babylon-box3d 0.6.1 → 0.8.0

package/README.md

@@ -153,6 +153,46 @@ reach that. The shim hands box3d its own task system instead (`wasm/box3d_shim.c
 - Contact events cross into JavaScript one record per contact per step. A body nothing listens to should not be
   asking for them: `body.setCollisionCallbackEnabled(false)`, which is the default.
 
+## Double precision
+
+Box3D keeps a body's position in floats, which are 2 mm apart 30 km from the origin, so a large world steps
+differently far out than near the origin. Box3D's large world mode (`BOX3D_DOUBLE_PRECISION`) keeps positions and
+transforms in doubles, while velocities, shapes and contacts stay floats, and the package ships it as builds of their
+own, single threaded and threaded:
+
+```ts
+const box3d = await LoadBox3D({ threads: "auto", doublePrecision: true });
+// or the modules themselves: babylon-box3d/wasm/f64 and babylon-box3d/wasm/f64-threads, and in node
+// babylon-box3d/wasm/node-f64 and babylon-box3d/wasm/node-f64-threads
+```
+
+Both builds have the same entry points, and both take positions in doubles: a body's position and target transform,
+the point a force or impulse is applied at, a ray's or shape cast's origin and an explosion's centre. The float build
+rounds each to the float it keeps, as the call did when it took floats, so its results have not changed. Positions
+come back in floats where they always did, and in doubles beside them:
+
+| floats | doubles |
+| --- | --- |
+| `bx_Body_GetTransform`: the scratch buffer's first three | `bx_ScratchF64()`: the position, as the build holds it |
+| `bx_RayHitsPtr`: each hit's point | `bx_RayHitPointsF64Ptr()`: three a hit, for rays and shape casts |
+| `bx_BodyContactsPtr`: each contact point's position | `bx_BodyContactPointsF64Ptr()`: twelve a manifold, three a point |
+
+`bx_IsDoublePrecision()` says which build is loaded. Move and contact events stay floats.
+
+What it buys (`test/wasm.largeWorld.test.ts`): a car settling and coasting along a road 30 km from the origin stays
+within 3e-11 m of its run at the origin, where the float build's is 5.5 cm off. What it does not: Box3D's broad phase
+keeps its bounds in float world space, rounded outward, so far out a new pair can be made a step earlier or later than
+at the origin, and from where the car first meets another shape the two runs part (by 0.18 mm a third of a second
+later, in the test). A run at the same coordinates still repeats bit for bit. A mesh or height field block
+(`bx_ShapeDesc_GetGeometryBytes`) is the same bytes in either build, so one built by the float build loads in the
+double precision build, to the same contacts.
+
+What it costs: on R3's rate probe cases (a car of 20 to 160 hulls riding, sliding and pushed into a wall over a height
+field and a road mesh, at 480 and 240 Hz), with the two builds taking turns of 1,000 steps in one process, a step took
+6.3% longer in the double precision build summed over the cases with Box3D's defaults, and 6.6% with the car's hulls
+filtered against each other and the car unswept. Case by case the difference ran from 17% less to 17% more, on a
+machine half busy with other work, and the median case took 6.6% and 8.5% longer.
+
 ## What is covered
 
 | Babylon v2 | Box3D |
@@ -250,8 +290,31 @@ joint above.
 `SIMULATION_CONTROLLED` hands it back to the solver, asleep until something wakes it.
 
 Box3D extras on the plugin: `explode`, `createWheelJoint` (suspension, steering, spin motor), `createParallelJoint`,
-`setShapeFilterGroup`, `setShapeRollingResistance`, `setAllowFastRotation`, `getStats`. `PhysicsCharacterController`
-is not supported yet, it depends on Havok internals.
+`setShapeFilterGroup`, `setShapeRollingResistance`, `setAllowFastRotation`, `setBodyClipPlane`, `getStats`.
+`PhysicsCharacterController` is not supported yet, it depends on Havok internals.
+
+**Clip planes (portals).** `plugin.setBodyClipPlane(body, plane, collideMask?)` drops every contact point of the body
+on the plane's positive side, the side Babylon's own clip planes hide, so the plane that hides the part of a mesh gone
+into a portal also lets that part pass through the wall and whatever else is behind it, while the rest of the body
+keeps colliding. Each point is tested on its own, against convex shapes, meshes and height fields alike, inside the
+step with no callback into JavaScript, and continuous collision ignores hits there too. Points within 1 cm (twice
+Box3D's linear slop) in front of the plane count as past it, so a surface lying in the plane is open as well, and a
+speculative point, made while the surfaces are still apart, is also tested where it meets the other shape, so a body
+falling fast into a portal does not stop on the surface first. `collideMask`
+limits it to shapes whose membership mask meets it: leave the sides of the opening out and a body hanging over its
+edge rests on them. `null` stops clipping, and `getBodyClipPlane` reads it back.
+
+```ts
+import { Plane } from "@babylonjs/core/Maths/math.plane";
+
+// a portal on a wall, its normal pointing out of the wall: clip what is past it
+const clip = Plane.FromPositionAndNormal(portalCenter, portalNormal.negate());
+plugin.setBodyClipPlane(body, clip, ~PORTAL_RIM >>> 0);
+```
+
+`?demo=portal` is a working pair: a floor portal and a wall portal, long planks hanging half through, teleporting with
+their velocity turned once their centre crosses, and the rim built from boxes on their own category
+([demo/src/portal.ts](demo/src/portal.ts)). Havok has no equivalent.
 
 **Beyond Babylon's API.** A simulation that drives the module directly, without Babylon, also has these raw exports
 (typed in `lib/*/box3d.d.ts`, tested in `test/wasm.*.test.ts`):
@@ -261,8 +324,13 @@ is not supported yet, it depends on Havok internals.
 | `bx_Body_GetContacts`, `bx_BodyContactsPtr` | every touching manifold on a body as the body feels it: the shapes on both sides by index, the normal it is pushed along, friction and twist, and per point the position, separation, impulses, approach speed, and the triangle and material met on a mesh or height field |
 | `bx_Body_SetShapeHull`, `bx_Body_TranslateShape`, `bx_Body_SetShapeFilter`, `bx_Body_RemoveShape`, `bx_Body_HasShape`, `bx_Body_GetShapeInfo` | per-shape handles: change one of a body's shapes and reset only its contacts, where `bx_Body_SetShape` rebuilds them all. A shape keeps its index for the body's lifetime, removed or not, and contact events (two floats appended) and ray hits (the last float) carry it |
 | `bx_Body_SetShapeCrush`, `bx_Body_GetShapeCrush` | crushable contacts, see [Patches to Box3D](#patches-to-box3d) |
+| `bx_Body_SetClipPlane`, `bx_Body_GetClipPlane` | clip planes, see `setBodyClipPlane` above and [Patches to Box3D](#patches-to-box3d) |
 | `bx_World_CastShape`, `bx_World_OverlapShape`, `bx_OverlapsPtr` | a convex point cloud with a radius, from an origin given in doubles, cast along a translation or tested for overlap. The cast's fraction is where the surfaces touch: Box3D stops its own casts a linear slop short of that, and the shim moves the fraction on |
 | `bx_Body_GetShapeGeometry`, `bx_GeometryPtr` | a shape's sphere, capsule or hull points, in the body's frame |
+| `bx_Body_SetFeatureKey`, `bx_Body_GetFeatureKey`, `bx_Body_GetShapeFeatureKey` | canonical pairs, see [Patches to Box3D](#patches-to-box3d): a body's key (1 to 2^44 - 1, as a double) gives each of its shapes the key `(key << 20) \| index`, by which new contacts are made, continuous collision sweeps, and a closest ray or shape cast breaks a tie (then by body slot and shape index) |
+| `bx_ShapeDesc_GetGeometryBytes`, `bx_ShapeDesc_GetGeometryByteCount`, `bx_ShapeDesc_CreateMeshFromBytes`, `bx_ShapeDesc_CreateHeightFieldFromBytes` | a mesh's or height field's data as bytes, and a description made from a copy of them. Box3D keeps either as one block addressed by offsets, with no pointer in it, so an instance with no world (a worker's) can build the geometry and another instance of the same build copies the block in as it is: nothing in it needs fixing up. The import checks the version, the byte count and that every array lies inside the block, and costs a copy |
+| `bx_IsDoublePrecision`, `bx_ScratchF64`, `bx_RayHitPointsF64Ptr`, `bx_BodyContactPointsF64Ptr` | positions in doubles, see [Double precision](#double-precision) |
+| `bx_ShapeDesc_SetInvokeContactCreation`, `bx_ShapeDesc_GetInvokeContactCreation`, `bx_World_GetStackUsed` | Box3D's `invokeContactCreation` per description, on by default. Off, a static shape never enters the broad phase's move buffer: the first step reserves no pair slots for it (486 bytes a static, which the step stack then keeps for good) and it is paired when a moving shape finds it, so a static made late pairs on the same step as one made at the start. Off on a container, it is off for every shape made from its children. `bx_World_GetStackUsed` says the most the step stack has held |
 
 Box3D creates shapes on bodies while Babylon creates shapes standalone, so a `PhysicsShape` is a description that
 is instantiated on every body it is set on. Changing its filter masks, material or density is applied to the live
@@ -279,10 +347,11 @@ and mesh winding is flipped, exactly like the Havok plugin.
 | `src/index.ts` | package entry: `Box3DPlugin`, `Box3DWheelJoint`, `Box3D` (wasm factory), `LoadBox3D` |
 | `src/loadBox3D.ts` | picks the single threaded or threaded wasm build for the page |
 | `wasm/box3d_shim.c` | C shim: flat, handle based API over box3d (`bx_*` functions) |
-| `wasm/build.mjs` | emcc build for `lib/esm`, `lib/umd` (global `Box3D`), `lib/node` and the threaded pair |
+| `wasm/build.mjs` | emcc build for `lib/esm`, `lib/umd` (global `Box3D`), `lib/node`, the threaded pair and the double precision builds |
 | `lib/` | committed wasm builds and typings, `UPSTREAM_COMMIT` is the box3d commit |
 | `wasm/patches/` | changes to Box3D itself, applied in name order to a copy of the box3d checkout at build time, see [Patches to Box3D](#patches-to-box3d) |
 | `lib/esm-threads`, `lib/node-threads` | the same module built with pthreads, see [Threads](#threads) |
+| `lib/esm-f64`, `lib/node-f64` and their `-threads` twins | the same modules built with `BOX3D_DOUBLE_PRECISION`, see [Double precision](#double-precision) |
 | `umd/` | plugin bundle for script tags (global `BABYLONBOX3D`), built by `npm run build:umd` |
 | `demo/` | vite showcase: `npm run demo`, then `http://localhost:5178/?demo=pyramid` |
 | `docs/` | the community extension page for the Babylon.js documentation |
@@ -355,7 +424,10 @@ with Havok and compare, which is what pins the Havok compatible behaviour down.
 `npm run build:wasm` produces both builds: the single threaded one in `lib/esm`, `lib/umd` and `lib/node`, and the
 threaded one in `lib/esm-threads` and `lib/node-threads`. Add `--no-threads` to skip the second while iterating on the
 shim. Both are wasm SIMD128; the threaded one adds `-pthread` and a pool of 8 workers, which is the cap the shim
-clamps `workerCount` to. `npm run bench -- --workers 4` runs the benchmark on it.
+clamps `workerCount` to. `npm run bench -- --workers 4` runs the benchmark on it. Each is built again with
+`BOX3D_DOUBLE_PRECISION` from objects of its own, into `lib/esm-f64`, `lib/node-f64` and their `-threads` twins:
+`--no-f64` skips them and `--f64-only` builds only them. `BOX3D_FLAVOUR=f64 npx vitest run` runs the tests on the
+double precision builds (`vitest.config.ts` sends every import of a node loader to its twin).
 
 ## Patches to Box3D
 
@@ -369,8 +441,11 @@ stays exactly upstream's commit, and a change to the patch set rebuilds every ob
 | `0002-continuous-per-body.patch` | `b3Body_EnableContinuous` and `b3Body_IsContinuousEnabled` (shim: `bx_Body_EnableContinuous`, `bx_Body_IsContinuousEnabled`): continuous collision switched for one body. The world's switch still applies. A body made of many small shapes is swept shape by shape whenever its smallest shape moves fast enough, which can cost more than the rest of the step. |
 | `0003-crushable-contacts.patch` | `b3Shape_SetCrushLimit(shape, maxForce, plastic)`, `b3Shape_GetCrushLimit` and `b3Shape_IsCrushPlastic` (shim: `bx_Body_SetShapeCrush(body, i, maxForce, plastic)`, `bx_Body_GetShapeCrush`): each contact of a crushable shape pushes with at most `maxForce` newtons, the smaller of its two shapes' limits, shared between its points, so a body meeting something rigid decelerates over a distance instead of stopping within a step. A plastic contact gets no push-out and no restitution, so it keeps the overlap it reaches. Crushable contacts are routed to the scalar solver path, where each point's accumulated impulse is clamped; a point still apart pushes only for the part of the substep after the surfaces meet. Rigid contacts are untouched, bit for bit. The limit may change every step, and a shape turning crushable or rigid keeps its contacts. |
 | `0004-hull-builder-fails-instead-of-spinning.patch` | `b3CreateHull` returns NULL where it used to loop forever. A flat or nearly flat point set a few metres from the origin (a crushed panel, a slab) can leave the builder's half-edge mesh inconsistent: a merge leaves two faces that share every edge and `b3HullBuilder_ConnectFaces` walks round them without end, or a face's ring stops closing and `b3NewellPlane` does. Such a call never returned and locked whatever made it. Now every walk over the mesh counts its steps against the edge pool, the merge loops count merges against the face pool, and the horizon's stack and edge list check their capacity, which only asserts guarded before. None of these limits can be reached by a consistent mesh, and a build that reaches one returns NULL (shim: `bx_ShapeDesc_CreateHull` and `bx_Body_SetShapeHull` return 0, and the plugin throws for a `CONVEX_HULL` shape). Hulls that were built before are built the same, bit for bit. |
+| `0005-canonical-pairs.patch` | `b3ShapeDef::featureKey`, `b3Shape_SetFeatureKey` and `b3Shape_GetFeatureKey` (shim: `bx_Body_SetFeatureKey`): a moved proxy's new pairs are sorted by the other shape's feature key, then child index, then shape id, before their contacts are made. Contact ids, and with them the order the solver meets contacts, came from the order the static tree gave pairs, which is a function of every insertion and removal it has seen, so the same statics in reach could collide differently depending on how and when the world was built. A moved proxy's pairs are no longer dropped past sixteen: if the step's pair slots run out, the pairs are found again with room for all of them. Continuous collision gathers its candidates, sorts them by key and sweeps them in that order, since each sweep is clipped by the ones before it. Shapes without a key fall back to their ids, so a world without keys behaves as before except where a step's new pairs came out of the tree in another order. |
+| `0006-manifold-callback.patch` | `b3World_SetManifoldCallback(world, fcn, context)`: a `b3ManifoldFcn` called with all of a contact's manifolds after they are computed, mesh and height field contacts included, when either shape has pre-solve events on. It may remove points and manifolds and returns how many manifolds are left; a manifold left with no points is dropped and zero disables the contact for the step. Box3D's own pre-solve callback only sees the first point of the first manifold and is never called for meshes or height fields. While the callback is set it replaces the pre-solve callback for these contacts, which still runs for continuous collision, and these contacts are not recycled, so the callback sees every step. The shim uses it for clip planes (`bx_Body_SetClipPlane`); shapes without pre-solve events are untouched, bit for bit. |
 
-`test/wasm.patches.test.ts` covers 0001 and 0002, `test/wasm.crush.test.ts` covers 0003 and `test/wasm.hulls.test.ts` covers 0004.
+`test/wasm.patches.test.ts` covers 0001 and 0002, `test/wasm.crush.test.ts` covers 0003, `test/wasm.hulls.test.ts` covers 0004,
+`test/wasm.canonicalPairs.test.ts` covers 0005 and `test/wasm.clipPlane.test.ts` covers 0006.
 None has been offered upstream.
 
 **Crush accuracy.** Against a constant limit the crush depth lands within 1.5% of the continuous answer at 480 Hz

package/dist/box3dPlugin.d.ts

@@ -9,6 +9,7 @@ import { type PhysicsShape } from "@babylonjs/core/Physics/v2/physicsShape.js";
 import { BoundingBox } from "@babylonjs/core/Culling/boundingBox.js";
 import { type TransformNode } from "@babylonjs/core/Meshes/transformNode.js";
 import { Mesh } from "@babylonjs/core/Meshes/mesh.js";
+import { Plane } from "@babylonjs/core/Maths/math.plane.js";
 import { Observable } from "@babylonjs/core/Misc/observable.js";
 import { type Nullable } from "@babylonjs/core/types.js";
 /** The cell material that cuts a hole in a height field: nothing collides with the cell and rays pass through it. */
@@ -323,6 +324,27 @@ export declare class Box3DPlugin implements IPhysicsEnginePluginV2 {
     getCollisionEndedObservable(body: PhysicsBody, instanceIndex?: number): Observable<IBasePhysicsCollisionEvent>;
     setGravityFactor(body: PhysicsBody, factor: number, instanceIndex?: number): void;
     getGravityFactor(body: PhysicsBody, instanceIndex?: number): number;
+    /**
+     * Clips the body's collisions with a world space plane: every contact point on the plane's positive side, where
+     * `plane.signedDistanceTo(point) > 0`, is dropped, the side Babylon's own clip planes discard. So the plane that
+     * hides the part of a mesh past a portal also lets that part pass through whatever is behind the portal, while the
+     * rest of the body keeps colliding. Points within 1 cm (twice Box3D's linear slop) in front of the plane are dropped
+     * too, so a surface lying in the plane, such as the wall the portal is on, is passed through as well. Box3D
+     * extension, Havok has no equivalent.
+     *
+     * Each contact point is tested on its own, mesh and height field contacts included, inside the step: there is no
+     * callback into JavaScript. A speculative point, made while the surfaces are still apart, is also tested where it
+     * meets the other shape, so a body falling fast into a portal does not stop on the surface first. Continuous
+     * collision tests its time of impact point the same way.
+     * @param plane the plane in world space, or null to stop clipping. It is copied, so change it by calling this again.
+     * @param collideMask only contacts with shapes whose membership mask meets this one are clipped. Default all.
+     */
+    setBodyClipPlane(body: PhysicsBody, plane: Nullable<Plane>, collideMask?: number, instanceIndex?: number): void;
+    /** The body's clip plane and collide mask from {@link setBodyClipPlane}, or null when it has none. */
+    getBodyClipPlane(body: PhysicsBody, instanceIndex?: number): Nullable<{
+        plane: Plane;
+        collideMask: number;
+    }>;
     private _registerShape;
     private _withFloatBuffer;
     /** Copies bytes into the module for the length of `fn`; with no bytes, `fn` gets a null pointer. */

package/dist/box3dPlugin.d.ts.map

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

@@ -6,6 +6,7 @@ import { BoundingBox } from "@babylonjs/core/Culling/boundingBox.js";
 import { Mesh } from "@babylonjs/core/Meshes/mesh.js";
 import { InstancedMesh } from "@babylonjs/core/Meshes/instancedMesh.js";
 import { VertexBuffer } from "@babylonjs/core/Buffers/buffer.js";
+import { Plane } from "@babylonjs/core/Maths/math.plane.js";
 import { Observable } from "@babylonjs/core/Misc/observable.js";
 /** The cell material that cuts a hole in a height field: nothing collides with the cell and rays pass through it. */
 export const BOX3D_HEIGHT_FIELD_HOLE = 255;
@@ -314,14 +315,14 @@ const RequiredNativeExports = [
     "_bx_Body_GetAngularDamping", "_bx_Body_GetAngularVelocity", "_bx_Body_GetGravityScale", "_bx_Body_GetLinearDamping",
     "_bx_Body_GetLinearVelocity", "_bx_Body_GetMassData", "_bx_Body_GetTransform", "_bx_Body_SetAngularDamping", "_bx_Body_SetAngularVelocity",
     "_bx_Body_SetAwake", "_bx_Body_SetEventFlags", "_bx_Body_SetGravityScale", "_bx_Body_SetLinearDamping", "_bx_Body_SetLinearVelocity",
-    "_bx_Body_SetMassDataFull", "_bx_Body_SetMotionLocks", "_bx_Body_SetShape", "_bx_Body_SetTargetTransform", "_bx_Body_SetTransform",
+    "_bx_Body_GetClipPlane", "_bx_Body_SetClipPlane", "_bx_Body_SetMassDataFull", "_bx_Body_SetMotionLocks", "_bx_Body_SetShape", "_bx_Body_SetTargetTransform", "_bx_Body_SetTransform",
     "_bx_Body_SetType", "_bx_Body_SyncShapeDesc", "_bx_ComputeAlignedFrameB", "_bx_ContactEventsPtr", "_bx_CreateBody", "_bx_CreateJoint",
     "_bx_CreateWorld", "_bx_DebugIndexCount", "_bx_DebugIndicesPtr", "_bx_DebugPositionsPtr", "_bx_DestroyBody", "_bx_DestroyJoint",
     "_bx_DestroyWorld", "_bx_GetMaxWorkers", "_bx_GetRejectedSlotCount", "_bx_Joint_EnableLimit", "_bx_Joint_EnableMotor",
     "_bx_Joint_EnableSpring", "_bx_Joint_IsValid",
     "_bx_Joint_SetCollideConnected", "_bx_Joint_SetConstraintTuning", "_bx_Joint_SetLimits", "_bx_Joint_SetMaxMotorForce",
     "_bx_Joint_SetMotorSpeed", "_bx_Joint_SetSphericalMotor", "_bx_Joint_SetSphericalTarget", "_bx_Joint_SetSpring", "_bx_Joint_SetTarget",
-    "_bx_Joint_SetTwistLimits", "_bx_Joint_UpdateMotorFrame", "_bx_Joint_WakeBodies", "_bx_MoveEventsPtr", "_bx_RayHitsPtr", "_bx_Scratch",
+    "_bx_Joint_SetTwistLimits", "_bx_Joint_UpdateMotorFrame", "_bx_Joint_WakeBodies", "_bx_MoveEventsPtr", "_bx_RayHitsPtr", "_bx_Scratch", "_bx_ScratchF64",
     "_bx_SensorEventsPtr", "_bx_ShapeDesc_AddChild", "_bx_ShapeDesc_BuildDebugGeometry", "_bx_ShapeDesc_CreateBox", "_bx_ShapeDesc_CreateCapsule",
     "_bx_ShapeDesc_CreateContainer", "_bx_ShapeDesc_CreateCylinder", "_bx_ShapeDesc_CreateHeightField", "_bx_ShapeDesc_CreateHull",
     "_bx_ShapeDesc_CreateMesh", "_bx_ShapeDesc_CreateSphere", "_bx_ShapeDesc_Destroy", "_bx_ShapeDesc_GetAABB", "_bx_ShapeDesc_GetCategoryBits",
@@ -1119,6 +1120,36 @@ export class Box3DPlugin {
     getGravityFactor(body, instanceIndex) {
         return this._b3._bx_Body_GetGravityScale(this._getPluginReference(body, instanceIndex).slot);
     }
+    /**
+     * Clips the body's collisions with a world space plane: every contact point on the plane's positive side, where
+     * `plane.signedDistanceTo(point) > 0`, is dropped, the side Babylon's own clip planes discard. So the plane that
+     * hides the part of a mesh past a portal also lets that part pass through whatever is behind the portal, while the
+     * rest of the body keeps colliding. Points within 1 cm (twice Box3D's linear slop) in front of the plane are dropped
+     * too, so a surface lying in the plane, such as the wall the portal is on, is passed through as well. Box3D
+     * extension, Havok has no equivalent.
+     *
+     * Each contact point is tested on its own, mesh and height field contacts included, inside the step: there is no
+     * callback into JavaScript. A speculative point, made while the surfaces are still apart, is also tested where it
+     * meets the other shape, so a body falling fast into a portal does not stop on the surface first. Continuous
+     * collision tests its time of impact point the same way.
+     * @param plane the plane in world space, or null to stop clipping. It is copied, so change it by calling this again.
+     * @param collideMask only contacts with shapes whose membership mask meets this one are clipped. Default all.
+     */
+    setBodyClipPlane(body, plane, collideMask = 0xffffffff, instanceIndex) {
+        this._applyToBodyOrInstances(body, (data) => plane
+            ? this._b3._bx_Body_SetClipPlane(data.slot, 1, plane.normal.x, plane.normal.y, plane.normal.z, plane.d, collideMask >>> 0)
+            : this._b3._bx_Body_SetClipPlane(data.slot, 0, 0, 0, 0, 0, 0), instanceIndex);
+    }
+    /** The body's clip plane and collide mask from {@link setBodyClipPlane}, or null when it has none. */
+    getBodyClipPlane(body, instanceIndex) {
+        this._b3._bx_Body_GetClipPlane(this._getPluginReference(body, instanceIndex).slot);
+        const at = this._b3._bx_ScratchF64() >> 3;
+        const f64 = this._b3.HEAPF64;
+        if (!f64[at]) {
+            return null;
+        }
+        return { plane: new Plane(f64[at + 1], f64[at + 2], f64[at + 3], f64[at + 4]), collideMask: f64[at + 5] >>> 0 };
+    }
     // ----------------------------------------------------------------------------------------
     // shapes
     // ----------------------------------------------------------------------------------------