{"ast":null,"code":"import { Vector3, Matrix, TmpVectors, Quaternion } from \"../../Maths/math.vector.js\";\nimport { PhysicsAggregate } from \"./physicsAggregate.js\";\nimport { PhysicsConstraint } from \"./physicsConstraint.js\";\nimport { Axis } from \"../../Maths/math.axis.js\";\nimport { Logger } from \"../../Misc/logger.js\";\nimport { TransformNode } from \"../../Meshes/transformNode.js\";\n/**\n * Ragdoll bone properties\n * @experimental\n */\nexport class RagdollBoneProperties {}\n/**\n * Ragdoll for Physics V2\n * @experimental\n */\nexport class Ragdoll {\n  /**\n   * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\n   * @param skeleton The skeleton containing bones to be physicalized\n   * @param rootTransformNode The mesh or its transform used by the skeleton\n   * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\n   */\n  constructor(skeleton, rootTransformNode, config) {\n    this._boxConfigs = new Array();\n    this._joints = new Array();\n    this._bones = new Array();\n    this._initialRotation = new Array();\n    // without mesh transform, to figure out later\n    this._initialRotation2 = new Array();\n    this._boneNames = [];\n    this._transforms = new Array();\n    this._aggregates = new Array();\n    this._ragdollMode = false;\n    this._rootBoneName = \"\";\n    this._rootBoneIndex = -1;\n    this._mass = 10;\n    this._restitution = 0;\n    /**\n     * Pause synchronization between physics and bone position/orientation\n     */\n    this.pauseSync = false;\n    this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;\n    this._defaultJointMin = -90;\n    this._defaultJointMax = 90;\n    this._skeleton = skeleton;\n    this._scene = skeleton.getScene();\n    this._rootTransformNode = rootTransformNode;\n    this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\n    this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\n    this._putBoxesInBoneCenter = false;\n    this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;\n    this._init();\n  }\n  /**\n   * Returns the aggregate corresponding to the ragdoll bone index\n   * @param index ragdoll bone aggregate index\n   * @returns the aggregate for the bone index for the root aggregate if index is invalid\n   */\n  getAggregate(index) {\n    if (index < 0 || index >= this._aggregates.length) {\n      return this._aggregates[this._rootBoneIndex];\n    }\n    return this._aggregates[index];\n  }\n  _createColliders() {\n    this._rootTransformNode.computeWorldMatrix();\n    this._skeleton.computeAbsoluteMatrices(true);\n    this._skeleton.prepare(true);\n    const config = this._config;\n    for (let i = 0; i < config.length; i++) {\n      const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\n      for (let ii = 0; ii < boneNames.length; ii++) {\n        var _currentRagdollBonePr, _currentRagdollBonePr2, _currentRagdollBonePr3;\n        const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\n        if (currentBone == undefined) {\n          return;\n        }\n        // First define the box dimensions, so we can then use them when calling CreateBox().\n        const currentRagdollBoneProperties = {\n          width: this._config[i].width,\n          depth: this._config[i].depth,\n          height: this._config[i].height,\n          size: this._config[i].size\n        };\n        currentRagdollBoneProperties.width = (_currentRagdollBonePr = currentRagdollBoneProperties.width) !== null && _currentRagdollBonePr !== void 0 ? _currentRagdollBonePr : currentRagdollBoneProperties.size;\n        currentRagdollBoneProperties.depth = (_currentRagdollBonePr2 = currentRagdollBoneProperties.depth) !== null && _currentRagdollBonePr2 !== void 0 ? _currentRagdollBonePr2 : currentRagdollBoneProperties.size;\n        currentRagdollBoneProperties.height = (_currentRagdollBonePr3 = currentRagdollBoneProperties.height) !== null && _currentRagdollBonePr3 !== void 0 ? _currentRagdollBonePr3 : currentRagdollBoneProperties.size;\n        const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\n        // Define the rest of the box properties.\n        currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\n        currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\n        currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\n        currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\n        // Offset value.\n        let boxOffset = 0;\n        if (config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter || this._putBoxesInBoneCenter) {\n          if (currentBone.length === undefined) {\n            Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\n          }\n          boxOffset = currentBone.length / 2;\n        } else if (config[i].boxOffset !== undefined) {\n          boxOffset = config[i].boxOffset;\n        }\n        currentRagdollBoneProperties.boxOffset = boxOffset;\n        // Offset axis.\n        const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;\n        const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);\n        currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\n        transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));\n        const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\n        const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\n        const aggregate = new PhysicsAggregate(transform, 3 /* PhysicsShapeType.BOX */, {\n          mass: mass,\n          restitution: restitution,\n          friction: 0.6,\n          extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth)\n        }, this._scene);\n        aggregate.body.setCollisionCallbackEnabled(true);\n        aggregate.body.disablePreStep = false;\n        aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);\n        this._aggregates.push(aggregate);\n        this._bones.push(currentBone);\n        this._boneNames.push(currentBone.name);\n        this._transforms.push(transform);\n        this._boxConfigs.push(currentRagdollBoneProperties);\n        this._initialRotation.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */, this._rootTransformNode));\n        this._initialRotation2.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */));\n      }\n    }\n  }\n  _initJoints() {\n    this._rootTransformNode.computeWorldMatrix();\n    for (let i = 0; i < this._bones.length; i++) {\n      // The root bone has no joints.\n      if (i == this._rootBoneIndex) continue;\n      const nearestParent = this._findNearestParent(i);\n      if (nearestParent == null) {\n        Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\n        return;\n      }\n      const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\n      let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._rootTransformNode).subtract(this._transforms[boneParentIndex].position);\n      const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\n      const invertedWorldMat = Matrix.Invert(wmat);\n      distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._rootTransformNode), invertedWorldMat);\n      const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);\n      const boxAbsPos = this._transforms[i].position.clone();\n      const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\n      const joint = new PhysicsConstraint(1 /* PhysicsConstraintType.BALL_AND_SOCKET */, {\n        pivotA: distanceFromParentBoxToBone,\n        pivotB: myConnectedPivot,\n        axisA: this._boxConfigs[i].rotationAxis,\n        axisB: this._boxConfigs[i].rotationAxis,\n        collision: false\n      }, this._scene);\n      this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);\n      joint.isEnabled = false;\n      this._joints.push(joint);\n    }\n  }\n  // set physics body orientation/position from bones\n  _syncBonesToPhysics() {\n    const rootMatrix = this._rootTransformNode.getWorldMatrix();\n    for (let i = 0; i < this._bones.length; i++) {\n      var _this$_boxConfigs$i$b;\n      // position\n      const transform = this._aggregates[i].transformNode;\n      const rootPos = this._bones[i].getAbsolutePosition();\n      Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);\n      // added offset\n      this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis, this._rootTransformNode, TmpVectors.Vector3[0]);\n      TmpVectors.Vector3[0].scaleInPlace((_this$_boxConfigs$i$b = this._boxConfigs[i].boxOffset) !== null && _this$_boxConfigs$i$b !== void 0 ? _this$_boxConfigs$i$b : 0);\n      transform.position.addInPlace(TmpVectors.Vector3[0]);\n      this._setBoneOrientationToBody(i);\n    }\n  }\n  _setBoneOrientationToBody(boneIndex) {\n    const transform = this._aggregates[boneIndex].transformNode;\n    const bone = this._bones[boneIndex];\n    this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);\n    bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this._rootTransformNode, TmpVectors.Quaternion[1]);\n    TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion);\n    transform.rotationQuaternion.normalize();\n  }\n  _syncBonesAndBoxes() {\n    if (this.pauseSync) {\n      return;\n    }\n    if (this._ragdollMode) {\n      this._setBodyOrientationToBone(this._rootBoneIndex);\n      const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\n      this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);\n      Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);\n      this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);\n      for (let i = 0; i < this._bones.length; i++) {\n        if (i == this._rootBoneIndex) continue;\n        this._setBodyOrientationToBone(i);\n      }\n    } else {\n      this._syncBonesToPhysics();\n    }\n  }\n  _setBodyOrientationToBone(boneIndex) {\n    var _this$_rootTransformN, _this$_aggregates$bon;\n    const qmesh = (_this$_rootTransformN = this._rootTransformNode.rotationQuaternion) !== null && _this$_rootTransformN !== void 0 ? _this$_rootTransformN : Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);\n    const qbind = this._initialRotation2[boneIndex];\n    const qphys = (_this$_aggregates$bon = this._aggregates[boneIndex].body) === null || _this$_aggregates$bon === void 0 || (_this$_aggregates$bon = _this$_aggregates$bon.transformNode) === null || _this$_aggregates$bon === void 0 ? void 0 : _this$_aggregates$bon.rotationQuaternion;\n    qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\n    qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\n    this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], 1 /* Space.WORLD */, this._rootTransformNode);\n  }\n  // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\n  _defineRootBone() {\n    const skeletonRoots = this._skeleton.getChildren();\n    if (skeletonRoots.length != 1) {\n      Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\n      return false;\n    }\n    this._rootBoneName = skeletonRoots[0].name;\n    this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\n    if (this._rootBoneIndex == -1) {\n      Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\n      return false;\n    }\n    return true;\n  }\n  _findNearestParent(boneIndex) {\n    let nearestParent = this._bones[boneIndex].getParent();\n    do {\n      var _nearestParent;\n      if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\n        break;\n      }\n      nearestParent = (_nearestParent = nearestParent) === null || _nearestParent === void 0 ? void 0 : _nearestParent.getParent();\n    } while (nearestParent != null);\n    return nearestParent;\n  }\n  _init() {\n    this._createColliders();\n    // If this.defineRootBone() returns ... there is not root bone.\n    if (!this._defineRootBone()) {\n      return;\n    }\n    this._initJoints();\n    this._scene.registerBeforeRender(() => {\n      this._syncBonesAndBoxes();\n    });\n    this._syncBonesToPhysics();\n  }\n  /**\n   * Enable ragdoll mode. Create physics objects and make them dynamic.\n   */\n  ragdoll() {\n    this._ragdollMode = true;\n    // detach bones with link transform to let physics have control\n    this._skeleton.bones.forEach(bone => {\n      bone.linkTransformNode(null);\n    });\n    for (let i = 0; i < this._joints.length; i++) {\n      this._joints[i].isEnabled = true;\n    }\n    for (let i = 0; i < this._aggregates.length; i++) {\n      this._aggregates[i].body.setMotionType(2 /* PhysicsMotionType.DYNAMIC */);\n    }\n  }\n  /**\n   * Dispose resources and remove physics objects\n   */\n  dispose() {\n    this._aggregates.forEach(aggregate => {\n      aggregate.dispose();\n    });\n  }\n}","map":{"version":3,"names":["Vector3","Matrix","TmpVectors","Quaternion","PhysicsAggregate","PhysicsConstraint","Axis","Logger","TransformNode","RagdollBoneProperties","Ragdoll","constructor","skeleton","rootTransformNode","config","_boxConfigs","Array","_joints","_bones","_initialRotation","_initialRotation2","_boneNames","_transforms","_aggregates","_ragdollMode","_rootBoneName","_rootBoneIndex","_mass","_restitution","pauseSync","_defaultJoint","_defaultJointMin","_defaultJointMax","_skeleton","_scene","getScene","_rootTransformNode","_config","_putBoxesInBoneCenter","_init","getAggregate","index","length","_createColliders","computeWorldMatrix","computeAbsoluteMatrices","prepare","i","boneNames","bone","undefined","bones","ii","_currentRagdollBonePr","_currentRagdollBonePr2","_currentRagdollBonePr3","currentBone","getBoneIndexByName","currentRagdollBoneProperties","width","depth","height","size","transform","joint","rotationAxis","X","min","max","boxOffset","putBoxInBoneCenter","Log","name","boneOffsetAxis","Y","boneDir","getDirection","position","getAbsolutePosition","add","scale","mass","restitution","aggregate","friction","extents","body","setCollisionCallbackEnabled","disablePreStep","setMotionType","push","getRotationQuaternion","_initJoints","nearestParent","_findNearestParent","Warn","boneParentIndex","indexOf","distanceFromParentBoxToBone","subtract","wmat","invertedWorldMat","Invert","TransformCoordinates","boneAbsPos","boxAbsPos","clone","myConnectedPivot","pivotA","pivotB","axisA","axisB","collision","addConstraint","isEnabled","_syncBonesToPhysics","rootMatrix","getWorldMatrix","_this$_boxConfigs$i$b","transformNode","rootPos","TransformCoordinatesToRef","getDirectionToRef","scaleInPlace","addInPlace","_setBoneOrientationToBody","boneIndex","conjugateToRef","getRotationQuaternionToRef","multiplyToRef","rotationQuaternion","normalize","_syncBonesAndBoxes","_setBodyOrientationToBone","invertToRef","setAbsolutePosition","_this$_rootTransformN","_this$_aggregates$bon","qmesh","FromEulerAngles","rotation","x","y","z","qbind","qphys","setRotationQuaternion","_defineRootBone","skeletonRoots","getChildren","getParent","_nearestParent","includes","registerBeforeRender","ragdoll","forEach","linkTransformNode","dispose"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Physics/v2/ragdoll.js"],"sourcesContent":["import { Vector3, Matrix, TmpVectors, Quaternion } from \"../../Maths/math.vector.js\";\nimport { PhysicsAggregate } from \"./physicsAggregate.js\";\nimport { PhysicsConstraint } from \"./physicsConstraint.js\";\nimport { Axis } from \"../../Maths/math.axis.js\";\nimport { Logger } from \"../../Misc/logger.js\";\nimport { TransformNode } from \"../../Meshes/transformNode.js\";\n/**\n * Ragdoll bone properties\n * @experimental\n */\nexport class RagdollBoneProperties {\n}\n/**\n * Ragdoll for Physics V2\n * @experimental\n */\nexport class Ragdoll {\n    /**\n     * Construct a new Ragdoll object. Once ready, it can be made dynamic by calling `Ragdoll` method\n     * @param skeleton The skeleton containing bones to be physicalized\n     * @param rootTransformNode The mesh or its transform used by the skeleton\n     * @param config an array of `RagdollBoneProperties` corresponding to bones and their properties used to instanciate physics bodies\n     */\n    constructor(skeleton, rootTransformNode, config) {\n        this._boxConfigs = new Array();\n        this._joints = new Array();\n        this._bones = new Array();\n        this._initialRotation = new Array();\n        // without mesh transform, to figure out later\n        this._initialRotation2 = new Array();\n        this._boneNames = [];\n        this._transforms = new Array();\n        this._aggregates = new Array();\n        this._ragdollMode = false;\n        this._rootBoneName = \"\";\n        this._rootBoneIndex = -1;\n        this._mass = 10;\n        this._restitution = 0;\n        /**\n         * Pause synchronization between physics and bone position/orientation\n         */\n        this.pauseSync = false;\n        this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;\n        this._defaultJointMin = -90;\n        this._defaultJointMax = 90;\n        this._skeleton = skeleton;\n        this._scene = skeleton.getScene();\n        this._rootTransformNode = rootTransformNode;\n        this._config = config; // initial, user defined box configs. May have several box configs jammed into 1 index.\n        this._boxConfigs = []; // final box configs. Every element is a separate box config (this.config may have several configs jammed into 1 index).\n        this._putBoxesInBoneCenter = false;\n        this._defaultJoint = 3 /* PhysicsConstraintType.HINGE */;\n        this._init();\n    }\n    /**\n     * Returns the aggregate corresponding to the ragdoll bone index\n     * @param index ragdoll bone aggregate index\n     * @returns the aggregate for the bone index for the root aggregate if index is invalid\n     */\n    getAggregate(index) {\n        if (index < 0 || index >= this._aggregates.length) {\n            return this._aggregates[this._rootBoneIndex];\n        }\n        return this._aggregates[index];\n    }\n    _createColliders() {\n        this._rootTransformNode.computeWorldMatrix();\n        this._skeleton.computeAbsoluteMatrices(true);\n        this._skeleton.prepare(true);\n        const config = this._config;\n        for (let i = 0; i < config.length; i++) {\n            const boneNames = config[i].bone !== undefined ? [config[i].bone] : config[i].bones;\n            for (let ii = 0; ii < boneNames.length; ii++) {\n                const currentBone = this._skeleton.bones[this._skeleton.getBoneIndexByName(boneNames[ii])];\n                if (currentBone == undefined) {\n                    return;\n                }\n                // First define the box dimensions, so we can then use them when calling CreateBox().\n                const currentRagdollBoneProperties = {\n                    width: this._config[i].width,\n                    depth: this._config[i].depth,\n                    height: this._config[i].height,\n                    size: this._config[i].size,\n                };\n                currentRagdollBoneProperties.width = currentRagdollBoneProperties.width ?? currentRagdollBoneProperties.size;\n                currentRagdollBoneProperties.depth = currentRagdollBoneProperties.depth ?? currentRagdollBoneProperties.size;\n                currentRagdollBoneProperties.height = currentRagdollBoneProperties.height ?? currentRagdollBoneProperties.size;\n                const transform = new TransformNode(boneNames[ii] + \"_transform\", this._scene);\n                // Define the rest of the box properties.\n                currentRagdollBoneProperties.joint = config[i].joint !== undefined ? config[i].joint : this._defaultJoint;\n                currentRagdollBoneProperties.rotationAxis = config[i].rotationAxis !== undefined ? config[i].rotationAxis : Axis.X;\n                currentRagdollBoneProperties.min = config[i].min !== undefined ? config[i].min : this._defaultJointMin;\n                currentRagdollBoneProperties.max = config[i].max !== undefined ? config[i].max : this._defaultJointMax;\n                // Offset value.\n                let boxOffset = 0;\n                if ((config[i].putBoxInBoneCenter !== undefined && config[i].putBoxInBoneCenter) || this._putBoxesInBoneCenter) {\n                    if (currentBone.length === undefined) {\n                        Logger.Log(\"The length property is not defined for bone \" + currentBone.name);\n                    }\n                    boxOffset = currentBone.length / 2;\n                }\n                else if (config[i].boxOffset !== undefined) {\n                    boxOffset = config[i].boxOffset;\n                }\n                currentRagdollBoneProperties.boxOffset = boxOffset;\n                // Offset axis.\n                const boneOffsetAxis = config[i].boneOffsetAxis !== undefined ? config[i].boneOffsetAxis : Axis.Y;\n                const boneDir = currentBone.getDirection(boneOffsetAxis, this._rootTransformNode);\n                currentRagdollBoneProperties.boneOffsetAxis = boneOffsetAxis;\n                transform.position = currentBone.getAbsolutePosition(this._rootTransformNode).add(boneDir.scale(boxOffset));\n                const mass = config[i].mass !== undefined ? config[i].mass : this._mass;\n                const restitution = config[i].restitution !== undefined ? config[i].restitution : this._restitution;\n                const aggregate = new PhysicsAggregate(transform, 3 /* PhysicsShapeType.BOX */, {\n                    mass: mass,\n                    restitution: restitution,\n                    friction: 0.6,\n                    extents: new Vector3(currentRagdollBoneProperties.width, currentRagdollBoneProperties.height, currentRagdollBoneProperties.depth),\n                }, this._scene);\n                aggregate.body.setCollisionCallbackEnabled(true);\n                aggregate.body.disablePreStep = false;\n                aggregate.body.setMotionType(1 /* PhysicsMotionType.ANIMATED */);\n                this._aggregates.push(aggregate);\n                this._bones.push(currentBone);\n                this._boneNames.push(currentBone.name);\n                this._transforms.push(transform);\n                this._boxConfigs.push(currentRagdollBoneProperties);\n                this._initialRotation.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */, this._rootTransformNode));\n                this._initialRotation2.push(currentBone.getRotationQuaternion(1 /* Space.WORLD */));\n            }\n        }\n    }\n    _initJoints() {\n        this._rootTransformNode.computeWorldMatrix();\n        for (let i = 0; i < this._bones.length; i++) {\n            // The root bone has no joints.\n            if (i == this._rootBoneIndex)\n                continue;\n            const nearestParent = this._findNearestParent(i);\n            if (nearestParent == null) {\n                Logger.Warn(\"Couldn't find a nearest parent bone in the configs for bone called \" + this._boneNames[i]);\n                return;\n            }\n            const boneParentIndex = this._boneNames.indexOf(nearestParent.name);\n            let distanceFromParentBoxToBone = this._bones[i].getAbsolutePosition(this._rootTransformNode).subtract(this._transforms[boneParentIndex].position);\n            const wmat = this._transforms[boneParentIndex].computeWorldMatrix();\n            const invertedWorldMat = Matrix.Invert(wmat);\n            distanceFromParentBoxToBone = Vector3.TransformCoordinates(this._bones[i].getAbsolutePosition(this._rootTransformNode), invertedWorldMat);\n            const boneAbsPos = this._bones[i].getAbsolutePosition(this._rootTransformNode);\n            const boxAbsPos = this._transforms[i].position.clone();\n            const myConnectedPivot = boneAbsPos.subtract(boxAbsPos);\n            const joint = new PhysicsConstraint(1 /* PhysicsConstraintType.BALL_AND_SOCKET */, {\n                pivotA: distanceFromParentBoxToBone,\n                pivotB: myConnectedPivot,\n                axisA: this._boxConfigs[i].rotationAxis,\n                axisB: this._boxConfigs[i].rotationAxis,\n                collision: false,\n            }, this._scene);\n            this._aggregates[boneParentIndex].body.addConstraint(this._aggregates[i].body, joint);\n            joint.isEnabled = false;\n            this._joints.push(joint);\n        }\n    }\n    // set physics body orientation/position from bones\n    _syncBonesToPhysics() {\n        const rootMatrix = this._rootTransformNode.getWorldMatrix();\n        for (let i = 0; i < this._bones.length; i++) {\n            // position\n            const transform = this._aggregates[i].transformNode;\n            const rootPos = this._bones[i].getAbsolutePosition();\n            Vector3.TransformCoordinatesToRef(rootPos, rootMatrix, transform.position);\n            // added offset\n            this._bones[i].getDirectionToRef(this._boxConfigs[i].boneOffsetAxis, this._rootTransformNode, TmpVectors.Vector3[0]);\n            TmpVectors.Vector3[0].scaleInPlace(this._boxConfigs[i].boxOffset ?? 0);\n            transform.position.addInPlace(TmpVectors.Vector3[0]);\n            this._setBoneOrientationToBody(i);\n        }\n    }\n    _setBoneOrientationToBody(boneIndex) {\n        const transform = this._aggregates[boneIndex].transformNode;\n        const bone = this._bones[boneIndex];\n        this._initialRotation[boneIndex].conjugateToRef(TmpVectors.Quaternion[0]);\n        bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this._rootTransformNode, TmpVectors.Quaternion[1]);\n        TmpVectors.Quaternion[1].multiplyToRef(TmpVectors.Quaternion[0], transform.rotationQuaternion);\n        transform.rotationQuaternion.normalize();\n    }\n    _syncBonesAndBoxes() {\n        if (this.pauseSync) {\n            return;\n        }\n        if (this._ragdollMode) {\n            this._setBodyOrientationToBone(this._rootBoneIndex);\n            const rootPos = this._aggregates[this._rootBoneIndex].body.transformNode.position;\n            this._rootTransformNode.getWorldMatrix().invertToRef(TmpVectors.Matrix[0]);\n            Vector3.TransformCoordinatesToRef(rootPos, TmpVectors.Matrix[0], TmpVectors.Vector3[0]);\n            this._bones[this._rootBoneIndex].setAbsolutePosition(TmpVectors.Vector3[0]);\n            for (let i = 0; i < this._bones.length; i++) {\n                if (i == this._rootBoneIndex)\n                    continue;\n                this._setBodyOrientationToBone(i);\n            }\n        }\n        else {\n            this._syncBonesToPhysics();\n        }\n    }\n    _setBodyOrientationToBone(boneIndex) {\n        const qmesh = this._rootTransformNode.rotationQuaternion ??\n            Quaternion.FromEulerAngles(this._rootTransformNode.rotation.x, this._rootTransformNode.rotation.y, this._rootTransformNode.rotation.z);\n        const qbind = this._initialRotation2[boneIndex];\n        const qphys = this._aggregates[boneIndex].body?.transformNode?.rotationQuaternion;\n        qmesh.multiplyToRef(qbind, TmpVectors.Quaternion[1]);\n        qphys.multiplyToRef(TmpVectors.Quaternion[1], TmpVectors.Quaternion[0]);\n        this._bones[boneIndex].setRotationQuaternion(TmpVectors.Quaternion[0], 1 /* Space.WORLD */, this._rootTransformNode);\n    }\n    // Return true if root bone is valid/exists in this.bonesNames. false otherwise.\n    _defineRootBone() {\n        const skeletonRoots = this._skeleton.getChildren();\n        if (skeletonRoots.length != 1) {\n            Logger.Log(\"Ragdoll creation failed: there can only be one root in the skeleton.\");\n            return false;\n        }\n        this._rootBoneName = skeletonRoots[0].name;\n        this._rootBoneIndex = this._boneNames.indexOf(this._rootBoneName);\n        if (this._rootBoneIndex == -1) {\n            Logger.Log(\"Ragdoll creation failed: the array boneNames doesn't have the root bone. The root bone is \" + this._skeleton.getChildren());\n            return false;\n        }\n        return true;\n    }\n    _findNearestParent(boneIndex) {\n        let nearestParent = this._bones[boneIndex].getParent();\n        do {\n            if (nearestParent != null && this._boneNames.includes(nearestParent.name)) {\n                break;\n            }\n            nearestParent = nearestParent?.getParent();\n        } while (nearestParent != null);\n        return nearestParent;\n    }\n    _init() {\n        this._createColliders();\n        // If this.defineRootBone() returns ... there is not root bone.\n        if (!this._defineRootBone()) {\n            return;\n        }\n        this._initJoints();\n        this._scene.registerBeforeRender(() => {\n            this._syncBonesAndBoxes();\n        });\n        this._syncBonesToPhysics();\n    }\n    /**\n     * Enable ragdoll mode. Create physics objects and make them dynamic.\n     */\n    ragdoll() {\n        this._ragdollMode = true;\n        // detach bones with link transform to let physics have control\n        this._skeleton.bones.forEach((bone) => {\n            bone.linkTransformNode(null);\n        });\n        for (let i = 0; i < this._joints.length; i++) {\n            this._joints[i].isEnabled = true;\n        }\n        for (let i = 0; i < this._aggregates.length; i++) {\n            this._aggregates[i].body.setMotionType(2 /* PhysicsMotionType.DYNAMIC */);\n        }\n    }\n    /**\n     * Dispose resources and remove physics objects\n     */\n    dispose() {\n        this._aggregates.forEach((aggregate) => {\n            aggregate.dispose();\n        });\n    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