x_ite 4.7.14 → 5.0.2

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

@@ -48,16 +48,16 @@
 
 
 define ([
-	"x_ite/Fields",
-	"x_ite/Basic/X3DFieldDefinition",
-	"x_ite/Basic/FieldDefinitionArray",
-	"x_ite/Components/Core/X3DNode",
-	"x_ite/Bits/X3DConstants",
-	"x_ite/Bits/X3DCast",
-	"standard/Math/Numbers/Vector3",
-	"standard/Math/Numbers/Rotation4",
-	"standard/Math/Numbers/Matrix4",
-	"lib/ammojs/AmmoJS",
+   "x_ite/Fields",
+   "x_ite/Base/X3DFieldDefinition",
+   "x_ite/Base/FieldDefinitionArray",
+   "x_ite/Components/Core/X3DNode",
+   "x_ite/Base/X3DConstants",
+   "x_ite/Base/X3DCast",
+   "standard/Math/Numbers/Vector3",
+   "standard/Math/Numbers/Rotation4",
+   "standard/Math/Numbers/Matrix4",
+   "lib/ammojs/AmmoJS",
 ],
 function (Fields,
           X3DFieldDefinition,
@@ -72,447 +72,447 @@ function (Fields,
 {
 "use strict";
 
-	function RigidBody (executionContext)
-	{
-		X3DNode .call (this, executionContext);
-
-		this .addType (X3DConstants .RigidBody);
-
-		this .addChildObjects ("collection",    new Fields .SFNode (),
-		                       "transform",     new Fields .SFTime (),
-		                       "otherGeometry", new Fields .MFNode ());
-
-		this .position_            .setUnit ("length");
-		this .linearVelocity_      .setUnit ("speed");
-		this .angularVelocity_     .setUnit ("angularRate");
-		this .mass_                .setUnit ("mass");
-		this .forces_              .setUnit ("force");
-		this .torques_             .setUnit ("force");
-		this .disableLinearSpeed_  .setUnit ("speed");
-		this .disableAngularSpeed_ .setUnit ("angularRate");
-
-		this .compoundShape      = new Ammo .btCompoundShape ();
-		this .motionState        = new Ammo .btDefaultMotionState ();
-		this .constructionInfo   = new Ammo .btRigidBodyConstructionInfo (0, this .motionState, this .compoundShape);
-		this .rigidBody          = new Ammo .btRigidBody (this .constructionInfo);
-		this .geometryNodes      = [ ];
-		this .otherGeometryNodes = [ ];
-		this .matrix             = new Matrix4 ();
-		this .force              = new Vector3 (0, 0, 0);
-		this .torque             = new Vector3 (0, 0, 0);
-	}
-
-	RigidBody .prototype = Object .assign (Object .create (X3DNode .prototype),
-	{
-		constructor: RigidBody,
-		fieldDefinitions: new FieldDefinitionArray ([
-			new X3DFieldDefinition (X3DConstants .inputOutput, "metadata",             new Fields .SFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "enabled",              new Fields .SFBool (true)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "fixed",                new Fields .SFBool ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "position",             new Fields .SFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "orientation",          new Fields .SFRotation ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "linearVelocity",       new Fields .SFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "angularVelocity",      new Fields .SFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "useFiniteRotation",    new Fields .SFBool ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "finiteRotationAxis",   new Fields .SFVec3f (0, 1, 0)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "autoDamp",             new Fields .SFBool ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "linearDampingFactor",  new Fields .SFFloat (0.001)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "angularDampingFactor", new Fields .SFFloat (0.001)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "mass",                 new Fields .SFFloat (1)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "centerOfMass",         new Fields .SFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "massDensityModel",     new Fields .SFNode ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "useGlobalGravity",     new Fields .SFBool (true)),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "forces",               new Fields .MFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "torques",              new Fields .MFVec3f ()),
-			new X3DFieldDefinition (X3DConstants .inputOutput, "inertia",              new Fields .SFMatrix3f ()),
-			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 .inputOutput, "geometry",             new Fields .MFNode ()),
-		]),
-		getTypeName: function ()
-		{
-			return "RigidBody";
-		},
-		getComponentName: function ()
-		{
-			return "RigidBodyPhysics";
-		},
-		getContainerField: function ()
-		{
-			return "bodies";
-		},
-		initialize: function ()
-		{
-			X3DNode .prototype .initialize .call (this);
-
-			this .linearVelocity_       .addInterest ("set_linearVelocity__",     this);
-			this .angularVelocity_      .addInterest ("set_angularVelocity__",    this);
-			this .useFiniteRotation_    .addInterest ("set_finiteRotationAxis__", this);
-			this .finiteRotationAxis_   .addInterest ("set_finiteRotationAxis__", this);
-			this .autoDamp_             .addInterest ("set_damping__",            this);
-			this .linearDampingFactor_  .addInterest ("set_damping__",            this);
-			this .angularDampingFactor_ .addInterest ("set_damping__",            this);
-			this .forces_               .addInterest ("set_forces__",             this);
-			this .torques_              .addInterest ("set_torques__",            this);
-			this .disableTime_          .addInterest ("set_disable__",            this);
-			this .disableTime_          .addInterest ("set_disable__",            this);
-			this .disableLinearSpeed_   .addInterest ("set_disable__",            this);
-			this .disableAngularSpeed_  .addInterest ("set_disable__",            this);
-			this .geometry_             .addInterest ("set_geometry__",           this);
-			this .otherGeometry_        .addInterest ("set_geometry__",           this);
-
-			this .fixed_   .addInterest ("set_massProps__", this);
-			this .mass_    .addInterest ("set_massProps__", this);
-			this .inertia_ .addInterest ("set_massProps__", this);
-
-			this .transform_ .addInterest ("set_transform__", this);
-
-			this .set_forces__ ();
-			this .set_torques__ ();
-			this .set_geometry__ ();
-		},
-		setCollection: function (value)
-		{
-			this .collection_ = value;
-		},
-		getCollection: function ()
-		{
-			return this .collection_ .getValue ();
-		},
-		getRigidBody: function ()
-		{
-			return this .rigidBody;
-		},
-		getMatrix: function ()
-		{
-			return this .matrix;
-		},
-		set_position__: function ()
-		{
-			for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
-				this .geometryNodes [i] .translation_ = this .position_;
-		},
-		set_orientation__: function ()
-		{
-			for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
-				this .geometryNodes [i] .rotation_ = this .orientation_;
-		},
-		set_transform__: (function ()
-		{
-			var
-				o  = new Ammo .btVector3 (0, 0, 0),
-				t  = new Ammo .btTransform (),
-				im = new Matrix4 (),
-				it = new Ammo .btTransform (),
-				io = new Ammo .btVector3 (0, 0, 0);
-
-			return function ()
-			{
-				var m = this .matrix;
-
-				m .set (this .position_ .getValue (), this .orientation_ .getValue ());
-
-				//t .setFromOpenGLMatrix (m);
-
-				o .setValue (m [12], m [13], m [14]);
-
-				t .getBasis () .setValue (m [0], m [4], m [8],
-				                          m [1], m [5], m [9],
-				                          m [2], m [6], m [10]);
-
-				t .setOrigin (o);
-
-				//
-
-				im .assign (m);
-				im .inverse ();
-
-				//it .setFromOpenGLMatrix (im);
-
-				io .setValue (im [12], im [13], im [14]);
-
-				it .getBasis () .setValue (im [0], im [4], im [8],
-				                           im [1], im [5], im [9],
-				                           im [2], im [6], im [10]);
-
-				it .setOrigin (io);
-
-				var compoundShape = this .compoundShape;
-
-				for (var i = 0, length = this .compoundShape .getNumChildShapes (); i < length; ++ i)
-					compoundShape .updateChildTransform (i, it, false);
-
-				this .compoundShape .recalculateLocalAabb ();
-				this .motionState .setWorldTransform (t);
-
-				this .rigidBody .setMotionState (this .motionState);
-			};
-		})(),
-		set_linearVelocity__: (function ()
-		{
-			var lv = new Ammo .btVector3 (0, 0, 0);
-
-			return function ()
-			{
-				if (this .fixed_ .getValue ())
-					lv .setValue (0, 0, 0);
-				else
-					lv .setValue (this .linearVelocity_ .x, this .linearVelocity_ .y, this .linearVelocity_ .z);
-
-				this .rigidBody .setLinearVelocity (lv);
-				this .rigidBody .activate ();
-			};
-		}) (),
-		set_angularVelocity__: (function ()
-		{
-			var av = new Ammo .btVector3 (0, 0, 0);
-
-			return function ()
-			{
-				if (this .fixed_ .getValue ())
-					av .setValue (0, 0, 0);
-				else
-					av .setValue (this .angularVelocity_ .x, this .angularVelocity_ .y, this .angularVelocity_ .z);
-
-				this .rigidBody .setAngularVelocity (av);
-				this .rigidBody .activate ();
-			};
-		})(),
-		set_finiteRotationAxis__: (function ()
-		{
-			var angularFactor = new Ammo .btVector3 (1, 1, 1);
-
-			return function ()
-			{
-				if (this .useFiniteRotation_ .getValue ())
-					angularFactor .setValue (this .finiteRotationAxis_ .x, this .finiteRotationAxis_ .y, this .finiteRotationAxis_ .z);
-				else
-					angularFactor .setValue (1, 1, 1);
-
-				this .rigidBody .setAngularFactor (angularFactor);
-			};
-		})(),
-		set_damping__: function ()
-		{
-			if (this .autoDamp_ .getValue ())
-				this .rigidBody .setDamping (this .linearDampingFactor_ .getValue (), this .angularDampingFactor_ .getValue ());
-			else
-				this .rigidBody .setDamping (0, 0);
-
-			this .rigidBody .activate ();
-		},
-		set_centerOfMass__: (function ()
-		{
-			var
-				rotation     = new Ammo .btQuaternion (0, 0, 0, 1),
-				origin       = new Ammo .btVector3 (0, 0, 0),
-				centerOfMass = new Ammo .btTransform (rotation, origin);
-
-			return function ()
-			{
-				origin .setValue (this .centerOfMass_ .x, this .centerOfMass_ .y, this .centerOfMass_ .z);
-				centerOfMass .setOrigin (origin);
-
-				this .rigidBody .setCenterOfMassTransform (centerOfMass);
-			};
-		})(),
-		set_massProps__: (function ()
-		{
-			var localInertia = new Ammo .btVector3 (0, 0, 0);
-
-			return function ()
-			{
-				var inertia = this .inertia_;
-
-				localInertia .setValue (inertia [0] + inertia [1] + inertia [2],
-				                        inertia [3] + inertia [4] + inertia [5],
-				                        inertia [6] + inertia [7] + inertia [8]);
-
-				this .compoundShape .calculateLocalInertia (this .fixed_ .getValue () ? 0 : this .mass_ .getValue (), localInertia);
-
-				this .rigidBody .setMassProps (this .fixed_ .getValue () ? 0 : this .mass_ .getValue (), localInertia);
-			};
-		})(),
-		set_forces__: function ()
-		{
-			this .force .set (0, 0, 0);
-
-			for (var i = 0, length = this .forces_ .length; i < length; ++ i)
-				this .force .add (this .forces_ [i] .getValue ());
-		},
-		set_torques__: function ()
-		{
-			this .torque .set (0, 0, 0);
-
-			for (var i = 0, length = this .torques_ .length; i < length; ++ i)
-				this .torque .add (this .torques_ [i] .getValue ());
-		},
-		set_disable__: function ()
-		{
-			if (this .autoDisable_ .getValue ())
-			{
-				this .rigidBody .setSleepingThresholds (this .disableLinearSpeed_ .getValue (), this .disableAngularSpeed_ .getValue ());
-			}
-			else
-			{
-				this .rigidBody .setSleepingThresholds (0, 0);
-			}
-		},
-		set_geometry__: function ()
-		{
-			var geometryNodes = this .geometryNodes;
-
-			for (var i = 0, length = geometryNodes .length; i < length; ++ i)
-			{
-				var geometryNode = geometryNodes [i];
-
-				geometryNode .removeInterest ("addEvent", this .transform_);
-				geometryNode .compoundShape_changed_ .removeInterest ("set_compoundShape__", this);
-
-				geometryNode .setBody (null);
-
-				geometryNode .translation_ .removeFieldInterest (this .position_);
-				geometryNode .rotation_    .removeFieldInterest (this .orientation_);
-
-				this .position_    .removeFieldInterest (geometryNode .translation_);
-				this .orientation_ .removeFieldInterest (geometryNode .rotation_);
-			}
-
-			for (var i = 0, length = this .otherGeometryNodes .length; i < length; ++ i)
-				this .otherGeometryNodes [i] .body_ .removeInterest ("set_body__", this);
-
-			geometryNodes .length = 0;
-
-			for (var i = 0, length = this .geometry_ .length; i < length; ++ i)
-			{
-				var geometryNode = X3DCast (X3DConstants .X3DNBodyCollidableNode, this .geometry_ [i]);
-
-				if (! geometryNode)
-					continue;
-
-				if (geometryNode .getBody ())
-				{
-					geometryNode .body_ .addInterest ("set_body__", this);
-					this .otherGeometryNodes .push (geometryNode);
-					continue;
-				}
-
-				geometryNode .setBody (this);
-
-				geometryNodes .push (geometryNode);
-			}
-
-			for (var i = 0, length = geometryNodes .length; i < length; ++ i)
-			{
-				var geometryNode = geometryNodes [i];
-
-				geometryNode .addInterest ("addEvent", this .transform_);
-				geometryNode .compoundShape_changed_ .addInterest ("set_compoundShape__", this);
-
-				geometryNode .translation_ .addFieldInterest (this .position_);
-				geometryNode .rotation_    .addFieldInterest (this .orientation_);
-
-				this .position_    .addFieldInterest (geometryNode .translation_);
-				this .orientation_ .addFieldInterest (geometryNode .rotation_);
-			}
-
-			this .set_compoundShape__ ();
-		},
-		set_body__: function ()
-		{
-			this .otherGeometry_ .addEvent ();
-		},
-		set_compoundShape__: (function ()
-		{
-			var transform = new Ammo .btTransform ();
-
-			return function ()
-			{
-				var compoundShape = this .compoundShape;
-
-				for (var i = compoundShape .getNumChildShapes () - 1; i >= 0; -- i)
-					compoundShape .removeChildShapeByIndex (i);
-
-				for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
-					compoundShape .addChildShape (transform, this .geometryNodes [i] .getCompoundShape ());
-
-				this .set_position__ ();
-				this .set_orientation__ ();
-				this .set_transform__ ();
-				this .set_linearVelocity__ ();
-				this .set_angularVelocity__ ();
-				this .set_finiteRotationAxis__ ();
-				this .set_damping__ ();
-				this .set_centerOfMass__ ();
-				this .set_massProps__ ();
-				this .set_disable__ ();
-			};
-		})(),
-		applyForces: (function ()
-		{
-			var
-				g = new Ammo .btVector3 (0, 0, 0),
-				f = new Ammo .btVector3 (0, 0, 0),
-				t = new Ammo .btVector3 (0, 0, 0),
-				z = new Ammo .btVector3 (0, 0, 0);
-
-			return function (gravity)
-			{
-				if (this .fixed_ .getValue ())
-					return;
-
-				if (this .useGlobalGravity_ .getValue ())
-					g .setValue (gravity .x, gravity .y, gravity .z);
-				else
-					g .setValue (0, 0, 0);
-
-				f .setValue (this .force  .x, this .force  .y, this .force  .z);
-				t .setValue (this .torque .x, this .torque .y, this .torque .z);
-
-				this .rigidBody .setGravity (g);
-				this .rigidBody .applyForce (f, z);
-				this .rigidBody .applyTorque (t);
-			};
-		})(),
-		update: (function ()
-		{
-			var
-				transform       = new Ammo .btTransform (),
-				position        = new Vector3 (0, 0, 0),
-				orientation     = new Rotation4 (0, 0, 1, 0),
-				linearVelocity  = new Vector3 (0, 0, 0),
-				angularVelocity = new Vector3 (0, 0, 0);
-
-			return function ()
-			{
-				this .motionState .getWorldTransform (transform);
-
-				var
-					btOrigin          = transform .getOrigin (),
-					btQuaternion      = transform .getRotation (),
-					btLinearVeloctity = this .rigidBody .getLinearVelocity (),
-					btAngularVelocity = this .rigidBody .getAngularVelocity ();
-
-				orientation .value .set (btQuaternion .x (), btQuaternion .y (), btQuaternion .z (), btQuaternion .w ());
-
-				this .position_        = position .set (btOrigin .x (), btOrigin .y (), btOrigin .z ());
-				this .orientation_     = orientation;
-				this .linearVelocity_  = linearVelocity .set (btLinearVeloctity .x (), btLinearVeloctity .y (), btLinearVeloctity .z ());
-				this .angularVelocity_ = angularVelocity .set (btAngularVelocity .x (), btAngularVelocity .y (), btAngularVelocity .z ());
-			};
-		})(),
-		dispose: function ()
-		{
-			Ammo .destroy (this .rigidBody);
-			Ammo .destroy (this .constructionInfo);
-			Ammo .destroy (this .motionState);
-			Ammo .destroy (this .compoundShape);
-
-			X3DNode .prototype .dispose .call (this);
-		},
-	});
-
-	return RigidBody;
+   function RigidBody (executionContext)
+   {
+      X3DNode .call (this, executionContext);
+
+      this .addType (X3DConstants .RigidBody);
+
+      this .addChildObjects ("collection",    new Fields .SFNode (),
+                             "transform",     new Fields .SFTime (),
+                             "otherGeometry", new Fields .MFNode ());
+
+      this ._position            .setUnit ("length");
+      this ._linearVelocity      .setUnit ("speed");
+      this ._angularVelocity     .setUnit ("angularRate");
+      this ._mass                .setUnit ("mass");
+      this ._forces              .setUnit ("force");
+      this ._torques             .setUnit ("force");
+      this ._disableLinearSpeed  .setUnit ("speed");
+      this ._disableAngularSpeed .setUnit ("angularRate");
+
+      this .compoundShape      = new Ammo .btCompoundShape ();
+      this .motionState        = new Ammo .btDefaultMotionState ();
+      this .constructionInfo   = new Ammo .btRigidBodyConstructionInfo (0, this .motionState, this .compoundShape);
+      this .rigidBody          = new Ammo .btRigidBody (this .constructionInfo);
+      this .geometryNodes      = [ ];
+      this .otherGeometryNodes = [ ];
+      this .matrix             = new Matrix4 ();
+      this .force              = new Vector3 (0, 0, 0);
+      this .torque             = new Vector3 (0, 0, 0);
+   }
+
+   RigidBody .prototype = Object .assign (Object .create (X3DNode .prototype),
+   {
+      constructor: RigidBody,
+      [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 .inputOutput, "fixed",                new Fields .SFBool ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "position",             new Fields .SFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "orientation",          new Fields .SFRotation ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "linearVelocity",       new Fields .SFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "angularVelocity",      new Fields .SFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "useFiniteRotation",    new Fields .SFBool ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "finiteRotationAxis",   new Fields .SFVec3f (0, 1, 0)),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "autoDamp",             new Fields .SFBool ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "linearDampingFactor",  new Fields .SFFloat (0.001)),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "angularDampingFactor", new Fields .SFFloat (0.001)),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "mass",                 new Fields .SFFloat (1)),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "centerOfMass",         new Fields .SFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "massDensityModel",     new Fields .SFNode ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "useGlobalGravity",     new Fields .SFBool (true)),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "forces",               new Fields .MFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "torques",              new Fields .MFVec3f ()),
+         new X3DFieldDefinition (X3DConstants .inputOutput, "inertia",              new Fields .SFMatrix3f ()),
+         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 .inputOutput, "geometry",             new Fields .MFNode ()),
+      ]),
+      getTypeName: function ()
+      {
+         return "RigidBody";
+      },
+      getComponentName: function ()
+      {
+         return "RigidBodyPhysics";
+      },
+      getContainerField: function ()
+      {
+         return "bodies";
+      },
+      initialize: function ()
+      {
+         X3DNode .prototype .initialize .call (this);
+
+         this ._linearVelocity       .addInterest ("set_linearVelocity__",     this);
+         this ._angularVelocity      .addInterest ("set_angularVelocity__",    this);
+         this ._useFiniteRotation    .addInterest ("set_finiteRotationAxis__", this);
+         this ._finiteRotationAxis   .addInterest ("set_finiteRotationAxis__", this);
+         this ._autoDamp             .addInterest ("set_damping__",            this);
+         this ._linearDampingFactor  .addInterest ("set_damping__",            this);
+         this ._angularDampingFactor .addInterest ("set_damping__",            this);
+         this ._forces               .addInterest ("set_forces__",             this);
+         this ._torques              .addInterest ("set_torques__",            this);
+         this ._disableTime          .addInterest ("set_disable__",            this);
+         this ._disableTime          .addInterest ("set_disable__",            this);
+         this ._disableLinearSpeed   .addInterest ("set_disable__",            this);
+         this ._disableAngularSpeed  .addInterest ("set_disable__",            this);
+         this ._geometry             .addInterest ("set_geometry__",           this);
+         this ._otherGeometry        .addInterest ("set_geometry__",           this);
+
+         this ._fixed   .addInterest ("set_massProps__", this);
+         this ._mass    .addInterest ("set_massProps__", this);
+         this ._inertia .addInterest ("set_massProps__", this);
+
+         this ._transform .addInterest ("set_transform__", this);
+
+         this .set_forces__ ();
+         this .set_torques__ ();
+         this .set_geometry__ ();
+      },
+      setCollection: function (value)
+      {
+         this ._collection = value;
+      },
+      getCollection: function ()
+      {
+         return this ._collection .getValue ();
+      },
+      getRigidBody: function ()
+      {
+         return this .rigidBody;
+      },
+      getMatrix: function ()
+      {
+         return this .matrix;
+      },
+      set_position__: function ()
+      {
+         for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
+            this .geometryNodes [i] ._translation = this ._position;
+      },
+      set_orientation__: function ()
+      {
+         for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
+            this .geometryNodes [i] ._rotation = this ._orientation;
+      },
+      set_transform__: (function ()
+      {
+         var
+            o  = new Ammo .btVector3 (0, 0, 0),
+            t  = new Ammo .btTransform (),
+            im = new Matrix4 (),
+            it = new Ammo .btTransform (),
+            io = new Ammo .btVector3 (0, 0, 0);
+
+         return function ()
+         {
+            var m = this .matrix;
+
+            m .set (this ._position .getValue (), this ._orientation .getValue ());
+
+            //t .setFromOpenGLMatrix (m);
+
+            o .setValue (m [12], m [13], m [14]);
+
+            t .getBasis () .setValue (m [0], m [4], m [8],
+                                      m [1], m [5], m [9],
+                                      m [2], m [6], m [10]);
+
+            t .setOrigin (o);
+
+            //
+
+            im .assign (m);
+            im .inverse ();
+
+            //it .setFromOpenGLMatrix (im);
+
+            io .setValue (im [12], im [13], im [14]);
+
+            it .getBasis () .setValue (im [0], im [4], im [8],
+                                       im [1], im [5], im [9],
+                                       im [2], im [6], im [10]);
+
+            it .setOrigin (io);
+
+            var compoundShape = this .compoundShape;
+
+            for (var i = 0, length = this .compoundShape .getNumChildShapes (); i < length; ++ i)
+               compoundShape .updateChildTransform (i, it, false);
+
+            this .compoundShape .recalculateLocalAabb ();
+            this .motionState .setWorldTransform (t);
+
+            this .rigidBody .setMotionState (this .motionState);
+         };
+      })(),
+      set_linearVelocity__: (function ()
+      {
+         var lv = new Ammo .btVector3 (0, 0, 0);
+
+         return function ()
+         {
+            if (this ._fixed .getValue ())
+               lv .setValue (0, 0, 0);
+            else
+               lv .setValue (this ._linearVelocity .x, this ._linearVelocity .y, this ._linearVelocity .z);
+
+            this .rigidBody .setLinearVelocity (lv);
+            this .rigidBody .activate ();
+         };
+      }) (),
+      set_angularVelocity__: (function ()
+      {
+         var av = new Ammo .btVector3 (0, 0, 0);
+
+         return function ()
+         {
+            if (this ._fixed .getValue ())
+               av .setValue (0, 0, 0);
+            else
+               av .setValue (this ._angularVelocity .x, this ._angularVelocity .y, this ._angularVelocity .z);
+
+            this .rigidBody .setAngularVelocity (av);
+            this .rigidBody .activate ();
+         };
+      })(),
+      set_finiteRotationAxis__: (function ()
+      {
+         var angularFactor = new Ammo .btVector3 (1, 1, 1);
+
+         return function ()
+         {
+            if (this ._useFiniteRotation .getValue ())
+               angularFactor .setValue (this ._finiteRotationAxis .x, this ._finiteRotationAxis .y, this ._finiteRotationAxis .z);
+            else
+               angularFactor .setValue (1, 1, 1);
+
+            this .rigidBody .setAngularFactor (angularFactor);
+         };
+      })(),
+      set_damping__: function ()
+      {
+         if (this ._autoDamp .getValue ())
+            this .rigidBody .setDamping (this ._linearDampingFactor .getValue (), this ._angularDampingFactor .getValue ());
+         else
+            this .rigidBody .setDamping (0, 0);
+
+         this .rigidBody .activate ();
+      },
+      set_centerOfMass__: (function ()
+      {
+         var
+            rotation     = new Ammo .btQuaternion (0, 0, 0, 1),
+            origin       = new Ammo .btVector3 (0, 0, 0),
+            centerOfMass = new Ammo .btTransform (rotation, origin);
+
+         return function ()
+         {
+            origin .setValue (this ._centerOfMass .x, this ._centerOfMass .y, this ._centerOfMass .z);
+            centerOfMass .setOrigin (origin);
+
+            this .rigidBody .setCenterOfMassTransform (centerOfMass);
+         };
+      })(),
+      set_massProps__: (function ()
+      {
+         var localInertia = new Ammo .btVector3 (0, 0, 0);
+
+         return function ()
+         {
+            var inertia = this ._inertia;
+
+            localInertia .setValue (inertia [0] + inertia [1] + inertia [2],
+                                    inertia [3] + inertia [4] + inertia [5],
+                                    inertia [6] + inertia [7] + inertia [8]);
+
+            this .compoundShape .calculateLocalInertia (this ._fixed .getValue () ? 0 : this ._mass .getValue (), localInertia);
+
+            this .rigidBody .setMassProps (this ._fixed .getValue () ? 0 : this ._mass .getValue (), localInertia);
+         };
+      })(),
+      set_forces__: function ()
+      {
+         this .force .set (0, 0, 0);
+
+         for (var i = 0, length = this ._forces .length; i < length; ++ i)
+            this .force .add (this ._forces [i] .getValue ());
+      },
+      set_torques__: function ()
+      {
+         this .torque .set (0, 0, 0);
+
+         for (var i = 0, length = this ._torques .length; i < length; ++ i)
+            this .torque .add (this ._torques [i] .getValue ());
+      },
+      set_disable__: function ()
+      {
+         if (this ._autoDisable .getValue ())
+         {
+            this .rigidBody .setSleepingThresholds (this ._disableLinearSpeed .getValue (), this ._disableAngularSpeed .getValue ());
+         }
+         else
+         {
+            this .rigidBody .setSleepingThresholds (0, 0);
+         }
+      },
+      set_geometry__: function ()
+      {
+         var geometryNodes = this .geometryNodes;
+
+         for (var i = 0, length = geometryNodes .length; i < length; ++ i)
+         {
+            var geometryNode = geometryNodes [i];
+
+            geometryNode .removeInterest ("addEvent", this ._transform);
+            geometryNode ._compoundShape_changed .removeInterest ("set_compoundShape__", this);
+
+            geometryNode .setBody (null);
+
+            geometryNode ._translation .removeFieldInterest (this ._position);
+            geometryNode ._rotation    .removeFieldInterest (this ._orientation);
+
+            this ._position    .removeFieldInterest (geometryNode ._translation);
+            this ._orientation .removeFieldInterest (geometryNode ._rotation);
+         }
+
+         for (var i = 0, length = this .otherGeometryNodes .length; i < length; ++ i)
+            this .otherGeometryNodes [i] ._body .removeInterest ("set_body__", this);
+
+         geometryNodes .length = 0;
+
+         for (var i = 0, length = this ._geometry .length; i < length; ++ i)
+         {
+            var geometryNode = X3DCast (X3DConstants .X3DNBodyCollidableNode, this ._geometry [i]);
+
+            if (! geometryNode)
+               continue;
+
+            if (geometryNode .getBody ())
+            {
+               geometryNode ._body .addInterest ("set_body__", this);
+               this .otherGeometryNodes .push (geometryNode);
+               continue;
+            }
+
+            geometryNode .setBody (this);
+
+            geometryNodes .push (geometryNode);
+         }
+
+         for (var i = 0, length = geometryNodes .length; i < length; ++ i)
+         {
+            var geometryNode = geometryNodes [i];
+
+            geometryNode .addInterest ("addEvent", this ._transform);
+            geometryNode ._compoundShape_changed .addInterest ("set_compoundShape__", this);
+
+            geometryNode ._translation .addFieldInterest (this ._position);
+            geometryNode ._rotation    .addFieldInterest (this ._orientation);
+
+            this ._position    .addFieldInterest (geometryNode ._translation);
+            this ._orientation .addFieldInterest (geometryNode ._rotation);
+         }
+
+         this .set_compoundShape__ ();
+      },
+      set_body__: function ()
+      {
+         this ._otherGeometry .addEvent ();
+      },
+      set_compoundShape__: (function ()
+      {
+         var transform = new Ammo .btTransform ();
+
+         return function ()
+         {
+            var compoundShape = this .compoundShape;
+
+            for (var i = compoundShape .getNumChildShapes () - 1; i >= 0; -- i)
+               compoundShape .removeChildShapeByIndex (i);
+
+            for (var i = 0, length = this .geometryNodes .length; i < length; ++ i)
+               compoundShape .addChildShape (transform, this .geometryNodes [i] .getCompoundShape ());
+
+            this .set_position__ ();
+            this .set_orientation__ ();
+            this .set_transform__ ();
+            this .set_linearVelocity__ ();
+            this .set_angularVelocity__ ();
+            this .set_finiteRotationAxis__ ();
+            this .set_damping__ ();
+            this .set_centerOfMass__ ();
+            this .set_massProps__ ();
+            this .set_disable__ ();
+         };
+      })(),
+      applyForces: (function ()
+      {
+         var
+            g = new Ammo .btVector3 (0, 0, 0),
+            f = new Ammo .btVector3 (0, 0, 0),
+            t = new Ammo .btVector3 (0, 0, 0),
+            z = new Ammo .btVector3 (0, 0, 0);
+
+         return function (gravity)
+         {
+            if (this ._fixed .getValue ())
+               return;
+
+            if (this ._useGlobalGravity .getValue ())
+               g .setValue (gravity .x, gravity .y, gravity .z);
+            else
+               g .setValue (0, 0, 0);
+
+            f .setValue (this .force  .x, this .force  .y, this .force  .z);
+            t .setValue (this .torque .x, this .torque .y, this .torque .z);
+
+            this .rigidBody .setGravity (g);
+            this .rigidBody .applyForce (f, z);
+            this .rigidBody .applyTorque (t);
+         };
+      })(),
+      update: (function ()
+      {
+         var
+            transform       = new Ammo .btTransform (),
+            position        = new Vector3 (0, 0, 0),
+            orientation     = new Rotation4 (0, 0, 1, 0),
+            linearVelocity  = new Vector3 (0, 0, 0),
+            angularVelocity = new Vector3 (0, 0, 0);
+
+         return function ()
+         {
+            this .motionState .getWorldTransform (transform);
+
+            var
+               btOrigin          = transform .getOrigin (),
+               btQuaternion      = transform .getRotation (),
+               btLinearVeloctity = this .rigidBody .getLinearVelocity (),
+               btAngularVelocity = this .rigidBody .getAngularVelocity ();
+
+            orientation .value .set (btQuaternion .x (), btQuaternion .y (), btQuaternion .z (), btQuaternion .w ());
+
+            this ._position        = position .set (btOrigin .x (), btOrigin .y (), btOrigin .z ());
+            this ._orientation     = orientation;
+            this ._linearVelocity  = linearVelocity .set (btLinearVeloctity .x (), btLinearVeloctity .y (), btLinearVeloctity .z ());
+            this ._angularVelocity = angularVelocity .set (btAngularVelocity .x (), btAngularVelocity .y (), btAngularVelocity .z ());
+         };
+      })(),
+      dispose: function ()
+      {
+         Ammo .destroy (this .rigidBody);
+         Ammo .destroy (this .constructionInfo);
+         Ammo .destroy (this .motionState);
+         Ammo .destroy (this .compoundShape);
+
+         X3DNode .prototype .dispose .call (this);
+      },
+   });
+
+   return RigidBody;
 });