x_ite 4.7.12 → 5.0.0

package/src/x_ite/Components/RigidBodyPhysics/RigidBodyCollection.js

@@ -48,14 +48,14 @@
 
 
 define ([
-	"x_ite/Fields",
-	"x_ite/Basic/X3DFieldDefinition",
-	"x_ite/Basic/FieldDefinitionArray",
-	"x_ite/Components/Core/X3DChildNode",
-	"x_ite/Bits/X3DConstants",
-	"x_ite/Bits/X3DCast",
-	"x_ite/Browser/RigidBodyPhysics/AppliedParametersType",
-	"lib/ammojs/AmmoJS",
+   "x_ite/Fields",
+   "x_ite/Base/X3DFieldDefinition",
+   "x_ite/Base/FieldDefinitionArray",
+   "x_ite/Components/Core/X3DChildNode",
+   "x_ite/Base/X3DConstants",
+   "x_ite/Base/X3DCast",
+   "x_ite/Browser/RigidBodyPhysics/AppliedParametersType",
+   "lib/ammojs/AmmoJS",
 ],
 function (Fields,
           X3DFieldDefinition,
@@ -68,322 +68,322 @@ function (Fields,
 {
 "use strict";
 
-	function RigidBodyCollection (executionContext)
-	{
-		X3DChildNode .call (this, executionContext);
-
-		this .addType (X3DConstants .RigidBodyCollection);
-
-		// Units
-
-		this .gravity_                 .setUnit ("acceleration");
-		this .constantForceMix_        .setUnit ("force");
-		this .maxCorrectionSpeed_      .setUnit ("speed");
-		this .contactSurfaceThickness_ .setUnit ("length");
-		this .disableLinearSpeed_      .setUnit ("length");
-		this .disableAngularSpeed_     .setUnit ("angularRate");
-
-		// Members
-
-		this .broadphase             = new Ammo .btDbvtBroadphase ();
-		this .collisionConfiguration = new Ammo .btDefaultCollisionConfiguration ();
-		this .dispatcher             = new Ammo .btCollisionDispatcher (this .collisionConfiguration);
-		this .solver                 = new Ammo .btSequentialImpulseConstraintSolver ();
-		this .dynamicsWorld          = new Ammo .btDiscreteDynamicsWorld (this .dispatcher, this .broadphase, this .solver, this .collisionConfiguration);
-		this .deltaTime              = 0;
-		this .colliderNode           = null;
-		this .bodyNodes              = [ ];
-		this .otherBodyNodes         = [ ];
-		this .rigidBodies            = [ ];
-		this .jointNodes             = [ ];
-		this .otherJointNodes        = [ ];
-	}
-
-	RigidBodyCollection .prototype = Object .assign (Object .create (X3DChildNode .prototype),
-	{
-		constructor: RigidBodyCollection,
-		fieldDefinitions: new FieldDefinitionArray ([
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "metadata",                new Fields .SFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "enabled",                 new Fields .SFBool (true)),
-			new X3DFieldDefinition (X3DConstants .inputOnly,      "set_contacts",            new Fields .MFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "gravity",                 new Fields .SFVec3f (0, -9.8, 0)),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "preferAccuracy",          new Fields .SFBool ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "errorCorrection",         new Fields .SFFloat (0.8)),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "iterations",              new Fields .SFInt32 (10)),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "constantForceMix",        new Fields .SFFloat (0.0001)),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "maxCorrectionSpeed",      new Fields .SFFloat (-1)),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "contactSurfaceThickness", new Fields .SFFloat ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "autoDisable",             new Fields .SFBool ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "disableTime",             new Fields .SFFloat ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "disableLinearSpeed",      new Fields .SFFloat ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "disableAngularSpeed",     new Fields .SFFloat ()),
-			new X3DFieldDefinition (X3DConstants .initializeOnly, "collider",                new Fields .SFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "bodies",                  new Fields .MFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput,    "joints",                  new Fields .MFNode ()),
-		]),
-		getTypeName: function ()
-		{
-			return "RigidBodyCollection";
-		},
-		getComponentName: function ()
-		{
-			return "RigidBodyPhysics";
-		},
-		getContainerField: function ()
-		{
-			return "children";
-		},
-		initialize: function ()
-		{
-			X3DChildNode .prototype .initialize .call (this);
-
-			this .isLive () .addInterest ("set_enabled__", this);
-
-			this .enabled_                 .addInterest ("set_enabled__",                 this);
-			this .set_contacts_            .addInterest ("set_contacts__",                this);
-			this .gravity_                 .addInterest ("set_gravity__",                 this);
-			this .contactSurfaceThickness_ .addInterest ("set_contactSurfaceThickness__", this);
-			this .collider_                .addInterest ("set_collider__",                this);
-			this .bodies_                  .addInterest ("set_bodies__",                  this);
-			this .joints_                  .addInterest ("set_joints__",                  this);
-
-			this .set_enabled__ ();
-			this .set_gravity__ ();
-			this .set_collider__ ();
-			this .set_bodies__ ();
-		},
-		getDynamicsWorld: function ()
-		{
-			return this .dynamicsWorld;
-		},
-		getTimeStep: function ()
-		{
-			const DELAY = 15; // Delay in frames when dt full applies.
-
-			var
-				dt        = 1 / Math .max (10, this .getBrowser () .getCurrentFrameRate ()),
-				deltaTime = this .deltaTime = ((DELAY - 1) * this .deltaTime + dt) / DELAY; // Moving average about DELAY frames.
-
-			return deltaTime;
-		},
-		set_enabled__: function ()
-		{
-			if (this .isLive () .getValue () && this .enabled_ .getValue ())
-				this .getBrowser () .sensorEvents () .addInterest ("update", this);
-			else
-				this .getBrowser () .sensorEvents () .removeInterest ("update", this);
-		},
-		set_contacts__: function ()
-		{
-		},
-		set_gravity__: (function ()
-		{
-			var gravity = new Ammo .btVector3 (0, 0, 0);
-
-			return function ()
-			{
-				gravity .setValue (this .gravity_ .x,
-				                   this .gravity_ .y,
-				                   this .gravity_ .z);
-
-				this .dynamicsWorld .setGravity (gravity);
-			};
-		})(),
-		set_contactSurfaceThickness__: function ()
-		{
-			for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-				this .bodyNodes [i] .getRigidBody () .getCollisionShape () .setMargin (this .contactSurfaceThickness_ .getValue ());
-		},
-		set_collider__: function ()
-		{
-			this .colliderNode = X3DCast (X3DConstants .CollisionCollection, this .collider_);
-		},
-		set_bounce__: function ()
-		{
-			var
-				colliderNode = this .colliderNode,
-				bodyNodes    = this .bodyNodes;
-
-			if (colliderNode && colliderNode .enabled_ .getValue ())
-			{
-				if (colliderNode .getAppliedParameters () .has (AppliedParametersType .BOUNCE))
-				{
-					for (var i = 0, length = bodyNodes .length; i < length; ++ i)
-					{
-						var rigidBody = bodyNodes [i] .getRigidBody ();
-
-						if (rigidBody .getLinearVelocity () .length () >= colliderNode .minBounceSpeed_ .getValue ())
-							rigidBody .setRestitution (colliderNode .bounce_ .getValue ());
-						else
-							rigidBody .setRestitution (0);
-					}
-
-					return;
-				}
-			}
-
-			for (var i = 0, length = bodyNodes .length; i < length; ++ i)
-				bodyNodes [i] .getRigidBody () .setRestitution (0);
-		},
-		set_frictionCoefficients__: function ()
-		{
-			if (this .colliderNode && this .colliderNode .enabled_ .getValue ())
-			{
-				if (this .colliderNode .getAppliedParameters () .has (AppliedParametersType .FRICTION_COEFFICIENT_2))
-				{
-					for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-					{
-						var rigidBody = this .bodyNodes [i] .getRigidBody ();
-
-						rigidBody .setFriction (this .colliderNode .frictionCoefficients_ .x);
-						rigidBody .setRollingFriction (this .colliderNode .frictionCoefficients_ .y);
-					}
-
-					return;
-				}
-			}
-
-			for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-			{
-				var rigidBody = this .bodyNodes [i] .getRigidBody ();
-
-				rigidBody .setFriction (0.5);
-				rigidBody .setRollingFriction (0);
-			}
-		},
-		set_bodies__: function ()
-		{
-			for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-			{
-				var bodyNode = this .bodyNodes [i];
-
-				bodyNode .enabled_ .removeInterest ("set_dynamicsWorld__", this);
-				bodyNode .setCollection (null);
-			}
-
-			for (var i = 0, length = this .otherBodyNodes .length; i < length; ++ i)
-				this .otherBodyNodes [i] .collection_ .removeInterest ("set_bodies__", this);
-
-			this .bodyNodes .length = 0;
-
-			for (var i = 0, length = this .bodies_ .length; i < length; ++ i)
-			{
-				var bodyNode = X3DCast (X3DConstants .RigidBody, this .bodies_ [i]);
-
-				if (! bodyNode)
-					continue;
-
-				if (bodyNode .getCollection ())
-				{
-					bodyNode .collection_ .addInterest ("set_bodies__", this);
-					this .otherBodyNodes .push (bodyNode);
-					continue;
-				}
-
-				bodyNode .setCollection (this);
-
-				this .bodyNodes .push (bodyNode);
-			}
-
-			for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-				this .bodyNodes [i] .enabled_ .addInterest ("set_dynamicsWorld__", this);
-
-			this .set_contactSurfaceThickness__ ();
-			this .set_dynamicsWorld__ ();
-			this .set_joints__ ();
-		},
-		set_dynamicsWorld__: function ()
-		{
-			for (var i = 0, length = this .rigidBodies .length; i < length; ++ i)
-				this .dynamicsWorld .removeRigidBody (this .rigidBodies [i]);
-
-			this .rigidBodies .length = 0;
-
-			for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-			{
-				var bodyNode = this .bodyNodes [i];
-
-				if (! bodyNode .enabled_ .getValue ())
-					continue;
-
-				this .rigidBodies .push (bodyNode .getRigidBody ());
-			}
-
-			for (var i = 0, length = this .rigidBodies .length; i < length; ++ i)
-				this .dynamicsWorld .addRigidBody (this .rigidBodies [i]);
-		},
-		set_joints__: function ()
-		{
-			for (var i = 0, length = this .jointNodes .length; i < length; ++ i)
-				this .jointNodes [i] .setCollection (null);
-
-			this .jointNodes .length = 0;
-
-			for (var i = 0, length = this .otherJointNodes .length; i < length; ++ i)
-				this .otherJointNodes [i] .collection_ .removeInterest ("set_joints__", this);
-
-			this .otherJointNodes .length = 0;
-
-			for (var i = 0, length = this .joints_ .length; i < length; ++ i)
-			{
-				var jointNode = X3DCast (X3DConstants .X3DRigidJointNode, this .joints_ [i]);
-
-				if (! jointNode)
-					continue;
-
-				if (jointNode .getCollection ())
-				{
-					jointNode .collection_ .addInterest ("set_joints__", this);
-					this .otherJointNodes .push (bodyNode);
-					continue;
-				}
-
-				jointNode .setCollection (this);
-
-				this .jointNodes .push (jointNode);
-			}
-		},
-		update: function ()
-		{
-			try
-			{
-				var
-					deltaTime  = this .getTimeStep (),
-					iterations = this .iterations_ .getValue (),
-					gravity    = this .gravity_ .getValue ();
-
-				this .set_bounce__ ();
-				this .set_frictionCoefficients__ ();
-
-				if (this .preferAccuracy_ .getValue ())
-				{
-					deltaTime /= iterations;
-
-					for (var i = 0; i < iterations; ++ i)
-					{
-						for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-							this .bodyNodes [i] .applyForces (gravity);
-
-						this .dynamicsWorld .stepSimulation (deltaTime, 0);
-					}
-				}
-				else
-				{
-					for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-						this .bodyNodes [i] .applyForces (gravity);
-
-					this .dynamicsWorld .stepSimulation (deltaTime, iterations + 2, deltaTime / iterations);
-				}
-
-				for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
-					this .bodyNodes [i] .update ();
-			}
-			catch (error)
-			{
-				console .error (error);
-			}
-		},
-	});
-
-	return RigidBodyCollection;
+   function RigidBodyCollection (executionContext)
+   {
+      X3DChildNode .call (this, executionContext);
+
+      this .addType (X3DConstants .RigidBodyCollection);
+
+      // Units
+
+      this ._gravity                 .setUnit ("acceleration");
+      this ._constantForceMix        .setUnit ("force");
+      this ._maxCorrectionSpeed      .setUnit ("speed");
+      this ._contactSurfaceThickness .setUnit ("length");
+      this ._disableLinearSpeed      .setUnit ("length");
+      this ._disableAngularSpeed     .setUnit ("angularRate");
+
+      // Members
+
+      this .broadphase             = new Ammo .btDbvtBroadphase ();
+      this .collisionConfiguration = new Ammo .btDefaultCollisionConfiguration ();
+      this .dispatcher             = new Ammo .btCollisionDispatcher (this .collisionConfiguration);
+      this .solver                 = new Ammo .btSequentialImpulseConstraintSolver ();
+      this .dynamicsWorld          = new Ammo .btDiscreteDynamicsWorld (this .dispatcher, this .broadphase, this .solver, this .collisionConfiguration);
+      this .deltaTime              = 0;
+      this .colliderNode           = null;
+      this .bodyNodes              = [ ];
+      this .otherBodyNodes         = [ ];
+      this .rigidBodies            = [ ];
+      this .jointNodes             = [ ];
+      this .otherJointNodes        = [ ];
+   }
+
+   RigidBodyCollection .prototype = Object .assign (Object .create (X3DChildNode .prototype),
+   {
+      constructor: RigidBodyCollection,
+      [Symbol .for ("X_ITE.X3DBaseNode.fieldDefinitions")]: new FieldDefinitionArray ([
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "metadata",                new Fields .SFNode ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "enabled",                 new Fields .SFBool (true)),
+         new X3DFieldDefinition (X3DConstants .inputOnly,      "set_contacts",            new Fields .MFNode ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "gravity",                 new Fields .SFVec3f (0, -9.8, 0)),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "preferAccuracy",          new Fields .SFBool ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "errorCorrection",         new Fields .SFFloat (0.8)),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "iterations",              new Fields .SFInt32 (10)),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "constantForceMix",        new Fields .SFFloat (0.0001)),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "maxCorrectionSpeed",      new Fields .SFFloat (-1)),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "contactSurfaceThickness", new Fields .SFFloat ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "autoDisable",             new Fields .SFBool ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "disableTime",             new Fields .SFFloat ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "disableLinearSpeed",      new Fields .SFFloat ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "disableAngularSpeed",     new Fields .SFFloat ()),
+         new X3DFieldDefinition (X3DConstants .initializeOnly, "collider",                new Fields .SFNode ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "bodies",                  new Fields .MFNode ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput,    "joints",                  new Fields .MFNode ()),
+      ]),
+      getTypeName: function ()
+      {
+         return "RigidBodyCollection";
+      },
+      getComponentName: function ()
+      {
+         return "RigidBodyPhysics";
+      },
+      getContainerField: function ()
+      {
+         return "children";
+      },
+      initialize: function ()
+      {
+         X3DChildNode .prototype .initialize .call (this);
+
+         this .isLive () .addInterest ("set_enabled__", this);
+
+         this ._enabled                 .addInterest ("set_enabled__",                 this);
+         this ._set_contacts            .addInterest ("set_contacts__",                this);
+         this ._gravity                 .addInterest ("set_gravity__",                 this);
+         this ._contactSurfaceThickness .addInterest ("set_contactSurfaceThickness__", this);
+         this ._collider                .addInterest ("set_collider__",                this);
+         this ._bodies                  .addInterest ("set_bodies__",                  this);
+         this ._joints                  .addInterest ("set_joints__",                  this);
+
+         this .set_enabled__ ();
+         this .set_gravity__ ();
+         this .set_collider__ ();
+         this .set_bodies__ ();
+      },
+      getDynamicsWorld: function ()
+      {
+         return this .dynamicsWorld;
+      },
+      getTimeStep: function ()
+      {
+         const DELAY = 15; // Delay in frames when dt full applies.
+
+         var
+            dt        = 1 / Math .max (10, this .getBrowser () .getCurrentFrameRate ()),
+            deltaTime = this .deltaTime = ((DELAY - 1) * this .deltaTime + dt) / DELAY; // Moving average about DELAY frames.
+
+         return deltaTime;
+      },
+      set_enabled__: function ()
+      {
+         if (this .isLive () .getValue () && this ._enabled .getValue ())
+            this .getBrowser () .sensorEvents () .addInterest ("update", this);
+         else
+            this .getBrowser () .sensorEvents () .removeInterest ("update", this);
+      },
+      set_contacts__: function ()
+      {
+      },
+      set_gravity__: (function ()
+      {
+         var gravity = new Ammo .btVector3 (0, 0, 0);
+
+         return function ()
+         {
+            gravity .setValue (this ._gravity .x,
+                               this ._gravity .y,
+                               this ._gravity .z);
+
+            this .dynamicsWorld .setGravity (gravity);
+         };
+      })(),
+      set_contactSurfaceThickness__: function ()
+      {
+         for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+            this .bodyNodes [i] .getRigidBody () .getCollisionShape () .setMargin (this ._contactSurfaceThickness .getValue ());
+      },
+      set_collider__: function ()
+      {
+         this .colliderNode = X3DCast (X3DConstants .CollisionCollection, this ._collider);
+      },
+      set_bounce__: function ()
+      {
+         var
+            colliderNode = this .colliderNode,
+            bodyNodes    = this .bodyNodes;
+
+         if (colliderNode && colliderNode ._enabled .getValue ())
+         {
+            if (colliderNode .getAppliedParameters () .has (AppliedParametersType .BOUNCE))
+            {
+               for (var i = 0, length = bodyNodes .length; i < length; ++ i)
+               {
+                  var rigidBody = bodyNodes [i] .getRigidBody ();
+
+                  if (rigidBody .getLinearVelocity () .length () >= colliderNode ._minBounceSpeed .getValue ())
+                     rigidBody .setRestitution (colliderNode ._bounce .getValue ());
+                  else
+                     rigidBody .setRestitution (0);
+               }
+
+               return;
+            }
+         }
+
+         for (var i = 0, length = bodyNodes .length; i < length; ++ i)
+            bodyNodes [i] .getRigidBody () .setRestitution (0);
+      },
+      set_frictionCoefficients__: function ()
+      {
+         if (this .colliderNode && this .colliderNode ._enabled .getValue ())
+         {
+            if (this .colliderNode .getAppliedParameters () .has (AppliedParametersType .FRICTION_COEFFICIENT_2))
+            {
+               for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+               {
+                  var rigidBody = this .bodyNodes [i] .getRigidBody ();
+
+                  rigidBody .setFriction (this .colliderNode ._frictionCoefficients .x);
+                  rigidBody .setRollingFriction (this .colliderNode ._frictionCoefficients .y);
+               }
+
+               return;
+            }
+         }
+
+         for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+         {
+            var rigidBody = this .bodyNodes [i] .getRigidBody ();
+
+            rigidBody .setFriction (0.5);
+            rigidBody .setRollingFriction (0);
+         }
+      },
+      set_bodies__: function ()
+      {
+         for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+         {
+            var bodyNode = this .bodyNodes [i];
+
+            bodyNode ._enabled .removeInterest ("set_dynamicsWorld__", this);
+            bodyNode .setCollection (null);
+         }
+
+         for (var i = 0, length = this .otherBodyNodes .length; i < length; ++ i)
+            this .otherBodyNodes [i] ._collection .removeInterest ("set_bodies__", this);
+
+         this .bodyNodes .length = 0;
+
+         for (var i = 0, length = this ._bodies .length; i < length; ++ i)
+         {
+            var bodyNode = X3DCast (X3DConstants .RigidBody, this ._bodies [i]);
+
+            if (! bodyNode)
+               continue;
+
+            if (bodyNode .getCollection ())
+            {
+               bodyNode ._collection .addInterest ("set_bodies__", this);
+               this .otherBodyNodes .push (bodyNode);
+               continue;
+            }
+
+            bodyNode .setCollection (this);
+
+            this .bodyNodes .push (bodyNode);
+         }
+
+         for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+            this .bodyNodes [i] ._enabled .addInterest ("set_dynamicsWorld__", this);
+
+         this .set_contactSurfaceThickness__ ();
+         this .set_dynamicsWorld__ ();
+         this .set_joints__ ();
+      },
+      set_dynamicsWorld__: function ()
+      {
+         for (var i = 0, length = this .rigidBodies .length; i < length; ++ i)
+            this .dynamicsWorld .removeRigidBody (this .rigidBodies [i]);
+
+         this .rigidBodies .length = 0;
+
+         for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+         {
+            var bodyNode = this .bodyNodes [i];
+
+            if (! bodyNode ._enabled .getValue ())
+               continue;
+
+            this .rigidBodies .push (bodyNode .getRigidBody ());
+         }
+
+         for (var i = 0, length = this .rigidBodies .length; i < length; ++ i)
+            this .dynamicsWorld .addRigidBody (this .rigidBodies [i]);
+      },
+      set_joints__: function ()
+      {
+         for (var i = 0, length = this .jointNodes .length; i < length; ++ i)
+            this .jointNodes [i] .setCollection (null);
+
+         this .jointNodes .length = 0;
+
+         for (var i = 0, length = this .otherJointNodes .length; i < length; ++ i)
+            this .otherJointNodes [i] ._collection .removeInterest ("set_joints__", this);
+
+         this .otherJointNodes .length = 0;
+
+         for (var i = 0, length = this ._joints .length; i < length; ++ i)
+         {
+            var jointNode = X3DCast (X3DConstants .X3DRigidJointNode, this ._joints [i]);
+
+            if (! jointNode)
+               continue;
+
+            if (jointNode .getCollection ())
+            {
+               jointNode ._collection .addInterest ("set_joints__", this);
+               this .otherJointNodes .push (bodyNode);
+               continue;
+            }
+
+            jointNode .setCollection (this);
+
+            this .jointNodes .push (jointNode);
+         }
+      },
+      update: function ()
+      {
+         try
+         {
+            var
+               deltaTime  = this .getTimeStep (),
+               iterations = this ._iterations .getValue (),
+               gravity    = this ._gravity .getValue ();
+
+            this .set_bounce__ ();
+            this .set_frictionCoefficients__ ();
+
+            if (this ._preferAccuracy .getValue ())
+            {
+               deltaTime /= iterations;
+
+               for (var i = 0; i < iterations; ++ i)
+               {
+                  for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+                     this .bodyNodes [i] .applyForces (gravity);
+
+                  this .dynamicsWorld .stepSimulation (deltaTime, 0);
+               }
+            }
+            else
+            {
+               for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+                  this .bodyNodes [i] .applyForces (gravity);
+
+               this .dynamicsWorld .stepSimulation (deltaTime, iterations + 2, deltaTime / iterations);
+            }
+
+            for (var i = 0, length = this .bodyNodes .length; i < length; ++ i)
+               this .bodyNodes [i] .update ();
+         }
+         catch (error)
+         {
+            console .error (error);
+         }
+      },
+   });
+
+   return RigidBodyCollection;
 });