| 1 |
- {"ast":null,"code":"import { Logger } from \"../../Misc/logger.js\";\nimport { BuildArray } from \"../../Misc/arrayTools.js\";\nimport { Vector3, Quaternion } from \"../../Maths/math.vector.js\";\nimport { AbstractMesh } from \"../../Meshes/abstractMesh.js\";\nimport { Mesh } from \"../../Meshes/mesh.js\";\nimport { PhysicsJoint } from \"./physicsJoint.js\";\nMesh._PhysicsImpostorParser = function (scene, physicObject, jsonObject) {\n return new PhysicsImpostor(physicObject, jsonObject.physicsImpostor, {\n mass: jsonObject.physicsMass,\n friction: jsonObject.physicsFriction,\n restitution: jsonObject.physicsRestitution\n }, scene);\n};\n/**\n * Represents a physics imposter\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\n */\nexport class PhysicsImpostor {\n /**\n * Specifies if the physics imposter is disposed\n */\n get isDisposed() {\n return this._isDisposed;\n }\n /**\n * Gets the mass of the physics imposter\n */\n get mass() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyMass(this) : 0;\n }\n set mass(value) {\n this.setMass(value);\n }\n /**\n * Gets the coefficient of friction\n */\n get friction() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyFriction(this) : 0;\n }\n /**\n * Sets the coefficient of friction\n */\n set friction(value) {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.getPhysicsPlugin().setBodyFriction(this, value);\n }\n /**\n * Gets the coefficient of restitution\n */\n get restitution() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyRestitution(this) : 0;\n }\n /**\n * Sets the coefficient of restitution\n */\n set restitution(value) {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.getPhysicsPlugin().setBodyRestitution(this, value);\n }\n /**\n * Gets the pressure of a soft body; only supported by the AmmoJSPlugin\n */\n get pressure() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPressure) {\n return 0;\n }\n return plugin.getBodyPressure(this);\n }\n /**\n * Sets the pressure of a soft body; only supported by the AmmoJSPlugin\n */\n set pressure(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPressure) {\n return;\n }\n plugin.setBodyPressure(this, value);\n }\n /**\n * Gets the stiffness of a soft body; only supported by the AmmoJSPlugin\n */\n get stiffness() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyStiffness) {\n return 0;\n }\n return plugin.getBodyStiffness(this);\n }\n /**\n * Sets the stiffness of a soft body; only supported by the AmmoJSPlugin\n */\n set stiffness(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyStiffness) {\n return;\n }\n plugin.setBodyStiffness(this, value);\n }\n /**\n * Gets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\n */\n get velocityIterations() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyVelocityIterations) {\n return 0;\n }\n return plugin.getBodyVelocityIterations(this);\n }\n /**\n * Sets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\n */\n set velocityIterations(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyVelocityIterations) {\n return;\n }\n plugin.setBodyVelocityIterations(this, value);\n }\n /**\n * Gets the positionIterations of a soft body; only supported by the AmmoJSPlugin\n */\n get positionIterations() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyPositionIterations) {\n return 0;\n }\n return plugin.getBodyPositionIterations(this);\n }\n /**\n * Sets the positionIterations of a soft body; only supported by the AmmoJSPlugin\n */\n set positionIterations(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPositionIterations) {\n return;\n }\n plugin.setBodyPositionIterations(this, value);\n }\n /**\n * Initializes the physics imposter\n * @param object The physics-enabled object used as the physics imposter\n * @param type The type of the physics imposter. Types are available as static members of this class.\n * @param _options The options for the physics imposter\n * @param _scene The Babylon scene\n */\n constructor(\n /**\n * The physics-enabled object used as the physics imposter\n */\n object,\n /**\n * The type of the physics imposter\n */\n type, _options = {\n mass: 0\n }, _scene) {\n this.object = object;\n this.type = type;\n this._options = _options;\n this._scene = _scene;\n /** @internal */\n this._pluginData = {};\n this._bodyUpdateRequired = false;\n this._onBeforePhysicsStepCallbacks = new Array();\n this._onAfterPhysicsStepCallbacks = new Array();\n /** @internal */\n this._onPhysicsCollideCallbacks = [];\n this._deltaPosition = Vector3.Zero();\n this._isDisposed = false;\n /**\n * @internal\n */\n this.soft = false;\n /**\n * @internal\n */\n this.segments = 0;\n //temp variables for parent rotation calculations\n //private _mats: Array<Matrix> = [new Matrix(), new Matrix()];\n this._tmpQuat = new Quaternion();\n this._tmpQuat2 = new Quaternion();\n /**\n * this function is executed by the physics engine.\n */\n this.beforeStep = () => {\n if (!this._physicsEngine) {\n return;\n }\n this.object.translate(this._deltaPosition, -1);\n this._deltaRotationConjugated && this.object.rotationQuaternion && this.object.rotationQuaternion.multiplyToRef(this._deltaRotationConjugated, this.object.rotationQuaternion);\n this.object.computeWorldMatrix(false);\n if (this.object.parent && this.object.rotationQuaternion) {\n this.getParentsRotation();\n this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this._tmpQuat);\n } else {\n this._tmpQuat.copyFrom(this.object.rotationQuaternion || new Quaternion());\n }\n if (!this._options.disableBidirectionalTransformation) {\n this.object.rotationQuaternion && this._physicsEngine.getPhysicsPlugin().setPhysicsBodyTransformation(this, /*bInfo.boundingBox.centerWorld*/this.object.getAbsolutePosition(), this._tmpQuat);\n }\n this._onBeforePhysicsStepCallbacks.forEach(func => {\n func(this);\n });\n };\n /**\n * this function is executed by the physics engine\n */\n this.afterStep = () => {\n if (!this._physicsEngine) {\n return;\n }\n this._onAfterPhysicsStepCallbacks.forEach(func => {\n func(this);\n });\n this._physicsEngine.getPhysicsPlugin().setTransformationFromPhysicsBody(this);\n // object has now its world rotation. needs to be converted to local.\n if (this.object.parent && this.object.rotationQuaternion) {\n this.getParentsRotation();\n this._tmpQuat.conjugateInPlace();\n this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this.object.rotationQuaternion);\n }\n // take the position set and make it the absolute position of this object.\n this.object.setAbsolutePosition(this.object.position);\n if (this._deltaRotation) {\n this.object.rotationQuaternion && this.object.rotationQuaternion.multiplyToRef(this._deltaRotation, this.object.rotationQuaternion);\n this._deltaPosition.applyRotationQuaternionToRef(this._deltaRotation, PhysicsImpostor._TmpVecs[0]);\n this.object.translate(PhysicsImpostor._TmpVecs[0], 1);\n } else {\n this.object.translate(this._deltaPosition, 1);\n }\n this.object.computeWorldMatrix(true);\n };\n /**\n * Legacy collision detection event support\n */\n this.onCollideEvent = null;\n /**\n * define an onCollide function to call when this impostor collides against a different body\n * @param e collide event data\n */\n this.onCollide = e => {\n if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {\n return;\n }\n if (!this._physicsEngine) {\n return;\n }\n const otherImpostor = this._physicsEngine.getImpostorWithPhysicsBody(e.body);\n if (otherImpostor) {\n // Legacy collision detection event support\n if (this.onCollideEvent) {\n this.onCollideEvent(this, otherImpostor);\n }\n this._onPhysicsCollideCallbacks.filter(obj => {\n return obj.otherImpostors.indexOf(otherImpostor) !== -1;\n }).forEach(obj => {\n obj.callback(this, otherImpostor, e.point, e.distance, e.impulse, e.normal);\n });\n }\n };\n //sanity check!\n if (!this.object) {\n Logger.Error(\"No object was provided. A physics object is obligatory\");\n return;\n }\n if (this.object.parent && _options.mass !== 0) {\n Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\n }\n // Legacy support for old syntax.\n if (!this._scene && object.getScene) {\n this._scene = object.getScene();\n }\n if (!this._scene) {\n return;\n }\n if (this.type > 100) {\n this.soft = true;\n }\n this._physicsEngine = this._scene.getPhysicsEngine();\n if (!this._physicsEngine) {\n Logger.Error(\"Physics not enabled. Please use scene.enablePhysics(...) before creating impostors.\");\n } else {\n //set the object's quaternion, if not set\n if (!this.object.rotationQuaternion) {\n if (this.object.rotation) {\n this.object.rotationQuaternion = Quaternion.RotationYawPitchRoll(this.object.rotation.y, this.object.rotation.x, this.object.rotation.z);\n } else {\n this.object.rotationQuaternion = new Quaternion();\n }\n }\n //default options params\n this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\n this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\n this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\n if (this.soft) {\n //softbody mass must be above 0;\n this._options.mass = this._options.mass > 0 ? this._options.mass : 1;\n this._options.pressure = _options.pressure === void 0 ? 200 : _options.pressure;\n this._options.stiffness = _options.stiffness === void 0 ? 1 : _options.stiffness;\n this._options.velocityIterations = _options.velocityIterations === void 0 ? 20 : _options.velocityIterations;\n this._options.positionIterations = _options.positionIterations === void 0 ? 20 : _options.positionIterations;\n this._options.fixedPoints = _options.fixedPoints === void 0 ? 0 : _options.fixedPoints;\n this._options.margin = _options.margin === void 0 ? 0 : _options.margin;\n this._options.damping = _options.damping === void 0 ? 0 : _options.damping;\n this._options.path = _options.path === void 0 ? null : _options.path;\n this._options.shape = _options.shape === void 0 ? null : _options.shape;\n }\n this._joints = [];\n //If the mesh has a parent, don't initialize the physicsBody. Instead wait for the parent to do that.\n if (!this.object.parent || this._options.ignoreParent) {\n this._init();\n } else if (this.object.parent.physicsImpostor) {\n Logger.Warn(\"You must affect impostors to children before affecting impostor to parent.\");\n }\n }\n }\n /**\n * This function will completely initialize this impostor.\n * It will create a new body - but only if this mesh has no parent.\n * If it has, this impostor will not be used other than to define the impostor\n * of the child mesh.\n * @internal\n */\n _init() {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.removeImpostor(this);\n this.physicsBody = null;\n this._parent = this._parent || this._getPhysicsParent();\n if (!this._isDisposed && (!this.parent || this._options.ignoreParent)) {\n this._physicsEngine.addImpostor(this);\n }\n }\n _getPhysicsParent() {\n if (this.object.parent instanceof AbstractMesh) {\n const parentMesh = this.object.parent;\n return parentMesh.physicsImpostor;\n }\n return null;\n }\n /**\n * Should a new body be generated.\n * @returns boolean specifying if body initialization is required\n */\n isBodyInitRequired() {\n return this._bodyUpdateRequired || !this._physicsBody && (!this._parent || !!this._options.ignoreParent);\n }\n /**\n * Sets the updated scaling\n */\n setScalingUpdated() {\n this.forceUpdate();\n }\n /**\n * Force a regeneration of this or the parent's impostor's body.\n * Use with caution - This will remove all previously-instantiated joints.\n */\n forceUpdate() {\n this._init();\n if (this.parent && !this._options.ignoreParent) {\n this.parent.forceUpdate();\n }\n }\n /*public get mesh(): AbstractMesh {\n return this._mesh;\n }*/\n /**\n * Gets the body that holds this impostor. Either its own, or its parent.\n */\n get physicsBody() {\n return this._parent && !this._options.ignoreParent ? this._parent.physicsBody : this._physicsBody;\n }\n /**\n * Get the parent of the physics imposter\n * @returns Physics imposter or null\n */\n get parent() {\n return !this._options.ignoreParent && this._parent ? this._parent : null;\n }\n /**\n * Sets the parent of the physics imposter\n */\n set parent(value) {\n this._parent = value;\n }\n /**\n * Set the physics body. Used mainly by the physics engine/plugin\n */\n set physicsBody(physicsBody) {\n if (this._physicsBody && this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().removePhysicsBody(this);\n }\n this._physicsBody = physicsBody;\n this.resetUpdateFlags();\n }\n /**\n * Resets the update flags\n */\n resetUpdateFlags() {\n this._bodyUpdateRequired = false;\n }\n /**\n * Gets the object extents\n * @returns the object extents\n */\n getObjectExtents() {\n if (this.object.getBoundingInfo) {\n const q = this.object.rotationQuaternion;\n const scaling = this.object.scaling.clone();\n //reset rotation\n this.object.rotationQuaternion = PhysicsImpostor.IDENTITY_QUATERNION;\n //calculate the world matrix with no rotation\n const worldMatrix = this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\n if (worldMatrix) {\n worldMatrix.decompose(scaling, undefined, undefined);\n }\n const boundingInfo = this.object.getBoundingInfo();\n // get the global scaling of the object\n const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\n size.x = Math.abs(size.x);\n size.y = Math.abs(size.y);\n size.z = Math.abs(size.z);\n //bring back the rotation\n this.object.rotationQuaternion = q;\n //calculate the world matrix with the new rotation\n this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\n return size;\n } else {\n return PhysicsImpostor.DEFAULT_OBJECT_SIZE;\n }\n }\n /**\n * Gets the object center\n * @returns The object center\n */\n getObjectCenter() {\n if (this.object.getBoundingInfo) {\n const boundingInfo = this.object.getBoundingInfo();\n return boundingInfo.boundingBox.centerWorld;\n } else {\n return this.object.position;\n }\n }\n /**\n * Get a specific parameter from the options parameters\n * @param paramName The object parameter name\n * @returns The object parameter\n */\n getParam(paramName) {\n return this._options[paramName];\n }\n /**\n * Sets a specific parameter in the options given to the physics plugin\n * @param paramName The parameter name\n * @param value The value of the parameter\n */\n setParam(paramName, value) {\n this._options[paramName] = value;\n this._bodyUpdateRequired = true;\n }\n /**\n * Specifically change the body's mass. Won't recreate the physics body object\n * @param mass The mass of the physics imposter\n */\n setMass(mass) {\n if (this.getParam(\"mass\") !== mass) {\n this.setParam(\"mass\", mass);\n }\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setBodyMass(this, mass);\n }\n }\n /**\n * Gets the linear velocity\n * @returns linear velocity or null\n */\n getLinearVelocity() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getLinearVelocity(this) : Vector3.Zero();\n }\n /**\n * Sets the linear velocity\n * @param velocity linear velocity or null\n */\n setLinearVelocity(velocity) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setLinearVelocity(this, velocity);\n }\n }\n /**\n * Gets the angular velocity\n * @returns angular velocity or null\n */\n getAngularVelocity() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getAngularVelocity(this) : Vector3.Zero();\n }\n /**\n * Sets the angular velocity\n * @param velocity The velocity or null\n */\n setAngularVelocity(velocity) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);\n }\n }\n /**\n * Execute a function with the physics plugin native code\n * Provide a function the will have two variables - the world object and the physics body object\n * @param func The function to execute with the physics plugin native code\n */\n executeNativeFunction(func) {\n if (this._physicsEngine) {\n func(this._physicsEngine.getPhysicsPlugin().world, this.physicsBody);\n }\n }\n /**\n * Register a function that will be executed before the physics world is stepping forward\n * @param func The function to execute before the physics world is stepped forward\n */\n registerBeforePhysicsStep(func) {\n this._onBeforePhysicsStepCallbacks.push(func);\n }\n /**\n * Unregister a function that will be executed before the physics world is stepping forward\n * @param func The function to execute before the physics world is stepped forward\n */\n unregisterBeforePhysicsStep(func) {\n const index = this._onBeforePhysicsStepCallbacks.indexOf(func);\n if (index > -1) {\n this._onBeforePhysicsStepCallbacks.splice(index, 1);\n } else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * Register a function that will be executed after the physics step\n * @param func The function to execute after physics step\n */\n registerAfterPhysicsStep(func) {\n this._onAfterPhysicsStepCallbacks.push(func);\n }\n /**\n * Unregisters a function that will be executed after the physics step\n * @param func The function to execute after physics step\n */\n unregisterAfterPhysicsStep(func) {\n const index = this._onAfterPhysicsStepCallbacks.indexOf(func);\n if (index > -1) {\n this._onAfterPhysicsStepCallbacks.splice(index, 1);\n } else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * register a function that will be executed when this impostor collides against a different body\n * @param collideAgainst Physics imposter, or array of physics imposters to collide against\n * @param func Callback that is executed on collision\n */\n registerOnPhysicsCollide(collideAgainst, func) {\n const collidedAgainstList = collideAgainst instanceof Array ? collideAgainst : [collideAgainst];\n this._onPhysicsCollideCallbacks.push({\n callback: func,\n otherImpostors: collidedAgainstList\n });\n }\n /**\n * Unregisters the physics imposter's collision callback\n * @param collideAgainst The physics object to collide against\n * @param func Callback to execute on collision\n */\n unregisterOnPhysicsCollide(collideAgainst, func) {\n const collidedAgainstList = collideAgainst instanceof Array ? collideAgainst : [collideAgainst];\n let index = -1;\n const found = this._onPhysicsCollideCallbacks.some((cbDef, idx) => {\n if (cbDef.callback === func && cbDef.otherImpostors.length === collidedAgainstList.length) {\n // chcek the arrays match\n const sameList = cbDef.otherImpostors.every(impostor => {\n return collidedAgainstList.indexOf(impostor) > -1;\n });\n if (sameList) {\n index = idx;\n }\n return sameList;\n }\n return false;\n });\n if (found) {\n this._onPhysicsCollideCallbacks.splice(index, 1);\n } else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * Get the parent rotation\n * @returns The parent rotation\n */\n getParentsRotation() {\n let parent = this.object.parent;\n this._tmpQuat.copyFromFloats(0, 0, 0, 1);\n while (parent) {\n if (parent.rotationQuaternion) {\n this._tmpQuat2.copyFrom(parent.rotationQuaternion);\n } else {\n Quaternion.RotationYawPitchRollToRef(parent.rotation.y, parent.rotation.x, parent.rotation.z, this._tmpQuat2);\n }\n this._tmpQuat.multiplyToRef(this._tmpQuat2, this._tmpQuat);\n parent = parent.parent;\n }\n return this._tmpQuat;\n }\n /**\n * Apply a force\n * @param force The force to apply\n * @param contactPoint The contact point for the force\n * @returns The physics imposter\n */\n applyForce(force, contactPoint) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().applyForce(this, force, contactPoint);\n }\n return this;\n }\n /**\n * Apply an impulse\n * @param force The impulse force\n * @param contactPoint The contact point for the impulse force\n * @returns The physics imposter\n */\n applyImpulse(force, contactPoint) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().applyImpulse(this, force, contactPoint);\n }\n return this;\n }\n /**\n * A help function to create a joint\n * @param otherImpostor A physics imposter used to create a joint\n * @param jointType The type of joint\n * @param jointData The data for the joint\n * @returns The physics imposter\n */\n createJoint(otherImpostor, jointType, jointData) {\n const joint = new PhysicsJoint(jointType, jointData);\n this.addJoint(otherImpostor, joint);\n return this;\n }\n /**\n * Add a joint to this impostor with a different impostor\n * @param otherImpostor A physics imposter used to add a joint\n * @param joint The joint to add\n * @returns The physics imposter\n */\n addJoint(otherImpostor, joint) {\n this._joints.push({\n otherImpostor: otherImpostor,\n joint: joint\n });\n if (this._physicsEngine) {\n this._physicsEngine.addJoint(this, otherImpostor, joint);\n }\n return this;\n }\n /**\n * Add an anchor to a cloth impostor\n * @param otherImpostor rigid impostor to anchor to\n * @param width ratio across width from 0 to 1\n * @param height ratio up height from 0 to 1\n * @param influence the elasticity between cloth impostor and anchor from 0, very stretchy to 1, little stretch\n * @param noCollisionBetweenLinkedBodies when true collisions between cloth impostor and anchor are ignored; default false\n * @returns impostor the soft imposter\n */\n addAnchor(otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies) {\n if (!this._physicsEngine) {\n return this;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.appendAnchor) {\n return this;\n }\n if (this._physicsEngine) {\n plugin.appendAnchor(this, otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies);\n }\n return this;\n }\n /**\n * Add a hook to a rope impostor\n * @param otherImpostor rigid impostor to anchor to\n * @param length ratio across rope from 0 to 1\n * @param influence the elasticity between rope impostor and anchor from 0, very stretchy to 1, little stretch\n * @param noCollisionBetweenLinkedBodies when true collisions between soft impostor and anchor are ignored; default false\n * @returns impostor the rope imposter\n */\n addHook(otherImpostor, length, influence, noCollisionBetweenLinkedBodies) {\n if (!this._physicsEngine) {\n return this;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.appendAnchor) {\n return this;\n }\n if (this._physicsEngine) {\n plugin.appendHook(this, otherImpostor, length, influence, noCollisionBetweenLinkedBodies);\n }\n return this;\n }\n /**\n * Will keep this body still, in a sleep mode.\n * @returns the physics imposter\n */\n sleep() {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().sleepBody(this);\n }\n return this;\n }\n /**\n * Wake the body up.\n * @returns The physics imposter\n */\n wakeUp() {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().wakeUpBody(this);\n }\n return this;\n }\n /**\n * Clones the physics imposter\n * @param newObject The physics imposter clones to this physics-enabled object\n * @returns A nullable physics imposter\n */\n clone(newObject) {\n if (!newObject) {\n return null;\n }\n return new PhysicsImpostor(newObject, this.type, this._options, this._scene);\n }\n /**\n * Disposes the physics imposter\n */\n dispose( /*disposeChildren: boolean = true*/\n ) {\n //no dispose if no physics engine is available.\n if (!this._physicsEngine) {\n return;\n }\n this._joints.forEach(j => {\n if (this._physicsEngine) {\n this._physicsEngine.removeJoint(this, j.otherImpostor, j.joint);\n }\n });\n //dispose the physics body\n this._physicsEngine.removeImpostor(this);\n if (this.parent) {\n this.parent.forceUpdate();\n } else {\n /*this._object.getChildMeshes().forEach(function(mesh) {\n if (mesh.physicsImpostor) {\n if (disposeChildren) {\n mesh.physicsImpostor.dispose();\n mesh.physicsImpostor = null;\n }\n }\n })*/\n }\n this._isDisposed = true;\n }\n /**\n * Sets the delta position\n * @param position The delta position amount\n */\n setDeltaPosition(position) {\n this._deltaPosition.copyFrom(position);\n }\n /**\n * Sets the delta rotation\n * @param rotation The delta rotation amount\n */\n setDeltaRotation(rotation) {\n if (!this._deltaRotation) {\n this._deltaRotation = new Quaternion();\n }\n this._deltaRotation.copyFrom(rotation);\n this._deltaRotationConjugated = this._deltaRotation.conjugate();\n }\n /**\n * Gets the box size of the physics imposter and stores the result in the input parameter\n * @param result Stores the box size\n * @returns The physics imposter\n */\n getBoxSizeToRef(result) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().getBoxSizeToRef(this, result);\n }\n return this;\n }\n /**\n * Gets the radius of the physics imposter\n * @returns Radius of the physics imposter\n */\n getRadius() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getRadius(this) : 0;\n }\n /**\n * Sync a bone with this impostor\n * @param bone The bone to sync to the impostor.\n * @param boneMesh The mesh that the bone is influencing.\n * @param jointPivot The pivot of the joint / bone in local space.\n * @param distToJoint Optional distance from the impostor to the joint.\n * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\n */\n syncBoneWithImpostor(bone, boneMesh, jointPivot, distToJoint, adjustRotation) {\n const tempVec = PhysicsImpostor._TmpVecs[0];\n const mesh = this.object;\n if (mesh.rotationQuaternion) {\n if (adjustRotation) {\n const tempQuat = PhysicsImpostor._TmpQuat;\n mesh.rotationQuaternion.multiplyToRef(adjustRotation, tempQuat);\n bone.setRotationQuaternion(tempQuat, 1 /* Space.WORLD */, boneMesh);\n } else {\n bone.setRotationQuaternion(mesh.rotationQuaternion, 1 /* Space.WORLD */, boneMesh);\n }\n }\n tempVec.x = 0;\n tempVec.y = 0;\n tempVec.z = 0;\n if (jointPivot) {\n tempVec.x = jointPivot.x;\n tempVec.y = jointPivot.y;\n tempVec.z = jointPivot.z;\n bone.getDirectionToRef(tempVec, boneMesh, tempVec);\n if (distToJoint === undefined || distToJoint === null) {\n distToJoint = jointPivot.length();\n }\n tempVec.x *= distToJoint;\n tempVec.y *= distToJoint;\n tempVec.z *= distToJoint;\n }\n if (bone.getParent()) {\n tempVec.addInPlace(mesh.getAbsolutePosition());\n bone.setAbsolutePosition(tempVec, boneMesh);\n } else {\n boneMesh.setAbsolutePosition(mesh.getAbsolutePosition());\n boneMesh.position.x -= tempVec.x;\n boneMesh.position.y -= tempVec.y;\n boneMesh.position.z -= tempVec.z;\n }\n }\n /**\n * Sync impostor to a bone\n * @param bone The bone that the impostor will be synced to.\n * @param boneMesh The mesh that the bone is influencing.\n * @param jointPivot The pivot of the joint / bone in local space.\n * @param distToJoint Optional distance from the impostor to the joint.\n * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\n * @param boneAxis Optional vector3 axis the bone is aligned with\n */\n syncImpostorWithBone(bone, boneMesh, jointPivot, distToJoint, adjustRotation, boneAxis) {\n const mesh = this.object;\n if (mesh.rotationQuaternion) {\n if (adjustRotation) {\n const tempQuat = PhysicsImpostor._TmpQuat;\n bone.getRotationQuaternionToRef(1 /* Space.WORLD */, boneMesh, tempQuat);\n tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\n } else {\n bone.getRotationQuaternionToRef(1 /* Space.WORLD */, boneMesh, mesh.rotationQuaternion);\n }\n }\n const pos = PhysicsImpostor._TmpVecs[0];\n const boneDir = PhysicsImpostor._TmpVecs[1];\n if (!boneAxis) {\n boneAxis = PhysicsImpostor._TmpVecs[2];\n boneAxis.x = 0;\n boneAxis.y = 1;\n boneAxis.z = 0;\n }\n bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\n bone.getAbsolutePositionToRef(boneMesh, pos);\n if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\n distToJoint = jointPivot.length();\n }\n if (distToJoint !== undefined && distToJoint !== null) {\n pos.x += boneDir.x * distToJoint;\n pos.y += boneDir.y * distToJoint;\n pos.z += boneDir.z * distToJoint;\n }\n mesh.setAbsolutePosition(pos);\n }\n}\n/**\n * The default object size of the imposter\n */\nPhysicsImpostor.DEFAULT_OBJECT_SIZE = new Vector3(1, 1, 1);\n/**\n * The identity quaternion of the imposter\n */\nPhysicsImpostor.IDENTITY_QUATERNION = Quaternion.Identity();\nPhysicsImpostor._TmpVecs = BuildArray(3, Vector3.Zero);\nPhysicsImpostor._TmpQuat = Quaternion.Identity();\n//Impostor types\n/**\n * No-Imposter type\n */\nPhysicsImpostor.NoImpostor = 0;\n/**\n * Sphere-Imposter type\n */\nPhysicsImpostor.SphereImpostor = 1;\n/**\n * Box-Imposter type\n */\nPhysicsImpostor.BoxImpostor = 2;\n/**\n * Plane-Imposter type\n */\nPhysicsImpostor.PlaneImpostor = 3;\n/**\n * Mesh-imposter type (Only available to objects with vertices data)\n */\nPhysicsImpostor.MeshImpostor = 4;\n/**\n * Capsule-Impostor type (Ammo.js plugin only)\n */\nPhysicsImpostor.CapsuleImpostor = 6;\n/**\n * Cylinder-Imposter type\n */\nPhysicsImpostor.CylinderImpostor = 7;\n/**\n * Particle-Imposter type\n */\nPhysicsImpostor.ParticleImpostor = 8;\n/**\n * Heightmap-Imposter type\n */\nPhysicsImpostor.HeightmapImpostor = 9;\n/**\n * ConvexHull-Impostor type (Ammo.js plugin only)\n */\nPhysicsImpostor.ConvexHullImpostor = 10;\n/**\n * Custom-Imposter type (Ammo.js plugin only)\n */\nPhysicsImpostor.CustomImpostor = 100;\n/**\n * Rope-Imposter type\n */\nPhysicsImpostor.RopeImpostor = 101;\n/**\n * Cloth-Imposter type\n */\nPhysicsImpostor.ClothImpostor = 102;\n/**\n * Softbody-Imposter type\n */\nPhysicsImpostor.SoftbodyImpostor = 103;","map":{"version":3,"names":["Logger","BuildArray","Vector3","Quaternion","AbstractMesh","Mesh","PhysicsJoint","_PhysicsImpostorParser","scene","physicObject","jsonObject","PhysicsImpostor","physicsImpostor","mass","physicsMass","friction","physicsFriction","restitution","physicsRestitution","isDisposed","_isDisposed","_physicsEngine","getPhysicsPlugin","getBodyMass","value","setMass","getBodyFriction","setBodyFriction","getBodyRestitution","setBodyRestitution","pressure","plugin","setBodyPressure","getBodyPressure","stiffness","getBodyStiffness","setBodyStiffness","velocityIterations","getBodyVelocityIterations","setBodyVelocityIterations","positionIterations","getBodyPositionIterations","setBodyPositionIterations","constructor","object","type","_options","_scene","_pluginData","_bodyUpdateRequired","_onBeforePhysicsStepCallbacks","Array","_onAfterPhysicsStepCallbacks","_onPhysicsCollideCallbacks","_deltaPosition","Zero","soft","segments","_tmpQuat","_tmpQuat2","beforeStep","translate","_deltaRotationConjugated","rotationQuaternion","multiplyToRef","computeWorldMatrix","parent","getParentsRotation","copyFrom","disableBidirectionalTransformation","setPhysicsBodyTransformation","getAbsolutePosition","forEach","func","afterStep","setTransformationFromPhysicsBody","conjugateInPlace","setAbsolutePosition","position","_deltaRotation","applyRotationQuaternionToRef","_TmpVecs","onCollideEvent","onCollide","e","length","otherImpostor","getImpostorWithPhysicsBody","body","filter","obj","otherImpostors","indexOf","callback","point","distance","impulse","normal","Error","Warn","getScene","getPhysicsEngine","rotation","RotationYawPitchRoll","y","x","z","fixedPoints","margin","damping","path","shape","_joints","ignoreParent","_init","removeImpostor","physicsBody","_parent","_getPhysicsParent","addImpostor","parentMesh","isBodyInitRequired","_physicsBody","setScalingUpdated","forceUpdate","removePhysicsBody","resetUpdateFlags","getObjectExtents","getBoundingInfo","q","scaling","clone","IDENTITY_QUATERNION","worldMatrix","decompose","undefined","boundingInfo","size","boundingBox","extendSize","scale","multiplyInPlace","Math","abs","DEFAULT_OBJECT_SIZE","getObjectCenter","centerWorld","getParam","paramName","setParam","setBodyMass","getLinearVelocity","setLinearVelocity","velocity","getAngularVelocity","setAngularVelocity","executeNativeFunction","world","registerBeforePhysicsStep","push","unregisterBeforePhysicsStep","index","splice","registerAfterPhysicsStep","unregisterAfterPhysicsStep","registerOnPhysicsCollide","collideAgainst","collidedAgainstList","unregisterOnPhysicsCollide","found","some","cbDef","idx","sameList","every","impostor","copyFromFloats","RotationYawPitchRollToRef","applyForce","force","contactPoint","applyImpulse","createJoint","jointType","jointData","joint","addJoint","addAnchor","width","height","influence","noCollisionBetweenLinkedBodies","appendAnchor","addHook","appendHook","sleep","sleepBody","wakeUp","wakeUpBody","newObject","dispose","j","removeJoint","setDeltaPosition","setDeltaRotation","conjugate","getBoxSizeToRef","result","getRadius","syncBoneWithImpostor","bone","boneMesh","jointPivot","distToJoint","adjustRotation","tempVec","mesh","tempQuat","_TmpQuat","setRotationQuaternion","getDirectionToRef","getParent","addInPlace","syncImpostorWithBone","boneAxis","getRotationQuaternionToRef","pos","boneDir","getAbsolutePositionToRef","Identity","NoImpostor","SphereImpostor","BoxImpostor","PlaneImpostor","MeshImpostor","CapsuleImpostor","CylinderImpostor","ParticleImpostor","HeightmapImpostor","ConvexHullImpostor","CustomImpostor","RopeImpostor","ClothImpostor","SoftbodyImpostor"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Physics/v1/physicsImpostor.js"],"sourcesContent":["import { Logger } from \"../../Misc/logger.js\";\nimport { BuildArray } from \"../../Misc/arrayTools.js\";\nimport { Vector3, Quaternion } from \"../../Maths/math.vector.js\";\nimport { AbstractMesh } from \"../../Meshes/abstractMesh.js\";\nimport { Mesh } from \"../../Meshes/mesh.js\";\nimport { PhysicsJoint } from \"./physicsJoint.js\";\nMesh._PhysicsImpostorParser = function (scene, physicObject, jsonObject) {\n return new PhysicsImpostor(physicObject, jsonObject.physicsImpostor, {\n mass: jsonObject.physicsMass,\n friction: jsonObject.physicsFriction,\n restitution: jsonObject.physicsRestitution,\n }, scene);\n};\n/**\n * Represents a physics imposter\n * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine\n */\nexport class PhysicsImpostor {\n /**\n * Specifies if the physics imposter is disposed\n */\n get isDisposed() {\n return this._isDisposed;\n }\n /**\n * Gets the mass of the physics imposter\n */\n get mass() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyMass(this) : 0;\n }\n set mass(value) {\n this.setMass(value);\n }\n /**\n * Gets the coefficient of friction\n */\n get friction() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyFriction(this) : 0;\n }\n /**\n * Sets the coefficient of friction\n */\n set friction(value) {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.getPhysicsPlugin().setBodyFriction(this, value);\n }\n /**\n * Gets the coefficient of restitution\n */\n get restitution() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getBodyRestitution(this) : 0;\n }\n /**\n * Sets the coefficient of restitution\n */\n set restitution(value) {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.getPhysicsPlugin().setBodyRestitution(this, value);\n }\n /**\n * Gets the pressure of a soft body; only supported by the AmmoJSPlugin\n */\n get pressure() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPressure) {\n return 0;\n }\n return plugin.getBodyPressure(this);\n }\n /**\n * Sets the pressure of a soft body; only supported by the AmmoJSPlugin\n */\n set pressure(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPressure) {\n return;\n }\n plugin.setBodyPressure(this, value);\n }\n /**\n * Gets the stiffness of a soft body; only supported by the AmmoJSPlugin\n */\n get stiffness() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyStiffness) {\n return 0;\n }\n return plugin.getBodyStiffness(this);\n }\n /**\n * Sets the stiffness of a soft body; only supported by the AmmoJSPlugin\n */\n set stiffness(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyStiffness) {\n return;\n }\n plugin.setBodyStiffness(this, value);\n }\n /**\n * Gets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\n */\n get velocityIterations() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyVelocityIterations) {\n return 0;\n }\n return plugin.getBodyVelocityIterations(this);\n }\n /**\n * Sets the velocityIterations of a soft body; only supported by the AmmoJSPlugin\n */\n set velocityIterations(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyVelocityIterations) {\n return;\n }\n plugin.setBodyVelocityIterations(this, value);\n }\n /**\n * Gets the positionIterations of a soft body; only supported by the AmmoJSPlugin\n */\n get positionIterations() {\n if (!this._physicsEngine) {\n return 0;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.getBodyPositionIterations) {\n return 0;\n }\n return plugin.getBodyPositionIterations(this);\n }\n /**\n * Sets the positionIterations of a soft body; only supported by the AmmoJSPlugin\n */\n set positionIterations(value) {\n if (!this._physicsEngine) {\n return;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.setBodyPositionIterations) {\n return;\n }\n plugin.setBodyPositionIterations(this, value);\n }\n /**\n * Initializes the physics imposter\n * @param object The physics-enabled object used as the physics imposter\n * @param type The type of the physics imposter. Types are available as static members of this class.\n * @param _options The options for the physics imposter\n * @param _scene The Babylon scene\n */\n constructor(\n /**\n * The physics-enabled object used as the physics imposter\n */\n object, \n /**\n * The type of the physics imposter\n */\n type, _options = { mass: 0 }, _scene) {\n this.object = object;\n this.type = type;\n this._options = _options;\n this._scene = _scene;\n /** @internal */\n this._pluginData = {};\n this._bodyUpdateRequired = false;\n this._onBeforePhysicsStepCallbacks = new Array();\n this._onAfterPhysicsStepCallbacks = new Array();\n /** @internal */\n this._onPhysicsCollideCallbacks = [];\n this._deltaPosition = Vector3.Zero();\n this._isDisposed = false;\n /**\n * @internal\n */\n this.soft = false;\n /**\n * @internal\n */\n this.segments = 0;\n //temp variables for parent rotation calculations\n //private _mats: Array<Matrix> = [new Matrix(), new Matrix()];\n this._tmpQuat = new Quaternion();\n this._tmpQuat2 = new Quaternion();\n /**\n * this function is executed by the physics engine.\n */\n this.beforeStep = () => {\n if (!this._physicsEngine) {\n return;\n }\n this.object.translate(this._deltaPosition, -1);\n this._deltaRotationConjugated &&\n this.object.rotationQuaternion &&\n this.object.rotationQuaternion.multiplyToRef(this._deltaRotationConjugated, this.object.rotationQuaternion);\n this.object.computeWorldMatrix(false);\n if (this.object.parent && this.object.rotationQuaternion) {\n this.getParentsRotation();\n this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this._tmpQuat);\n }\n else {\n this._tmpQuat.copyFrom(this.object.rotationQuaternion || new Quaternion());\n }\n if (!this._options.disableBidirectionalTransformation) {\n this.object.rotationQuaternion &&\n this._physicsEngine.getPhysicsPlugin().setPhysicsBodyTransformation(this, /*bInfo.boundingBox.centerWorld*/ this.object.getAbsolutePosition(), this._tmpQuat);\n }\n this._onBeforePhysicsStepCallbacks.forEach((func) => {\n func(this);\n });\n };\n /**\n * this function is executed by the physics engine\n */\n this.afterStep = () => {\n if (!this._physicsEngine) {\n return;\n }\n this._onAfterPhysicsStepCallbacks.forEach((func) => {\n func(this);\n });\n this._physicsEngine.getPhysicsPlugin().setTransformationFromPhysicsBody(this);\n // object has now its world rotation. needs to be converted to local.\n if (this.object.parent && this.object.rotationQuaternion) {\n this.getParentsRotation();\n this._tmpQuat.conjugateInPlace();\n this._tmpQuat.multiplyToRef(this.object.rotationQuaternion, this.object.rotationQuaternion);\n }\n // take the position set and make it the absolute position of this object.\n this.object.setAbsolutePosition(this.object.position);\n if (this._deltaRotation) {\n this.object.rotationQuaternion && this.object.rotationQuaternion.multiplyToRef(this._deltaRotation, this.object.rotationQuaternion);\n this._deltaPosition.applyRotationQuaternionToRef(this._deltaRotation, PhysicsImpostor._TmpVecs[0]);\n this.object.translate(PhysicsImpostor._TmpVecs[0], 1);\n }\n else {\n this.object.translate(this._deltaPosition, 1);\n }\n this.object.computeWorldMatrix(true);\n };\n /**\n * Legacy collision detection event support\n */\n this.onCollideEvent = null;\n /**\n * define an onCollide function to call when this impostor collides against a different body\n * @param e collide event data\n */\n this.onCollide = (e) => {\n if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {\n return;\n }\n if (!this._physicsEngine) {\n return;\n }\n const otherImpostor = this._physicsEngine.getImpostorWithPhysicsBody(e.body);\n if (otherImpostor) {\n // Legacy collision detection event support\n if (this.onCollideEvent) {\n this.onCollideEvent(this, otherImpostor);\n }\n this._onPhysicsCollideCallbacks\n .filter((obj) => {\n return obj.otherImpostors.indexOf(otherImpostor) !== -1;\n })\n .forEach((obj) => {\n obj.callback(this, otherImpostor, e.point, e.distance, e.impulse, e.normal);\n });\n }\n };\n //sanity check!\n if (!this.object) {\n Logger.Error(\"No object was provided. A physics object is obligatory\");\n return;\n }\n if (this.object.parent && _options.mass !== 0) {\n Logger.Warn(\"A physics impostor has been created for an object which has a parent. Babylon physics currently works in local space so unexpected issues may occur.\");\n }\n // Legacy support for old syntax.\n if (!this._scene && object.getScene) {\n this._scene = object.getScene();\n }\n if (!this._scene) {\n return;\n }\n if (this.type > 100) {\n this.soft = true;\n }\n this._physicsEngine = this._scene.getPhysicsEngine();\n if (!this._physicsEngine) {\n Logger.Error(\"Physics not enabled. Please use scene.enablePhysics(...) before creating impostors.\");\n }\n else {\n //set the object's quaternion, if not set\n if (!this.object.rotationQuaternion) {\n if (this.object.rotation) {\n this.object.rotationQuaternion = Quaternion.RotationYawPitchRoll(this.object.rotation.y, this.object.rotation.x, this.object.rotation.z);\n }\n else {\n this.object.rotationQuaternion = new Quaternion();\n }\n }\n //default options params\n this._options.mass = _options.mass === void 0 ? 0 : _options.mass;\n this._options.friction = _options.friction === void 0 ? 0.2 : _options.friction;\n this._options.restitution = _options.restitution === void 0 ? 0.2 : _options.restitution;\n if (this.soft) {\n //softbody mass must be above 0;\n this._options.mass = this._options.mass > 0 ? this._options.mass : 1;\n this._options.pressure = _options.pressure === void 0 ? 200 : _options.pressure;\n this._options.stiffness = _options.stiffness === void 0 ? 1 : _options.stiffness;\n this._options.velocityIterations = _options.velocityIterations === void 0 ? 20 : _options.velocityIterations;\n this._options.positionIterations = _options.positionIterations === void 0 ? 20 : _options.positionIterations;\n this._options.fixedPoints = _options.fixedPoints === void 0 ? 0 : _options.fixedPoints;\n this._options.margin = _options.margin === void 0 ? 0 : _options.margin;\n this._options.damping = _options.damping === void 0 ? 0 : _options.damping;\n this._options.path = _options.path === void 0 ? null : _options.path;\n this._options.shape = _options.shape === void 0 ? null : _options.shape;\n }\n this._joints = [];\n //If the mesh has a parent, don't initialize the physicsBody. Instead wait for the parent to do that.\n if (!this.object.parent || this._options.ignoreParent) {\n this._init();\n }\n else if (this.object.parent.physicsImpostor) {\n Logger.Warn(\"You must affect impostors to children before affecting impostor to parent.\");\n }\n }\n }\n /**\n * This function will completely initialize this impostor.\n * It will create a new body - but only if this mesh has no parent.\n * If it has, this impostor will not be used other than to define the impostor\n * of the child mesh.\n * @internal\n */\n _init() {\n if (!this._physicsEngine) {\n return;\n }\n this._physicsEngine.removeImpostor(this);\n this.physicsBody = null;\n this._parent = this._parent || this._getPhysicsParent();\n if (!this._isDisposed && (!this.parent || this._options.ignoreParent)) {\n this._physicsEngine.addImpostor(this);\n }\n }\n _getPhysicsParent() {\n if (this.object.parent instanceof AbstractMesh) {\n const parentMesh = this.object.parent;\n return parentMesh.physicsImpostor;\n }\n return null;\n }\n /**\n * Should a new body be generated.\n * @returns boolean specifying if body initialization is required\n */\n isBodyInitRequired() {\n return this._bodyUpdateRequired || (!this._physicsBody && (!this._parent || !!this._options.ignoreParent));\n }\n /**\n * Sets the updated scaling\n */\n setScalingUpdated() {\n this.forceUpdate();\n }\n /**\n * Force a regeneration of this or the parent's impostor's body.\n * Use with caution - This will remove all previously-instantiated joints.\n */\n forceUpdate() {\n this._init();\n if (this.parent && !this._options.ignoreParent) {\n this.parent.forceUpdate();\n }\n }\n /*public get mesh(): AbstractMesh {\n return this._mesh;\n }*/\n /**\n * Gets the body that holds this impostor. Either its own, or its parent.\n */\n get physicsBody() {\n return this._parent && !this._options.ignoreParent ? this._parent.physicsBody : this._physicsBody;\n }\n /**\n * Get the parent of the physics imposter\n * @returns Physics imposter or null\n */\n get parent() {\n return !this._options.ignoreParent && this._parent ? this._parent : null;\n }\n /**\n * Sets the parent of the physics imposter\n */\n set parent(value) {\n this._parent = value;\n }\n /**\n * Set the physics body. Used mainly by the physics engine/plugin\n */\n set physicsBody(physicsBody) {\n if (this._physicsBody && this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().removePhysicsBody(this);\n }\n this._physicsBody = physicsBody;\n this.resetUpdateFlags();\n }\n /**\n * Resets the update flags\n */\n resetUpdateFlags() {\n this._bodyUpdateRequired = false;\n }\n /**\n * Gets the object extents\n * @returns the object extents\n */\n getObjectExtents() {\n if (this.object.getBoundingInfo) {\n const q = this.object.rotationQuaternion;\n const scaling = this.object.scaling.clone();\n //reset rotation\n this.object.rotationQuaternion = PhysicsImpostor.IDENTITY_QUATERNION;\n //calculate the world matrix with no rotation\n const worldMatrix = this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\n if (worldMatrix) {\n worldMatrix.decompose(scaling, undefined, undefined);\n }\n const boundingInfo = this.object.getBoundingInfo();\n // get the global scaling of the object\n const size = boundingInfo.boundingBox.extendSize.scale(2).multiplyInPlace(scaling);\n size.x = Math.abs(size.x);\n size.y = Math.abs(size.y);\n size.z = Math.abs(size.z);\n //bring back the rotation\n this.object.rotationQuaternion = q;\n //calculate the world matrix with the new rotation\n this.object.computeWorldMatrix && this.object.computeWorldMatrix(true);\n return size;\n }\n else {\n return PhysicsImpostor.DEFAULT_OBJECT_SIZE;\n }\n }\n /**\n * Gets the object center\n * @returns The object center\n */\n getObjectCenter() {\n if (this.object.getBoundingInfo) {\n const boundingInfo = this.object.getBoundingInfo();\n return boundingInfo.boundingBox.centerWorld;\n }\n else {\n return this.object.position;\n }\n }\n /**\n * Get a specific parameter from the options parameters\n * @param paramName The object parameter name\n * @returns The object parameter\n */\n getParam(paramName) {\n return this._options[paramName];\n }\n /**\n * Sets a specific parameter in the options given to the physics plugin\n * @param paramName The parameter name\n * @param value The value of the parameter\n */\n setParam(paramName, value) {\n this._options[paramName] = value;\n this._bodyUpdateRequired = true;\n }\n /**\n * Specifically change the body's mass. Won't recreate the physics body object\n * @param mass The mass of the physics imposter\n */\n setMass(mass) {\n if (this.getParam(\"mass\") !== mass) {\n this.setParam(\"mass\", mass);\n }\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setBodyMass(this, mass);\n }\n }\n /**\n * Gets the linear velocity\n * @returns linear velocity or null\n */\n getLinearVelocity() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getLinearVelocity(this) : Vector3.Zero();\n }\n /**\n * Sets the linear velocity\n * @param velocity linear velocity or null\n */\n setLinearVelocity(velocity) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setLinearVelocity(this, velocity);\n }\n }\n /**\n * Gets the angular velocity\n * @returns angular velocity or null\n */\n getAngularVelocity() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getAngularVelocity(this) : Vector3.Zero();\n }\n /**\n * Sets the angular velocity\n * @param velocity The velocity or null\n */\n setAngularVelocity(velocity) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);\n }\n }\n /**\n * Execute a function with the physics plugin native code\n * Provide a function the will have two variables - the world object and the physics body object\n * @param func The function to execute with the physics plugin native code\n */\n executeNativeFunction(func) {\n if (this._physicsEngine) {\n func(this._physicsEngine.getPhysicsPlugin().world, this.physicsBody);\n }\n }\n /**\n * Register a function that will be executed before the physics world is stepping forward\n * @param func The function to execute before the physics world is stepped forward\n */\n registerBeforePhysicsStep(func) {\n this._onBeforePhysicsStepCallbacks.push(func);\n }\n /**\n * Unregister a function that will be executed before the physics world is stepping forward\n * @param func The function to execute before the physics world is stepped forward\n */\n unregisterBeforePhysicsStep(func) {\n const index = this._onBeforePhysicsStepCallbacks.indexOf(func);\n if (index > -1) {\n this._onBeforePhysicsStepCallbacks.splice(index, 1);\n }\n else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * Register a function that will be executed after the physics step\n * @param func The function to execute after physics step\n */\n registerAfterPhysicsStep(func) {\n this._onAfterPhysicsStepCallbacks.push(func);\n }\n /**\n * Unregisters a function that will be executed after the physics step\n * @param func The function to execute after physics step\n */\n unregisterAfterPhysicsStep(func) {\n const index = this._onAfterPhysicsStepCallbacks.indexOf(func);\n if (index > -1) {\n this._onAfterPhysicsStepCallbacks.splice(index, 1);\n }\n else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * register a function that will be executed when this impostor collides against a different body\n * @param collideAgainst Physics imposter, or array of physics imposters to collide against\n * @param func Callback that is executed on collision\n */\n registerOnPhysicsCollide(collideAgainst, func) {\n const collidedAgainstList = collideAgainst instanceof Array ? collideAgainst : [collideAgainst];\n this._onPhysicsCollideCallbacks.push({ callback: func, otherImpostors: collidedAgainstList });\n }\n /**\n * Unregisters the physics imposter's collision callback\n * @param collideAgainst The physics object to collide against\n * @param func Callback to execute on collision\n */\n unregisterOnPhysicsCollide(collideAgainst, func) {\n const collidedAgainstList = collideAgainst instanceof Array ? collideAgainst : [collideAgainst];\n let index = -1;\n const found = this._onPhysicsCollideCallbacks.some((cbDef, idx) => {\n if (cbDef.callback === func && cbDef.otherImpostors.length === collidedAgainstList.length) {\n // chcek the arrays match\n const sameList = cbDef.otherImpostors.every((impostor) => {\n return collidedAgainstList.indexOf(impostor) > -1;\n });\n if (sameList) {\n index = idx;\n }\n return sameList;\n }\n return false;\n });\n if (found) {\n this._onPhysicsCollideCallbacks.splice(index, 1);\n }\n else {\n Logger.Warn(\"Function to remove was not found\");\n }\n }\n /**\n * Get the parent rotation\n * @returns The parent rotation\n */\n getParentsRotation() {\n let parent = this.object.parent;\n this._tmpQuat.copyFromFloats(0, 0, 0, 1);\n while (parent) {\n if (parent.rotationQuaternion) {\n this._tmpQuat2.copyFrom(parent.rotationQuaternion);\n }\n else {\n Quaternion.RotationYawPitchRollToRef(parent.rotation.y, parent.rotation.x, parent.rotation.z, this._tmpQuat2);\n }\n this._tmpQuat.multiplyToRef(this._tmpQuat2, this._tmpQuat);\n parent = parent.parent;\n }\n return this._tmpQuat;\n }\n /**\n * Apply a force\n * @param force The force to apply\n * @param contactPoint The contact point for the force\n * @returns The physics imposter\n */\n applyForce(force, contactPoint) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().applyForce(this, force, contactPoint);\n }\n return this;\n }\n /**\n * Apply an impulse\n * @param force The impulse force\n * @param contactPoint The contact point for the impulse force\n * @returns The physics imposter\n */\n applyImpulse(force, contactPoint) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().applyImpulse(this, force, contactPoint);\n }\n return this;\n }\n /**\n * A help function to create a joint\n * @param otherImpostor A physics imposter used to create a joint\n * @param jointType The type of joint\n * @param jointData The data for the joint\n * @returns The physics imposter\n */\n createJoint(otherImpostor, jointType, jointData) {\n const joint = new PhysicsJoint(jointType, jointData);\n this.addJoint(otherImpostor, joint);\n return this;\n }\n /**\n * Add a joint to this impostor with a different impostor\n * @param otherImpostor A physics imposter used to add a joint\n * @param joint The joint to add\n * @returns The physics imposter\n */\n addJoint(otherImpostor, joint) {\n this._joints.push({\n otherImpostor: otherImpostor,\n joint: joint,\n });\n if (this._physicsEngine) {\n this._physicsEngine.addJoint(this, otherImpostor, joint);\n }\n return this;\n }\n /**\n * Add an anchor to a cloth impostor\n * @param otherImpostor rigid impostor to anchor to\n * @param width ratio across width from 0 to 1\n * @param height ratio up height from 0 to 1\n * @param influence the elasticity between cloth impostor and anchor from 0, very stretchy to 1, little stretch\n * @param noCollisionBetweenLinkedBodies when true collisions between cloth impostor and anchor are ignored; default false\n * @returns impostor the soft imposter\n */\n addAnchor(otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies) {\n if (!this._physicsEngine) {\n return this;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.appendAnchor) {\n return this;\n }\n if (this._physicsEngine) {\n plugin.appendAnchor(this, otherImpostor, width, height, influence, noCollisionBetweenLinkedBodies);\n }\n return this;\n }\n /**\n * Add a hook to a rope impostor\n * @param otherImpostor rigid impostor to anchor to\n * @param length ratio across rope from 0 to 1\n * @param influence the elasticity between rope impostor and anchor from 0, very stretchy to 1, little stretch\n * @param noCollisionBetweenLinkedBodies when true collisions between soft impostor and anchor are ignored; default false\n * @returns impostor the rope imposter\n */\n addHook(otherImpostor, length, influence, noCollisionBetweenLinkedBodies) {\n if (!this._physicsEngine) {\n return this;\n }\n const plugin = this._physicsEngine.getPhysicsPlugin();\n if (!plugin.appendAnchor) {\n return this;\n }\n if (this._physicsEngine) {\n plugin.appendHook(this, otherImpostor, length, influence, noCollisionBetweenLinkedBodies);\n }\n return this;\n }\n /**\n * Will keep this body still, in a sleep mode.\n * @returns the physics imposter\n */\n sleep() {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().sleepBody(this);\n }\n return this;\n }\n /**\n * Wake the body up.\n * @returns The physics imposter\n */\n wakeUp() {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().wakeUpBody(this);\n }\n return this;\n }\n /**\n * Clones the physics imposter\n * @param newObject The physics imposter clones to this physics-enabled object\n * @returns A nullable physics imposter\n */\n clone(newObject) {\n if (!newObject) {\n return null;\n }\n return new PhysicsImpostor(newObject, this.type, this._options, this._scene);\n }\n /**\n * Disposes the physics imposter\n */\n dispose( /*disposeChildren: boolean = true*/) {\n //no dispose if no physics engine is available.\n if (!this._physicsEngine) {\n return;\n }\n this._joints.forEach((j) => {\n if (this._physicsEngine) {\n this._physicsEngine.removeJoint(this, j.otherImpostor, j.joint);\n }\n });\n //dispose the physics body\n this._physicsEngine.removeImpostor(this);\n if (this.parent) {\n this.parent.forceUpdate();\n }\n else {\n /*this._object.getChildMeshes().forEach(function(mesh) {\n if (mesh.physicsImpostor) {\n if (disposeChildren) {\n mesh.physicsImpostor.dispose();\n mesh.physicsImpostor = null;\n }\n }\n })*/\n }\n this._isDisposed = true;\n }\n /**\n * Sets the delta position\n * @param position The delta position amount\n */\n setDeltaPosition(position) {\n this._deltaPosition.copyFrom(position);\n }\n /**\n * Sets the delta rotation\n * @param rotation The delta rotation amount\n */\n setDeltaRotation(rotation) {\n if (!this._deltaRotation) {\n this._deltaRotation = new Quaternion();\n }\n this._deltaRotation.copyFrom(rotation);\n this._deltaRotationConjugated = this._deltaRotation.conjugate();\n }\n /**\n * Gets the box size of the physics imposter and stores the result in the input parameter\n * @param result Stores the box size\n * @returns The physics imposter\n */\n getBoxSizeToRef(result) {\n if (this._physicsEngine) {\n this._physicsEngine.getPhysicsPlugin().getBoxSizeToRef(this, result);\n }\n return this;\n }\n /**\n * Gets the radius of the physics imposter\n * @returns Radius of the physics imposter\n */\n getRadius() {\n return this._physicsEngine ? this._physicsEngine.getPhysicsPlugin().getRadius(this) : 0;\n }\n /**\n * Sync a bone with this impostor\n * @param bone The bone to sync to the impostor.\n * @param boneMesh The mesh that the bone is influencing.\n * @param jointPivot The pivot of the joint / bone in local space.\n * @param distToJoint Optional distance from the impostor to the joint.\n * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\n */\n syncBoneWithImpostor(bone, boneMesh, jointPivot, distToJoint, adjustRotation) {\n const tempVec = PhysicsImpostor._TmpVecs[0];\n const mesh = this.object;\n if (mesh.rotationQuaternion) {\n if (adjustRotation) {\n const tempQuat = PhysicsImpostor._TmpQuat;\n mesh.rotationQuaternion.multiplyToRef(adjustRotation, tempQuat);\n bone.setRotationQuaternion(tempQuat, 1 /* Space.WORLD */, boneMesh);\n }\n else {\n bone.setRotationQuaternion(mesh.rotationQuaternion, 1 /* Space.WORLD */, boneMesh);\n }\n }\n tempVec.x = 0;\n tempVec.y = 0;\n tempVec.z = 0;\n if (jointPivot) {\n tempVec.x = jointPivot.x;\n tempVec.y = jointPivot.y;\n tempVec.z = jointPivot.z;\n bone.getDirectionToRef(tempVec, boneMesh, tempVec);\n if (distToJoint === undefined || distToJoint === null) {\n distToJoint = jointPivot.length();\n }\n tempVec.x *= distToJoint;\n tempVec.y *= distToJoint;\n tempVec.z *= distToJoint;\n }\n if (bone.getParent()) {\n tempVec.addInPlace(mesh.getAbsolutePosition());\n bone.setAbsolutePosition(tempVec, boneMesh);\n }\n else {\n boneMesh.setAbsolutePosition(mesh.getAbsolutePosition());\n boneMesh.position.x -= tempVec.x;\n boneMesh.position.y -= tempVec.y;\n boneMesh.position.z -= tempVec.z;\n }\n }\n /**\n * Sync impostor to a bone\n * @param bone The bone that the impostor will be synced to.\n * @param boneMesh The mesh that the bone is influencing.\n * @param jointPivot The pivot of the joint / bone in local space.\n * @param distToJoint Optional distance from the impostor to the joint.\n * @param adjustRotation Optional quaternion for adjusting the local rotation of the bone.\n * @param boneAxis Optional vector3 axis the bone is aligned with\n */\n syncImpostorWithBone(bone, boneMesh, jointPivot, distToJoint, adjustRotation, boneAxis) {\n const mesh = this.object;\n if (mesh.rotationQuaternion) {\n if (adjustRotation) {\n const tempQuat = PhysicsImpostor._TmpQuat;\n bone.getRotationQuaternionToRef(1 /* Space.WORLD */, boneMesh, tempQuat);\n tempQuat.multiplyToRef(adjustRotation, mesh.rotationQuaternion);\n }\n else {\n bone.getRotationQuaternionToRef(1 /* Space.WORLD */, boneMesh, mesh.rotationQuaternion);\n }\n }\n const pos = PhysicsImpostor._TmpVecs[0];\n const boneDir = PhysicsImpostor._TmpVecs[1];\n if (!boneAxis) {\n boneAxis = PhysicsImpostor._TmpVecs[2];\n boneAxis.x = 0;\n boneAxis.y = 1;\n boneAxis.z = 0;\n }\n bone.getDirectionToRef(boneAxis, boneMesh, boneDir);\n bone.getAbsolutePositionToRef(boneMesh, pos);\n if ((distToJoint === undefined || distToJoint === null) && jointPivot) {\n distToJoint = jointPivot.length();\n }\n if (distToJoint !== undefined && distToJoint !== null) {\n pos.x += boneDir.x * distToJoint;\n pos.y += boneDir.y * distToJoint;\n pos.z += boneDir.z * distToJoint;\n }\n mesh.setAbsolutePosition(pos);\n }\n}\n/**\n * The default object size of the imposter\n */\nPhysicsImpostor.DEFAULT_OBJECT_SIZE = new Vector3(1, 1, 1);\n/**\n * The identity quaternion of the imposter\n */\nPhysicsImpostor.IDENTITY_QUATERNION = Quaternion.Identity();\nPhysicsImpostor._TmpVecs = BuildArray(3, Vector3.Zero);\nPhysicsImpostor._TmpQuat = Quaternion.Identity();\n//Impostor types\n/**\n * No-Imposter type\n */\nPhysicsImpostor.NoImpostor = 0;\n/**\n * Sphere-Imposter type\n */\nPhysicsImpostor.SphereImpostor = 1;\n/**\n * Box-Imposter type\n */\nPhysicsImpostor.BoxImpostor = 2;\n/**\n * Plane-Imposter type\n */\nPhysicsImpostor.PlaneImpostor = 3;\n/**\n * Mesh-imposter type (Only available to objects with vertices data)\n */\nPhysicsImpostor.MeshImpostor = 4;\n/**\n * Capsule-Impostor type (Ammo.js plugin only)\n */\nPhysicsImpostor.CapsuleImpostor = 6;\n/**\n * Cylinder-Imposter type\n */\nPhysicsImpostor.CylinderImpostor = 7;\n/**\n * Particle-Imposter type\n */\nPhysicsImpostor.ParticleImpostor = 8;\n/**\n * Heightmap-Imposter type\n */\nPhysicsImpostor.HeightmapImpostor = 9;\n/**\n * ConvexHull-Impostor type (Ammo.js plugin only)\n */\nPhysicsImpostor.ConvexHullImpostor = 10;\n/**\n * Custom-Imposter type (Ammo.js plugin only)\n */\nPhysicsImpostor.CustomImpostor = 100;\n/**\n * Rope-Imposter type\n */\nPhysicsImpostor.RopeImpostor = 101;\n/**\n * Cloth-Imposter type\n */\nPhysicsImpostor.ClothImpostor = 102;\n/**\n * Softbody-Imposter type\n */\nPhysicsImpostor.SoftbodyImpostor = 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