| 1 |
- {"ast":null,"code":"import { WebXRAbstractFeature } from \"./WebXRAbstractFeature.js\";\nimport { Vector3, Quaternion } from \"../../Maths/math.vector.js\";\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor.js\";\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder.js\";\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager.js\";\nimport { Logger } from \"../../Misc/logger.js\";\n/**\n * Options for the controller physics feature\n */\nexport class IWebXRControllerPhysicsOptions {}\n/**\n * Add physics impostor to your webxr controllers,\n * including naive calculation of their linear and angular velocity\n */\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\n _createPhysicsImpostor(xrController) {\n const impostorType = this._options.physicsProperties.impostorType || PhysicsImpostor.SphereImpostor;\n const impostorSize = this._options.physicsProperties.impostorSize || 0.1;\n const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\n diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\n diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\n diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth\n });\n impostorMesh.isVisible = this._debugMode;\n impostorMesh.isPickable = false;\n impostorMesh.rotationQuaternion = new Quaternion();\n const controllerMesh = xrController.grip || xrController.pointer;\n impostorMesh.position.copyFrom(controllerMesh.position);\n impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion);\n const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\n mass: 0,\n ...this._options.physicsProperties\n });\n this._controllers[xrController.uniqueId] = {\n xrController,\n impostor,\n impostorMesh\n };\n }\n /**\n * Construct a new Controller Physics Feature\n * @param _xrSessionManager the corresponding xr session manager\n * @param _options options to create this feature with\n */\n constructor(_xrSessionManager, _options) {\n super(_xrSessionManager);\n this._options = _options;\n this._attachController = xrController => {\n if (this._controllers[xrController.uniqueId]) {\n // already attached\n return;\n }\n if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\n Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\n }\n // if no motion controller available, create impostors!\n if (this._options.physicsProperties.useControllerMesh && xrController.inputSource.gamepad) {\n xrController.onMotionControllerInitObservable.addOnce(motionController => {\n if (!motionController._doNotLoadControllerMesh) {\n motionController.onModelLoadedObservable.addOnce(() => {\n const impostor = new PhysicsImpostor(motionController.rootMesh, PhysicsImpostor.MeshImpostor, {\n mass: 0,\n ...this._options.physicsProperties\n });\n const controllerMesh = xrController.grip || xrController.pointer;\n this._controllers[xrController.uniqueId] = {\n xrController,\n impostor,\n oldPos: controllerMesh.position.clone(),\n oldRotation: controllerMesh.rotationQuaternion.clone()\n };\n });\n } else {\n // This controller isn't using a model, create impostors instead\n this._createPhysicsImpostor(xrController);\n }\n });\n } else {\n this._createPhysicsImpostor(xrController);\n }\n };\n this._controllers = {};\n this._debugMode = false;\n this._delta = 0;\n this._lastTimestamp = 0;\n this._tmpQuaternion = new Quaternion();\n this._tmpVector = new Vector3();\n if (!this._options.physicsProperties) {\n this._options.physicsProperties = {};\n }\n }\n /**\n * @internal\n * enable debugging - will show console outputs and the impostor mesh\n */\n _enablePhysicsDebug() {\n this._debugMode = true;\n Object.keys(this._controllers).forEach(controllerId => {\n const controllerData = this._controllers[controllerId];\n if (controllerData.impostorMesh) {\n controllerData.impostorMesh.isVisible = true;\n }\n });\n }\n /**\n * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\n * @param xrController the controller to add\n */\n addController(xrController) {\n this._attachController(xrController);\n }\n /**\n * attach this feature\n * Will usually be called by the features manager\n *\n * @returns true if successful.\n */\n attach() {\n if (!super.attach()) {\n return false;\n }\n if (!this._options.xrInput) {\n return true;\n }\n this._options.xrInput.controllers.forEach(this._attachController);\n this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\n this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, controller => {\n // REMOVE the controller\n this._detachController(controller.uniqueId);\n });\n if (this._options.enableHeadsetImpostor) {\n const params = this._options.headsetImpostorParams || {\n impostorType: PhysicsImpostor.SphereImpostor,\n restitution: 0.8,\n impostorSize: 0.3\n };\n const impostorSize = params.impostorSize || 0.3;\n this._headsetMesh = CreateSphere(\"headset-mesh\", {\n diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\n diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\n diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth\n });\n this._headsetMesh.rotationQuaternion = new Quaternion();\n this._headsetMesh.isVisible = false;\n this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, {\n mass: 0,\n ...params\n });\n }\n return true;\n }\n /**\n * detach this feature.\n * Will usually be called by the features manager\n *\n * @returns true if successful.\n */\n detach() {\n if (!super.detach()) {\n return false;\n }\n Object.keys(this._controllers).forEach(controllerId => {\n this._detachController(controllerId);\n });\n if (this._headsetMesh) {\n this._headsetMesh.dispose();\n }\n return true;\n }\n /**\n * Get the headset impostor, if enabled\n * @returns the impostor\n */\n getHeadsetImpostor() {\n return this._headsetImpostor;\n }\n /**\n * Get the physics impostor of a specific controller.\n * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\n * @param controller the controller or the controller id of which to get the impostor\n * @returns the impostor or null\n */\n getImpostorForController(controller) {\n const id = typeof controller === \"string\" ? controller : controller.uniqueId;\n if (this._controllers[id]) {\n return this._controllers[id].impostor;\n } else {\n return null;\n }\n }\n /**\n * Update the physics properties provided in the constructor\n * @param newProperties the new properties object\n * @param newProperties.impostorType\n * @param newProperties.impostorSize\n * @param newProperties.friction\n * @param newProperties.restitution\n */\n setPhysicsProperties(newProperties) {\n this._options.physicsProperties = {\n ...this._options.physicsProperties,\n ...newProperties\n };\n }\n _onXRFrame(_xrFrame) {\n this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\n this._lastTimestamp = this._xrSessionManager.currentTimestamp;\n if (this._headsetMesh && this._headsetImpostor) {\n var _this$_options$xrInpu, _this$_options$xrInpu2;\n this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\n this._headsetMesh.rotationQuaternion.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\n if ((_this$_options$xrInpu = this._options.xrInput.xrCamera._lastXRViewerPose) !== null && _this$_options$xrInpu !== void 0 && _this$_options$xrInpu.linearVelocity) {\n const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\n this._tmpVector.set(lv.x, lv.y, lv.z);\n this._headsetImpostor.setLinearVelocity(this._tmpVector);\n }\n if ((_this$_options$xrInpu2 = this._options.xrInput.xrCamera._lastXRViewerPose) !== null && _this$_options$xrInpu2 !== void 0 && _this$_options$xrInpu2.angularVelocity) {\n const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\n this._tmpVector.set(av.x, av.y, av.z);\n this._headsetImpostor.setAngularVelocity(this._tmpVector);\n }\n }\n Object.keys(this._controllers).forEach(controllerId => {\n var _controllerData$xrCon, _controllerData$xrCon2;\n const controllerData = this._controllers[controllerId];\n const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\n const comparedPosition = controllerData.oldPos || controllerData.impostorMesh.position;\n if ((_controllerData$xrCon = controllerData.xrController._lastXRPose) !== null && _controllerData$xrCon !== void 0 && _controllerData$xrCon.linearVelocity) {\n const lv = controllerData.xrController._lastXRPose.linearVelocity;\n this._tmpVector.set(lv.x, lv.y, lv.z);\n controllerData.impostor.setLinearVelocity(this._tmpVector);\n } else {\n controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\n this._tmpVector.scaleInPlace(1000 / this._delta);\n controllerData.impostor.setLinearVelocity(this._tmpVector);\n }\n comparedPosition.copyFrom(controllerMesh.position);\n if (this._debugMode) {\n Logger.Log([this._tmpVector, \"linear\"]);\n }\n const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh.rotationQuaternion;\n if ((_controllerData$xrCon2 = controllerData.xrController._lastXRPose) !== null && _controllerData$xrCon2 !== void 0 && _controllerData$xrCon2.angularVelocity) {\n const av = controllerData.xrController._lastXRPose.angularVelocity;\n this._tmpVector.set(av.x, av.y, av.z);\n controllerData.impostor.setAngularVelocity(this._tmpVector);\n } else {\n if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion)) {\n // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\n comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion, this._tmpQuaternion);\n const len = Math.sqrt(this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z);\n this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\n // define a better epsilon\n if (len < 0.001) {\n this._tmpVector.scaleInPlace(2);\n } else {\n const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\n this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\n }\n controllerData.impostor.setAngularVelocity(this._tmpVector);\n }\n }\n comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion);\n if (this._debugMode) {\n Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\n }\n });\n }\n _detachController(xrControllerUniqueId) {\n const controllerData = this._controllers[xrControllerUniqueId];\n if (!controllerData) {\n return;\n }\n if (controllerData.impostorMesh) {\n controllerData.impostorMesh.dispose();\n }\n // remove from the map\n delete this._controllers[xrControllerUniqueId];\n }\n}\n/**\n * The module's name\n */\nWebXRControllerPhysics.Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\n/**\n * The (Babylon) version of this module.\n * This is an integer representing the implementation version.\n * This number does not correspond to the webxr specs version\n */\nWebXRControllerPhysics.Version = 1;\n//register the plugin\nWebXRFeaturesManager.AddWebXRFeature(WebXRControllerPhysics.Name, (xrSessionManager, options) => {\n return () => new WebXRControllerPhysics(xrSessionManager, options);\n}, WebXRControllerPhysics.Version, true);","map":{"version":3,"names":["WebXRAbstractFeature","Vector3","Quaternion","PhysicsImpostor","CreateSphere","WebXRFeatureName","WebXRFeaturesManager","Logger","IWebXRControllerPhysicsOptions","WebXRControllerPhysics","_createPhysicsImpostor","xrController","impostorType","_options","physicsProperties","SphereImpostor","impostorSize","impostorMesh","uniqueId","diameterX","width","diameterY","height","diameterZ","depth","isVisible","_debugMode","isPickable","rotationQuaternion","controllerMesh","grip","pointer","position","copyFrom","impostor","mass","_controllers","constructor","_xrSessionManager","_attachController","scene","isPhysicsEnabled","Warn","useControllerMesh","inputSource","gamepad","onMotionControllerInitObservable","addOnce","motionController","_doNotLoadControllerMesh","onModelLoadedObservable","rootMesh","MeshImpostor","oldPos","clone","oldRotation","_delta","_lastTimestamp","_tmpQuaternion","_tmpVector","_enablePhysicsDebug","Object","keys","forEach","controllerId","controllerData","addController","attach","xrInput","controllers","_addNewAttachObserver","onControllerAddedObservable","onControllerRemovedObservable","controller","_detachController","enableHeadsetImpostor","params","headsetImpostorParams","restitution","_headsetMesh","_headsetImpostor","detach","dispose","getHeadsetImpostor","getImpostorForController","id","setPhysicsProperties","newProperties","_onXRFrame","_xrFrame","currentTimestamp","_this$_options$xrInpu","_this$_options$xrInpu2","xrCamera","globalPosition","absoluteRotation","_lastXRViewerPose","linearVelocity","lv","set","x","y","z","setLinearVelocity","angularVelocity","av","setAngularVelocity","_controllerData$xrCon","_controllerData$xrCon2","comparedPosition","_lastXRPose","subtractToRef","scaleInPlace","Log","comparedQuaternion","equalsWithEpsilon","conjugateInPlace","multiplyToRef","len","Math","sqrt","angle","atan2","w","xrControllerUniqueId","Name","PHYSICS_CONTROLLERS","Version","AddWebXRFeature","xrSessionManager","options"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/XR/features/WebXRControllerPhysics.js"],"sourcesContent":["import { WebXRAbstractFeature } from \"./WebXRAbstractFeature.js\";\nimport { Vector3, Quaternion } from \"../../Maths/math.vector.js\";\nimport { PhysicsImpostor } from \"../../Physics/v1/physicsImpostor.js\";\nimport { CreateSphere } from \"../../Meshes/Builders/sphereBuilder.js\";\nimport { WebXRFeatureName, WebXRFeaturesManager } from \"../webXRFeaturesManager.js\";\nimport { Logger } from \"../../Misc/logger.js\";\n/**\n * Options for the controller physics feature\n */\nexport class IWebXRControllerPhysicsOptions {\n}\n/**\n * Add physics impostor to your webxr controllers,\n * including naive calculation of their linear and angular velocity\n */\nexport class WebXRControllerPhysics extends WebXRAbstractFeature {\n _createPhysicsImpostor(xrController) {\n const impostorType = this._options.physicsProperties.impostorType || PhysicsImpostor.SphereImpostor;\n const impostorSize = this._options.physicsProperties.impostorSize || 0.1;\n const impostorMesh = CreateSphere(\"impostor-mesh-\" + xrController.uniqueId, {\n diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\n diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\n diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\n });\n impostorMesh.isVisible = this._debugMode;\n impostorMesh.isPickable = false;\n impostorMesh.rotationQuaternion = new Quaternion();\n const controllerMesh = xrController.grip || xrController.pointer;\n impostorMesh.position.copyFrom(controllerMesh.position);\n impostorMesh.rotationQuaternion.copyFrom(controllerMesh.rotationQuaternion);\n const impostor = new PhysicsImpostor(impostorMesh, impostorType, {\n mass: 0,\n ...this._options.physicsProperties,\n });\n this._controllers[xrController.uniqueId] = {\n xrController,\n impostor,\n impostorMesh,\n };\n }\n /**\n * Construct a new Controller Physics Feature\n * @param _xrSessionManager the corresponding xr session manager\n * @param _options options to create this feature with\n */\n constructor(_xrSessionManager, _options) {\n super(_xrSessionManager);\n this._options = _options;\n this._attachController = (xrController) => {\n if (this._controllers[xrController.uniqueId]) {\n // already attached\n return;\n }\n if (!this._xrSessionManager.scene.isPhysicsEnabled()) {\n Logger.Warn(\"physics engine not enabled, skipped. Please add this controller manually.\");\n }\n // if no motion controller available, create impostors!\n if (this._options.physicsProperties.useControllerMesh && xrController.inputSource.gamepad) {\n xrController.onMotionControllerInitObservable.addOnce((motionController) => {\n if (!motionController._doNotLoadControllerMesh) {\n motionController.onModelLoadedObservable.addOnce(() => {\n const impostor = new PhysicsImpostor(motionController.rootMesh, PhysicsImpostor.MeshImpostor, {\n mass: 0,\n ...this._options.physicsProperties,\n });\n const controllerMesh = xrController.grip || xrController.pointer;\n this._controllers[xrController.uniqueId] = {\n xrController,\n impostor,\n oldPos: controllerMesh.position.clone(),\n oldRotation: controllerMesh.rotationQuaternion.clone(),\n };\n });\n }\n else {\n // This controller isn't using a model, create impostors instead\n this._createPhysicsImpostor(xrController);\n }\n });\n }\n else {\n this._createPhysicsImpostor(xrController);\n }\n };\n this._controllers = {};\n this._debugMode = false;\n this._delta = 0;\n this._lastTimestamp = 0;\n this._tmpQuaternion = new Quaternion();\n this._tmpVector = new Vector3();\n if (!this._options.physicsProperties) {\n this._options.physicsProperties = {};\n }\n }\n /**\n * @internal\n * enable debugging - will show console outputs and the impostor mesh\n */\n _enablePhysicsDebug() {\n this._debugMode = true;\n Object.keys(this._controllers).forEach((controllerId) => {\n const controllerData = this._controllers[controllerId];\n if (controllerData.impostorMesh) {\n controllerData.impostorMesh.isVisible = true;\n }\n });\n }\n /**\n * Manually add a controller (if no xrInput was provided or physics engine was not enabled)\n * @param xrController the controller to add\n */\n addController(xrController) {\n this._attachController(xrController);\n }\n /**\n * attach this feature\n * Will usually be called by the features manager\n *\n * @returns true if successful.\n */\n attach() {\n if (!super.attach()) {\n return false;\n }\n if (!this._options.xrInput) {\n return true;\n }\n this._options.xrInput.controllers.forEach(this._attachController);\n this._addNewAttachObserver(this._options.xrInput.onControllerAddedObservable, this._attachController);\n this._addNewAttachObserver(this._options.xrInput.onControllerRemovedObservable, (controller) => {\n // REMOVE the controller\n this._detachController(controller.uniqueId);\n });\n if (this._options.enableHeadsetImpostor) {\n const params = this._options.headsetImpostorParams || {\n impostorType: PhysicsImpostor.SphereImpostor,\n restitution: 0.8,\n impostorSize: 0.3,\n };\n const impostorSize = params.impostorSize || 0.3;\n this._headsetMesh = CreateSphere(\"headset-mesh\", {\n diameterX: typeof impostorSize === \"number\" ? impostorSize : impostorSize.width,\n diameterY: typeof impostorSize === \"number\" ? impostorSize : impostorSize.height,\n diameterZ: typeof impostorSize === \"number\" ? impostorSize : impostorSize.depth,\n });\n this._headsetMesh.rotationQuaternion = new Quaternion();\n this._headsetMesh.isVisible = false;\n this._headsetImpostor = new PhysicsImpostor(this._headsetMesh, params.impostorType, { mass: 0, ...params });\n }\n return true;\n }\n /**\n * detach this feature.\n * Will usually be called by the features manager\n *\n * @returns true if successful.\n */\n detach() {\n if (!super.detach()) {\n return false;\n }\n Object.keys(this._controllers).forEach((controllerId) => {\n this._detachController(controllerId);\n });\n if (this._headsetMesh) {\n this._headsetMesh.dispose();\n }\n return true;\n }\n /**\n * Get the headset impostor, if enabled\n * @returns the impostor\n */\n getHeadsetImpostor() {\n return this._headsetImpostor;\n }\n /**\n * Get the physics impostor of a specific controller.\n * The impostor is not attached to a mesh because a mesh for each controller is not obligatory\n * @param controller the controller or the controller id of which to get the impostor\n * @returns the impostor or null\n */\n getImpostorForController(controller) {\n const id = typeof controller === \"string\" ? controller : controller.uniqueId;\n if (this._controllers[id]) {\n return this._controllers[id].impostor;\n }\n else {\n return null;\n }\n }\n /**\n * Update the physics properties provided in the constructor\n * @param newProperties the new properties object\n * @param newProperties.impostorType\n * @param newProperties.impostorSize\n * @param newProperties.friction\n * @param newProperties.restitution\n */\n setPhysicsProperties(newProperties) {\n this._options.physicsProperties = {\n ...this._options.physicsProperties,\n ...newProperties,\n };\n }\n _onXRFrame(_xrFrame) {\n this._delta = this._xrSessionManager.currentTimestamp - this._lastTimestamp;\n this._lastTimestamp = this._xrSessionManager.currentTimestamp;\n if (this._headsetMesh && this._headsetImpostor) {\n this._headsetMesh.position.copyFrom(this._options.xrInput.xrCamera.globalPosition);\n this._headsetMesh.rotationQuaternion.copyFrom(this._options.xrInput.xrCamera.absoluteRotation);\n if (this._options.xrInput.xrCamera._lastXRViewerPose?.linearVelocity) {\n const lv = this._options.xrInput.xrCamera._lastXRViewerPose.linearVelocity;\n this._tmpVector.set(lv.x, lv.y, lv.z);\n this._headsetImpostor.setLinearVelocity(this._tmpVector);\n }\n if (this._options.xrInput.xrCamera._lastXRViewerPose?.angularVelocity) {\n const av = this._options.xrInput.xrCamera._lastXRViewerPose.angularVelocity;\n this._tmpVector.set(av.x, av.y, av.z);\n this._headsetImpostor.setAngularVelocity(this._tmpVector);\n }\n }\n Object.keys(this._controllers).forEach((controllerId) => {\n const controllerData = this._controllers[controllerId];\n const controllerMesh = controllerData.xrController.grip || controllerData.xrController.pointer;\n const comparedPosition = controllerData.oldPos || controllerData.impostorMesh.position;\n if (controllerData.xrController._lastXRPose?.linearVelocity) {\n const lv = controllerData.xrController._lastXRPose.linearVelocity;\n this._tmpVector.set(lv.x, lv.y, lv.z);\n controllerData.impostor.setLinearVelocity(this._tmpVector);\n }\n else {\n controllerMesh.position.subtractToRef(comparedPosition, this._tmpVector);\n this._tmpVector.scaleInPlace(1000 / this._delta);\n controllerData.impostor.setLinearVelocity(this._tmpVector);\n }\n comparedPosition.copyFrom(controllerMesh.position);\n if (this._debugMode) {\n Logger.Log([this._tmpVector, \"linear\"]);\n }\n const comparedQuaternion = controllerData.oldRotation || controllerData.impostorMesh.rotationQuaternion;\n if (controllerData.xrController._lastXRPose?.angularVelocity) {\n const av = controllerData.xrController._lastXRPose.angularVelocity;\n this._tmpVector.set(av.x, av.y, av.z);\n controllerData.impostor.setAngularVelocity(this._tmpVector);\n }\n else {\n if (!comparedQuaternion.equalsWithEpsilon(controllerMesh.rotationQuaternion)) {\n // roughly based on this - https://www.gamedev.net/forums/topic/347752-quaternion-and-angular-velocity/\n comparedQuaternion.conjugateInPlace().multiplyToRef(controllerMesh.rotationQuaternion, this._tmpQuaternion);\n const len = Math.sqrt(this._tmpQuaternion.x * this._tmpQuaternion.x + this._tmpQuaternion.y * this._tmpQuaternion.y + this._tmpQuaternion.z * this._tmpQuaternion.z);\n this._tmpVector.set(this._tmpQuaternion.x, this._tmpQuaternion.y, this._tmpQuaternion.z);\n // define a better epsilon\n if (len < 0.001) {\n this._tmpVector.scaleInPlace(2);\n }\n else {\n const angle = 2 * Math.atan2(len, this._tmpQuaternion.w);\n this._tmpVector.scaleInPlace(angle / (len * (this._delta / 1000)));\n }\n controllerData.impostor.setAngularVelocity(this._tmpVector);\n }\n }\n comparedQuaternion.copyFrom(controllerMesh.rotationQuaternion);\n if (this._debugMode) {\n Logger.Log([this._tmpVector, this._tmpQuaternion, \"angular\"]);\n }\n });\n }\n _detachController(xrControllerUniqueId) {\n const controllerData = this._controllers[xrControllerUniqueId];\n if (!controllerData) {\n return;\n }\n if (controllerData.impostorMesh) {\n controllerData.impostorMesh.dispose();\n }\n // remove from the map\n delete this._controllers[xrControllerUniqueId];\n }\n}\n/**\n * The module's name\n */\nWebXRControllerPhysics.Name = WebXRFeatureName.PHYSICS_CONTROLLERS;\n/**\n * The (Babylon) version of this module.\n * This is an integer representing the implementation version.\n * This number does not correspond to the webxr specs version\n */\nWebXRControllerPhysics.Version = 1;\n//register the plugin\nWebXRFeaturesManager.AddWebXRFeature(WebXRControllerPhysics.Name, (xrSessionManager, options) => {\n return () => new WebXRControllerPhysics(xrSessionManager, options);\n}, WebXRControllerPhysics.Version, 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