| 1 |
- {"ast":null,"code":"import { Mesh } from \"../Meshes/mesh.js\";\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder.js\";\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder.js\";\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector.js\";\nimport { Color3, Color4 } from \"../Maths/math.color.js\";\nimport { EngineStore } from \"../Engines/engineStore.js\";\nimport { StandardMaterial } from \"../Materials/standardMaterial.js\";\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor.js\";\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer.js\";\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder.js\";\nimport { CreateCapsule } from \"../Meshes/Builders/capsuleBuilder.js\";\nimport { Logger } from \"../Misc/logger.js\";\nimport { VertexData } from \"../Meshes/mesh.vertexData.js\";\nimport { MeshBuilder } from \"../Meshes/meshBuilder.js\";\nimport { AxesViewer } from \"./axesViewer.js\";\nimport { TransformNode } from \"../Meshes/transformNode.js\";\nimport { Epsilon } from \"../Maths/math.constants.js\";\n/**\n * Used to show the physics impostor around the specific mesh\n */\nexport class PhysicsViewer {\n /**\n * Creates a new PhysicsViewer\n * @param scene defines the hosting scene\n */\n constructor(scene) {\n /** @internal */\n this._impostors = [];\n /** @internal */\n this._meshes = [];\n /** @internal */\n this._bodies = [];\n /** @internal */\n this._inertiaBodies = [];\n /** @internal */\n this._constraints = [];\n /** @internal */\n this._bodyMeshes = [];\n /** @internal */\n this._inertiaMeshes = [];\n /** @internal */\n this._constraintMeshes = [];\n /** @internal */\n this._numMeshes = 0;\n /** @internal */\n this._numBodies = 0;\n /** @internal */\n this._numInertiaBodies = 0;\n /** @internal */\n this._numConstraints = 0;\n this._debugMeshMeshes = new Array();\n this._constraintAxesSize = 0.4;\n this._scene = scene || EngineStore.LastCreatedScene;\n if (!this._scene) {\n return;\n }\n const physicEngine = this._scene.getPhysicsEngine();\n if (physicEngine) {\n this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\n }\n this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\n this._utilityLayer.pickUtilitySceneFirst = false;\n this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\n }\n /**\n * Updates the debug meshes of the physics engine.\n *\n * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\n * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\n * This ensures that the debug meshes are up to date with the physics engine.\n */\n _updateDebugMeshes() {\n const plugin = this._physicsEnginePlugin;\n if ((plugin === null || plugin === void 0 ? void 0 : plugin.getPluginVersion()) === 1) {\n this._updateDebugMeshesV1();\n } else {\n this._updateDebugMeshesV2();\n }\n }\n /**\n * Updates the debug meshes of the physics engine.\n *\n * This method is useful for synchronizing the debug meshes with the physics impostors.\n * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\n * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\n */\n _updateDebugMeshesV1() {\n const plugin = this._physicsEnginePlugin;\n for (let i = 0; i < this._numMeshes; i++) {\n const impostor = this._impostors[i];\n if (!impostor) {\n continue;\n }\n if (impostor.isDisposed) {\n this.hideImpostor(this._impostors[i--]);\n } else {\n if (impostor.type === PhysicsImpostor.MeshImpostor) {\n continue;\n }\n const mesh = this._meshes[i];\n if (mesh && plugin) {\n plugin.syncMeshWithImpostor(mesh, impostor);\n }\n }\n }\n }\n /**\n * Updates the debug meshes of the physics engine for V2 plugin.\n *\n * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\n * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\n * This ensures that the debug meshes accurately reflect the current state of the physics engine.\n */\n _updateDebugMeshesV2() {\n const plugin = this._physicsEnginePlugin;\n for (let i = 0; i < this._numBodies;) {\n const body = this._bodies[i];\n if (body && body.isDisposed && this.hideBody(body)) {\n continue;\n }\n const transform = this._bodyMeshes[i];\n if (body && transform) {\n plugin.syncTransform(body, transform);\n }\n i++;\n }\n }\n _updateInertiaMeshes() {\n for (let i = 0; i < this._numInertiaBodies;) {\n const body = this._inertiaBodies[i];\n if (body && body.isDisposed && this.hideInertia(body)) {\n continue;\n }\n const mesh = this._inertiaMeshes[i];\n if (body && mesh) {\n this._updateDebugInertia(body, mesh);\n }\n i++;\n }\n }\n _updateDebugInertia(body, inertiaMesh) {\n const inertiaMatrixRef = Matrix.Identity();\n const transformMatrixRef = Matrix.Identity();\n const finalMatrixRef = Matrix.Identity();\n if (body._pluginDataInstances.length) {\n const inertiaAsMesh = inertiaMesh;\n const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData;\n const bodyTransformMatrixData = body.transformNode._thinInstanceDataStorage.matrixData;\n for (let i = 0; i < body._pluginDataInstances.length; i++) {\n const props = body.getMassProperties(i);\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\n Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\n finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\n }\n inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\n } else {\n var _body$transformNode$r;\n const props = body.getMassProperties();\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\n (_body$transformNode$r = body.transformNode.rotationQuaternion) === null || _body$transformNode$r === void 0 || _body$transformNode$r.toRotationMatrix(transformMatrixRef);\n transformMatrixRef.setTranslation(body.transformNode.position);\n if (body.transformNode.parent) {\n const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\n transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\n }\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\n inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\n }\n }\n _updateDebugConstraints() {\n for (let i = 0; i < this._numConstraints; i++) {\n const constraint = this._constraints[i];\n const mesh = this._constraintMeshes[i];\n if (constraint && mesh) {\n this._updateDebugConstraint(constraint, mesh);\n }\n }\n }\n /**\n * Given a scaling vector, make all of its components\n * 1, preserving the sign\n * @param scaling\n */\n _makeScalingUnitInPlace(scaling) {\n if (Math.abs(scaling.x - 1) > Epsilon) {\n scaling.x = 1 * Math.sign(scaling.x);\n }\n if (Math.abs(scaling.y - 1) > Epsilon) {\n scaling.y = 1 * Math.sign(scaling.y);\n }\n if (Math.abs(scaling.z - 1) > Epsilon) {\n scaling.z = 1 * Math.sign(scaling.z);\n }\n }\n _updateDebugConstraint(constraint, parentingMesh) {\n if (!constraint._initOptions) {\n return;\n }\n // Get constraint pivot and axes\n const {\n pivotA,\n pivotB,\n axisA,\n axisB,\n perpAxisA,\n perpAxisB\n } = constraint._initOptions;\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\n return;\n }\n parentingMesh.getDescendants(true).forEach(parentConstraintMesh => {\n // Get the parent transform\n const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0];\n const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1];\n const {\n parentBody,\n parentBodyIndex\n } = parentCoordSystemNode.metadata;\n const {\n childBody,\n childBodyIndex\n } = childCoordSystemNode.metadata;\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\n this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\n childTransform.decomposeToTransformNode(childCoordSystemNode);\n this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\n // Create a transform node and set its matrix\n const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0];\n parentTransformNode.position.copyFrom(pivotA);\n const childTransformNode = childCoordSystemNode.getDescendants(true)[0];\n childTransformNode.position.copyFrom(pivotB);\n // Get the transform to align the XYZ axes to the constraint axes\n Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]), parentTransformNode.rotationQuaternion);\n Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]), childTransformNode.rotationQuaternion);\n });\n }\n /**\n * Renders a specified physic impostor\n * @param impostor defines the impostor to render\n * @param targetMesh defines the mesh represented by the impostor\n * @returns the new debug mesh used to render the impostor\n */\n showImpostor(impostor, targetMesh) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numMeshes; i++) {\n if (this._impostors[i] == impostor) {\n return null;\n }\n }\n const debugMesh = this._getDebugMesh(impostor, targetMesh);\n if (debugMesh) {\n this._impostors[this._numMeshes] = impostor;\n this._meshes[this._numMeshes] = debugMesh;\n if (this._numMeshes === 0) {\n this._renderFunction = () => this._updateDebugMeshes();\n this._scene.registerBeforeRender(this._renderFunction);\n }\n this._numMeshes++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug mesh for a given physics body.\n * @param body The physics body to show.\n * @returns The debug mesh, or null if the body is already shown.\n *\n * This function is useful for visualizing the physics body in the scene.\n * It creates a debug mesh for the given body and adds it to the scene.\n * It also registers a before render function to update the debug mesh position and rotation.\n */\n showBody(body) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numBodies; i++) {\n if (this._bodies[i] == body) {\n return null;\n }\n }\n const debugMesh = this._getDebugBodyMesh(body);\n if (debugMesh) {\n this._bodies[this._numBodies] = body;\n this._bodyMeshes[this._numBodies] = debugMesh;\n if (this._numBodies === 0) {\n this._renderFunction = () => this._updateDebugMeshes();\n this._scene.registerBeforeRender(this._renderFunction);\n }\n this._numBodies++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug box corresponding to the inertia of a given body\n * @param body the physics body used to get the inertia\n * @returns the debug mesh used to show the inertia, or null if the body is already shown\n */\n showInertia(body) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numInertiaBodies; i++) {\n if (this._inertiaBodies[i] == body) {\n return null;\n }\n }\n const debugMesh = this._getDebugInertiaMesh(body);\n if (debugMesh) {\n this._inertiaBodies[this._numInertiaBodies] = body;\n this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\n if (this._numInertiaBodies === 0) {\n this._inertiaRenderFunction = () => this._updateInertiaMeshes();\n this._scene.registerBeforeRender(this._inertiaRenderFunction);\n }\n this._numInertiaBodies++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug mesh for a given physics constraint.\n * @param constraint the physics constraint to show\n * @returns the debug mesh, or null if the constraint is already shown\n */\n showConstraint(constraint) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numConstraints; i++) {\n if (this._constraints[i] == constraint) {\n return null;\n }\n }\n const debugMesh = this._getDebugConstraintMesh(constraint);\n if (debugMesh) {\n this._constraints[this._numConstraints] = constraint;\n this._constraintMeshes[this._numConstraints] = debugMesh;\n if (this._numConstraints === 0) {\n this._constraintRenderFunction = () => this._updateDebugConstraints();\n this._scene.registerBeforeRender(this._constraintRenderFunction);\n }\n this._numConstraints++;\n }\n return debugMesh;\n }\n /**\n * Hides an impostor from the scene.\n * @param impostor - The impostor to hide.\n *\n * This method is useful for hiding an impostor from the scene. It removes the\n * impostor from the utility layer scene, disposes the mesh, and removes the\n * impostor from the list of impostors. If the impostor is the last one in the\n * list, it also unregisters the render function.\n */\n hideImpostor(impostor) {\n if (!impostor || !this._scene || !this._utilityLayer) {\n return;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numMeshes; i++) {\n if (this._impostors[i] == impostor) {\n const mesh = this._meshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n const index = this._debugMeshMeshes.indexOf(mesh);\n if (index > -1) {\n this._debugMeshMeshes.splice(index, 1);\n }\n this._numMeshes--;\n if (this._numMeshes > 0) {\n this._meshes[i] = this._meshes[this._numMeshes];\n this._impostors[i] = this._impostors[this._numMeshes];\n this._meshes[this._numMeshes] = null;\n this._impostors[this._numMeshes] = null;\n } else {\n this._meshes[0] = null;\n this._impostors[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numMeshes === 0) {\n this._scene.unregisterBeforeRender(this._renderFunction);\n }\n }\n /**\n * Hides a body from the physics engine.\n * @param body - The body to hide.\n * @returns true if body actually removed\n *\n * This function is useful for hiding a body from the physics engine.\n * It removes the body from the utility layer scene and disposes the mesh associated with it.\n * It also unregisters the render function if the number of bodies is 0.\n * This is useful for hiding a body from the physics engine without deleting it.\n */\n hideBody(body) {\n if (!body || !this._scene || !this._utilityLayer) {\n return false;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numBodies; i++) {\n if (this._bodies[i] === body) {\n const mesh = this._bodyMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._numBodies--;\n if (this._numBodies > 0) {\n this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\n this._bodies[i] = this._bodies[this._numBodies];\n this._bodyMeshes[this._numBodies] = null;\n this._bodies[this._numBodies] = null;\n } else {\n this._bodyMeshes[0] = null;\n this._bodies[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numBodies === 0) {\n this._scene.unregisterBeforeRender(this._renderFunction);\n }\n return removed;\n }\n /**\n * Hides a body's inertia from the viewer utility layer\n * @param body the body to hide\n * @returns true if inertia actually removed\n */\n hideInertia(body) {\n if (!body || !this._scene || !this._utilityLayer) {\n return false;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numInertiaBodies; i++) {\n if (this._inertiaBodies[i] === body) {\n const mesh = this._inertiaMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._inertiaBodies.splice(i, 1);\n this._inertiaMeshes.splice(i, 1);\n this._numInertiaBodies--;\n removed = true;\n break;\n }\n }\n if (removed && this._numInertiaBodies === 0) {\n this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\n }\n return removed;\n }\n /**\n * Hide a physics constraint from the viewer utility layer\n * @param constraint the constraint to hide\n */\n hideConstraint(constraint) {\n if (!constraint || !this._scene || !this._utilityLayer) {\n return;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numConstraints; i++) {\n if (this._constraints[i] === constraint) {\n const mesh = this._constraintMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._constraints.splice(i, 1);\n this._constraintMeshes.splice(i, 1);\n this._numConstraints--;\n if (this._numConstraints > 0) {\n this._constraints[i] = this._constraints[this._numConstraints];\n this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\n this._constraints[this._numConstraints] = null;\n this._constraintMeshes[this._numConstraints] = null;\n } else {\n this._constraints[0] = null;\n this._constraintMeshes[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numConstraints === 0) {\n this._scene.unregisterBeforeRender(this._constraintRenderFunction);\n }\n }\n _getDebugMaterial(scene) {\n if (!this._debugMaterial) {\n this._debugMaterial = new StandardMaterial(\"\", scene);\n this._debugMaterial.wireframe = true;\n this._debugMaterial.emissiveColor = Color3.White();\n this._debugMaterial.disableLighting = true;\n }\n return this._debugMaterial;\n }\n _getDebugInertiaMaterial(scene) {\n if (!this._debugInertiaMaterial) {\n this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\n this._debugInertiaMaterial.disableLighting = true;\n this._debugInertiaMaterial.alpha = 0.0;\n }\n return this._debugInertiaMaterial;\n }\n _getDebugBoxMesh(scene) {\n if (!this._debugBoxMesh) {\n this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", {\n size: 1\n }, scene);\n this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\n this._debugBoxMesh.material = this._getDebugMaterial(scene);\n this._debugBoxMesh.setEnabled(false);\n }\n return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\n }\n _getDebugSphereMesh(scene) {\n if (!this._debugSphereMesh) {\n this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", {\n diameter: 1\n }, scene);\n this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\n this._debugSphereMesh.material = this._getDebugMaterial(scene);\n this._debugSphereMesh.setEnabled(false);\n }\n return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\n }\n _getDebugCapsuleMesh(scene) {\n if (!this._debugCapsuleMesh) {\n this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", {\n height: 1\n }, scene);\n this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\n this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\n this._debugCapsuleMesh.setEnabled(false);\n }\n return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\n }\n _getDebugCylinderMesh(scene) {\n if (!this._debugCylinderMesh) {\n this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", {\n diameterTop: 1,\n diameterBottom: 1,\n height: 1\n }, scene);\n this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\n this._debugCylinderMesh.material = this._getDebugMaterial(scene);\n this._debugCylinderMesh.setEnabled(false);\n }\n return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\n }\n _getDebugMeshMesh(mesh, scene) {\n const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\n wireframeOver.setParent(mesh);\n wireframeOver.position = Vector3.Zero();\n wireframeOver.material = this._getDebugMaterial(scene);\n this._debugMeshMeshes.push(wireframeOver);\n return wireframeOver;\n }\n _getDebugMesh(impostor, targetMesh) {\n if (!this._utilityLayer) {\n return null;\n }\n // Only create child impostor debug meshes when evaluating the parent\n if (targetMesh && targetMesh.parent && targetMesh.parent.physicsImpostor) {\n return null;\n }\n let mesh = null;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n if (!impostor.physicsBody) {\n Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\n return null;\n }\n switch (impostor.type) {\n case PhysicsImpostor.BoxImpostor:\n mesh = this._getDebugBoxMesh(utilityLayerScene);\n impostor.getBoxSizeToRef(mesh.scaling);\n break;\n case PhysicsImpostor.SphereImpostor:\n {\n mesh = this._getDebugSphereMesh(utilityLayerScene);\n const radius = impostor.getRadius();\n mesh.scaling.x = radius * 2;\n mesh.scaling.y = radius * 2;\n mesh.scaling.z = radius * 2;\n break;\n }\n case PhysicsImpostor.CapsuleImpostor:\n {\n mesh = this._getDebugCapsuleMesh(utilityLayerScene);\n const bi = impostor.object.getBoundingInfo();\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\n break;\n }\n case PhysicsImpostor.MeshImpostor:\n if (targetMesh) {\n mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\n }\n break;\n case PhysicsImpostor.NoImpostor:\n if (targetMesh) {\n // Handle compound impostors\n const childMeshes = targetMesh.getChildMeshes().filter(c => {\n return c.physicsImpostor ? 1 : 0;\n });\n childMeshes.forEach(m => {\n if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\n const boundingInfo = m.getBoundingInfo();\n const min = boundingInfo.boundingBox.minimum;\n const max = boundingInfo.boundingBox.maximum;\n switch (m.physicsImpostor.type) {\n case PhysicsImpostor.BoxImpostor:\n mesh = this._getDebugBoxMesh(utilityLayerScene);\n mesh.position.copyFrom(min);\n mesh.position.addInPlace(max);\n mesh.position.scaleInPlace(0.5);\n break;\n case PhysicsImpostor.SphereImpostor:\n mesh = this._getDebugSphereMesh(utilityLayerScene);\n break;\n case PhysicsImpostor.CylinderImpostor:\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\n break;\n default:\n mesh = null;\n break;\n }\n if (mesh) {\n mesh.scaling.x = max.x - min.x;\n mesh.scaling.y = max.y - min.y;\n mesh.scaling.z = max.z - min.z;\n mesh.parent = m;\n }\n }\n });\n } else {\n Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\n }\n mesh = null;\n break;\n case PhysicsImpostor.CylinderImpostor:\n {\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\n const bi = impostor.object.getBoundingInfo();\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\n break;\n }\n }\n return mesh;\n }\n /**\n * Creates a debug mesh for a given physics body\n * @param body The physics body to create the debug mesh for\n * @returns The created debug mesh or null if the utility layer is not available\n *\n * This code is useful for creating a debug mesh for a given physics body.\n * It creates a Mesh object with a VertexData object containing the positions and indices\n * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\n * This allows for visualizing the physics body in the scene.\n */\n _getDebugBodyMesh(body) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n const mesh = new Mesh(\"custom\", utilityLayerScene);\n const vertexData = new VertexData();\n const geometry = body.getGeometry();\n vertexData.positions = geometry.positions;\n vertexData.indices = geometry.indices;\n vertexData.applyToMesh(mesh);\n if (body._pluginDataInstances) {\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\n mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\n }\n mesh.material = this._getDebugMaterial(utilityLayerScene);\n return mesh;\n }\n _getMeshDebugInertiaMatrixToRef(massProps, matrix) {\n var _massProps$inertiaOri, _massProps$inertia, _massProps$centerOfMa;\n const orientation = (_massProps$inertiaOri = massProps.inertiaOrientation) !== null && _massProps$inertiaOri !== void 0 ? _massProps$inertiaOri : Quaternion.Identity();\n const inertiaLocal = (_massProps$inertia = massProps.inertia) !== null && _massProps$inertia !== void 0 ? _massProps$inertia : Vector3.Zero();\n const center = (_massProps$centerOfMa = massProps.centerOfMass) !== null && _massProps$centerOfMa !== void 0 ? _massProps$centerOfMa : Vector3.Zero();\n const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\n const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\n const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\n const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\n const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\n const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\n const extents = TmpVectors.Vector3[0];\n extents.set(alpha, beta, gamma);\n const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\n const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\n const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\n scaling.multiplyToRef(rotation, matrix);\n matrix.multiplyToRef(translation, matrix);\n return matrix;\n }\n _getDebugInertiaMesh(body) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\n const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", {\n size: 1\n }, utilityLayerScene);\n const matrixRef = Matrix.Identity();\n if (body._pluginDataInstances.length) {\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\n for (let i = 0; i < body._pluginDataInstances.length; ++i) {\n const props = body.getMassProperties(i);\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\n matrixRef.copyToArray(instanceBuffer, i * 16);\n }\n inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\n } else {\n const props = body.getMassProperties();\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\n matrixRef.decomposeToTransformNode(inertiaBoxMesh);\n }\n inertiaBoxMesh.enableEdgesRendering();\n inertiaBoxMesh.edgesWidth = 2.0;\n inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\n inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\n return inertiaBoxMesh;\n }\n _getTransformFromBodyToRef(body, matrix, instanceIndex) {\n const tnode = body.transformNode;\n if (instanceIndex && instanceIndex >= 0) {\n return Matrix.FromArrayToRef(tnode._thinInstanceDataStorage.matrixData, instanceIndex, matrix);\n } else {\n return matrix.copyFrom(tnode.getWorldMatrix());\n }\n }\n _getDebugConstraintMesh(constraint) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n if (!constraint._initOptions) {\n return null;\n }\n // Get constraint pivot and axes\n const {\n pivotA,\n pivotB,\n axisA,\n axisB,\n perpAxisA,\n perpAxisB\n } = constraint._initOptions;\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\n return null;\n }\n // Create a mesh to parent all the constraint debug meshes to\n const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\n // First, get a reference to all physic bodies that are using this constraint\n const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\n for (const bodyPairInfo of bodiesUsingConstraint) {\n // Create a mesh to keep the pair of constraint axes\n const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\n parentOfPair.parent = parentingMesh;\n const {\n parentBody,\n parentBodyIndex,\n childBody,\n childBodyIndex\n } = bodyPairInfo;\n // Get the parent transform\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\n const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\n // parentCoordSystemNode.parent = parentingMesh;\n parentCoordSystemNode.parent = parentOfPair;\n // Save parent and index here to be able to get the transform on update\n parentCoordSystemNode.metadata = {\n parentBody,\n parentBodyIndex\n };\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\n const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\n // childCoordSystemNode.parent = parentingMesh;\n childCoordSystemNode.parent = parentOfPair;\n // Save child and index here to be able to get the transform on update\n childCoordSystemNode.metadata = {\n childBody,\n childBodyIndex\n };\n childTransform.decomposeToTransformNode(childCoordSystemNode);\n // Get the transform to align the XYZ axes to the constraint axes\n const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\n const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\n const translateTransformParent = pivotA;\n const translateTransformChild = pivotB;\n // Create a transform node and set its matrix\n const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\n parentTransformNode.position.copyFrom(translateTransformParent);\n parentTransformNode.rotationQuaternion = rotTransformParent;\n parentTransformNode.parent = parentCoordSystemNode;\n const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\n childTransformNode.parent = childCoordSystemNode;\n childTransformNode.position.copyFrom(translateTransformChild);\n childTransformNode.rotationQuaternion = rotTransformChild;\n // Create axes for the constraint\n const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\n parentAxes.xAxis.parent = parentTransformNode;\n parentAxes.yAxis.parent = parentTransformNode;\n parentAxes.zAxis.parent = parentTransformNode;\n const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\n childAxes.xAxis.parent = childTransformNode;\n childAxes.yAxis.parent = childTransformNode;\n childAxes.zAxis.parent = childTransformNode;\n }\n return parentingMesh;\n }\n /**\n * Clean up physics debug display\n */\n dispose() {\n // impostors\n for (let index = this._numMeshes - 1; index >= 0; index--) {\n this.hideImpostor(this._impostors[0]);\n }\n // bodies\n for (let index = this._numBodies - 1; index >= 0; index--) {\n this.hideBody(this._bodies[0]);\n }\n // inertia\n for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\n this.hideInertia(this._inertiaBodies[0]);\n }\n if (this._debugBoxMesh) {\n this._debugBoxMesh.dispose();\n }\n if (this._debugSphereMesh) {\n this._debugSphereMesh.dispose();\n }\n if (this._debugCylinderMesh) {\n this._debugCylinderMesh.dispose();\n }\n if (this._debugMaterial) {\n this._debugMaterial.dispose();\n }\n this._impostors.length = 0;\n this._scene = null;\n this._physicsEnginePlugin = null;\n if (this._utilityLayer) {\n this._utilityLayer.dispose();\n this._utilityLayer = null;\n }\n }\n}","map":{"version":3,"names":["Mesh","CreateBox","CreateSphere","Matrix","Quaternion","TmpVectors","Vector3","Color3","Color4","EngineStore","StandardMaterial","PhysicsImpostor","UtilityLayerRenderer","CreateCylinder","CreateCapsule","Logger","VertexData","MeshBuilder","AxesViewer","TransformNode","Epsilon","PhysicsViewer","constructor","scene","_impostors","_meshes","_bodies","_inertiaBodies","_constraints","_bodyMeshes","_inertiaMeshes","_constraintMeshes","_numMeshes","_numBodies","_numInertiaBodies","_numConstraints","_debugMeshMeshes","Array","_constraintAxesSize","_scene","LastCreatedScene","physicEngine","getPhysicsEngine","_physicsEnginePlugin","getPhysicsPlugin","_utilityLayer","pickUtilitySceneFirst","utilityLayerScene","autoClearDepthAndStencil","_updateDebugMeshes","plugin","getPluginVersion","_updateDebugMeshesV1","_updateDebugMeshesV2","i","impostor","isDisposed","hideImpostor","type","MeshImpostor","mesh","syncMeshWithImpostor","body","hideBody","transform","syncTransform","_updateInertiaMeshes","hideInertia","_updateDebugInertia","inertiaMesh","inertiaMatrixRef","Identity","transformMatrixRef","finalMatrixRef","_pluginDataInstances","length","inertiaAsMesh","inertiaMeshMatrixData","_thinInstanceDataStorage","matrixData","bodyTransformMatrixData","transformNode","props","getMassProperties","_getMeshDebugInertiaMatrixToRef","FromArrayToRef","multiplyToRef","copyToArray","thinInstanceBufferUpdated","_body$transformNode$r","rotationQuaternion","toRotationMatrix","setTranslation","position","parent","parentTransform","computeWorldMatrix","decomposeToTransformNode","_updateDebugConstraints","constraint","_updateDebugConstraint","_makeScalingUnitInPlace","scaling","Math","abs","x","sign","y","z","parentingMesh","_initOptions","pivotA","pivotB","axisA","axisB","perpAxisA","perpAxisB","getDescendants","forEach","parentConstraintMesh","parentCoordSystemNode","childCoordSystemNode","parentBody","parentBodyIndex","metadata","childBody","childBodyIndex","_getTransformFromBodyToRef","childTransform","parentTransformNode","copyFrom","childTransformNode","FromRotationMatrixToRef","FromXYZAxesToRef","CrossToRef","showImpostor","targetMesh","debugMesh","_getDebugMesh","_renderFunction","registerBeforeRender","showBody","_getDebugBodyMesh","showInertia","_getDebugInertiaMesh","_inertiaRenderFunction","showConstraint","_getDebugConstraintMesh","_constraintRenderFunction","removed","removeMesh","dispose","index","indexOf","splice","unregisterBeforeRender","hideConstraint","_getDebugMaterial","_debugMaterial","wireframe","emissiveColor","White","disableLighting","_getDebugInertiaMaterial","_debugInertiaMaterial","alpha","_getDebugBoxMesh","_debugBoxMesh","size","material","setEnabled","createInstance","_getDebugSphereMesh","_debugSphereMesh","diameter","_getDebugCapsuleMesh","_debugCapsuleMesh","height","_getDebugCylinderMesh","_debugCylinderMesh","diameterTop","diameterBottom","_getDebugMeshMesh","wireframeOver","name","setParent","Zero","push","physicsImpostor","physicsBody","Warn","BoxImpostor","getBoxSizeToRef","SphereImpostor","radius","getRadius","CapsuleImpostor","bi","object","getBoundingInfo","boundingBox","maximum","minimum","NoImpostor","childMeshes","getChildMeshes","filter","c","m","getClassName","boundingInfo","min","max","addInPlace","scaleInPlace","CylinderImpostor","vertexData","geometry","getGeometry","positions","indices","applyToMesh","instanceBuffer","Float32Array","thinInstanceSetBuffer","massProps","matrix","_massProps$inertiaOri","_massProps$inertia","_massProps$centerOfMa","orientation","inertiaOrientation","inertiaLocal","inertia","center","centerOfMass","betaSqrd","beta","sqrt","gammaSqrd","gamma","alphaSqrd","extents","set","ScalingToRef","rotation","translation","TranslationToRef","inertiaBoxMesh","matrixRef","enableEdgesRendering","edgesWidth","edgesColor","instanceIndex","tnode","getWorldMatrix","bodiesUsingConstraint","getBodiesUsingConstraint","bodyPairInfo","parentOfPair","rotTransformParent","FromRotationMatrix","cross","rotTransformChild","translateTransformParent","translateTransformChild","parentAxes","xAxis","yAxis","zAxis","childAxes"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Debug/physicsViewer.js"],"sourcesContent":["import { Mesh } from \"../Meshes/mesh.js\";\nimport { CreateBox } from \"../Meshes/Builders/boxBuilder.js\";\nimport { CreateSphere } from \"../Meshes/Builders/sphereBuilder.js\";\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector.js\";\nimport { Color3, Color4 } from \"../Maths/math.color.js\";\nimport { EngineStore } from \"../Engines/engineStore.js\";\nimport { StandardMaterial } from \"../Materials/standardMaterial.js\";\nimport { PhysicsImpostor } from \"../Physics/v1/physicsImpostor.js\";\nimport { UtilityLayerRenderer } from \"../Rendering/utilityLayerRenderer.js\";\nimport { CreateCylinder } from \"../Meshes/Builders/cylinderBuilder.js\";\nimport { CreateCapsule } from \"../Meshes/Builders/capsuleBuilder.js\";\nimport { Logger } from \"../Misc/logger.js\";\nimport { VertexData } from \"../Meshes/mesh.vertexData.js\";\nimport { MeshBuilder } from \"../Meshes/meshBuilder.js\";\nimport { AxesViewer } from \"./axesViewer.js\";\nimport { TransformNode } from \"../Meshes/transformNode.js\";\nimport { Epsilon } from \"../Maths/math.constants.js\";\n/**\n * Used to show the physics impostor around the specific mesh\n */\nexport class PhysicsViewer {\n /**\n * Creates a new PhysicsViewer\n * @param scene defines the hosting scene\n */\n constructor(scene) {\n /** @internal */\n this._impostors = [];\n /** @internal */\n this._meshes = [];\n /** @internal */\n this._bodies = [];\n /** @internal */\n this._inertiaBodies = [];\n /** @internal */\n this._constraints = [];\n /** @internal */\n this._bodyMeshes = [];\n /** @internal */\n this._inertiaMeshes = [];\n /** @internal */\n this._constraintMeshes = [];\n /** @internal */\n this._numMeshes = 0;\n /** @internal */\n this._numBodies = 0;\n /** @internal */\n this._numInertiaBodies = 0;\n /** @internal */\n this._numConstraints = 0;\n this._debugMeshMeshes = new Array();\n this._constraintAxesSize = 0.4;\n this._scene = scene || EngineStore.LastCreatedScene;\n if (!this._scene) {\n return;\n }\n const physicEngine = this._scene.getPhysicsEngine();\n if (physicEngine) {\n this._physicsEnginePlugin = physicEngine.getPhysicsPlugin();\n }\n this._utilityLayer = new UtilityLayerRenderer(this._scene, false);\n this._utilityLayer.pickUtilitySceneFirst = false;\n this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;\n }\n /**\n * Updates the debug meshes of the physics engine.\n *\n * This code is useful for synchronizing the debug meshes of the physics engine with the physics impostor and mesh.\n * It checks if the impostor is disposed and if the plugin version is 1, then it syncs the mesh with the impostor.\n * This ensures that the debug meshes are up to date with the physics engine.\n */\n _updateDebugMeshes() {\n const plugin = this._physicsEnginePlugin;\n if (plugin?.getPluginVersion() === 1) {\n this._updateDebugMeshesV1();\n }\n else {\n this._updateDebugMeshesV2();\n }\n }\n /**\n * Updates the debug meshes of the physics engine.\n *\n * This method is useful for synchronizing the debug meshes with the physics impostors.\n * It iterates through the impostors and meshes, and if the plugin version is 1, it syncs the mesh with the impostor.\n * This ensures that the debug meshes accurately reflect the physics impostors, which is important for debugging the physics engine.\n */\n _updateDebugMeshesV1() {\n const plugin = this._physicsEnginePlugin;\n for (let i = 0; i < this._numMeshes; i++) {\n const impostor = this._impostors[i];\n if (!impostor) {\n continue;\n }\n if (impostor.isDisposed) {\n this.hideImpostor(this._impostors[i--]);\n }\n else {\n if (impostor.type === PhysicsImpostor.MeshImpostor) {\n continue;\n }\n const mesh = this._meshes[i];\n if (mesh && plugin) {\n plugin.syncMeshWithImpostor(mesh, impostor);\n }\n }\n }\n }\n /**\n * Updates the debug meshes of the physics engine for V2 plugin.\n *\n * This method is useful for synchronizing the debug meshes of the physics engine with the current state of the bodies.\n * It iterates through the bodies array and updates the debug meshes with the current transform of each body.\n * This ensures that the debug meshes accurately reflect the current state of the physics engine.\n */\n _updateDebugMeshesV2() {\n const plugin = this._physicsEnginePlugin;\n for (let i = 0; i < this._numBodies;) {\n const body = this._bodies[i];\n if (body && body.isDisposed && this.hideBody(body)) {\n continue;\n }\n const transform = this._bodyMeshes[i];\n if (body && transform) {\n plugin.syncTransform(body, transform);\n }\n i++;\n }\n }\n _updateInertiaMeshes() {\n for (let i = 0; i < this._numInertiaBodies;) {\n const body = this._inertiaBodies[i];\n if (body && body.isDisposed && this.hideInertia(body)) {\n continue;\n }\n const mesh = this._inertiaMeshes[i];\n if (body && mesh) {\n this._updateDebugInertia(body, mesh);\n }\n i++;\n }\n }\n _updateDebugInertia(body, inertiaMesh) {\n const inertiaMatrixRef = Matrix.Identity();\n const transformMatrixRef = Matrix.Identity();\n const finalMatrixRef = Matrix.Identity();\n if (body._pluginDataInstances.length) {\n const inertiaAsMesh = inertiaMesh;\n const inertiaMeshMatrixData = inertiaAsMesh._thinInstanceDataStorage.matrixData;\n const bodyTransformMatrixData = body.transformNode._thinInstanceDataStorage.matrixData;\n for (let i = 0; i < body._pluginDataInstances.length; i++) {\n const props = body.getMassProperties(i);\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\n Matrix.FromArrayToRef(bodyTransformMatrixData, i * 16, transformMatrixRef);\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, finalMatrixRef);\n finalMatrixRef.copyToArray(inertiaMeshMatrixData, i * 16);\n }\n inertiaAsMesh.thinInstanceBufferUpdated(\"matrix\");\n }\n else {\n const props = body.getMassProperties();\n this._getMeshDebugInertiaMatrixToRef(props, inertiaMatrixRef);\n body.transformNode.rotationQuaternion?.toRotationMatrix(transformMatrixRef);\n transformMatrixRef.setTranslation(body.transformNode.position);\n if (body.transformNode.parent) {\n const parentTransform = body.transformNode.parent.computeWorldMatrix(true);\n transformMatrixRef.multiplyToRef(parentTransform, transformMatrixRef);\n }\n inertiaMatrixRef.multiplyToRef(transformMatrixRef, inertiaMatrixRef);\n inertiaMatrixRef.decomposeToTransformNode(inertiaMesh);\n }\n }\n _updateDebugConstraints() {\n for (let i = 0; i < this._numConstraints; i++) {\n const constraint = this._constraints[i];\n const mesh = this._constraintMeshes[i];\n if (constraint && mesh) {\n this._updateDebugConstraint(constraint, mesh);\n }\n }\n }\n /**\n * Given a scaling vector, make all of its components\n * 1, preserving the sign\n * @param scaling\n */\n _makeScalingUnitInPlace(scaling) {\n if (Math.abs(scaling.x - 1) > Epsilon) {\n scaling.x = 1 * Math.sign(scaling.x);\n }\n if (Math.abs(scaling.y - 1) > Epsilon) {\n scaling.y = 1 * Math.sign(scaling.y);\n }\n if (Math.abs(scaling.z - 1) > Epsilon) {\n scaling.z = 1 * Math.sign(scaling.z);\n }\n }\n _updateDebugConstraint(constraint, parentingMesh) {\n if (!constraint._initOptions) {\n return;\n }\n // Get constraint pivot and axes\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\n return;\n }\n parentingMesh.getDescendants(true).forEach((parentConstraintMesh) => {\n // Get the parent transform\n const parentCoordSystemNode = parentConstraintMesh.getDescendants(true)[0];\n const childCoordSystemNode = parentConstraintMesh.getDescendants(true)[1];\n const { parentBody, parentBodyIndex } = parentCoordSystemNode.metadata;\n const { childBody, childBodyIndex } = childCoordSystemNode.metadata;\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\n this._makeScalingUnitInPlace(parentCoordSystemNode.scaling);\n childTransform.decomposeToTransformNode(childCoordSystemNode);\n this._makeScalingUnitInPlace(childCoordSystemNode.scaling);\n // Create a transform node and set its matrix\n const parentTransformNode = parentCoordSystemNode.getDescendants(true)[0];\n parentTransformNode.position.copyFrom(pivotA);\n const childTransformNode = childCoordSystemNode.getDescendants(true)[0];\n childTransformNode.position.copyFrom(pivotB);\n // Get the transform to align the XYZ axes to the constraint axes\n Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisA, perpAxisA, Vector3.CrossToRef(axisA, perpAxisA, TmpVectors.Vector3[0]), TmpVectors.Matrix[0]), parentTransformNode.rotationQuaternion);\n Quaternion.FromRotationMatrixToRef(Matrix.FromXYZAxesToRef(axisB, perpAxisB, Vector3.CrossToRef(axisB, perpAxisB, TmpVectors.Vector3[1]), TmpVectors.Matrix[1]), childTransformNode.rotationQuaternion);\n });\n }\n /**\n * Renders a specified physic impostor\n * @param impostor defines the impostor to render\n * @param targetMesh defines the mesh represented by the impostor\n * @returns the new debug mesh used to render the impostor\n */\n showImpostor(impostor, targetMesh) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numMeshes; i++) {\n if (this._impostors[i] == impostor) {\n return null;\n }\n }\n const debugMesh = this._getDebugMesh(impostor, targetMesh);\n if (debugMesh) {\n this._impostors[this._numMeshes] = impostor;\n this._meshes[this._numMeshes] = debugMesh;\n if (this._numMeshes === 0) {\n this._renderFunction = () => this._updateDebugMeshes();\n this._scene.registerBeforeRender(this._renderFunction);\n }\n this._numMeshes++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug mesh for a given physics body.\n * @param body The physics body to show.\n * @returns The debug mesh, or null if the body is already shown.\n *\n * This function is useful for visualizing the physics body in the scene.\n * It creates a debug mesh for the given body and adds it to the scene.\n * It also registers a before render function to update the debug mesh position and rotation.\n */\n showBody(body) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numBodies; i++) {\n if (this._bodies[i] == body) {\n return null;\n }\n }\n const debugMesh = this._getDebugBodyMesh(body);\n if (debugMesh) {\n this._bodies[this._numBodies] = body;\n this._bodyMeshes[this._numBodies] = debugMesh;\n if (this._numBodies === 0) {\n this._renderFunction = () => this._updateDebugMeshes();\n this._scene.registerBeforeRender(this._renderFunction);\n }\n this._numBodies++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug box corresponding to the inertia of a given body\n * @param body the physics body used to get the inertia\n * @returns the debug mesh used to show the inertia, or null if the body is already shown\n */\n showInertia(body) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numInertiaBodies; i++) {\n if (this._inertiaBodies[i] == body) {\n return null;\n }\n }\n const debugMesh = this._getDebugInertiaMesh(body);\n if (debugMesh) {\n this._inertiaBodies[this._numInertiaBodies] = body;\n this._inertiaMeshes[this._numInertiaBodies] = debugMesh;\n if (this._numInertiaBodies === 0) {\n this._inertiaRenderFunction = () => this._updateInertiaMeshes();\n this._scene.registerBeforeRender(this._inertiaRenderFunction);\n }\n this._numInertiaBodies++;\n }\n return debugMesh;\n }\n /**\n * Shows a debug mesh for a given physics constraint.\n * @param constraint the physics constraint to show\n * @returns the debug mesh, or null if the constraint is already shown\n */\n showConstraint(constraint) {\n if (!this._scene) {\n return null;\n }\n for (let i = 0; i < this._numConstraints; i++) {\n if (this._constraints[i] == constraint) {\n return null;\n }\n }\n const debugMesh = this._getDebugConstraintMesh(constraint);\n if (debugMesh) {\n this._constraints[this._numConstraints] = constraint;\n this._constraintMeshes[this._numConstraints] = debugMesh;\n if (this._numConstraints === 0) {\n this._constraintRenderFunction = () => this._updateDebugConstraints();\n this._scene.registerBeforeRender(this._constraintRenderFunction);\n }\n this._numConstraints++;\n }\n return debugMesh;\n }\n /**\n * Hides an impostor from the scene.\n * @param impostor - The impostor to hide.\n *\n * This method is useful for hiding an impostor from the scene. It removes the\n * impostor from the utility layer scene, disposes the mesh, and removes the\n * impostor from the list of impostors. If the impostor is the last one in the\n * list, it also unregisters the render function.\n */\n hideImpostor(impostor) {\n if (!impostor || !this._scene || !this._utilityLayer) {\n return;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numMeshes; i++) {\n if (this._impostors[i] == impostor) {\n const mesh = this._meshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n const index = this._debugMeshMeshes.indexOf(mesh);\n if (index > -1) {\n this._debugMeshMeshes.splice(index, 1);\n }\n this._numMeshes--;\n if (this._numMeshes > 0) {\n this._meshes[i] = this._meshes[this._numMeshes];\n this._impostors[i] = this._impostors[this._numMeshes];\n this._meshes[this._numMeshes] = null;\n this._impostors[this._numMeshes] = null;\n }\n else {\n this._meshes[0] = null;\n this._impostors[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numMeshes === 0) {\n this._scene.unregisterBeforeRender(this._renderFunction);\n }\n }\n /**\n * Hides a body from the physics engine.\n * @param body - The body to hide.\n * @returns true if body actually removed\n *\n * This function is useful for hiding a body from the physics engine.\n * It removes the body from the utility layer scene and disposes the mesh associated with it.\n * It also unregisters the render function if the number of bodies is 0.\n * This is useful for hiding a body from the physics engine without deleting it.\n */\n hideBody(body) {\n if (!body || !this._scene || !this._utilityLayer) {\n return false;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numBodies; i++) {\n if (this._bodies[i] === body) {\n const mesh = this._bodyMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._numBodies--;\n if (this._numBodies > 0) {\n this._bodyMeshes[i] = this._bodyMeshes[this._numBodies];\n this._bodies[i] = this._bodies[this._numBodies];\n this._bodyMeshes[this._numBodies] = null;\n this._bodies[this._numBodies] = null;\n }\n else {\n this._bodyMeshes[0] = null;\n this._bodies[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numBodies === 0) {\n this._scene.unregisterBeforeRender(this._renderFunction);\n }\n return removed;\n }\n /**\n * Hides a body's inertia from the viewer utility layer\n * @param body the body to hide\n * @returns true if inertia actually removed\n */\n hideInertia(body) {\n if (!body || !this._scene || !this._utilityLayer) {\n return false;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numInertiaBodies; i++) {\n if (this._inertiaBodies[i] === body) {\n const mesh = this._inertiaMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._inertiaBodies.splice(i, 1);\n this._inertiaMeshes.splice(i, 1);\n this._numInertiaBodies--;\n removed = true;\n break;\n }\n }\n if (removed && this._numInertiaBodies === 0) {\n this._scene.unregisterBeforeRender(this._inertiaRenderFunction);\n }\n return removed;\n }\n /**\n * Hide a physics constraint from the viewer utility layer\n * @param constraint the constraint to hide\n */\n hideConstraint(constraint) {\n if (!constraint || !this._scene || !this._utilityLayer) {\n return;\n }\n let removed = false;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n for (let i = 0; i < this._numConstraints; i++) {\n if (this._constraints[i] === constraint) {\n const mesh = this._constraintMeshes[i];\n if (!mesh) {\n continue;\n }\n utilityLayerScene.removeMesh(mesh);\n mesh.dispose();\n this._constraints.splice(i, 1);\n this._constraintMeshes.splice(i, 1);\n this._numConstraints--;\n if (this._numConstraints > 0) {\n this._constraints[i] = this._constraints[this._numConstraints];\n this._constraintMeshes[i] = this._constraintMeshes[this._numConstraints];\n this._constraints[this._numConstraints] = null;\n this._constraintMeshes[this._numConstraints] = null;\n }\n else {\n this._constraints[0] = null;\n this._constraintMeshes[0] = null;\n }\n removed = true;\n break;\n }\n }\n if (removed && this._numConstraints === 0) {\n this._scene.unregisterBeforeRender(this._constraintRenderFunction);\n }\n }\n _getDebugMaterial(scene) {\n if (!this._debugMaterial) {\n this._debugMaterial = new StandardMaterial(\"\", scene);\n this._debugMaterial.wireframe = true;\n this._debugMaterial.emissiveColor = Color3.White();\n this._debugMaterial.disableLighting = true;\n }\n return this._debugMaterial;\n }\n _getDebugInertiaMaterial(scene) {\n if (!this._debugInertiaMaterial) {\n this._debugInertiaMaterial = new StandardMaterial(\"\", scene);\n this._debugInertiaMaterial.disableLighting = true;\n this._debugInertiaMaterial.alpha = 0.0;\n }\n return this._debugInertiaMaterial;\n }\n _getDebugBoxMesh(scene) {\n if (!this._debugBoxMesh) {\n this._debugBoxMesh = CreateBox(\"physicsBodyBoxViewMesh\", { size: 1 }, scene);\n this._debugBoxMesh.rotationQuaternion = Quaternion.Identity();\n this._debugBoxMesh.material = this._getDebugMaterial(scene);\n this._debugBoxMesh.setEnabled(false);\n }\n return this._debugBoxMesh.createInstance(\"physicsBodyBoxViewInstance\");\n }\n _getDebugSphereMesh(scene) {\n if (!this._debugSphereMesh) {\n this._debugSphereMesh = CreateSphere(\"physicsBodySphereViewMesh\", { diameter: 1 }, scene);\n this._debugSphereMesh.rotationQuaternion = Quaternion.Identity();\n this._debugSphereMesh.material = this._getDebugMaterial(scene);\n this._debugSphereMesh.setEnabled(false);\n }\n return this._debugSphereMesh.createInstance(\"physicsBodySphereViewInstance\");\n }\n _getDebugCapsuleMesh(scene) {\n if (!this._debugCapsuleMesh) {\n this._debugCapsuleMesh = CreateCapsule(\"physicsBodyCapsuleViewMesh\", { height: 1 }, scene);\n this._debugCapsuleMesh.rotationQuaternion = Quaternion.Identity();\n this._debugCapsuleMesh.material = this._getDebugMaterial(scene);\n this._debugCapsuleMesh.setEnabled(false);\n }\n return this._debugCapsuleMesh.createInstance(\"physicsBodyCapsuleViewInstance\");\n }\n _getDebugCylinderMesh(scene) {\n if (!this._debugCylinderMesh) {\n this._debugCylinderMesh = CreateCylinder(\"physicsBodyCylinderViewMesh\", { diameterTop: 1, diameterBottom: 1, height: 1 }, scene);\n this._debugCylinderMesh.rotationQuaternion = Quaternion.Identity();\n this._debugCylinderMesh.material = this._getDebugMaterial(scene);\n this._debugCylinderMesh.setEnabled(false);\n }\n return this._debugCylinderMesh.createInstance(\"physicsBodyCylinderViewInstance\");\n }\n _getDebugMeshMesh(mesh, scene) {\n const wireframeOver = new Mesh(mesh.name, scene, null, mesh);\n wireframeOver.setParent(mesh);\n wireframeOver.position = Vector3.Zero();\n wireframeOver.material = this._getDebugMaterial(scene);\n this._debugMeshMeshes.push(wireframeOver);\n return wireframeOver;\n }\n _getDebugMesh(impostor, targetMesh) {\n if (!this._utilityLayer) {\n return null;\n }\n // Only create child impostor debug meshes when evaluating the parent\n if (targetMesh && targetMesh.parent && targetMesh.parent.physicsImpostor) {\n return null;\n }\n let mesh = null;\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n if (!impostor.physicsBody) {\n Logger.Warn(\"Unable to get physicsBody of impostor. It might be initialized later by its parent's impostor.\");\n return null;\n }\n switch (impostor.type) {\n case PhysicsImpostor.BoxImpostor:\n mesh = this._getDebugBoxMesh(utilityLayerScene);\n impostor.getBoxSizeToRef(mesh.scaling);\n break;\n case PhysicsImpostor.SphereImpostor: {\n mesh = this._getDebugSphereMesh(utilityLayerScene);\n const radius = impostor.getRadius();\n mesh.scaling.x = radius * 2;\n mesh.scaling.y = radius * 2;\n mesh.scaling.z = radius * 2;\n break;\n }\n case PhysicsImpostor.CapsuleImpostor: {\n mesh = this._getDebugCapsuleMesh(utilityLayerScene);\n const bi = impostor.object.getBoundingInfo();\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * 2 * impostor.object.scaling.x;\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * 2 * impostor.object.scaling.z;\n break;\n }\n case PhysicsImpostor.MeshImpostor:\n if (targetMesh) {\n mesh = this._getDebugMeshMesh(targetMesh, utilityLayerScene);\n }\n break;\n case PhysicsImpostor.NoImpostor:\n if (targetMesh) {\n // Handle compound impostors\n const childMeshes = targetMesh.getChildMeshes().filter((c) => {\n return c.physicsImpostor ? 1 : 0;\n });\n childMeshes.forEach((m) => {\n if (m.physicsImpostor && m.getClassName() === \"Mesh\") {\n const boundingInfo = m.getBoundingInfo();\n const min = boundingInfo.boundingBox.minimum;\n const max = boundingInfo.boundingBox.maximum;\n switch (m.physicsImpostor.type) {\n case PhysicsImpostor.BoxImpostor:\n mesh = this._getDebugBoxMesh(utilityLayerScene);\n mesh.position.copyFrom(min);\n mesh.position.addInPlace(max);\n mesh.position.scaleInPlace(0.5);\n break;\n case PhysicsImpostor.SphereImpostor:\n mesh = this._getDebugSphereMesh(utilityLayerScene);\n break;\n case PhysicsImpostor.CylinderImpostor:\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\n break;\n default:\n mesh = null;\n break;\n }\n if (mesh) {\n mesh.scaling.x = max.x - min.x;\n mesh.scaling.y = max.y - min.y;\n mesh.scaling.z = max.z - min.z;\n mesh.parent = m;\n }\n }\n });\n }\n else {\n Logger.Warn(\"No target mesh parameter provided for NoImpostor. Skipping.\");\n }\n mesh = null;\n break;\n case PhysicsImpostor.CylinderImpostor: {\n mesh = this._getDebugCylinderMesh(utilityLayerScene);\n const bi = impostor.object.getBoundingInfo();\n mesh.scaling.x = (bi.boundingBox.maximum.x - bi.boundingBox.minimum.x) * impostor.object.scaling.x;\n mesh.scaling.y = (bi.boundingBox.maximum.y - bi.boundingBox.minimum.y) * impostor.object.scaling.y;\n mesh.scaling.z = (bi.boundingBox.maximum.z - bi.boundingBox.minimum.z) * impostor.object.scaling.z;\n break;\n }\n }\n return mesh;\n }\n /**\n * Creates a debug mesh for a given physics body\n * @param body The physics body to create the debug mesh for\n * @returns The created debug mesh or null if the utility layer is not available\n *\n * This code is useful for creating a debug mesh for a given physics body.\n * It creates a Mesh object with a VertexData object containing the positions and indices\n * of the geometry of the body. The mesh is then assigned a debug material from the utility layer scene.\n * This allows for visualizing the physics body in the scene.\n */\n _getDebugBodyMesh(body) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n const mesh = new Mesh(\"custom\", utilityLayerScene);\n const vertexData = new VertexData();\n const geometry = body.getGeometry();\n vertexData.positions = geometry.positions;\n vertexData.indices = geometry.indices;\n vertexData.applyToMesh(mesh);\n if (body._pluginDataInstances) {\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\n mesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\n }\n mesh.material = this._getDebugMaterial(utilityLayerScene);\n return mesh;\n }\n _getMeshDebugInertiaMatrixToRef(massProps, matrix) {\n const orientation = massProps.inertiaOrientation ?? Quaternion.Identity();\n const inertiaLocal = massProps.inertia ?? Vector3.Zero();\n const center = massProps.centerOfMass ?? Vector3.Zero();\n const betaSqrd = (inertiaLocal.x - inertiaLocal.y + inertiaLocal.z) * 6;\n const beta = Math.sqrt(Math.max(betaSqrd, 0)); // Safety check for zeroed elements!\n const gammaSqrd = inertiaLocal.x * 12 - betaSqrd;\n const gamma = Math.sqrt(Math.max(gammaSqrd, 0)); // Safety check for zeroed elements!\n const alphaSqrd = inertiaLocal.z * 12 - betaSqrd;\n const alpha = Math.sqrt(Math.max(alphaSqrd, 0)); // Safety check for zeroed elements!\n const extents = TmpVectors.Vector3[0];\n extents.set(alpha, beta, gamma);\n const scaling = Matrix.ScalingToRef(extents.x, extents.y, extents.z, TmpVectors.Matrix[0]);\n const rotation = orientation.toRotationMatrix(TmpVectors.Matrix[1]);\n const translation = Matrix.TranslationToRef(center.x, center.y, center.z, TmpVectors.Matrix[2]);\n scaling.multiplyToRef(rotation, matrix);\n matrix.multiplyToRef(translation, matrix);\n return matrix;\n }\n _getDebugInertiaMesh(body) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n // The base inertia mesh is going to be a 1x1 cube that's scaled and rotated according to the inertia\n const inertiaBoxMesh = MeshBuilder.CreateBox(\"custom\", { size: 1 }, utilityLayerScene);\n const matrixRef = Matrix.Identity();\n if (body._pluginDataInstances.length) {\n const instanceBuffer = new Float32Array(body._pluginDataInstances.length * 16);\n for (let i = 0; i < body._pluginDataInstances.length; ++i) {\n const props = body.getMassProperties(i);\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\n matrixRef.copyToArray(instanceBuffer, i * 16);\n }\n inertiaBoxMesh.thinInstanceSetBuffer(\"matrix\", instanceBuffer, 16, false);\n }\n else {\n const props = body.getMassProperties();\n this._getMeshDebugInertiaMatrixToRef(props, matrixRef);\n matrixRef.decomposeToTransformNode(inertiaBoxMesh);\n }\n inertiaBoxMesh.enableEdgesRendering();\n inertiaBoxMesh.edgesWidth = 2.0;\n inertiaBoxMesh.edgesColor = new Color4(1, 0, 1, 1);\n inertiaBoxMesh.material = this._getDebugInertiaMaterial(utilityLayerScene);\n return inertiaBoxMesh;\n }\n _getTransformFromBodyToRef(body, matrix, instanceIndex) {\n const tnode = body.transformNode;\n if (instanceIndex && instanceIndex >= 0) {\n return Matrix.FromArrayToRef(tnode._thinInstanceDataStorage.matrixData, instanceIndex, matrix);\n }\n else {\n return matrix.copyFrom(tnode.getWorldMatrix());\n }\n }\n _getDebugConstraintMesh(constraint) {\n if (!this._utilityLayer) {\n return null;\n }\n const utilityLayerScene = this._utilityLayer.utilityLayerScene;\n if (!constraint._initOptions) {\n return null;\n }\n // Get constraint pivot and axes\n const { pivotA, pivotB, axisA, axisB, perpAxisA, perpAxisB } = constraint._initOptions;\n if (!pivotA || !pivotB || !axisA || !axisB || !perpAxisA || !perpAxisB) {\n return null;\n }\n // Create a mesh to parent all the constraint debug meshes to\n const parentingMesh = new Mesh(\"parentingDebugConstraint\", utilityLayerScene);\n // First, get a reference to all physic bodies that are using this constraint\n const bodiesUsingConstraint = constraint.getBodiesUsingConstraint();\n for (const bodyPairInfo of bodiesUsingConstraint) {\n // Create a mesh to keep the pair of constraint axes\n const parentOfPair = new TransformNode(\"parentOfPair\", utilityLayerScene);\n parentOfPair.parent = parentingMesh;\n const { parentBody, parentBodyIndex, childBody, childBodyIndex } = bodyPairInfo;\n // Get the parent transform\n const parentTransform = this._getTransformFromBodyToRef(parentBody, TmpVectors.Matrix[0], parentBodyIndex);\n const childTransform = this._getTransformFromBodyToRef(childBody, TmpVectors.Matrix[1], childBodyIndex);\n const parentCoordSystemNode = new TransformNode(\"parentCoordSystem\", utilityLayerScene);\n // parentCoordSystemNode.parent = parentingMesh;\n parentCoordSystemNode.parent = parentOfPair;\n // Save parent and index here to be able to get the transform on update\n parentCoordSystemNode.metadata = { parentBody, parentBodyIndex };\n parentTransform.decomposeToTransformNode(parentCoordSystemNode);\n const childCoordSystemNode = new TransformNode(\"childCoordSystem\", utilityLayerScene);\n // childCoordSystemNode.parent = parentingMesh;\n childCoordSystemNode.parent = parentOfPair;\n // Save child and index here to be able to get the transform on update\n childCoordSystemNode.metadata = { childBody, childBodyIndex };\n childTransform.decomposeToTransformNode(childCoordSystemNode);\n // Get the transform to align the XYZ axes to the constraint axes\n const rotTransformParent = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisA, perpAxisA, axisA.cross(perpAxisA), TmpVectors.Matrix[0]));\n const rotTransformChild = Quaternion.FromRotationMatrix(Matrix.FromXYZAxesToRef(axisB, perpAxisB, axisB.cross(perpAxisB), TmpVectors.Matrix[0]));\n const translateTransformParent = pivotA;\n const translateTransformChild = pivotB;\n // Create a transform node and set its matrix\n const parentTransformNode = new TransformNode(\"constraint_parent\", utilityLayerScene);\n parentTransformNode.position.copyFrom(translateTransformParent);\n parentTransformNode.rotationQuaternion = rotTransformParent;\n parentTransformNode.parent = parentCoordSystemNode;\n const childTransformNode = new TransformNode(\"constraint_child\", utilityLayerScene);\n childTransformNode.parent = childCoordSystemNode;\n childTransformNode.position.copyFrom(translateTransformChild);\n childTransformNode.rotationQuaternion = rotTransformChild;\n // Create axes for the constraint\n const parentAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\n parentAxes.xAxis.parent = parentTransformNode;\n parentAxes.yAxis.parent = parentTransformNode;\n parentAxes.zAxis.parent = parentTransformNode;\n const childAxes = new AxesViewer(utilityLayerScene, this._constraintAxesSize);\n childAxes.xAxis.parent = childTransformNode;\n childAxes.yAxis.parent = childTransformNode;\n childAxes.zAxis.parent = childTransformNode;\n }\n return parentingMesh;\n }\n /**\n * Clean up physics debug display\n */\n dispose() {\n // impostors\n for (let index = this._numMeshes - 1; index >= 0; index--) {\n this.hideImpostor(this._impostors[0]);\n }\n // bodies\n for (let index = this._numBodies - 1; index >= 0; index--) {\n this.hideBody(this._bodies[0]);\n }\n // inertia\n for (let index = this._numInertiaBodies - 1; index >= 0; index--) {\n this.hideInertia(this._inertiaBodies[0]);\n }\n if (this._debugBoxMesh) {\n this._debugBoxMesh.dispose();\n }\n if (this._debugSphereMesh) {\n this._debugSphereMesh.dispose();\n }\n if (this._debugCylinderMesh) {\n this._debugCylinderMesh.dispose();\n }\n if (this._debugMaterial) {\n this._debugMaterial.dispose();\n }\n this._impostors.length = 0;\n this._scene = null;\n this._physicsEnginePlugin = null;\n if (this._utilityLayer) {\n this._utilityLayer.dispose();\n this._utilityLayer = null;\n }\n 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