_DebugIndexCount\", \"_bx_DebugIndicesPtr\", \"_bx_DebugPositionsPtr\", \"_bx_DestroyBody\", \"_bx_DestroyJoint\",\n    \"_bx_DestroyWorld\", \"_bx_GetMaxWorkers\", \"_bx_GetRejectedSlotCount\", \"_bx_Joint_EnableLimit\", \"_bx_Joint_EnableMotor\",\n    \"_bx_Joint_EnableSpring\", \"_bx_Joint_IsValid\",\n    \"_bx_Joint_SetCollideConnected\", \"_bx_Joint_SetConstraintTuning\", \"_bx_Joint_SetLimits\", \"_bx_Joint_SetMaxMotorForce\",\n    \"_bx_Joint_SetMotorSpeed\", \"_bx_Joint_SetSphericalMotor\", \"_bx_Joint_SetSphericalTarget\", \"_bx_Joint_SetSpring\", \"_bx_Joint_SetTarget\",\n    \"_bx_Joint_SetTwistLimits\", \"_bx_Joint_UpdateMotorFrame\", \"_bx_Joint_WakeBodies\", \"_bx_MoveEventsPtr\", \"_bx_RayHitsPtr\", \"_bx_Scratch\",\n    \"_bx_SensorEventsPtr\", \"_bx_ShapeDesc_AddChild\", \"_bx_ShapeDesc_BuildDebugGeometry\", \"_bx_ShapeDesc_CreateBox\", \"_bx_ShapeDesc_CreateCapsule\",\n    \"_bx_ShapeDesc_CreateContainer\", \"_bx_ShapeDesc_CreateCylinder\", \"_bx_ShapeDesc_CreateHeightField\", \"_bx_ShapeDesc_CreateHull\",\n    \"_bx_ShapeDesc_CreateMesh\", \"_bx_ShapeDesc_CreateSphere\", \"_bx_ShapeDesc_Destroy\", \"_bx_ShapeDesc_GetAABB\", \"_bx_ShapeDesc_GetCategoryBits\",\n    \"_bx_ShapeDesc_GetChildCount\", \"_bx_ShapeDesc_GetDensity\", \"_bx_ShapeDesc_GetFriction\", \"_bx_ShapeDesc_GetMaskBits\",\n    \"_bx_ShapeDesc_GetRestitution\", \"_bx_ShapeDesc_RemoveChild\", \"_bx_ShapeDesc_SetDensity\", \"_bx_ShapeDesc_SetFilter\", \"_bx_ShapeDesc_SetGroup\",\n    \"_bx_ShapeDesc_SetMaterial\", \"_bx_ShapeDesc_SetRollingResistance\", \"_bx_ShapeDesc_SetSensor\", \"_bx_World_CastRay\", \"_bx_World_EnableContinuous\",\n    \"_bx_World_EnableSleeping\", \"_bx_World_Explode\", \"_bx_World_GetContactEvents\", \"_bx_World_GetMaximumLinearSpeed\", \"_bx_World_GetMoveEvents\",\n    \"_bx_World_GetSensorEvents\", \"_bx_World_GetStats\", \"_bx_World_GetWorkerCount\", \"_bx_World_SetGravity\", \"_bx_World_SetMaximumLinearSpeed\",\n    \"_bx_World_Step\"\n];\n\n/**\n * Options for the Box3D plugin, passed to the constructor after the module.\n */\nexport interface IBox3DPluginOptions {\n    /**\n     * Workers box3d may put on a world step, counting the thread the step is called on. 1 (the default) keeps\n     * everything on the calling thread. Anything above 1 needs the threaded build of the module\n     * (`LoadBox3D({ threads: true })` or `babylon-box3d/wasm/threads`), which in turn needs a cross origin isolated\n     * page; on the single threaded module the request is clamped to 1 and a warning explains why.\n     * \"auto\" asks for half of `navigator.hardwareConcurrency`, capped at what the build supports: box3d gains little\n     * from the second thread of a core, and leaving room for rendering matters more than the last worker.\n     * The world is created in the constructor and box3d builds its threads with it, so this cannot change later.\n     */\n    workerCount?: number | \"auto\";\n    /**\n     * Solver sub steps per world step. Box3D's default of 4 is what keeps tall stacks standing; 2 roughly halves\n     * solver time and is worth trying for scenes that are mostly loose bodies, 8 buys stiffness in exchange for time.\n     */\n    subStepCount?: number;\n}\n\n/**\n * Box3D physics plugin for Babylon.js physics v2.\n * Box3D is Erin Catto's 3D rigid body engine (https://github.com/erincatto/box3d). This plugin drives the\n * WebAssembly build that ships in this package (a flat, handle based C shim over box3d).\n * Usage mirrors the Havok plugin:\n * ```ts\n * import { Box3D, Box3DPlugin } from \"babylon-box3d\";\n * const box3d = await Box3D();\n * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d));\n * ```\n * On a cross origin isolated page the threaded module can spread a step over several workers:\n * ```ts\n * import { LoadBox3D, Box3DPlugin } from \"babylon-box3d\";\n * const box3d = await LoadBox3D({ threads: \"auto\" });\n * scene.enablePhysics(new Vector3(0, -9.81, 0), new Box3DPlugin(true, box3d, { workerCount: \"auto\" }));\n * ```\n */\nexport class Box3DPlugin implements IPhysicsEnginePluginV2 {\n    /** Reference to the WASM module (the value resolved by the module factory). */\n    public world: any;\n    /** Name of the plugin */\n    public name = \"Box3DPlugin\";\n    /** Number of solver sub steps per world step. Box3D recommends 4. */\n    public subStepCount = 4;\n    /** Workers box3d puts on a world step, counting the calling thread. 1 unless the threaded module asked for more. */\n    public readonly workerCount: number = 1;\n    /** Wall clock time of the last world step in milliseconds (JavaScript side, includes the event sync). */\n    public lastStepTimeMs = 0;\n\n    private _b3: any;\n    private _worldSlot = 0;\n    private _fixedTimeStep = 1 / 60;\n    private _timeStep = 1 / 60;\n    private _maxAngularVelocity = 4 * Math.PI * 10;\n    private _bodies: Array<{ body: PhysicsBody; index: number; data: Box3DBodyData } | undefined> = [];\n    private _shapes: Array<Box3DShapeData | undefined> = [];\n    private _bodyCollisionObservable = new Map<number, Observable<IPhysicsCollisionEvent>>();\n    private _bodyCollisionEndedObservable = new Map<number, Observable<IBasePhysicsCollisionEvent>>();\n    private _touchedInstanceMeshes = new Set<Mesh>();\n    /** spherical joints whose velocity motor target has to be re-expressed in world space every step */\n    private _motorJoints = new Set<number>();\n    private _tmpVec3 = [new Vector3(), new Vector3(), new Vector3(), new Vector3()];\n    private _tmpQuat = [new Quaternion(), new Quaternion(), new Quaternion()];\n    private _warned = new Set<string>();\n    /** the shim's rejected slot counter as of the last step, see executeStep */\n    private _rejectedSlots = 0;\n\n    /** Observable for collision started and continued events */\n    public onCollisionObservable = new Observable<IPhysicsCollisionEvent>();\n    /** Observable for collision ended events */\n    public onCollisionEndedObservable = new Observable<IBasePhysicsCollisionEvent>();\n    /** Observable for trigger entered and exited events */\n    public onTriggerCollisionObservable = new Observable<IBasePhysicsCollisionEvent>();\n\n    /**\n     * Creates a Box3D plugin.\n     * @param _useDeltaForWorldStep step the world with the frame delta (true) or a fixed time step (false)\n     * @param box3dModule the resolved Box3D WASM module (await Box3DModule())\n     * @param options worker count and sub steps, see IBox3DPluginOptions\n     */\n    public constructor(\n        private _useDeltaForWorldStep = true,\n        box3dModule: any,\n        options?: IBox3DPluginOptions\n    ) {\n        if (!box3dModule) {\n            throw new Error(\"Box3D module is required: pass the awaited result of the Box3D module factory.\");\n        }\n        const missing = RequiredNativeExports.filter((name) => typeof box3dModule[name] !== \"function\");\n        if (missing.length > 0) {\n            throw new Error(\n                `Box3DPlugin: the Box3D module is missing ${missing.length} entry point${missing.length === 1 ? \"\" : \"s\"} this build needs` +\n                    ` (${missing.slice(0, 3).join(\", \")}${missing.length > 3 ? \", ...\" : \"\"}). box3d.js and box3d.wasm have to come from the` +\n                    \" same build of this package: check what locateFile points at and clear any copied or cached box3d.wasm.\"\n            );\n        }\n        this._b3 = box3dModule;\n        this.world = box3dModule;\n        if (options?.subStepCount !== undefined) {\n            this.subStepCount = Math.max(1, Math.round(options.subStepCount));\n        }\n        this._worldSlot = this._b3._bx_CreateWorld(0, -9.81, 0, this._resolveWorkerCount(options?.workerCount));\n        if (!this._worldSlot) {\n            throw new Error(\"Box3D: could not create a world (max worlds reached?)\");\n        }\n        // what box3d settled on, which is the request clamped to what this build of the module can run\n        this.workerCount = Math.max(1, this._b3._bx_World_GetWorkerCount(this._worldSlot));\n    }\n\n    /**\n     * Turns the requested worker count into one this module can honour. Only the threaded build reports more than one,\n     * and asking a single threaded build for workers is quiet enough to look like it worked, so say so once.\n     * @param requested the constructor option\n     * @returns the count to create the world with\n     */\n    private _resolveWorkerCount(requested: number | \"auto\" | undefined): number {\n        const supported = Math.max(1, this._b3._bx_GetMaxWorkers());\n        if (requested === undefined) {\n            return 1;\n        }\n        let wanted: number;\n        if (requested === \"auto\") {\n            const cores = (typeof navigator !== \"undefined\" && navigator.hardwareConcurrency) || 4;\n            // half the reported cores: the other half is usually the second thread of each core, and box3d gains\n            // little from those, while the renderer still needs somewhere to run\n            wanted = Math.max(1, Math.floor(cores / 2));\n        } else {\n            wanted = Math.max(1, Math.round(requested));\n        }\n        if (wanted > 1 && supported === 1) {\n            this._warnOnce(\n                \"single-threaded-module\",\n                `${wanted} workers were requested, but this Box3D module was built without threads, so the step stays on the calling ` +\n                    \"thread. Load the threaded build (LoadBox3D({ threads: true }), or babylon-box3d/wasm/threads) from a cross origin \" +\n                    \"isolated page: it needs SharedArrayBuffer, which browsers only allow with the COOP and COEP headers set.\"\n            );\n        }\n        return Math.min(wanted, supported);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // helpers\n    // ----------------------------------------------------------------------------------------\n\n    private _scratch(): Float32Array {\n        return new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_Scratch(), 64);\n    }\n\n    private _warnOnce(key: string, message: string): void {\n        if (!this._warned.has(key)) {\n            this._warned.add(key);\n            Logger.Warn(`Box3DPlugin: ${message}`);\n        }\n    }\n\n    private _getPluginReference(body: PhysicsBody, instanceIndex?: number): Box3DBodyData {\n        return body._pluginDataInstances?.length ? body._pluginDataInstances[instanceIndex ?? 0] : body._pluginData;\n    }\n\n    private _applyToBodyOrInstances(body: PhysicsBody, fn: (data: Box3DBodyData) => void, instanceIndex?: number): void {\n        if (body._pluginDataInstances?.length > 0 && instanceIndex === undefined) {\n            for (const data of body._pluginDataInstances) {\n                fn(data);\n            }\n        } else {\n            fn(this._getPluginReference(body, instanceIndex));\n        }\n    }\n\n    private _motionTypeToNative(motionType: PhysicsMotionType): number {\n        switch (motionType) {\n            case PhysicsMotionType.STATIC:\n                return 0;\n            case PhysicsMotionType.ANIMATED:\n                return 1;\n            default:\n                return 2;\n        }\n    }\n\n    private _nodeTransformToRef(node: TransformNode, position: Vector3, orientation: Quaternion): void {\n        if (node.parent) {\n            node.computeWorldMatrix(true);\n            position.copyFrom(node.absolutePosition);\n            orientation.copyFrom(node.absoluteRotationQuaternion);\n            return;\n        }\n        position.copyFrom(node.position);\n        if (node.rotationQuaternion) {\n            orientation.copyFrom(node.rotationQuaternion);\n        } else {\n            Quaternion.FromEulerAnglesToRef(node.rotation.x, node.rotation.y, node.rotation.z, orientation);\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // world\n    // ----------------------------------------------------------------------------------------\n\n    public setGravity(gravity: Vector3): void {\n        this._b3._bx_World_SetGravity(this._worldSlot, gravity.x, gravity.y, gravity.z);\n    }\n\n    public setTimeStep(timeStep: number): void {\n        this._fixedTimeStep = timeStep;\n    }\n\n    public getTimeStep(): number {\n        return this._fixedTimeStep;\n    }\n\n    public executeStep(delta: number, physicsBodies: Array<PhysicsBody>): void {\n        for (const physicsBody of physicsBodies) {\n            if (physicsBody.disablePreStep) {\n                continue;\n            }\n            this.setPhysicsBodyTransformation(physicsBody, physicsBody.transformNode);\n        }\n\n        for (const joint of this._motorJoints) {\n            // a joint whose bodies were destroyed is gone with them, drop it instead of holding the slot forever\n            if (this._b3._bx_Joint_IsValid(joint)) {\n                this._b3._bx_Joint_UpdateMotorFrame(joint);\n            } else {\n                this._motorJoints.delete(joint);\n            }\n        }\n\n        const deltaTime = this._useDeltaForWorldStep ? delta : this._fixedTimeStep;\n        this._timeStep = deltaTime;\n        const start = performance.now();\n        this._b3._bx_World_Step(this._worldSlot, deltaTime, this.subStepCount);\n\n        // Only bodies that moved report an event, so sync those instead of iterating every body.\n        const moveCount = this._b3._bx_World_GetMoveEvents(this._worldSlot);\n        if (moveCount > 0) {\n            const movePointer = this._b3._bx_MoveEventsPtr();\n            let buffer = new Float32Array(this._b3.HEAPF32.buffer, movePointer, moveCount * MOVE_STRIDE);\n            for (let i = 0; i < moveCount; i++) {\n                if (buffer.buffer !== this._b3.HEAPF32.buffer) {\n                    // a world matrix observer grew the wasm memory; the records are still in place\n                    buffer = new Float32Array(this._b3.HEAPF32.buffer, movePointer, moveCount * MOVE_STRIDE);\n                }\n                const offset = i * MOVE_STRIDE;\n                const ref = this._bodies[buffer[offset]];\n                if (!ref || ref.body.disableSync) {\n                    continue;\n                }\n                this._syncBodyFromBuffer(ref.body, ref.index, buffer, offset + 1);\n            }\n            for (const mesh of this._touchedInstanceMeshes) {\n                mesh.thinInstanceBufferUpdated(\"matrix\");\n            }\n            this._touchedInstanceMeshes.clear();\n        }\n\n        this._notifyCollisions();\n        this._notifyTriggers();\n        this.lastStepTimeMs = performance.now() - start;\n\n        // Every native entry point returns quietly when it does not recognize a handle. That is what teardown needs and\n        // it hides everything else, so say it once instead of simulating a world where half the calls do nothing.\n        const rejected = this._b3._bx_GetRejectedSlotCount();\n        if (rejected > this._rejectedSlots) {\n            this._rejectedSlots = rejected;\n            this._warnOnce(\n                \"rejected-slots\",\n                `the native module did not recognize ${rejected} of the handles it was given, and those calls did nothing. Something is using a ` +\n                    \"body, shape or joint after it was destroyed, or box3d.js and box3d.wasm are from different builds.\"\n            );\n        }\n    }\n\n    public getPluginVersion(): number {\n        return 2;\n    }\n\n    public setVelocityLimits(maxLinearVelocity: number, maxAngularVelocity: number): void {\n        this._b3._bx_World_SetMaximumLinearSpeed(this._worldSlot, maxLinearVelocity);\n        this._maxAngularVelocity = maxAngularVelocity;\n    }\n\n    public getMaxLinearVelocity(): number {\n        return this._b3._bx_World_GetMaximumLinearSpeed(this._worldSlot);\n    }\n\n    public getMaxAngularVelocity(): number {\n        return this._maxAngularVelocity;\n    }\n\n    /**\n     * Box3D counters and timings for the current world.\n     * @returns body, shape, contact, joint and island counts plus the last step time in milliseconds\n     */\n    public getStats(): { bodies: number; shapes: number; contacts: number; joints: number; islands: number; stepMs: number; collideMs: number; solveMs: number } {\n        this._b3._bx_World_GetStats(this._worldSlot);\n        const s = this._scratch();\n        return { bodies: s[0], shapes: s[1], contacts: s[2], joints: s[3], islands: s[4], stepMs: s[5], collideMs: s[6], solveMs: s[7] };\n    }\n\n    /**\n     * Enables or disables island sleeping.\n     * @param enabled true to let resting bodies sleep\n     */\n    public setSleepingEnabled(enabled: boolean): void {\n        this._b3._bx_World_EnableSleeping(this._worldSlot, enabled ? 1 : 0);\n    }\n\n    /**\n     * Enables or disables continuous collision against static geometry.\n     * @param enabled true to enable continuous collision\n     */\n    public setContinuousEnabled(enabled: boolean): void {\n        this._b3._bx_World_EnableContinuous(this._worldSlot, enabled ? 1 : 0);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // bodies\n    // ----------------------------------------------------------------------------------------\n\n    private _createNativeBody(motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion, startAsleep: boolean): Box3DBodyData {\n        const slot = this._b3._bx_CreateBody(\n            this._worldSlot,\n            this._motionTypeToNative(motionType),\n            position.x,\n            position.y,\n            position.z,\n            orientation.x,\n            orientation.y,\n            orientation.z,\n            orientation.w,\n            startAsleep ? 0 : 1\n        );\n        const data = new Box3DBodyData(slot);\n        data.motionType = motionType;\n        return data;\n    }\n\n    public initBody(body: PhysicsBody, motionType: PhysicsMotionType, position: Vector3, orientation: Quaternion): void {\n        const data = this._createNativeBody(motionType, position, orientation, body.startAsleep);\n        body._pluginData = data;\n        this._bodies[data.slot] = { body, index: 0, data };\n    }\n\n    public initBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, mesh: Mesh): void {\n        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;\n        const matrixData = mesh._thinInstanceDataStorage?.matrixData;\n        if (!matrixData) {\n            return;\n        }\n        const shape = body.shape?._pluginData as Box3DShapeData | undefined;\n        if (instancesCount > 8 && shape && this._bakesMeshCopies(shape)) {\n            this._warnOnce(\n                \"instanced-mesh-child\",\n                \"a mesh inside a container has no local transform in Box3D, so every instance gets its own baked copy of the mesh data; \" +\n                    \"put the mesh on the body directly, or bake the offset into the mesh, to share it.\"\n            );\n        }\n        this._createOrUpdateBodyInstances(body, motionType, matrixData, 0, instancesCount, false);\n    }\n\n    private _createOrUpdateBodyInstances(body: PhysicsBody, motionType: PhysicsMotionType, matrixData: Float32Array, startIndex: number, endIndex: number, update: boolean): void {\n        const rotation = TmpVectors.Quaternion[0];\n        const rotationMatrix = TmpVectors.Matrix[0];\n        const position = TmpVectors.Vector3[0];\n        for (let i = startIndex; i < endIndex; i++) {\n            position.set(matrixData[i * 16 + 12], matrixData[i * 16 + 13], matrixData[i * 16 + 14]);\n            Matrix.FromArrayToRef(matrixData, i * 16, rotationMatrix);\n            rotationMatrix.decompose(undefined, rotation, undefined);\n            if (update) {\n                const data = body._pluginDataInstances[i];\n                this._b3._bx_Body_SetTransform(data.slot, position.x, position.y, position.z, rotation.x, rotation.y, rotation.z, rotation.w);\n            } else {\n                const data = this._createNativeBody(motionType, position, rotation, body.startAsleep);\n                const sibling = body._pluginDataInstances[0] as Box3DBodyData | undefined;\n                if (sibling) {\n                    // a new instance behaves like the ones already there: same mass properties, events and activation\n                    data.userMassProps = sibling.userMassProps;\n                    data.eventMask = sibling.eventMask;\n                    this._applyEventFlags(data);\n                    if (sibling.activation !== PhysicsActivationControl.SIMULATION_CONTROLLED) {\n                        data.activation = sibling.activation;\n                        this._applyNativeMotionType(data);\n                        this._b3._bx_Body_EnableSleep(data.slot, sibling.activation === PhysicsActivationControl.ALWAYS_ACTIVE ? 0 : 1);\n                    }\n                }\n                body._pluginDataInstances.push(data);\n                this._bodies[data.slot] = { body, index: i, data };\n            }\n        }\n    }\n\n    public updateBodyInstances(body: PhysicsBody, mesh: Mesh): void {\n        const instancesCount = mesh._thinInstanceDataStorage?.instancesCount ?? 0;\n        const matrixData = mesh._thinInstanceDataStorage?.matrixData;\n        if (!matrixData) {\n            return;\n        }\n        const pluginInstancesCount = body._pluginDataInstances.length;\n        const motionType = this.getMotionType(body);\n        if (instancesCount > pluginInstancesCount) {\n            this._createOrUpdateBodyInstances(body, motionType, matrixData, pluginInstancesCount, instancesCount, false);\n            const shape = body.shape;\n            if (shape && shape._pluginData) {\n                for (let i = pluginInstancesCount; i < instancesCount; i++) {\n                    this._setBodyShape(body._pluginDataInstances[i], shape._pluginData as Box3DShapeData);\n                }\n            }\n        } else if (instancesCount < pluginInstancesCount) {\n            const instancesToRemove = pluginInstancesCount - instancesCount;\n            for (let i = 0; i < instancesToRemove; i++) {\n                const data = body._pluginDataInstances.pop() as Box3DBodyData;\n                this._destroyBodyData(data);\n            }\n            this._createOrUpdateBodyInstances(body, motionType, matrixData, 0, instancesCount, true);\n        }\n    }\n\n    private _destroyBodyData(data: Box3DBodyData): void {\n        if (!data) {\n            return;\n        }\n        for (const shape of this._shapes) {\n            shape?.users.delete(data);\n        }\n        this._bodyCollisionObservable.delete(data.slot);\n        this._bodyCollisionEndedObservable.delete(data.slot);\n        this._bodies[data.slot] = undefined;\n        this._b3._bx_DestroyBody(data.slot);\n        data.slot = 0;\n    }\n\n    public removeBody(body: PhysicsBody): void {\n        // Box3D has no add/remove without destroying. The body is destroyed and re-created by initBody if needed.\n        if (body._pluginDataInstances?.length) {\n            for (const data of body._pluginDataInstances) {\n                this._destroyBodyData(data);\n            }\n        }\n        if (body._pluginData) {\n            this._destroyBodyData(body._pluginData);\n        }\n    }\n\n    public sync(body: PhysicsBody): void {\n        this.syncTransform(body, body.transformNode);\n    }\n\n    private _syncBodyFromBuffer(body: PhysicsBody, index: number, buffer: Float32Array, offset: number): void {\n        const node = body.transformNode;\n        if (body._pluginDataInstances.length) {\n            const m = node as Mesh;\n            const matrixData = m._thinInstanceDataStorage?.matrixData;\n            if (!matrixData) {\n                return;\n            }\n            const scale = this._tmpVec3[0];\n            const base = index * 16;\n            scale.set(\n                Math.hypot(matrixData[base], matrixData[base + 1], matrixData[base + 2]),\n                Math.hypot(matrixData[base + 4], matrixData[base + 5], matrixData[base + 6]),\n                Math.hypot(matrixData[base + 8], matrixData[base + 9], matrixData[base + 10])\n            );\n            const quat = this._tmpQuat[0];\n            quat.set(buffer[offset + 3], buffer[offset + 4], buffer[offset + 5], buffer[offset + 6]);\n            const position = this._tmpVec3[1];\n            position.set(buffer[offset], buffer[offset + 1], buffer[offset + 2]);\n            const matrix = TmpVectors.Matrix[0];\n            Matrix.ComposeToRef(scale, quat, position, matrix);\n            matrix.copyToArray(matrixData, base);\n            this._touchedInstanceMeshes.add(m);\n            return;\n        }\n        this._applyTransformToNode(node, buffer[offset], buffer[offset + 1], buffer[offset + 2], buffer[offset + 3], buffer[offset + 4], buffer[offset + 5], buffer[offset + 6]);\n    }\n\n    private _applyTransformToNode(node: TransformNode, px: number, py: number, pz: number, qx: number, qy: number, qz: number, qw: number): void {\n        const quat = this._tmpQuat[0];\n        quat.set(qx, qy, qz, qw);\n        const parent = node.parent as TransformNode;\n        if (parent && !parent.getWorldMatrix().isIdentity()) {\n            parent.computeWorldMatrix(true);\n            const savedScaling = this._tmpVec3[2];\n            savedScaling.copyFrom(node.scaling);\n            const finalTransform = TmpVectors.Matrix[0];\n            const finalTranslation = this._tmpVec3[3];\n            finalTranslation.set(px, py, pz);\n            Matrix.ComposeToRef(node.absoluteScaling, quat, finalTranslation, finalTransform);\n            const parentInverse = TmpVectors.Matrix[1];\n            parent.getWorldMatrix().invertToRef(parentInverse);\n            const localTransform = TmpVectors.Matrix[2];\n            finalTransform.multiplyToRef(parentInverse, localTransform);\n            localTransform.decomposeToTransformNode(node);\n            node.rotationQuaternion?.normalize();\n            node.scaling.copyFrom(savedScaling);\n        } else {\n            node.position.set(px, py, pz);\n            if (node.rotationQuaternion) {\n                node.rotationQuaternion.copyFrom(quat);\n            } else {\n                quat.toEulerAnglesToRef(node.rotation);\n            }\n        }\n    }\n\n    public syncTransform(body: PhysicsBody, transformNode: TransformNode): void {\n        if (body._pluginDataInstances.length) {\n            const m = transformNode as Mesh;\n            const matrixData = m._thinInstanceDataStorage?.matrixData;\n            if (!matrixData) {\n                return;\n            }\n            for (let i = 0; i < body._pluginDataInstances.length; i++) {\n                const data = body._pluginDataInstances[i] as Box3DBodyData;\n                this._b3._bx_Body_GetTransform(data.slot);\n                this._syncBodyFromBuffer(body, i, this._scratch(), 0);\n            }\n            m.thinInstanceBufferUpdated(\"matrix\");\n            this._touchedInstanceMeshes.delete(m);\n            return;\n        }\n        const data = body._pluginData as Box3DBodyData;\n        if (!data || !data.slot) {\n            return;\n        }\n        this._b3._bx_Body_GetTransform(data.slot);\n        const s = this._scratch();\n        this._applyTransformToNode(transformNode, s[0], s[1], s[2], s[3], s[4], s[5], s[6]);\n    }\n\n    /**\n     * Pushes the transform node's pose into the physics body (called during the pre step).\n     * @param body the physics body\n     * @param node the transform node to read from\n     */\n    public setPhysicsBodyTransformation(body: PhysicsBody, node: TransformNode): void {\n        const prestep = body.getPrestepType();\n        if (prestep == PhysicsPrestepType.TELEPORT) {\n            if (body._pluginDataInstances.length > 0) {\n                const m = node as Mesh;\n                const matrixData = m._thinInstanceDataStorage?.matrixData;\n                if (!matrixData) {\n                    return;\n                }\n                this._createOrUpdateBodyInstances(body, body.getMotionType(), matrixData, 0, body._pluginDataInstances.length, true);\n                return;\n            }\n            const data = body._pluginData as Box3DBodyData;\n            const position = this._tmpVec3[0];\n            const orientation = this._tmpQuat[0];\n            this._nodeTransformToRef(node, position, orientation);\n            this._b3._bx_Body_SetTransform(data.slot, position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w);\n        } else if (prestep == PhysicsPrestepType.ACTION) {\n            this.setTargetTransform(body, node.absolutePosition, node.absoluteRotationQuaternion);\n        } else if (prestep == PhysicsPrestepType.DISABLED) {\n            Logger.Warn(\"Prestep type is set to DISABLED. Unable to set physics body transformation.\");\n        }\n    }\n\n    public setTargetTransform(body: PhysicsBody, position: Vector3, rotation: Quaternion, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                this._b3._bx_Body_SetTargetTransform(data.slot, position.x, position.y, position.z, rotation.x, rotation.y, rotation.z, rotation.w, this._timeStep);\n            },\n            instanceIndex\n        );\n    }\n\n    /** True when the shape puts a mesh inside a container, which Box3D can only do by baking a copy per body. */\n    private _bakesMeshCopies(data: Box3DShapeData, visited = new Set<Box3DShapeData>()): boolean {\n        if (visited.has(data)) {\n            return false;\n        }\n        visited.add(data);\n        return data.children.some((child) => child.type === PhysicsShapeType.MESH || this._bakesMeshCopies(child, visited));\n    }\n\n    private _setBodyShape(data: Box3DBodyData, shape: Nullable<Box3DShapeData>): void {\n        for (const existing of this._shapes) {\n            existing?.users.delete(data);\n        }\n        this._b3._bx_Body_SetShape(data.slot, shape ? shape.slot : 0);\n        if (shape) {\n            shape.users.add(data);\n        }\n        this._applyEventFlags(data);\n        this._internalUpdateMassProperties(data);\n    }\n\n    public setShape(body: PhysicsBody, shape: Nullable<PhysicsShape>): void {\n        const shapeData = shape && shape._pluginData ? (shape._pluginData as Box3DShapeData) : null;\n        this._applyToBodyOrInstances(body, (data) => this._setBodyShape(data, shapeData));\n    }\n\n    public getShape(body: PhysicsBody): Nullable<PhysicsShape> {\n        return body.shape ?? null;\n    }\n\n    public getShapeType(shape: PhysicsShape): PhysicsShapeType {\n        return shape.type ?? (shape._pluginData as Box3DShapeData)?.type ?? PhysicsShapeType.CONTAINER;\n    }\n\n    /** Turns the body's event mask into Box3D's two shape flags, so a body only pays for the events it asked for. */\n    private _applyEventFlags(data: Box3DBodyData): void {\n        const touch = data.eventMask & (Box3DEventBits.COLLISION_STARTED | Box3DEventBits.COLLISION_FINISHED) ? 1 : 0;\n        const hit = data.eventMask & Box3DEventBits.COLLISION_CONTINUED ? 1 : 0;\n        this._b3._bx_Body_SetEventFlags(data.slot, touch, hit);\n    }\n\n    public setEventMask(body: PhysicsBody, eventMask: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.eventMask = eventMask;\n                this._applyEventFlags(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getEventMask(body: PhysicsBody, instanceIndex?: number): number {\n        return this._getPluginReference(body, instanceIndex).eventMask;\n    }\n\n    public setMotionType(body: PhysicsBody, motionType: PhysicsMotionType, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.motionType = motionType;\n                this._applyNativeMotionType(data);\n                this._internalUpdateMassProperties(data);\n            },\n            instanceIndex\n        );\n    }\n\n    /** The Box3D body type: the Babylon motion type, unless the body is parked by ALWAYS_INACTIVE. */\n    private _applyNativeMotionType(data: Box3DBodyData): void {\n        const native = data.activation === PhysicsActivationControl.ALWAYS_INACTIVE ? 0 : this._motionTypeToNative(data.motionType);\n        this._b3._bx_Body_SetType(data.slot, native);\n    }\n\n    /**\n     * Babylon's activation control, matched to Havok's behaviour with Box3D sleeping.\n     * ALWAYS_ACTIVE turns sleeping off for the body, SIMULATION_CONTROLLED turns it back on. ALWAYS_INACTIVE parks the\n     * body: in Havok such a body ignores impulses and velocity changes, is not woken by anything that touches it and\n     * still blocks other bodies, which Box3D sleeping alone cannot do, so it becomes a static Box3D body until the\n     * control changes. Coming back it is left asleep, like Havok, until something wakes it.\n     * @param body the physics body\n     * @param controlMode how the body may be activated and deactivated\n     * @param instanceIndex optional thin instance index\n     */\n    public setActivationControl(body: PhysicsBody, controlMode: PhysicsActivationControl, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                if (data.activation === controlMode) {\n                    return;\n                }\n                const wasInactive = data.activation === PhysicsActivationControl.ALWAYS_INACTIVE;\n                data.activation = controlMode;\n                if (controlMode === PhysicsActivationControl.ALWAYS_INACTIVE) {\n                    this._b3._bx_Body_SetLinearVelocity(data.slot, 0, 0, 0);\n                    this._b3._bx_Body_SetAngularVelocity(data.slot, 0, 0, 0);\n                    this._applyNativeMotionType(data);\n                    return;\n                }\n                this._applyNativeMotionType(data);\n                this._internalUpdateMassProperties(data);\n                this._b3._bx_Body_EnableSleep(data.slot, controlMode === PhysicsActivationControl.ALWAYS_ACTIVE ? 0 : 1);\n                if (wasInactive && controlMode === PhysicsActivationControl.SIMULATION_CONTROLLED) {\n                    this._b3._bx_Body_SetAwake(data.slot, 0);\n                }\n            },\n            instanceIndex\n        );\n    }\n\n    public getMotionType(body: PhysicsBody, instanceIndex?: number): PhysicsMotionType {\n        return this._getPluginReference(body, instanceIndex).motionType;\n    }\n\n    /**\n     * Reads Box3D's mass data and converts it to Babylon's form: the inertia is the principal moments of the tensor\n     * divided by the mass (Babylon's inertia is per unit mass) and the orientation rotates the principal axes into\n     * body space.\n     */\n    private _readMassData(data: Box3DBodyData): PhysicsMassProperties {\n        // Box3D keeps mass 0 on static and kinematic bodies; Havok reports what the shapes weigh whatever the type\n        if (data.motionType === PhysicsMotionType.DYNAMIC && data.activation !== PhysicsActivationControl.ALWAYS_INACTIVE) {\n            this._b3._bx_Body_GetMassData(data.slot);\n        } else {\n            this._b3._bx_Body_ComputeShapeMassData(data.slot);\n        }\n        const s = this._scratch();\n        const mass = s[0];\n        const principal = new Vector3();\n        const orientation = new Quaternion();\n        DiagonalizeInertia([s[4], s[5], s[6], s[7], s[8], s[9]], principal, orientation);\n        if (mass > 0) {\n            principal.scaleInPlace(1 / mass);\n        }\n        return {\n            mass,\n            centerOfMass: new Vector3(s[1], s[2], s[3]),\n            inertia: principal,\n            inertiaOrientation: orientation,\n        };\n    }\n\n    /** The mass properties of the body: what the user asked for, filled in from the shapes where they said nothing. */\n    private _resolveMassProperties(data: Box3DBodyData): Required<PhysicsMassProperties> {\n        const computed = this._readMassData(data);\n        const user = data.userMassProps ?? {};\n        // no invented mass here: a body with no shapes really does weigh nothing, only the tensor written to Box3D\n        // needs a positive mass (see _internalUpdateMassProperties)\n        const mass = user.mass !== undefined && user.mass > 0 ? user.mass : computed.mass!;\n        return {\n            mass,\n            centerOfMass: user.centerOfMass ?? computed.centerOfMass!,\n            inertia: user.inertia ?? computed.inertia!,\n            inertiaOrientation: user.inertiaOrientation ?? (user.inertia ? Quaternion.Identity() : computed.inertiaOrientation!),\n        };\n    }\n\n    private _internalUpdateMassProperties(data: Box3DBodyData): void {\n        if (data.motionType !== PhysicsMotionType.DYNAMIC || data.activation === PhysicsActivationControl.ALWAYS_INACTIVE) {\n            // motion locks are world space velocity locks, they would fight a kinematic body's target transform\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        this._b3._bx_Body_ApplyMassFromShapes(data.slot);\n        const user = data.userMassProps;\n        const hasUser = !!user && (user.mass !== undefined || !!user.centerOfMass || !!user.inertia || !!user.inertiaOrientation);\n        if (!hasUser) {\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        const props = this._resolveMassProperties(data);\n        // a dynamic body with no mass at all would ignore gravity and every impulse\n        const mass = props.mass > 0 ? props.mass : 1;\n        const inertia = props.inertia;\n        const orientation = props.inertiaOrientation;\n        // Babylon's inertia is per unit mass and a zero component means infinite inertia about that principal axis.\n        // Box3D needs an invertible tensor, so a locked axis gets a very large moment; where the free axes stay aligned\n        // with the world, Box3D's motion locks are added on top and make it exact.\n        const locked = [inertia.x <= 0, inertia.y <= 0, inertia.z <= 0];\n        const largest = Math.max(inertia.x, inertia.y, inertia.z, 1e-4) * LockedInertiaRatio;\n        const moments = [locked[0] ? largest : inertia.x, locked[1] ? largest : inertia.y, locked[2] ? largest : inertia.z].map((value) => value * mass);\n        const tensor = ComposeInertia(moments, orientation);\n        this._b3._bx_Body_SetMassDataFull(\n            data.slot,\n            mass,\n            props.centerOfMass.x,\n            props.centerOfMass.y,\n            props.centerOfMass.z,\n            tensor[0],\n            tensor[1],\n            tensor[2],\n            tensor[3],\n            tensor[4],\n            tensor[5]\n        );\n        this._applyLockedAxes(data, locked, orientation);\n    }\n\n    /**\n     * Box3D locks are world space, Babylon's zero inertia components are body local. Locking two of them leaves a single\n     * free axis, and if that axis is world aligned the body can only ever spin about it, so the world locks are exact\n     * and stay exact. Everything else relies on the large moment above.\n     */\n    private _applyLockedAxes(data: Box3DBodyData, locked: boolean[], orientation: Quaternion): void {\n        const count = locked.filter(Boolean).length;\n        if (count === 3) {\n            this._applyMotionLocks(data, true, true, true);\n            return;\n        }\n        if (count !== 2) {\n            this._applyMotionLocks(data, false, false, false);\n            return;\n        }\n        this._b3._bx_Body_GetTransform(data.slot);\n        const s = this._scratch();\n        const bodyRotation = this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        const free = locked.indexOf(false);\n        const axis = this._tmpVec3[0].set(free === 0 ? 1 : 0, free === 1 ? 1 : 0, free === 2 ? 1 : 0);\n        axis.applyRotationQuaternionInPlace(orientation).applyRotationQuaternionInPlace(bodyRotation);\n        const components = [Math.abs(axis.x), Math.abs(axis.y), Math.abs(axis.z)];\n        const dominant = components.indexOf(Math.max(...components));\n        if (components[dominant] > 0.9999) {\n            this._applyMotionLocks(data, dominant !== 0, dominant !== 1, dominant !== 2);\n        } else {\n            this._applyMotionLocks(data, false, false, false);\n        }\n    }\n\n    private _applyMotionLocks(data: Box3DBodyData, x: boolean, y: boolean, z: boolean): void {\n        const locks = (x ? 1 : 0) | (y ? 2 : 0) | (z ? 4 : 0);\n        if (locks === data.angularLocks) {\n            return;\n        }\n        data.angularLocks = locks;\n        this._b3._bx_Body_SetMotionLocks(data.slot, 0, 0, 0, x ? 1 : 0, y ? 1 : 0, z ? 1 : 0);\n    }\n\n    public computeMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties {\n        const data = this._getPluginReference(body, instanceIndex);\n        this._b3._bx_Body_ApplyMassFromShapes(data.slot);\n        const computed = this._readMassData(data);\n        this._internalUpdateMassProperties(data);\n        return computed;\n    }\n\n    public setMassProperties(body: PhysicsBody, massProps: PhysicsMassProperties, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.userMassProps = massProps;\n                this._internalUpdateMassProperties(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getMassProperties(body: PhysicsBody, instanceIndex?: number): PhysicsMassProperties {\n        return this._resolveMassProperties(this._getPluginReference(body, instanceIndex));\n    }\n\n    public setLinearDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetLinearDamping(data.slot, damping), instanceIndex);\n    }\n\n    public getLinearDamping(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetLinearDamping(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    public setAngularDamping(body: PhysicsBody, damping: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetAngularDamping(data.slot, damping), instanceIndex);\n    }\n\n    public getAngularDamping(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetAngularDamping(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    public setLinearVelocity(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetLinearVelocity(data.slot, linVel.x, linVel.y, linVel.z), instanceIndex);\n    }\n\n    public getLinearVelocityToRef(body: PhysicsBody, linVel: Vector3, instanceIndex?: number): void {\n        this._b3._bx_Body_GetLinearVelocity(this._getPluginReference(body, instanceIndex).slot);\n        const s = this._scratch();\n        linVel.set(s[0], s[1], s[2]);\n    }\n\n    public applyImpulse(body: PhysicsBody, impulse: Vector3, location: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => this._b3._bx_Body_ApplyLinearImpulse(data.slot, impulse.x, impulse.y, impulse.z, location.x, location.y, location.z),\n            instanceIndex\n        );\n    }\n\n    public applyAngularImpulse(body: PhysicsBody, angularImpulse: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyAngularImpulse(data.slot, angularImpulse.x, angularImpulse.y, angularImpulse.z), instanceIndex);\n    }\n\n    public applyForce(body: PhysicsBody, force: Vector3, location: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyForce(data.slot, force.x, force.y, force.z, location.x, location.y, location.z), instanceIndex);\n    }\n\n    public applyTorque(body: PhysicsBody, torque: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_ApplyTorque(data.slot, torque.x, torque.y, torque.z), instanceIndex);\n    }\n\n    public setAngularVelocity(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetAngularVelocity(data.slot, angVel.x, angVel.y, angVel.z), instanceIndex);\n    }\n\n    public getAngularVelocityToRef(body: PhysicsBody, angVel: Vector3, instanceIndex?: number): void {\n        this._b3._bx_Body_GetAngularVelocity(this._getPluginReference(body, instanceIndex).slot);\n        const s = this._scratch();\n        angVel.set(s[0], s[1], s[2]);\n    }\n\n    public getBodyGeometry(body: PhysicsBody): { positions: Float32Array | number[]; indices: Uint32Array | number[] } {\n        const shape = body.shape?._pluginData as Box3DShapeData | undefined;\n        if (!shape) {\n            return { positions: [], indices: [] };\n        }\n        const vertexCount = this._b3._bx_ShapeDesc_BuildDebugGeometry(shape.slot);\n        const indexCount = this._b3._bx_DebugIndexCount();\n        if (!vertexCount || !indexCount) {\n            return { positions: [], indices: [] };\n        }\n        const positions = new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_DebugPositionsPtr(), vertexCount * 3).slice();\n        const indices = new Uint32Array(this._b3.HEAPU32.buffer, this._b3._bx_DebugIndicesPtr(), indexCount).slice();\n        return { positions, indices };\n    }\n\n    public disposeBody(body: PhysicsBody): void {\n        this.removeBody(body);\n        body._pluginData = undefined;\n        body._pluginDataInstances.length = 0;\n    }\n\n    public setCollisionCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void {\n        // Havok replaces the mask with all three collision events, or clears it\n        this.setEventMask(body, enabled ? Box3DEventBits.ALL : 0, instanceIndex);\n    }\n\n    public setCollisionEndedCallbackEnabled(body: PhysicsBody, enabled: boolean, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(\n            body,\n            (data) => {\n                data.eventMask = enabled ? data.eventMask | Box3DEventBits.COLLISION_FINISHED : data.eventMask & ~Box3DEventBits.COLLISION_FINISHED;\n                this._applyEventFlags(data);\n            },\n            instanceIndex\n        );\n    }\n\n    public getCollisionObservable(body: PhysicsBody, instanceIndex?: number): Observable<IPhysicsCollisionEvent> {\n        const slot = this._getPluginReference(body, instanceIndex).slot;\n        let observable = this._bodyCollisionObservable.get(slot);\n        if (!observable) {\n            observable = new Observable<IPhysicsCollisionEvent>();\n            this._bodyCollisionObservable.set(slot, observable);\n        }\n        return observable;\n    }\n\n    public getCollisionEndedObservable(body: PhysicsBody, instanceIndex?: number): Observable<IBasePhysicsCollisionEvent> {\n        const slot = this._getPluginReference(body, instanceIndex).slot;\n        let observable = this._bodyCollisionEndedObservable.get(slot);\n        if (!observable) {\n            observable = new Observable<IBasePhysicsCollisionEvent>();\n            this._bodyCollisionEndedObservable.set(slot, observable);\n        }\n        return observable;\n    }\n\n    public setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_SetGravityScale(data.slot, factor), instanceIndex);\n    }\n\n    public getGravityFactor(body: PhysicsBody, instanceIndex?: number): number {\n        return this._b3._bx_Body_GetGravityScale(this._getPluginReference(body, instanceIndex).slot);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // shapes\n    // ----------------------------------------------------------------------------------------\n\n    private _registerShape(shape: PhysicsShape, slot: number, type: PhysicsShapeType): Box3DShapeData {\n        if (!slot) {\n            throw new Error(\"Box3DPlugin: shape creation failed (degenerate geometry?)\");\n        }\n        const data = new Box3DShapeData(slot, type);\n        shape._pluginData = data;\n        this._shapes[slot] = data;\n        return data;\n    }\n\n    private _withFloatBuffer<T>(values: ArrayLike<number>, fn: (ptr: number) => T): T {\n        const ptr = this._b3._malloc(values.length * 4);\n        new Float32Array(this._b3.HEAPF32.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    /** Copies bytes into the module for the length of `fn`; with no bytes, `fn` gets a null pointer. */\n    private _withByteBuffer<T>(values: Nullable<Uint8Array>, fn: (ptr: number) => T): T {\n        if (!values || values.length === 0) {\n            return fn(0);\n        }\n        const ptr = this._b3._malloc(values.length);\n        new Uint8Array(this._b3.HEAPU8.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    private _withIntBuffer<T>(values: ArrayLike<number>, fn: (ptr: number) => T): T {\n        const ptr = this._b3._malloc(values.length * 4);\n        new Int32Array(this._b3.HEAP32.buffer, ptr, values.length).set(values);\n        try {\n            return fn(ptr);\n        } finally {\n            this._b3._free(ptr);\n        }\n    }\n\n    private _createOptionsFromGroundMesh(options: PhysicsShapeParameters): void {\n        const mesh = options.groundMesh;\n        if (!mesh) {\n            return;\n        }\n        const pos = mesh.getVerticesData(VertexBuffer.PositionKind) as FloatArray;\n        const transform = mesh.computeWorldMatrix(true);\n        const transformed: number[] = [];\n        const p = TmpVectors.Vector3[0];\n        for (let i = 0; i < pos.length; i += 3) {\n            Vector3.FromArrayToRef(pos, i, p);\n            Vector3.TransformCoordinatesToRef(p, transform, p);\n            p.toArray(transformed, i);\n        }\n        const arraySize = ~~(Math.sqrt(transformed.length / 3) - 1);\n        const boundingInfo = mesh.getBoundingInfo();\n        const dim = Math.min(boundingInfo.boundingBox.extendSizeWorld.x, boundingInfo.boundingBox.extendSizeWorld.z);\n        const minX = boundingInfo.boundingBox.minimumWorld.x;\n        const minY = boundingInfo.boundingBox.minimumWorld.y;\n        const minZ = boundingInfo.boundingBox.minimumWorld.z;\n        const matrix = new Float32Array((arraySize + 1) * (arraySize + 1));\n        const elementSize = (dim * 2) / arraySize;\n        matrix.fill(minY);\n        for (let i = 0; i < transformed.length; i += 3) {\n            const x = Math.round((transformed[i + 0] - minX) / elementSize);\n            const z = arraySize - Math.round((transformed[i + 2] - minZ) / elementSize);\n            matrix[z * (arraySize + 1) + x] = transformed[i + 1] - minY;\n        }\n        options.numHeightFieldSamplesX = arraySize + 1;\n        options.numHeightFieldSamplesZ = arraySize + 1;\n        options.heightFieldSizeX = boundingInfo.boundingBox.extendSizeWorld.x * 2;\n        options.heightFieldSizeZ = boundingInfo.boundingBox.extendSizeWorld.z * 2;\n        options.heightFieldData = matrix;\n    }\n\n    public initShape(shape: PhysicsShape, type: PhysicsShapeType, options: PhysicsShapeParameters): void {\n        const b3 = this._b3;\n        const center = options.center ?? Vector3.ZeroReadOnly;\n        const rotation = options.rotation ?? Quaternion.Identity();\n        switch (type) {\n            case PhysicsShapeType.SPHERE: {\n                const radius = options.radius ?? 1;\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateSphere(center.x, center.y, center.z, radius), type);\n                break;\n            }\n            case PhysicsShapeType.CAPSULE: {\n                const a = options.pointA ?? Vector3.ZeroReadOnly;\n                const b = options.pointB ?? Vector3.UpReadOnly;\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateCapsule(a.x, a.y, a.z, b.x, b.y, b.z, options.radius ?? 0), type);\n                break;\n            }\n            case PhysicsShapeType.BOX: {\n                const extents = options.extents ?? Vector3.OneReadOnly;\n                this._registerShape(\n                    shape,\n                    b3._bx_ShapeDesc_CreateBox(extents.x * 0.5, extents.y * 0.5, extents.z * 0.5, center.x, center.y, center.z, rotation.x, rotation.y, rotation.z, rotation.w),\n                    type\n                );\n                break;\n            }\n            case PhysicsShapeType.CYLINDER: {\n                const a = options.pointA ?? Vector3.ZeroReadOnly;\n                const b = options.pointB ?? Vector3.UpReadOnly;\n                const axis = b.subtract(a);\n                const height = axis.length();\n                const q = this._tmpQuat[0];\n                if (height > 1e-6) {\n                    axis.scaleInPlace(1 / height);\n                    Quaternion.FromUnitVectorsToRef(Vector3.UpReadOnly, axis, q);\n                } else {\n                    q.set(0, 0, 0, 1);\n                }\n                // Box3D's cylinder runs from 0 to height along its local Y, so it goes at pointA, not at the middle.\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateCylinder(height, options.radius ?? 0, 16, a.x, a.y, a.z, q.x, q.y, q.z, q.w), type);\n                break;\n            }\n            case PhysicsShapeType.CONVEX_HULL:\n            case PhysicsShapeType.MESH: {\n                if (!options.mesh && options.positions) {\n                    this._initShapeFromPositions(shape, type, options.positions, options.positionIndices);\n                    break;\n                }\n                const mesh = options.mesh;\n                if (!mesh) {\n                    throw new Error(\"No mesh provided to create physics shape.\");\n                }\n                const needIndices = type === PhysicsShapeType.MESH;\n                const flipWinding = !mesh.getScene().useRightHandedSystem;\n                const accum = new MeshGeometryAccumulator(needIndices, flipWinding);\n                accum.addNodeMeshes(mesh, !!options.includeChildMeshes);\n                if (type === PhysicsShapeType.CONVEX_HULL) {\n                    const slot = this._withFloatBuffer(accum.vertices, (ptr) => b3._bx_ShapeDesc_CreateHull(ptr, accum.vertexCount));\n                    this._registerShape(shape, slot, type);\n                } else {\n                    const slot = this._withFloatBuffer(accum.vertices, (vptr) =>\n                        this._withIntBuffer(accum.indices, (iptr) => b3._bx_ShapeDesc_CreateMesh(vptr, accum.vertexCount, iptr, accum.triangleCount, 1, 1, 1, 0, 0))\n                    );\n                    this._registerShape(shape, slot, type);\n                }\n                break;\n            }\n            case PhysicsShapeType.HEIGHTFIELD: {\n                if (options.groundMesh) {\n                    this._createOptionsFromGroundMesh(options);\n                }\n                const nx = options.numHeightFieldSamplesX;\n                const nz = options.numHeightFieldSamplesZ;\n                if (!nx || !nz || !options.heightFieldSizeX || !options.heightFieldSizeZ || !options.heightFieldData) {\n                    throw new Error(\"Missing required heightfield parameters\");\n                }\n                const heights = new Float32Array(nx * nz);\n                for (let x = 0; x < nx; x++) {\n                    for (let z = 0; z < nz; z++) {\n                        // box3d rows run along z (index z * countX + x); Babylon data rows are flipped along z\n                        heights[z * nx + x] = options.heightFieldData[(nz - 1 - z) * nx + x];\n                    }\n                }\n                const scaleX = options.heightFieldSizeX / (nx - 1);\n                const scaleZ = options.heightFieldSizeZ / (nz - 1);\n                const cellsX = nx - 1;\n                const cellsZ = nz - 1;\n                const source = options.heightFieldMaterials;\n                if (source && source.length !== cellsX * cellsZ) {\n                    throw new Error(`heightFieldMaterials needs ${cellsX * cellsZ} cells (${cellsX} \u00D7 ${cellsZ}), got ${source.length}`);\n                }\n                // Cells flip along z the same way the heights do.\n                const materials = source ? new Uint8Array(cellsX * cellsZ) : null;\n                if (source && materials) {\n                    for (let x = 0; x < cellsX; x++) {\n                        for (let z = 0; z < cellsZ; z++) {\n                            materials[z * cellsX + x] = source[(cellsZ - 1 - z) * cellsX + x];\n                        }\n                    }\n                }\n                const slot = this._withFloatBuffer(heights, (heightsPtr) =>\n                    this._withByteBuffer(materials, (materialsPtr) =>\n                        b3._bx_ShapeDesc_CreateHeightField(\n                            heightsPtr,\n                            materialsPtr,\n                            nx,\n                            nz,\n                            scaleX,\n                            1,\n                            scaleZ,\n                            0,\n                            -options.heightFieldSizeX! * 0.5,\n                            0,\n                            -options.heightFieldSizeZ! * 0.5\n                        )\n                    )\n                );\n                this._registerShape(shape, slot, type);\n                break;\n            }\n            case PhysicsShapeType.CONTAINER: {\n                this._registerShape(shape, b3._bx_ShapeDesc_CreateContainer(), type);\n                break;\n            }\n            default:\n                throw new Error(\"Unsupported Shape Type.\");\n        }\n    }\n\n    private _initShapeFromPositions(shape: PhysicsShape, type: PhysicsShapeType, positions: ArrayLike<number>, indices: ArrayLike<number> | undefined): void {\n        const b3 = this._b3;\n        if (positions.length % 3 !== 0) {\n            throw new Error(`positions needs x, y, z triplets, got ${positions.length} numbers`);\n        }\n        const vertexCount = positions.length / 3;\n        if (type === PhysicsShapeType.CONVEX_HULL) {\n            this._registerShape(\n                shape,\n                this._withFloatBuffer(positions, (ptr) => b3._bx_ShapeDesc_CreateHull(ptr, vertexCount)),\n                type\n            );\n            return;\n        }\n        if (!indices || indices.length % 3 !== 0) {\n            throw new Error(\"a MESH shape from positions needs positionIndices, three per triangle\");\n        }\n        for (let i = 0; i < indices.length; i++) {\n            if (indices[i] < 0 || indices[i] >= vertexCount || !Number.isInteger(indices[i])) {\n                throw new Error(`positionIndices[${i}] is ${indices[i]}, but there are ${vertexCount} points`);\n            }\n        }\n        this._registerShape(\n            shape,\n            this._withFloatBuffer(positions, (vptr) =>\n                this._withIntBuffer(indices, (iptr) => b3._bx_ShapeDesc_CreateMesh(vptr, vertexCount, iptr, indices.length / 3, 1, 1, 1, 0, 0))\n            ),\n            type\n        );\n    }\n\n    // Re-instantiates the shape on every body that uses it (or uses a container holding it). Only needed for geometry\n    // and child changes; filters, materials and density are applied in place, see _syncShapeUsers.\n    private _refreshShapeUsers(data: Box3DShapeData, visited = new Set<Box3DShapeData>()): void {\n        if (visited.has(data)) {\n            return;\n        }\n        visited.add(data);\n        for (const body of data.users) {\n            this._b3._bx_Body_SetShape(body.slot, data.slot);\n            this._applyEventFlags(body);\n            this._internalUpdateMassProperties(body);\n        }\n        for (const parent of data.parents) {\n            this._refreshShapeUsers(parent, visited);\n        }\n    }\n\n    /**\n     * Pushes changed description properties into the Box3D shapes that are already on the bodies using this shape,\n     * directly or through a container. Rebuilding them instead would drop their contacts and re-apply the body mass.\n     */\n    private _syncShapeUsers(data: Box3DShapeData, what: Box3DShapeSync, visited = new Set<Box3DShapeData>(), changed = data): void {\n        if (visited.has(data)) {\n            return;\n        }\n        visited.add(data);\n        for (const body of data.users) {\n            this._b3._bx_Body_SyncShapeDesc(body.slot, changed.slot, what);\n            if (what & Box3DShapeSync.DENSITY) {\n                this._internalUpdateMassProperties(body);\n            }\n        }\n        for (const parent of data.parents) {\n            this._syncShapeUsers(parent, what, visited, changed);\n        }\n    }\n\n    public setShapeFilterMembershipMask(shape: PhysicsShape, membershipMask: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        const collide = this._b3._bx_ShapeDesc_GetMaskBits(data.slot);\n        this._b3._bx_ShapeDesc_SetFilter(data.slot, membershipMask >>> 0, collide >>> 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    public getShapeFilterMembershipMask(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetCategoryBits((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public setShapeFilterCollideMask(shape: PhysicsShape, collideMask: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        const membership = this._b3._bx_ShapeDesc_GetCategoryBits(data.slot);\n        this._b3._bx_ShapeDesc_SetFilter(data.slot, membership >>> 0, collideMask >>> 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    public getShapeFilterCollideMask(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetMaskBits((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public setMaterial(shape: PhysicsShape, material: PhysicsMaterial): void {\n        const data = shape._pluginData as Box3DShapeData;\n        data.material = material;\n        this._b3._bx_ShapeDesc_SetMaterial(data.slot, material.friction ?? 0.5, material.restitution ?? 0);\n        this._syncShapeUsers(data, Box3DShapeSync.MATERIAL);\n    }\n\n    public getMaterial(shape: PhysicsShape): PhysicsMaterial {\n        const data = shape._pluginData as Box3DShapeData;\n        return {\n            friction: this._b3._bx_ShapeDesc_GetFriction(data.slot),\n            staticFriction: data.material.staticFriction,\n            restitution: this._b3._bx_ShapeDesc_GetRestitution(data.slot),\n            frictionCombine: data.material.frictionCombine,\n            restitutionCombine: data.material.restitutionCombine,\n        };\n    }\n\n    public setDensity(shape: PhysicsShape, density: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetDensity(data.slot, density);\n        this._syncShapeUsers(data, Box3DShapeSync.DENSITY);\n    }\n\n    public getDensity(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetDensity((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public addChild(shape: PhysicsShape, newChild: PhysicsShape, translation?: Vector3, rotation?: Quaternion, scale?: Vector3): void {\n        const parent = shape._pluginData as Box3DShapeData;\n        const child = newChild._pluginData as Box3DShapeData;\n        const t = translation ?? Vector3.ZeroReadOnly;\n        const r = rotation ?? Quaternion.Identity();\n        const s = scale ?? Vector3.OneReadOnly;\n        this._b3._bx_ShapeDesc_AddChild(parent.slot, child.slot, t.x, t.y, t.z, r.x, r.y, r.z, r.w, s.x, s.y, s.z);\n        parent.children.push(child);\n        child.parents.add(parent);\n        this._refreshShapeUsers(parent);\n    }\n\n    public removeChild(shape: PhysicsShape, childIndex: number): void {\n        const parent = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_RemoveChild(parent.slot, childIndex);\n        const [child] = parent.children.splice(childIndex, 1);\n        if (child && !parent.children.includes(child)) {\n            child.parents.delete(parent);\n        }\n        this._refreshShapeUsers(parent);\n    }\n\n    public getNumChildren(shape: PhysicsShape): number {\n        return this._b3._bx_ShapeDesc_GetChildCount((shape._pluginData as Box3DShapeData).slot);\n    }\n\n    public getBoundingBox(shape: PhysicsShape): BoundingBox {\n        this._b3._bx_ShapeDesc_GetAABB((shape._pluginData as Box3DShapeData).slot);\n        const s = this._scratch();\n        TmpVectors.Vector3[0].set(s[0], s[1], s[2]);\n        TmpVectors.Vector3[1].set(s[3], s[4], s[5]);\n        return new BoundingBox(TmpVectors.Vector3[0], TmpVectors.Vector3[1], Matrix.IdentityReadOnly);\n    }\n\n    public getBodyBoundingBox(body: PhysicsBody): BoundingBox {\n        const data = this._getPluginReference(body);\n        this._b3._bx_Body_GetAABB(data.slot);\n        const s = this._scratch();\n        TmpVectors.Vector3[0].set(s[0], s[1], s[2]);\n        TmpVectors.Vector3[1].set(s[3], s[4], s[5]);\n        return new BoundingBox(TmpVectors.Vector3[0], TmpVectors.Vector3[1], Matrix.IdentityReadOnly);\n    }\n\n    public disposeShape(shape: PhysicsShape): void {\n        const data = shape._pluginData as Box3DShapeData;\n        if (!data) {\n            return;\n        }\n        for (const parent of data.parents) {\n            const index = parent.children.indexOf(data);\n            if (index >= 0) {\n                parent.children.splice(index, 1);\n                this._b3._bx_ShapeDesc_RemoveChild(parent.slot, index);\n            }\n        }\n        for (const child of data.children) {\n            child.parents.delete(data);\n        }\n        this._shapes[data.slot] = undefined;\n        this._b3._bx_ShapeDesc_Destroy(data.slot);\n        shape._pluginData = undefined;\n    }\n\n    public setTrigger(shape: PhysicsShape, isTrigger: boolean): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetSensor(data.slot, isTrigger ? 1 : 0);\n        // Box3D decides at creation whether a shape is a sensor, so this one does need a rebuild\n        this._refreshShapeUsers(data);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // constraints\n    // ----------------------------------------------------------------------------------------\n\n    private _frameToBuffer(buffer: Float32Array, offset: number, pivot: Vector3, xAxis: Vector3, yAxis: Vector3, zAxis: Vector3): void {\n        const m = TmpVectors.Matrix[0];\n        Matrix.FromValuesToRef(xAxis.x, xAxis.y, xAxis.z, 0, yAxis.x, yAxis.y, yAxis.z, 0, zAxis.x, zAxis.y, zAxis.z, 0, 0, 0, 0, 1, m);\n        const q = this._tmpQuat[2];\n        Quaternion.FromRotationMatrixToRef(m, q);\n        q.normalize();\n        buffer[offset] = pivot.x;\n        buffer[offset + 1] = pivot.y;\n        buffer[offset + 2] = pivot.z;\n        buffer[offset + 3] = q.x;\n        buffer[offset + 4] = q.y;\n        buffer[offset + 5] = q.z;\n        buffer[offset + 6] = q.w;\n    }\n\n    private _buildFrames(cdata: Box3DConstraintData, constraint: PhysicsConstraint, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const options = constraint.options;\n        const pivotA = options.pivotA ?? Vector3.ZeroReadOnly;\n        const pivotB = options.pivotB ?? Vector3.ZeroReadOnly;\n        const axisA = (options.axisA ?? Vector3.RightReadOnly).normalizeToNew();\n        const axisB = (options.axisB ?? Vector3.RightReadOnly).normalizeToNew();\n        const perpA = options.perpAxisA ? options.perpAxisA.normalizeToNew() : axisA.getNormalToRef(new Vector3());\n        const perpB = options.perpAxisB ? options.perpAxisB.normalizeToNew() : axisB.getNormalToRef(new Vector3());\n        // Gram-Schmidt in case the user's perp axis is not exactly perpendicular\n        perpA.subtractInPlace(axisA.scale(Vector3.Dot(axisA, perpA))).normalize();\n        perpB.subtractInPlace(axisB.scale(Vector3.Dot(axisB, perpB))).normalize();\n        const thirdA = Vector3.Cross(axisA, perpA);\n        const thirdB = Vector3.Cross(axisB, perpB);\n\n        if (!constraint._initOptions) {\n            constraint._initOptions = {\n                axisA: axisA.clone(),\n                axisB: axisB.clone(),\n                perpAxisA: perpA.clone(),\n                perpAxisB: perpB.clone(),\n                pivotA: pivotA.clone(),\n                pivotB: pivotB.clone(),\n            };\n        }\n\n        const frames = cdata.frames;\n        if (cdata.plan) {\n            // SIX_DOF: the constraint basis is Havok's [axis, perpAxis, axis x perpAxis]; the plan picks which of them\n            // becomes Box3D's frame x, y and z (cyclic permutations, so the frames stay right handed)\n            const basis = cdata.plan.basis;\n            if (basis) {\n                const basisA = [axisA, perpA, thirdA];\n                const basisB = [axisB, perpB, thirdB];\n                this._frameToBuffer(frames, 0, pivotA, basisA[basis[0]], basisA[basis[1]], basisA[basis[2]]);\n                this._frameToBuffer(frames, 7, pivotB, basisB[basis[0]], basisB[basis[1]], basisB[basis[2]]);\n            } else {\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, 0, 0, 0, 1]);\n            }\n            return;\n        }\n        switch (cdata.type) {\n            case PhysicsConstraintType.HINGE:\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                // box3d: revolute rotates about the frame z axis, spherical cone is centered on frame A z\n                this._frameToBuffer(frames, 0, pivotA, perpA, Vector3.Cross(axisA, perpA), axisA);\n                this._frameToBuffer(frames, 7, pivotB, perpB, Vector3.Cross(axisB, perpB), axisB);\n                break;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                // box3d: prismatic slides along the frame A x axis\n                this._frameToBuffer(frames, 0, pivotA, axisA, perpA, thirdA);\n                this._frameToBuffer(frames, 7, pivotB, axisB, perpB, thirdB);\n                break;\n            case PhysicsConstraintType.LOCK: {\n                // weld the bodies in their current relative pose\n                this._b3._bx_Body_GetTransform(bodyA.slot);\n                let s = this._scratch();\n                const qA = this._tmpQuat[0];\n                qA.set(s[3], s[4], s[5], s[6]);\n                this._b3._bx_Body_GetTransform(bodyB.slot);\n                s = this._scratch();\n                const qB = this._tmpQuat[1];\n                qB.set(s[3], s[4], s[5], s[6]);\n                // frameB rotation = inv(qB) * qA so both frames coincide in world space now\n                const rel = qB.invert().multiply(qA).normalize();\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, rel.x, rel.y, rel.z, rel.w]);\n                break;\n            }\n            default:\n                frames.set([pivotA.x, pivotA.y, pivotA.z, 0, 0, 0, 1, pivotB.x, pivotB.y, pivotB.z, 0, 0, 0, 1]);\n                break;\n        }\n    }\n\n    private _createJoint(cdata: Box3DConstraintData, bodyA: Box3DBodyData, bodyB: Box3DBodyData): number {\n        this._scratch().set(cdata.frames);\n        const joint = this._b3._bx_CreateJoint(this._worldSlot, cdata.jointType, bodyA.slot, bodyB.slot, cdata.collisions ? 1 : 0, cdata.length);\n        if (!joint) {\n            Logger.Warn(\"Box3DPlugin: joint creation failed.\");\n            return 0;\n        }\n        // A slider allows rotation about the axis in Havok. Box3D's prismatic locks it.\n        this._applyAxisState(cdata, joint, bodyA, bodyB);\n        return joint;\n    }\n\n    /** Reads Physics6DoFConstraint.limits into the axis table with Havok's rules. */\n    private _readSixDofLimits(cdata: Box3DConstraintData, limits: ReadonlyArray<Physics6DoFLimit> | undefined): void {\n        for (const limit of limits ?? []) {\n            const state = this._axisState(cdata, limit.axis);\n            if (limit.minLimit === 0 && limit.maxLimit === 0) {\n                state.mode = PhysicsConstraintAxisLimitMode.LOCKED;\n                state.min = 0;\n                state.max = 0;\n            } else if (limit.minLimit !== undefined || limit.maxLimit !== undefined) {\n                // a missing side is unbounded\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n                state.min = limit.minLimit ?? -Infinity;\n                state.max = limit.maxLimit ?? Infinity;\n            }\n            state.stiffness = limit.stiffness ?? 0;\n            state.damping = limit.damping ?? 0;\n        }\n    }\n\n    /**\n     * Maps the six axes of a SIX_DOF constraint onto one Box3D joint, following Havok's semantics: an axis that is not\n     * listed is free, 0/0 is locked, anything else is limited. The constraint frame is [axis, perpAxis, axis x perpAxis];\n     * ANGULAR_X rotates about axis, ANGULAR_Y about perpAxis and ANGULAR_Z about axis x perpAxis, all measured as the\n     * rotation of the child frame relative to the parent frame (right handed, like Havok).\n     *  - all linear locked, all angular locked: weld\n     *  - all linear locked, one angular axis open: revolute about it, with its limits (one sided ranges work)\n     *  - all linear locked, two or three angular axes open: spherical, twist limits from ANGULAR_X and one symmetric\n     *    cone from ANGULAR_Y/Z (Box3D has no elliptical cone, the larger swing range is used)\n     *  - two linear locked, angular locked: prismatic along the open linear axis\n     *  - only LINEAR_DISTANCE constrained: distance joint (a spring when min == max and a stiffness is set)\n     *  - nothing constrained: filter joint (collision filtering only)\n     * Anything else warns once and uses the closest of these.\n     */\n    private _planSixDof(cdata: Box3DConstraintData): ISixDofPlan {\n        const Axis = PhysicsConstraintAxis;\n        const Mode = PhysicsConstraintAxisLimitMode;\n        const mode = (axis: PhysicsConstraintAxis) => cdata.axes.get(axis)?.mode ?? Mode.FREE;\n        const range = (axis: PhysicsConstraintAxis): [number, number] => {\n            const state = cdata.axes.get(axis)!;\n            return state.mode === Mode.LOCKED ? [0, 0] : [Math.min(state.min, state.max), Math.max(state.min, state.max)];\n        };\n        const clamp = (value: number, limit: number) => Math.max(-limit, Math.min(limit, value));\n        const maxAngle = 0.99 * Math.PI;\n        // Box3D's B3_HUGE, keeps an unbounded side of a linear range out of the solver as a real number\n        const maxLength = 100000;\n        const plan: ISixDofPlan = {\n            jointType: Box3DJointType.WELD,\n            basis: [0, 1, 2],\n            primaryAxis: null,\n            coneAngle: -1,\n            twist: null,\n            limit: null,\n            spring: false,\n            stiffness: 0,\n            damping: 0,\n            angularStiffness: false,\n        };\n        for (const [axis, state] of cdata.axes) {\n            if ((state.stiffness > 0 || state.damping > 0) && state.stiffness >= plan.stiffness) {\n                plan.stiffness = state.stiffness;\n                plan.damping = state.damping;\n                plan.angularStiffness = axis === Axis.ANGULAR_X || axis === Axis.ANGULAR_Y || axis === Axis.ANGULAR_Z;\n            }\n        }\n        const linear = [Axis.LINEAR_X, Axis.LINEAR_Y, Axis.LINEAR_Z];\n        const angular = [Axis.ANGULAR_X, Axis.ANGULAR_Y, Axis.ANGULAR_Z];\n        const linearLocked = linear.filter((a) => mode(a) === Mode.LOCKED).length;\n        const linearFree = linear.filter((a) => mode(a) === Mode.FREE).length;\n        const angularOpen = angular.filter((a) => mode(a) !== Mode.LOCKED);\n        const angularFree = angular.filter((a) => mode(a) === Mode.FREE).length;\n        const distanceMode = mode(Axis.LINEAR_DISTANCE);\n\n        if (distanceMode !== Mode.FREE) {\n            if (linearFree === 3 && angularFree === 3) {\n                const [lower, upper] = range(Axis.LINEAR_DISTANCE);\n                plan.jointType = Box3DJointType.DISTANCE;\n                plan.basis = null;\n                plan.primaryAxis = Axis.LINEAR_DISTANCE;\n                plan.limit = [Math.min(Math.max(0, lower), maxLength), Math.min(Math.max(0, upper), maxLength)];\n                plan.spring = plan.stiffness > 0 && Math.abs(upper - lower) < 1e-6 && isFinite(lower);\n                return plan;\n            }\n            this._warnOnce(\"sixdof-distance\", \"SIX_DOF: LINEAR_DISTANCE combined with other constrained axes is not supported with Box3D, the distance limit is ignored.\");\n        }\n\n        // one open linear axis (free or limited) with the other two locked slides; see the prismatic case below\n        let pointJoint = linearLocked === 3;\n        if (!pointJoint && linearLocked !== 2 && linearFree === 0) {\n            this._warnOnce(\"sixdof-linear-limited\", \"SIX_DOF: two or more limited linear axes are treated as locked with Box3D.\");\n            pointJoint = true;\n        }\n        if (pointJoint) {\n            if (angularOpen.length === 0) {\n                return plan;\n            }\n            if (angularOpen.length === 1) {\n                // Box3D revolutes rotate about frame z\n                const axis = angularOpen[0];\n                plan.jointType = Box3DJointType.REVOLUTE;\n                plan.basis = [\n                    [1, 2, 0],\n                    [2, 0, 1],\n                    [0, 1, 2],\n                ][angular.indexOf(axis)] as [number, number, number];\n                plan.primaryAxis = axis;\n                if (mode(axis) === Mode.LIMITED) {\n                    const [lower, upper] = range(axis);\n                    plan.limit = [clamp(lower, maxAngle), clamp(upper, maxAngle)];\n                }\n                return plan;\n            }\n            // spherical: cone centered on frame z (axis), twist about frame z\n            plan.jointType = Box3DJointType.SPHERICAL;\n            plan.basis = [1, 2, 0];\n            if (mode(Axis.ANGULAR_X) !== Mode.FREE) {\n                const [lower, upper] = range(Axis.ANGULAR_X);\n                plan.twist = [clamp(lower, maxAngle), clamp(upper, maxAngle)];\n            }\n            const swingModes = [mode(Axis.ANGULAR_Y), mode(Axis.ANGULAR_Z)];\n            if (swingModes.some((m) => m !== Mode.FREE)) {\n                const extents: number[] = [];\n                let asymmetric = false;\n                for (const axis of [Axis.ANGULAR_Y, Axis.ANGULAR_Z]) {\n                    if (mode(axis) === Mode.FREE) {\n                        continue;\n                    }\n                    const [lower, upper] = range(axis);\n                    extents.push(Math.max(Math.abs(lower), Math.abs(upper)));\n                    asymmetric ||= Math.abs(lower + upper) > 1e-4;\n                }\n                const cone = Math.max(...extents);\n                if (isFinite(cone)) {\n                    if (swingModes.includes(Mode.FREE) || Math.abs(extents[0] - extents[1]) > 1e-4 || asymmetric) {\n                        this._warnOnce(\n                            \"sixdof-cone\",\n                            \"SIX_DOF: Box3D has one symmetric swing cone, ANGULAR_Y and ANGULAR_Z use the larger of their ranges.\"\n                        );\n                    }\n                    if (cone > Math.PI / 2) {\n                        this._warnOnce(\"sixdof-cone-90\", \"SIX_DOF: Box3D cone limits are at most 90 degrees, larger swing ranges are clamped.\");\n                    }\n                    plan.coneAngle = Math.min(cone, Math.PI / 2);\n                }\n            }\n            return plan;\n        }\n\n        if (linearLocked === 2) {\n            // Box3D prismatics slide along frame x\n            const slide = linear.find((a) => mode(a) !== Mode.LOCKED)!;\n            plan.jointType = Box3DJointType.PRISMATIC;\n            plan.basis = [\n                [0, 1, 2],\n                [1, 2, 0],\n                [2, 0, 1],\n            ][linear.indexOf(slide)] as [number, number, number];\n            plan.primaryAxis = slide;\n            if (mode(slide) === Mode.LIMITED) {\n                const [lower, upper] = range(slide);\n                plan.limit = [clamp(lower, maxLength), clamp(upper, maxLength)];\n            }\n            if (angularOpen.length) {\n                this._warnOnce(\"sixdof-prismatic\", \"SIX_DOF: a sliding axis with rotation is not supported with Box3D, rotation is locked.\");\n            }\n            return plan;\n        }\n\n        plan.jointType = Box3DJointType.FILTER;\n        plan.basis = null;\n        if (linearFree !== 3 || angularFree !== 3) {\n            this._warnOnce(\"sixdof-unsupported\", \"SIX_DOF: this combination of free and limited axes is not supported with Box3D, the bodies are left unconstrained.\");\n        }\n        return plan;\n    }\n\n    /** Box3D spring settings for a Havok spring constant and damping on a body pair. */\n    private _springToHertz(stiffness: number, damping: number, angular: boolean, bodyA: Box3DBodyData, bodyB: Box3DBodyData): { hertz: number; dampingRatio: number } {\n        // effective mass (or rotational inertia) of the pair, a static or animated body counts as infinitely heavy\n        const inverse = (data: Box3DBodyData) => {\n            if (data.motionType !== PhysicsMotionType.DYNAMIC) {\n                return 0;\n            }\n            this._b3._bx_Body_GetMassData(data.slot);\n            const s = this._scratch();\n            const value = angular ? (s[4] + s[5] + s[6]) / 3 : s[0];\n            return value > 0 ? 1 / value : 0;\n        };\n        const inverseSum = inverse(bodyA) + inverse(bodyB);\n        const mass = inverseSum > 0 ? 1 / inverseSum : 1;\n        const k = Math.max(stiffness, 0);\n        return {\n            hertz: Math.sqrt(k / mass) / (2 * Math.PI),\n            dampingRatio: k > 0 ? damping / (2 * Math.sqrt(k * mass)) : 1,\n        };\n    }\n\n    public initConstraint(constraint: PhysicsConstraint, body: PhysicsBody, childBody: PhysicsBody, instanceIndex?: number, childInstanceIndex?: number): void {\n        const type = constraint.type;\n        const options = constraint.options;\n        if (!type || !options) {\n            Logger.Warn(\"No constraint type or options. Constraint is invalid.\");\n            return;\n        }\n        if ((body._pluginDataInstances.length > 0 && instanceIndex === undefined) || (childBody._pluginDataInstances.length > 0 && childInstanceIndex === undefined)) {\n            Logger.Warn(\"Body is instanced but no instance index was specified. Constraint will not be applied.\");\n            return;\n        }\n        const firstPair = !constraint._pluginData;\n        const cdata: Box3DConstraintData = constraint._pluginData ?? new Box3DConstraintData();\n        constraint._pluginData = cdata;\n        cdata.type = type;\n        if (firstPair) {\n            cdata.collisions = !!options.collision;\n        }\n        switch (type) {\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                cdata.jointType = Box3DJointType.SPHERICAL;\n                break;\n            case PhysicsConstraintType.HINGE:\n                cdata.jointType = Box3DJointType.REVOLUTE;\n                break;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                cdata.jointType = Box3DJointType.PRISMATIC;\n                break;\n            case PhysicsConstraintType.LOCK:\n                cdata.jointType = Box3DJointType.WELD;\n                break;\n            case PhysicsConstraintType.DISTANCE:\n                cdata.jointType = Box3DJointType.DISTANCE;\n                break;\n            case PhysicsConstraintType.SIX_DOF:\n                // later pairs of the same constraint share the axis table, including changes made since the first pair\n                if (firstPair) {\n                    this._readSixDofLimits(cdata, (constraint as Physics6DoFConstraint).limits);\n                }\n                cdata.plan = this._planSixDof(cdata);\n                cdata.jointType = cdata.plan.jointType;\n                break;\n            default:\n                Logger.Warn(\"Box3DPlugin: unknown constraint type \" + type);\n                return;\n        }\n\n        const bodyA = this._getPluginReference(body, instanceIndex);\n        const bodyB = this._getPluginReference(childBody, childInstanceIndex);\n        this._buildFrames(cdata, constraint, bodyA, bodyB);\n        this._updateJointLength(cdata, options.maxDistance, bodyA, bodyB);\n        // joints[i] belongs to pairs[i], 0 while the constraint is disabled or when creation failed\n        const joint = cdata.enabled ? this._createJoint(cdata, bodyA, bodyB) : 0;\n        cdata.joints.push(joint);\n        cdata.pairs.push({ parent: body, parentIndex: instanceIndex ?? 0, child: childBody, childIndex: childInstanceIndex ?? 0, parentData: bodyA, childData: bodyB });\n    }\n\n    /** Length parameter passed to Box3D's distance joint at creation (the rest length of its spring). */\n    private _updateJointLength(cdata: Box3DConstraintData, maxDistance: number | undefined, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        if (cdata.type === PhysicsConstraintType.DISTANCE) {\n            cdata.length = maxDistance ?? 0;\n        } else if (cdata.plan?.jointType === Box3DJointType.DISTANCE && cdata.plan.limit) {\n            // a spring rests at its (single) limit; for a rope the rest length is unused, its limits do the work\n            cdata.length = cdata.plan.limit[0];\n        } else {\n            return;\n        }\n        if (cdata.length <= 0) {\n            // use the current distance between the world space pivots\n            cdata.length = Math.max(0.01, this._currentPivotDistance(cdata, bodyA, bodyB));\n        }\n    }\n\n    private _currentPivotDistance(cdata: Box3DConstraintData, bodyA: Box3DBodyData, bodyB: Box3DBodyData): number {\n        const f = cdata.frames;\n        const worldA = this._tmpVec3[0];\n        const worldB = this._tmpVec3[1];\n        this._b3._bx_Body_GetTransform(bodyA.slot);\n        let s = this._scratch();\n        this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        worldA.set(f[0], f[1], f[2]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(s[0], s[1], s[2]);\n        this._b3._bx_Body_GetTransform(bodyB.slot);\n        s = this._scratch();\n        this._tmpQuat[0].set(s[3], s[4], s[5], s[6]);\n        worldB.set(f[7], f[8], f[9]).applyRotationQuaternionInPlace(this._tmpQuat[0]).addInPlaceFromFloats(s[0], s[1], s[2]);\n        return Vector3.Distance(worldA, worldB);\n    }\n\n    public setEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata || cdata.enabled === isEnabled) {\n            return;\n        }\n        cdata.enabled = isEnabled;\n        // Box3D has no enable flag on joints: destroy them, or re-create them from the saved frames, plan and axis state.\n        this._recreateJoints(cdata);\n    }\n\n    private _destroyJoint(joint: number): void {\n        this._motorJoints.delete(joint);\n        this._b3._bx_DestroyJoint(joint);\n    }\n\n    private _recreateJoints(cdata: Box3DConstraintData): void {\n        for (let i = 0; i < cdata.pairs.length; i++) {\n            if (cdata.joints[i]) {\n                this._destroyJoint(cdata.joints[i]);\n            }\n            const pair = cdata.pairs[i];\n            cdata.joints[i] = cdata.enabled && pair.parentData.slot && pair.childData.slot ? this._createJoint(cdata, pair.parentData, pair.childData) : 0;\n        }\n    }\n\n    public getEnabled(constraint: PhysicsConstraint): boolean {\n        return (constraint._pluginData as Box3DConstraintData)?.enabled ?? false;\n    }\n\n    public setCollisionsEnabled(constraint: PhysicsConstraint, isEnabled: boolean): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        cdata.collisions = isEnabled;\n        for (const joint of cdata.joints) {\n            if (joint) {\n                this._b3._bx_Joint_SetCollideConnected(joint, isEnabled ? 1 : 0);\n            }\n        }\n    }\n\n    public getCollisionsEnabled(constraint: PhysicsConstraint): boolean {\n        return (constraint._pluginData as Box3DConstraintData)?.collisions ?? false;\n    }\n\n    // The one axis box3d exposes for this constraint type.\n    private _primaryAxis(cdata: Box3DConstraintData): Nullable<PhysicsConstraintAxis> {\n        switch (cdata.type) {\n            case PhysicsConstraintType.HINGE:\n                return PhysicsConstraintAxis.ANGULAR_X;\n            case PhysicsConstraintType.PRISMATIC:\n            case PhysicsConstraintType.SLIDER:\n                return PhysicsConstraintAxis.LINEAR_X;\n            case PhysicsConstraintType.DISTANCE:\n                return PhysicsConstraintAxis.LINEAR_DISTANCE;\n            case PhysicsConstraintType.BALL_AND_SOCKET:\n                return PhysicsConstraintAxis.ANGULAR_Y;\n            case PhysicsConstraintType.SIX_DOF:\n                return cdata.plan?.primaryAxis ?? null;\n            default:\n                return null;\n        }\n    }\n\n    private _isAngularAxis(axis: PhysicsConstraintAxis): boolean {\n        return axis === PhysicsConstraintAxis.ANGULAR_X || axis === PhysicsConstraintAxis.ANGULAR_Y || axis === PhysicsConstraintAxis.ANGULAR_Z;\n    }\n\n    private _isPrimaryAxis(cdata: Box3DConstraintData, axis: PhysicsConstraintAxis): boolean {\n        if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET || cdata.plan?.jointType === Box3DJointType.SPHERICAL) {\n            return this._isAngularAxis(axis);\n        }\n        return axis === this._primaryAxis(cdata);\n    }\n\n    private _axisState(cdata: Box3DConstraintData, axis: PhysicsConstraintAxis): IAxisState {\n        let state = cdata.axes.get(axis);\n        if (!state) {\n            state = {\n                mode: PhysicsConstraintAxisLimitMode.FREE,\n                min: 0,\n                max: 0,\n                motor: PhysicsConstraintMotorType.NONE,\n                target: 0,\n                maxForce: 0,\n                friction: 0,\n                stiffness: 0,\n                damping: 0,\n            };\n            cdata.axes.set(axis, state);\n        }\n        return state;\n    }\n\n    private _applyAxisState(cdata: Box3DConstraintData, joint: number, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const b3 = this._b3;\n        if (cdata.plan) {\n            this._applySixDofPlan(cdata, joint, bodyA, bodyB);\n            b3._bx_Joint_WakeBodies(joint);\n            return;\n        }\n        const primary = this._primaryAxis(cdata);\n        if (primary === null) {\n            return;\n        }\n        for (const [axis, state] of cdata.axes) {\n            if (!this._isPrimaryAxis(cdata, axis)) {\n                continue;\n            }\n            if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET) {\n                if (axis === PhysicsConstraintAxis.ANGULAR_X) {\n                    // twist about the primary axis (frame z in box3d)\n                    b3._bx_Joint_SetTwistLimits(joint, state.mode === PhysicsConstraintAxisLimitMode.FREE ? 0 : 1, state.min, state.max);\n                    continue;\n                }\n            }\n            const limited = state.mode !== PhysicsConstraintAxisLimitMode.FREE;\n            if (limited) {\n                const min = state.mode === PhysicsConstraintAxisLimitMode.LOCKED ? 0 : state.min;\n                const max = state.mode === PhysicsConstraintAxisLimitMode.LOCKED ? 0 : state.max;\n                b3._bx_Joint_SetLimits(joint, min, max);\n            }\n            b3._bx_Joint_EnableLimit(joint, limited ? 1 : 0);\n            if (cdata.type !== PhysicsConstraintType.BALL_AND_SOCKET) {\n                this._applyMotor(joint, state);\n            }\n        }\n        if (cdata.type === PhysicsConstraintType.BALL_AND_SOCKET) {\n            this._applySphericalMotor(cdata, joint);\n        }\n        b3._bx_Joint_WakeBodies(joint);\n    }\n\n    /**\n     * Box3D's spherical joint has one motor for the whole joint: a relative angular velocity, and one spring towards a\n     * target rotation. Babylon has a motor per axis, so the three angular axes are combined into one target in the\n     * joint frame (ANGULAR_X about frame z, ANGULAR_Y about frame x, ANGULAR_Z about frame y).\n     */\n    private _applySphericalMotor(cdata: Box3DConstraintData, joint: number): void {\n        const b3 = this._b3;\n        const twist = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_X);\n        const swing1 = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_Y);\n        const swing2 = cdata.axes.get(PhysicsConstraintAxis.ANGULAR_Z);\n        const states = [twist, swing1, swing2];\n        const velocity = (state?: IAxisState) => (state?.motor === PhysicsConstraintMotorType.VELOCITY ? state.target : 0);\n        const hasVelocity = states.some((state) => state?.motor === PhysicsConstraintMotorType.VELOCITY);\n        const hasPosition = states.some((state) => state?.motor === PhysicsConstraintMotorType.POSITION);\n        const maxTorque = Math.max(...states.map((state) => (state?.motor === PhysicsConstraintMotorType.VELOCITY ? state.maxForce : 0)));\n        b3._bx_Joint_SetSphericalMotor(joint, hasVelocity ? 1 : 0, velocity(swing1), velocity(swing2), velocity(twist), maxTorque);\n        const target = velocity(swing1) !== 0 || velocity(swing2) !== 0 || velocity(twist) !== 0;\n        if (hasVelocity && target) {\n            // the world space target has to follow body A as it turns\n            this._motorJoints.add(joint);\n        } else {\n            this._motorJoints.delete(joint);\n        }\n        b3._bx_Joint_EnableSpring(joint, hasPosition ? 1 : 0);\n        if (hasPosition) {\n            const position = (state?: IAxisState) => (state?.motor === PhysicsConstraintMotorType.POSITION ? state.target : 0);\n            const rotation = this._tmpQuat[0];\n            Quaternion.RotationYawPitchRollToRef(0, 0, position(twist), rotation);\n            const swing = this._tmpQuat[1];\n            Quaternion.RotationYawPitchRollToRef(position(swing2), position(swing1), 0, swing);\n            rotation.multiplyInPlace(swing);\n            b3._bx_Joint_SetSpring(joint, 5, 1);\n            b3._bx_Joint_SetSphericalTarget(joint, rotation.x, rotation.y, rotation.z, rotation.w);\n        }\n    }\n\n    private _applyMotor(joint: number, state: IAxisState): void {\n        const b3 = this._b3;\n        switch (state.motor) {\n            case PhysicsConstraintMotorType.VELOCITY:\n                b3._bx_Joint_EnableSpring(joint, 0);\n                b3._bx_Joint_EnableMotor(joint, 1);\n                b3._bx_Joint_SetMotorSpeed(joint, state.target);\n                b3._bx_Joint_SetMaxMotorForce(joint, state.maxForce);\n                break;\n            case PhysicsConstraintMotorType.POSITION:\n                b3._bx_Joint_EnableMotor(joint, 0);\n                b3._bx_Joint_EnableSpring(joint, 1);\n                b3._bx_Joint_SetSpring(joint, 5, 1);\n                b3._bx_Joint_SetTarget(joint, state.target);\n                break;\n            default:\n                b3._bx_Joint_EnableMotor(joint, 0);\n                b3._bx_Joint_EnableSpring(joint, 0);\n                break;\n        }\n    }\n\n    /** Applies a SIX_DOF plan's limits, springs and motors to one of its Box3D joints. */\n    private _applySixDofPlan(cdata: Box3DConstraintData, joint: number, bodyA: Box3DBodyData, bodyB: Box3DBodyData): void {\n        const b3 = this._b3;\n        const plan = cdata.plan!;\n        switch (plan.jointType) {\n            case Box3DJointType.SPHERICAL:\n                if (plan.coneAngle >= 0) {\n                    b3._bx_Joint_SetLimits(joint, -plan.coneAngle, plan.coneAngle);\n                }\n                b3._bx_Joint_EnableLimit(joint, plan.coneAngle >= 0 ? 1 : 0);\n                b3._bx_Joint_SetTwistLimits(joint, plan.twist ? 1 : 0, plan.twist ? plan.twist[0] : 0, plan.twist ? plan.twist[1] : 0);\n                break;\n            case Box3DJointType.REVOLUTE:\n            case Box3DJointType.PRISMATIC:\n                if (plan.limit) {\n                    b3._bx_Joint_SetLimits(joint, plan.limit[0], plan.limit[1]);\n                }\n                b3._bx_Joint_EnableLimit(joint, plan.limit ? 1 : 0);\n                break;\n            case Box3DJointType.DISTANCE:\n                if (plan.spring) {\n                    const spring = this._springToHertz(plan.stiffness, plan.damping, false, bodyA, bodyB);\n                    b3._bx_Joint_EnableLimit(joint, 0);\n                    b3._bx_Joint_EnableSpring(joint, 1);\n                    b3._bx_Joint_SetSpring(joint, spring.hertz, spring.dampingRatio);\n                    b3._bx_Joint_SetTarget(joint, cdata.length);\n                } else {\n                    // an enabled spring with 0 hertz leaves the length free between the limits (a rope); Box3D keeps\n                    // equal limits rigid\n                    b3._bx_Joint_SetLimits(joint, plan.limit![0], plan.limit![1]);\n                    b3._bx_Joint_EnableLimit(joint, 1);\n                    b3._bx_Joint_EnableSpring(joint, 1);\n                    b3._bx_Joint_SetSpring(joint, 0, 0);\n                }\n                break;\n            default:\n                break;\n        }\n        if (plan.stiffness > 0 && !plan.spring) {\n            this._warnOnce(\n                \"sixdof-softness\",\n                \"SIX_DOF: limit stiffness and damping are approximated with Box3D's per joint constraint softness, which applies to every axis of the joint.\"\n            );\n            const soft = this._springToHertz(plan.stiffness, plan.damping, plan.angularStiffness, bodyA, bodyB);\n            b3._bx_Joint_SetConstraintTuning(joint, soft.hertz, soft.dampingRatio);\n        }\n        if (plan.jointType === Box3DJointType.SPHERICAL) {\n            this._applySphericalMotor(cdata, joint);\n        } else if (plan.primaryAxis !== null && plan.jointType !== Box3DJointType.DISTANCE) {\n            const state = cdata.axes.get(plan.primaryAxis);\n            if (state) {\n                this._applyMotor(joint, state);\n            }\n        }\n    }\n\n    private _setAxis(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, apply: (state: IAxisState) => void): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return;\n        }\n        const state = this._axisState(cdata, axis);\n        const previousMotor = { motor: state.motor, target: state.target, maxForce: state.maxForce };\n        apply(state);\n        if (cdata.plan) {\n            // SIX_DOF: every axis shapes the plan. A different Box3D joint type or frame needs new joints.\n            const plan = this._planSixDof(cdata);\n            const rebuild = plan.jointType !== cdata.plan.jointType || String(plan.basis) !== String(cdata.plan.basis);\n            cdata.plan = plan;\n            cdata.jointType = plan.jointType;\n            const motorChanged = previousMotor.motor !== state.motor || previousMotor.target !== state.target || previousMotor.maxForce !== state.maxForce;\n            if (motorChanged && state.motor !== PhysicsConstraintMotorType.NONE && !this._isPrimaryAxis(cdata, axis)) {\n                this._warnOnce(`axis-motor-${axis}`, `SIX_DOF: a motor on axis ${axis} has no effect with the Box3D joint this constraint maps to.`);\n            }\n            const first = cdata.pairs[0];\n            if (first) {\n                // the rest length of a distance joint follows its limits, whether or not the joint is rebuilt\n                this._updateJointLength(cdata, constraint.options.maxDistance, first.parentData, first.childData);\n            }\n            if (rebuild) {\n                if (first) {\n                    this._buildFrames(cdata, constraint, first.parentData, first.childData);\n                }\n                this._recreateJoints(cdata);\n                return;\n            }\n        } else if (!this._isPrimaryAxis(cdata, axis)) {\n            this._warnOnce(`axis-${cdata.type}-${axis}`, `axis ${axis} is not configurable on constraint type ${cdata.type} with Box3D; the value is stored but has no effect.`);\n            return;\n        }\n        for (let i = 0; i < cdata.joints.length; i++) {\n            if (cdata.joints[i]) {\n                this._applyAxisState(cdata, cdata.joints[i], cdata.pairs[i].parentData, cdata.pairs[i].childData);\n            }\n        }\n    }\n\n    public setAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, friction: number): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (cdata) {\n            this._axisState(cdata, axis).friction = friction;\n        }\n    }\n\n    public getAxisFriction(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.friction ?? null;\n    }\n\n    public setAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void {\n        this._setAxis(constraint, axis, (state) => (state.mode = limitMode));\n    }\n\n    public getAxisMode(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintAxisLimitMode> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.mode ?? null;\n    }\n\n    public setAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, minLimit: number): void {\n        this._setAxis(constraint, axis, (state) => {\n            state.min = minLimit;\n            if (state.mode === PhysicsConstraintAxisLimitMode.FREE) {\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n            }\n        });\n    }\n\n    public getAxisMinLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.min ?? null;\n    }\n\n    public setAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, limit: number): void {\n        this._setAxis(constraint, axis, (state) => {\n            state.max = limit;\n            if (state.mode === PhysicsConstraintAxisLimitMode.FREE) {\n                state.mode = PhysicsConstraintAxisLimitMode.LIMITED;\n            }\n        });\n    }\n\n    public getAxisMaxLimit(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.max ?? null;\n    }\n\n    public setAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void {\n        this._setAxis(constraint, axis, (state) => (state.motor = motorType));\n    }\n\n    public getAxisMotorType(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<PhysicsConstraintMotorType> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.motor ?? null;\n    }\n\n    public setAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, target: number): void {\n        this._setAxis(constraint, axis, (state) => (state.target = target));\n    }\n\n    public getAxisMotorTarget(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.target ?? null;\n    }\n\n    public setAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis, maxForce: number): void {\n        this._setAxis(constraint, axis, (state) => (state.maxForce = maxForce));\n    }\n\n    public getAxisMotorMaxForce(constraint: PhysicsConstraint, axis: PhysicsConstraintAxis): Nullable<number> {\n        return (constraint._pluginData as Box3DConstraintData)?.axes.get(axis)?.maxForce ?? null;\n    }\n\n    public disposeConstraint(constraint: PhysicsConstraint): void {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return;\n        }\n        for (const joint of cdata.joints) {\n            if (joint) {\n                this._destroyJoint(joint);\n            }\n        }\n        cdata.joints.length = 0;\n        cdata.pairs.length = 0;\n    }\n\n    public getBodiesUsingConstraint(constraint: PhysicsConstraint): ConstrainedBodyPair[] {\n        const cdata = constraint._pluginData as Box3DConstraintData;\n        if (!cdata) {\n            return [];\n        }\n        return cdata.pairs.map((p) => ({ parentBody: p.parent, parentBodyIndex: p.parentIndex, childBody: p.child, childBodyIndex: p.childIndex }));\n    }\n\n    public addConstraint(body: PhysicsBody, childBody: PhysicsBody, constraint: PhysicsConstraint, instanceIndex?: number, childInstanceIndex?: number): void {\n        this.initConstraint(constraint, body, childBody, instanceIndex, childInstanceIndex);\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // Box3D specific extras\n    // ----------------------------------------------------------------------------------------\n\n    /**\n     * Applies a radial impulse to every shape within the radius, like a grenade.\n     * @param position world position of the explosion\n     * @param radius radius of the explosion\n     * @param impulsePerArea impulse per surface area of the affected shapes\n     * @param falloff distance beyond the radius over which the impulse fades to zero\n     */\n    public explode(position: Vector3, radius: number, impulsePerArea: number, falloff = 0): void {\n        this._b3._bx_World_Explode(this._worldSlot, position.x, position.y, position.z, radius, falloff, impulsePerArea);\n    }\n\n    /**\n     * Box2D style collision group. Shapes sharing a negative group never collide with each other,\n     * shapes sharing a positive group always collide. Zero means no group.\n     * @param shape the shape\n     * @param groupIndex the group index\n     */\n    public setShapeFilterGroup(shape: PhysicsShape, groupIndex: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetGroup(data.slot, groupIndex | 0);\n        this._syncShapeUsers(data, Box3DShapeSync.FILTER);\n    }\n\n    /**\n     * Rolling resistance for spheres and capsules (Babylon materials have no equivalent).\n     * @param shape the shape\n     * @param value resistance, typically in [0, 1]\n     */\n    public setShapeRollingResistance(shape: PhysicsShape, value: number): void {\n        const data = shape._pluginData as Box3DShapeData;\n        this._b3._bx_ShapeDesc_SetRollingResistance(data.slot, value);\n        this._syncShapeUsers(data, Box3DShapeSync.MATERIAL);\n    }\n\n    /**\n     * Lets a body spin faster than the default angular speed cap (wheels).\n     * @param body the body\n     * @param allow true to allow fast rotation\n     * @param instanceIndex optional thin instance index\n     */\n    public setAllowFastRotation(body: PhysicsBody, allow: boolean, instanceIndex?: number): void {\n        this._applyToBodyOrInstances(body, (data) => this._b3._bx_Body_AllowFastRotation(data.slot, allow ? 1 : 0), instanceIndex);\n    }\n\n    /**\n     * Creates a Box3D wheel joint between a chassis and a wheel body.\n     * @param chassis the chassis body\n     * @param wheel the wheel body\n     * @param options wheel joint options\n     * @returns a handle used to drive and steer the wheel\n     */\n    public createWheelJoint(chassis: PhysicsBody, wheel: PhysicsBody, options: IBox3DWheelJointOptions): Box3DWheelJoint {\n        const s = this._scratch();\n        const axisA = (options.axisA ?? Vector3.UpReadOnly).normalizeToNew();\n        const axleA = (options.axleA ?? Vector3.Forward()).normalizeToNew();\n        // suspension travels along frame A x, the wheel spins about frame z\n        axleA.subtractInPlace(axisA.scale(Vector3.Dot(axisA, axleA))).normalize();\n        this._frameToBuffer(s, 0, options.pivotA, axisA, Vector3.Cross(axleA, axisA), axleA);\n        // frame B must coincide with frame A in world space at creation, compute it from the current poses\n        const pivotB = options.pivotB ?? Vector3.ZeroReadOnly;\n        s[7] = pivotB.x;\n        s[8] = pivotB.y;\n        s[9] = pivotB.z;\n        const chassisData = this._getPluginReference(chassis);\n        const wheelData = this._getPluginReference(wheel);\n        this._b3._bx_ComputeAlignedFrameB(chassisData.slot, wheelData.slot);\n        const susp = options.suspensionLimits ?? [-0.2, 0.2];\n        const steer = options.steeringLimits ?? [-Math.PI / 4, Math.PI / 4];\n        s.set(\n            [\n                1,\n                options.suspensionHertz ?? 4,\n                options.suspensionDampingRatio ?? 0.7,\n                1,\n                susp[0],\n                susp[1],\n                options.enableSpinMotor ? 1 : 0,\n                options.maxSpinTorque ?? 5,\n                0,\n                options.enableSteering ? 1 : 0,\n                options.steeringHertz ?? 10,\n                options.steeringDampingRatio ?? 0.7,\n                0,\n                options.maxSteeringTorque ?? 5,\n                1,\n                steer[0],\n                steer[1],\n            ],\n            14\n        );\n        const slot = this._b3._bx_CreateJoint(this._worldSlot, Box3DJointType.WHEEL, chassisData.slot, wheelData.slot, 0, 0);\n        if (!slot) {\n            throw new Error(\"Box3DPlugin: wheel joint creation failed\");\n        }\n        return new Box3DWheelJoint(this, slot);\n    }\n\n    /**\n     * Creates a Box3D parallel joint: a spring that keeps a local axis of bodyB parallel to an axis\n     * of bodyA, for example to keep a vehicle upright without locking its motion.\n     * @param bodyA first body (often a static body)\n     * @param bodyB body to align\n     * @param axisA axis in bodyA local space\n     * @param axisB axis in bodyB local space\n     * @param hertz spring stiffness\n     * @param dampingRatio spring damping\n     * @param maxTorque maximum spring torque\n     * @returns a joint slot that can be passed to disposeExtraJoint\n     */\n    public createParallelJoint(bodyA: PhysicsBody, bodyB: PhysicsBody, axisA: Vector3, axisB: Vector3, hertz = 1, dampingRatio = 1, maxTorque = 3.4e38): number {\n        const s = this._scratch();\n        const a = axisA.normalizeToNew();\n        const pa = a.getNormalToRef(new Vector3());\n        this._frameToBuffer(s, 0, Vector3.ZeroReadOnly, pa, Vector3.Cross(a, pa), a);\n        const b = axisB.normalizeToNew();\n        const pb = b.getNormalToRef(new Vector3());\n        this._frameToBuffer(s, 7, Vector3.ZeroReadOnly, pb, Vector3.Cross(b, pb), b);\n        s.set([hertz, dampingRatio, maxTorque], 14);\n        return this._b3._bx_CreateJoint(this._worldSlot, Box3DJointType.PARALLEL, this._getPluginReference(bodyA).slot, this._getPluginReference(bodyB).slot, 1, 0);\n    }\n\n    /**\n     * Destroys a joint created by createParallelJoint.\n     * @param slot the joint slot\n     */\n    public disposeExtraJoint(slot: number): void {\n        this._destroyExtraJoint(slot);\n    }\n\n    /**\n     * @internal\n     */\n    public _destroyExtraJoint(slot: number): void {\n        if (slot) {\n            this._destroyJoint(slot);\n        }\n    }\n\n    /**\n     * @internal\n     */\n    public _wheelCall(fn: string, slot: number, ...args: number[]): void {\n        if (slot) {\n            this._b3[fn](slot, ...args);\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // queries\n    // ----------------------------------------------------------------------------------------\n\n    public raycast(from: Vector3, to: Vector3, result: PhysicsRaycastResult | Array<PhysicsRaycastResult>, query?: IRaycastQuery): void {\n        const results = Array.isArray(result) ? result : [result];\n        for (const r of results) {\n            r.reset(from, to);\n        }\n        const membership = (query?.membership ?? ~0) >>> 0;\n        const collideWith = (query?.collideWith ?? ~0) >>> 0;\n        const ignore = query?.ignoreBody ? ((query.ignoreBody._pluginData as Box3DBodyData)?.slot ?? 0) : 0;\n        const closestOnly = results.length === 1;\n        const count = this._b3._bx_World_CastRay(\n            this._worldSlot,\n            from.x,\n            from.y,\n            from.z,\n            to.x - from.x,\n            to.y - from.y,\n            to.z - from.z,\n            membership,\n            collideWith,\n            ignore,\n            query?.shouldHitTriggers ? 1 : 0,\n            closestOnly ? 1 : 0\n        );\n        if (count <= 0) {\n            return;\n        }\n        const buffer = new Float32Array(this._b3.HEAPF32.buffer, this._b3._bx_RayHitsPtr(), count * RAY_STRIDE);\n        const hits: number[] = [];\n        for (let i = 0; i < count; i++) {\n            hits.push(i);\n        }\n        hits.sort((a, b) => buffer[a * RAY_STRIDE + 6] - buffer[b * RAY_STRIDE + 6]);\n        if (!results.length) {\n            for (let i = 0; i < count; i++) {\n                const r = new PhysicsRaycastResult();\n                r.reset(from, to);\n                results.push(r);\n            }\n        }\n        const n = Math.min(count, results.length);\n        for (let i = 0; i < n; i++) {\n            const o = hits[i] * RAY_STRIDE;\n            const r = results[i];\n            const bodyRef = this._bodies[buffer[o + 7]];\n            r.body = bodyRef?.body;\n            r.bodyIndex = bodyRef?.index;\n            r.shape = bodyRef?.body.shape ?? undefined;\n            r.setHitData({ x: buffer[o + 3], y: buffer[o + 4], z: buffer[o + 5] }, { x: buffer[o], y: buffer[o + 1], z: buffer[o + 2] }, buffer[o + 9]);\n            r.calculateHitDistance();\n        }\n    }\n\n    // ----------------------------------------------------------------------------------------\n    // events\n    // ----------------------------------------------------------------------------------------\n\n    /**\n     * Copies `count` event records out of wasm memory and resolves their two body slots (at `slotOffset`) to the plugin's\n     * body references. Observers run user code that can grow the wasm memory, which detaches every HEAPF32 view (creating\n     * bodies or shapes, casting rays), or dispose bodies and hand their slots to new ones, so nothing is read from wasm\n     * memory or the slot table once the first observer has been called.\n     */\n    private _readEvents(pointer: number, count: number, stride: number, slotOffset: number) {\n        const records = new Float32Array(this._b3.HEAPF32.buffer, pointer, count * stride).slice();\n        const refs: Array<{ body: PhysicsBody; index: number; data: Box3DBodyData } | undefined> = new Array(count * 2);\n        for (let i = 0; i < count; i++) {\n            refs[i * 2] = this._bodies[records[i * stride + slotOffset]];\n            refs[i * 2 + 1] = this._bodies[records[i * stride + slotOffset + 1]];\n        }\n        return { records, refs };\n    }\n\n    private _notifyCollisions(): void {\n        const count = this._b3._bx_World_GetContactEvents(this._worldSlot);\n        if (!count) {\n            return;\n        }\n        const { records: buffer, refs } = this._readEvents(this._b3._bx_ContactEventsPtr(), count, CONTACT_STRIDE, 3);\n        for (let i = 0; i < count; i++) {\n            const o = i * CONTACT_STRIDE;\n            const kind = buffer[o];\n            const refA = refs[i * 2];\n            const refB = refs[i * 2 + 1];\n            // a body disposed by an earlier observer has slot 0, its remaining events are dropped\n            if (!refA || !refB || !refA.data.slot || !refB.data.slot) {\n                continue;\n            }\n            // like Havok, an event is reported when either body asked for that event type\n            const bit = kind === 0 ? Box3DEventBits.COLLISION_STARTED : kind === 1 ? Box3DEventBits.COLLISION_FINISHED : Box3DEventBits.COLLISION_CONTINUED;\n            if (((refA.data.eventMask | refB.data.eventMask) & bit) === 0) {\n                continue;\n            }\n            if (kind === 1) {\n                const ended: IBasePhysicsCollisionEvent = {\n                    collider: refA.body,\n                    colliderIndex: refA.index,\n                    collidedAgainst: refB.body,\n                    collidedAgainstIndex: refB.index,\n                    type: PhysicsEventType.COLLISION_FINISHED,\n                };\n                this.onCollisionEndedObservable.notifyObservers(ended);\n                this._bodyCollisionEndedObservable.get(refA.data.slot)?.notifyObservers(ended);\n                const endedB = this._bodyCollisionEndedObservable.get(refB.data.slot);\n                if (endedB) {\n                    endedB.notifyObservers({ ...ended, collider: refB.body, colliderIndex: refB.index, collidedAgainst: refA.body, collidedAgainstIndex: refA.index });\n                }\n                continue;\n            }\n            // begin events carry the manifold point, normal and normal impulse, hit events the approach speed\n            const type = kind === 0 ? PhysicsEventType.COLLISION_STARTED : PhysicsEventType.COLLISION_CONTINUED;\n            const point = new Vector3(buffer[o + 5], buffer[o + 6], buffer[o + 7]);\n            const normal = new Vector3(buffer[o + 8], buffer[o + 9], buffer[o + 10]);\n            const info: IPhysicsCollisionEvent = {\n                collider: refA.body,\n                colliderIndex: refA.index,\n                collidedAgainst: refB.body,\n                collidedAgainstIndex: refB.index,\n                type,\n                point,\n                normal,\n                distance: 0,\n                impulse: buffer[o + 11],\n            };\n            this.onCollisionObservable.notifyObservers(info);\n            if (this._bodyCollisionObservable.size) {\n                this._bodyCollisionObservable.get(refA.data.slot)?.notifyObservers(info);\n                const obsB = this._bodyCollisionObservable.get(refB.data.slot);\n                if (obsB) {\n                    obsB.notifyObservers({\n                        ...info,\n                        collider: refB.body,\n                        colliderIndex: refB.index,\n                        collidedAgainst: refA.body,\n                        collidedAgainstIndex: refA.index,\n                        normal: normal ? normal.negate() : null,\n                    });\n                }\n            }\n        }\n    }\n\n    private _notifyTriggers(): void {\n        const count = this._b3._bx_World_GetSensorEvents(this._worldSlot);\n        if (!count || !this.onTriggerCollisionObservable.hasObservers()) {\n            return;\n        }\n        const { records: buffer, refs } = this._readEvents(this._b3._bx_SensorEventsPtr(), count, SENSOR_STRIDE, 3);\n        for (let i = 0; i < count; i++) {\n            const o = i * SENSOR_STRIDE;\n            const refA = refs[i * 2];\n            const refB = refs[i * 2 + 1];\n            if (!refA || !refB || !refA.data.slot || !refB.data.slot) {\n                continue;\n            }\n            this.onTriggerCollisionObservable.notifyObservers({\n                collider: refA.body,\n                colliderIndex: refA.index,\n                collidedAgainst: refB.body,\n                collidedAgainstIndex: refB.index,\n                type: buffer[o] === 0 ? PhysicsEventType.TRIGGER_ENTERED : PhysicsEventType.TRIGGER_EXITED,\n            });\n        }\n    }\n\n    public dispose(): void {\n        this._motorJoints.clear();\n        this.onCollisionObservable.clear();\n        this.onCollisionEndedObservable.clear();\n        this.onTriggerCollisionObservable.clear();\n        this._bodyCollisionObservable.clear();\n        this._bodyCollisionEndedObservable.clear();\n        for (const shape of this._shapes) {\n            if (shape) {\n                this._b3._bx_ShapeDesc_Destroy(shape.slot);\n            }\n        }\n        this._shapes.length = 0;\n        this._bodies.length = 0;\n        if (this._worldSlot) {\n            this._b3._bx_DestroyWorld(this._worldSlot);\n            this._worldSlot = 0;\n        }\n    }\n}\n", "// Picks a Box3D module: the plain one, or the threaded one when the page can run it.\n//\n// The package ships two builds of the same wasm. The default is single threaded and runs anywhere. The threaded build\n// lets box3d spread a world step over its own worker threads, which is several times faster on a heavy scene, but it\n// needs SharedArrayBuffer, and browsers only hand that out on a cross origin isolated page:\n//\n//   Cross-Origin-Opener-Policy: same-origin\n//   Cross-Origin-Embedder-Policy: require-corp\n//\n// The threaded module is imported dynamically, so a page that never asks for threads never downloads it.\n\nimport type { Box3DModule, Box3DModuleOptions } from \"babylon-box3d/wasm\";\n\n/** Options for LoadBox3D: the emscripten module options plus which build to load. */\nexport interface ILoadBox3DOptions extends Box3DModuleOptions {\n    /**\n     * Which build to load. false (the default) is the single threaded one. true is the threaded one, and fails\n     * loudly if the page is not cross origin isolated. \"auto\" uses the threaded build where it can and falls back\n     * to the single threaded one everywhere else.\n     */\n    threads?: boolean | \"auto\";\n}\n\n/**\n * Whether the threaded Box3D build can run here: the page has to be cross origin isolated, which is what gives it\n * SharedArrayBuffer. Node and bundler test environments have SharedArrayBuffer without the flag.\n * @returns true when LoadBox3D({ threads: true }) will work\n */\nexport function CanUseBox3DThreads(): boolean {\n    if (typeof SharedArrayBuffer === \"undefined\") {\n        return false;\n    }\n    const isolated = (globalThis as { crossOriginIsolated?: boolean }).crossOriginIsolated;\n    return isolated === undefined || isolated;\n}\n\n/**\n * Loads the Box3D WebAssembly module, optionally the threaded build.\n * The result goes to the plugin as it always does; ask the plugin for workers to put them to use:\n * ```ts\n * const box3d = await LoadBox3D({ threads: \"auto\" });\n * scene.enablePhysics(gravity, new Box3DPlugin(true, box3d, { workerCount: \"auto\" }));\n * ```\n * @param options which build to load, plus the emscripten options (locateFile and friends)\n * @returns the resolved module\n */\nexport async function LoadBox3D(options: ILoadBox3DOptions = {}): Promise<Box3DModule> {\n    const { threads = false, ...moduleOptions } = options;\n    const wantsThreads = threads === \"auto\" ? CanUseBox3DThreads() : threads;\n    if (wantsThreads) {\n        if (threads === true && !CanUseBox3DThreads()) {\n            throw new Error(\n                \"babylon-box3d: the threaded build needs SharedArrayBuffer, which this page does not have. Serve it with the \" +\n                    \"Cross-Origin-Opener-Policy: same-origin and Cross-Origin-Embedder-Policy: require-corp headers, or use \" +\n                    'LoadBox3D({ threads: \"auto\" }) to fall back to the single threaded build.'\n            );\n        }\n        const threaded = await import(\"babylon-box3d/wasm/threads\");\n        return threaded.default(moduleOptions);\n    }\n    const plain = await import(\"babylon-box3d/wasm\");\n    return plain.default(moduleOptions);\n}\n"],
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